CN112879222B - Yaw control method, yaw control device, electronic device and storage medium - Google Patents
Yaw control method, yaw control device, electronic device and storage medium Download PDFInfo
- Publication number
- CN112879222B CN112879222B CN202110152516.8A CN202110152516A CN112879222B CN 112879222 B CN112879222 B CN 112879222B CN 202110152516 A CN202110152516 A CN 202110152516A CN 112879222 B CN112879222 B CN 112879222B
- Authority
- CN
- China
- Prior art keywords
- yaw
- controlling
- brake
- yawing
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000008859 change Effects 0.000 claims abstract description 20
- 230000001934 delay Effects 0.000 claims description 12
- 230000003111 delayed effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000010248 power generation Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- F03D7/0244—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
-
- 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
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/604—Control system actuates through hydraulic actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The invention provides a yaw control method, a yaw control device, an electronic device and a storage medium, wherein the method comprises the following steps: when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets a preset condition, controlling a hydraulic brake to release; after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw; and after the yaw motor starts yawing, if the yawing current is larger than a second threshold value, controlling the yaw motor to stop yawing. Therefore, whether the yaw system needs to be decompressed or not can be quickly and accurately judged based on the yaw pressure, and the yaw motor is controlled to start yaw; based on the yaw current, the yaw load condition can be judged in advance, and the yaw motor is controlled to stop yawing, so that the problem that a yawing system breaks down due to tripping under special working conditions is avoided, and the manual operation and maintenance cost is reduced.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a yaw control method, a yaw control device, electronic equipment and a storage medium.
Background
Wind power generation refers to converting kinetic energy of wind into electric energy. The principle of wind power generation is that wind power drives windmill blades to rotate, and then the rotating speed is increased through a speed increaser, so that a generator is promoted to generate electricity.
The wind driven generator comprises a cabin, rotor blades, a shaft center, a gear box, a generator, a yaw device, a hydraulic system and the like. Wherein the yaw arrangement is adapted to rotate the nacelle by means of the motor to control the rotor to be facing the wind. For a yaw device, a conventional control method is mostly adopted at present, yaw is controlled by means of collecting wind directions and twisting control quantities such as a cable switch and the like on hardware, but signals cannot be comprehensively collected by the method, so that yaw control cannot be accurately carried out, and yaw faults are easily caused by overlarge yaw load in the yaw control process, and further the power generation of a wind driven generator is influenced.
Disclosure of Invention
The invention provides a yaw control method, a yaw control device, electronic equipment and a storage medium, which are used for solving the defect that yaw control cannot be accurately carried out in the prior art.
The invention provides a yaw control method, which comprises the following steps:
when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release;
after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw;
and after the yaw motor starts yawing, if the yawing current is larger than a second threshold value, controlling the yaw motor to stop yawing.
According to a yaw control method provided by the invention, after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, the yaw motor is controlled to start the yaw, and the yaw control method comprises the following steps:
after the hydraulic brake starts to be released and the first preset time is delayed, if the yaw pressure is smaller than a first threshold value, controlling an electromagnetic brake to start to be released;
and after the electromagnetic brake starts to release the brake and delays for a second preset time, controlling the yaw motor to start yawing.
According to the yaw control method provided by the invention, after controlling the yaw motor to stop yawing, the method further comprises the following steps:
controlling an electromagnetic brake to brake after controlling the yaw motor to stop yawing and delaying for a third preset time;
and after the electromagnetic brake starts to brake and delays for a fourth preset time, controlling the brake of the hydraulic brake.
According to the yaw control method provided by the invention, after the hydraulic brake is released, if the yaw pressure is not less than a first threshold value, the brake of the hydraulic brake is controlled, and the brake of the hydraulic brake is released after a preset time period.
According to the yaw control method provided by the invention, after the yaw motor starts to yaw, if the yaw current is not greater than the second threshold value and the wind direction variation meets the preset wind direction variation condition, the yaw motor is controlled to stop yawing.
According to the yaw control method provided by the invention, when the wind direction change is detected, if the yaw overload protection state meets the overload protection preset condition, the hydraulic brake is controlled to be released, and the method comprises the following steps:
when the wind direction change is detected, if the yaw overload protection state is that the overload protection is not started or the yaw overload protection state is that the overload protection is started and the delay time is longer than the preset protection time, controlling the hydraulic brake to release.
According to a yaw control method provided by the invention, the second threshold value is determined based on a rated current of the yaw motor.
The present invention also provides a yaw control apparatus, comprising:
the first control unit is used for controlling the hydraulic brake to be released if the yaw overload protection state of the wind driven generator meets the overload protection preset condition when the wind direction change is detected;
the second control unit is used for controlling the yaw motor to start yaw if the yaw pressure is smaller than a first threshold value after the hydraulic brake is released;
and the third control unit is used for controlling the yaw motor to stop yawing if the yawing current is larger than a second threshold value after the yaw motor starts yawing.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the yaw control method as described in any one of the above when executing the computer program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the yaw controlling method according to any one of the above.
According to the yaw control method, the yaw control device, the electronic equipment and the storage medium, whether the yaw system needs to be decompressed or not can be quickly and accurately judged based on the yaw pressure, and the yaw motor is controlled to start yaw; based on the yaw current, the yaw load condition can be judged in advance, and the yaw motor is controlled to stop yawing, so that the problem that a yawing system breaks down due to tripping under special working conditions is avoided, and the manual operation and maintenance cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a yaw control method provided by the present invention;
FIG. 2 is a schematic flow chart of yet another yaw control method provided by the present invention;
FIG. 3 is a schematic view of a yaw loop provided by the present invention;
FIG. 4 is a schematic view of a yaw control apparatus provided in the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For a yaw device, a conventional control method is mostly adopted at present, yaw is controlled by means of collecting wind direction, a cable switch and other common control quantities on hardware, but signals cannot be comprehensively collected by the method, so that yaw control cannot be accurately carried out, and further yaw faults are easily caused by overlarge yaw load in the yaw control process, and further the power generation of a wind driven generator is influenced. For example, when the wind power is too large, the load on the windward side is larger, and in the conventional method, the yaw is closed only by controlling the cable switch when the yaw overload protection is turned on, and whether the yaw load is too large cannot be judged in advance, so that excessive twisting of a cable of a generator set can be caused when the load on the windward side is too large, the cable is broken and fails, or a system can be tripped, and the normal power generation of the wind driven generator is influenced.
In view of this, the present invention provides a yaw control method. Fig. 1 is a schematic flow chart of a yaw control method provided by the present invention, as shown in fig. 1, the method includes the following steps:
and 110, when the wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release.
Specifically, the wind power generator is an electric power device that converts wind energy into mechanical work, and the mechanical work drives a rotor to rotate, and finally outputs alternating current. The wind driven generator comprises a yaw system which is used for enabling a wind wheel of the wind driven generator set to be always in a windward state. When the wind direction changes, the yaw system of the wind generating set needs to control the wind wheel to face the wind direction, so that the wind energy is fully utilized, and the generating efficiency of the wind generating set is improved. The yaw overload protection is used for preventing the yaw system from being broken down due to overlarge yaw load, the yaw overload protection state means whether the yaw system is in the yaw overload protection, if yes, the yaw loop is in the overload protection, and if the hydraulic brake is released, the yaw load is increased, so that the hydraulic brake needs to be in a brake-contracting state; if not, the yaw loop is not in overload protection, and the hydraulic brake can be controlled to be released.
And step 120, after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw.
Specifically, after the hydraulic brake is released, a pressure value exists in the yaw loop system, if the pressure value is too large, the pressure value indicates that the yaw system needs pressure relief, and then the yaw load is increased by starting the yaw motor. Thus, when the yaw pressure is less than the first threshold, indicating that the yaw system pressure is normal at that time, the yaw generator may begin to yaw. The first threshold may be specifically set according to an actual situation, and this is not specifically limited in the embodiment of the present invention.
Therefore, the embodiment of the invention can quickly and accurately judge whether the yaw system needs pressure relief or not based on the yaw pressure and control the yaw motor to start yaw. Compared with the method in the traditional method that the pressure relief of the yaw system is finished after the preset time, the method and the device can directly judge whether the system finishes the pressure relief according to the yaw pressure, not only is the accuracy higher, but also the problem that the efficiency is lower due to the fact that the system needs to wait for the preset time and then judge in the traditional method is solved.
And step 130, after the yaw motor starts to yaw, if the yaw current is larger than a second threshold value, controlling the yaw motor to stop yawing.
Specifically, after the yaw motor is started to yaw, the yaw motor is operated, a current exists in a yaw loop, if the yaw current is too large, the yaw load is too large, and the yaw motor needs to be stopped to yaw at the moment. Therefore, when the yaw current is larger than the second threshold value, the yaw motor is controlled to stop yawing. The second threshold may be determined according to a rated current of the yaw motor, and may also be specifically set according to an actual situation, which is not specifically limited in this embodiment of the present invention.
Therefore, the embodiment of the invention can judge whether the yaw load is too large in advance based on the yaw current, and if the yaw load is too large, the yaw motor is controlled to stop yawing, so that system tripping caused by too large load on the windward side under special working conditions is avoided, and the manual operation and maintenance cost is reduced. Meanwhile, the yaw running condition can be counted based on the yaw current, so that whether the yaw structure is abnormal or not can be judged in advance.
According to the yaw control method provided by the embodiment of the invention, whether the yaw system needs to be decompressed can be quickly and accurately judged based on the yaw pressure, and the yaw motor is controlled to start yaw; based on the yaw current, the yaw load condition can be judged in advance, and the yaw motor is controlled to stop yawing, so that the problem that a yawing system breaks down due to tripping under special working conditions is avoided, and the manual operation and maintenance cost is reduced.
Based on the above embodiment, after the hydraulic brake is released, if the yaw pressure is smaller than the first threshold, the controlling the yaw motor to start yaw includes:
after the hydraulic brake starts to be released and the first preset time is delayed, if the yaw pressure is smaller than a first threshold value, controlling the electromagnetic brake to start to be released;
and after the electromagnetic brake starts to release the brake and delays for a second preset time, controlling the yaw motor to start yawing.
Specifically, response time exists when the hydraulic brake is released, and after the hydraulic brake starts to be released and delays for a first preset time, the release action of the hydraulic brake is finished, and the next step of control can be performed. After the hydraulic brake is released, pressure exists in the yaw loop, if the pressure value is too large, the pressure relief processing is required for the yaw system, and the yaw load can be increased by starting the yaw motor at the moment. Therefore, when the yaw pressure is smaller than the first threshold value, it is indicated that the pressure of the yaw system is normal at the moment, the electromagnetic brake can be controlled to release the brake, and similarly, because there is response time when the electromagnetic brake releases the brake, after the electromagnetic brake starts to release the brake and delays for a second preset time, it is indicated that the brake releasing action of the electromagnetic brake is completed, and the yaw motor can be started to start yaw. The first preset time and the second preset time may be specifically set according to an actual situation, which is not specifically limited in the embodiment of the present invention.
Therefore, the embodiment of the invention can quickly and accurately judge whether the yaw system needs pressure relief or not based on the yaw pressure and control the yaw motor to start yaw. Compared with the method in the traditional method that the pressure relief of the yaw system is finished after the preset time, the method and the device can directly judge whether the system finishes the pressure relief according to the yaw pressure, not only is the accuracy higher, but also the problem that the efficiency is lower due to the fact that the system needs to wait for the preset time and then judge in the traditional method is solved. Meanwhile, in the embodiment of the invention, after delaying the first preset time after the hydraulic brake starts to be released, the electromagnetic brake is controlled to be released, and after delaying the second preset time after the electromagnetic brake starts to be released, the yaw motor is controlled to start yaw, so that the next yaw control is executed after the hydraulic brake and the electromagnetic brake can finish corresponding brake release actions, and the yaw precision is ensured.
According to any of the above embodiments, after controlling the yaw motor to stop yawing, the method further includes:
controlling an electromagnetic brake to brake after controlling the yaw motor to stop yawing and delaying for a third preset time;
and after the electromagnetic brake starts to brake and delays for a fourth preset time, controlling the hydraulic brake to brake.
Specifically, after the yaw motor is controlled to stop yawing, the yawing system needs to be turned off for yawing. And after the yaw motor is controlled to stop yawing and the third preset time is delayed, the yaw motor is indicated to stop yawing, and the next yaw control can be carried out, namely the electromagnetic brake is controlled. Similarly, the response time of the electromagnetic brake band-type brake exists, after the electromagnetic brake starts the band-type brake and delays for a fourth preset time, the completion of the band-type brake action of the electromagnetic brake is indicated, and the band-type brake of the hydraulic brake can be controlled to close the yaw system. The third preset time and the fourth preset time may be specifically set according to an actual situation, which is not specifically limited in the embodiment of the present invention.
Based on any embodiment, after the hydraulic brake is released, if the yaw pressure is not less than the first threshold value, the brake holding of the hydraulic brake is controlled, and the brake release of the hydraulic brake is controlled after a preset time period.
Specifically, after the hydraulic brake is released, if the yaw pressure is not smaller than a first threshold value, it is indicated that the yaw system needs to be decompressed, and at the moment, the hydraulic brake is controlled to release the pressure, so that the yaw system can be decompressed to a normal pressure range. After a preset time period after the hydraulic brake is braked, the pressure of the yaw system can be considered to be restored to a normal range, so that the hydraulic brake can be controlled to release the brake, whether the yaw pressure is smaller than a first threshold value or not is further judged, and if yes, the yaw motor is controlled to start yaw according to the method of the embodiment.
For example, if the yaw pressure cannot be smaller than the set pressure value all the time after the hydraulic brake is released, controlling the hydraulic brake to brake, waiting for a certain time of a yaw blank space, and continuing to try a yaw action according to a starting condition, wherein the wind direction changes rapidly in the period, so that the protection logic needs to continuously protect the fan to operate.
Based on any of the above embodiments, after the yaw motor starts yawing, if the yawing current is not greater than the second threshold value and the wind direction variation meets the wind direction variation preset condition, the yaw motor is controlled to stop yawing.
Specifically, in addition to the yaw current representing the yaw load, the load on the windward side may represent the yaw load, and the load on the windward side is related to the amount of change in the wind direction, and the greater the amount of change in the wind direction, the greater the load on the windward side. And when the wind direction variation meets the preset requirement, controlling the yaw motor to stop yawing if the wind direction variation is |10s wind direction | <2 degrees, or the current 10s wind direction x the previous 10s wind direction < 0.
Based on any one of the above-mentioned embodiments, when detecting the wind direction change, if the driftage overload protection state satisfies overload protection preset condition, then control hydraulic brake and release, include:
when the wind direction change is detected, if the yaw overload protection state is that the overload protection is not started or the yaw overload protection state is that the overload protection is started and the delay time is longer than the preset protection time, controlling the hydraulic brake to release the brake.
Specifically, when wind direction change is detected, if the yaw overload protection state is that the overload protection is not started, it is indicated that the current yaw load is normal, and yaw can be started; if the yaw overload protection state is that the overload protection is started and the delay time is longer than the preset protection time, the yaw overload protection state indicates that although the yaw load is too large when the overload protection is started, the yaw load is in a normal range after the delay time, and therefore the yaw can be continued.
In any of the above embodiments, the second threshold is determined based on a current rating of the yaw motor.
Specifically, according to the rated current In of the yaw motor, a yaw load avoidance triggering threshold value (namely a second threshold value) is set according to X times In, and a yaw current transformer monitors the yaw current value of the path with the larger driving load.
Based on any of the above embodiments, as shown in fig. 2, an embodiment of the present invention further provides a yaw control method, including the following steps:
firstly, judging whether yawing is required or not based on wind speed and wind direction, if so, judging whether the yawing overload protection state is yawing overload protection 0 or yawing overload protection 1 and time delay more than 60s, and if so, controlling the hydraulic brake to release.
And then, after the hydraulic brake is released and delayed for a certain time, judging whether the yaw pressure is smaller than a first threshold value, if so, controlling the electromagnetic brake to release, and starting the yaw motor after the electromagnetic brake is released and delayed for 1 s.
Then, after the yaw motor is started, judging whether the effective value of the yaw current in a certain time is larger than a second threshold value, if so, stopping the yaw motor, delaying for 1s, controlling the brake of the electromagnetic brake, and delaying for 1s, controlling the brake of the hydraulic brake; if not, whether the wind direction variation meets the preset requirement is judged, if the wind direction is |10s <2 degrees, or the current 10s wind direction is multiplied by the previous 10s wind direction to be <0, if so, the yaw motor is stopped, the time is delayed for 1s, then the electromagnetic brake is controlled, and if not, the electromagnetic brake is delayed for 1s, then the hydraulic brake is controlled.
As shown in fig. 3, in the embodiment of the present invention, the controller acquires yaw current and yaw pressure, and determines a yaw load in advance, so as to formulate a relevant strategy to accurately perform yaw control, thereby avoiding a problem that a wind turbine cannot normally generate power due to a yaw system failure.
The yaw control apparatus provided by the present invention will be described below, and the yaw control apparatus described below and the yaw control method described above may be referred to in correspondence with each other.
Based on any one of the embodiments described above, as shown in fig. 4, the present invention provides a yaw control apparatus, including:
the first control unit 410 is configured to, when a wind direction change is detected, control the hydraulic brake to release if a yaw overload protection state of the wind turbine generator meets an overload protection preset condition;
the second control unit 420 is configured to, after the hydraulic brake is released, control the yaw motor to start yaw if the yaw pressure is smaller than a first threshold value;
a third control unit 430, configured to control the yaw motor to stop yawing if the yawing current is greater than the second threshold value after the yaw motor starts yawing.
Based on any of the above embodiments, the second control unit 420 is configured to:
after the hydraulic brake starts to be released and the first preset time is delayed, if the yaw pressure is smaller than a first threshold value, controlling an electromagnetic brake to start to be released;
and after the electromagnetic brake starts to release the brake and delays for a second preset time, controlling the yaw motor to start yawing.
Based on any embodiment above, the system further comprises a shutdown unit, configured to:
after the yaw motor is controlled to stop yawing, the electromagnetic brake is controlled to brake after the yaw motor is controlled to stop yawing and a third preset time is delayed;
and after the electromagnetic brake starts to brake and delays for a fourth preset time, controlling the brake of the hydraulic brake.
Based on any of the above embodiments, the second control unit 420 is further configured to: after the hydraulic brake is released, if the yaw pressure is not smaller than a first threshold value, controlling the brake of the hydraulic brake, and after a preset time period, controlling the brake of the hydraulic brake to be released.
Based on any of the above embodiments, the third control unit 430 is further configured to control the yaw motor to stop yawing if the yawing current is not greater than the second threshold and the wind direction variation satisfies the wind direction variation preset condition after the yaw motor starts yawing.
According to any of the above embodiments, the first control unit 410 is configured to:
when the wind direction change is detected, if the yaw overload protection state is that the overload protection is not started or the yaw overload protection state is that the overload protection is started and the delay time is longer than the preset protection time, controlling the hydraulic brake to release.
In any of the above embodiments, the second threshold is determined based on a current rating of the yaw motor.
Fig. 5 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 5, the electronic device may include: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a yaw control method, the method comprising: when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release; after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw; and after the yaw motor starts yawing, if the yawing current is larger than a second threshold value, controlling the yaw motor to stop yawing.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a yaw control method provided by the above methods, the method comprising: when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release; after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw; and after the yaw motor starts yawing, if the yawing current is larger than a second threshold value, controlling the yaw motor to stop yawing.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the yaw control method provided above, the method comprising: when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release; after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw; and after the yaw motor starts yawing, if the yawing current is larger than a second threshold value, controlling the yaw motor to stop yawing.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A yaw control method, comprising:
when wind direction change is detected, if the yaw overload protection state of the wind driven generator meets the overload protection preset condition, controlling the hydraulic brake to release;
after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw;
after the yaw motor starts yaw, if the yaw current is larger than a second threshold value, controlling the yaw motor to stop yaw;
after the hydraulic brake is released, if the yaw pressure is smaller than a first threshold value, controlling a yaw motor to start yaw, and the method comprises the following steps:
after the hydraulic brake starts to be released and the first preset time is delayed, if the yaw pressure is smaller than a first threshold value, controlling an electromagnetic brake to start to be released;
and after the electromagnetic brake starts to release the brake and delays for a second preset time, controlling the yaw motor to start yawing.
2. The yaw control method of claim 1, further comprising, after controlling the yaw motor to stop yawing:
controlling an electromagnetic brake to brake after controlling the yaw motor to stop yawing and delaying for a third preset time;
and after the electromagnetic brake starts to brake and delays for a fourth preset time, controlling the brake of the hydraulic brake.
3. The yaw control method according to any one of claims 1 to 2, characterized in that after the hydraulic brake is released, if the yaw pressure is not less than a first threshold value, the hydraulic brake is controlled to be contracting, and after a preset time period, the hydraulic brake is controlled to be released.
4. The yaw control method according to any one of claims 1 to 2, wherein after the yaw motor starts yawing, if the yawing current is not greater than a second threshold value and the wind direction variation meets a wind direction variation preset condition, the yaw motor is controlled to stop yawing.
5. The yaw control method according to any one of claims 1 to 2, wherein when the wind direction change is detected, if the yaw overload protection state meets the overload protection preset condition, controlling the hydraulic brake to release the brake comprises:
when the wind direction change is detected, if the yaw overload protection state is that the overload protection is not started or the yaw overload protection state is that the overload protection is started and the delay time is longer than the preset protection time, controlling the hydraulic brake to release.
6. The yaw control method of any one of claims 1 to 2, characterized in that the second threshold value is determined based on a rated current of the yaw motor.
7. A yaw control apparatus, comprising:
the first control unit is used for controlling the hydraulic brake to be released if the yaw overload protection state of the wind driven generator meets the overload protection preset condition when the wind direction change is detected;
the second control unit is used for controlling the yaw motor to start yaw if the yaw pressure is smaller than a first threshold value after the hydraulic brake is released;
the third control unit is used for controlling the yaw motor to stop yawing if the yawing current is larger than a second threshold value after the yaw motor starts yawing;
the second control unit is configured to:
after the hydraulic brake starts to be released and the first preset time is delayed, if the yaw pressure is smaller than a first threshold value, controlling an electromagnetic brake to start to be released;
and after the electromagnetic brake starts to release the brake and delays for a second preset time, controlling the yaw motor to start yawing.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and being executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the yaw controlling method according to any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when being executed by a processor, is adapted to carry out the steps of the yaw controlling method according to any one of claims 1 to 6.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110152516.8A CN112879222B (en) | 2021-02-03 | 2021-02-03 | Yaw control method, yaw control device, electronic device and storage medium |
| PCT/CN2021/111713 WO2022166144A1 (en) | 2021-02-03 | 2021-08-10 | Yaw control method and apparatus, electronic device, and storage medium |
| ES202290031A ES2923409B2 (en) | 2021-02-03 | 2021-08-10 | WIND CONTROL METHOD, WIND CONTROL DEVICE, ELECTRONIC DEVICE AND STORAGE MEDIA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110152516.8A CN112879222B (en) | 2021-02-03 | 2021-02-03 | Yaw control method, yaw control device, electronic device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112879222A CN112879222A (en) | 2021-06-01 |
| CN112879222B true CN112879222B (en) | 2022-04-01 |
Family
ID=76057126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110152516.8A Active CN112879222B (en) | 2021-02-03 | 2021-02-03 | Yaw control method, yaw control device, electronic device and storage medium |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN112879222B (en) |
| ES (1) | ES2923409B2 (en) |
| WO (1) | WO2022166144A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112879222B (en) * | 2021-02-03 | 2022-04-01 | 三一重能股份有限公司 | Yaw control method, yaw control device, electronic device and storage medium |
| CN114382645A (en) * | 2021-12-03 | 2022-04-22 | 重庆海装风电工程技术有限公司 | Wind generating set crosswind yaw electrical control system and method and generating set |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006307653A (en) * | 2005-04-26 | 2006-11-09 | Fuji Heavy Ind Ltd | Horizontal axial windmill |
| CN102635501B (en) * | 2012-04-27 | 2013-07-24 | 中船重工(重庆)海装风电设备有限公司 | Yaw control method, device and system for fans |
| DK3409940T3 (en) * | 2017-05-30 | 2022-09-19 | Gen Electric | PROCEDURE FOR REDUCING LOADS DURING STANDBY OR PARKED CONDITION FOR A WIND TURBINE VIA YAW OFFSET |
| CN108035846B (en) * | 2017-11-21 | 2019-06-28 | 明阳智慧能源集团股份公司 | A kind of Yaw control method for solving wind generating set yaw and being spaced apart tripping |
| CN110159483B (en) * | 2019-06-17 | 2020-07-28 | 三一重能有限公司 | Fan yaw control method and device and wind turbine generator |
| CN111749846A (en) * | 2020-06-09 | 2020-10-09 | 明阳智慧能源集团股份公司 | Yaw control method for wind generating set |
| CN112879222B (en) * | 2021-02-03 | 2022-04-01 | 三一重能股份有限公司 | Yaw control method, yaw control device, electronic device and storage medium |
-
2021
- 2021-02-03 CN CN202110152516.8A patent/CN112879222B/en active Active
- 2021-08-10 ES ES202290031A patent/ES2923409B2/en active Active
- 2021-08-10 WO PCT/CN2021/111713 patent/WO2022166144A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022166144A1 (en) | 2022-08-11 |
| CN112879222A (en) | 2021-06-01 |
| ES2923409R1 (en) | 2023-04-18 |
| ES2923409A2 (en) | 2022-09-27 |
| ES2923409B2 (en) | 2023-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5778362B1 (en) | Inertia control method for wind power generator | |
| CN112879222B (en) | Yaw control method, yaw control device, electronic device and storage medium | |
| US10243352B2 (en) | Battery-supported braking system for a wind turbine | |
| JP5084053B2 (en) | Wind power generator operating method and wind power generator | |
| EP2738904B1 (en) | Method and systems for operating a wind turbine when recovering from a grid contingency event | |
| US8736094B2 (en) | Wind-turbine-generator control system, wind turbine generator, wind farm, and wind-turbine-generator control method | |
| EP2628947B1 (en) | Torque control for a wind turbine generator in case of fault | |
| CN111794911B (en) | Yaw starting control method for wind generating set | |
| CN103225586B (en) | Anti-runaway safety control method for wind generating set | |
| KR20120093147A (en) | Frequency-responsive wind turbine output control | |
| CN102748213B (en) | A kind of wind power generating set engine off control system and method | |
| JP6165644B2 (en) | Wind farm and its operating method | |
| CN107810322A (en) | Active power is increased by wind turbine | |
| CN107630785B (en) | Wind turbines Protection control system under one kind of multiple operating conditions | |
| EP3772172B1 (en) | Verfahren zum betrieb einer windkraftanlage und einer windkraftanlage mit generator im falle eines spannungseinbruchs | |
| CN112963304B (en) | Wind turbine generator overspeed protection auxiliary control method comprising torque control | |
| CN103174587A (en) | Wind power generation system and control method thereof | |
| CN202645850U (en) | Emergency shutdown control system of wind generating set | |
| CN112761874A (en) | Safe shutdown method and system and wind driven generator | |
| CN108199393A (en) | A kind of inertia control method of double-fed fan motor unit | |
| JP6923296B2 (en) | Wind farms and their operation methods and wind farms | |
| KR101545839B1 (en) | Method for controlling a output in a wind turbine | |
| CN104242346A (en) | Low voltage ride-through control method of wind generation set | |
| CN115076032A (en) | Forced yawing device and system of wind generating set | |
| CN112392657B (en) | Pre-excitation control method for yaw motor of wind generating set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |