CN114412702B - Wind turbine generator and optimization method for dealing with pitch bearing clamping - Google Patents

Abstract

The application provides a wind turbine generator and an optimization method for dealing with pitch bearing clamping. In the optimization method, because the output torque of the variable pitch motor periodically and circularly changes between the first forward torque and the second forward torque, the output of the variable pitch motor in the wind turbine generator is periodically and oscillatorily output, namely, the variable pitch motor has repeated impact action on a barrier causing blade clamping stagnation, so that the variable pitch bearing can repeatedly impact the barrier causing blade clamping stagnation by using the control method, the possibility of scattering the barrier is improved, and the possibility of restoring the blade with clamping stagnation to normally change the pitch is improved. In the optimization method, when the time of the periodic cycle switching process exceeds the time threshold, the variable pitch motor is controlled to output the preset reverse torque until the blades feather, and the variable pitch motor is controlled to stop after the blades feather, so that the problem that the blades cannot feather due to overheating and dead halt of the variable pitch motor is avoided, and the runaway hidden danger of the unit is reduced.

Description

A wind turbine and an optimization method for dealing with pitch bearing jamming

technical field

The invention relates to the technical field of automatic control, in particular to a wind turbine and an optimization method for coping with pitch-variable bearing jamming.

Background technique

In recent years, as the service time of each wind turbine has increased, accidents such as speeding and collapse of wind turbines have often occurred. Among them, the speeding accident caused by the blade jamming of the wind turbine is one of the most serious equipment accidents in the wind farm. In the slightest, it may cause damage to large components such as the unit’s pitch system and blades, and in severe cases, it may cause the blades to break and the blades to sweep. The bolts of the tower and associated units were broken, the main frame was deformed, and the generator and gearbox were damaged together, which even caused fires, collapses and personal injury accidents of the unit.

At present, the pitch control method in the prior art is: before the blade jams, the blade changes normally, as shown in Figure 7 (the negative output torque in the figure represents the positive torque, and the positive output torque represents the reverse direction. Torque) in stage 1 (the wavy line in the figure represents the fluctuation in actual application); after the propeller jamming fault occurs, linearly increase the output of the pitch motor until it reaches the maximum overload torque and maintains constant change, as shown in stage 2 in Figure 7 (the wavy line in the figure represents the fluctuation in actual application).

In stage 2 in Fig. 7, the additional increased resistance is counteracted by increasing the output of the pitch motor to restore the normal pitch of the blade. Complete failure, that is, the normal pitch of the blade cannot be restored.

In addition, if the blades are stuck, the pitch motor will bear the maximum overload torque for a long time, which may cause the pitch inverter in the pitch motor to overheat and self-lock, that is, the pitch motor is overheated and dead, as shown in the stage in Figure 7 3 (the wavy line in the figure represents the fluctuation in actual application), which in turn leads to the impossibility of feathering the blades, that is, the unit has a risk of speeding.

Therefore, how to improve the possibility of the stuck blade returning to normal pitch and how to avoid the hidden danger of speeding caused by the overheating and crash of the pitch motor are technical problems to be solved urgently.

Contents of the invention

In view of this, the present invention provides a wind turbine and an optimization method for coping with pitch bearing jamming, so as to improve the possibility of the stuck blades returning to normal pitch.

In order to achieve the above purpose, embodiments of the present invention provide the following technical solutions:

On the one hand, the present application provides an optimization method for dealing with pitch bearing jamming, which is applied to the main controller of a wind turbine; the optimization method for dealing with pitch bearing jamming includes:

During the pitch change process, it is judged in real time whether the blades in the wind turbine have a jamming fault;

If there is a jamming fault of the blade, between the first forward torque and the second forward torque, periodically switch the output torque of the pitch motor in the wind turbine;

During the cycle switching process, it is judged again in real time whether there is a sticking fault of the blade;

If the blade still has the fault of sticking, continue to perform the step of periodically switching the output torque of the pitch motor between the first forward torque and the second forward torque of the pitch motor ;

If the propeller does not have a propeller stuck fault, the pitch motor is controlled to output a preset positive torque.

Optionally, before the step of periodically switching the output torque of the pitch motor between the first forward torque and the second forward torque, it may further include:

increasing the output torque of the pitch motor one by one, and maintaining the corresponding first preset time after each increase, until the output torque of the pitch motor reaches the first positive torque; the first positive The absolute value of the forward torque is greater than the absolute value of the second forward torque;

After the output torque of the pitch motor reaches the first forward torque and remains corresponding to the first preset time, performing the periodic switching between the first forward torque and the second forward torque the step of output torque of the pitch motor;

In the process of step-by-step height adjustment and maintenance, it is judged in real time whether there is a jamming fault of the propeller;

If the propeller still has a propeller stuck fault, continue to perform the step of increasing the output torque of the pitch motor;

If the blade no longer has the fault of sticking, the pitch motor is controlled to output the preset positive torque.

Optionally, before the step of periodically switching the output torque of the pitch motor between the first forward torque and the second forward torque, it may further include:

Linearly increase the output torque of the pitch motor until the output torque of the pitch motor reaches the first forward torque; the absolute value of the first forward torque is greater than the absolute value of the second forward torque value;

After the output torque of the pitch motor reaches the first forward torque, keep it for a second preset time, and then perform the periodic switching between the first forward torque and the second forward torque. Describe the steps of the output torque of the pitch motor;

During the linear height adjustment process, it is judged in real time whether there is a jamming fault of the propeller;

If there is a sticking failure of the blade, continue to execute the step of linearly increasing the output torque of the pitch motor;

If the blade does not have a sticking fault, the pitch motor is controlled to output the preset positive torque.

Optionally, the absolute value of the first forward torque and the second forward torque are equal to the maximum overload torque and the rated torque respectively.

Optionally, after the step of periodically switching the output torque of the pitch motor between the first forward torque and the second forward torque, it further includes:

During the cycle switching process, judging whether the duration of the cycle switching process exceeds a time threshold;

If the duration of the cycle switching process exceeds the time threshold, the pitch motor is controlled to output a preset reverse torque until the blades are feathered, and the pitch is controlled after the blades are feathered motor shutdown;

If the duration of the periodic switching process does not exceed the time threshold, continue to execute the step of judging again in real time whether there is a sticking fault on the blade during the periodic switching process.

Optionally, the absolute value of the preset reverse torque is equal to the rated torque.

Optionally, before the step of judging in real time whether there is a jamming fault in the blade during the pitch change process, the method further includes:

Judging whether a pitch command is received;

If the pitch change command is received, the pitch change motor is controlled to output the preset forward torque.

Optionally, the absolute value of the preset forward torque is equal to the rated torque.

Optionally, judging in real time whether there is a sticking failure of the propeller, including:

judging in real time whether the pitching speed of the blade and/or the pitching angle of the blade lag behind corresponding preset values;

If the pitching speed and/or the pitching angle respectively lag behind the corresponding preset value, it is determined that the blade has a sticking fault;

If the pitch change speed and the pitch change angle are not lagged behind the corresponding preset values, it is determined that the blade does not have a sticking fault.

Another aspect of the present application provides a wind turbine, including: a main structure, a pitch system, and a main controller; wherein:

The main structure includes at least two blades; the pitch control system includes at least two pitch motors; The ends are connected, and are used to execute the optimization method for dealing with pitch bearing jamming as described in any one of the above aspects of the present application for each of the pitch motors.

It can be known from the above technical solutions that the present invention provides an optimization method for dealing with pitch bearing jamming. In this optimization method for dealing with pitch bearing jamming, since the output torque of the pitch motor changes periodically between the first forward torque and the second forward torque, the output of the pitch motor in the wind turbine is periodic Oscillating output, that is, it has a repeated impact on the obstacle that causes the blade to stick, so that the pitch bearing can repeatedly impact on the obstacle that causes the blade to be stuck by using this control method, thereby improving the speed of breaking up the obstacle. , thus increasing the likelihood that a stuck blade will return to normal pitch. In this optimization method for dealing with pitch bearing jamming, when the period of the cycle switching process exceeds the time threshold, the pitch motor can be controlled to output a preset reverse torque until the blades are feathered, and when the blades are feathered Therefore, the optimization method to deal with pitch bearing jamming can control the pitch motor shutdown in time, thereby avoiding the problem that the blades cannot be feathered due to the overheating and death of the pitch motor, thereby reducing the unit Existing speed hazards.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

FIG. 1 is a schematic flowchart of an implementation of an optimization method for dealing with pitch bearing jamming provided in the embodiment of the present application;

Fig. 2 is a schematic flowchart of another implementation of the optimization method for dealing with pitch bearing jamming provided by the embodiment of the present application before step S120;

Fig. 3 is a schematic flowchart of another implementation of the optimization method for dealing with pitch bearing jamming provided by the embodiment of the present application before step S120;

FIG. 4 and FIG. 5 are respectively schematic flow diagrams of two implementations of the optimization method for dealing with pitch bearing jamming provided by the embodiment of the present application;

Fig. 6 is a schematic flowchart of an embodiment of a real-time judgment of whether the blades in the wind turbine have a jamming fault provided by the embodiment of the present application;

7 is a schematic diagram of the output torque of the pitch motor when the pitch control method in the prior art is used to change the pitch;

FIG. 8 is a schematic diagram of the output torque of the pitch motor when the pitch is changed using the optimization method for dealing with pitch bearing jamming provided by the embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

In this application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. an actual relationship or order. Moreover, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also items not expressly listed other elements, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

When the wind turbine has been in service for a long time, the pitch bearing of the pitch system will suffer from increased wear, and the causes of wear include:

(1) The maintenance of the pitch bearing is not in place or the lubrication seal of the pitch bearing is aging. This can lead to poor lubrication of the pitch bearing, causing dry grinding, vibratory wear, corrosion, debris deposits.

(2) Overload operation of the pitch bearing. It may deform the bearing raceways, cages, balls and other components in the pitch bearing, causing debris on the surface of the pitch bearing to fall off and accumulate in the bearing raceway, resulting in increased rotational resistance of the pitch bearing.

After the wear of the pitch bearing is intensified, it will have a serious impact on the pitch bearing, for example, resulting in an increase in the overall torque required to maintain the normal rotation of the pitch bearing, that is, the blade jams at this time, and for example, resulting in The paddle bearings are unable to turn for a period of time, which is when the blade sticks.

However, using the pitch control method mentioned in the background technology can restore the jammed blade to normal pitch, but it is invalid for the stuck blade, so in order to improve the recovery of the jammed blade to normal pitch Possibility, the present application provides an optimization method for dealing with the pitch bearing jamming, which is applied to the main controller of the wind turbine; the specific flow of the optimization method for dealing with the pitch bearing jamming is shown in Figure 1, specifically including the following step:

S110. During the pitch change process, it is judged in real time whether the blades in the wind turbine are stuck.

If there is a sticking fault of the blade, step S120 and step S130 are performed in sequence; if there is no sticking fault of the blade, step S140 is performed.

Among them, the propeller jamming fault includes: blade jamming and blade jamming; since the blade jamming and blade jamming have been described in detail above, details will not be repeated here.

S120. Periodically switch the output torque of the pitch motor in the wind turbine between the first forward torque and the second forward torque.

Taking Fig. 8 as an example, the periodic switching in step S120 is shown in stage 3 in Fig. 8, the output torque of the pitch motor is periodically switched between -20Nm and -65Nm, where the negative output torque represents positive Torque, the output torque is positive to represent the reverse torque.

Since the output torque of the pitch motor changes periodically between the first forward torque and the second forward torque, the output of the pitch motor in the wind turbine is a periodic oscillating output, so the output of the pitch motor causes pitch Yekasy's obstacles have a repeated impact effect.

Optionally, in a certain cycle, the duration ratio of the first forward torque and the duration ratio of the second forward torque can be the same, as shown in stage 3 in Figure 8, or they can be different, here Not specifically limited, depending on the specific circumstances, all within the scope of protection of the present application.

Preferably, the absolute value of the first forward torque and the absolute value of the second forward torque are respectively equal to the maximum overload torque and the rated torque, so that the output of the pitch motor can be more impactful; in practical applications, including but not Limited to this preferred implementation mode, no specific limitation is made here, and it depends on specific circumstances, all of which are within the protection scope of the present application.

Normally, the maximum overload torque of the pitch motor is three times the rated torque; for example, taking a 1.5MW wind turbine as an example, the motor torque required for normal pitch change, that is, the rated torque is generally around 20Nm, so the maximum overload torque is generally Around 60Nm.

S130. During the cycle switching process, it is judged again in real time whether there is a propeller stuck fault.

If the blade still has the fault of sticking, continue to perform step S120; if the fault of the blade does not have the fault of sticking, perform step S140.

S140. Control the pitch motor to output a preset positive torque.

Taking Fig. 8 as an example, the output in step S140 is shown in stage 1 in Fig. 8, the output torque of the pitch motor fluctuates around -20Nm, and it can be approximately considered that the output torque of the pitch motor is equal to -20Nm; where, the output Negative torque represents positive torque, and positive output torque represents reverse torque. In addition, it should be noted that the up and down fluctuations are due to interference in practical applications, which is not an ideal state.

Optionally, the absolute value of the preset forward torque may be equal to the rated torque; in practical applications, including but not limited to this embodiment, no specific limitation is made here, depending on the specific circumstances, all are covered by the protection of this application within range.

It can be seen from the above that the output of the pitch motor in the wind turbine has repeated impact on the obstacle causing the blade to stick, so that the control method can be used to make the pitch bearing repeatedly impact on the obstacle causing the blade to stick, This in turn increases the likelihood of breaking away obstructions that are causing the blade to stick, thus increasing the likelihood that a stuck blade will return to normal pitch.

Another embodiment of the present application provides another implementation of an optimization method for dealing with pitch bearing jamming. The specific process is shown in FIG. 2 . On the basis of the above embodiment, the following steps are also included before step S120:

S210. Increase the output torque of the pitch motor one by one, and maintain the corresponding first preset time after each increase, until the output torque of the pitch motor reaches the first positive torque.

Taking Figure 8 as an example, step S210 is gradually increased as shown in Phase 2 in Figure 8, the output torque is increased to -25Nm at 16s and maintained for 18s; after that, it is increased to -40Nm at 19s and maintained for 20s; Finally, increase to -65Nm at 21s, and keep it until 22s; among them, the output torque is negative to represent the positive torque, and the output torque is positive to represent the reverse torque.

Wherein, the absolute value of the first forward torque is greater than the absolute value of the second forward torque.

The corresponding first preset time is the first preset time corresponding to each increase target of the output torque of the pitch motor, and each first preset time can be completely the same or not, and can be adjusted according to actual needs. The settings are not specifically limited here, and are all within the protection scope of the present application.

Since the output torque of the pitch motor increases gradually, the output of the pitch motor is a stepwise output, so the output of the pitch motor has an impact on the obstacles that cause the blades to stick.

S220. After the output torque of the pitch motor reaches the first forward torque and remains for a corresponding first preset time, execute step S120.

S230. During the process of step-by-step height adjustment and maintenance, it is judged in real time whether there is a propeller jam fault.

If the blade still has the fault of sticking, perform step S210; if the fault of the blade no longer has the fault of sticking, perform step S140.

It can be seen from the above that the output of the pitch motor in the wind turbine has an impact on the obstacle causing the blade to stick, so this embodiment can impact the obstacle causing the blade to stick before repeated impacts, thereby This further increases the likelihood of breaking away obstructions causing blade sticking, thus further increasing the likelihood of a stuck blade returning to normal pitch.

Another embodiment of the present application provides another implementation of an optimization method for dealing with pitch bearing jamming. The specific process is shown in FIG. 3 . On the basis of the above embodiment, the following steps are also included before step S120:

S310. Linearly increase the output torque of the pitch motor until the output torque of the pitch motor reaches the first positive torque.

Wherein, the absolute value of the first forward torque is greater than the absolute value of the second forward torque.

S320. After the output torque of the pitch motor reaches the first forward torque, keep it for a second preset time, and then execute step S120.

Wherein, the second preset time can be set according to the actual situation, and is not specifically limited here, and is within the protection scope of the present application, depending on specific circumstances, and is within the protection scope of the present application.

S330. During the linear height adjustment process, it is judged in real time whether there is a propeller stuck fault.

If there is a sticking fault of the blade, perform step S310; if there is no sticking fault of the blade, perform step S140.

Since the output torque of the pitch motor is linearly increased, the pitch bearing can overcome the additional resistance caused by its own wear, so by adding steps S310-S330, the problem of blade jamming can be solved; and, in the output of the pitch motor Before the torque reaches the first positive torque, if there is always a sticking problem with the blade, after the output torque of the pitch motor reaches the first positive torque, it can be equivalent to the occurrence of the blade sticking, that is, it can be used as a propeller. Basis for discrimination of Yekala.

When the absolute value of the first forward torque and the absolute value of the second forward torque are respectively the maximum overload torque and the rated torque, another embodiment of the present application provides another implementation of an optimization method for dealing with pitch bearing jamming , its specific process is shown in Figure 4 (only shown on the basis of Figure 2), on the basis of the above-mentioned embodiment, after step S120, the following steps are also included:

S410. During the cycle switching process, determine whether the duration of the cycle switching process exceeds a time threshold.

If the duration of the cycle switching process exceeds the time threshold, execute step S420; if the duration of the cycle switching process exceeds the time threshold, continue to execute step S130.

S420. Control the pitch motor to output a preset reverse torque until the blades are feathered, and control the pitch motor to stop after the blades are feathered.

Taking Fig. 8 as an example, the output in step S410 is shown in stage 4 in Fig. 8. After 30s, the output torque fluctuates around 20Nm, and then the output torque will become 0Nm at a certain moment. Fig. 8 shows this The process is omitted, so I won’t go into details here; among them, the negative output torque represents positive torque, and the positive output torque represents reverse torque. In addition, it should be noted that the up and down fluctuations are due to interference in actual applications, which is not an ideal state. .

Wherein, the time threshold is the longest time during which the pitch motor can continuously output the maximum overload torque without stopping.

Optionally, the absolute value of the preset reverse torque is equal to the rated torque. In practical applications, including but not limited to this embodiment, there is no specific limitation here, depending on the specific circumstances, all within the scope of protection of this application Inside.

From the above, it can be known that step S410 is added in this embodiment to control the shutdown of the pitch motor in time, thereby avoiding the problem that the blades cannot be feathered due to overheating and shutdown of the pitch motor, thereby reducing the potential safety hazard of the unit.

Another embodiment of the present application provides another implementation of an optimization method for dealing with pitch bearing jamming, the specific process of which is shown in Figure 5 (shown only on the basis of Figure 2 ), on the basis of the above embodiments, Before step S110, the following steps are also included:

S510. Determine whether a pitch change command is received.

If the pitch change instruction is received, step S520 is executed; if the pitch change instruction is not received, the execution of the optimization method for dealing with pitch pitch bearing jamming is stopped.

S520. Control the pitch motor to output a preset positive torque.

Another embodiment of the present application provides a specific implementation method for judging in real time whether there is a fault in the blades of the wind turbine. The specific process is shown in Figure 6, including the following steps:

S610 , judging in real time whether the pitching speed of the blade and/or the pitching angle of the blade lag behind corresponding preset values respectively.

If the pitching speed and/or the pitching angle are lagging behind the corresponding preset values, step S620 is executed; if the pitching speed and the pitching angle are not lagging behind the corresponding preset values, step S630 is executed.

S620. It is determined that the propeller blade has a propeller stuck fault.

S630. It is determined that there is no propeller stuck fault.

Wherein, the corresponding preset value of the pitching speed includes: the preset value of the pitching speed at each moment, and the corresponding preset value of the pitching angle includes: the preset value of the pitching angle at each moment; The preset value at each moment and the preset value of the pitch angle at each moment are set according to the actual situation of normal pitching. Therefore, the preset value of pitching speed at each moment can represent the normal pitching process at each moment. The preset values of pitch speed and pitch angle at each moment can represent the pitch angle at each moment in the normal pitch process.

It can be seen from this that at a certain moment, the pitching speed of the blade lags behind the corresponding preset value, and/or the pitch angle of the blade lags behind the corresponding preset value, both of which indicate that the pitching speed of the blade at this moment lags behind the corresponding preset value. The propeller state has not reached the actual normal pitch state; at a certain moment, the pitch speed of the blade does not lag behind the corresponding preset value, and the pitch angle of the blade does not lag behind the corresponding preset value, indicating that at this moment The pitch state of the lower blade reaches the actual normal pitch state.

The above is only a specific example for judging in real time whether the blades in the wind turbine have a stuck fault. In practical applications, including but not limited to the above examples, there is no specific limitation here. Depending on the specific circumstances, all within the scope of protection of the present application.

Another embodiment of the present application provides a wind turbine, which specifically includes: a main structure, a pitch system, and a main controller.

In the wind turbine, the main structure includes at least two blades; the pitch system includes at least two pitch motors; the main controller is connected to the control terminals of corresponding devices in the main structure and the control terminals of each pitch motor, The optimization method for dealing with pitch bearing jamming provided in the above embodiments is performed on each pitch motor.

Optionally, the main controller can be integrated in the pitch system, or it can be independent of the pitch system, which is not specifically limited here, and is within the scope of protection of this application, depending on the specific circumstances. within the scope of protection.

For the above description of the disclosed embodiments, the features recorded in each embodiment in this specification can be replaced or combined with each other, so that those skilled in the art can implement or use the present application. The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person familiar with the art, without departing from the scope of the technical solution of the present invention, can use the methods and technical content disclosed above to make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent of equivalent change Example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention, which do not deviate from the technical solution of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims (8)

1. An optimization method for dealing with pitch bearing clamping is characterized by being applied to a main controller of a wind turbine generator; the optimization method for dealing with the clamping of the variable-pitch bearing comprises the following steps:

in the pitch control process, judging whether a blade in the wind turbine generator has a blade clamping fault in real time;

if the blades have blade clamping faults, gradually increasing the output torque of the variable-pitch motor, and keeping the output torque for corresponding first preset time after each increase until the output torque of the variable-pitch motor reaches first forward torque;

after the output torque of the variable-pitch motor reaches the first forward torque and is kept corresponding to the first preset time, periodically and circularly switching the output torque of the variable-pitch motor in the wind turbine generator between the first forward torque and the second forward torque; an absolute value of the first forward torque is greater than an absolute value of the second forward torque;

or,

if the paddle has a paddle clamping fault, linearly increasing the output torque of the variable-pitch motor until the output torque of the variable-pitch motor reaches the first forward torque;

after the output torque of the variable pitch motor reaches the first forward torque and is kept for a second preset time, periodically and circularly switching the output torque of the variable pitch motor in the wind turbine generator between the first forward torque and the second forward torque;

judging whether the paddle has a paddle clamping fault in real time again in the periodic cycle switching process;

if the blade is still blocked, continuously executing the step of periodically and circularly switching the output torque of the variable-pitch motor between the first forward torque and the second forward torque of the variable-pitch motor;

if the blade has no blade clamping fault, controlling the variable-pitch motor to output a preset forward torque;

in the process of successive height adjustment and maintenance, judging whether the blade has a blade clamping fault in real time;

if the blade still has a blade clamping fault, continuously executing the step of gradually increasing the output torque of the variable pitch motor;

if the blade does not have the blade clamping fault, controlling the variable-pitch motor to output the preset forward torque;

or,

in the linear height adjustment process, judging whether the blade has a blade clamping fault in real time;

if the blade has a blade clamping fault, continuing to perform the step of linearly increasing the output torque of the variable pitch motor;

and if the blade has no blade clamping fault, controlling the variable-pitch motor to output the preset forward torque.

2. The method for optimizing pitch bearing jamming according to claim 1, wherein the absolute value of the first forward torque and the absolute value of the second forward torque are equal to a maximum overload torque and a rated torque, respectively.

3. The method for optimizing pitch bearing jam according to claim 2, wherein after the step of periodically and cyclically switching the output torque of the pitch motor between the first forward torque and the second forward torque, the method further comprises:

in the periodic cycle switching process, judging whether the running time of the periodic cycle switching process exceeds a time threshold value;

if the time for the periodic cycle switching process exceeds a time threshold, controlling the variable pitch motor to output a preset reverse torque until the blades are feathered, and controlling the variable pitch motor to stop after the blades are feathered;

and if the proceeding time of the periodic cycle switching process does not exceed the time threshold, continuously executing the step of judging whether the blade has blade clamping faults in real time again in the periodic cycle switching process.

4. The method of claim 3, wherein the absolute value of the predetermined reverse torque is equal to a rated torque.

5. The optimization method for dealing with pitch bearing jamming according to claim 1, wherein before the step of judging whether the blade has jamming failure in real time in a pitch changing process, the method further comprises:

judging whether a pitch change instruction is received or not;

and if the pitch control instruction is received, controlling the pitch control motor to output the preset forward torque.

6. The optimization method for dealing with pitch bearing jamming according to any one of claims 1 to 5, wherein an absolute value of the preset forward torque is equal to a rated torque.

7. The optimization method for dealing with pitch bearing blade jamming according to any one of claims 1 to 5, wherein the step of judging whether the blade has blade jamming faults in real time comprises the following steps:

judging whether the variable pitch speed of the blades and/or the variable pitch angle of the blades respectively lag behind corresponding preset values in real time;

if the variable pitch speed and/or the variable pitch angle respectively lag behind corresponding preset values, judging that the blade has a blade clamping fault;

and if the variable pitch speed and the variable pitch angle do not lag behind corresponding preset values respectively, judging that the blade has no blade clamping fault.

8. A wind turbine, comprising: the main structure, the variable pitch system and the main controller; wherein:

the main structure comprises at least two blades; the pitch system comprises at least two pitch motors;

the main controller is respectively connected with the control end of a corresponding device in the main structure and the control end of each variable pitch motor, and is used for executing the optimization method for the corresponding variable pitch bearing clamping according to any one of claims 1 to 7 on each variable pitch motor.

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