CN116066292A

CN116066292A - Wind generating set, and pitch control method and device and computing equipment thereof

Info

Publication number: CN116066292A
Application number: CN202111277591.3A
Authority: CN
Inventors: 王大为; 张迪
Original assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Current assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-05-05

Abstract

The application discloses a wind generating set, a method and a device for controlling the wind generating set to take up paddles and computing equipment. The method for controlling the pitch of the wind generating set comprises the following steps: acquiring the current positions and the current pitch speeds of three blades; and responding to the condition that the wind generating set meets the paddle-collecting condition and the current positions of the three blades are different, controlling the three blades to collect paddles to the same target position at the same moment, and then collecting paddles to the safe position at the same speed. According to the embodiment of the application, the problem of low load balance in the stopping and collecting process in the related technology can be solved, and the load balance in the stopping and collecting process can be improved.

Description

Wind generating set, and pitch control method and device and computing equipment thereof

Technical Field

The application belongs to the technical field of control of wind generating sets, and particularly relates to a wind generating set, a method and a device for controlling the pitch of the wind generating set, and computing equipment.

Background

After the safety chain is disconnected, the fan usually adopts Independent Pitch Control (IPC) to independently control three blades of the fan respectively. The current IPC control controls the blade to retract according to the preset uniform variable pitch speed, but the load imbalance in the shutdown and retracting process is easy to cause.

Disclosure of Invention

The embodiment of the application provides a wind generating set, a method, a device and a computing device for controlling the wind generating set to take-up the propeller, which can solve the problem of lower load balance in the process of stopping and taking-up the propeller in the related art and can improve the load balance in the process of stopping and taking-up the propeller.

In a first aspect, an embodiment of the present application provides a method for controlling a pitch-back of a wind turbine, where the method includes:

acquiring the current positions and the current pitch speeds of three blades;

and responding to the condition that the wind generating set meets the paddle-collecting condition and the current positions of the three blades are different, controlling the three blades to collect paddles to the same target position at the same moment, and then collecting paddles to the safe position at the same speed.

On the other hand, the embodiment of the application provides a wind generating set's receipts oar controlling means, and this device includes:

the acquisition module is used for acquiring the current positions and the current pitch speeds of the three blades;

and the control module is used for controlling the three blades to be retracted to the safe position according to the same speed after the three blades are retracted to the same target position at the same time in response to the condition that the wind generating set meets the retraction conditions and the current positions of the three blades are different.

In yet another aspect, an embodiment of the present application provides a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor implement a method for controlling a pitch control of a wind turbine generator system according to the first aspect.

In yet another aspect, embodiments of the present application provide a computing device, the computing device comprising: a processor and a memory storing computer program instructions;

the processor, when executing the computer program instructions, implements a method for controlling the pitch of a wind turbine generator system according to the first aspect.

In yet another aspect, embodiments of the present application provide a wind turbine generator set including a computing device as provided by embodiments of the present application.

According to the method, the device, the computer-readable storage medium, the computing equipment and the wind generating set for controlling the wind generating set, the current positions and the current variable pitch speeds of the three blades are obtained, and then the three blades are controlled to be retracted to the same target position at the same moment and then to be retracted to the safe position according to the same speed after the wind generating set meets the retraction conditions and the current positions of the three blades are different, so that the three blades can be retracted at the same speed after reaching the same target position in the shutdown retraction process if the current positions are different, the load balance of at least part of the three blades in the shutdown retraction process is balanced, the load balance in the shutdown retraction process can be improved, and the problem that the load balance in the shutdown retraction process is lower in the related art is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

Fig. 1 is a schematic structural diagram of an application scenario of a method for controlling pitch-back of a wind turbine generator system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a method for controlling the pitch-back of a wind turbine generator system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of calculating a target position and a target duration according to an embodiment of the present application;

FIG. 4 is a schematic illustration of calculating a target pitch speed of a mid-position blade provided by an embodiment of the present application;

FIG. 5 is a response timing diagram of each blade when a CAN fault occurs in one blade according to the embodiment of the application;

FIG. 6 is a schematic structural view of a pitch control device of a wind turbine generator system according to another embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a computing device according to another embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

In order to solve the problems in the prior art, embodiments of the present application provide a method and an apparatus for controlling a wind turbine generator set, a computer readable storage medium, a computing device, and a wind turbine generator set. The following describes a method for controlling the pitch of a wind turbine generator set provided in the embodiment of the present application.

First, an optional application scenario of the method for controlling the pitch-back of the wind turbine generator system provided in the embodiment of the present application is described in an exemplary manner. As shown in fig. 1, a hardware configuration diagram of a safety chain applied to a wind turbine generator is shown. The Safety chain (Safety chain) is a Safety system of the wind generating set, and can execute a Safety chain shutdown strategy after being triggered, so that the Safety of the wind generating set is ensured. The safety chain requires important key signals of the tandem wind generating set. Referring to FIG. 1, the hardware configuration of the safety chain may include a pitch controller 201, pitch drives 202-204, a safety relay 205, and a slip ring 206. The pitch drives 202-204 can be used for respectively and independently driving pitch motors of a pitch system of the wind generating set to drive three blades to move, so that Independent Pitch Control (IPC) is realized. The safety relay 205 is used for safety protection when the wind turbine generator system fails and is in emergency stop. Slip ring 206 is responsible for the electrical components of the rotating body that communicate, deliver energy and signals. Pitch controller 201 may be in communication with pitch drives 202-204, safety relay 205, slip ring 206, for receiving signals, sending commands, and the like. The method for controlling the wind turbine generator system to wind the propeller can be executed by the propeller change controller 201, and when the safety chain of the wind turbine generator system is disconnected, the wind turbine generator system can wind the propeller according to the control of the propeller change controller 201, and the load during the propeller collection is balanced.

Alternatively, the safety relay 205 shown in fig. 1 may be replaced with a safety PLC or other safety logic device; pitch controller 201 may be replaced with a PLC or other programmable logic controller; the security chain may be transferred by means of hardware 24V or may be replaced by a secure bus protocol based on some kind of security protocol.

Fig. 2 shows a flow chart of a method for controlling the pitch of a wind turbine generator system according to an embodiment of the present application. As shown in fig. 2, the method may include the steps of:

step 101, current positions and current pitch speeds of three blades are obtained.

The current positions of three blades of the wind generating set can be detected by a position rotary transformer configured on the corresponding blade. The current position of the blade refers to the current pitch angle of the blade, the current pitch angle of the blade can be detected by a position rotary transformer, and the current pitch speed of the blade is calculated according to the current position. The position resolver may be in communication with an executing party of the method provided by embodiments of the present application, for example, with pitch controller 201 via slip ring 206 illustrated in fig. 1.

And 102, controlling the three blades to be retracted to the same target position at the same time and then to be retracted to a safe position at the same speed in response to the wind generating set meeting the retraction conditions and the current positions of the three blades being different.

The wind turbine may be adapted to the conditions, for example, the wind turbine may be a safety chain break, for example, a sensor of any one blade may be abnormal/have a CAN communication failure, alternatively, the wind turbine may be damaged by lightning strike or broken blades, which is not limited in the embodiment of the present application.

When the wind turbine reaches the feathering condition, the current positions of the three blades may be different. In the method provided by the embodiment of the application, when the current positions of the three blades are different, the three blades are firstly controlled to be retracted to the same target position at the same time, and then are retracted to the safe position at the same speed. The safe position is a position where the blade is completely retracted, and the target position is a position where the pitch angles of all blades are the same in the blade retracting process. In the process of turning up, three blades always move in the turning up direction, that is, the three blades are turned up to the same pitch angle (the pitch angle is the target position) at the same time due to different pitch angles when turning up is started, then the speed is controlled to be the same, turning up is carried out according to the same turning up speed, and turning up is carried out until turning up to a safe position. In the process of collecting the propeller, as the middle target position is arranged, the time that the three blades are positioned at different positions is greatly shortened, and after the three blades reach the middle target position, the three blades synchronously collect the propeller, so that the load balance in the process of collecting the propeller is greatly improved through the complex variable propeller stopping strategy. And under the condition of meeting the paddle collecting conditions such as breaking of a safety chain, the three blades are guaranteed to firstly collect paddles to the same position, and then the same paddle collecting speed is executed, and the strategy finds that the single blade running and three-blade running working conditions are greatly reduced in load through simulation, so that the weight of the blades, the machine head and the tower is reduced, and the cost of the fan is reduced.

According to the wind generating set paddle-retracting control, the current positions and the current paddle-retracting speeds of the three blades are obtained, and then the three blades are controlled to retract to the same target position at the same moment in response to the fact that the wind generating set meets paddle-retracting conditions and the current positions of the three blades are different, and then the three blades retract to the safe position at the same speed, so that the three blades retract at the same speed after reaching the same target position in the stopping and paddle-retracting process if the current positions are different, loads of at least part of the three blades in the stopping and paddle-retracting process are balanced, load balance of the stopping and paddle-retracting process can be improved, and the problem that the load balance of the stopping and paddle-retracting process is low in the related art is solved.

When the embodiment of the present application is used in the structure shown in fig. 1, the pitch driver 201 may calculate, in real time, data such as the intermediate target position, the target duration for running to the target position, and the target pitch speed of the blade centered in the current position according to the current position and the current pitch speed of each blade, and then combine the data and send the data to the corresponding blade at the preset target pitch speed. The pitch motor of each blade performs a pitch retraction operation based on the data sent by the pitch drive 201.

In one example, the step of controlling the three blade feathering to the safe position at the same speed after the feathering to the target position at the same time may include the steps 1021 to 1022 of:

and 1021, calculating a target position, a target time length for running to the target position and a target pitching speed of the blade centered in the current position according to the current positions and the current pitching speeds of the three blades.

Wherein the movement of each blade may include variable speed movement and uniform speed movement prior to moving to the target position. The target pitch speed of each blade is the pitch speed of each blade when the variable speed operation reaches the constant speed motion starting position. The sum of the variable speed movement time length and the uniform speed movement time length of each blade is the target time length. That is, after each blade is pitched from the current position, the target position may be pitched slowly by a combination of variable speed motion and uniform speed motion based on the current pitch speed. The time period until the operation to the target position is the target time period. In one example, the movement of each blade may include only variable speed movement prior to moving to the target position.

Optionally, the variable speed motion may be uniform variable speed motion or non-uniform variable speed motion, and specifically may be calculated according to parameters such as a current position, a current pitch speed, a target position, a target duration, and a target pitch speed of the blade.

When the variable speed motion is a uniform variable speed motion, the following first segment motion (i.e., variable speed motion) and second segment motion (i.e., uniform speed motion) may be included for each blade:

for the first segment of variable speed motion, it is a conic: the current position is s ₀ Speed v ₀ Through t ₁ After a time, the velocity reaches v ₁ The position reaches s ₁ ，s ₁ ＝s ₀ +v ₀ *t ₁ +0.5at ₁ ² 。

S is the starting position of the uniform motion of the second section ₁ Through t ₂ After the time, the position reaches s, the speed is always v ₁ ，s ₂ ＝v ₁ *t ₂ And v ₁ ＝v ₀ +a*t ₁ A is the driver acceleration, which is a known quantity.

Duration t of the variable speed movement ₁ And a time length t of uniform motion ₂ The sum is the target time length T, v ₁ I.e. the target pitch speed and the time t of uniform motion ₂ May be 0, i.e. one blade may be moved to the target position by a shift movement only. And calculating the target S and the delay time T through a mathematical model by utilizing the blade related parameters with the maximum position and the blade with the minimum position.

FIG. 3 shows an example in which a graph of target position and target duration may be calculated from a maximum position blade and a minimum position blade. The maximum position and the minimum position mentioned here refer to the pitch angle position of each blade at the beginning of the pitch. The abscissa in the figure is time and the ordinate is blade pitch angle position. In the figure, the leftmost side is the time when the IPC normalization paddle harvest condition is satisfied.

Referring to fig. 3, the leftmost side of the blade curve is the initial position at the beginning of the pitch, i.e. the current position, with a slope of the current pitch speed. Firstly, calculating a target S and a delay time T by using a blade with the largest position and a blade related parameter with the smallest position through a mathematical model (described in detail below), wherein the currently known parameters of the blade with the largest position are as follows: the current position is S1, the current speed is V10, the target speed is V11, and the target speed consumption time T1 is reached. The currently known parameters for the minimum blade position are: the current position is S30, the current speed is V30, the target speed is V31, and the time consumed for reaching the target speed T3, T1, and T3 are not necessarily equal.

When the maximum position blade reaches the target speed, the motion track is changed into a straight line from a quadratic curve, the speed is not changed, the blade moves along the straight line, the slope is unchanged, the straight line is a tangent line of the quadratic curve at the target speed, only one intersection point is formed between the tangent line and the quadratic curve, namely the intersection point of the current speed reaching the target speed, and the target position S and the target duration T can be calculated as shown in figure 3.

Step 1022, controlling each blade to run from the current variable pitch speed to the corresponding target variable pitch speed in the target duration according to the target duration and the corresponding target variable pitch speed, and completing the pitch collection according to the same speed after running to the target position in the target duration.

In the embodiment of the invention, only the target pitch speed of the blade at the middle position is calculated, and the target pitch speeds of the blade with the largest position and the blade with the smallest position are determined according to the preset attenuation coefficient and the pitch sudden stop speed.

And each blade continuously operates at variable speed according to the current variable pitch speed, and when the speed reaches the respective target variable pitch speed, the blades perform uniform motion. Accordingly, when calculating the target position, the target time length for running to the target position, and the target pitch speed of the middle position blade in step 1021, the target pitch speed of each blade, the target time lengths of all the blades, and the target position may be calculated by taking the uniform speed movement of each blade as a constraint condition.

For example, the pitch controller 201 in fig. 1 may distribute information such as the target pitch speed to the pitch drivers 202 to 204 of each blade, and after receiving the target pitch speed, the pitch drivers 202 to 204 of each blade control the corresponding pitch motor to drive the blade to perform pitch. Specifically, the pitch drive may control the pitch point to drive the corresponding blade to operate at a variable speed from the current pitch speed of each blade to the corresponding target pitch speed for a target period of time. And then running at a constant speed to the same target position at the respective target pitch speeds.

After the three blades run to the target position, the same speed is used for continuing to retract the blade to the safe position, and the speed from the target position to the safe position can be a preset speed.

Optionally, when calculating the target position, the target duration for running to the target position and the target pitching speed of the middle position blade according to the current positions and the current pitching speeds of the three blades, the method specifically may include the following steps:

in step 1211, a first blade having the largest current position and a third blade having the smallest current position are determined.

For example, as shown in fig. 3, the blade corresponding to the uppermost curve is the first blade having the largest current position S10 (corresponding to the left end point of the curve), and the blade corresponding to the lowermost curve is the third blade having the smallest current position S30.

In step 1212, a motion profile of the first and third blades is determined based on the current positions S10, S30 and the current pitch speeds V10, V30 of the first and third blades, and the target pitch speeds V11, V31 of the two blades (predetermined based on the pitch scram speed, the corresponding damping coefficient).

The motion curve of each blade comprises a variable speed motion curve and a uniform speed motion curve. The current positions S10, S30 and the current pitch speeds V10, V30 (corresponding to the positions and slopes of the left end points of the curves) of the first and third blades, as well as the target pitch speeds V11, V31 and the driver acceleration a are known, so that the motion curves of the first and third blades can be solved.

Specifically, the motion profile of each blade includes a conic (corresponding to variable speed motion) and a straight line (corresponding to uniform speed motion). For example, when the first blade reaches the target pitch speed V11, the motion track changes from a quadratic curve to a straight line, the speed is no longer changed, the first blade moves along the straight line, and the slope is unchanged, wherein the straight line is a tangent line between the quadratic curve and the target pitch speed V11, and only one intersection point is formed between the tangent line and the quadratic curve, namely, the intersection point when the current speed reaches the target speed, as shown in the dot position in fig. 3.

And 1213, solving the intersection point of the uniform motion curves of the first blade and the third blade according to the motion curves of the first blade and the third blade, and obtaining the target position S and the target duration T.

The variable-pitch motor of each blade performs variable-speed motion according to the preset acceleration, and the target position and the target duration can be calculated through the known constraint conditions.

Referring to fig. 3, after the first blade and the third blade are set to operate for a time T1 and a time T3, respectively, the target pitch speeds V11 and V31 are reached, respectively, at this time, the pitch angle position of the first blade is S11, the pitch angle position of the third blade is S31, and then the two blades are operated at constant speed to the target position S according to the target pitch speeds, respectively, and the following equation is established:

S11＝S10+V10*T ₁ +0.5aT ₁ ²

S＝S11+V11*(T-T ₁ )

V11＝V10+aT ₁

S31＝S30+V30*T ₃ +0.5aT ₃ ²

S＝S31+V31*(T-T ₃ )

V31＝V30+aT ₃

in the above equations, the unknowns in the first three equations are S, T, T ₁ S11, the unknowns in the last three equations are S, T, T ₃ S31, therefore, the final unknown is S, T, T ₁ 、T ₃ S31 and S11. And combining the six equations to obtain a six-element quadratic equation set, and solving the six unknowns, namely determining the target position, the target duration and the motion curves of the first blade and the second blade.

In step 1214, a target pitch speed V21 of the second blade is determined based on the target position S and the target time period T.

In calculating the target time length and the target position, the constraint conditions may be based on known conditions, specifically, the constraint conditions include the target position of each blade, the target time length, the current pitch speed, and the like, further, it may be defined that each blade is subjected to uniform shift movement when the shift movement is performed, that is, the acceleration is constant, and then the constraint conditions may further include that the acceleration during the shift movement is a constant value.

After the target position S and the target time period T are acquired, the target pitch speed V21 of the blade whose pitch angle is at the intermediate position at the pitch-back start time may be obtained according to the following equation:

S21＝S20+V20*T ₂ +0.5aT ₂ ²

V21＝V20+a*T ₂

S＝S21+V21*(T-T ₂ )

the known parameters are S20, V20, a, T and S, and the unknowns are S21, T ₂ V21. Solving the ternary quadratic equation to obtain the target variable pitch speed V21 of the middle position blade, and the time T for the target variable pitch speed to reach the speed ₂ T is as follows ₂ The actual position S21 of the blade is then determined.

After the unknown parameters are solved, the second blade is controlled to be at T ₂ The speed reaches the target pitch speed V21 over time, i.e. a period of variable speed movement is performed.

After a section of curvilinear motion (variable speed motion), linear motion (uniform speed) is started, and finally three motion straight lines are converged to the same point, namely the target position. The dots in the middle of each curve are used for indicating the starting position and the moment of the uniform motion of the corresponding blade, and before reaching the dot position on the curve, the motion of each blade is variable-speed motion (as can be seen from fig. 4, the slope of each curve changes), that is, the pitch speed of the blade changes, and the intersection point of the curve motion and the linear motion is the dot position. After the dot positions of each curve are started, the slope is no longer changed, and the slope is the speed of the corresponding blade in uniform motion, namely the target pitch speed, and the target pitch speeds of the three blades shown in fig. 4 are different. The time period for each blade to reach the dot position (i.e., the start position of the linear motion) on the respective motion profile is not necessarily equal, as shown in fig. 4. When the three straight lines converge at the same point, it means that the three blades move to the same position (i.e., target position) at the same time (after the target period). After reaching the target position (not shown in fig. 4), the three blades may begin to perform feathering at the same speed until the final safe position is reached.

In the above description, only the target pitch speed of the blade with the middle position is calculated, while the target pitch speeds of the blade with the largest position and the blade with the smallest position are determined according to the preset attenuation coefficient and the pitch scram speed. For example, the positions of the three blades at the beginning of the feathering or at the moment before the beginning of the feathering are respectively S10, S20 and S30 from big to small, if the three blades are to be controlled to be feathered to the safe position at the same moment, the average feathering speed of the blades at the S10 position is minimum, and the average feathering speed of the blades at the S30 position is maximum. According to this principle, in order for three blades to reach a certain position simultaneously, it is necessary to slow the blades in the S10 position and to fast the blades in the S30 position.

Based on the above principle, in the embodiment of the present invention, the current pitch speed of three blades is compared with the pitch scram speed (for example, the pitch basic speed of 2 degrees/second, 4 degrees/second, etc.), the attenuation coefficient of the pitch scram speed is preset, for example, the attenuation coefficient set for the blade with larger position is 1, then the target pitch speed of the blade is 1 time of the pitch scram speed, for example, the attenuation coefficient set for the blade with smaller position is 0.3-0.7 (less than the attenuation coefficient of the blade with larger position), and then the target pitch speed of the blade is 0.3-0.7 time of the pitch scram speed. The above coefficients are merely examples and are not limiting of the present invention.

In the following, a detailed description of a specific embodiment of a method for controlling the pitch-back of a wind turbine generator set is provided in an application scenario.

In this application scenario, the wind turbine may be configured with a safety chain of a hardware structure as shown in fig. 1, and the method of this specific embodiment may be performed by the pitch controller 201 through software.

The pitch controller 201 may receive data monitored by the position resolver in real time, including the current positions of the three blades, and then calculate the current pitch speed of the blades based on the current positions, and thus calculate the target positions of the three blades during the pitch process, and the target time period for reaching the target positions. Further, a target pitch speed of the blade with the current position at the intermediate position is calculated.

After calculating the above result, the pitch controller 201 may distribute the calculated target pitch speed and the set target pitch speed to the pitch drivers of the corresponding blades, and the pitch drivers may drive the pitch motors to perform pitch retraction according to the corresponding parameters after receiving the parameters. And, the calculation result of the pitch controller 201 is updated in real time and distributed to the corresponding pitch motors in real time, so that the parameters received by each pitch motor are parameters obtained by calculating based on the latest current position and the current pitch speed.

Pitch controller 201, when calculated, may execute four parts of code:

a first part: the three blades are ordered in current position, maximum blade position S10, intermediate blade position S20, minimum blade position S30. And simultaneously recording the current pitch speed V10 of the blade at the maximum position, the current pitch speed V20 of the blade at the middle position and the current pitch speed V30 of the blade at the minimum position.

A second part: according to the positions of the three blades in good sequence and the current variable pitch speed value thereof, dividing the normalized pitch process into a variable speed motion process and a constant speed operation process, and calculating a target position S and a target duration T and a target pitch speed V21 when the blades in the middle position are operated to the position starting the constant speed motion. Wherein the variable speed motion may be a uniform variable speed motion. And in calculation, the positive and negative of the acceleration are judged by comparing the current pitch speed with the target pitch speed, so that calculation errors are avoided.

Third section: for the target position S, the target duration T, and the target pitch speed V21 of the intermediate position blade, for example, S must be greater than S1, S2, and S3, T must be positive, and V21 must be positive (i.e., not capable of pitching, but only capable of running in the pitch direction). Any one of the three conditions is not satisfied, non-normalized output is executed, that is, the blades are independently retracted according to the same speed after the blades do not need to be operated to the same position at the same moment, the normalization module calculates faults, and process data is recorded in a fault file.

That is, before distributing the corresponding target pitch speed to each blade separately, it may also be verified whether the target position, target pitch speed, and target time meet the following conditions: the target position is larger than the current position of each blade, the direction of the target variable pitch speed of the middle position blade is the pitch-withdrawing direction, and the target duration is a positive value.

Fourth part: and distributing the target variable pitch speeds V21 of the verified middle position blades, the target variable pitch speeds V11 and V31 of the other two blades determined according to the preset attenuation coefficient and the variable pitch emergency stop speed and the target duration T to the corresponding blades.

In one case, the blade may have a situation where a CAN communication failure occurs, i.e., communication between the pitch controller and the pitch drive fails. The method can be divided into two cases, wherein three blades are lost at the same time, and in this case, the paddle collection can be realized according to the process. In another case, only part of blades have CAN communication fault, in this case, since the faulty blades no longer receive the latest updated receiving data (i.e. the target duration, the target pitch speed, etc.), and the other blades receive the updated data due to the response delay of the disconnection of the safety chain, then the receiving processes of three blades may be asynchronous due to the response delay.

Referring to the timing diagram given in fig. 5, for the safety chain open case: taking the CAN normal conditions of the No. 1 and No. 2 cabinets and the CAN disconnection condition of the No. 3 cabinet as examples: t1 is the time from when the CAN anomaly of the failed blade is detected to when the self safety chain is broken. t2 is the time from the detection of the fault blade CAN abnormality to the satisfaction of the fault blade self-driver CAN filtering time and the start of executing the normalized pitch. Because the No. 3 blade has CAN communication fault, the updated parameters sent by the variable pitch controller are not received after the moment of the fault point, and therefore, the normal blade No. 1 (the serial number is indicated by the # sign) blade and the No. 2 blade which have no CAN communication fault are required to complete the pitch control by matching with the No. 3 blade. That is, at the time of detecting the abnormal condition of the faulty blade CAN, the target position S and the target time period T calculated based on the methods corresponding to fig. 2 to 4 are recorded. The 3# blade will execute S and T after time T2. And calculating the position change quantity correction S to be S 'and S' =S+V30×t2 according to the current pitching speeds V30 and t2 of the 3# blade at the CAN fault point.

For the 1# blade and the 2# blade, the strategy targets to move to the S' position during the time T+t2-T1. It is necessary to calculate the speed magnification from the real-time blade positions S10, S20, the current speeds V10, V20. The calculation method refers to the method of calculating V21 in fig. 4 in the basic algorithm.

Specifically, when one of the blades has a CAN communication failure, the following steps may be performed:

step 131, determining a target position corresponding to the fault moment and a target time length T for running to the target position S according to the positions of the three blades at the fault moment and the pitch speed.

Step 132, determining a corrected target position S 'and a corrected time length T' reaching the position S 'according to the target time length T, a time length T2 from when the fault blade CAN anomaly is detected to the driver CAN filtering time, and a pitch speed V30 of the fault blade at the fault time, wherein S' =s+v30×t2, T '=t+t2, and controlling the fault blade to operate to the corrected target position S' according to the pitch speed V30 at the fault time after the time length T2.

Step 133, determining target pitch speeds V11 and V21 of the normal blade at time T1 according to the correction time T ', the time T1 from when the CAN abnormality of the normal blade is detected to when the safety chain of the normal blade is disconnected, the corrected target position S ', the positions S10 and S20 of the normal blade at the time of the fault, and the pitch speeds V10 and V20, and controlling the normal blade to operate to the corrected target position S ' according to the corresponding target pitch speed after the time T1.

And step 134, controlling the three blades to retract to the safe position at the same speed in response to the 3# blade, the 1# blade and the 2# blade reaching the corrected target position S'.

Therefore, through the steps, under the condition that CAN communication faults occur to part of blades, normalized blade collection CAN still be realized, and the situation that three blades cannot collect blades at the same target position due to target position change caused by response delay of the blades with the CAN communication faults is avoided.

The embodiment of the application provides a wind turbine generator system's receipts oar controlling means, and fig. 6 shows the structure schematic diagram of wind turbine generator system's receipts oar controlling means that this application provided an embodiment. As shown in fig. 6, the apparatus includes an acquisition module 11 and a control module 12.

The acquisition module 11 is used for acquiring the current positions and the current pitch speeds of the three blades;

the control module 12 is configured to control the three blades to harvest the blade to the safe position at the same speed after the three blades harvest the blade to the same target position at the same time in response to the wind turbine generator system meeting the harvest condition and the current positions of the three blades being different. Alternatively, the control module 12 may include:

the first calculation unit is used for calculating a target position, a target time length for running to the target position and a target pitch speed of the blade centered at the current position according to the current positions and the current pitch speeds of the three blades, wherein before running to the target position, the movement of each blade comprises variable speed movement and uniform speed movement, and the target pitch speeds of each blade are respectively the pitch speeds of each blade when the blades run to the initial position of uniform speed movement at variable speed;

The first control unit is used for controlling each blade to run from the current variable pitch speed to the corresponding target variable pitch speed in the target time according to the target time and the corresponding target variable pitch speed, and after the blades run to the target positions at uniform speed respectively, the blade taking-up is completed according to the same speed, wherein the target variable pitch speed of the blade with the largest current position and the blade with the smallest current position is preset.

Optionally, the first computing unit includes:

a first determining subunit configured to determine a first blade with a maximum current position and a third blade with a minimum current position;

the second determining subunit is used for determining the motion curves of the first blade and the third blade according to the current positions of the first blade and the third blade, the current pitch speed and the target pitch speeds of the two blades, wherein the motion curves of the first blade and the third blade comprise a variable speed motion curve and a uniform speed motion curve;

the first calculating subunit is used for solving the intersection point of the uniform motion curves of the first blade and the third blade according to the motion curves of the first blade and the third blade to obtain a target position and a target duration;

and the third determination subunit is used for determining the target pitching speed of the second blade according to the target position and the target duration, wherein the second blade is a blade with the current position being centered.

Optionally, the apparatus may further include:

the verification module is used for verifying whether the target position, the target pitch speed and the target time meet the following conditions: the target position is larger than the current position of each blade, the direction of the target variable pitch speed of each blade is the pitch-withdrawing direction, and the target duration is a positive value.

Optionally, the target pitch speed of the blade with the largest current position and the blade with the smallest current position is preset according to the pitch scram speed.

Optionally, the apparatus may further include:

the first determining module is used for determining a target position corresponding to the fault moment and a target time length for running to the target position according to the positions of the three blades at the fault moment and the pitch speed when one of the blades has CAN communication fault;

the second determining module is used for determining a corrected target position and a corrected time length reaching the corrected target position according to the target time length, the first preset time length and the pitch speed of the fault blade at the fault moment, and controlling the fault blade to move to the corrected target position according to the pitch speed at the fault moment when the first preset time length is up; the first preset time length refers to the time from when the fault blade CAN abnormality is detected to the time of the driver CAN filtering;

The third determining module is used for determining the target variable pitch speed of the normal blade when the second preset time length is up according to the correction time length, the second preset time length, the corrected target position, the position of the normal blade at the fault time and the variable pitch speed, and controlling the normal blade to move to the corrected target position according to the corresponding target variable pitch speed when the second preset time length is up; the second preset time length refers to the time from the detection of CAN abnormality of the fault blade to the disconnection of the safety chain of the normal blade;

the control module 12 is configured to control the three blades to retract to the safe position at the same speed in response to the failed blade and the normal blade reaching the corrected target position.

According to the wind generating set's receipts oar controlling means, through obtaining the current position and the current variable pitch speed of three blades, and then response wind generating set satisfies and receive oar condition and three current positions of blades are different, control three blades and receive the oar and arrive the same target position at the same moment after, receive the oar according to same speed again and arrive the safe position, like this, make three blades receive the oar in the shut down and receive the oar in-process, if current position is different, can receive the oar with same speed after arriving same target position, make three blades receive the load of at least partial process more balanced in the shut down and receive the oar in-process, can improve the load balance nature of shut down and receive the oar in-process, the problem that the load balance nature is lower in the shut down and receive the oar in-process among the related art has been solved.

The embodiment of the application provides a computer readable storage medium, and computer program instructions are stored on the computer readable storage medium, and when the computer program instructions are executed by a processor, the method for controlling the pitch of the wind turbine generator set can be realized.

Embodiments of the present application provide a computing device comprising: a processor and a memory storing computer program instructions;

and when the processor executes the computer program instructions, the method for controlling the pitch of the wind generating set is realized.

Fig. 7 shows a schematic hardware structure of a computing device according to an embodiment of the present application.

The computing device may include a processor 701 and a memory 702 storing computer program instructions.

In particular, the processor 701 described above may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 702 may include mass storage for data or instructions. By way of example, and not limitation, memory 702 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of these. The memory 702 may include removable or non-removable (or fixed) media, where appropriate. Memory 702 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 702 is a non-volatile solid state memory.

The memory may include read-only memory (ROM), random-access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to a method according to an aspect of the present application.

The processor 701 reads and executes the computer program instructions stored in the memory 702 to implement the pitch control method of any one of the wind turbine generator systems according to the above embodiments.

In one example, the computing device may also include a communication interface 703 and a bus 710. As shown in fig. 7, the processor 701, the memory 702, and the communication interface 703 are connected by a bus 710 and perform communication with each other.

The communication interface 703 is mainly used for implementing communication between each module, device, unit and/or apparatus in the embodiments of the present application.

Bus 710 includes hardware, software, or both, coupling components of a computing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-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 710 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

The embodiment of the application also provides a wind generating set, which comprises the computing equipment provided by the embodiment of the application.

It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.

Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.

Claims

1. A method for controlling the pitch-back of a wind turbine, the method comprising:

acquiring the current positions and the current pitch speeds of three blades;

2. The method according to claim 1, wherein the step of controlling the three blades to be retracted to the safe position at the same speed after being retracted to the same target position at the same time comprises:

Calculating the target position, the target time length for running to the target position and the target pitch speed of the blades centered at the current position according to the current positions and the current pitch speeds of the three blades, wherein before running to the target position, the movement of each blade comprises variable speed movement and uniform speed movement, and the target pitch speeds of each blade are respectively the pitch speeds of each blade when the blades run to the initial position of uniform speed movement at variable speed;

and controlling each blade to run from the current variable pitch speed to the corresponding target variable pitch speed in the target time according to the target time and the corresponding target variable pitch speed, and after the blades respectively run to the target positions at constant speed, finishing the pitch collection according to the same speed, wherein the target variable pitch speed of the blade with the largest current position and the blade with the smallest current position is preset.

3. The method according to claim 2, wherein calculating the target position, the target time period for running to the target position, and the target pitch speed of the blade centered at the current position based on the current positions and the current pitch speeds of the three blades, comprises:

determining a first blade with the largest current position and a third blade with the smallest current position;

Determining motion curves of the first blade and the third blade according to the current positions of the first blade and the third blade, the current pitch speed and the target pitch speeds of the two blades, wherein the motion curves of the first blade and the third blade comprise a variable speed motion curve and a uniform speed motion curve;

according to the motion curves of the first blade and the third blade, solving the intersection point of the uniform motion curves of the first blade and the third blade to obtain the target position and the target duration;

and determining the target pitching speed of the second blade according to the target position and the target duration, wherein the second blade is a blade with a centered current position.

4. The method of controlling pitch as defined in claim 2, wherein prior to distributing the corresponding target pitch speed and uniform motion duration to each blade separately, the method further comprises:

verifying whether the target position, the target pitch speed and the target time meet the following conditions: the target position is larger than the current position of each blade, the direction of the target variable pitch speed of each blade is the pitch-collecting direction, and the target duration is a positive value.

5. The method according to any one of claims 1 to 4, wherein the target pitch speed of the blade having the largest current position and the blade having the smallest current position is preset according to the pitch sudden stop speed.

6. The method of claim 2, wherein when one of the blades fails in CAN communication, the method further comprises:

determining a target position corresponding to the fault moment and a target time length for running to the target position according to the positions of the three blades at the fault moment and the pitch speed;

determining a corrected target position and a corrected time length reaching the corrected target position according to the target time length, the first preset time length and the pitch speed of the fault blade at the fault moment, and controlling the fault blade to run to the corrected target position according to the pitch speed at the fault moment when the first preset time length is up; the first preset time length refers to the time from when the fault blade CAN abnormality is detected to the time of the driver CAN filtering;

determining a target pitch speed of the normal blade when the second preset time is up according to the correction time, the second preset time, the corrected target position, the position of the normal blade at the fault time and the pitch speed, and controlling the normal blade to operate to the corrected target position according to the corresponding target pitch speed when the second preset time is up; the second preset time length refers to the time from the detection of CAN abnormality of the fault blade to the disconnection of the safety chain of the normal blade;

And controlling the three blades to retract to a safe position at the same speed in response to the fault blade and the normal blade reaching the corrected target position.

7. A pitch control device for a wind turbine, the device comprising:

8. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement a method of controlling the pitch of a wind turbine generator set according to any of claims 1-6.

9. A computing device, the computing device comprising: a processor and a memory storing computer program instructions;

the processor, when executing the computer program instructions, implements a method for controlling the pitch of a wind turbine generator set according to any one of claims 1-6.

10. A wind power generation set comprising the computing device of claim 9.