CN110273813B - Control method, device and equipment for wind yaw of wind driven generator set - Google Patents
Control method, device and equipment for wind yaw of wind driven generator set Download PDFInfo
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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
- 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
- F03D7/04—Automatic control; Regulation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
- F05B2270/329—Azimuth or yaw angle
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Abstract
The invention provides a method for controlling wind yaw of a wind driven generator set, which comprises the following steps: collecting original wind direction values and converting the original wind direction values into corresponding angles to be yawed; judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed; and after the wind delay time is up, judging whether a preset starting wind alignment condition is met, if so, yawing according to the angle to be yawed. The control method for the wind power generator set to yaw wind, provided by the invention, introduces theoretical power deviation and operation deviation based on ambient temperature aiming at the problem of automatic wind response lag to judge the wind-facing time, and solves the problem of wind lag generated when the wind-facing time is determined by simply using the average wind direction.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method, a device and equipment for controlling wind yaw of a wind power generator set.
Background
Energy is the main material basis of social economy and human life, and is the motive force for driving the social development. However, the reserves of non-renewable energy sources such as petroleum, coal, natural gas, etc., which are major pillars of world energy, are decreasing, wind power generation is being developed in many countries in the world, and wind power generation has become a mature scale as a new energy source.
The yaw system is one of important components of the wind generating set, and has the main function of enabling the wind generating set to be in the positive windward direction within the available wind speed range and striving for the maximum capability of capturing wind energy. However, the actual working yaw wind position of the wind generating set is not always in the ideal wind position just right opposite to the windward, and the traditional wind aligning method judges whether the wind needs to be yawed according to a given allowable wind deviation threshold value and a set waiting time. Due to the fact that only a single wind direction condition is utilized, when the fluctuation amplitude of the collected wind direction is large and the wind direction change frequency is high, problems of wind response lag, inching yaw, inaccurate yaw counting or cable twisting are caused when the method is used for yaw control.
Disclosure of Invention
The invention provides a method, a device and equipment for controlling wind yaw of a wind driven generator set aiming at the problems and defects in the prior art, and aims to solve the technical problems of wind lag inching yaw or inaccurate yaw counting caused by the fact that the average wind direction is used for determining the wind yaw moment in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
embodiments of the present invention provide a method for controlling wind yaw of a wind power generation group according to a first aspect, including:
collecting original wind direction values and converting the original wind direction values into corresponding angles to be yawed;
judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed;
and judging whether a preset starting wind alignment condition is met or not after the wind alignment delay time is reached, and if so, yawing according to the angle to be yawed.
Further, the acquiring the original wind direction value and converting the original wind direction value into a corresponding angle to be yawed includes:
collecting original wind direction values and converting the original wind direction values into corresponding original wind direction angles;
correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle;
and carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain the angle to be drifted.
Further, the filtering processing based on a specified time constant is performed on the corrected wind direction angle, and the angle to be yawed is obtained after filtering, including:
filtering the corrected wind direction angle based on a first time constant to obtain a wind direction angle after first filtering;
judging whether the absolute value of the difference value between the wind direction angle after the first filtering and the wind direction angle after the correction meets the preset condition of secondary filtering; if so, carrying out filtering processing based on a second time constant on the corrected wind direction angle meeting the condition of secondary filtering to obtain a wind direction angle after secondary filtering;
and converting the wind direction angle subjected to the second filtering into an angle to be drifted within a specified angle range.
Preferably, the filtering processing based on a specified time constant is performed on the corrected wind direction angle, and the angle to be yawed is obtained after the filtering processing, further including:
acquiring the current environment temperature;
according to the corresponding relation between the pre-obtained environmental temperature and the power deviation value, finding out the power deviation value corresponding to the current environmental temperature;
judging whether the determined theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, if so, carrying out filtering processing based on a first time constant on the corrected wind direction angle; if not, filtering the corrected wind direction angle based on a second time constant; taking any filtering processing result as a wind direction angle after the third filtering;
and converting the wind direction angle subjected to the third filtering into an angle to be yawed within a specified angle range.
Further, the acquiring the wind delay time to be waited at the current wind speed includes:
determining the corresponding relation between the given wind speed and the wind delay time;
and acquiring the wind delay time needing to be waited at the current wind speed according to the corresponding relation between the given wind speed and the wind delay time.
In particular, it is characterized in that said preset starting convection conditions comprise internal conditions and external conditions;
the internal conditions include: the acquired current wind speed is greater than the preset wind speed and lasts for a specified delay time, the wind generating set is in a non-stop state or a non-wind state, the wind direction of the first duration is not in a wind area, the wind direction of the second duration is not in the wind area, and the specified delay time corresponding to the current wind speed is reached and the wind generating set is not in a yaw state; the first duration is greater than the second duration;
the external conditions include: the safety chain is normal, no fault to wind exists, the position of the engine room of the wind generating set is in a normal range, and the wind vane is normal.
The control method for wind yaw of the wind power generation unit further comprises the following steps: judging whether a preset condition of clearing the wind alignment state and stopping the wind alignment yawing is met or not in the yawing process according to the angle to be yawed; if so, outputting a control command for clearing the wind aligning state and stopping wind yawing, and stopping wind yawing.
Preferably, before the determining whether the preset conditions of clearing the wind-ward state and stopping yawing the wind are met, the method further includes:
acquiring a given cabin position of the wind generating set;
determining the corresponding relation between the wind direction of the second duration and the wind facing area; or determining the corresponding relation between the wind direction with the first duration and the wind facing area;
and determining whether the current wind speed is greater than the preset wind speed.
Preferably, if any one of the following conditions is satisfied, a control command for clearing the wind condition and stopping yawing the wind is output, so that the generator set stops yawing the wind, specifically including:
determining the wind direction of the first duration or the wind direction of the second duration to be in the opposite wind region according to the corresponding relation between the wind direction of the second duration and the opposite wind region or the corresponding relation between the wind direction of the first duration and the opposite wind region;
the wind direction changes;
a specified small angle to the wind to reach the given nacelle position;
the theoretical power deviation is smaller than the power deviation value corresponding to the current environment temperature;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the specified small angle reaches the given cabin position;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the wind deviation is in the area stopping the wind.
An embodiment of the present invention provides, according to a second aspect, a control apparatus for controlling wind yaw of a wind power generation group, including:
a state acquisition module for acquiring original wind direction value and converting it into corresponding value to be yawed
An angle; when the angle to be yawed is larger than a preset allowable deviation angle, acquiring the wind delay time needing to be waited at the current wind speed;
and the judging control module is used for judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, judging whether a preset starting wind aligning condition is met or not after the wind aligning delay time is reached, and if so, outputting a control command for starting a wind aligning state to enable the generator set to drift the wind according to the angle to be drifted.
An embodiment of the present invention provides, according to a third aspect, a control apparatus for yawing wind by a wind power generation group, including:
a memory and a processor electrically connected;
at least one program stored in the memory for execution by the processor to perform the steps of:
collecting original wind direction values and converting the original wind direction values into corresponding angles to be yawed;
judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed;
and judging whether a preset starting wind alignment condition is met or not after the wind alignment delay time is reached, and if so, yawing according to the angle to be yawed.
The beneficial technical effects are as follows:
the control method for the wind power generator set to yaw wind, provided by the invention, introduces theoretical power deviation and operation deviation based on ambient temperature aiming at the problem of automatic wind response lag to judge the wind-facing time, and solves the problem of wind lag generated when the wind-facing time is determined by simply using the average wind direction.
The embodiment of the invention also sets a compensation value to correct the incoming wind, adopts a mode of supplementing the wind-stopping condition aiming at the inching yaw problem, for example, sets a safety chain state detection link when the wind-stopping is started, and comprises necessary control logic when the wind-stopping is stopped. Therefore, the embodiment of the invention solves the technical problem of inaccurate yaw counting, and further solves the cable twisting problem.
The embodiment of the invention ensures that the unit accurately faces the wind when the unit allows the wind, and achieves the purposes of ensuring reasonable response time and proper wind frequency and wind direction angle within the allowable wind deviation. A variable weight method is adopted, a control thought taking power as guidance is determined, and the wind delay time and the time constant are determined according to the wind speed to ensure the dynamic adjustment effect.
Additional aspects and advantages of the invention 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 invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic main flow chart of a method for controlling wind yaw of a wind turbine generator set according to an embodiment of the present invention;
fig. 2 is a specific process of determining whether a preset starting wind alignment condition is met in the method for controlling the wind yaw of the wind turbine generator set according to the embodiment of the present invention.
Fig. 3 is a specific process of acquiring a wind delay time required to wait at a current wind speed in the method for controlling the wind yaw by the wind power generation group according to the embodiment of the invention.
FIG. 4 is a schematic flow chart of collecting original wind direction values and converting the values into corresponding angles to be yawed in the method for controlling wind yaw by a wind power generation set according to the embodiment of the present invention;
FIG. 5 is a schematic flow chart of stopping yawing wind in the method for controlling yawing wind by a wind power generator set according to the embodiment of the invention;
FIG. 6 is a schematic block diagram of a control device for controlling the yaw of a wind turbine generator set according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a control device for controlling the yaw of a wind turbine generator set according to an embodiment of the present invention.
Detailed Description
Conventional wind alignment methods typically determine whether the wind needs to be yawed based on a given allowable wind offset threshold and a set latency time. The method only uses a single wind direction condition as a main judgment basis, so that when the fluctuation amplitude of the collected wind direction is large and the wind direction change frequency is high, the problems of wind response lag, inching yaw, inaccurate yaw counting, cable twisting and the like are caused when the method is used for yaw control.
In order to solve the problems and defects in the prior art, the inventor of the present invention provides a method for controlling wind yaw of a wind power generation group based on the long-term precious experience of first-line work of a wind power plant, comprising:
collecting original wind direction values and converting the original wind direction values into corresponding angles to be yawed;
judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed;
and after the wind delay time is up, judging whether a preset starting wind alignment condition is met, if so, yawing according to the angle to be yawed.
The method for controlling the wind yaw of the wind driven generator set creatively introduces two parameters of theoretical power deviation and operation deviation based on temperature in the method for controlling the wind yaw of the wind driven generator set as one of important bases for judging the wind moment; guiding the wind by studying the relation between theoretical power and the wind-facing state and by using the power difference; the method ensures that the unit accurately faces the wind when the unit allows the wind, achieves the aim of ensuring reasonable response time and proper wind frequency and wind direction angle within the allowable wind deviation, and successfully solves the problem of wind lag generated when the wind time is determined by simply using the average wind direction.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, 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 invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Some technical terms used in the embodiments of the present invention will be described first.
After the control system confirms the wind in a period of time, the yaw motor is controlled to adjust the axis of the cabin to the direction consistent with the wind direction, and the wind alignment of the cabin of the wind generating set is realized.
The jog yaw refers to a state in which a yaw of a nacelle of a wind turbine generator system lasts for a particularly short time. The inching yaw belongs to an abnormal working state of a wind generating set and should be avoided as much as possible.
And yaw response means a processing process of executing a yaw command according to wind direction change or other conditions for tracking the wind direction by the wind generating set. The yaw response needs to be properly processed according to the characteristics of the collected data such as wind direction, power and the like, so that the ideal yaw response characteristic can be obtained.
The main flow of the method for controlling wind yaw by a wind turbine generator set according to the embodiment of the present invention is described in detail below with reference to fig. 1. The method mainly comprises the following steps:
s101, collecting original wind direction values and converting the original wind direction values into corresponding angles to be yawed.
Specifically, an original wind direction value is collected and converted into a corresponding original wind direction angle. And correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle. And carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain the wind direction angle to be aligned to the wind.
The method specifically includes, in the process of performing filtering processing based on a specified time constant on the corrected wind direction angle: and carrying out filtering processing based on a first time constant on the corrected wind direction angle to obtain the wind direction angle after the first filtering.
Judging whether the absolute value of the difference value between the wind direction angle after the first filtering and the wind direction angle after the correction meets the preset condition of secondary filtering; and if so, carrying out filtering processing based on a second time constant on the corrected wind direction angle meeting the condition of secondary filtering to obtain the wind direction angle after secondary filtering. If the judgment result is negative, the wind direction angle obtained after the first filtering does not need to be subjected to second wind direction filtering.
And converting the wind direction angle subjected to the second filtering into a wind direction angle to be drifted within a specified angle range.
And, after carrying on the filtering processing based on appointed time constant, obtain the wind direction angle to be drifted after filtering to the wind direction angle after correcting, still include:
the current environment temperature is obtained, and the obtaining mode of the current environment temperature is mature in the prior art and is not listed at this time.
And searching for the power deviation value corresponding to the current ambient temperature according to the corresponding relation between the ambient temperature and the power deviation value obtained in advance. The corresponding relation between the environmental temperature and the power deviation value related in the invention can be determined according to historical data, empirical data and experimental data.
Judging whether the determined theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, if so, carrying out filtering processing based on a first time constant on the corrected wind direction angle; and if not, performing filtering processing based on a second time constant on the corrected wind direction angle. And after the judgment result is obtained, taking any filtering processing result as the wind direction angle after the third filtering, and then converting the wind direction angle after the third filtering into the angle to be drifted within the specified angle range.
S102, judging whether the wind direction angle to be yawed is larger than a preset allowable deviation angle or not, and if yes, acquiring the wind delay time needing to be waited at the current wind speed. If the judgment result is negative, no processing is carried out, and the waiting is continued.
Determining the corresponding relation between the given wind speed and the wind delay time; and acquiring the wind delay time needing to be waited at the current wind speed according to the corresponding relation between the given wind speed and the wind delay time.
S103, judging whether a preset starting wind alignment condition is met or not after the wind alignment delay time is reached, and if yes, yawing according to a wind direction angle to be yawing. If the judgment result is negative, the action of yawing the wind is not started temporarily.
The invention relates to a preset starting wind-facing condition, which specifically comprises an internal condition and an external condition.
The internal conditions include: the obtained current wind speed is larger than the preset wind speed and lasts for the designated delay time, the wind generating set is in a non-stop state or a non-wind state, the wind direction of the first duration is not in a wind area, the wind direction of the second duration is not in the wind area, and the designated delay time corresponding to the current wind speed is reached and the wind generating set is not in a yawing state. The first duration is greater than the second duration. Typically, the time interval of the first duration is longer, also referred to as "long", and the time interval of the second duration is shorter, also referred to as "short". The external conditions include: the safety chain is normal in state, no fault to wind exists, the position of the engine room of the wind generating set is in a normal range, and the wind vane is normal.
The following describes a specific process of determining whether a preset starting wind alignment condition is met in the wind yaw control method of the wind turbine generator set according to the embodiment of the present invention with reference to fig. 2.
Specifically, first, it is determined whether the external condition and the internal condition are simultaneously satisfied, and fig. 2 sequentially lists the following results obtained by the determination: the safety chain normally allows judgment results that the wind is normal, and the position of the nacelle and the wind vane are normal, and it can be seen that the state shown in fig. 2 satisfies the external conditions set in advance when the wind is started.
And judging whether the internal conditions are met. V in fig. 2 represents the current wind speed, and V1 represents the wind speed against the wind. Sequentially judging that the acquired current wind speed is greater than the preset wind speed and continues for a specified delay time, namely V is greater than V1 and continues for 30 seconds; the wind generating set is in a non-stop state or a non-windward state (see the wind generating set shown in fig. 2 is not in the process of stopping and windward); and the wind direction of the first duration is not in the windward region, i.e. the absolute value | α 7| of the wind direction of the first duration is out of (windward) region; determining the current delay time corresponding to the current wind speed according to the corresponding relation between the various wind speeds and the delay time obtained in advance; the current delay time corresponding to the current wind speed has been reached and is not in the yaw state (i.e., yaw is not active when the delay time T is reached); when the wind direction α 7 of the second duration is consistent with the wind direction of the wind direction α 7 of the first duration and the absolute value | α 6| of the wind direction of the second duration is not in the wind facing area; and sending out a corresponding left-wind state or right-wind state according to the fact that the current wind direction is from the left side (namely left-side wind coming) or the right side (namely right-side wind coming).
The process of starting the determination of wind in fig. 2 can be understood as the process of determining the wind condition is initiated by selecting an appropriate timing based on the accurate input conditions, and the process enables the wind operating conditions to be optimized and refined. The wind command needs to be judged according to the preset wind condition when being started, the judgment process reliably avoids the inching yaw, and the inching yaw problem is successfully solved.
The following describes a specific process of acquiring a wind delay time required to wait at a current wind speed in the wind power generation group wind yaw control method according to the embodiment of the present invention with reference to fig. 3.
Specifically, a power deviation value corresponding to the current ambient temperature and a corresponding relationship between the current wind speed and the time until a specified delay time corresponding to the current wind speed are reached are first calculated.
As can be seen from fig. 3, after the calculation step is started, the theoretical power PowDem corresponding to the average wind speed in the power generation state is fitted according to the power curve designed by the wind turbine generator set through the operation of the plurality of sine functions and cosine functions with the wind speed; and calculating delta P0 as PowDem-P, wherein P is the average value of the actual power of the unit, and delta P0 is the power deviation value of the theoretical power deviation corresponding to the current environment temperature.
And searching for the power deviation value corresponding to the current ambient temperature according to the corresponding relation between the ambient temperature and the power deviation value obtained in advance. The corresponding relation between the environmental temperature and the power deviation value related in the invention can be determined according to historical data, empirical data and experimental data.
Also shown in FIG. 3 is the determination of the V-T1 function curve representing ambient temperature versus power deviation after the calculation step is initiated. For example, when the ambient temperature ∈ (-25, 35) ° c (i.e., the ambient temperature is in a range greater than negative 25 degrees celsius and less than positive 35 degrees celsius), the corresponding power deviation range is (10,38) KW (greater than 10 KW and less than 38 KW). Therefore, the magnitude relation between the power deviation value corresponding to the current temperature and the calculated actual power deviation value can be determined through the corresponding relation. By giving the corresponding relation between the wind speed and the wind delay time, for example, (3,35) m/s corresponds to (16,50) s, the wind delay time needing to wait at the current wind speed can be found. And (4) taking an absolute value of the collected original wind direction (belonging to +/-180 degrees) for processing.
After the calculation step is started, a state flag representing the wind direction is output. When the wind direction α 6 of the second duration is the same as the wind direction α 7 of the first duration and > 0, the Rig-1 flag is obtained to indicate that the wind direction is on the right side, and when the wind direction α 6 of the second duration is the same as the wind direction α 7 of the first duration and ≦ 0, the Lef-1 flag is obtained to indicate that the wind direction is on the left side. When the Rig or Lef signal changes, a Chg-1 mark is obtained, which indicates that the wind direction has changed.
Sta — Stp in fig. 3 indicates that the wind turbine generator system is in a shutdown state. When the unit is in a shutdown state, the current wind speed V is greater than the starting wind speed Vstt; and the absolute value of the wind direction alpha 7 of the first time is less than 20 degrees, and the wind facing position is given after the time delay of 30s, which indicates that the wind facing area is in the wind facing area at the moment, namely the wind facing position is already positioned. Where Vstt is a value that is predetermined manually, the Vstt referred to in the present invention can be determined from historical data, empirical data, and experimental data.
Fig. 4 is a schematic flow chart of acquiring an original wind direction value and converting the original wind direction value into a corresponding angle to be yawed in the method for controlling the wind yaw of the wind power generation unit according to the embodiment of the present invention.
Specifically, the raw wind direction values are first collected and converted to corresponding angles to be yawed.
And correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle.
And then, carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain the angle to be yawed.
Referring to fig. 4, a specific derivation operation process for obtaining the angle to be yawed in the embodiment of the present invention is described below by taking the wind direction α 6 of the second duration and the wind direction α 7 of the first duration as an example.
Fig. 4 shows that during the wind direction filtering process, the collected original wind direction values are first converted into corresponding engineering quantities (0 °,360 °), i.e. the original wind direction values are collected and converted into corresponding angles to be yawed. The raw wind direction value can be acquired and processed in various manners, such as measuring raw wind direction data through a wind vane. Because the wind direction map data has errors, the inventor of the present invention sets a wind direction compensation value K to correct the original wind direction data, and the corrected wind direction data is denoted as α 2, that is, α 1+ K is α 2.
Then filtering with a time constant of T1 is carried out on the corrected wind direction data which is recorded as alpha 2 to obtain alpha 3, when the absolute value of the difference value between the corrected wind direction alpha 2 and the filtered wind direction alpha 3 is smaller than a set value A, filtering with a time constant of T2 is carried out on the alpha 2 which meets the condition to obtain alpha 4, and then the alpha 4 is converted into alpha 6 which belongs to +/-180 degrees; and if the calculated power deviation is larger than a set value corresponding to the temperature, filtering with a time constant of T1 to obtain alpha 5, otherwise, filtering with a time constant of T2 to obtain alpha 5, and converting the alpha 5 into alpha 7 belonging to +/-180 degrees. In the power generation state, the original wind direction of the first time length is in the front sector, and the calculated power deviation is less than or equal to the checked allowable deviation, namely the delta P0 is less than or equal to the delta P1, the corrected wind direction is set to be zero.
Therefore, in the wind direction filtering processing process, the filtered wind direction is calculated by using a variable weight method, and the filtering weight is determined by the corresponding relation between the given wind speed and the wind delay time and the corresponding relation between the given wind speed and the time constant, so that the problem of frequent yawing in the specified low wind or wind delay in the specified high wind caused by single weight filtering is successfully solved.
The wind direction filtering processing process in the embodiment of the invention realizes more reasonable wind yaw control on one hand, and correspondingly reduces the adverse effect on a yaw speed reducer caused by the unreliable reference wind direction when the wind generating set is subjected to unbalanced load and unstable wind direction at higher wind speed on the other hand, and effectively relieves the problem of frequent yaw and the yaw response problem.
The inventor of the invention finds that for the wind generating set in the yaw starting wind aligning state, how to clearly and accurately control the wind aligning start time and the wind aligning stop time of the wind generating set, and timely stop the yaw aligning to the wind, so as to avoid the situations of excessive yaw or insufficient yaw, which is very important.
The inventor of the invention provides the control method for the wind power generation unit to yaw wind, and also provides a control logic for stopping the wind; that is, the method for controlling wind yaw of a wind power generator set according to the embodiment of the present invention further includes: and in the process of yawing according to the angle to be yawed, judging whether a preset condition of clearing the wind alignment state and stopping yawing the wind is met. If so, outputting a control command for clearing the wind aligning state and stopping wind yawing so that the cabin of the wind generating set stops wind yawing.
Preferably, before determining whether the preset conditions of clearing the wind and stopping yawing the wind are met, the method further includes:
acquiring a given cabin position of a wind generating set;
determining the corresponding relation between the wind direction of the second duration and the wind facing area; or determining the corresponding relation between the wind direction with the first duration and the wind facing area; and
and determining whether the current wind speed is greater than the preset wind speed.
The function of the wind stopping module is to determine the time for clearly controlling the wind state according to the power deviation, the filtering wind direction calculated by variable weight, the given cabin position and the external and internal conditions, so that the problem of timely stopping yaw of the wind is solved, and the condition of excessive yaw or insufficient yaw is avoided.
Preferably, if any one of the following conditions is satisfied, a control command for clearing the wind condition and stopping yawing the wind is output, so that the generator set stops yawing the wind, specifically including:
determining the wind direction of the first duration or the wind direction of the second duration to be in the opposite wind area according to the corresponding relation between the wind direction of the second duration and the opposite wind area or the corresponding relation between the wind direction of the first duration and the opposite wind area;
the wind direction changes;
the specified small angle reaches a given cabin position to the wind;
the theoretical power deviation is smaller than the power deviation value corresponding to the current environment temperature;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the specified small angle reaches the given cabin position;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the wind deviation is in the area stopping the wind.
The control logic (comprising a plurality of stop-to-wind conditions) for stopping wind is introduced into the control method for wind yaw of the wind power generator set, so that the technical problem of inaccurate yaw counting is solved, and the problem of cable twisting is solved accordingly.
An exemplary flow of stopping yawing the wind in the method for controlling wind yaw by a wind power generation unit according to the embodiment of the invention is further described below with reference to fig. 5.
The example process flow of stopping yawing the wind is primarily to determine whether a condition for clearing the wind condition is currently satisfied. Before judging the conditions, the given cabin position, the relationship between the wind direction and the pleasure to the wind in the second time length, the relationship between the wind direction and the wind area in the first time length, the corresponding relationship between the current wind speed and the power deviation in the power generation state and the corresponding relationship between the current wind speed and the wind direction in the power generation state need to be calculated.
FIG. 5 shows that at the start of yaw start, if the wind park is left on, for a first duration of +5 degrees wind direction as the given nacelle position; and if the wind generating set is in a right-side wind facing state, taking the wind direction of-5 degrees for the first duration as the given cabin position.
Fig. 5 also shows several correspondences of current wind direction to wind zones: if the wind direction of the first duration or the second duration is in the opposite wind region; or the wind direction has changed (from left to right or vice versa); or the designated small angle can be used for clearing the wind when the wind reaches the given cabin position and meets one of the corresponding relations.
FIG. 5 illustrates the relationship of power deviation to wind direction by a number of equations: when the power generation state is in a yaw state relative to the wind, the wind-facing state is cleared when the power deviation is smaller than a set value above a given wind speed or the absolute value of the wind direction is within 100 degrees for 30s and any one of the expressions which can show the relation between the power deviation and the wind direction is satisfied.
Further, if the clear to wind condition is activated when either of the external or internal conditions are not satisfied: for a change in wind conditions, a failure to allow yaw, a flag to prohibit yaw, or a wind speed less than start-up wind speed-1.
Fig. 6 is a schematic structural diagram of a module of a control device for controlling wind yaw of a wind power generator group according to an embodiment of the present invention.
The device for controlling the wind yaw of the wind driven generator set comprises two functional modules, namely a state acquisition module 601 and a judgment control module 602. Wherein,
the state acquisition module 601 is configured to acquire an original wind direction value and convert the original wind direction value into a corresponding angle to be yawed; and acquiring the wind delay time needing to wait at the current wind speed when the angle to be yawed is larger than the preset allowable deviation angle.
The judging control module 602 is configured to judge whether an angle to be yawed is greater than a preset allowable deviation angle, judge whether a preset starting wind alignment condition is met after the wind alignment delay time is reached, and if yes, output a control command for starting a wind alignment state, so that the generator set performs yaw on the wind according to the angle to be yawed.
Specifically, the state obtaining module 601 further includes:
and the original wind direction obtaining and converting module is used for collecting original wind direction values and converting the original wind direction values into corresponding original wind direction angles.
And the correction module is used for correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle.
And the filtering module is used for carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain an angle to be drifted.
FIG. 7 is a schematic structural diagram of a control device for controlling the yaw of a wind turbine generator set according to an embodiment of the present invention. The control device for wind yaw of the wind power generation unit comprises a memory 701 and a processor 702 which are electrically connected, and at least one program stored in the memory and used for realizing the following steps when being executed by the processor:
and collecting the original wind direction value and converting the original wind direction value into a corresponding angle to be yawed.
And judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed.
And after the wind delay time is up, judging whether a preset starting wind alignment condition is met, if so, yawing according to the angle to be yawed.
Specifically, the method for acquiring the original wind direction value and converting the original wind direction value into the corresponding angle to be yawed comprises the following sub-steps:
firstly, collecting an original wind direction value and converting the original wind direction value into a corresponding original wind direction angle;
then, correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle;
and then carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain an angle to be yawed.
The control device and equipment for the wind power generator set to yaw the wind improve the yaw efficiency of the wind power generator set to the wind, reduce the invalid yaw times and time, reduce the probability of cable twisting faults and wind direction angle calculation errors, and prolong the service life of a yaw speed reducer and a yaw motor. The wind power generation unit adopts the reference condition of dynamic change to the wind under the conditions of strong wind above the designated level and weak wind below the designated level, reduces the load of the strong wind above the designated level, improves the power generation capacity to a certain extent, and prevents the wind power generation unit from excessively facing the wind due to unstable wind conditions when the weak wind below the designated level is re-designated.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The control method for wind yaw of the wind power generator set is characterized by comprising the following steps:
collecting original wind direction values and converting the original wind direction values into corresponding original wind direction angles; correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle; carrying out filtering processing based on a specified time constant on the corrected wind direction angle to obtain an angle to be drifted, wherein the filtering processing comprises the following steps: acquiring the current environment temperature; according to the corresponding relation between the pre-obtained environmental temperature and the power deviation value, finding out the power deviation value corresponding to the current environmental temperature; judging whether the determined theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, if so, carrying out filtering processing based on a first time constant on the corrected wind direction angle; if not, filtering the corrected wind direction angle based on a second time constant; taking any filtering processing result as a wind direction angle after the third filtering; converting the wind direction angle subjected to the third filtering into an angle to be drifted within a specified angle range;
judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed;
and judging whether a preset starting wind alignment condition is met or not after the wind alignment delay time is reached, and if so, yawing according to the angle to be yawed.
2. The control method according to claim 1, wherein the filtering the corrected wind direction angle based on a specified time constant to obtain an angle to be yawed after filtering comprises:
filtering the corrected wind direction angle based on a first time constant to obtain a wind direction angle after first filtering;
judging whether the absolute value of the difference value between the wind direction angle after the first filtering and the wind direction angle after the correction meets the preset condition of secondary filtering; if so, carrying out filtering processing based on a second time constant on the corrected wind direction angle meeting the condition of secondary filtering to obtain a wind direction angle after secondary filtering;
and converting the wind direction angle subjected to the second filtering into an angle to be drifted within a specified angle range.
3. The control method according to claim 1, wherein the obtaining of the wind delay time to wait at the current wind speed comprises:
determining the corresponding relation between the given wind speed and the wind delay time;
and acquiring the wind delay time needing to be waited at the current wind speed according to the corresponding relation between the given wind speed and the wind delay time.
4. The control method according to claim 1, characterized in that said preset starting convection conditions comprise internal conditions and external conditions;
the internal conditions include: the acquired current wind speed is greater than the preset wind speed and lasts for a specified delay time, the wind generating set is in a non-stop state or a non-wind state, the wind direction of the first duration is not in a wind area, the wind direction of the second duration is not in the wind area, and the specified delay time corresponding to the current wind speed is reached and the wind generating set is not in a yaw state; the first duration is greater than the second duration;
the external conditions include: the safety chain is normal, no fault to wind exists, the position of the engine room of the wind generating set is in a normal range, and the wind vane is normal.
5. The control method according to claim 1, characterized by further comprising: judging whether a preset condition of clearing the wind alignment state and stopping the wind alignment yawing is met or not in the yawing process according to the angle to be yawed; if so, outputting a control command for clearing the wind aligning state and stopping wind yawing, and stopping wind yawing.
6. The control method according to claim 5, before the determining whether the preset conditions for clearing the wind and stopping yawing the wind are met, further comprising:
acquiring a given cabin position of the wind generating set;
determining the corresponding relation between the wind direction of the second duration and the wind facing area; or determining the corresponding relation between the wind direction with the first duration and the wind facing area;
and determining whether the current wind speed is greater than the preset wind speed.
7. The control method according to claim 6, wherein a control command for clearing the windward state and stopping yawing the wind is output to stop the generator set yawing the wind if any one of the following conditions is satisfied, and specifically comprises:
determining the wind direction of the first duration or the wind direction of the second duration to be in the opposite wind region according to the corresponding relation between the wind direction of the second duration and the opposite wind region or the corresponding relation between the wind direction of the first duration and the opposite wind region;
the wind direction changes;
a specified small angle to the wind to reach the given nacelle position;
the theoretical power deviation is smaller than the power deviation value corresponding to the current environment temperature;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the specified small angle reaches the given cabin position;
the theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, and the wind deviation is in the area stopping the wind.
8. Wind power generation unit is to controlling means of wind driftage characterized in that includes:
the state acquisition module is used for acquiring an original wind direction value and converting the original wind direction value into a corresponding original wind direction angle; correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle; acquiring the current environment temperature; according to the corresponding relation between the pre-obtained environmental temperature and the power deviation value, finding out the power deviation value corresponding to the current environmental temperature; judging whether the determined theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, if so, carrying out filtering processing based on a first time constant on the corrected wind direction angle; if not, filtering the corrected wind direction angle based on a second time constant; taking any filtering processing result as a wind direction angle after the third filtering; converting the wind direction angle subjected to the third filtering into an angle to be drifted within a specified angle range; when the angle to be yawed is larger than a preset allowable deviation angle, acquiring the wind delay time needing to be waited at the current wind speed;
and the judging control module is used for judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, judging whether a preset starting wind aligning condition is met or not after the wind aligning delay time is reached, and if so, outputting a control command for starting a wind aligning state to enable the generator set to drift the wind according to the angle to be drifted.
9. Control equipment that aerogenerator group drifted to wind, its characterized in that includes:
a memory and a processor electrically connected;
at least one program stored in the memory for execution by the processor to perform the steps of:
collecting original wind direction values and converting the original wind direction values into corresponding original wind direction angles; correcting the original wind direction angle according to a preset wind direction compensation value to obtain a corrected wind direction angle; acquiring the current environment temperature; according to the corresponding relation between the pre-obtained environmental temperature and the power deviation value, finding out the power deviation value corresponding to the current environmental temperature; judging whether the determined theoretical power deviation is larger than the power deviation value corresponding to the current environment temperature, if so, carrying out filtering processing based on a first time constant on the corrected wind direction angle; if not, filtering the corrected wind direction angle based on a second time constant; taking any filtering processing result as a wind direction angle after the third filtering; converting the wind direction angle subjected to the third filtering into an angle to be drifted within a specified angle range;
judging whether the angle to be drifted is larger than a preset allowable deviation angle or not, and if so, acquiring the wind delay time needing to be waited at the current wind speed;
and judging whether a preset starting wind alignment condition is met or not after the wind alignment delay time is reached, and if so, yawing according to the angle to be yawed.
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| CN112855438B (en) * | 2019-11-28 | 2023-03-28 | 北京国电思达科技有限公司 | Wind dynamic compensation method for wind power generation set yaw |
| CN113027680B (en) * | 2019-12-25 | 2024-02-06 | 金风科技股份有限公司 | Yaw opposite wind control method and device of wind generating set |
| CN113431739A (en) * | 2021-06-23 | 2021-09-24 | 国电南京自动化股份有限公司 | Yaw system of wind generating set |
| CN113653609B (en) * | 2021-09-17 | 2022-04-19 | 中节能风力发电股份有限公司 | Wind vane fault identification method, system, equipment and storage medium for wind turbine generator |
| CN116971917B (en) * | 2023-06-28 | 2024-01-30 | 北京金风科创风电设备有限公司 | Yaw control method and device, controller and wind generating set |
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| EP2175129A1 (en) * | 2008-10-10 | 2010-04-14 | Siemens Aktiengesellschaft | Adaptive adjustment of the blade pitch angle of a wind turbine |
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