Method and equipment for controlling yaw angle of wind driven generator and medium

Abstract

The invention discloses a control method and device for the yaw angle of a wind driven generator and a medium. The method comprises the steps that meteorological data are obtained, wind direction change information is determined according to the meteorological data, a wind direction change angle is determined according to the wind direction change information, and the wind direction change angle is compared with a preset angle threshold value; if the wind direction change angle is larger than the angle threshold value, the predicted yaw angle of the wind driven generator is determined according to the wind direction change information; and adjusting the wind driven generator according to the wind direction change information and the predicted yaw angle. Through multi-dimensional data processing and dynamic monitoring, the change point is accurately determined, the yaw angle is predicted, the adjustment strategy is optimized, invalid rotation loss is reduced, the power generation efficiency is improved, flexible adjustment can be conducted according to the real-time situation, and efficient and stable operation of wind power generation is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a method, device and medium for controlling the yaw angle of a wind turbine. Background Art

[0002] Wind power generation is a method of generating electricity by directly converting wind energy into electrical energy using wind turbines. When the rotor of a wind turbine is facing the wind, the rotor receives the maximum wind energy. To ensure that the rotor always faces the wind, a yaw system is installed in the wind turbine. The traditional yaw control process is that when the wind vane on the top of the wind turbine measures that the rotor is not facing the wind, the control system will issue a yaw command, and the yaw system will rotate the nacelle and rotor around the vertical axis of the tower to achieve the purpose of aligning with the wind direction. The traditional method relies on real-time wind direction to control yaw, which easily leads to frequent yaw adjustments, which in turn increases energy consumption, reduces power generation, and shortens the life of the yaw system. In addition, real-time calculation increases system pressure. Summary of the Invention

[0003] In order to solve the above problems, the present application proposes a method for controlling the yaw angle of a wind turbine, comprising: acquiring meteorological data, determining wind direction change information based on the meteorological data, determining a wind direction change angle based on the wind direction change information, and comparing the wind direction change angle with a preset angle threshold; if the wind direction change angle is greater than the angle threshold, determining a predicted yaw angle of the wind turbine based on the wind direction change information; and adjusting the wind turbine based on the wind direction change information and the predicted yaw angle.

[0004] In one example, before determining the predicted yaw angle of the wind turbine according to the wind direction change information, the method further includes: determining multiple wind direction change angles according to the wind direction change information, and comparing the multiple wind direction change angles with a preset first threshold value respectively; if the wind direction change angle is greater than the first threshold, determining the initial change point corresponding to the wind direction change angle; determining the average wind direction angle between adjacent initial change points, and determining the difference between adjacent average wind direction angles, and comparing the difference with a preset second threshold value; if the difference is less than the second threshold, deleting the initial change point between the adjacent average wind direction angles to determine the intermediate change point; and determining the intermediate predicted yaw angle between the adjacent intermediate change points according to the wind direction change information between the adjacent intermediate change points.

[0005] In one example, after determining the intermediate predicted yaw angle between the adjacent intermediate change points, the method further includes: determining the average wind speed between the adjacent intermediate change points, and determining the predicted power generation energy between the adjacent intermediate change points based on the average wind speed and the intermediate predicted yaw angle; determining the yaw angle difference between the adjacent intermediate predicted yaw angles to determine the yaw angle difference corresponding to the intermediate change point, and determining the wind speed at the intermediate change point; calculating based on the wind speed to determine the rotational loss energy corresponding to the yaw angle difference, and comparing the rotational loss energy with the predicted power generation energy; if the rotational loss energy is greater than the predicted power generation energy, deleting the intermediate change point to determine the final change point; determining the wind direction change information between the adjacent final change points, and determining the final predicted yaw angle based on the wind direction change information between the adjacent final change points.

[0006] In one example, determining the intermediate predicted yaw angle between the adjacent intermediate change points specifically includes: determining the average wind speed between adjacent initial change points to determine multiple average wind speeds corresponding to multiple intermediate change points; sorting the multiple average wind speeds to obtain a sorting result, determining the adjacent initial change points corresponding to the average wind speed, and determining the initial predicted yaw angle between the adjacent initial change points; weighting the initial predicted yaw angle according to the sorting result; and performing weighted calculation on the initial yaw angle after weight configuration to determine the intermediate predicted yaw angle between adjacent intermediate change points.

[0007] In one example, the yaw angle of the wind turbine is adjusted, specifically including: determining multiple change points, collecting actual wind direction information at the change points according to a preset time period, and determining an average wind direction angle based on the collected actual wind direction information; determining the difference in average wind direction angles between adjacent change points, and comparing the difference with a preset difference threshold; if the difference is less than or equal to the difference threshold, adjusting the wind turbine according to the predicted yaw angle; if the difference is greater than the difference threshold, determining the yaw angle between the corresponding change point and the next adjacent change point according to the average wind direction angle, and adjusting the wind turbine according to the yaw angle.

[0008] In one example, the method also includes: dynamically monitoring the final change point to obtain real-time wind direction information, and updating the wind direction change information between the final change points based on the real-time wind direction information; recalculating the predicted power generation energy between adjacent final change points based on the updated wind direction change information, and determining whether the final predicted yaw angle needs to be adjusted; if adjustment is required, re-determining the final change point and the corresponding predicted yaw angle based on the new predicted power generation energy and rotational loss energy relationship to optimize the yaw control of the wind turbine.

[0009] In one example, the method further includes: real-time monitoring of the power generation and yaw angle status of the wind turbine, and recording the power generation change and yaw angle change data before and after adjustment; analyzing whether the power generation increases after the yaw angle adjustment based on the recorded data; and if the power generation does not increase, recalculating the predicted yaw angle.

[0010] In one example, the meteorological data includes real-time wind speed, real-time wind direction, wind speed change rate, and wind direction change rate. The method also includes: synchronously collecting data through multiple meteorological sensors arranged around the wind turbine to obtain the meteorological data, and preprocessing the meteorological data, wherein the preprocessing includes data filtering, data calibration, and abnormal data elimination operations.

[0011] On the other hand, the present application also proposes a wind turbine yaw angle control device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the wind turbine yaw angle control device to execute: a method as described in any one of the above examples.

[0012] On the other hand, the present application also proposes a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to perform the method described in any one of the above examples.

[0013] This application obtains meteorological data to determine wind direction change information and compares it with a preset angle threshold. It can accurately screen out wind direction changes that need to be focused on, providing a reliable basis for subsequent control. Secondly, in the process of determining the predicted yaw angle, a multi-level screening and optimization step is set. For example, the initial change point is determined by comparing the wind direction change angle with the first threshold, and then the intermediate change point is determined by comparing the difference between adjacent average wind direction angles with the second threshold. The weight is configured for the intermediate predicted yaw angle according to the average wind speed. A more reasonable intermediate predicted yaw angle is obtained through weighted calculation. The relationship between rotational loss energy and predicted power generation energy is also considered to determine the final change point and the predicted yaw angle, effectively avoiding energy loss caused by frequent or unnecessary yaw and improving power generation efficiency. Furthermore, when adjusting the yaw angle, the predicted yaw angle or the actual average wind direction angle is flexibly selected to determine the yaw angle based on the comparison result of the average wind direction angle difference between adjacent change points and the difference threshold to ensure the accuracy of control. In addition, the final change point is dynamically monitored and the wind direction change information is updated. The final change point and the predicted yaw angle are re-determined according to the actual situation to achieve continuous optimization of yaw control. At the same time, the system monitors power generation and yaw angle status in real time, analyzes the effect of yaw angle adjustments, and recalculates the predicted yaw angle if power generation does not increase, further ensuring improved power generation efficiency. Furthermore, multiple meteorological sensors simultaneously collect and pre-process meteorological data to ensure data accuracy and reliability, providing solid data support for the entire control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0015] Figure 1 Schematic diagram of a flow chart of a method for controlling the yaw angle of a wind turbine according to an embodiment of the present application;

[0016] Figure 2 This is a schematic structural diagram of a control system for the yaw angle of a wind turbine according to an embodiment of the present application;

[0017] Figure 3 This is a schematic diagram of a device for controlling the yaw angle of a wind turbine in an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0020] like Figure 1 As shown, in order to solve the above problems, an embodiment of the present application provides a method for controlling the yaw angle of a wind turbine, the method comprising:

[0021] S101. Acquire meteorological data, determine wind direction change information according to the meteorological data, determine a wind direction change angle according to the wind direction change information, and compare the wind direction change angle with a preset angle threshold.

[0022] Wind direction change information is predicted based on real-time meteorological data. The prediction time unit can be set according to actual needs, such as a day or half a day. The wind direction change information is specifically reflected in the angular change of the wind direction, which is used to formulate the corresponding yaw angle control strategy.

[0023] S102: If the wind direction change angle is greater than the angle threshold, determine a predicted yaw angle of the wind turbine according to the wind direction change information.

[0024] Based on the predicted wind direction change information, the predicted yaw angle control strategy for the next prediction stage is determined. The principle followed by this control strategy is: the yaw angle is adjusted only when the average wind direction angle changes by more than a set threshold. Specifically, if the average wind direction angle in the current period exceeds the preset threshold compared to the previous period, the predicted yaw angle is adjusted to achieve dynamic adjustment of the yaw angle according to the wind direction change. In an optional embodiment, the duration of calculating the average wind direction angle can be flexibly determined according to the change in the wind direction angle, thereby further optimizing the yaw angle adjustment effect and improving power generation efficiency.

[0025] S103: Adjust the wind turbine according to the wind direction change information and the predicted yaw angle.

[0026] When actually controlling the yaw angle of a wind turbine, in order to improve the adjustment accuracy and thus enhance the power generation efficiency, in addition to adjusting based on the predicted yaw angle control strategy, the yaw angle is also controlled in combination with the actual wind direction detected in real time, so as to avoid affecting the adjustment effect due to excessive prediction deviation.

[0027] In one embodiment, taking into account that the wind direction changes in real time and that the change is small at certain moments and there is no need to adjust the yaw angle, this embodiment pre-sets a change angle threshold, and preliminarily screens out each change point where the wind direction change angle exceeds the first threshold based on the wind direction change information, and records it as an initial change point; calculates the average wind direction angle between each two adjacent initial change points, and records it as the first average wind direction angle; for two adjacent first average wind direction angles, if their difference is lower than the preset second threshold, it indicates that the wind direction change between the two initial change points may be a short-term fluctuation. At this time, the initial change point between the two is deleted to determine the intermediate change point, so that an adjustment stage is formed between the two adjacent intermediate change points. For example, if the i-th initial change point The average wind direction angle between the i+1th initial change point and the i+1th initial change point is θ1, the average wind direction angle between the i+1th initial change point and the i+2th initial change point is θ2, and the difference between θ1 and θ2 is less than the second threshold, then the i+1th initial change point is deleted, and the i-th and i+2th initial change points are retained as intermediate change points; since the wind speed between the two intermediate change points also changes in real time, in order to improve power generation efficiency, the yaw angle can be predicted with more emphasis on the wind direction corresponding to the large wind speed. Therefore, according to the wind direction change information between each two adjacent intermediate change points, the wind direction and wind speed change information of the next prediction stage is predicted in combination with meteorological data, and then the predicted yaw angle between each two adjacent intermediate change points is determined.

[0028] In one embodiment, the average wind speed between each two adjacent initial change points is calculated and recorded as the first average wind speed. It should be noted that since there may be multiple initial change points between two adjacent intermediate change points, there will be multiple corresponding first average wind speeds; then, for each two adjacent intermediate change points, the calculated corresponding first average wind speeds are sorted in descending order; then, the initial predicted yaw angle between the corresponding two initial change points is determined according to each first average wind direction angle. It should be noted here that although some initial change points are deleted when determining the intermediate change points, the initial change points contained in the initially collected data still exist. Subsequently, the wind speed and wind direction information between adjacent initial change points is used to determine the corresponding intermediate change points. The control strategy between points is adopted; then, a weight is configured for each initial predicted yaw angle according to the sorting result of the first average wind speed. The higher the sorting result (i.e., the greater the average wind speed), the greater the weight configured for the initial predicted yaw angle. Specifically, the weight is configured for the initial predicted yaw angle of each time period according to the average wind speed of each time period (a time period is between two adjacent initial change points). The greater the average wind speed, the greater the weight of the initial predicted yaw angle of the corresponding time period. Finally, the weighted average of each initial predicted yaw angle is calculated. This value is the predicted yaw angle of the two adjacent intermediate change points determined. The principle is that the greater the wind speed, the greater the power generation power. In order to increase the power generation power, the yaw angle is more biased towards the wind direction corresponding to the maximum wind speed stage.

[0029] In one embodiment, the yaw angle of a wind turbine generator needs to be adjusted after a change in wind direction. However, adjusting the yaw angle of a rotating device consumes energy. In certain conditions, the energy consumption required for rotation may be greater than the generated energy after rotation, which reduces the overall output energy. This embodiment first calculates the predicted generated energy between each two adjacent intermediate change points based on the first average wind speeds and the predicted yaw angles between each two adjacent intermediate change points. Then, the yaw angle difference between each two adjacent predicted yaw angles is calculated, that is, the yaw angle difference at each intermediate change point. Then, based on the wind speed at the intermediate change point, the energy loss required for rotation corresponding to the yaw angle difference is calculated. Then, a determination is made as to whether the energy loss at the intermediate change point is greater than the predicted generated energy between the current intermediate change point and the next intermediate change point. If the determination result is yes, the current intermediate change point is deleted to determine the final change point. Finally, based on the wind direction change information between each two adjacent final change points, the predicted yaw angle between each two adjacent final change points is determined.

[0030] In one embodiment, the predicted power generation energy and predicted rotational energy consumption are calculated. If the predicted rotational energy consumption is greater than the predicted power generation energy for the next stage, rotation is discontinued to avoid reducing output energy. It should be noted that the steps for determining the predicted yaw angle between each two adjacent final change points are similar to those described above and will not be repeated here.

[0031] In one embodiment, when actually controlling the wind turbine, the predicted yaw angle control strategy and the actual detected wind direction are considered simultaneously to avoid a large deviation between the actual wind direction and the predicted wind direction that affects the generated power.

[0032] In one embodiment, actual wind direction information is collected at a change point over a certain period of time, and the average wind direction angle within the collection period is calculated and recorded as the actual average wind direction angle. A determination is then made as to whether the difference between the actual average wind direction angle and the predicted average wind direction angle between the current change point and the next change point exceeds a set threshold. If the difference does not exceed the threshold, the wind turbine is controlled using the predicted yaw angle. If the difference exceeds the threshold, the yaw angle between the current change point and the next change point is determined based on the actual average wind direction angle, and the wind turbine is controlled using the yaw angle. If the actual wind direction does not deviate much from the predicted wind direction, the predicted yaw angle control strategy is directly used to control the wind turbine yaw angle, reducing real-time calculations. If the actual wind direction deviates significantly from the predicted wind direction, the yaw angle between the current change point and the next change point is determined based on the actual average wind direction angle for control. The deviation between the actual wind direction and the predicted wind direction is continuously detected at the next change point to increase the output power.

[0033] In one embodiment, Figure 2As shown, an embodiment of the present application provides a wind turbine yaw angle control system 200, comprising:

[0034] The weather forecast module 210 is responsible for forecasting the wind direction change information for the next day based on the weather data.

[0035] The predicted yaw angle control strategy configuration module 220 is configured to formulate a predicted yaw angle control strategy based on the wind direction change information output by the weather forecast module 210. Specifically, when the average wind direction angle within a certain period of time exceeds a preset threshold compared to the previous period of time, the predicted yaw angle is adjusted.

[0036] The yaw control module 230 is used to precisely control the yaw angle of the wind turbine by combining the predicted yaw angle control strategy and the actual wind direction information detected in real time.

[0037] like Figure 3 As shown, the embodiment of the present application further provides a device for controlling the yaw angle of a wind turbine, comprising:

[0038] at least one processor; and,

[0039] a memory communicatively connected to at least one processor; wherein,

[0040] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor to enable a device for controlling the yaw angle of a wind turbine to execute the method described in any one of the above embodiments.

[0041] An embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to perform the method described in any one of the above embodiments.

[0042] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (for example, improvements to circuit structures like diodes, transistors, and switches) or software improvements (improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using hardware modules. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD through their own programming, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0043] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0044] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0045] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0046] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0047] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0048] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0049] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0050] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0051] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0052] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0053] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0054] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0055] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0056] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling the yaw angle of a wind turbine, characterized in that: include: Acquiring meteorological data, determining wind direction change information based on the meteorological data, determining a wind direction change angle based on the wind direction change information, and comparing the wind direction change angle with a preset angle threshold; If the wind direction change angle is greater than the angle threshold, determining a predicted yaw angle of the wind turbine according to the wind direction change information; The wind turbine is adjusted according to the wind direction change information and the predicted yaw angle.

2. The method according to claim 1, characterized in that Before determining the predicted yaw angle of the wind turbine according to the wind direction change information, the method further includes: determining a plurality of wind direction change angles according to the wind direction change information, and comparing the plurality of wind direction change angles with a preset first threshold value respectively; If the wind direction change angle is greater than the first threshold, determining that the wind direction change angle corresponds to an initial change point; Determining an average wind direction angle between adjacent initial change points, and determining a difference between adjacent average wind direction angles, and comparing the difference with a preset second threshold; If the difference is less than the second threshold, deleting the initial change point between the adjacent average wind direction angles to determine the middle change point; The intermediate predicted yaw angle between the adjacent intermediate change points is determined according to the wind direction change information between the adjacent intermediate change points.

3. The method according to claim 2, characterized in that After determining the intermediate predicted yaw angle between the adjacent intermediate change points, the method further includes: determining an average wind speed between adjacent intermediate change points, and determining predicted power generation energy between the adjacent intermediate change points based on the average wind speed and the intermediate predicted yaw angle; Determining a yaw angle difference between adjacent intermediate predicted yaw angles to determine a yaw angle difference corresponding to the intermediate change point, and determining a wind speed at the intermediate change point; performing calculations based on the wind speed to determine a rotational loss energy corresponding to the yaw angle difference, and comparing the rotational loss energy with the predicted power generation energy; If the rotation loss energy is greater than the predicted power generation energy, the intermediate change point is deleted to determine the final change point; Wind direction change information between adjacent final change points is determined, and a final predicted yaw angle is determined according to the wind direction change information between the adjacent final change points.

4. The method according to claim 2, characterized in that Determining the intermediate predicted yaw angle between the adjacent intermediate change points specifically includes: Determine the average wind speed between adjacent initial change points to determine a plurality of average wind speeds corresponding to a plurality of intermediate change points; sorting the multiple average wind speeds to obtain a sorting result, determining adjacent initial change points corresponding to the average wind speeds, and determining an initial predicted yaw angle between the adjacent initial change points; Performing weight configuration for the initial predicted yaw angle according to the sorting result; A weighted calculation is performed on the initial yaw angle after weight configuration to determine an intermediate predicted yaw angle between adjacent intermediate change points.

5. The method according to claim 1, characterized in that Adjusting the yaw angle of the wind turbine specifically includes: Determining a plurality of change points, collecting actual wind direction information at the change points according to a preset time period, and determining an average wind direction angle based on the collected actual wind direction information; Determine the difference in average wind direction angles between adjacent change points, and compare the difference with a preset difference threshold; If the difference is less than or equal to the difference threshold, adjusting the wind turbine according to the predicted yaw angle; If the difference is greater than the difference threshold, the yaw angle between the corresponding change point and the next adjacent change point is determined according to the average wind direction angle, and the wind turbine is adjusted according to the yaw angle.

6. The method according to claim 3, characterized in that The method further comprises: Dynamically monitoring the final change point to obtain real-time wind direction information, and updating wind direction change information between the final change points according to the real-time wind direction information; Based on the updated wind direction change information, the predicted power generation energy between adjacent final change points is recalculated, and it is determined whether the final predicted yaw angle needs to be adjusted; If adjustment is required, the final change point and the corresponding predicted yaw angle are re-determined based on the new predicted relationship between generated energy and rotational loss energy to optimize the yaw control of the wind turbine.

7. The method according to claim 5, characterized in that The method further comprises: Real-time monitoring of the wind turbine's power generation and yaw angle status, and recording of power generation and yaw angle change data before and after adjustment; Based on the recorded data, analyze whether the power generation increases after the yaw angle is adjusted; If the generated power does not increase, the predicted yaw angle is recalculated.

8. The method according to claim 1, characterized in that The meteorological data includes real-time wind speed, real-time wind direction, wind speed change rate, wind direction change rate, The method further comprises: The meteorological data is obtained by synchronously collecting data through multiple meteorological sensors arranged at positions around the wind turbine, and the meteorological data is preprocessed. The preprocessing includes data filtering, data calibration, and abnormal data elimination operations.

9. A device for controlling the yaw angle of a wind turbine, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the wind turbine yaw angle control device to execute: the method according to any one of claims 1 to 8.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: perform the method according to any one of claims 1 to 8.

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