CN114876730B - Wind power generator gust descending operation control method - Google Patents
Wind power generator gust descending operation control method Download PDFInfo
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- CN114876730B CN114876730B CN202210503469.1A CN202210503469A CN114876730B CN 114876730 B CN114876730 B CN 114876730B CN 202210503469 A CN202210503469 A CN 202210503469A CN 114876730 B CN114876730 B CN 114876730B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/32—Wind speeds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Mechanical Engineering (AREA)
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- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a control method for wind-gust descending operation of a wind driven generator, which comprises the steps of obtaining a measured wind speed at a fan through a laser wind-finding radar; obtaining wind directions through a wind vane at the top of the engine room, if the wind directions measured by the laser wind measuring radar and the wind direction deviation measured by the wind vane at the top of the engine room are within a set degree, executing yaw action by taking the wind direction measured by the laser radar as a reference, otherwise, executing yaw action by taking the wind direction measured by the wind vane at the top of the engine room as a reference, and ensuring that the fan accurately measures wind; according to the relation between the power and the torque of the generator, estimating an estimated wind speed value through Newton iterative algorithm estimation; measuring the wind speed at the cabin of the fan through an anemometer to obtain a measured wind speed value at the cabin, and estimating the wind speed value at the cabin according to the measured wind speed value at the cabin; according to the wind speed difference between the measured wind speed and the wind speed at the cabin, a pitch compensation coefficient is obtained, a pitch compensation value is obtained according to the pitch coefficient, and a pitch controller controls the fan to pitch according to the pitch compensation value.
Description
Technical Field
The invention relates to the field of wind power generation, in particular to a wind power generator gust descending operation control method.
Background
At present, the scale of the wind power general assembly machine of China has been changed from the previous 1MW and 1.5MW to the 6MW level according to the first world, the offshore wind power machine is also changed from the previous 1.5MW and 3MW levels to the 10MW and 12MW levels, even the 16MW level, the increase of the single machine capacity of the wind power machine also needs to be supported by the increase of the blade length, the blade length of the wind power machine is increased to the length of 102 meters, the increase of the blade length of the wind power machine has larger waving and swinging problems, the wind power machine is required to face larger fatigue load and limit load problems, and the weight and the mechanical strength of the tower barrel are also continuously increased during design, so that a load reducing method is necessary to design the wind power machine to face gust problems under gust wind, and the wind power load is effectively reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wind power generator gust descending operation control method, which comprises the following steps:
step one, acquiring wind speed data and wind direction data at a set distance from a wind turbine of a wind driven generator through a laser wind measuring radar, and obtaining a measured wind speed at the wind turbine according to the wind speed data;
step two, obtaining wind direction through a wind vane at the top of the engine room, if the wind direction measured by a laser wind measuring radar and the wind direction deviation measured by the wind vane at the top of the engine room are within a set degree, executing yaw action by taking the wind direction measured by the laser radar as a reference, otherwise, executing yaw action by taking the wind direction measured by the wind vane at the top of the engine room as a reference, and ensuring that a fan accurately measures wind;
thirdly, according to the relation between the power and the torque of the generator, estimating an estimated wind speed value through Newton iterative algorithm estimation;
measuring the wind speed at the cabin of the fan through an anemometer to obtain a measured wind speed value at the cabin, and estimating the wind speed value at the cabin according to the measured wind speed value at the cabin and the estimated wind speed value;
fifthly, obtaining a variable pitch compensation coefficient according to a wind speed difference value between the measured wind speed and the wind speed at the cabin, obtaining a variable pitch compensation value according to the variable pitch coefficient, and controlling the variable pitch of the fan by the variable pitch controller according to the variable pitch compensation value.
Further, the method for obtaining the measured wind speed at the fan according to the wind speed data comprises the following steps:
the wind speed is calculated as follows:
V LOS1，2 ＝w cosα±u sinα
v is the laser radar synthesized wind speed; u is the tangential wind speed of the laser radar; w is the axial wind speed of the laser radar; v (V) los1 Wind speed for los1 laser beam direction; v (V) los2 Wind speed for los2 laser beam direction; alpha is the included angle between the los1 laser beam and the los2 laser beam and the axis;obtaining the wind speed V of a laser wind-finding radar for the relative wind direction;
smoothing filter processing is carried out on the measured wind speed of the laser radar:
outputting filtered data for the nth sample; x is X n-i Sampling data of the nth-i times; n is the average time coefficient, the sliding average value is the measured wind speed, and is recorded as V lidar 。
Further, the estimating wind speed value is estimated through Newton iterative algorithm according to the relation between the power and the torque of the generator, and the method comprises the following steps:
according to the relation between the power and the torque of the generator, the following calculation can be performed:
P＝T electric generator ×ω
Wherein: p is the active power of the wind driven generatorRate, T Electric generator The pneumatic torque of the wind driven generator is adopted, and omega is the rotation angular speed of the wind driven generator; the aerodynamic torque can be obtained from actual measurement of the frequency converter, and then the effective wind speed value is estimated according to Newton iterative algorithm:
wherein, the optimal solution of V is the estimated wind speed value, which is marked as V Estimation 。
Further, the wind speed at the cabin of the fan is measured through an anemometer to obtain a measured wind speed value at the cabin, and the following formula is adopted according to the measured wind speed value at the cabin and the estimated wind speed value at the cabin:
wind speed value at nacelle:
V nacelle wind speed ＝avg(V Measurement of ，V Estimation )。
Further, the pitch compensation coefficient is obtained according to the difference between the measured wind speed and the wind speed at the nacelle, the pitch compensation value is obtained according to the pitch coefficient, and the pitch controller controls the fan to pitch according to the pitch compensation value, comprising the following steps:
wind speed V at nacelle Nacelle wind speed And measuring wind speed V by laser radar lidar The absolute value of the wind speed difference value is more than 2m/s, namely gusts are obtained, the gust starting value is 5m/s, the feedforward controller obtains a pitch angle feedforward value according to wind speed, the pitch angle feedforward value is added with the pitch angle output by the PID controller to be used as a pitch angle set value of a pitch-variable system, and pitch control is carried out according to the pitch angle set value; the feedforward controller expression is:
the beneficial effects of the invention are as follows: the wind driven generator can effectively reduce the load of the fan and prolong the service life of the fan while keeping good output under complex meteorological conditions.
Drawings
FIG. 1 is a method for controlling wind turbine gust descending operation;
FIG. 2 is a schematic diagram of feed forward control;
fig. 3 is a schematic diagram of laser radar anemometry.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
As shown in fig. 1, a wind power generator gust descending operation control method comprises the following steps:
step one, acquiring wind speed data and wind direction data at a set distance from a wind turbine of a wind driven generator through a laser wind measuring radar, and obtaining a measured wind speed at the wind turbine according to the wind speed data;
step two, obtaining wind direction through a wind vane at the top of the engine room, if the wind direction measured by a laser wind measuring radar and the wind direction deviation measured by the wind vane at the top of the engine room are within a set degree, executing yaw action by taking the wind direction measured by the laser radar as a reference, otherwise, executing yaw action by taking the wind direction measured by the wind vane at the top of the engine room as a reference, and ensuring that a fan accurately measures wind;
thirdly, according to the relation between the power and the torque of the generator, estimating an estimated wind speed value through Newton iterative algorithm estimation;
measuring the wind speed at the cabin of the fan through an anemometer to obtain a measured wind speed value at the cabin, and estimating the wind speed value at the cabin according to the measured wind speed value at the cabin and the estimated wind speed value;
fifthly, obtaining a variable pitch compensation coefficient according to a wind speed difference value between the measured wind speed and the wind speed at the cabin, obtaining a variable pitch compensation value according to the variable pitch coefficient, and controlling the variable pitch of the fan by the variable pitch controller according to the variable pitch compensation value.
The method for obtaining the measured wind speed at the fan according to the wind speed data comprises the following steps:
the wind speed is calculated as follows:
V LOS1，2 ＝w cosα±u sinα
v is the laser radar synthesized wind speed; u is the tangential wind speed of the laser radar; w is the axial wind speed of the laser radar; v (V) los1 Wind speed for los1 laser beam direction; v (V) los2 Wind speed for los2 laser beam direction; alpha is the included angle between the los1 laser beam and the los2 laser beam and the axis;obtaining the wind speed V of a laser wind-finding radar for the relative wind direction;
smoothing filter processing is carried out on the measured wind speed of the laser radar:
outputting filtered data for the nth sample; x is X n-i Sampling data of the nth-i times; n is the average time coefficient, the sliding average value is the measured wind speed, and is recorded as V lidar 。
According to the relation between the power and the torque of the generator, the estimated wind speed value is estimated through Newton iterative algorithm, and the method comprises the following steps:
according to the relation between the power and the torque of the generator, the following calculation can be performed:
P＝T electric generator ×ω
Wherein: p is the active power of the wind driven generator, T Electric generator The pneumatic torque of the generator is adopted, and omega is the rotation angular speed of the generator; the aerodynamic torque can be obtained from actual measurement of the frequency converter, and then the effective wind speed value is estimated according to Newton iterative algorithm:
wherein, the optimal solution of V is the estimated wind speed value, which is marked as V Estimation 。
The wind speed at the cabin of the fan is measured through an anemometer, a measured wind speed value at the cabin is obtained, and according to the measured wind speed value at the cabin and the estimated wind speed value, the wind speed value at the cabin is calculated by adopting the following formula:
wind speed value at nacelle:
V nacelle wind speed ＝avg(V Measurement of ，V Estimation )。
According to the wind speed difference between the measured wind speed and the wind speed at the cabin, a pitch compensation coefficient is obtained, a pitch compensation value is obtained according to the pitch coefficient, and a pitch controller controls a fan to pitch according to the pitch compensation value, comprising the following steps:
wind speed V at nacelle Nacelle wind speed And measuring wind speed V by laser radar lidar The absolute value of the wind speed difference value is more than 2m/s, namely gusts are obtained, the gust starting value is 5m/s, the feedforward controller obtains a pitch angle feedforward value according to wind speed, the pitch angle feedforward value is added with the pitch angle output by the PID controller to be used as a pitch angle set value of a pitch-variable system, and pitch control is carried out according to the pitch angle set value; the feedforward controller expression is:
specifically, wind speed data acquisition and processing adopt 4 light beam airborne wind-measuring laser radar to measure wind speed and wind direction. The wind speed is calculated as follows:
V Los1，2 ＝w cosα±u sinα
and then obtaining the laser radar measured wind speed V.
Radar wind speed data processing
The wind speed acquisition frequency of the laser wind measuring radar is 1Hz, and the measured wind speed of the laser radar is subjected to smoothing filter treatment:
outputting filtered data for the nth sample; x is X n-i Sampling data of the nth-i times; n is an average time coefficient, N can be 10 or other values, and the sliding average value is the wind speed value at the front end of the wind wheel 100 meters and is recorded as V lidar 。
The nacelle tail is fitted with an anemometer, but its measurement (denoted V Measurement of ) Due to the influence of the rotation of the wind wheel, measurement inaccuracy can be caused; according to the relation between the power and the torque of the generator, the following calculation can be performed:
P＝T electric generator ×ω
Wherein: p is the active power of the wind driven generator, T Electric generator The pneumatic torque of the generator is adopted, and omega is the rotation angular speed of the generator; the aerodynamic torque can be obtained from actual measurement of the frequency converter, and then the effective wind speed value is estimated according to Newton iterative algorithm:
wherein, the optimal solution of V is the estimated wind speed value, which is marked as V Estimation 。
Because the estimated wind speed value can be calculated only in the power generation state, the wind speed measurement installed at the tail of the nacelle should also be taken into the control flow to obtain the wind speed value at the nacelle:
V nacelle wind speed ＝avg(V Measurement of ，V Estimation )
Considering that the wind speed is proportional to the power of 3, the gust opening threshold cannot be defined too large, the wind speed V at the nacelle Nacelle wind speed And measuring wind speed V by laser radar lidar The absolute value of the wind speed difference value is more than 2m/s, and the wind speed difference value can be defined as gust. The wind gust start value may be defined as 5m/s or other parameter values.
Drop run control
1. When the fan is in the incoming wind gust, the wind gust controls the compensation of the pitch speed or the pitch angle, and the pitch collecting speed is 1.2 times of the normal running speed. Meanwhile, the variable pitch speed output amplitude of the gust controller is limited to be within (-2, +6) DEG/s.
2. If the wind speed is above the rated wind speed, the gust judgment is carried out after the wind speed starting threshold value according to the length of the fan blade, the capacity of the whole machine and the characteristics and the power characteristics of the pitch system, and if the gust is judged to be coming, the target rotating speed is reduced, and the target set rotating speed can be properly reduced by 50rpm. And simultaneously, adjusting the pitch rate and the pitch rate according to a preset coefficient.
3. The feedforward controller is designed, and the feedforward controller has the function of giving a proper pitch angle feedforward value according to the wind speed, and adding the feedforward value with the pitch angle output by the PID controller to be used as a pitch angle set value of the pitch system. When the wind speed increases, the feedforward controller increases the pitch angle set value in time, so that the pitch angle increases, and the wind energy absorbed by the wind wheel is reduced. Otherwise, the feedforward controller reduces the pitch angle set value and increases the wind energy absorbed by the wind wheel, so that the power above the rated wind speed is maintained constant. The feedforward controller expression is designed as follows:
1. measuring wind speed and wind direction information of front end of fan
In actual operation of the wind turbine, if the wind condition in front of the wind wheel can be obtained, the defects of the traditional wind measuring system can be avoided. Therefore, the coherent Doppler laser radar anemometer with wider application can be selected. The principle is that the light emitted by the laser is reflected by small particles, pollen, dust and water drops in the air, and the movement speed and direction of the small particles can be calculated by utilizing the laser Doppler effect, and the movement speed of the small particles is characterized by the measured wind condition because the movement and change direction of the small particles and the wind are the same. The laser anemometer emits 4 laser beams which respectively form an included angle of 30 degrees with the central axis of the wind wheel, the 4 laser beams measure the wind speed and the wind direction at the position of 100m, and then the wind speed and the wind direction at the position of 100m right in front of the wind wheel are synthesized in a vector mode.
2. Logic design
2.1, calculating the wind speed and the wind direction at the front end of the wind wheel by 100 meters;
2.2, if the wind direction measured by the laser radar and the wind direction deviation measured by the wind vane at the top of the engine room are within 10 degrees, yaw action is executed by taking the wind direction measured by the laser radar as a reference, otherwise, yaw action is executed by taking the wind direction measured by the wind vane at the top of the engine room as a reference, accurate wind alignment of a fan is ensured, and the load of the fan is reduced;
2.3, calculating an anemometer at the top of the engine room and a predicted wind speed and a reduced wind speed;
2.4, calculating a variable pitch compensation coefficient according to the wind speed deviation;
2.5, the current pitch angle is properly reduced, the reduced value is the ratio of the wind speed of the cabin to the wind speed difference at the radar and the time t, and the reduced value is multiplied by a proper coefficient;
target pitch = current pitch x k x t
Where k is a correction coefficient.
2.6 the current pitch speed should be extended by a factor of 1.2 (or other design parameters);
2.7 speed control
When the wind speed at the front end of the fan and the wind speed deviation at the fan are more than 3m/s (or other set parameters), the calculated pitch compensation value is sent to the pitch controller, so that the pitch position demand calculated by the pitch control main controller is focused on the unloading power, and meanwhile, the pitch control target rotating speed is reduced by 50rpm (or other set parameters).
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (1)
1. The wind power generator gust descending operation control method is characterized by comprising the following steps of:
step one, acquiring wind speed data and wind direction data at a set distance from a wind turbine of a wind driven generator through a laser wind measuring radar, and obtaining a measured wind speed at the wind turbine according to the wind speed data;
step two, obtaining wind direction through a wind vane at the top of the engine room, if the wind direction measured by a laser wind measuring radar and the wind direction deviation measured by the wind vane at the top of the engine room are within a set degree, executing yaw action by taking the wind direction measured by the laser radar as a reference, otherwise, executing yaw action by taking the wind direction measured by the wind vane at the top of the engine room as a reference, and ensuring that a fan accurately measures wind;
thirdly, according to the relation between the power and the torque of the generator, estimating an estimated wind speed value through Newton iterative algorithm estimation;
measuring the wind speed at the cabin of the fan through an anemometer to obtain a measured wind speed value at the cabin, and estimating the wind speed value at the cabin according to the measured wind speed value at the cabin and the estimated wind speed value;
step five, obtaining a variable pitch compensation coefficient according to a wind speed difference value between the measured wind speed and the wind speed at the cabin, obtaining a variable pitch compensation value according to the variable pitch coefficient, and controlling the variable pitch of the fan by a variable pitch controller according to the variable pitch compensation value;
the method for obtaining the measured wind speed at the fan according to the wind speed data comprises the following steps:
the wind speed is calculated as follows:
v is the laser radar synthesized wind speed; u is the tangential wind speed of the laser radar; w is the axial wind speed of the laser radar;wind speed for los1 laser beam direction; />Wind speed for los2 laser beam direction; />Is the included angle between the axis and the los1 laser beam and the los2 laser beam; />Obtaining the wind speed V of a laser wind-finding radar for the relative wind direction;
smoothing filter processing is carried out on the measured wind speed of the laser radar:
outputting filtered data for the nth sample; />Sampling data of the nth-i times; n is the average time coefficient, the sliding average value is the measured wind speed, recorded as +.>；
According to the relation between the power and the torque of the generator, the estimated wind speed value is estimated through Newton iterative algorithm, and the method comprises the following steps:
according to the relation between the power and the torque of the generator, the following calculation can be performed:
wherein: p is the active power of the wind driven generator,pneumatic torque for generator, < >>The rotation angular velocity of the generator; the aerodynamic torque can be obtained from actual measurement of the frequency converter, and then the effective wind speed value is estimated according to Newton iterative algorithm:
wherein, the optimal solution of v is the estimated wind speed value, which is recorded as；
The wind speed at the cabin of the fan is measured through an anemometer, a measured wind speed value at the cabin is obtained, and according to the measured wind speed value at the cabin and the estimated wind speed value, the wind speed value at the cabin is calculated by adopting the following formula:
wind speed value at nacelle:
according to the wind speed difference between the measured wind speed and the wind speed at the cabin, a pitch compensation coefficient is obtained, a pitch compensation value is obtained according to the pitch coefficient, and a pitch controller controls a fan to pitch according to the pitch compensation value, comprising the following steps:
wind speed at nacelleAnd laser radar measuring wind speed +.>The absolute value of the wind speed difference value is more than 2m/s, namely gusts are obtained, the gust starting value is 5m/s, the feedforward controller obtains a pitch angle feedforward value according to the wind speed, the pitch angle feedforward value is added with the pitch angle output by the PID controller to be used as a pitch angle set value of a pitch-variable system, and pitch control is carried out according to the pitch angle set value; the feedforward controller expression is:
；
the drop operation control includes:
(1) When the fan is in an incoming flow gust, the gust control compensates the pitch speed or the pitch angle, the pitch collecting speed is 1.2 times of the normal running speed, and meanwhile, the pitch speed output amplitude of the gust controller is limited to be within (-2, +6) DEG/s;
(2) If the wind speed is above the rated wind speed, judging gusts after a wind speed starting threshold according to the length of a fan blade, the capacity of a single unit of the whole machine, the characteristics of a variable pitch system and the power characteristics, and if the gusts are judged to be coming, reducing the target rotating speed, wherein the target rotating speed can be properly reduced by 50rpm; simultaneously, adjusting the variable pitch rate and the variable pitch rate according to a preset coefficient;
(3) The feedforward controller is designed, and the feedforward controller has the function of giving a proper pitch angle feedforward value according to the wind speed, adding the feedforward value with the pitch angle output by the PID controller and taking the pitch angle as a pitch angle set value of the pitch system; when the wind speed increases, the feedforward controller increases the pitch angle set value in time, so that the pitch angle increases, and the wind energy absorbed by the wind wheel is reduced; otherwise, the feedforward controller reduces the pitch angle set value and increases the wind energy absorbed by the wind wheel, so that the power above the rated wind speed is maintained constant.
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