CN113586355B - Method and device for identifying blade clamping fault of wind generating set - Google Patents

Abstract

The invention provides a method and a device for identifying a wind generating set propeller clamping fault. The method comprises the following steps: acquiring operating parameters of the first variable pitch motor and the second variable pitch motor; determining whether the acquired operating parameters of the first variable pitch motor and the second variable pitch motor are abnormal; and determining that the wind generating set has a blade clamping fault when the abnormality exists. By the method and the device, the failure of the paddle clamping can be timely and accurately identified.

Description

Recognition method and device for wind turbine jamming failure

technical field

The present invention generally relates to the technical field of wind power generation, and more particularly, to a method and device for identifying a paddle jamming fault of a wind turbine generator set.

Background technique

One of the main functions of the pitch system is to act as the aerodynamic braking system of the wind turbine. The electric pitch system ensures the safe and stable operation of the wind turbine through a variety of detection and control methods and multiple redundant designs. Any failure-induced shutdown will feather the blades to a safe 90-degree position.

However, during the operation of the wind turbine, the drive of the pitch system, the pitch motor or the backup power supply may fail, so that the blades of the wind turbine cannot be retracted to a safe position, resulting in the wind turbine operating in the wind. Under the action, the rotational speed cannot be reduced, causing the wind turbine to overspeed and even the danger of speeding. Therefore, the identification of the stuck propeller is very important to ensure the safe operation of the wind turbine.

At present, the identification of stuck propellers is mostly based on the detection of the operating data of the wind turbine, for example, the detection of vibration data or pitch angle. However, because the vibration of the unit mostly occurs under specific operating conditions, the identification method of stuck propellers based on operating data has certain limitations.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method and a device for identifying the failure of a wind turbine generator stuck propeller, which at least solves the above-mentioned technical problems, and provides the following beneficial effects.

One aspect of the present invention is to provide a method for identifying a propeller jamming fault in a wind turbine, wherein the wind turbine at least includes a first pitch motor and a second pitch motor electrically connected to different blades, respectively, for driving The different blades perform the pitch action, and the method includes: acquiring the operating parameters of the first pitch motor and the second pitch motor; determining whether the acquired operating parameters of the first pitch motor and the second pitch motor are abnormal; When there is an abnormality, it is determined that the wind turbine generator set has a stuck propeller fault.

Another aspect of the present invention is to provide an identification device for a wind turbine jamming fault, comprising: an acquisition module, configured to acquire the operating parameters of the first pitch motor and the second pitch motor; and a processing module, configured to determine all the Whether the obtained operating parameters of the first pitch motor and the second pitch motor are abnormal, and when there is an abnormality, it is determined that the wind turbine has a propeller jam failure.

Another aspect of the present invention is to provide a controller, the controller includes: a processor and a memory; wherein, a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned wind turbine paddle failure is realized. recognition methods.

Another aspect of the present invention is to provide a computer storage medium, which, when the computer program is executed by a processor, implements the above-mentioned method for identifying a paddle stuck fault in a wind turbine.

Based on the method and device of the embodiments of the present invention, the propeller jamming fault is identified based on the operating parameters of the pitch motor, and the influence of the operating state of the wind turbine on the identification result of the jamming failure can be fully considered, and it is possible to timely and Accurately identify paddle failures.

Description of drawings

The above and other objects and features of the present invention will become more apparent from the following description in conjunction with the accompanying drawings illustrating an example, wherein:

Figure 1 is a schematic diagram of the structure of the pitch system.

FIG. 2 is a flowchart of a method for identifying a propeller jam failure according to an exemplary embodiment of the present invention.

FIG. 3 is a structural block diagram of a device for identifying a propeller jam failure according to an exemplary embodiment of the present invention.

FIG. 4 is a structural block diagram of a controller according to an exemplary embodiment of the present invention.

Detailed ways

The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of embodiments of the present disclosure as defined by the claims and their equivalents. Various specific details are included to aid in that understanding, but are to be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In order to better understand the present invention, a necessary description of the pitch system of the wind turbine, especially the related electrical structure and related operation logic of the pitch drive is made.

Figure 1 shows a schematic structural diagram of a pitch system, which includes a pitch motor, a super capacitor, a pitch controller and a pitch driver.

The working principle of the pitch system is: under normal circumstances, the enable switch is closed, and the pitch drive is powered; when the pitch controller receives the pitch speed signal from the main controller, or the pitch controller detects When the pitch system fails and the pitch is autonomously feathered, the pitch controller will send the pitch speed signal and enable signal to the pitch drive; after the pitch drive receives the pitch speed signal and enable signal, it will control the brake relay to release the brake , and output voltage at the power output port to drive the pitch motor to rotate to realize the pitch function.

The pitch driver collects the incremental signal of the encoder and uses it to calculate the speed of the pitch motor. Its function is to compare it with the value of the pitch speed signal sent by the pitch controller to the pitch drive; if the calculated speed of the pitch motor is less than Pitch speed signal, the pitch controller will increase the voltage of the power output to increase the speed of the pitch motor; if the calculated speed of the pitch motor is greater than the pitch speed signal, the pitch controller will reduce the voltage of the power output , to reduce the pitch motor speed, and finally make the pitch motor speed consistent with the given pitch speed signal value. At the same time, the pitch drive detects the state of the external electrical components, and if a fault is triggered, the power output is stopped. At this time, the pitch motor loses power input and cannot complete the feathering action, thereby causing the paddle to be stuck.

It can be understood that a wind turbine generally includes at least two sets of pitch systems shown in FIG. 1 , and the pitch motors in each pitch system are electrically connected to one blade respectively, and are responsible for driving the blades to perform pitch action. The embodiments of the present invention are only described with respect to a wind power generator set having two pitch motors (hereinafter collectively referred to as "first pitch motor" and "second pitch motor"), wherein the first pitch motor and the second pitch motor are The pitch motors are respectively connected with the first pitch motor and the second pitch motor electrically connected to different blades, and are used for driving the different blades to perform pitch action. The wind power generating set may also include three or more pitch motors, which will not be repeated in this embodiment of the present invention.

FIG. 2 shows a flowchart of an exemplary method according to the present invention.

In step S101, the operation parameters of the first pitch motor and the second pitch motor are acquired.

As examples, operating parameters may include pitch motor current, voltage, and temperature.

As an example, the current, voltage and temperature are collected by setting the current, voltage and temperature collection devices in the pitch motor, and the collected data can be sent to the main controller of the wind turbine through wireless transmission or wired transmission. Or wind farm centralized control center.

As an example, the operating parameters of the pitch motor can be extracted from the fault file. Among them, the fault file can be stored in the main controller of the wind turbine, and records the data related to the fault, such as the current, voltage, temperature, etc. of the pitch motor, and the extraction of operating parameters can be performed by the main controller. The processor executes, optionally, the processor reads the fault file periodically (for example: 20ms, 1s, 1min, etc.), and extracts the fault data in the file; or, only when the operating state of the wind turbine meets a predetermined condition Failed to read the file. It can be understood that the data in the fault file is written only when a fault occurs, and when no fault occurs, there is no data in the fault file.

It is understandable that the extraction of operating parameters from the fault file is preferred, which can save the cost increase caused by additional installation and acquisition of parameters, but if the internal communication of the wind turbine is interrupted, the operating parameters can no longer be extracted from the fault file. Therefore, in order to improve the success rate of obtaining the operating parameters, the acquisition device can be used to continue to obtain the operating parameters after the internal communication is interrupted.

In step S102, it is determined whether the acquired operating parameters of the first pitch motor and the second pitch motor are abnormal.

Specifically, when the pitch system is running, the blades are rotating at the same time, so the azimuth angle of the blades also changes periodically, and in each rotation period (0-360 degrees), the average energy consumption of the blades is roughly the same. Therefore, according to the law of conservation of energy: heating power p+motor power P=UI, it can be known that the average value of voltage U and current I in each blade rotation cycle is the same, that is, the total energy UI is the same. Therefore, the operation parameters of the first pitch motor and the second pitch motor in a predetermined period of time can be obtained; if the statistical value of the operation parameters of the first pitch motor in the predetermined period of time is different from all If there is a difference between the statistical values of the operation parameters of the second pitch motor, it is determined that the operation parameters of the first pitch motor and the second pitch motor are abnormal.

As an example, when the statistical value of the operating parameters of the first pitch motor and the statistical value of the operating parameters of the second pitch motor are the values of the first pitch motor and the The sum of the respective currents of the second pitch motors. If within the predetermined time period, the difference between the current sum of the first pitch motor and the current sum of the second pitch motor reaches a preset threshold, it is determined that the first pitch motor is within the predetermined time period. There is a difference between the statistical value of the operating parameters of the propeller motor and the statistical value of the operating parameters of the second pitch motor, so that it is determined that the operating parameters of the first pitch motor and the second pitch motor are abnormal.

As an example, when the operating parameter is voltage, the statistical value of the operating parameter of the first pitch motor and the statistical value of the operating parameter of the second pitch motor are respectively the first pitch motor and the second pitch motor at all sampling moments in the predetermined time period. The sum of the respective voltages of the pitch motors. If the difference between the voltage sum of the first pitch motor and the voltage sum of the second pitch motor reaches a preset threshold within a predetermined period of time, determine the statistics of the operating parameters of the first pitch motor within the predetermined period of time There is a difference between the value and the statistical value of the operation parameters of the second pitch motor, and then it is determined that the operation parameters of the first pitch motor and the second pitch motor are abnormal.

Further, the relationship between the heat generated by the heating of the pitch motor and the temperature is: heat = mass * specific heat capacity * temperature change, that is:

Q=CM(T2-T1) (1)

At the same time, for the motor:

Q=I ² *R*t (2)

Therefore, combining formulas (1) and (2), we can get:

I ² =CM(T2-T1)/R/t (3)

where Q is the heat, C is the specific heat capacity of the object, M is the mass, T2 is the current temperature, T1 is the initial temperature, R is the coil resistance, I is the current, and t is the time.

CM/R in formula (3) can be regarded as a constant, and all pitch motors of the same wind turbine have the same parameters, so the motor temperature change rate is proportional to the square of the motor current. That is, under normal circumstances, the temperature values of the three pitch motors are also the same.

As an example, when the operating parameter is temperature, the statistical value of the operating parameter of the first pitch motor and the statistical value of the operating parameter of the second pitch motor are the respective values of the first pitch motor and the second pitch motor within a predetermined period of time. rate of temperature change. If within a predetermined period of time, the difference between the temperature change rate of the first pitch motor and the temperature change rate of the second pitch motor reaches a preset threshold, it is determined that the operation of the first pitch motor within the predetermined period of time There is a difference between the statistical value of the parameter and the statistical value of the operation parameter of the second pitch motor, so that it is determined that the operation parameters of the first pitch motor and the second pitch motor are abnormal.

It can be understood that the predetermined time period cannot be too long, because there is a situation where the propeller gets stuck in a short time and then recovers. If the predetermined time period is too long, it is easy to cause the stuck propeller failure in this situation to be unrecognized. At the same time, the predetermined period of time cannot be too short, because the operating parameters of the pitch motor often have certain fluctuations, and such fluctuations are generated with changes in the operating environment of the wind turbine (eg, wind speed). If the predetermined time is too short, it will easily lead to the unreported failure of the propeller.

For some reasons, the operating parameters obtained within the predetermined time period may not correctly reflect the real situation. For example, if the propeller jamming failure happens at the end of the predetermined time period, the real valid data only exists when the failure occurs. From the time to the end of the predetermined time period, it is likely that the difference between the statistical values of the operating parameters cannot be reflected. Therefore, in order to be able to more accurately identify the stuck propeller failure, it is necessary to provide an effective solution to deal with the occurrence of this situation.

As an example, the rotational speed of the pitch motor is given by the pitch drive. If there is a difference between the actual rotational speed and the given value, it can be determined that the pitch motor is abnormal. At this time, the reaction in the blade pitch action is that the pitch rate is reduced, and the specified pitch angle cannot be completed within a normal time. Therefore, the average rotational speed of the first pitch motor and the average rotational speed of the second pitch motor in the predetermined time period can be obtained, if the average rotational speed of any pitch motor is smaller than the average rotational speed of the pitch motor in the predetermined time period If the average given rotational speed within the period is determined, it is determined that there is a difference between the statistical value of the operating parameters of the first pitch motor and the statistical value of the operating parameters of the second pitch motor within the predetermined period of time.

As an example, since a change in temperature requires a relatively long process, it is difficult to make a significant change in a short period of time. Therefore, in order to ensure the timely identification of the stuck propeller fault, the current or voltage can be obtained preferentially, because the current and voltage change very quickly, and these changes can be quickly reflected in the specific values. In addition, compared with the voltage, the current has a higher probability of being in the fault file. Therefore, the acquisition in the order of current, voltage and temperature not only ensures the timeliness of the identification of the stuck propeller, but also ensures the success of the operation parameter acquisition. The maximum possible rate is to avoid the failure of identification of the stuck propeller due to the problem of parameter acquisition.

As another example, when the current is obtained, the voltage and temperature are no longer obtained; when the current cannot be obtained, the voltage is preferentially obtained; after the voltage is obtained, the temperature is no longer obtained, and when the voltage cannot be obtained, the temperature is obtained. This can further improve the efficiency of fault identification. It can be understood that, when it is necessary to strike a balance between the efficiency, accuracy and reliability of the identification of the stuck propeller fault, any combination can be made in the acquisition order and rules of the current, voltage and temperature.

As an example, in order to effectively utilize the characteristics of different operating parameters and make the statistical values of the operating parameters more accurate, different preset time period lengths and preset thresholds may be set for current, voltage and temperature. The preset time period for acquiring current and voltage can be set to be shorter than the preset time period for acquiring temperature, so as to effectively utilize the characteristics of fast current and voltage changes and the characteristics of relatively slow temperature changes. The preset threshold of current and voltage can be calculated by the ratio of the current or voltage of the first pitch motor and the second pitch motor. For example, when the ratio is greater than 3, the first pitch motor and the second pitch motor are determined. There are differences in operating parameters between propeller motors. For the preset temperature threshold, the difference in the temperature change rate between the first pitch motor and the second pitch motor can be determined by calculating the distance between the temperature change rate curves, for example, using a Mahalanobis distance algorithm. For example, when the distance is greater than 2, it is determined that there is a difference in the operating parameters between the first pitch motor and the second pitch electrode.

In step S103, when there is an abnormality, it is determined that a propeller jam failure occurs in the wind turbine.

Specifically, when the operating parameters of the pitch motor are abnormal, it can be determined that the pitch motor is abnormal or faulty. Since the function of the pitch motor is to drive the blades to perform the pitch action, when there is an abnormality or failure of the pitch motor, the blades will lose the driving force of the pitch, resulting in a jamming. Propeller jamming is a symptom of the failure of the pitch system. In order to further understand the nature of the failure, when it is determined that a propeller jamming failure occurs, the abnormal operating parameters of the pitch motor can be analyzed to identify the cause of the propeller jamming failure. Specifically, since the pitch motor provides power input for the blade to perform the pitch action, if the current sum or voltage sum of one of the first pitch motor and the second pitch motor is zero, It means that the pitch driver that drives the pitch motor has stopped running, resulting in a jamming fault. If the current or voltage of a shaft where a pitch motor is located suddenly increases in a short period of time, it means that the pitch bearing where the pitch motor is located may be stuck, resulting in a jamming fault. Therefore, when the current sum or voltage sum of one of the first pitch motor and the second pitch motor exceeds a preset threshold by 50%, it is determined that the pitch bearing is abnormal, thereby causing a jamming fault.

To sum up, in this embodiment, statistical analysis is performed on the obtained operating parameters of the pitch motor that provides power to the blades, and it is possible to identify immediately when a propeller jam occurs, and through further analysis of the operating parameters, it is possible to identify The cause of the stuck propeller failure can effectively avoid the problem that the stuck propeller failure cannot be identified due to the insignificant vibration during the start-up operation stage of the wind turbine.

FIG. 3 is a structural block diagram of a device for identifying a propeller jam failure according to an exemplary embodiment of the present invention.

As shown in FIG. 3 , the device 3 for identifying the fault of the stuck propeller of the wind turbine based on the fault code includes: an acquisition module 301 and a processing module 302 .

Wherein, the receiving module 301 is configured to obtain the operating parameters of the first pitch motor and the second pitch motor;

The processing module 302 is configured to determine whether the acquired operating parameters of the first pitch motor and the second pitch motor are abnormal, and when there is an abnormality, determine that the wind turbine has a propeller jam failure.

As examples, operating parameters may include pitch motor current, voltage, and temperature.

As an example, the current, voltage and temperature are collected respectively by arranging current, voltage and temperature collection devices in the pitch motor, and the collected data can be sent to the receiving module 301 through wireless transmission or wired transmission.

As an example, the receiving module 301 may extract the operating parameters of the pitch motor from the fault file. Wherein, the fault file may be stored in the main controller of the wind turbine generator set, and records the fault-related data, such as the current, voltage, temperature, etc. of the pitch motor. Optionally, the receiving module 301 reads the fault file periodically (for example: 20ms, 1s, 1min, etc.), and extracts the fault data in the file; read. It can be understood that the data in the fault file is written only when a fault occurs, and when no fault occurs, there is no data in the fault file.

As an example, the processor 302 obtains the operating parameters of the first pitch motor and the second pitch motor within a predetermined period of time; If there is a difference between the value and the statistical value of the operation parameters of the second pitch motor, it is determined that the operation parameters of the first pitch motor and the second pitch motor are abnormal.

As an example, when it is determined that a propeller jam failure occurs, the processor 302 analyzes the abnormal pitch motor operating parameters to identify the cause of the propeller jam failure. Specifically, since the pitch motor provides power input for the blade to perform the pitch action, if the current sum or voltage sum of one of the first pitch motor and the second pitch motor is zero, It means that the pitch driver that drives the pitch motor has stopped running, resulting in a jamming fault. If the current or voltage of a shaft where a pitch motor is located suddenly increases in a short period of time, it means that the pitch bearing where the pitch motor is located may be stuck, resulting in a jamming fault. Therefore, when the current sum or voltage sum of one of the first pitch motor and the second pitch motor exceeds a preset threshold by 50%, it is determined that the pitch bearing is abnormal, thereby causing a jamming fault.

In this embodiment, statistical analysis is performed on the obtained operating parameters of the pitch motor, which can be identified as soon as a propeller jam occurs, and through further analysis of the operating parameters, the cause of the propeller jam failure can be identified, which effectively avoids the need for a propeller jam. The problem of unidentifiable propeller jamming due to insignificant vibration during the start-up operation of the wind turbine.

FIG. 4 shows a structural block diagram of a controller according to an exemplary embodiment of the present invention.

As shown in FIG. 4 , the controller 4 includes a processor 401 and a memory 402 . Specifically, the memory 402 is used to store a computer program, and when the computer program is executed by the processor 401 , the above-mentioned method for identifying a paddle is implemented.

As an example, the controller 4 may be a main controller deployed in the wind turbine or a sub-controller that interacts with the main controller, such as a pitch controller.

As an example, the processor 401 may be implemented by a general-purpose hardware processor such as a digital signal processor and a field programmable gate array, or by a dedicated hardware processor such as a dedicated chip.

Exemplary embodiments according to the present invention also provide a computer-readable storage medium storing a computer program. The computer-readable storage medium stores a computer program that, when executed by the processor, causes the processor to execute the above-mentioned method for identifying a paddle failure. The computer-readable recording medium is any data storage device that can store data read by a computer system. Examples of the computer-readable recording medium include read-only memory, random-access memory, optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the Internet via wired or wireless transmission paths).

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

Claims (9)

1. A method for identifying a blade-clamping fault of a wind generating set, wherein the wind generating set at least comprises a first variable-pitch motor and a second variable-pitch motor which are respectively and electrically connected with different blades, and the first variable-pitch motor and the second variable-pitch motor are used for driving the different blades to execute variable-pitch actions, and the method is characterized by comprising the following steps:

acquiring operating parameters of the first variable pitch motor and the second variable pitch motor;

determining whether the obtained operation parameters of the first variable pitch motor and the second variable pitch motor are abnormal or not;

determining that the wind generating set has a blade clamping fault when the wind generating set is abnormal;

wherein the operating parameter comprises current, voltage and/or temperature;

the step of determining whether the acquired operation parameters of the first variable pitch motor and the second variable pitch motor are abnormal comprises the following steps:

acquiring operating parameters of the first variable pitch motor and the second variable pitch motor in a preset time period;

if the difference exists between the running parameter statistic value of the first variable pitch motor and the running parameter statistic value of the second variable pitch motor in the preset time period, determining that the running parameters of the first variable pitch motor and the second variable pitch motor are abnormal;

the step of obtaining the operating parameters of the first pitch motor and the second pitch motor in a preset time period comprises the following steps:

obtaining current preferentially, and after obtaining the current, not obtaining voltage and temperature;

when the current cannot be obtained, the voltage is preferentially obtained;

when the voltage is obtained, the temperature is not obtained any more, and when the voltage cannot be obtained, the temperature is obtained.

2. The identification method according to claim 1, characterized in that it comprises:

when the operating parameter is current, the operating parameter statistic of the first variable pitch motor and the operating parameter statistic of the second variable pitch motor are respectively the current sum of the first variable pitch motor and the second variable pitch motor at all sampling moments in the preset time period;

when the operating parameter is voltage, the operating parameter statistic of the first variable pitch motor and the operating parameter statistic of the second variable pitch motor are respectively the voltage sum of the first variable pitch motor and the second variable pitch motor at all sampling moments in the preset time period;

when the operating parameter is temperature, the operating parameter statistic of the first pitch variation motor and the operating parameter statistic of the second pitch variation motor are respectively the temperature change rate of the first pitch variation motor and the temperature change rate of the second pitch variation motor in the preset time period.

3. The identification method according to claim 2, characterized by determining that there is a difference between the operating parameter statistics of the first pitch motor and the operating parameter statistics of the second pitch motor within the predetermined time period when any one of the following conditions is met, said conditions comprising:

within the preset time period, the difference value between the current sum of the first variable pitch motor and the current sum of the second variable pitch motor reaches a preset threshold value;

within the preset time period, the difference value between the voltage sum of the first variable pitch motor and the voltage sum of the second variable pitch motor reaches a preset threshold value;

and in the preset time period, the difference value between the temperature change rate of the first variable pitch motor and the temperature change rate of the second variable pitch motor reaches a preset threshold value.

4. The identification method according to claim 3, wherein in the case where none of the conditions is satisfied, the method comprises:

and acquiring the average rotating speed of the first variable pitch motor and the average rotating speed of the second variable pitch motor in the preset time period, and determining that a difference exists between the operating parameter statistic of the first variable pitch motor and the operating parameter statistic of the second variable pitch motor in the preset time period if the average rotating speed of any variable pitch motor is less than the average given rotating speed of any variable pitch motor in the preset time period.

5. The identification method according to claim 2, characterized in that the method further comprises:

and when the wind generating set is determined to have a paddle clamping fault, analyzing the abnormal operation parameters to identify the reason causing the paddle clamping fault.

6. The method of claim 5, wherein the step of analyzing the abnormal operating parameters to identify the cause of the jam-paddle fault comprises:

if the sum of the currents or the sum of the voltages of one of the first variable pitch motor and the second variable pitch motor is zero, determining that a pitch driver fails to trigger a pitch jam;

and if the sum of the current or the sum of the voltage of one of the first variable pitch motor and the second variable pitch motor exceeds a preset threshold value by 50%, determining that the propeller clamping is triggered by the abnormal variable pitch bearing.

7. The utility model provides an identification means of wind generating set card oar trouble, wind generating set includes at least with different paddle electric connection's first change oar motor and second change oar motor respectively for the drive different paddle carry out the change oar action, its characterized in that, the device includes:

the acquisition module is configured to acquire operating parameters of the first variable pitch motor and the second variable pitch motor;

the processing module is configured to determine whether the acquired operating parameters of the first variable pitch motor and the second variable pitch motor are abnormal, and when the operating parameters are abnormal, the wind generating set is determined to have a blade clamping fault;

wherein the operating parameter comprises current, voltage and/or temperature;

the processing module is configured to acquire operating parameters of the first variable pitch motor and the second variable pitch motor within a preset time period; if the difference exists between the running parameter statistic value of the first variable pitch motor and the running parameter statistic value of the second variable pitch motor in the preset time period, determining that the running parameters of the first variable pitch motor and the second variable pitch motor are abnormal;

the processing module is configured to preferentially acquire current, and when the current is acquired, the voltage and the temperature are not acquired; when the current cannot be obtained, the voltage is preferentially obtained; when the voltage is obtained, the temperature is not obtained any more, and when the voltage cannot be obtained, the temperature is obtained.

8. A controller, characterized in that the controller comprises:

a processor;

a memory storing a computer program which, when executed by the processor, implements the method of identifying a wind turbine generator set blade sticking fault as claimed in any one of claims 1 to 6.

9. A computer storage medium, characterized in that it stores a computer program which, when executed by a processor, implements a method of identifying a wind turbine generator set blade-stuck fault according to any one of claims 1 to 6.

Images