CN113803218A - Torque control method and device for wind turbine - Google Patents

Abstract

The present disclosure provides a torque control method for a wind turbine and a device thereof. The torque control method may include: acquiring a tower top acceleration signal of a wind turbine; filtering the tower top acceleration signal using a band-pass filter; and determining the tower top acceleration signal based on the filtered tower top acceleration signal and obtaining the torque control value of the wind turbine according to the energy, so that the torque controller of the wind turbine adjusts the generator torque according to the torque control value.

Description

Torque control method and device for wind turbine

technical field

The present disclosure relates to the technical field of wind power generation, and more particularly, the present disclosure relates to a torque control method for a wind power generator set and a device thereof.

Background technique

Torque control of a wind turbine plays a vital role during its operation. Current torque control schemes utilize the tower exclusion zone on the speed-torque curve to operate the wind turbine's torque controller in derating mode. If the rotor speed region corresponds to a frequency range around the first natural frequency of the tower (if this frequency range is below the 1p frequency), the torque reference is always increased or decreased. The above method will always work for the torque controller even without the excitation of the tower frequency.

In addition, because the wind turbine is in a complex environment, there is uncertainty in the tower frequency, but the frequency range of the tower exclusion zone cannot be set according to the uncertainty of the tower frequency. In addition, the larger the frequency range of the tower exclusion zone, the larger the annual power generation (AEP) loss.

SUMMARY OF THE INVENTION

Exemplary embodiments of the present disclosure provide a torque control method for a wind turbine and a device thereof, which at least solve the above technical problems and other technical problems not mentioned above, and provide the following beneficial effects.

An aspect of the present disclosure is to provide a torque control method for a wind turbine, the torque control method may include: acquiring a tower top acceleration signal of the wind turbine; Filter processing; determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtain the torque control value of the wind turbine according to the energy, so that the torque controller of the wind turbine is controlled according to the torque value to adjust the generator torque.

Optionally, the tower top acceleration signal may include tower top lateral acceleration and tower top forward acceleration.

Optionally, the bandpass filter may be a discrete time filter.

Optionally, the band-pass range of the band-pass filter may be determined according to the natural frequency of the tower.

Optionally, the band-pass range of the band-pass filter may be from the first-order natural frequency of the tower minus the predetermined frequency to the first-order natural frequency of the tower plus the predetermined frequency.

Optionally, the step of using a band-pass filter to filter the tower top acceleration signal may include: acquiring the generator rotational speed of the wind turbine; if the generator rotational speed is within a predetermined range, using a band-pass filter Filter processing is performed on the tower top acceleration signal.

Optionally, the predetermined range may correspond to a bandpass range of the bandpass filter.

Optionally, the step of determining the energy of the tower top acceleration signal based on the filtered tower top acceleration signal may include: selecting a predetermined number of tower top acceleration sampling points from the filtered tower top acceleration signal; and A predetermined number of tower top acceleration sampling points are used to calculate the energy of the tower top acceleration signal.

Optionally, the predetermined number corresponds to the number of sampling points within one cycle of the first order natural frequency of the tower.

Optionally, the step of obtaining the torque control value of the wind turbine based on the energy comprises: comparing the energy with an activation threshold; obtaining an activation level for adjusting the generator torque based on the comparison; and The activation level determines the torque control value.

Optionally, the step of determining the torque control value based on an activation level may include: applying proportional control to the activation level to determine a torque reference component to be compensated; and based on the torque reference component and torque from a torque controller The reference value is used to determine the torque control value.

Optionally, the step of determining the torque control reference value according to the activation level may include: applying proportional-integral control to the activation level to determine the torque reference component to be compensated; The torque reference value is used to determine the torque control value.

Optionally, the torque reference component may be limited to be no greater than the difference between the torque reference values produced by the torque controller at generator speeds corresponding to the maximum frequency and the minimum frequency of the band pass range of the band pass filter, respectively. .

Another aspect of the present disclosure is to provide a torque control device for a wind turbine, the torque control device may include: a filtering module for acquiring a tower top acceleration signal of the wind turbine, and using a band-pass filter to The tower top acceleration signal is filtered; and a calculation module is used to determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtain the torque control value of the wind turbine according to the energy, The torque controller of the wind turbine generator set is made to adjust the generator torque according to the torque control value.

Another aspect of the present disclosure is to provide a torque control device for a wind turbine, the torque control device may include: a band-pass filter configured to filter an acquired tower top acceleration signal; an energy calculator , configured to determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal; an activator configured to compare the energy to an activation threshold to determine an activation level for adjusting generator torque; and a controller configured to obtain a torque control value of the wind turbine according to the activation level, so that the torque controller of the wind turbine adjusts the generator torque according to the torque control value.

According to an exemplary embodiment of the present disclosure, there is provided a computer-readable storage medium storing a computer program that, when executed by a processor, implements the torque control method as described above.

According to another exemplary embodiment of the present disclosure, there is provided a computer including a readable medium storing a computer program and a processor, characterized in that when the processor runs the computer program, the torque control method as described above is executed.

The apparatus and method described above only change the torque reference of the torque controller in the presence of tower vibration (in both forward and lateral directions), thus, since tower vibration is excited only during partial load operation, the The torque controller acts instead of always acting on the torque controller like a traditional tower exclusion zone, thereby reducing energy consumption. Furthermore, the method and apparatus of the present disclosure may respond to actual tower frequencies by automatically adjusting since it only responds to existing tower vibrations.

Furthermore, additional aspects and/or advantages of the present general inventive concept will be set forth in part in the ensuing description, and in part will be apparent from the description, or may be learned by practice of the present general inventive concept.

Description of drawings

These and/or other aspects and advantages of the present disclosure will become apparent, and be more readily understood, from the following description of embodiments, taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a flowchart illustrating a torque control method for a wind turbine according to an exemplary embodiment of the present disclosure;

2 is a block diagram illustrating a torque control apparatus for a wind turbine according to an exemplary embodiment of the present disclosure;

3 is a block diagram illustrating a torque control apparatus for a wind turbine according to an exemplary embodiment of the present disclosure.

Detailed ways

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

Hereinafter, according to various embodiments of the present disclosure, the apparatus and method of the present disclosure will be described with reference to the accompanying drawings.

FIG. 1 illustrates a torque control method for a wind turbine according to an exemplary embodiment of the present disclosure. The torque control method of the present disclosure may be performed by the main controller or torque controller of the wind turbine or may be performed by a separate processor.

Referring to FIG. 1, in step S101, the tower top acceleration signal of the wind turbine can be obtained. The tower top acceleration of the present disclosure includes tower top lateral acceleration and tower top forward/backward acceleration. For example, the tower top lateral acceleration signal and the tower top forward acceleration signal can be obtained using an acceleration sensor mounted on the top of the tower. However, the above-described acquisition examples are merely exemplary. The present disclosure is not limited thereto.

In step S102, a band-pass filter may be used to filter the acquired tower top acceleration signal. During the operation of the wind turbine, the wind rotor will generate a series of exciting forces, and the exciting load will be continuously transmitted to the tower, causing the vibration of the tower. The frequency of vibration is determined by the frequency of a series of exciting loads and the tower. Natural frequency composition, in order to avoid resonance, the excitation frequency must avoid the natural frequency of the tower. Therefore, the band pass range for the band pass filter can be set based on the natural frequency of the tower. The present disclosure mainly considers the first-order natural frequency of the tower, and sets the frequency range of the bandpass filter based on the first-order natural frequency of the tower.

As an example, the band pass range of the band pass filter may be set from the first order natural frequency of the tower minus the predetermined frequency to the first natural frequency of the tower plus the predetermined frequency. For example, assuming that the first-order natural frequency of the tower is f _T1 and the predetermined frequency is f _b , the band-pass range of the band-pass filter may be [f _T1 -f _b , f _T1 +f _b ]. The predetermined frequency f _b is also set in consideration of uncertainties caused by the external environment where the tower is located, so the more these uncertainties are dealt with in the process of designing f _b , the smaller the predetermined frequency value may be. However, the above-described examples are merely exemplary, and the present disclosure is not limited thereto.

In this way, by setting the band-pass frequency range of the band-pass filter according to the actual tower frequency, more accurate filtering data can be obtained, so that the subsequent torque adjustment is also more accurate.

In the filtering process, the filtering process may be performed according to the generator rotational speed of the wind turbine. Specifically, if the rotational speed of the generator is within a predetermined range, a band-pass filter is used to filter the tower top acceleration signal. Here, for the predetermined range, the predetermined range may be set to be consistent with the band-pass range of the band-pass filter. This is because if the generator speed is within the potential frequency range of the first order natural frequency of the tower, the generator speed (1p frequency) may excite the tower vibration, and it is necessary to prevent the tower vibration at this time. If the generator speed is not within this potential frequency range, set the filter output to 0.

As an example, the tower top acceleration signal may be filtered using the following equation (1).

Among them, F _BP (f _T1 , f _b , ACC[n]) represents the band-pass filter, ACC[n] represents the tower top acceleration signal, GENSpeed[n] represents the generator speed signal, and ACCBP[n] represents the filtered Tower top acceleration signal.

According to an embodiment of the present disclosure, the bandpass filter may be a discrete time filter. That is to say, when filtering the tower top acceleration signal, not only the tower top acceleration signal located in the band-pass range is filtered out, but also the tower top acceleration signal is discretely processed.

In step S103, the energy of the tower top acceleration signal is determined based on the filtered tower top acceleration signal. A predetermined number of tower top acceleration sample points may be selected from the filtered tower top acceleration signal, and then the energy of the tower top acceleration signal may be calculated based on the predetermined number of tower top acceleration sample points.

In the present disclosure, the number of sampling points in at least one cycle of the first-order natural frequency of the tower may be used as the predetermined number of sampling points for selecting the tower top acceleration. Preferably, the number of sampling points in one cycle of the first-order natural frequency of the tower can be used as the predetermined number of sampling points for selecting the acceleration at the top of the tower. The above-described examples are merely exemplary, and the present disclosure is not limited thereto.

As an example, the number of selected tower top acceleration sampling points can be obtained according to the following equation (2):

Among them, it represents the sampling frequency of the main controller or torque controller of the wind turbine.

The energy ACCENERGY[n] of the tower top acceleration signal can be calculated using the following equation (3):

是[ACCBP[n]…ACCBP[n-N]]的转置向量。在等式(3)中，从塔顶加速度信号中选择最后采样的N个塔顶加速度作为能量计算基础。然而，上述示例仅是示例性的，本公开不限于此。可以使用获取的塔顶加速度信号中的全部样点或部分样点来计算塔顶加速度信号的能量。in,

is the transposed vector of [ACCBP[n]…ACCBP[nN]]. In Equation (3), the last sampled N tower top accelerations are selected from the tower top acceleration signals as the energy calculation basis. However, the above-described examples are merely exemplary, and the present disclosure is not limited thereto. The energy of the tower top acceleration signal can be calculated using all or some of the samples in the acquired tower top acceleration signal.

In step S104, the torque control value of the wind power generating set may be obtained according to the determined energy, so that the torque controller of the wind power generating set adjusts the generator torque according to the obtained torque control value. Specifically, the determined energy value may be compared with an activation threshold, an activation level for the generator torque may be obtained based on the comparison result, and the torque control value may be determined according to the activation level.

When the obtained energy value of the tower top acceleration signal exceeds the activation threshold, it indicates that the torque adjustment operation needs to be activated to suppress the tower vibration. The activation level may refer to the amount of energy used to dampen tower vibrations.

As an example, the activation level can be calculated using the following equation (4):

where γ _activation represents the activation threshold. The activation threshold can be obtained by design/simulation tuning.

By comparing the energy of the tower top acceleration signal with the predetermined activation threshold, the subsequent torque adjustment operation is activated only when the energy value of the tower top acceleration signal exceeds the activation threshold. Responding to small vibrations is avoided, thereby reducing energy consumption.

When the activation level for adjusting the generator torque is obtained, proportional control or proportional integral control can be applied to the activation level to determine the torque reference component that needs to be compensated, and then based on the torque reference component and the torque reference value from the torque controller to determine Torque control value. Here, the torque reference component may refer to a torque value that needs to be adjusted based on the torque reference value of the torque controller.

As an example, the following equation (5) can be used to determine the torque reference component MAccRef[n] that needs to be compensated:

MAccRef[n]=K _p ·ACCACT[n] (5)

Among them, K _p represents proportional gain. Appropriate proportional gain values can be obtained by adjusting the simulation or testing method of the wind turbine with the control function activated as described above.

In the present disclosure, the torque reference component should be no larger than the difference between the torque reference values generated by the torque controller at the generator speeds corresponding to the maximum frequency and the minimum frequency of the band pass range of the band pass filter, respectively. This limitation is made to ensure that the torque reference is adjusted within an optimal torque trajectory for a predetermined frequency range including the natural frequency of the tower. For example, MAccRef[n]≤M _opt (f _T1 -f _b )-M _opt (f _T1 +f _b ).

Furthermore, if wind turbine derating results in a new torque curve, the optimal torque trajectory should be adjusted accordingly.

Alternatively, proportional integral control can be applied to the activation level to determine the torque reference component that needs to be compensated, and then the torque control value is determined based on the torque reference component and the torque reference value from the torque controller.

As an example, the following equation (6) can be used to determine the torque reference component MAccRef[n] that needs to be compensated:

MAccRef[n]=Kp·ACCACT[ _n ]+Ki· _Ts ·ACCACT[ _n ]+MAccRef[n-1] (6)

Among them, K _i represents the integral gain, and T _s represents the integral time.

The integral term in equation (6) is used to maintain the response in terms of additional reference torque, and the use of the integral term can dampen the acceleration of the integral part.

Furthermore, in the present disclosure, in addition to using the tower top acceleration signal to obtain the corresponding torque control value, the tower velocity may also be used to obtain the corresponding torque control value.

FIG. 2 is a block diagram illustrating a torque control apparatus for a wind turbine according to an exemplary embodiment of the present disclosure. The torque control device 200 may be implemented by the master controller of the wind turbine, or form a single entity separately from the master controller and be installed in the wind turbine.

Referring to FIG. 2 , the torque control device 200 may include a filter module 201 and a calculation module 202 . Each module in the torque control device 200 may be implemented by one or more modules, and the name of the corresponding module may vary according to the type of the module. In various embodiments, some modules in torque control device 200 may be omitted, or additional modules may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus may equivalently perform the functions of the corresponding modules/elements prior to combination.

The filtering module 201 can acquire the tower top acceleration signal of the wind turbine, and perform filtering processing on the tower top acceleration signal.

The acquired tower top acceleration signal may include tower top lateral acceleration and tower top forward acceleration. That is, the torque control method of the present disclosure takes into account not only the forward tower top acceleration, but also the lateral tower top acceleration.

The filtering module 201 may be composed of a band-pass filter and a discrete-time filter. The present disclosure is not limited to the filtering module being implemented by only one type of filter, but may be implemented by many different types of filters.

The filtering module 201 can set the frequency range through which the tower top acceleration signal passes according to the natural frequency of the tower.

As an example, the bandpass frequency range of the filtering module 201 may be set from the tower first order natural frequency minus the predetermined frequency to the tower first order natural frequency plus the predetermined frequency. For example, the bandpass range may be [f _T1 -f _b , f _T1 +f _b ]. However, the above-described examples are merely exemplary, and the present disclosure is not limited thereto.

The filtering module 201 may perform filtering processing on the tower top acceleration signal according to the obtained generator rotational speed of the wind turbine. Specifically, if the rotational speed of the generator is within a predetermined range, the filtering module 201 may perform filtering processing on the tower top acceleration signal. Here, for the predetermined range, the predetermined range may be set to be consistent with the band pass range of the filtering module 201 . For example, the filtering module 201 may perform the filtering process using equation (1).

The calculation module 202 may determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal, and obtain the torque control value of the wind turbine according to the energy, so that the torque controller of the wind turbine adjusts according to the torque control value Generator torque.

As an example, the calculation module 202 may select a predetermined number of tower top acceleration sample points from the filtered tower top acceleration signal, and calculate the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sample points. Preferably, the calculation module 202 may select the number of sampling points in one cycle of the first-order natural frequency of the tower as the predetermined number of sampling points for selecting the acceleration at the top of the tower. For example, the calculation module 202 may utilize equation (3) to calculate the energy value of the tower top acceleration signal.

Next, the calculation module 202 may compare the calculated energy to an activation threshold, obtain an activation level for adjusting the generator torque based on the comparison, and then determine a final torque control value according to the activation level. For example, when the obtained energy value of the tower top acceleration signal exceeds the activation threshold, it indicates that the torque adjustment operation needs to be activated to suppress tower vibration, and the calculation module 202 can use equation (4) to calculate the activation level.

The calculation module 202 may apply proportional control to the activation level to determine the torque reference component that needs to be compensated. Here, the torque reference component may refer to a torque value that needs to be adjusted based on the torque reference value of the torque controller. For example, the calculation module 202 may utilize equation (5) to calculate the torque reference component.

Alternatively, the calculation module 202 may apply proportional-integral control to the activation level to determine the torque reference component to be compensated, and determine the final torque control value based on the torque reference component and the torque reference value from the torque controller. For example, the calculation module 202 may utilize equation (6) to calculate the torque reference component.

After the torque reference component is calculated, the calculation module 202 needs to determine whether the calculated torque reference component is not greater than the torque reference generated by the torque controller at the generator rotational speed corresponding to the maximum frequency and the minimum frequency of the band-pass range of the filter module 201 respectively. difference in value. This is to ensure that the value of the torque compensation is within the optimal torque trajectory.

The calculation module 202 may determine the final torque control value based on the torque reference component and the torque reference value from the torque controller.

3 is a block diagram illustrating a torque control apparatus for a wind turbine according to an exemplary embodiment of the present disclosure. The torque control device 300 may be installed in the hub of the wind turbine as a stand-alone device, or as part of the main control controller of the wind turbine to perform torque control operations, however, the above examples are only exemplary, and the present disclosure is not limited thereto .

3 , the torque control apparatus 300 may include a band pass filter 301 , an energy calculator 302 , an activator 303 and a controller 304 .

The band-pass filter 301 can acquire the tower top acceleration signal of the wind turbine, and perform filtering processing on the tower top acceleration signal. The acquired tower top acceleration signal may include tower top lateral acceleration and tower top forward acceleration. That is, the torque control method of the present disclosure takes into account not only the forward tower top acceleration, but also the lateral tower top acceleration.

Bandpass filter 301 may also include discrete time filters. The present disclosure is not limited to the bandpass filter 301 being implemented by only one type of filter, but may be implemented by many different types of filters.

The band-pass filter 301 can set the frequency range through which the tower top acceleration signal passes according to the natural frequency of the tower.

As an example, the bandpass frequency range of the bandpass filter 301 may be set from the tower first order natural frequency minus the predetermined frequency to the tower first order natural frequency plus the predetermined frequency. For example, the bandpass range may be [f _T1 -f _b , f _T1 +f _b ]. However, the above-described examples are merely exemplary, and the present disclosure is not limited thereto.

The band-pass filter 301 can filter the tower top acceleration signal according to the acquired rotational speed of the generator of the wind turbine. Specifically, if the rotational speed of the generator is within a predetermined range, the band-pass filter 301 may filter the tower top acceleration signal. Here, for the predetermined range, the predetermined range may be set to be consistent with the band-pass range of the band-pass filter 301 . For example, the band-pass filter 301 may perform the filtering process using equation (1).

The energy calculator 302 may determine the energy of the tower top acceleration signal based on the filtered tower top acceleration signal. As an example, the energy calculator 302 may select a predetermined number of tower top acceleration sample points from the filtered tower top acceleration signal, and calculate the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sample points. Preferably, the energy calculator 302 may use the number of sampling points within one cycle of the first-order natural frequency of the tower as the predetermined number of sampling points for selecting the tower top acceleration. For example, the energy calculator 302 may utilize equation (3) to calculate the energy value of the tower top acceleration signal.

The activator 303 may compare the calculated energy to an activation threshold, obtain an activation level for adjusting the generator torque based on the comparison, and then determine a final torque control value based on the activation level. For example, when the energy value of the acquired tower top acceleration signal exceeds the activation threshold, it indicates that the torque adjustment operation needs to be activated to suppress tower vibration, and the activator 303 can use equation (4) to calculate the activation level.

The controller 304 may apply proportional control to the activation level to determine the torque reference component that needs to be compensated. Here, the torque reference component may refer to a torque value that needs to be adjusted based on the torque reference value of the torque controller. For example, the controller 304 may utilize equation (5) to calculate the torque reference component.

Alternatively, the controller 304 may apply proportional-integral control to the activation level to determine the torque reference component that needs to be compensated, and determine the final torque control value based on the torque reference component and the torque reference value from the torque controller. For example, the controller 304 may utilize equation (6) to calculate the torque reference component.

After the torque reference component is calculated, the controller 304 can determine whether the calculated torque reference component is not greater than the torque generated by the torque controller at the generator rotational speed corresponding to the maximum frequency and the minimum frequency of the band pass range of the band pass filter 301 respectively. Difference between torque references. This is to ensure that the value of the torque compensation is within the optimal torque trajectory.

The controller 304 may determine the final torque control value based on the torque reference component and the torque reference value from the torque controller. The controller 304 may send the final torque control value to the torque controller of the wind turbine so that the torque controller may adjust the generator torque according to the adjusted torque control value.

Through the method and device of the present disclosure, torque control can be accurately performed, and energy consumption can be effectively reduced.

As will be appreciated by those skilled in the art, the present disclosure includes reference to apparatus for performing one or more of the operations/steps described in the present disclosure. These devices may be specially designed and manufactured for the required purposes, or they may include those known in general purpose computers. These devices have computer programs stored in them that are selectively activated or reconfigured. Such a computer program may be stored in a device (eg, computer) readable medium including, but not limited to, any type of medium suitable for storing electronic instructions and coupled to a bus, respectively Types of disks (including floppy disks, hard disks, CD-ROMs, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory, random access memory), EPROM (Erasable Programmable Read-Only Memory, available Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, a readable medium includes any medium that stores or transmits information in a form that can be read by a device (eg, a computer).

While the present disclosure has been shown and described with reference to its exemplary embodiments, those skilled in the art will appreciate that Various changes are made to its form and details.

Claims (17)

1. A torque control method for a wind turbine generator set, the torque control method comprising:

acquiring a tower top acceleration signal of the wind generating set;

filtering the tower top acceleration signal by using a band-pass filter;

determining an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and

and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the generator torque according to the torque control value.

2. The torque control method of claim 1 wherein the tower top acceleration signal comprises a tower top lateral acceleration and a tower top forward acceleration.

3. The torque control method of claim 1, wherein the band pass filter is a discrete time filter.

4. The torque control method of claim 1, wherein the band pass range of the band pass filter is determined from a tower natural frequency.

5. The torque control method of claim 1, wherein the band pass filter has a band pass range from a tower first order natural frequency minus a predetermined frequency to the tower first order natural frequency plus the predetermined frequency.

6. The torque control method of claim 1, wherein the step of filtering the tower top acceleration signal using a band pass filter comprises:

acquiring the rotating speed of a generator of the wind generating set;

and if the rotating speed of the generator is in a preset range, performing filtering processing on the tower top acceleration signal by using a band-pass filter.

7. The torque control method of claim 6, wherein the predetermined range corresponds to a bandpass range of the bandpass filter.

8. The torque control method of claim 1, wherein determining the energy of the tower top acceleration signal based on the filtered tower top acceleration signal comprises:

selecting a preset number of tower top acceleration sampling points from the filtered tower top acceleration signals;

calculating the energy of the tower top acceleration signal based on the predetermined number of tower top acceleration sampling points.

9. The torque control method of claim 8 wherein the predetermined number corresponds to the number of sample points within one period of the tower first order natural frequency.

10. The torque control method of claim 1, wherein obtaining a torque control value for a wind turbine generator set from the energy comprises:

comparing the energy to an activation threshold;

obtaining an activation level for adjusting the generator torque based on the comparison result;

determining the torque control value as a function of the activation level.

11. The torque control method of claim 10, wherein determining the torque control value as a function of an activation level comprises:

applying proportional control to the activation level to determine a torque reference component requiring compensation;

the torque control value is determined based on the torque reference component and a torque reference value from a torque controller.

12. The torque control method according to claim 10, wherein the step of determining the torque control reference value according to an activation level includes:

applying proportional integral control to the activation level to determine a torque reference component requiring compensation;

the torque control value is determined based on the torque reference component and a torque reference value from a torque controller.

13. A torque control method as claimed in claim 11 or 12, wherein the torque reference component is limited to be no greater than the difference between torque reference values produced by a torque controller at generator speeds corresponding to the maximum and minimum frequencies of the bandpass range of the bandpass filter respectively.

14. A torque control device for a wind turbine generator set, the torque control device comprising:

the filtering module is used for acquiring a tower top acceleration signal of the wind generating set and filtering the tower top acceleration signal by using a band-pass filter; and

a calculation module to determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal; and obtaining a torque control value of the wind generating set according to the energy, so that a torque controller of the wind generating set adjusts the generator torque according to the torque control value.

15. A torque control apparatus for a wind turbine generator set, the torque control apparatus comprising:

the band-pass filter is configured to filter the acquired tower top acceleration signal;

an energy calculator configured to determine an energy of the tower top acceleration signal based on the filtered tower top acceleration signal;

an activator configured to compare the energy to an activation threshold to determine an activation level for adjusting generator torque; and

a controller configured to obtain a torque control value of the wind park according to the activation level, such that the torque controller of the wind park adjusts the generator torque according to the torque control value.

16. An electronic device, comprising:

a memory for storing a program; and

one or more processors for performing one or more of the above-described operations,

wherein the one or more processors perform the torque control method for a wind park of any one of claims 1 to 13 when the program is run.

17. A computer-readable recording medium in which a program is stored, characterized in that the program comprises instructions for executing the torque control method for a wind turbine generator set according to any one of claims 1 to 13.

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