Emergency yaw and automatic crosswind method and system for wind turbine generator

Abstract

The invention relates to the technical field of wind power generation. The invention provides an emergency yaw and automatic crosswind method and system for a wind turbine generator. The method comprises the following steps: monitoring the on-off state of a safety chain in real time, and activating an emergency power supply switching module when detecting that the safety chain is disconnected; synchronously acquiring unit vibration spectrum, impeller rotating speed, environment wind speed and cabin load distribution data, and generating dynamic risk assessment parameters based on a multi-source signal fusion algorithm; inputting a hierarchical control instruction to a yaw driver according to a comparison result of the risk assessment parameter and a preset threshold value; and in the automatic crosswind control stage, the yaw rate and the angle offset are dynamically adjusted based on the blade root bending moment real-time feedback and the wind speed change rate, so that the unit maintains the aerodynamic load balance in the non-windward state. The problems that after a safety chain of an existing wind turbine generator is disconnected, yaw capacity is completely lost, emergency crosswind protection or fault recovery cannot be achieved, and a traditional emergency yaw scheme is high in cost, complex in maintenance, slow in response, difficult to adapt to complex working conditions and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power generation, in particular to an emergency yawing and automatic crosswind method and system for a wind turbine generator. BACKGROUND

[0002] With the rapid development of wind power generation technology, the safety and reliability of wind turbine generators have become the focus of the industry. Currently, the safety chain circuit of mainstream wind turbine generators (such as MY1.5MW and MY2.0MW models) is usually composed of a safety module or a safety relay. When the safety chain is disconnected due to a fault (such as overspeed, abnormal vibration, etc.), the 24V control power supply of the related DO point will be forcibly cut off, causing the key actuators such as hydraulic pumps and yaw systems to be unable to operate. Although this design ensures the safe shutdown of the unit in abnormal conditions, it also brings significant problems: after the safety chain is disconnected, the unit completely loses its yawing ability and cannot adjust the direction of the nacelle to achieve emergency crosswind protection or fault recovery, especially in extreme weather or sudden mechanical failure, which may exacerbate the risk of equipment damage and even cause safety accidents.

[0003] Traditional emergency yawing solutions rely on independent redundant hardware systems, such as completely separate control circuits or backup power supplies. Although such methods can partially solve the problem, they have the drawbacks of high cost, complex maintenance, and insufficient response speed. In addition, existing automatic crosswind technology usually triggers protection actions based on a single sensor signal (such as rotor speed), lacks multi-condition collaborative judgment and intelligent control capabilities, and thus leads to false triggering or response lag, making it difficult to adapt to complex working conditions. For example, when the rotor speed exceeds the limit but the wind speed fluctuates dramatically, the traditional crosswind protection may not be able to accurately adjust the yaw angle, causing the unit to continue to bear asymmetric loads and affecting the structural life. SUMMARY

[0004] The present application aims to provide an emergency yawing and automatic crosswind method and system for a wind turbine generator, which aims to solve the problem of existing wind turbine generators losing yawing ability completely after the safety chain is disconnected, and being unable to perform emergency crosswind protection or fault recovery, as well as the problems of traditional emergency yawing solutions being costly, complex to maintain, slow to respond, and difficult to adapt to complex working conditions.

[0005] The present application is achieved by the following technical solutions:

[0006] An emergency yawing and automatic crosswind method for a wind turbine generator, comprising the following steps:

[0007] Real-time monitoring of the on-off state of the safety chain, when the safety chain is detected to be disconnected, activating an emergency power switching module to switch the power supply of the yawing system to an emergency power supply circuit independent of the safety chain;

[0008] Synchronously collect vibration spectrum of the unit, rotor speed, ambient wind speed and cabin load distribution data, and generate dynamic risk assessment parameters based on multi-source signal fusion algorithm;

[0009] According to the comparison result of the risk assessment parameters and the preset threshold value, a hierarchical control instruction is input to the yaw driver; when the risk assessment parameters exceed a first preset threshold value, an emergency yawing against the wind by a preset angle is performed; when the risk assessment parameters exceed a second preset threshold value, a multi-stage progressive automatic crosswind control is started;

[0010] In the automatic crosswind control stage, the yawing speed and the angle offset are dynamically adjusted based on the real-time feedback of the blade root bending moment and the wind speed change rate, so that the unit maintains the aerodynamic load balance in the non-against-wind state.

[0011] Optionally, the real-time monitoring of the safety chain on-off state is performed, and when it is detected that the safety chain is disconnected, an emergency power switching module is activated to switch the power supply of the yawing system to an emergency power supply circuit independent of the safety chain. The specific process is as follows:

[0012] The voltage signals at both ends of the safety chain are collected in real time by the voltage sensor arranged in the safety chain circuit, and the voltage signals at both ends of the safety chain are continuously received and analyzed by the control unit. When the voltage signal is lower than the preset voltage threshold of the safety chain conduction state, it is determined that the safety chain is in a disconnected state;

[0013] The control unit sends an activation instruction to the emergency power switching module, and the emergency power switching module includes an electromagnetic relay group. The input end of the electromagnetic relay group is connected to the conventional power supply circuit controlled by the safety chain and the independently arranged emergency power supply, and the output end is electrically connected to the yawing system power supply interface.

[0014] After receiving the activation instruction, the electromagnetic relay group performs a contact switching action, disconnects the conventional power supply circuit connection, and at the same time closes the emergency power supply circuit connection, so that the power supply of the yawing system is independently provided by the emergency power supply.

[0015] Optionally, the specific process of synchronously collecting the unit vibration spectrum, rotor speed, ambient wind speed and cabin load distribution data, and generating dynamic risk assessment parameters based on multi-source signal fusion algorithm is as follows:

[0016] The main bearing axial vibration spectrum of the unit, the rotor speed instantaneous value and the change rate, the three-dimensional ultrasonic wind speed value at the hub height, and the strain data of the front and rear flanges of the cabin are synchronously obtained by a distributed sensor array;

[0017] The amplitude integral of each characteristic frequency in the frequency band of 5Hz to 200Hz is extracted by fast Fourier transform of the vibration spectrum, and a mechanical abnormality index is generated in combination with the rotor speed change rate;

[0018] The turbulence intensity coefficient is calculated according to the 10-second sliding mean value and the standard deviation of the ambient wind speed, and the load asymmetry coefficient is calculated based on the strain difference of the front and rear flanges of the cabin;

[0019] The mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient are input into the fuzzy membership function, multi-dimensional coupling operation is performed through a weighted factor matrix, and a normalized evaluation parameter representing the dynamic risk level of the unit is output; wherein the weight distribution is adaptively adjusted according to the percentage of the overspeed of the impeller.

[0020] Optionally, the specific process of inputting the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient into the fuzzy membership function, performing multi-dimensional coupling operation through a weighted factor matrix, and outputting a normalized evaluation parameter representing the dynamic risk level of the unit is as follows:

[0021] The fuzzy membership functions of the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient are established, and the membership values μ M , μ T and μ L corresponding to the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient are calculated respectively.

[0022] A dynamic weight factor matrix is generated according to the percentage of the overspeed of the impeller, as shown in the following formula (1):

[0023]

[0024] Wherein, W(s) represents the dynamic weight factor matrix; w M (s) represents the weight factor of the mechanical anomaly index; w T (s) represents the weight factor of the turbulence intensity coefficient; w L (s) represents the weight factor of the load asymmetry coefficient; s represents the percentage of the overspeed of the impeller; w M (s) is positively correlated with s.

[0025] The normalized risk evaluation parameter is generated by the following formula (2):

[0026]

[0027] Wherein, R represents the normalized risk evaluation parameter, the value range is [0, 1], and is used to trigger the hierarchical control instruction; max(μ M + μ T + μ L , 1) represents the maximum value of the sum of the three membership degrees and 1 as the denominator.

[0028] When the preset threshold is exceeded, the corresponding hierarchical control instruction is triggered; wherein the membership function adopts a piecewise linear function, and the turning point of the piecewise linear function is dynamically corrected according to the historical fault data of the unit.

[0029] Optionally, the specific process of inputting the grading control instruction to the yaw driver according to the comparison result of the risk assessment parameter and the preset threshold value is:

[0030] An interval division of the first threshold value R1 and the second threshold value R2 is established; wherein, 0.5≤R1

[0031] When the risk assessment parameter R∈[R1, R2), an emergency yaw-to-wind instruction is generated; based on the current environmental wind speed vector direction, the minimum deviation angle θ of the cabin axis is calculated min , θ min ±15° is the safety interval, the yaw system is controlled to perform one-way yaw at 50% to 70% of the rated speed until the cabin axis and the wind direction form an angle of θ min and the maintenance time exceeds 30 seconds;

[0032] When R≥R2, an automatic crosswind control instruction is generated; based on the product coefficient of the real-time value of the blade root bending moment and the wind speed change rate, the yaw rate and the angle offset are dynamically set, the yaw direction is corrected every 10 seconds, so that the cabin axis and the wind direction form a dynamic angle of 15° to 25°, and the load asymmetry coefficient is reduced to below the safety threshold value;

[0033] During the execution of the instruction, if the R value falls below R1 and lasts for 60 seconds, the emergency yaw control is terminated and the normal yaw logic is restored.

[0034] Optionally, the specific process of dynamically adjusting the yaw rate and the angle offset based on the real-time feedback of the blade root bending moment and the wind speed change rate in the automatic crosswind control stage is:

[0035] The bending moment measurement value of the bidirectional strain gauge at the blade root is collected in real time, and the absolute value ΔM of the difference between the front and rear blade root bending moments is calculated; the 10-second sliding change rate of the environmental wind speed is obtained synchronously

[0036] ΔM and are input into the product compensator to generate a dynamic adjustment coefficient, as shown in the following formula (3):

[0037]

[0038] Wherein, K represents the dynamic adjustment coefficient; V ref represents the rated wind speed;

[0039] The yaw rate control mode is selected according to the interval in which the M value is located; when M<=0.3, the current yaw rate is maintained and the angle offset is fine-tuned by + / -2 degrees every 5 seconds; when 0.3

[0040] After each yaw action is completed, the standard deviation σ of the blade root bending moment is recalculated M If σ M is reduced by more than 10% compared with the previous time, the current control parameters are maintained, otherwise the gain coefficient K is increased by a step of 0.1 until σ M is stabilized within the allowable fluctuation range.

[0041] Optionally, the safety chain recovery signal is continuously monitored, and when the safety chain is closed and the risk assessment parameter is lower than the safety threshold, the emergency mode is exited and switched to main power supply.

[0042] Based on the same inventive concept, the application also provides a wind turbine emergency yaw and automatic crosswind system for implementing the wind turbine emergency yaw and automatic crosswind method, comprising:

[0043] An emergency power switching module includes a voltage sensor, a control unit and an electromagnetic relay group, the voltage sensor is connected in parallel across the safety chain circuit to monitor the on-off state, and the control unit triggers the electromagnetic relay group to switch to the independent emergency power supply to supply power to the yaw system according to the voltage signal;

[0044] A multi-source data acquisition module includes a distributed sensor array for synchronously acquiring turbine vibration frequency spectrum, impeller speed, environmental wind speed and cabin strain data, and the sensor array includes a main bearing axial vibration sensor, an impeller speed encoder, a three-dimensional ultrasonic anemometer and a flange strain gauge;

[0045] A dynamic risk assessment module is configured with a signal processor and a fuzzy logic operation unit, the signal processor performs fast Fourier transform on the vibration frequency spectrum and extracts the characteristic frequency amplitude integral, and the fuzzy logic operation unit generates a normalized risk assessment parameter based on the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient;

[0046] A hierarchical control decision module is built-in with a programmable threshold comparator and an instruction generator for outputting an emergency yaw wind-against instruction or a multi-level automatic crosswind control instruction according to the comparison result of the risk assessment parameter and the preset threshold value;

[0047] The adaptive crosswind execution module comprises a yaw drive controller and a feedback adjustment unit, the yaw drive controller dynamically adjusts yaw speed and angular offset according to the difference of blade root bending moment and the rate of change of wind speed, and the feedback adjustment unit real-time corrects control parameters based on the standard deviation of blade root bending moment;

[0048] The safety chain recovery monitoring module is connected to the safety chain loop interface and is used for controlling the electromagnetic relay group to switch back to the main power supply when the safety chain is closed and the risk assessment parameter meets the standard.

[0049] Based on the same inventive concept, the application further provides an electronic device comprising a memory and a processor, the memory is used for storing a computer program, and the processor runs the computer program to make the electronic device execute the wind turbine emergency yaw and automatic crosswind method.

[0050] Based on the same inventive concept, the application further provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the wind turbine emergency yaw and automatic crosswind method.

[0051] The technical scheme of the application has at least the following advantages and beneficial effects:

[0052] Through the design of the emergency power supply loop independent of the safety chain, when the safety chain is disconnected due to over-speed, abnormal vibration and other faults, the emergency power supply switching module can be activated immediately to ensure the continuity of the yaw system power supply, solving the core pain point that the yaw system is paralyzed when the safety chain is disconnected in the traditional scheme, so that the unit still has the ability to actively adjust the direction of the nacelle under abnormal shutdown state; especially in extreme weather (such as strong typhoon) or sudden mechanical failure scene, emergency yaw can be realized to achieve emergency crosswind protection, avoiding the nacelle continuously facing strong wind load, significantly reducing the structural damage risk of key components such as blades and tower, and effectively reducing the probability of safety accidents.

[0053] Based on the fusion algorithm of multi-dimensional data such as vibration spectrum, impeller speed, environmental wind speed and nacelle load distribution, a dynamic risk assessment model is constructed, which realizes the stereoscopic evaluation of the unit operation state compared with the simple trigger mechanism of the traditional scheme relying on a single sensor (such as impeller speed); for example, in the scene of wind speed fluctuating sharply but impeller speed being temporarily over-limit, through the cooperative analysis of vibration spectrum and load distribution data, non-dangerous working conditions can be accurately identified to avoid the false trigger problem of the traditional scheme; and when there is a real overload risk (such as vibration abnormality accompanied by load mutation), the risk assessment parameter can be quickly generated to trigger the corresponding control strategy, shorten the response lag time, and significantly improve the decision accuracy and timeliness of the system under complex working conditions.

[0054] The hierarchical control strategy (first emergency yawing to wind, second multi-stage gradual crosswind control) and the dynamic adjustment mechanism based on real-time feedback of the blade root bending moment form a closed-loop control system from risk response to load optimization; when the risk parameter exceeds the first threshold, the emergency yawing of the preset angle is used to quickly adjust the cabin direction and quickly reduce the head-on wind load; when entering the second control stage, the yaw rate and angle offset are dynamically adjusted in real time by combining the wind speed change rate and the blade root bending moment feedback, so that the unit maintains the aerodynamic load balance in the non-wind direction.

[0055] The complex hardware systems such as completely separated redundant control loop and backup power supply in the traditional scheme are abandoned, the software-defined intelligent control strategy and the flexible switching technology of the emergency power supply are used, the hardware cost and the maintenance complexity are significantly reduced while the reliability of the yawing system is maintained; at the same time, the introduction of the multi-source signal fusion and the hierarchical control algorithm enables the unit to realize adaptive adjustment in a wider wind speed range, and further improves the utilization efficiency of wind resources and the stability of power generation. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 FIG. 1 is a flowchart of an emergency yawing and automatic crosswind method for a wind turbine generator according to an embodiment of the present application;

[0057] Figure 2 FIG. 2 is a structural diagram of an emergency yawing and automatic crosswind system for a wind turbine generator according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] The following is a specific embodiment in combination with the drawings.

[0059] Reference Figure 1 An emergency yawing and automatic crosswind method for a wind turbine generator, comprising the following steps:

[0060] Step 1, real-time monitoring of the on-off state of the safety chain, when the safety chain is detected to be disconnected, the emergency power supply switching module is activated to switch the power supply of the yawing system to the emergency power supply circuit independent of the safety chain.

[0061] In some embodiments, the specific process of real-time monitoring of the on-off state of the safety chain, when the safety chain is detected to be disconnected, the emergency power supply switching module is activated to switch the power supply of the yawing system to the emergency power supply circuit independent of the safety chain is as follows:

[0062] The voltage sensor arranged in the safety chain circuit acquires the voltage signals at both ends of the safety chain in real time, the control unit continuously receives and analyzes the voltage signals at both ends of the safety chain, and when the voltage signal is lower than the preset voltage threshold of the safety chain conduction state, it is determined that the safety chain is in the disconnected state.

[0063] The control unit sends an activation instruction to the emergency power switching module, the emergency power switching module includes an electromagnetic relay group, the input end of the electromagnetic relay group is connected with the conventional power supply loop controlled by the safety chain and the independently set emergency power supply, and the output end is electrically connected with the yaw system power supply interface;

[0064] After receiving the activation instruction, the electromagnetic relay group performs a contact switching action, disconnects the conventional power supply loop connection, and simultaneously closes the emergency power supply loop connection, so that the power supply of the yaw system is independently provided by the emergency power supply.

[0065] Step two, synchronously collect unit vibration spectrum, impeller speed, environmental wind speed and cabin load distribution data, and generate dynamic risk assessment parameters based on multi-source signal fusion algorithm.

[0066] In some embodiments, the specific process of synchronously collecting unit vibration spectrum, impeller speed, environmental wind speed and cabin load distribution data, and generating dynamic risk assessment parameters based on multi-source signal fusion algorithm is as follows:

[0067] The main bearing axial vibration spectrum of the unit, the instantaneous value and the rate of change of the impeller speed, the three-dimensional ultrasonic wind speed value at the hub height, and the strain data of the front and rear flanges of the cabin are synchronously obtained by the distributed sensor array;

[0068] The amplitude integral of each characteristic frequency in the frequency band of 5Hz to 200Hz is extracted by fast Fourier transform of the vibration spectrum, and a mechanical abnormality index is generated in combination with the rate of change of the impeller speed;

[0069] The turbulent intensity coefficient is calculated according to the 10-second sliding mean value and the standard deviation of the environmental wind speed, and the load asymmetry coefficient is calculated synchronously based on the strain difference of the front and rear flanges of the cabin;

[0070] The mechanical abnormality index, the turbulent intensity coefficient and the load asymmetry coefficient are input into the fuzzy membership function, and multi-dimensional coupling operation is performed through a weighted factor matrix to output a normalized evaluation parameter representing the dynamic risk level of the unit; wherein the weight distribution is adaptively adjusted according to the percentage of the impeller speed overrun.

[0071] In some embodiments, the specific process of inputting the mechanical abnormality index, the turbulent intensity coefficient and the load asymmetry coefficient into the fuzzy membership function, and performing multi-dimensional coupling operation through a weighted factor matrix to output a normalized evaluation parameter representing the dynamic risk level of the unit is as follows:

[0072] The fuzzy membership functions of the mechanical abnormality index, the turbulent intensity coefficient and the load asymmetry coefficient are established, and the membership values μ M , μ T , μ L corresponding to the mechanical abnormality index, the turbulent intensity coefficient and the load asymmetry coefficient are calculated respectively.

[0073] A dynamic weight factor matrix is generated according to the percentage of the overspeed of the impeller, as shown in the following formula (1):

[0074]

[0075] wherein W(s) represents the dynamic weight factor matrix; w M (s) represents the weight factor of the mechanical anomaly index; w T (s) represents the weight factor of the turbulence intensity coefficient; w L (s) represents the weight factor of the load asymmetry coefficient; s represents the percentage of the overspeed of the impeller; w M (s) is positively correlated with s;

[0076] A normalized risk assessment parameter is generated by the following formula (2):

[0077]

[0078] wherein R represents the normalized risk assessment parameter, with a value range of [0, 1], and is used to trigger a hierarchical control instruction; max(μ M +μ T +μ L ,1) represents the maximum value of the sum of the three numerators and 1;

[0079] When the preset threshold is exceeded, the corresponding hierarchical control instruction is triggered; wherein the membership function adopts a piecewise linear function, and the turning points of the piecewise linear function are dynamically corrected according to historical fault data of the unit.

[0080] Step three, according to the comparison result of the risk assessment parameter and the preset threshold, a hierarchical control instruction is input to the yaw drive; wherein when the risk assessment parameter exceeds a first preset threshold, an emergency yaw-to-wind of a preset angle is executed; when the risk assessment parameter exceeds a second preset threshold, a multi-stage gradual automatic crosswind control is started.

[0081] In some embodiments, the specific process of inputting a hierarchical control instruction to the yaw drive according to the comparison result of the risk assessment parameter and the preset threshold is as follows:

[0082] An interval division of a first threshold R1 and a second threshold R2 is established; wherein 0.5≤R1<R2≤0.8;

[0083] When the risk assessment parameter R∈[R1,R2), an emergency yaw-to-wind instruction is generated; based on the current environmental wind speed vector direction, the minimum deviation angle θ min is calculated with the cabin axis, and θ min ±15° is taken as a safety interval, and the yaw system is controlled to execute one-way yaw at 50% to 70% of the rated speed until the cabin axis and the wind direction reach the angle θmin and the maintenance time is more than 30 seconds;

[0084] When R≥R2, the automatic crosswind control instruction is generated; according to the product coefficient of the real-time value of the blade root bending moment and the wind speed variation rate, the yaw rate and the angle offset are dynamically set, the yaw direction is corrected every 10 seconds, the cabin axis and the wind direction form a dynamic angle of 15°-25°, and the load asymmetry coefficient is reduced to below the safety threshold;

[0085] During the execution of the instruction, if the R value falls below R1 and lasts for 60 seconds, the emergency yaw control is terminated and the normal yaw logic is restored.

[0086] Step four, in the automatic crosswind control stage, based on the real-time feedback of the blade root bending moment and the wind speed variation rate, the yaw rate and the angle offset are dynamically adjusted to maintain the aerodynamic load balance of the aircraft in the non-crosswind state.

[0087] In some embodiments, in the automatic crosswind control stage, based on the real-time feedback of the blade root bending moment and the wind speed variation rate, the specific process of dynamically adjusting the yaw rate and the angle offset to maintain the aerodynamic load balance of the aircraft in the non-crosswind state is as follows:

[0088] The bending moment measurement value of the bidirectional strain gauge at the blade root is collected in real time, and the absolute value ΔM of the difference between the front and rear blade root bending moments is calculated; the 10-second sliding variation rate of the environmental wind speed is obtained synchronously

[0089] ΔM and are input into the product compensator to generate a dynamic adjustment coefficient, as shown in the following formula (3):

[0090]

[0091] Wherein, K represents the dynamic adjustment coefficient; V ref represents the rated wind speed;

[0092] According to the interval of K value, the yaw rate control mode is selected; when K≤0.3, the current yaw rate is maintained and the angle offset is fine-tuned every 5 seconds by ±2°; when 0.3

[0093] After each yaw action is completed, the standard deviation σ M of the blade root bending moment is recalculated, and if σ M is reduced by more than 10% compared with the previous time, the current control parameter is maintained, otherwise the gain coefficient of K is increased by a step of 0.1 until σM Stable within the allowable fluctuation range.

[0094] In some embodiments, the safety chain recovery signal is continuously monitored, and when the safety chain is closed and the risk assessment parameter is lower than the safety threshold, the emergency mode is exited and switched to main power supply.

[0095] The voltage signal is collected in real time by the voltage sensor in the safety chain circuit, and when the voltage value is detected to be higher than the preset conduction threshold (such as 24VDC) for 5 seconds, it is determined that the safety chain is physically closed; the safety chain logic state is verified synchronously, and a handshake pulse signal is sent from the control unit to the safety chain, and if the correct response code is received for 3 times in succession, it is confirmed that the safety chain function is restored.

[0096] The dynamic risk assessment module updates the normalized parameter R every 2 seconds, and when the R value is lower than the exit threshold R0 for 10 consecutive sampling periods, the recovery condition is triggered, and R0=0.4, which is lower than the first level threshold R1=0.5 in step three; additionally, the standard deviation σ of the blade root bending moment is verified M whether it is lower than 1.2 times the historical running average, to ensure that the load fluctuation is within the normal range.

[0097] The control unit generates a two-stage switching instruction: first, the yaw system load is gradually migrated to the main power supply, and a 0.5 second transition period is maintained through parallel power supply mode, and then the electromagnetic relay group performs reverse switching action, disconnects the emergency power supply contact and closes the main power supply circuit; after switching is completed, a self-checking program is started to verify the matching degree of the yaw driver feedback current and the main power supply voltage, and if the deviation exceeds 5%, it is automatically switched back to the emergency power supply and an alarm is triggered.

[0098] A recovery lock timer is set, and the switching permission is unlocked only after the safety chain is closed and R<R0 state lasts for 60 seconds, to avoid false action caused by transient interference; if the main power supply is detected to be abnormal (such as voltage drop or phase out of step) during switching, the switching is immediately aborted and the emergency power supply is maintained, and at the same time, the fault code is uploaded to the SCADA system. Through the dual verification of physical voltage detection and logic handshake signal, false recovery judgment caused by contact sticking or signal interference is avoided, and the safety chain is ensured to be truly available; the exit condition lower than the emergency trigger threshold is used, and the load stability criterion is superimposed, to prevent the unit from exiting the protection mode too early in the critical risk state; through parallel power supply transition and self-checking mechanism, seamless switching of the yaw system power supply is realized, to avoid yaw out of control caused by power interruption and ensure the continuity of aerodynamic load control; the recovery lock timer and abnormal switching function effectively suppress the influence of power grid fluctuation or transient fault, and improve the decision stability of the system in complex environment.

[0099] Based on the same inventive concept, corresponding to any of the above embodiments, with reference to Figure 2The application provides a wind turbine emergency yawing and automatic crosswind system for realizing the wind turbine emergency yawing and automatic crosswind method.

[0100] An emergency power switching module includes a voltage sensor, a control unit and an electromagnetic relay group, the voltage sensor is connected in parallel to both ends of the safety chain loop to monitor the on-off state, and the control unit triggers the electromagnetic relay group to switch to the independent emergency power to supply power to the yawing system according to the voltage signal;

[0101] A multi-source data acquisition module includes a distributed sensor array for synchronously acquiring turbine vibration spectrum, impeller speed, environmental wind speed and cabin strain data, and the sensor array includes a main bearing axial vibration sensor, an impeller speed encoder, a three-dimensional ultrasonic anemometer and a flange strain gauge.

[0102] A dynamic risk assessment module is configured with a signal processor and a fuzzy logic operation unit, the signal processor performs fast Fourier transform on the vibration spectrum and extracts the characteristic frequency amplitude integral, and the fuzzy logic operation unit generates a normalized risk assessment parameter based on a mechanical abnormality index, a turbulence intensity coefficient and a load asymmetry coefficient.

[0103] A hierarchical control decision module is built-in with a programmable threshold comparator and an instruction generator for outputting an emergency yawing wind-against instruction or a multi-level automatic crosswind control instruction according to the comparison result of the risk assessment parameter and the preset threshold value.

[0104] An adaptive crosswind execution module includes a yaw drive controller and a feedback adjustment unit, the yaw drive controller dynamically adjusts the yawing speed and the angle offset according to the blade root moment difference and the wind speed change rate, and the feedback adjustment unit real-time corrects the control parameter based on the blade root moment standard deviation.

[0105] A safety chain recovery monitoring module is connected to the safety chain loop interface for controlling the electromagnetic relay group to switch back to the main power supply when the safety chain is closed and the risk assessment parameter meets the standard.

[0106] Based on the same inventive concept, the application provides an electronic device corresponding to any of the above embodiments, including a memory for storing a computer program and a processor for running the computer program to make the electronic device execute the wind turbine emergency yawing and automatic crosswind method of the embodiments.

[0107] Optionally, the electronic device can be a server.

[0108] In addition, the embodiment also provides a computer readable storage medium having a computer program stored thereon, which is executed by a processor to realize the wind turbine emergency yawing and automatic crosswind method of the embodiments.

[0109] It is appreciated that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0110] The method steps in the embodiments of the present application can be realized by hardware or by the processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0111] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the procedures or functions according to the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in or transmitted from a storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as a coaxial cable, an optical fiber, a digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

Claims

1. A wind turbine emergency yaw and automatic crosswind method, characterized in that, The method comprises the following steps: Real-time monitoring of the safety chain on-off state, when the safety chain is detected to be disconnected, activating the emergency power switching module to switch the yaw system power supply to the emergency power loop independent of the safety chain; Synchronously collecting unit vibration spectrum, impeller speed, environmental wind speed and cabin load distribution data, and generating dynamic risk assessment parameters based on multi-source signal fusion algorithm; According to the comparison result of the risk assessment parameters and the preset threshold value, inputting the hierarchical control instruction to the yaw driver; wherein when the risk assessment parameters exceed the first preset threshold value, performing emergency yawing against the wind by a preset angle; when the risk assessment parameters exceed the second preset threshold value, starting multi-stage gradual automatic crosswind control; During the automatic crosswind control stage, based on the real-time feedback of the blade root bending moment and the wind speed change rate, dynamically adjusting the yawing speed and the angle offset, so that the unit maintains the aerodynamic load balance in the non-against-the-wind state.

2. The emergency yaw and automatic crosswind method for wind turbines as claimed in claim 1, wherein, The specific process of real-time monitoring of the safety chain on-off state, when the safety chain is detected to be disconnected, activating the emergency power switching module to switch the yaw system power supply to the emergency power loop independent of the safety chain is as follows: Real-time acquisition of the voltage signals at both ends of the safety chain through the voltage sensor arranged in the safety chain loop, continuous reception and analysis of the voltage signals at both ends of the safety chain by the control unit, and determination that the safety chain is in the disconnected state when the voltage signal is lower than the preset voltage threshold value of the safety chain on state; Sending an activation instruction to the emergency power switching module through the control unit, the emergency power switching module comprising an electromagnetic relay group, the input end of the electromagnetic relay group being connected with the conventional power supply loop controlled by the safety chain and the independently arranged emergency power supply, and the output end being electrically connected with the yaw system power supply interface; After receiving the activation instruction, the electromagnetic relay group performs contact switching action, disconnects the conventional power supply loop connection, and at the same time closes the emergency power supply loop connection, so that the power supply of the yaw system is independently provided by the emergency power supply.

3. The emergency yaw and automatic crosswind method for wind turbines as claimed in claim 1, wherein, The specific process of synchronously collecting unit vibration spectrum, impeller speed, environmental wind speed and cabin load distribution data, and generating dynamic risk assessment parameters based on multi-source signal fusion algorithm is as follows: Synchronously acquiring the main bearing axial vibration spectrum of the unit, the instantaneous value and change rate of the impeller speed, the three-dimensional ultrasonic wind speed value at the hub height, and the strain data of the front and rear flanges of the cabin through the distributed sensor array; Extracting the amplitude integral of each characteristic frequency in the frequency band of 5Hz to 200Hz from the vibration spectrum through fast Fourier transform, and combining the impeller speed change rate to generate a mechanical abnormality index; Calculating the turbulence intensity coefficient according to the 10-second sliding mean value and the standard deviation of the environmental wind speed, and synchronously calculating the load asymmetry coefficient based on the strain difference of the front and rear flanges of the cabin; Inputting the mechanical abnormality index, the turbulence intensity coefficient and the load asymmetry coefficient into the fuzzy membership function, and performing multi-dimensional coupling operation through the weight factor matrix to output the normalized evaluation parameter representing the dynamic risk level of the unit; wherein the weight distribution is adaptively adjusted according to the impeller speed overrun percentage.

4. The emergency yaw and automatic crosswind method for wind turbines as claimed in claim 3, wherein, The specific process of inputting the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient into the fuzzy membership function, performing multi-dimensional coupling operation through a weighting factor matrix, and outputting a normalized evaluation parameter representing the dynamic risk level of the unit is as follows: The fuzzy membership functions of the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient are established, and the membership values μ corresponding to the mechanical anomaly index, the turbulence intensity coefficient and the load asymmetry coefficient are calculated respectively M , μ T , μ L ; A dynamic weight factor matrix is generated according to the percentage of the overspeed of the impeller, as shown in the following formula (1): where W(s) represents a dynamic weight factor matrix; w M (s) represents a weight factor of the mechanical anomaly index; w T (s) represents a weight factor of the turbulence intensity coefficient; w L (s) represents a weight factor of the load asymmetry coefficient; s represents a percentage of overspeed of the impeller; w M (s) is positively correlated with s; A normalized risk evaluation parameter is generated by the following formula (2): Wherein, R represents a normalized risk evaluation parameter, the value range is [0, 1], and is used for triggering the hierarchical control instruction; max(μ M +μ T +μ L ,1) represents the maximum value of the sum of three membership degrees and 1 in the denominator. When the preset threshold is exceeded, the corresponding hierarchical control instruction is triggered; wherein the membership function adopts a piecewise linear function, and the turning points of the piecewise linear function are dynamically corrected according to historical fault data of the unit.

5. The emergency yaw and automatic crosswind method for wind turbines as in claim 1, wherein, The specific process of inputting the hierarchical control instruction to the yaw driver according to the comparison result of the risk evaluation parameter and the preset threshold is as follows: An interval division of the first threshold R1 and the second threshold R2 is established; wherein 0.5≤R1 When the risk assessment parameter R ∈ [R1, R2), an emergency yaw-to-wind instruction is generated; based on the current environmental wind speed vector direction, the minimum deviation angle θ between the cabin axis is calculated min , with θ min ± 15° as the safety interval, the yaw system is controlled to perform one-way yaw at 50% ~ 70% of the rated speed until the cabin axis and the wind direction reach θ min and the maintenance time exceeds 30 seconds; When R≥R2, an automatic crosswind control instruction is generated; according to the product coefficient of the real-time value of the blade root bending moment and the wind speed change rate, the yaw rate and the angle offset are dynamically set, the yaw direction is corrected every 10 seconds, the cabin axis and the wind direction form a dynamic angle of 15°-25°, and the load asymmetry coefficient is reduced to below the safety threshold. During the execution of the instruction, if the R value falls below R1 and lasts for 60 seconds, the emergency yaw control is terminated and the normal yaw logic is restored.

6. The emergency yaw and automatic crosswind method for wind turbines as in claim 5, wherein, The specific process of dynamically adjusting the yaw rate and the angle offset based on the real-time feedback of the blade root bending moment and the wind speed change rate to maintain the aerodynamic load balance of the unit in the non-wind state during the automatic crosswind control stage is as follows: Real-time acquisition of the bending moment measurement value of the bidirectional strain gauge at the blade root, calculation of the absolute value of the difference in bending moment before and after the blade root ΔM; synchronous acquisition of the 10-second sliding change rate of the ambient wind speed ΔM is compared with The input product compensator generates a dynamic adjustment factor as shown in equation (3) below: where K represents a dynamic adjustment coefficient; V ref represents the rated wind speed; According to the interval of K value, the yaw rate control mode is selected; when K≤0.3, the current yaw rate is maintained and the angle offset is fine-tuned every 5 seconds ±2°; when 0.3 After each yaw action, the standard deviation of the blade root bending moment σ is recalculated M If σ M is more than 10% lower than the previous value, the current control parameters are kept, otherwise the gain factor K is increased by steps of 0.1 until σ M is stabilized within the allowed fluctuation range.

7. The emergency yaw and automatic crosswind method for wind turbines of claim 1, wherein, The safety chain recovery signal is continuously monitored, and when the safety chain is closed and the risk evaluation parameter is below the safety threshold, the emergency mode is exited and switched to the main power supply.

8. A wind turbine emergency yaw and automatic crosswind system for implementing the wind turbine emergency yaw and automatic crosswind method according to any one of claims 1 to 7, characterized in that It comprises: An emergency power switching module, comprising a voltage sensor, a control unit and an electromagnetic relay group, the voltage sensor is connected in parallel across the safety chain circuit to monitor the on-off state, the control unit triggers the electromagnetic relay group to switch to the independent emergency power supply for the yaw system according to the voltage signal; A multi-source data acquisition module contains a distributed sensor array for synchronously acquiring unit vibration spectrum, impeller speed, environmental wind speed and cabin strain data, the sensor array includes a main bearing axial vibration sensor, an impeller speed encoder, a three-dimensional ultrasonic anemometer and a flange strain gauge; The dynamic risk assessment module is configured with a signal processor and a fuzzy logic operation unit, the signal processor performs fast Fourier transform on the vibration spectrum and extracts the characteristic frequency amplitude integral, and the fuzzy logic operation unit generates a normalized risk assessment parameter based on a mechanical anomaly index, a turbulence intensity coefficient and a load asymmetry coefficient; The hierarchical control decision module is internally provided with a programmable threshold comparator and an instruction generator, which is used to output an emergency yaw against wind instruction or a multi-level automatic crosswind control instruction according to the comparison result of the risk assessment parameter and the preset threshold value; The adaptive crosswind execution module includes a yaw drive controller and a feedback adjustment unit, the yaw drive controller dynamically adjusts the yaw rate and the angular offset according to the blade root bending moment difference and the wind speed change rate, and the feedback adjustment unit real-time corrects the control parameters based on the blade root bending moment standard deviation; The safety chain recovery monitoring module is connected to the safety chain loop interface and is used to control the electromagnetic relay group to switch back to the main power supply when the safety chain is closed and the risk assessment parameter meets the standard.

9. An electronic device, comprising: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the wind turbine emergency yaw and automatic crosswind method in any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the wind turbine emergency yaw and automatic crosswind method in any one of claims 1-7.

Images