CN110857683B

CN110857683B - Yaw control method, device and equipment of wind driven generator

Info

Publication number: CN110857683B
Application number: CN201810962107.2A
Authority: CN
Inventors: 毛嘉昀; 吴云崇; 杨斌
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2018-08-22
Filing date: 2018-08-22
Publication date: 2021-12-24
Anticipated expiration: 2038-08-22
Also published as: CN110857683A

Abstract

The application provides a yaw control method, a yaw control device and yaw control equipment of a wind driven generator, wherein the method comprises the following steps: acquiring yaw data, control parameters and performance parameters of the wind driven generator; determining deviation information of the wind energy conversion component according to the yaw data and the control parameters; controlling the position of the wind energy conversion component in dependence on the deviation information and the performance parameter. According to the technical scheme, the position of the wind energy conversion component can be effectively adjusted, the maximum power generation power is obtained, efficient control parameters are trained, and the optimal yaw control is achieved.

Description

Yaw control method, device and equipment of wind driven generator

Technical Field

The application relates to the technical field of wind power, in particular to a yaw control method, a yaw control device and yaw control equipment of a wind driven generator.

Background

A wind generator may include a yaw system and a rotor for converting wind energy into mechanical energy, with the yaw system being used to adjust the position of the rotor. For example, when the direction of the wind velocity vector changes, the yaw system can adjust the position of the rotor to align the rotor with the wind direction, thereby maximizing the wind energy available to the rotor.

The yawing system comprises a wind vane, a yawing motor, a yawing planetary gear reducer, a yawing brake (also can be yawing damping or yawing calipers), a large gear of a revolving body and the like, and the working principle is as follows: the wind vane is used as an induction element, can sense the wind direction change and transmits an electric signal to the yaw motor, the yaw motor can generate a clockwise or anticlockwise yaw command according to the electric signal, a yaw moment acts on the large gear of the revolving body according to the yaw command, the large gear of the revolving body drives the wind wheel to enable the wind wheel to be aligned with the wind direction, after the wind wheel is aligned with the wind direction, the wind vane stops transmitting the electric signal, the yaw motor stops working, and the yaw process is finished.

However, how to adjust the position of the wind wheel to obtain the maximum generated power is a problem to be solved at present.

Disclosure of Invention

The application provides a yaw control method of a wind driven generator, which comprises the following steps:

acquiring yaw data, control parameters and performance parameters of the wind driven generator;

determining deviation information of the wind energy conversion component according to the yaw data and the control parameters;

controlling a position of the wind energy conversion component based on the deviation information and the performance parameter.

acquiring historical yaw data, performance parameters and a control parameter set of the wind driven generator;

determining the power generation power of the control parameter according to the historical yaw data, the performance parameter and the control parameter in the control parameter set; the set of control parameters comprises a plurality of control parameters;

selecting a target control parameter from the control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting member.

The application provides a aerogenerator controlling means that drifts, the device includes:

the acquisition module is used for acquiring yaw data, control parameters and performance parameters of the wind driven generator;

a determining module for determining an offset information of the wind energy conversion component based on the yaw data and the control parameter;

a control module for controlling a position of the wind energy conversion component based on the deviation information and the performance parameter.

the acquisition module is used for acquiring historical yaw data, performance parameters and a control parameter set of the wind driven generator; wherein the set of control parameters comprises a plurality of control parameters;

the determining module is used for determining the generating power of the control parameter according to the historical yaw data, the performance parameter and the control parameter in the control parameter set;

the selection module is used for selecting a target control parameter from a control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting member.

The application provides a aerogenerator controlgear that drifts, includes:

a processor and a machine-readable storage medium having stored thereon a plurality of computer instructions, the processor when executing the computer instructions performs:

The application provides a aerogenerator controlgear that drifts, includes:

Based on the technical scheme, in the embodiment of the application, the offset information of the wind energy conversion component can be determined according to the yaw data and the control parameters of the wind driven generator, and the position of the wind energy conversion component is controlled according to the offset information of the wind energy conversion component and the performance parameters of the wind driven generator, so that the position of the wind energy conversion component can be effectively adjusted to obtain the maximum generating power, efficient control parameters can be trained, the control parameters can be optimized, and the optimal yaw control is achieved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments of the present application or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings of the embodiments of the present application.

FIG. 1 is a flow chart of a method for controlling yaw of a wind turbine according to an embodiment of the present application;

FIG. 2 is a flow chart of a method of controlling yaw of a wind turbine according to another embodiment of the present application;

FIG. 3 is a flow chart of a method of controlling yaw of a wind turbine according to another embodiment of the present application;

FIG. 4 is a flow chart of a method of controlling yaw of a wind turbine according to another embodiment of the present application;

FIG. 5 is a block diagram of a yaw control apparatus of a wind turbine according to an embodiment of the present application;

fig. 6 is a configuration diagram of a yaw control device of a wind turbine according to another embodiment of the present application.

Detailed Description

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein is meant to encompass any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Depending on the context, moreover, the word "if" as used may be interpreted as "at … …" or "when … …" or "in response to a determination".

The embodiment of the present application provides a yaw control method for a wind turbine, which may be used to adjust a position of a wind energy conversion component (which may include, but is not limited to, a rotor of the wind turbine) of the wind turbine, and as shown in fig. 1, the method may include:

step 101, acquiring yaw data, control parameters and performance parameters of the wind driven generator.

Wherein the yaw data may include, but is not limited to: and yaw data at the current moment, or the yaw data at the current moment and historical yaw data. Further, the control parameters may include, but are not limited to: pre-configured control parameters, or control parameters trained from historical yaw data and performance parameters.

In one example, the process of training the control parameters based on historical yaw data and performance parameters may include, but is not limited to: determining the power generation power of the control parameter according to the historical yaw data, the performance parameter and each control parameter in the control parameter set; wherein the set of control parameters may include a plurality of control parameters; and selecting target control parameters from the control parameter set by using the generated power of each control parameter.

Wherein, according to the historical yaw data, the performance parameter and each control parameter in the control parameter set, the generated power of the control parameter is determined, which may include but is not limited to: determining deviation information of the wind energy conversion component according to the historical yaw data and the control parameter; adjusting a position of the wind energy conversion component based on the deviation information and the performance parameter; then, the generated power of the wind turbine at the current position (i.e., the current position of the wind energy conversion component) is determined.

Wherein the control parameters may include a starting offset speed and a starting offset angle; the historical yaw data may include wind speed, wind direction, and wind energy conversion component position; based thereon, from the historical yaw data and the control parameters, offset information for the wind energy conversion component is determined, which may include, but is not limited to: determining a yaw angle between the wind direction and the position of the wind energy conversion component; if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind energy conversion component is offset; otherwise (i.e. the wind speed is less than or equal to the starting offset speed, or the yaw angle is less than or equal to the starting offset angle), it is determined whether the offset information of the wind energy conversion component is not offset.

Wherein the performance parameter may include a rotation angle; adjusting the position of the wind energy conversion component based on the deviation information and the performance parameter may include, but is not limited to: if the deviation information is deviation, the position of the wind energy conversion component can be adjusted according to the rotation angle; if the deviation information is no deviation, the position of the wind energy conversion member is kept unchanged.

Wherein the historical yaw data may include wind speed and wind direction; determining the generated power of the wind turbine at the current location may include, but is not limited to: determining a yaw angle between the wind direction and a current position of the wind energy conversion component; the generated power of the wind turbine can be determined according to the wind speed and the yaw angle.

The selecting of the target control parameter from the control parameter set by using the generated power of each control parameter may include, but is not limited to: determining the maximum generated power according to the generated power of each control parameter in the control parameter set; and determining the control parameter corresponding to the maximum power generation power as the target control parameter.

Based on the yaw data and the control parameters, offset information of the wind energy conversion component is determined, step 102.

Wherein the control parameters may include a starting offset speed and a starting offset angle; the yaw data may include wind speed, wind direction, and wind energy conversion component position; based on this, determining the offset information of the wind energy conversion component from the yaw data and the control parameter may include, but is not limited to: determining a yaw angle between the wind direction and the position of the wind energy conversion component; if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, it may be determined that the offset information of the wind energy conversion component is an offset; otherwise (i.e. the wind speed is less than or equal to the starting offset speed and the yaw angle is less than or equal to the starting offset angle), it may be determined whether the offset information of the wind energy conversion component is not offset.

Step 103, controlling the position of the wind energy conversion component based on the deviation information and the performance parameter.

Wherein the performance parameter may include a rotation angle; controlling the position of the wind energy conversion component based on the offset information and the performance parameter may include, but is not limited to: if the deviation information is deviation, the position of the wind energy conversion component can be adjusted according to the rotation angle; if the deviation information is no deviation, the position of the wind energy conversion member is kept unchanged.

Wherein adjusting the position of the wind energy conversion component according to the rotation angle may include, but is not limited to: determining the current adjustment direction of the wind energy conversion component according to the previous adjustment direction of the wind energy conversion component, a first power difference between the theoretical generated power of the wind driven generator and the current actual generated power of the wind driven generator, and a second power difference between the theoretical generated power and the previous actual generated power; in this adjustment direction, the position of the wind energy conversion component is adjusted according to the rotation angle.

The determining of the current adjustment direction of the wind energy conversion component according to the previous adjustment direction of the wind energy conversion component, the first power difference between the theoretical generated power of the wind power generator and the current actual generated power of the wind power generator, and the second power difference between the theoretical generated power and the previous actual generated power may include, but is not limited to: if the first power difference is smaller than the second power difference, determining that the current adjustment direction of the wind energy conversion component is the same as the previous adjustment direction; or, if the first power difference is larger than the second power difference, determining that the current adjustment direction of the wind energy conversion component is opposite to the previous adjustment direction.

In one example, the yaw data may include a wind speed and a wind direction, based on which, in order to determine a theoretical generated power of the wind turbine, a yaw angle between the wind direction and the adjusted position of the wind energy conversion component may be determined, and the theoretical generated power of the wind turbine may be determined based on the wind speed and the yaw angle.

In one example, the yaw data may include a current, a voltage, and a power usage of the wind turbine, based on which, in order to determine the present actual generated power of the wind turbine, the present actual generated power of the wind turbine may be determined based on the current, the voltage, and the power usage of the wind turbine.

In an example, the execution sequence is only an example given for convenience of description, and in practical applications, the execution sequence between steps may also be changed, and the execution sequence is not limited. In other embodiments, the steps of the respective methods are not necessarily performed in the order shown and described herein, and the methods may include more or less steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.

Another method for controlling yaw of a wind turbine is proposed in the embodiments of the present application, which may be used to adjust a position of a wind energy conversion component (the wind energy conversion component may include, but is not limited to, a rotor of the wind turbine) of the wind turbine, as shown in fig. 2, and is a schematic flow chart of the method, the method may include:

step 201, obtaining historical yaw data, performance parameters and a control parameter set of the wind driven generator.

Wherein the set of control parameters may include a plurality of control parameters.

Step 202, determining the generated power of the control parameter, i.e. the generated power of the wind turbine, according to the historical yaw data, the performance parameter and each control parameter in the set of control parameters.

Determining the generated power for the control parameter from the historical yaw data, the performance parameter, and each control parameter in the set of control parameters may include, but is not limited to: determining deviation information of the wind energy conversion component according to the historical yaw data and the control parameter; adjusting a position of the wind energy conversion component based on the deviation information and the performance parameter; then, the generated power of the wind turbine at the current position is determined.

And step 203, selecting target control parameters from the control parameter set by using the generated power, wherein the target control parameters are used for controlling the position of the wind energy conversion component. That is, the generated power of each control parameter may be used to select a target control parameter from the control parameter set.

The position of the wind energy conversion member may also be controlled in dependence on the control parameter of the target. Specifically, determining the offset information of the wind energy conversion component according to the yaw data of the wind driven generator and the control parameter of the target; the position of the wind energy conversion component is controlled based on the offset information and performance parameters of the wind turbine.

The process of controlling the position of the wind energy conversion component according to the target control parameter may refer to the flow shown in fig. 1, for example, refer to steps 101 to 103, which is not repeated herein.

The above technical solution is explained below with reference to specific application scenarios. In this application scenario, the yaw control method of the wind turbine may be applied to a wind turbine, and the wind turbine may include a yaw system (i.e., a wind turbine) and a wind energy conversion component, where the wind energy conversion component is used to convert wind energy into mechanical energy, and the yaw system is used to adjust a position of the wind energy conversion component, that is, the yaw system may adopt the yaw control method of the wind turbine of this embodiment to adjust the position of the wind energy conversion component, and then, the wind energy conversion component is taken as an example.

In one example, when adjusting the position of the rotor by using the yaw control method of the wind turbine, the control parameters to the wind turbine may be used, and the control parameters may include, but are not limited to, the starting offset speed and the starting offset angle, and of course, the control parameters may also include other contents, which are not limited to this, and the starting offset speed and the starting offset angle are described as examples in the following. Wherein the control parameter may be a preconfigured control parameter, such as a control parameter preconfigured empirically, or the control parameter may be a control parameter trained on historical yaw data and performance parameters (i.e. performance parameters of the wind turbine).

In this embodiment, a process of "training a control parameter according to historical yaw data and a performance parameter" is taken as an example, and based on this, a control parameter of a wind turbine is obtained, which may be shown in fig. 3.

Step 301, obtaining historical yaw data of the wind driven generator. Wherein the historical yaw data may be yaw data generated over a past period of time, such as yaw data generated over a past 1 month.

In one example, the historical yaw data may include, but is not limited to: wind speed, wind direction, wind wheel position, current, voltage and power of wind driven generator, etc. without limitation.

The wind vane mounted on the wind driven generator can acquire wind direction data and output wind direction aiming at the acquisition process of historical yaw data, and therefore the wind direction output by the wind vane can be acquired. The anemoscope arranged on the wind driven generator can acquire wind speed data and output wind speed, so that the wind speed output by the anemoscope can be acquired. The voltmeter arranged on the wind driven generator can collect voltage data and output voltage, so that the voltage output by the voltmeter can be acquired. The ammeter arranged on the wind driven generator can acquire current data and output current, so that the current output by the ammeter can be acquired. The power meter arranged on the wind driven generator can collect power data and output the use power, so that the use power output by the power meter can be obtained. The large gear of the revolving body arranged on the wind driven generator can acquire position data of the wind wheel and output the position of the wind wheel, so that the position of the wind wheel output by the large gear of the revolving body can be acquired.

Therein, the yaw data of the same time instant may be organized together to form historical yaw data of that time instant. For example, wind speed a1, wind direction a1, rotor position a1, current a1, voltage a1, and power usage a1 at time a may be organized together to form historical yaw data a at time a, similarly wind speed B1, wind direction B1, rotor position B1, current B1, voltage B1, and power usage B1 at time B may be organized together to form historical yaw data B, wind speed C1, wind direction C1, rotor position C1, current C1, voltage C1, and power usage C1 at time C may be organized together to form historical yaw data C, and so on. The historical yaw data a, the historical yaw data B, and the historical yaw data C will be described later as examples.

And step 302, acquiring performance parameters of the wind driven generator. The performance parameter may include, but is not limited to, a rotation angle, such as how many degrees the wind turbine rotates per second, such as 0.5 degrees/second, among others. Of course, in practical applications, the performance parameter may also be other parameters of the wind turbine, and the performance parameter is not limited.

In step 303, a set of control parameters of the wind turbine is obtained, which may include a plurality of control parameters, each of which may include, but is not limited to, a starting offset speed and a starting offset angle.

In which, a control parameter set may be configured in advance, and the control parameter set may be an orthogonal test table, and the orthogonal test table may include a plurality of control parameters, which is shown in table 1 and is an example of the orthogonal test table.

TABLE 1

Initial offset velocity	Initial offset angle
		Initial offset velocity 1	Initial offset angle 1
Initial offset velocity 1	Starting offset angle 2
		Initial offset velocity 2	Initial offset angle 1
Initial offset velocity 2	Starting offset angle 2
		…	…

In table 1, the start offset speed 1 and the start offset angle 1 may be used as the control parameter 1, the start offset speed 1 and the start offset angle 2 may be used as the control parameter 2, the start offset speed 2 and the start offset angle 1 may be used as the control parameter 3, and the start offset speed 2 and the start offset angle 2 may be used as the control parameter 4. Of course, table 1 takes 4 control parameters as an example, and in practical applications, the number of control parameters is much larger than 4.

The control parameters 1, 2, 3 and 4 are control parameters configured according to experience, but in this embodiment, it is necessary to select the control parameter with the best performance from the control parameters 1, 2, 3 and 4, and the selection of the control parameter is introduced in the subsequent process.

And step 304, determining the deviation information of the wind wheel according to the historical yaw data and the control parameters.

Wherein the control parameters may include a starting offset speed and a starting offset angle, and the historical yaw data may include wind speed, wind direction, and wind wheel position; based on this, from the historical yaw data and the control parameters, the offset information of the wind turbine is determined, which may include but is not limited to: determining a yaw angle between the wind direction and the rotor position; if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind wheel is offset; otherwise, it is determined whether the deviation information of the wind wheel is not deviated.

And 305, adjusting the position of the wind wheel according to the offset information and the performance parameter.

Wherein the performance parameter may include a rotation angle; adjusting the position of the rotor based on the offset information and the performance parameter may include, but is not limited to: if the deviation information is deviation, the position of the wind wheel can be adjusted according to the rotation angle; if the deviation information is not deviation, the position of the wind wheel is kept unchanged.

Step 306, determining the power generated by the wind driven generator at the current position.

Wherein the historical yaw data may include wind speed and wind direction; determining the generated power of the wind turbine at the current location may include, but is not limited to: determining a yaw angle between the wind direction and a current position of the wind rotor; then, the generated power of the wind turbine can be determined according to the wind speed and the yaw angle.

The above steps 304 to 306 are described in detail below with reference to specific application scenarios.

A control parameter 1 (e.g., a start offset speed 1 and a start offset angle 1) is selected from a set of control parameters.

Determining a yaw angle 1 between a wind direction A1 and a rotor position A1 based on historical yaw data A at time A; if the wind speed A1 is greater than the initial offset speed 1 and the yaw angle 1 is greater than the initial offset angle 1, determining that the offset information of the wind wheel is offset, and offsetting the wind wheel by 0.5 degrees according to the performance parameters (such as 0.5 degrees/second) of the wind driven generator, wherein the adjusted position of the wind wheel is A2. Determining a yaw angle 2 between a wind direction A1 and a rotor position A2, and determining a generated power A11 of the wind turbine according to the wind speed A1 and the yaw angle 2.

Then, based on the adjusted position a2 of the wind wheel, a yaw angle 2 between the wind direction a1 and the position a2 of the wind wheel may be determined, and if the wind speed a1 is greater than the initial offset speed 1 and the yaw angle 2 is greater than the initial offset angle 1, it is determined that the offset information of the wind wheel is offset, and the wind wheel is offset by 0.5 degrees according to the performance parameters of the wind turbine, and the adjusted position of the wind wheel is A3. Determining a yaw angle 3 between a wind direction A1 and a rotor position A3, and determining a generated power A12 of the wind turbine according to the wind speed A1 and the yaw angle 3.

By analogy, until the yaw angle between the wind direction A1 and the adjusted position of the wind wheel is not greater than the initial offset angle 1, determining whether the offset information of the wind wheel is not offset, and no longer determining the power generation power of the wind driven generator; or, if the preset number of generated powers are obtained, the generated power of the wind driven generator is not determined.

Then, the sum of each of the generated powers obtained may be determined as the generated power a1 of the control parameter 1 at the time a, such as the generated power a1 ═ the generated power a11+ the generated power a12+ the generated power a13+ ….

Based on the historical yaw data B at the time B, the generated power B1 of the control parameter 1 at the time B may be determined, and based on the historical yaw data C at the time C, the generated power C1 of the control parameter 1 at the time C may be determined, and the specific determination manner refers to the determination manner of the generated power a1, which is not described herein again. Then, the sum of the generated power a1, the generated power B1, and the generated power C1 is determined as the generated power of the control parameter 1.

Then, a control parameter 2 (such as a start offset speed 1 and a start offset angle 2) is selected from the control parameter set, the generated power a2 of the control parameter 2 at the time a is obtained based on the historical yaw data a at the time a, the generated power B2 of the control parameter 2 at the time B is obtained based on the historical yaw data B at the time B, the generated power C2 of the control parameter 2 at the time C is obtained based on the historical yaw data C at the time C, and then the sum of the generated power a2, the generated power B2 and the generated power C2 is determined as the generated power of the control parameter 2. Similarly, the generated power of the control parameter 3 and the generated power of the control parameter 4 can be obtained.

And 307, selecting target control parameters from the control parameter set by using the generated power of each control parameter. For example, the maximum generated power may be determined from the generated power for each control parameter in the set of control parameters; then, the control parameter corresponding to the maximum generated power is determined as the target control parameter.

For example, the maximum generated power may be determined from the generated power of control parameter 1, the generated power of control parameter 2, the generated power of control parameter 3, and the generated power of control parameter 4, and if the maximum generated power is the generated power of control parameter 1, control parameter 1 may be determined as the target control parameter.

After selecting the target control parameter from the set of control parameters, the position of the wind rotor may be controlled according to the target control parameter. In this embodiment, for a process of controlling the position of the wind rotor according to the target control parameter, as shown in fig. 4, the yaw control method of the wind turbine may include:

step 401, obtaining yaw data, control parameters and performance parameters of the wind driven generator.

In one example, the control parameters may include, but are not limited to: pre-configured control parameters, or control parameters trained from historical yaw data and performance parameters, i.e., the control parameters obtained in fig. 3. In this embodiment, the control parameters may include a start offset speed and a start offset angle.

In one example, the performance parameter may include, but is not limited to, a rotation angle, such as 0.5 degrees/second, etc.

In one example, the yaw data may include, but is not limited to: and yaw data at the current moment, or the yaw data at the current moment and historical yaw data. Further, the historical yaw data may be yaw data generated over a past period of time, such as yaw data generated over a past 1 month.

Among other things, yaw data may include, but is not limited to: wind speed, wind direction, wind wheel position, wind generator current, voltage, power used, etc., without limitation. For the process of acquiring yaw data (e.g., yaw data at the current time, historical yaw data), reference may be made to step 301, which is not described herein again.

Assuming that the current time is time D, the wind speed D1, the wind direction D1, the rotor position D1, the current D1, the voltage D1 and the power D1 at time D may be organized together to form yaw data D at the current time. Further, referring to step 301, it may be assumed that the historical yaw data includes historical yaw data a at time a, historical yaw data B at time B, and historical yaw data C at time C.

In step 401, if the yaw data is yaw data at the current time, the yaw data may be yaw data D; if the yaw data is yaw data and historical yaw data at the current moment, the yaw data may be a mean of historical yaw data a, historical yaw data B, historical yaw data C, and yaw data D, for example, a wind speed in the yaw data is a mean of wind speed a1, wind speed B1, wind speed C1, and wind speed D1, a wind direction in the yaw data is a mean of wind direction a1, wind direction B1, wind direction C1, and wind direction D1, and so on.

Based on the yaw data and the control parameters, an offset information of the wind rotor is determined, step 402.

Wherein the yaw data may include wind speed, wind direction, and wind wheel position; the control parameters may include a starting offset speed and a starting offset angle. Based on this, from the yaw data and the control parameters, the offset information of the wind rotor is determined, which may include but is not limited to: determining a yaw angle between the wind direction and the rotor position; if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind wheel is offset; otherwise, it may be determined whether the deviation information of the rotor is not deviated.

And step 403, judging whether the deviation information of the wind wheel is deviation. If yes, step 404 is executed, if no, namely the deviation information is not deviation, the position of the wind wheel is kept unchanged, and the wind wheel position adjusting process is finished.

Step 404, adjusting the position of the wind rotor according to the performance parameters (such as the rotation angle) of the wind turbine.

Wherein, steps 401 to 404 are performed periodically, for example, once per second, if the deviation information of the wind wheel is deviation, the next second continues to be performed until the deviation information is not deviation. Also, each time step 404 is performed, the rotor may be shifted by 0.5 degrees, assuming that the rotation angle is 0.5 degrees/second.

In one example, when adjusting the position of the rotor according to the performance parameters of the wind turbine, the adjustment direction of the rotor is involved, such as adjusting the position of the rotor clockwise or adjusting the position of the rotor counterclockwise. Based on this, adjusting the position of the rotor according to the performance parameters of the wind turbine may also include, but is not limited to, the following:

in the first situation, aiming at the first adjustment process, one adjustment direction is randomly selected, the adjustment direction is used as the current adjustment direction of the wind wheel, and the position of the wind wheel is adjusted according to the rotation angle in the current adjustment direction.

The second situation, aiming at the non-first adjustment process, the current adjustment direction of the wind wheel can be determined according to the previous adjustment direction of the wind wheel, a first power difference between the theoretical generating power and the current actual generating power, and a second power difference between the theoretical generating power and the previous actual generating power; for example, if the first power difference is smaller than the second power difference, it may be determined that the current adjustment direction of the wind wheel is the same as the previous adjustment direction; or, if the first power difference is larger than the second power difference, it may be determined that the current adjustment direction of the wind wheel is opposite to the previous adjustment direction. Then, the position of the wind wheel can be adjusted according to the rotation angle in the current adjusting direction.

The yaw data may include a wind speed and a wind direction, and based on this, in order to determine the theoretical generated power of the wind turbine, a yaw angle between the wind direction and the adjusted position of the wind wheel may be determined, and then the theoretical generated power of the wind turbine may be determined according to the wind speed and the yaw angle.

The yaw data may include a current, a voltage, and a power consumption of the wind turbine, and based on this, in order to determine the current actual power generation of the wind turbine, the current actual power generation of the wind turbine may be determined according to the current, the voltage, and the power consumption of the wind turbine.

The process from step 401 to step 404 will be described below with reference to specific application scenarios.

In the first second, it is assumed that the yaw data includes wind speed D1, wind direction D1, rotor position D1, current D1, voltage D1 and power-in-use D1, and the control parameters include start offset speed 1 and start offset angle 1.

Determining a yaw angle 1 between a wind speed D1 and a rotor position D1; if wind speed D1 is greater than initial offset speed 1 and yaw angle 1 is greater than initial offset angle 1, then it may be determined that the offset information for the rotor is an offset.

Then, an adjustment direction may be randomly selected, assuming that a clockwise adjustment direction is selected, and the clockwise adjustment direction is taken as the current adjustment direction of the wind wheel. In addition, according to the performance parameters (such as 0.5 degree/second) of the wind driven generator, the wind wheel is shifted by 0.5 degree in the clockwise direction, and the position of the wind wheel after adjustment is A2.

Then, the generated power of the wind turbine may be determined from the current D1 and the voltage D1 of the wind turbine, and the difference between the generated power and the used power D1 of the wind turbine (i.e., the power difference between the generated power and the used power of the wind turbine) may be determined as the actual generated power D1 of the first second.

In the second, it is assumed that the yaw data includes wind speed D1, wind direction D1, rotor position D2, current D2, voltage D2 and power-in-use D2, and the control parameters include start offset speed 1 and start offset angle 1.

Determining a yaw angle 2 between a wind speed D1 and a rotor position D2; if wind speed D1 is greater than starting offset speed 1 and yaw angle 2 is greater than starting offset angle 1, then it may be determined that the offset information for the rotor is an offset.

The generated power of the wind power generator may be determined according to the current D2 and the voltage D2 of the wind power generator, and the difference between the generated power of the wind power generator and the used power D2 may be determined as the actual generated power D2 of the second, and the theoretical generated power of the wind power generator may be determined according to the wind speed D1 and the yaw angle 2.

Then, a first power difference between the theoretical generated power and the actual generated power D2 for the second and a second power difference between the theoretical generated power and the actual generated power D1 for the first second may be calculated, and the present adjustment direction of the wind turbine may be determined. For example, if the first power difference is smaller than the second power difference, the current adjustment direction is the same as the previous adjustment direction, that is, the current adjustment direction is a clockwise adjustment direction, and if the first power difference is larger than the second power difference, the current adjustment direction is opposite to the previous adjustment direction, that is, the current adjustment direction is a counterclockwise adjustment direction.

If the current adjustment direction is a clockwise adjustment direction, the wind wheel can be shifted by 0.5 degrees in the clockwise direction according to the performance parameters (such as 0.5 degrees/second) of the wind driven generator, and the position of the adjusted wind wheel is A3.

If the current adjustment direction is a counterclockwise adjustment direction, the wind wheel can be shifted by 0.5 degrees in the counterclockwise direction according to the performance parameters (such as 0.5 degrees/second) of the wind driven generator, and the position of the adjusted wind wheel is a 3.

And in the third and subsequent stages, the processing process refers to the processing of the second, and so on until the wind speed is not greater than the initial offset speed 1, or the yaw angle between the wind direction and the adjusted position of the wind wheel is not greater than the initial offset angle 1, determining that the offset information of the wind wheel is not offset, and ending the adjustment process of the position of the wind wheel.

Based on the technical scheme, in the embodiment of the application, the offset information of the wind wheel can be determined according to the yaw data and the control parameters of the wind driven generator, and the position of the wind wheel is controlled according to the offset information of the wind wheel and the performance parameters of the wind driven generator, so that the position of the wind wheel can be effectively adjusted to obtain the maximum power generation power, efficient control parameters are trained, the control parameters can be optimized, and the optimal yaw control is achieved.

In the above mode, the optimal control parameters are obtained by adopting a training mode instead of fixed control parameters, so that the requirement of optimal yaw is met, the control parameters can be timely adjusted according to a new machine type and an environmental working condition in the yaw control process, the new machine type and the environmental working condition are adapted, and the optimal yaw control is achieved.

Based on the same application concept as the method, an embodiment of the present application provides a yaw control apparatus of a wind turbine, as shown in fig. 5, which is a structural diagram of the apparatus, and the apparatus includes: an obtaining module 501, configured to obtain yaw data, control parameters, and performance parameters of the wind turbine; a determining module 502 for determining an offset information of the wind energy conversion component based on said yaw data and said control parameters; a control module 503 for controlling the position of the wind energy converting member based on the deviation information and the performance parameter.

The obtaining module 501 is further configured to train control parameters of the wind turbine according to historical yaw data and the performance parameters; specifically, the power generation power of the control parameter is determined according to historical yaw data, performance parameters and the control parameter in the control parameter set; wherein the set of control parameters comprises a plurality of control parameters; and selecting target control parameters from the control parameter set by using the generated power.

The control parameters include a starting offset speed and a starting offset angle; the yaw data includes wind speed, wind direction, and wind energy conversion component position; the performance parameter comprises a rotation angle; the determining module 502 is specifically configured to determine the offset information of the wind energy conversion component based on the yaw data and the control parameter: determining a yaw angle between the wind direction and the wind energy conversion component position; if the wind speed is greater than the initial offset speed, and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind energy conversion component is offset; otherwise, determining whether the deviation information of the wind energy conversion component is not deviation; the control module 503 is specifically configured to, when controlling the position of the wind energy conversion component according to the offset information and the performance parameter: if the deviation information is deviation, adjusting the position of the wind energy conversion component according to the rotation angle; if the deviation information is not deviation, keeping the position of the wind energy conversion component unchanged.

Based on the same concept as the method described above, the present embodiment also provides a wind turbine yaw control apparatus, including: a processor and a machine-readable storage medium; the machine-readable storage medium has stored thereon a plurality of computer instructions, which when executed by the processor, perform the following: acquiring yaw data, control parameters and performance parameters of the wind driven generator; determining deviation information of the wind energy conversion component according to the yaw data and the control parameters; controlling a position of the wind energy conversion component based on the deviation information and the performance parameter.

The present embodiments also provide a machine-readable storage medium having stored thereon computer instructions that, when executed, perform the following: acquiring yaw data, control parameters and performance parameters of the wind driven generator; determining deviation information of the wind energy conversion component according to the yaw data and the control parameters; controlling a position of the wind energy conversion component based on the deviation information and the performance parameter.

Based on the same application concept as the method, an embodiment of the present application further provides a yaw control apparatus of a wind turbine, as shown in fig. 6, which is a structural diagram of the apparatus, and the apparatus may include: an obtaining module 601, configured to obtain historical yaw data, performance parameters, and a control parameter set of the wind turbine; wherein the set of control parameters comprises a plurality of control parameters; a determining module 602, configured to determine, according to the historical yaw data, the performance parameter, and a control parameter in the control parameter set, a power generation power of the control parameter; a selecting module 603, configured to select a target control parameter from a control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting member.

The determining module 602 is specifically configured to determine, according to the historical yaw data, the performance parameter, and a control parameter in the control parameter set, a generated power of the control parameter by: determining deviation information of the wind energy conversion component according to the historical yaw data and the control parameter; adjusting the position of the wind energy conversion component according to the deviation information and the performance parameter; and determining the generated power of the wind driven generator at the current position.

Based on the same concept as the method described above, the present embodiment also provides a wind turbine yaw control apparatus (e.g., a wind turbine), including: a processor and a machine-readable storage medium; the machine-readable storage medium has stored thereon a plurality of computer instructions, which when executed by the processor, perform the following: acquiring historical yaw data, performance parameters and a control parameter set of the wind driven generator; determining the power generation power of the control parameter according to the historical yaw data, the performance parameter and the control parameter in the control parameter set; the set of control parameters comprises a plurality of control parameters; selecting a target control parameter from a control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting member.

An embodiment of the present application further provides a machine-readable storage medium, where a number of computer instructions are stored on the machine-readable storage medium, and when executed, the computer instructions perform the following processes: acquiring historical yaw data, performance parameters and a control parameter set of the wind driven generator; determining the power generation power of the control parameter according to the historical yaw data, the performance parameter and the control parameter in the control parameter set; the set of control parameters comprises a plurality of control parameters; selecting a target control parameter from the control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting member.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Furthermore, these computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of controlling yaw of a wind turbine, the method comprising:

controlling a position of the wind energy conversion component as a function of the offset information and the performance parameter;

wherein the performance parameter comprises a rotation angle; the controlling the position of the wind energy conversion component as a function of the deviation information and the performance parameter comprises: if the offset information is offset, determining the current adjustment direction of the wind energy conversion component according to the previous adjustment direction, a first power difference between the theoretical generated power and the current actual generated power, and a second power difference between the theoretical generated power and the previous actual generated power; and in the current adjusting direction, adjusting the position of the wind energy conversion component according to the rotating angle.

2. The method of claim 1, wherein the yaw data comprises: and yaw data at the current moment, or the yaw data at the current moment and historical yaw data.

3. The method of claim 1, wherein the control parameters comprise: pre-configured control parameters, or control parameters trained from historical yaw data and performance parameters.

4. The method of claim 3,

the process of training control parameters based on historical yaw data and performance parameters includes:

determining the power generation power of the control parameters according to historical yaw data, performance parameters and the control parameters in the control parameter set; wherein the set of control parameters comprises a plurality of control parameters;

and selecting target control parameters from the control parameter set by using the generated power.

5. The method of claim 4, wherein determining the generated power of the control parameter from historical yaw data, a performance parameter, and a control parameter of a set of control parameters comprises:

determining deviation information of the wind energy conversion component according to the historical yaw data and the control parameter;

adjusting a position of the wind energy conversion component based on the deviation information and the performance parameter;

and determining the generated power of the wind driven generator at the current position.

6. The method of claim 5,

the control parameters include a starting offset speed and a starting offset angle; the historical yaw data includes wind speed, wind direction, and wind energy conversion component position; determining offset information for the wind energy conversion component based on the historical yaw data and the control parameter, comprising:

determining a yaw angle between the wind direction and the wind energy conversion component position;

if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind energy conversion component is offset;

otherwise, determining whether the deviation information of the wind energy conversion component is not deviated.

7. The method of claim 5,

the performance parameter comprises a rotation angle; adjusting the position of the wind energy conversion component based on the deviation information and the performance parameter includes:

if the deviation information is deviation, adjusting the position of the wind energy conversion component according to the rotation angle; if the deviation information is no deviation, the position of the wind energy conversion component is kept unchanged.

8. The method of claim 5, wherein the historical yaw data includes wind speed and wind direction; the determining the generated power of the wind driven generator at the current position comprises:

determining a yaw angle between the wind direction and a current position of the wind energy conversion component;

and determining the generated power of the wind driven generator according to the wind speed and the yaw angle.

9. The method of claim 4,

selecting a target control parameter from the control parameter set by using the generated power, wherein the control parameter comprises:

determining the maximum generated power according to the generated power of the control parameters in the control parameter set;

and determining the control parameter corresponding to the maximum power generation power as the control parameter of the target.

10. The method of claim 1, wherein the control parameters include a starting offset speed and a starting offset angle; the yaw data includes wind speed, wind direction, and wind energy conversion component position; determining offset information for the wind energy conversion component based on the yaw data and the control parameter comprises:

11. The method of claim 1, wherein the controlling the position of the wind energy conversion component as a function of the offset information and the performance parameter further comprises:

if the deviation information is no deviation, the position of the wind energy conversion component is kept unchanged.

12. The method according to claim 1, wherein determining the current adjustment direction of the wind energy conversion component according to the previous adjustment direction, a first power difference between the theoretical generated power and the current actual generated power, and a second power difference between the theoretical generated power and the previous actual generated power comprises:

if the first power difference is smaller than the second power difference, determining that the current adjustment direction of the wind energy conversion component is the same as the previous adjustment direction; or, if the first power difference is larger than the second power difference, determining that the current adjustment direction of the wind energy conversion component is opposite to the last adjustment direction.

13. The method of claim 1,

the yaw data includes wind speed and wind direction, the method further comprising:

determining a yaw angle between the wind direction and the adjusted position of the wind energy conversion component;

and determining theoretical generating power of the wind driven generator according to the wind speed and the yaw angle.

14. The method of claim 1, wherein the yaw data includes current, voltage, and power usage of the wind turbine, the method further comprising: and determining the current actual generating power of the wind driven generator according to the current, the voltage and the using power of the wind driven generator.

15. A method of controlling yaw of a wind turbine, the method comprising:

selecting a target control parameter from the control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting component;

wherein controlling the position of the wind energy conversion component in dependence of the control parameter of the target comprises: determining deviation information of the wind energy conversion component according to yaw data of the wind driven generator and the control parameter of the target; controlling the position of the wind energy conversion component according to the deviation information and performance parameters of the wind generator; the performance parameters comprise a rotation angle, and if the offset information is offset, the current adjustment direction of the wind energy conversion component is determined according to the previous adjustment direction, a first power difference between theoretical generated power and the current actual generated power, and a second power difference between the theoretical generated power and the previous actual generated power; and in the current adjusting direction, adjusting the position of the wind energy conversion component according to the rotating angle.

16. The method of claim 15,

determining the generated power of the control parameter according to the historical yaw data, the performance parameter and the control parameter in the control parameter set, including:

17. The method of claim 16,

if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind energy conversion component is offset; otherwise, determining whether the deviation information of the wind energy conversion component is not deviated.

18. The method of claim 16,

19. The method of claim 16, wherein the historical yaw data includes wind speed and wind direction; the determining the generated power of the wind driven generator at the current position comprises:

20. The method of claim 15,

21. A wind turbine yaw control apparatus, the apparatus comprising:

a control module for controlling the position of the wind energy conversion component in dependence on the deviation information and the performance parameter; wherein the performance parameter comprises a rotation angle; the control module is specifically configured to, when controlling the position of the wind energy conversion component according to the offset information and the performance parameter: if the offset information is offset, determining the current adjustment direction of the wind energy conversion component according to the previous adjustment direction, a first power difference between the theoretical generated power and the current actual generated power, and a second power difference between the theoretical generated power and the previous actual generated power; and in the current adjusting direction, adjusting the position of the wind energy conversion component according to the rotating angle.

22. The apparatus of claim 21, wherein the obtaining module is further configured to: training control parameters of the wind driven generator according to historical yaw data and the performance parameters;

the acquisition module determines the power generation power of the control parameter according to historical yaw data, the performance parameter and the control parameter in the control parameter set; wherein the set of control parameters comprises a plurality of control parameters; and selecting target control parameters from the control parameter set by using the generated power.

23. The apparatus of claim 21,

the control parameters include a starting offset speed and a starting offset angle; the yaw data includes wind speed, wind direction, and wind energy conversion component position;

the determining module is specifically configured to, when determining the offset information of the wind energy conversion component based on the yaw data and the control parameter: determining a yaw angle between the wind direction and the wind energy conversion component position; if the wind speed is greater than the initial offset speed and the yaw angle is greater than the initial offset angle, determining that the offset information of the wind energy conversion component is offset; otherwise, determining whether the deviation information of the wind energy conversion component is not deviation;

the control module, when controlling the position of the wind energy conversion component based on the offset information and the performance parameter, is further configured to: if the deviation information is no deviation, the position of the wind energy conversion component is kept unchanged.

24. A wind turbine yaw control apparatus, the apparatus comprising:

the selection module is used for selecting a target control parameter from a control parameter set by using the generated power; wherein the control parameter of the target is used for controlling the position of the wind energy converting component;

25. The apparatus of claim 24,

the determining module is specifically configured to determine the generated power of the control parameter according to the historical yaw data, the performance parameter, and a control parameter in the control parameter set:

determining deviation information for the wind energy conversion component based on the historical yaw data and the control parameter; adjusting a position of the wind energy conversion component based on the deviation information and the performance parameter;

26. A wind turbine yaw control apparatus, comprising:

27. A wind turbine yaw control apparatus, comprising: