CN115680994A - Variable pitch control method and control method of wind generating set and controller - Google Patents

Abstract

The pitch control method of the wind generating set, the control method and the controller are disclosed, and the pitch control method comprises the following steps: determining whether communication with a main controller of the wind generating set is interrupted or not in a variable pitch state; in response to an interruption in communication with the main controller, controlling the pitch system to operate in a redundant mode of operation, wherein in the redundant mode of operation, a given pitch speed is controlled to change from a first speed value at which the communication with the main controller is interrupted to 0; detecting whether communication with the primary controller is restored during the redundant mode of operation; in response to communication with the main controller resuming during the redundant mode of operation, or with the main controller resuming at the end of the redundant mode of operation, pitch operation is performed based on the given pitch speed received from the main controller.

Description

Variable pitch control method and control method of wind generating set and controller

Technical Field

The present disclosure relates generally to the field of wind power generation technology, and more particularly, to a pitch control method and a pitch controller of a wind turbine generator system, a control method and a controller of a wind turbine generator system, and a wind turbine generator system including the pitch controller and/or the controller.

Background

At present, a control method of a pitch system of a wind generating set is mainly implemented by the following modes: the main control system of the wind generating set detects the actual rotating speed value of the generator, sets a target rotating speed value according to the model characteristics of the generator, performs PID operation on the deviation between the target rotating speed value and the actual rotating speed value, outputs the paddle angle variation, transmits communication data to the paddle changing system through the slip ring by a signal line, and executes the paddle changing operation after receiving a paddle angle variation instruction sent by the main control system, so that the paddle adjusting function is realized, and the aims of tracking the maximum power of the wind generating set and stabilizing the rotating speed are fulfilled.

The conductive slip ring is a precision power transmission device which transmits electric signals and electric energy between a rotating part and a rolling or sliding part of a fixed seat frame by utilizing sliding contact, electrostatic coupling or electromagnetic coupling of a conductive ring. Conductive slip rings are widely used in all electromechanical systems that require the provision of unlimited, continuous or intermittent 360 ° rotation, multi-path rotational power, data and signals. The conductive slip ring simplifies the structure of a communication system and avoids sprain caused by the lead in the rotation process. The slip rings must be designed to ensure reliable contact and continuous connection of all lines.

However, since the conductive slip ring transmits dozens of different electrical signals, including high-frequency alternating current, high-voltage alternating current, large-current alternating current and small-current direct current, these signals interfere with each other during transmission, and the accuracy of information transmission is seriously affected. The interference generated during the signal transmission process includes electrostatic inductive coupling, magnetic field inductive coupling, and electromagnetic field inductive coupling. The electrostatic inductive coupling interference is caused by the capacitance between the wires and the distributed capacitance between the rings in the conductive slip ring, which will generate an electrostatic induced voltage. Because the wires of the conductive slip ring are close to each other and the rings are close to each other, when alternating current passes through the rings, mutual induction action causes mutual induction voltage to be generated between the adjacent wires and the rings, namely, magnetic field inductive coupling interference. Electromagnetic field inductive coupling interference is also formed when the voltage of the interference source is high and the frequency is high. In addition, the input signal of the conductive slip ring may cause interference due to sudden changes of current and voltage in the switching process of the input line.

Communication data are digital quantity signals and are sensitive, the interference of a conductive slip ring easily influences the stability and reliability of the communication data, a master control system controls the operation of a variable pitch system and transmits various data through the conductive slip ring, so that the conductive slip ring is interfered frequently to cause communication flash (communication interruption is short, for example, the phenomenon of recovery after 1 second), and the wind generating set is stopped; or, the communication data is interfered, which may cause the pitch system to receive wrong pitch angle instruction data, thereby causing malfunction of the pitch system.

At present, for faults caused by interference of the conductive slip ring, only the wind generating set can be stopped to ensure the safety of the wind generating set, namely, after a master control system detects that communication errors occur, the wind generating set can be immediately stopped by retracting the propeller to ensure the safety of the wind generating set, so that the wind generating set is unnecessarily stopped, and the generating capacity of the wind generating set is influenced. The main reasons for the shutdown of the wind turbine generator system due to the interference of the conductive slip rings are as follows.

Firstly, the variable pitch system cannot acquire a wind speed value, cannot judge the magnitude of the current wind speed value, and is transient, so that the variable pitch system cannot operate blindly after a flash failure occurs in communication, otherwise, the safety of the wind generating set is extremely easily damaged; secondly, the variable pitch system cannot detect the rotating speed value of the generator or the low-speed shaft, even if the main control system of some wind generating sets transmits the rotating speed value of the generator to the variable pitch system, data transmission is still performed through the conductive slip ring, after the conductive slip ring has a flash-off phenomenon, the data cannot be effectively transmitted, at the moment, the variable pitch system cannot operate blindly, otherwise, the safety of the wind generating sets is extremely easily damaged; thirdly, by means of communication data verification, misoperation of the variable pitch system can be effectively prevented, but the fault-tolerant function of the flashover of the conductive slip ring cannot be realized, namely, after the variable pitch system detects that a verification result of the communication data is wrong, the variable pitch system immediately executes pitch take-up and shutdown to ensure the safety of the wind generating set; fourthly, although the influence of communication interruption of the conductive slip ring can be eliminated by using a communication redundancy mode of wireless communication, the transformation cost is higher and the method is not suitable for large-scale production because the wireless communication is easily shielded or interfered and more wireless modules are required to be added; finally, although fault-tolerant operation of the wind generating set can be performed without triggering faults when communication of the conductive slip ring is interrupted, the method has certain blindness and has great hidden danger to the safety of the wind generating set, and if blades of a normal shaft are adjusted, angle-inconsistent faults can be triggered quickly, so the fault-tolerant operation time is also very short.

Disclosure of Invention

Therefore, the present disclosure provides a pitch control method and a pitch controller for a wind turbine generator system, a control method and a controller for a wind turbine generator system, and a wind turbine generator system including the pitch controller and/or the controller, which can implement a short-time fault-tolerant operation of a pitch system when communication interruption occurs between the controller of the wind turbine generator system and a single pitch controller, thereby reducing a failure rate and a downtime of the wind turbine generator, and reducing a power generation loss.

In one general aspect, there is provided a pitch control method of a wind turbine generator system, the pitch control method comprising: determining whether communication with a main controller of the wind generating set is interrupted or not in a variable pitch state; in response to the communication with the main controller being interrupted, controlling the variable pitch system to operate in a redundant operation mode, wherein in the redundant operation mode, the given variable pitch speed is controlled to change from a first speed value at the time of the communication interruption with the main controller to 0; detecting whether communication with the primary controller is restored during the redundant mode of operation; in response to communication with the main controller resuming during the redundant mode of operation, or with the main controller resuming at the end of the redundant mode of operation, pitch operation is performed based on the given pitch speed received from the main controller.

Optionally, the pitch control method further comprises: and controlling the pitch system to perform a feathering shutdown operation in response to communication with the master controller not being restored at the end of the redundant operating mode.

Optionally, the step of controlling the pitch system to operate in a redundant mode of operation comprises: determining a first speed value for a given pitch speed when communication with a master controller is interrupted; the given pitch speed is controlled to change from the first speed value to 0 based on a preset rate of change corresponding to the first speed value.

Optionally, the step of controlling the pitch system to operate in a redundant mode of operation comprises: determining a first speed value of a given variable pitch speed when communication with a main controller is interrupted, and acquiring the actual rotating speed of a variable pitch motor; in response to a difference between the first speed value and an actual rotational speed of the pitch motor being less than a predetermined threshold, controlling the given pitch speed to change from the first speed value to 0 based on the first speed value and the actual rotational speed of the pitch motor.

Optionally, the step of controlling the given pitch speed to change from the first speed value to 0 based on the first speed value and the actual rotational speed of the pitch motor comprises: determining the acceleration of the variable pitch motor based on the preset target rotating speed of the variable pitch motor and the actual rotating speed of the variable pitch motor, wherein the target rotating speed is 0; determining a new given variable-pitch speed based on the actual rotating speed and the accelerated speed of the variable-pitch motor; and controlling the pitch motor to perform pitch regulation according to the new pitch regulation given speed so as to gradually reduce the given pitch regulation speed from the first speed value to 0.

Optionally, the pitch control method further comprises: and controlling the variable-pitch system to execute a feathering shutdown operation in response to the difference between the first speed value and the actual rotating speed of the variable-pitch motor being greater than or equal to a preset threshold value.

In another general aspect, there is provided a control method of a wind turbine generator system, the control method including: determining whether communication between a main controller of the wind generating set and each variable pitch system is interrupted; determining whether a given pitch speed is 0 in response to determining that communication between the master controller and only one pitch system is interrupted; in response to determining that the given pitch speed is not 0, entering a redundant control mode, wherein in the redundant control mode the one pitch system performs the pitch control method of any of claims 1 to 6.

Optionally, the control method further includes: and when the communication between the main controller and the at least two pitch systems is determined to be interrupted, disconnecting a safety chain of the wind generating set to control the wind generating set to stop.

Optionally, the control method further includes: in response to determining that the given pitch speed is 0, waiting for a predetermined time; determining whether communication between the master controller and the one pitch system is restored within the predetermined time; in response to the predetermined time expiring and communication between the master controller and the one pitch system not yet being restored, disconnecting a safety chain of the wind park to control the wind park to shut down.

Optionally, the control method further includes: determining whether a given pitch speed becomes a non-0 value within the predetermined time; and in response to the given pitch speed becoming a non-0 value within the predetermined time and the communication between the main controller and the one pitch system not being restored, disconnecting a safety chain of the wind generating set to control the wind generating set to be shut down.

Optionally, the control method further includes: and in response to the communication between the main controller and the one variable pitch system being recovered within the preset time or when the preset time expires, controlling the wind generating set to exit the redundant operation and enter a normal operation mode.

In another general aspect, there is provided a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a pitch control method as described above or a control method as described above.

In another general aspect, there is provided a pitch controller, comprising: a processor; and a memory storing a computer program which, when executed by the processor, implements a pitch control method as described above.

In another general aspect, there is provided a controller, including: a processor; and a memory storing a computer program which, when executed by the processor, implements the control method as described above.

In another general aspect, there is provided a wind park comprising a pitch controller as described above and/or a controller as described above.

According to the embodiment of the disclosure, the fault-tolerant operation after communication interruption can be realized through the cooperative control of the main control system and the variable pitch system of the wind generating set, and the safety of the wind generating set during the fault-tolerant operation is ensured, so that the interruption condition that communication faults are frequently and alternately triggered by three shafts due to the abnormity of the conductive slip ring can be processed.

In addition, according to the embodiment of the disclosure, by using the characteristics of PID control, fault-tolerant operation after communication interruption is realized, the reliability is high, the stability is high, and wind speed prejudgment is not required. Because the difference between the newly calculated given variable pitch speed and the given variable pitch speed of the master control system is not large during the fault-tolerant operation, the variable pitch control can be continuously executed for a period of time, so that the consistency of the angles of all the blades can be ensured, and the long-time fault-tolerant operation can be realized.

Furthermore, according to embodiments of the present disclosure, fault tolerant operation after communication interruption is achieved by using PID control logic in the form of a "speed-acceleration controller", and autonomous regulation of a given pitch speed can be achieved without complex data acquisition and statistics; meanwhile, the parameters of the speed-acceleration controller can directly use corresponding parameters of a main control system of the wind generating set, so that the better three-blade angle consistency adjustment is realized, namely, the deviation between the new given variable pitch speed calculated by the variable pitch system and the given variable pitch speed sent by the main control system can be minimized, and the safe operation of the wind generating set is ensured.

Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.

Drawings

The above and other objects and features of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings illustrating the embodiments, in which:

FIG. 1 is a diagram illustrating an example of an interruption in communication between a master controller and a pitch controller during a pitch operation of a wind park;

FIG. 2 is a flow chart illustrating a pitch control method according to an embodiment of the present disclosure;

fig. 3 is a flow chart illustrating a control method of a wind park according to an embodiment of the present disclosure;

fig. 4 is a block diagram illustrating a controller of a wind park according to an embodiment of the present disclosure.

Detailed Description

The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, devices, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent to those skilled in the art after reviewing the disclosure of the present application. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be changed as will become apparent after understanding the present disclosure, in addition to operations that must occur in a particular order. Moreover, descriptions of features known in the art may be omitted for greater clarity and conciseness.

The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein, which will be apparent after understanding the disclosure of the present application.

As used herein, the term "and/or" includes any one of the associated listed items and any combination of any two or more.

Although terms such as "first", "second", and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, first component, first region, first layer, or first portion referred to in the examples described herein can also be referred to as a second member, second component, second region, second layer, or second portion without departing from the teachings of the examples.

In the specification, when an element such as a layer, region or substrate is referred to as being "on," "connected to" or "coupled to" another element, it can be directly on, connected to or coupled to the other element or intervening one or more other elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there may be no intervening elements present.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. The singular is also intended to include the plural unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in general dictionaries) should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal sense.

Further, in the description of the examples, when it is considered that detailed description of well-known related structures or functions will cause a vague explanation of the present disclosure, such detailed description will be omitted.

FIG. 1 is a diagram illustrating an example of an interruption of communication between a main controller and a pitch controller during a pitch operation of a wind park. Wind gusts occur during pitch operations of the wind park.

Referring to fig. 1, a curve 101 represents a given pitch speed issued by a main controller of a wind turbine generator system, a curve 102 represents an actual rotation speed of a pitch motor, an abscissa represents time, and an ordinate represents only a variation trend of two curves and does not represent a numerical value relationship between the two curves. Before the time t1, the variable pitch system receives a speed instruction (namely, a given variable pitch speed) issued by the main controller, and variable pitch operation is carried out. From time t1, an interruption in communication (e.g., DP communication) between the master controller and the pitch system occurs. Due to the loss of the communication data, the speed instruction received by the variable pitch system is a value 0, and the enabling signal sent by the main controller is changed into a low level, so that the variable pitch system stops variable pitch. And at the time t2, the speed instruction sent by the main controller is recovered to be normal, and the pitch control system receives the speed instruction sent by the main controller again, so that normal pitch control operation is recovered. Here, the value of the speed command issued by the main controller is calculated according to the actual rotation speed (or the actual position of the blade) and the rated rotation speed (or the target position of the blade) of the wind turbine generator system, which is not limited in any way by this disclosure, and thus detailed description thereof is omitted.

However, in order to protect the safety of the wind turbine generator system, if the time interval between the time t1 and the time t2 is greater than 220ms, the wind turbine generator system needs to perform a fault shutdown because: on one hand, the variable pitch system cannot monitor the rotating speed of the impeller and cannot run blindly; on the other hand, in the case shown in fig. 1, if a single pitch system stops pitching, and the other two pitch systems are in normal conditions under the condition of normal communication, a fault of inconsistent angles of the three blades is triggered, so that the wind generating set is stopped.

In order to solve the above-mentioned problems, a pitch control method and a pitch controller of a wind turbine generator system and a control method and a controller of a wind turbine generator system according to embodiments of the present disclosure allow fault-tolerant operation when communication is interrupted. Specifically, a given pitch speed rate self-learning function may be provided within the pitch system, or "speed-acceleration controller" logic may be provided within the pitch controller. Therefore, when communication interruption occurs between a single variable pitch system and the main controller, if the variable pitch system is executing variable pitch operation, the variable pitch controller can record a given variable pitch speed before the communication interruption, and reduce the given variable pitch speed according to a certain change rate, so that a new given variable pitch speed is obtained, and the variable pitch motor is controlled to operate. During the new given pitch speed increase or decrease to a value of 0, it is determined whether communication is resumed. If communication is restored, the pitch system can retrieve the given pitch speed from the master controller, thereby performing normal pitch operation. However, if the communication is not yet restored when the new given pitch speed is raised or lowered to a value of 0, a fault shutdown is triggered to protect the safety of the wind park.

FIG. 2 is a flow chart illustrating a pitch control method according to an embodiment of the present disclosure. The pitch control method may be performed by individual pitch controllers of a wind park.

Referring to fig. 2, in step S201, it may be determined whether an interruption of communication with a main controller of the wind turbine generator set occurs in a pitch state.

Specifically, when the port status word read from the host controller is a specific value (e.g., without limitation, 0), it may be determined that the communication with the host controller is interrupted. On the other hand, when the heartbeat bit signal received from the main controller becomes 0, it may be determined that the communication with the main controller is interrupted.

In step S202, the pitch system may be controlled to operate in a redundant mode of operation in response to an interruption in communication with a main controller of the wind turbine. In the redundant mode of operation, a given pitch speed may be controlled to change from a first speed value at which communication with the master controller is interrupted to 0. The redundant operation mode will be described later in detail with reference to examples.

In step S203, it may be detected whether communication with the main controller is restored during the redundancy operation mode.

In step S204, in response to communication with the main controller resuming during the redundant mode of operation, or at the end of the redundant mode of operation, communication with the main controller resumes, a pitch operation may be performed based on the given pitch speed received from the main controller.

Alternatively, if communication with the main controller is not yet restored at the end of the redundant operation mode, the pitch system may be controlled to perform a feathering shutdown operation to protect the safety of the wind turbine.

How the pitch system is controlled to operate in the redundant mode of operation is described in detail below.

In one case, a first speed value for a given pitch speed at which communication with the master controller is interrupted may be determined first, and then the given pitch speed is controlled to change from the first speed value to 0 based on a preset rate of change corresponding to the first speed value.

According to an embodiment of the present disclosure, the preset rate of change corresponding to the first speed value may be determined as follows. First, a speed interval to which the first speed value belongs may be determined. For example, 0.5 degrees/second may be used as a speed interval. However, the present disclosure is not limited thereto. The range of speed intervals may be greater or less than 0.5 degrees/second. After determining the speed interval to which the first speed value belongs, the rate of change may be determined based on respective speed values within the speed interval to which the first speed value belongs before the given pitch speed reaches the first speed value. Specifically, the sum of the differences between the respective speed values before the given pitch speed reaches the first speed value in the speed interval to which the first speed value belongs may be calculated, and the ratio of the sum to the number of the respective speed values before the given pitch speed reaches the first speed value in the speed interval to which the first speed value belongs may be calculated as the rate of change.

Table 1 shows an example of calculating the rate of change for a given pitch speed. As shown in table 1, a speed interval of 0.5 degrees/second is used. Within the speed interval of 0-0.5 degrees/sec, the communication is interrupted when the given pitch speed is 0.45 degrees/sec, at which time the sum of the differences for the given pitch speeds within the speed interval of 0-0.5 degrees/sec is 0.123 and the number of the given pitch speeds is 16, the ratio of the two being 0.0077. Accordingly, it can be determined that the preset rate of change corresponding to the first speed value is 0.0077. Thus, when an interruption in communication occurs, a given pitch speed may change to 0 at a rate of 0.0077 degrees/second per sampling period (e.g., without limitation, 20 milliseconds). In this process, the pitch motor operation may be controlled at the newly calculated given pitch speed. In this case, the time for a given pitch speed to change from 0.45 degrees/second to 0 is about 0.45/0.0077=58 sampling periods. When the duration of the sampling period is 20ms, the duration of the redundant operation mode can reach 58 × 20ms =1.16 s, which is much longer than the fault trigger time (220 ms) of the communication interruption in the prior art. Therefore, the variable pitch control method can effectively deal with the situation of short-time communication interruption, and enables the variable pitch system with the communication interruption to be kept in the variable pitch state, so that the safety of the wind generating set is protected, and the loss of the generated energy is reduced.

TABLE 1

The current given pitch variation speed	Last time given pitch speed	Given difference in pitch speed
			0.415	0.416	0.001
0.414	0.415	0.001
			0.408	0.414	0.006
0.401	0.408	0.007
			0.393	0.401	0.008
0.384	0.393	0.009
			0.378	0.384	0.006
0.369	0.378	0.009
			0.359	0.369	0.01
0.35	0.359	0.009
			0.339	0.35	0.011
0.327	0.339	0.012
			0.312	0.327	0.015
0.301	0.312	0.011
			0.294	0.301	0.007
0.293	0.294	0.001

In another case, a first speed value for a given pitch speed at the time of interruption of communication with the master controller may be first determined and the actual rotational speed of the pitch motor is obtained. When a difference between the first speed value and the actual rotational speed of the pitch motor is less than a predetermined threshold, the given pitch speed may be controlled to change from the first speed value to 0 based on the first speed value and the actual rotational speed of the pitch motor. However, when the difference between the first speed value and the actual rotational speed of the pitch motor is greater than or equal to a predetermined threshold, the redundant mode of operation may be exited and the pitch system may be controlled to perform a feathering shutdown operation.

In particular, the pitch controller may configure the speed-acceleration controller logic to control the change of the given pitch speed from the first speed value to 0. First, the acceleration of the pitch motor may be determined based on a preset target rotational speed of the pitch motor and an actual rotational speed of the pitch motor, where the target rotational speed may be 0. A new pitch set speed may then be determined based on the actual rotational speed of the pitch motor and its acceleration. Finally, the pitch motor may be controlled to perform pitch regulation at the new pitch given speed to gradually decrease the given pitch speed from the first speed value to 0. Here, the speed-acceleration controller logic may be implemented similarly to the PID control logic. For example, the target value of the PID control logic may be set to 0, the actual rotational speed of the pitch motor may be used as the feedback value of the PID control logic, and the sum of the output value of the PID control logic and the actual rotational speed of the pitch motor may be used to determine the given pitch speed. Optionally, the output value of the PID control logic and the sum of the output value of the PID control logic and the actual rotating speed of the pitch motor are both subjected to amplitude limiting, so that a situation that the given pitch speed is large due to an overlarge output value of the PID control logic or the actual rotating speed of the pitch motor can be avoided. According to an embodiment of the present disclosure, the PID control logic described above may be embodied as PD control logic, i.e., the integral coefficient in PID is set to 0. Alternatively, the proportional and derivative coefficients of the PD control logic may be the same as the proportional and derivative coefficients of the PID control logic of the master control. The proportionality coefficient and the differential coefficient can be determined by those skilled in the art according to various methods known in the art, and will not be described herein.

By applying the speed-acceleration controller, the autonomous regulation of a given pitch speed can be achieved without the need for complex data acquisition and statistics. Meanwhile, the parameters of the speed-acceleration controller can directly use corresponding parameters of a master control system of the wind generating set, so that the better three-blade angle consistency adjustment is realized, namely, the deviation between the new given variable pitch speed calculated by the variable pitch controller and the given variable pitch speed sent by the master control system can be minimized, and the safe operation of the wind generating set is ensured.

Fig. 3 is a flowchart illustrating a control method of a wind turbine generator set according to an embodiment of the present disclosure. The control method may be performed by a main controller of the wind turbine generator set.

Referring to fig. 3, in step S301, it may be determined whether an interruption of the communication between the master controller of the wind park and the individual pitch systems has occurred. In particular, when the port status word of the master controller is a particular value (e.g., without limitation, 0), it may be determined that an interruption in communication with the pitch controller occurred. On the other hand, when the heartbeat bit signal received from the pitch controller becomes 0, it may be determined that communication with the pitch controller is interrupted.

In step S302, in response to determining that communication between the master controller and only one pitch system is interrupted, it may be determined whether a given pitch speed is 0.

In step S303, in response to determining that the given pitch speed is not 0, a redundant control mode is entered. In the redundant control mode, a pitch system with interrupted communication with the master control may perform the pitch control method as described above.

Optionally, in response to determining that the communication between the master controller and the at least two pitch systems is interrupted, a safety chain of the wind park may be disconnected to control the wind park to stop. In other words, in order to protect the operational safety of the wind turbine generator system, each pitch control system cannot operate in the redundant operating mode when the communication between the main controller and the at least two pitch systems is interrupted.

On the other hand, if it is determined that the given pitch speed is 0, a predetermined time (e.g., without limitation, 500 milliseconds) may be waited. That is, when the wind park is not in the pitched state, if the communication between the main controller and only one pitch system is interrupted, the main controller may run for a predetermined time without immediately performing a shutdown. At the same time, it may be determined within a predetermined time whether communication between the master controller and the one pitch system is restored. When the predetermined time expires without communication between the master controller and the one pitch system being restored, a safety chain of the wind turbine generator system may be disconnected to control the wind turbine generator system to stop. And if the communication between the main controller and the variable pitch system is recovered within the preset time or when the preset time expires, controlling the wind generating set to exit the redundant operation and enter a normal operation mode. Alternatively, it may also be determined whether a given pitch speed becomes a non-0 value within a predetermined time. If the given pitch speed becomes a non-0 value within a predetermined time and communication between the main controller and the one pitch system is not restored, the safety chain of the wind park may be disconnected to control the wind park to be shut down. That is, after the communication between a single variable pitch cabinet and the main controller of the fan is interrupted, if the variable pitch system is adjusting the pitch, the variable pitch controller records the given speed before the communication is interrupted, and reduces the given speed according to the preset change rate to obtain a new given speed and control the variable pitch motor to operate; and when the new given speed is increased or decreased to a value of 0, judging whether the communication with the main controller is recovered, if the communication is recovered, switching to the main control again, and if the communication is not recovered, triggering the fault shutdown to protect the safety of the fan.

Fig. 4 is a block diagram illustrating a controller of a wind park according to an embodiment of the present disclosure. The controller may be a main controller or a pitch controller of the wind turbine.

Referring to fig. 4, a controller 400 of a wind park according to an embodiment of the present disclosure may include a processor 410 and a memory 420. The processor 410 may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), and the like. The memory 420 stores computer programs to be executed by the processor 410. Memory 420 includes high speed random access memory and/or non-volatile computer-readable storage media. The pitch control method of a wind park or the control method of a wind park as described above may be implemented when the processor 410 executes a computer program stored in the memory 420.

Alternatively, the controller 400 may communicate with other components in the wind park in a wired/wireless communication manner, and may also communicate with other devices in the wind park in a wired/wireless communication manner. Further, the controller 400 may communicate with a device external to the wind farm in a wired/wireless communication manner.

A pitch control method of a wind park and a control method of a wind park according to embodiments of the present disclosure may be written as a computer program and stored on a computer readable storage medium. The computer program, when executed by a processor, may implement a pitch control method of a wind park or a control method of a wind park as described above. Examples of computer-readable storage media include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD + RW, DVD-ROM, DVD + R, DVD-RW, DVD + RW, BD-ROM, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drive (HDD), solid State Disk (SSD), card storage (such as a multimedia card, secure Digital (SD) card or extreme digital (XD) card), a tape, a floppy disk, an optical data storage device, a hard disk, a solid state disk, and any other device configured to store and provide computer programs and any associated data, data files and data structures in a non-transitory manner to a processor or a computer such that the computer programs and any associated data, data files and data structures are provided to the processor or computer such that the computer programs can be executed or the computer. In one example, the computer program and any associated data, data files, and data structures are distributed across networked computer systems such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by one or more processors or computers.

On the other hand, the pitch control method of a wind park and the control method of a wind park according to embodiments of the present disclosure may be implemented as a computer program product comprising a computer program which, when executed by a processor, implements the pitch control method of a wind park or the control method of a wind park as described above.

According to the embodiment of the disclosure, fault-tolerant operation after communication interruption can be realized through cooperative control of the main control system and the variable pitch system of the wind generating set, and the safety of the wind generating set during fault-tolerant operation is guaranteed, so that the interruption condition that communication faults are frequently and alternately triggered by three shafts due to the abnormity of the conductive slip ring can be processed.

In addition, according to the embodiment of the disclosure, by using the characteristics of PID control, fault-tolerant operation after communication interruption is realized, reliability is high, stability is high, and wind speed prejudgment is not required. Because the difference between the newly calculated given variable pitch speed and the given variable pitch speed of the master control system is not large during the fault-tolerant operation, the variable pitch control can be continuously executed for a period of time, so that the consistency of the angles of all the blades can be ensured, and the long-time fault-tolerant operation can be realized.

In addition, according to the embodiments of the present disclosure, by using a "speed-acceleration controller" logic to implement fault-tolerant operation after communication interruption, autonomous adjustment of a given pitch speed can be achieved without complex data acquisition and statistics; meanwhile, the parameters of the speed-acceleration controller can directly use corresponding parameters of a main control system of the wind generating set, so that the better three-blade angle consistency adjustment is realized, namely, the deviation between the new given variable pitch speed calculated by the variable pitch system and the given variable pitch speed sent by the main control system can be minimized, and the safe operation of the wind generating set is ensured.

Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.

Claims (15)

1. A variable pitch control method of a wind generating set is characterized by comprising the following steps:

determining whether communication with a main controller of the wind generating set is interrupted or not in a variable pitch state;

in response to the communication with the main controller being interrupted, controlling the variable pitch system to operate in a redundant operation mode, wherein in the redundant operation mode, the given variable pitch speed is controlled to change from a first speed value at the time of the communication interruption with the main controller to 0;

detecting whether communication with the primary controller is restored during the redundant mode of operation;

in response to communication with the main controller resuming during the redundant mode of operation, or with the main controller resuming at the end of the redundant mode of operation, pitch operation is performed based on the given pitch speed received from the main controller.

2. The pitch control method of claim 1, further comprising:

and controlling the pitch system to perform a feathering shutdown operation in response to communication with the master controller not yet being restored at the end of the redundant operating mode.

3. The pitch control method of claim 1, wherein the step of controlling the pitch system to operate in a redundant mode of operation comprises:

determining a first speed value for a given pitch speed when communication with a master controller is interrupted;

controlling the given pitch speed to change from the first speed value to 0 based on a preset change rate corresponding to the first speed value.

4. The pitch control method of claim 1, wherein the step of controlling the pitch system to operate in a redundant mode of operation comprises:

determining a first speed value of a given variable pitch speed when communication with a main controller is interrupted, and acquiring the actual rotating speed of a variable pitch motor;

in response to a difference between the first speed value and an actual rotational speed of the pitch motor being less than a predetermined threshold, controlling the given pitch speed to change from the first speed value to 0 based on the first speed value and the actual rotational speed of the pitch motor.

5. The pitch control method of claim 4, wherein the step of controlling the given pitch speed to change from the first speed value to 0 based on the first speed value and the actual rotational speed of the pitch motor comprises:

determining the acceleration of the variable pitch motor based on the preset target rotating speed of the variable pitch motor and the actual rotating speed of the variable pitch motor, wherein the target rotating speed is 0;

determining a new given variable-pitch speed based on the actual rotating speed and the acceleration of the variable-pitch motor;

and controlling a variable pitch motor to perform pitch regulation according to the new variable pitch given speed so as to gradually reduce the given variable pitch speed from a first speed value to 0.

6. The pitch control method of claim 5, further comprising:

and controlling the variable-pitch system to execute a feathering shutdown operation in response to the difference between the first speed value and the actual rotating speed of the variable-pitch motor being greater than or equal to a preset threshold value.

7. A control method of a wind generating set is characterized by comprising the following steps:

determining whether communication between a main controller of the wind generating set and each variable pitch system is interrupted;

determining whether a given pitch speed is 0 in response to determining that communication between the master controller and only one pitch system is interrupted;

in response to determining that the given pitch speed is not 0, entering a redundant control mode,

wherein in the redundant control mode, the one pitch system performs the pitch control method according to any of claims 1-6.

8. The control method according to claim 7, characterized by further comprising:

and when the communication between the main controller and the at least two pitch systems is determined to be interrupted, disconnecting a safety chain of the wind generating set to control the wind generating set to stop.

9. The control method according to claim 8, characterized by further comprising:

in response to determining that the given pitch speed is 0, waiting for a predetermined time;

determining whether communication between the master controller and the one pitch system is restored within the predetermined time;

in response to the predetermined time expiring and communication between the master controller and the one pitch system not yet being restored, disconnecting a safety chain of the wind park to control the wind park to shut down.

10. The control method according to claim 9, characterized by further comprising:

determining whether a given pitch speed becomes a non-0 value within the predetermined time;

and in response to the given pitch speed becoming a non-0 value within the predetermined time and the communication between the main controller and the one pitch system not being restored, disconnecting a safety chain of the wind generating set to control the wind generating set to be shut down.

11. The control method according to claim 10, characterized by further comprising:

and in response to the communication between the main controller and the one variable pitch system being recovered within the preset time or when the preset time expires, controlling the wind generating set to exit the redundant operation and enter a normal operation mode.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when being executed by a processor, carries out a pitch control method according to any one of claims 1 to 6 or a control method according to any one of claims 7 to 11.

13. A pitch controller, comprising:

a processor; and

memory storing a computer program which, when executed by a processor, implements a pitch control method according to any of claims 1 to 6.

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

a processor; and

memory storing a computer program which, when executed by a processor, implements a control method according to any one of claims 7 to 11.

15. A wind park according to claim 13, wherein the wind park comprises a pitch controller according to claim 14 and/or a controller according to claim 13.

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