A yaw angle measuring device and a measuring method, and a wind turbine generator set

Abstract

The present invention discloses a yaw angle measuring device and a measuring method, and a wind turbine generator set. The measuring device comprises a supporting body and a detecting component. When a yaw action is performed, a cable harness section located above a saddle surface will be gradually lifted along with the yaw, and the detecting component can detect in real time a position parameter that can characterize the vertical displacement of the cable harness, and the vertical displacement of the cable harness is obtained through the position parameter detected by the detecting component. The yaw angle of the wind turbine at the current moment can be known through the relationship between the cable harness displacement and the yaw angle. Because the yaw angle measuring device of the present invention is located inside a tower, it is basically not affected by the external environment, and the measurement accuracy is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of yaw control, and in particular to a yaw angle measuring device and method, and a wind turbine generator set. Background Art

[0002] A wind turbine is a power generation device that converts airflow energy into electrical energy. Specifically, driven by external wind energy, the blades of the wind turbine rotate to obtain mechanical kinetic energy, and driven by the blades, the rotor of the generator rotates to generate electricity.

[0003] During the power generation process of a wind turbine, the wind force changes randomly. In order to capture more wind energy, the wind turbine usually needs to perform yaw control. That is to say, when the wind turbine is working, it is necessary to calculate the angle difference between the wind direction and the wind turbine, and perform yaw control based on the angle difference.

[0004] At present, the yaw control of wind turbines is usually achieved by setting up wind speed and direction sensors, PLC controllers and yaw actuators. The yaw actuator controls the cabin to yaw left or right to track the wind direction and maintain the direction of the wind flow.

[0005] The power required by the components in the nacelle is transmitted through the cables from the nacelle to the bottom of the tower. When the wind turbine (hereinafter referred to as the wind turbine) is yawed, the cables also rotate. If the yaw angle of the wind turbine is too large, the cable bundle is prone to twisting, which affects the service life of the cable bundle. Therefore, when the yaw angle of the wind turbine is greater than the maximum allowable value, it actively yaws in the opposite direction to release the twisting of the cable.

[0006] The existing technology usually uses a Hall effect counting tooth sensor to obtain the yaw angle, but since the yaw rotation speed is too slow (the yaw speed is 0.06rpm, rpm in Chinese means: revolutions per minute), the detection accuracy of the counting tooth is very low, and the vibration environment in the cabin causes the reliability of the sensor to be poor and the service life to be short.

[0007] Therefore, how to improve the measurement accuracy of the yaw angle in the prior art is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0008] The technical problem to be solved by the present invention is the defects of poor accuracy and short service life of the existing yaw angle measurement.

[0009] In order to solve the above technical problems, the present invention provides a yaw angle measuring device for obtaining the yaw angle of a cabin, comprising a supporting body and a detection component;

[0010] The support body comprises a fixing portion and a mounting portion, wherein the fixing portion is used to be fixedly connected to the cable harness of the wind turbine generator set; the mounting portion is used to be rotatably connected to the inner wall of the tower, so that the two can at least rotate in a vertical plane;

[0011] The detection component is used to detect a position parameter that can characterize the vertical displacement of the cable harness.

[0012] When yaw action is performed, the cable harness section above the saddle surface will be gradually lifted with the yaw. The detection component can detect the position parameters of the fixed part relative to the tower in real time. The position parameters characterizing the vertical displacement of the cable harness at different times detected by the detection component can be used to obtain the vertical displacement of the cable harness. The yaw angle of the wind turbine at the current moment can be known through the relationship between the cable harness displacement and the yaw angle.

[0013] Since the yaw angle measuring device of the present invention is located inside the tower, the vibration condition is greatly improved compared to that in the cabin, and there is no electromagnetic influence of many electrical components inside and outside the cabin, such as the electric control cabinet, generator, etc., so the reliability of angle measurement is greatly improved.

[0014] In addition, compared with the existing design of sensing the angle by sensing the meshing teeth of the outer ring of the yaw bearing, the detection cable provided by the present invention detects the position parameters in the vertical direction and then reflects the yaw angle, with small detection error and high accuracy.

[0015] The yaw angle of the wind turbine obtained in this paper can be used to correct the control of the yaw system, making the yaw action of the yaw execution system more accurate. In particular, the yaw angle of the wind turbine obtained in this paper is of great significance for executing the unwinding action. That is, when the yaw angle of the wind turbine detected in this paper is greater than or equal to the yaw limit angle, the control system executes the unwinding action. This helps to avoid excessive winding and twisting of the cable harness and plays a role in protecting the cable harness.

[0016] Optionally, the fixing portion includes a fixing through hole extending in a vertical direction, the number of the fixing through hole is at least one, the fixing through hole corresponds to the cable harness one by one, and the inner wall of the fixing through hole is fixedly matched with the corresponding cable harness.

[0017] Optionally, the support body includes at least one horizontal arm extending laterally, the inner end of each horizontal arm is fixedly connected to the outer wall of the fixing through hole, and the mounting portion is provided at the outer end of the horizontal arm.

[0018] Optionally, the number of the horizontal arms is two, and from the outside to the inside, the horizontal arm includes a first section and a second section connected to each other, the first sections of the two horizontal arms are parallel to each other, the mounting portion is arranged on the first section, the inner end portion of the second section of the horizontal arm is fixedly connected to the outer wall portion of the fixing through hole, and the distance between the second sections of the two horizontal arms gradually decreases from the outside to the inside.

[0019] Optionally, it also includes a mounting arm, one end of which is used to fix the inner wall of the tower, and the other end is provided with a hinge hole. The outer end of the horizontal arm is also provided with a hinge hole. The mounting portion includes the hinge hole, and the pin shaft is installed inside the hinge holes of both the mounting arm and the horizontal arm.

[0020] Optionally, the pin shaft is interference fit with the hinge hole of the horizontal arm, and the pin shaft is rotationally fit with the hinge hole of the mounting arm. The detection component includes an angle detector for detecting the rotation angle of the fixed part relative to the tower, and the angle detector includes a fixed shell and a rotating mechanism, the fixed shell is fixed to the mounting arm, and the rotating mechanism is fixed to the pin shaft.

[0021] Optionally, the pin shaft and the hinge hole of the horizontal arm are limited circumferentially, and the end of the pin shaft passes through the hinge hole of the horizontal arm and the hinge hole connecting nut of the mounting arm; the detection component includes an angle detector for detecting the rotation angle of the end of the fixed through hole relative to the tower, and the angle detector includes a fixed shell and a rotating mechanism, the fixed shell is fixed to the mounting arm, and the rotating mechanism is fixed to the pin shaft.

[0022] Optionally, at least part of the hinge hole of the horizontal arm is a polygonal hole segment, the cross-section of the polygonal hole segment is a polygon, and the pin includes a shaft segment that cooperates with the above-mentioned polygonal hole segment, and the outer contour of the shaft segment is adapted to the polygonal hole segment.

[0023] Optionally, the pin shaft includes a head, a large diameter section and a small diameter section which are connected in sequence, the outer contour of the head is a polygon to match the polygonal hole section, the large diameter section is an optical axis section, and the outer surface of the small diameter section has a thread to cooperate with the nut.

[0024] Optionally, a controller is further included, which calculates the yaw angle of the cabin based on the position parameters detected by the detection component and which can characterize the vertical displacement of the cable harness, and pre-stores the corresponding relationship between the detection parameters of the detection component and the yaw angle of the cabin.

[0025] Furthermore, the present invention provides a wind turbine generator set, comprising a tower and also comprising a yaw angle measuring device as described in any of the above items, wherein the cable harness of the wind turbine generator set cabin is fixed to the fixed part of the support body, and the mounting part of the support body is rotatably connected to the inner wall of the tower.

[0026] In addition, the present invention further provides a yaw angle measurement method, comprising any one of the yaw angle measurement devices described above, the method comprising the following steps:

[0027] Pre-storing the corresponding relationship between the position parameter representing the vertical displacement of the cable harness and the yaw angle of the cabin in the controller;

[0028] Real-time acquisition of the current state of the position parameters that can characterize the vertical displacement of the cable harness;

[0029] According to the acquired position parameters of the fixing part relative to the tower in the current state, the yaw angle in the current state is searched from the pre-stored correspondence between the position parameters representing the vertical displacement of the cable harness and the yaw angle of the nacelle.

[0030] Optionally, the correspondence between the position parameter characterizing the vertical displacement of the cable harness and the cabin yaw angle is the correspondence between the rotation angle of the fixed part of the support body and the cabin yaw angle; or the correspondence between the position parameter characterizing the vertical displacement of the cable harness and the cabin yaw angle is the correspondence between the vertical displacement of the fixed part of the support body and the cabin yaw angle.

[0031] The above method is implemented based on the yaw angle measuring device. The above wind turbine generator set includes the above yaw angle measuring device. Therefore, the measurement method and the wind turbine generator set also have the above technical effects of the device, which will not be elaborated in this article. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the partial structure of components such as a tower, a cable harness, etc. in one embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure after the yaw angle measuring device, the tower and the cable harness are assembled in one embodiment of the present invention;

[0034] Figure 3 for Figure 2 A schematic diagram of another direction of the structure shown;

[0035] Figure 4 This is a schematic diagram of the structure of a support body in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the installation of the installation arm and the tower in one embodiment of the present invention;

[0037] Figure 6 for Figure 2 A partial top view of the structure shown;

[0038] Figure 7 It is a partial enlarged view of the hinged position of the mounting arm and the supporting body in one embodiment of the present invention;

[0039] Figure 8 It is a structural schematic diagram of a support body in another embodiment of the present invention;

[0040] Fig. 9 for Figure 8 A partial enlarged view of the position of the hinge hole of the support body shown;

[0041] Fig.10 This is a schematic diagram of the structure of a pin shaft in one embodiment of the present invention;

[0042] Fig.11 It is a structural schematic diagram of another specific embodiment of the fixing part of the present invention;

[0043] Fig.12 is a schematic diagram of the cable harness of the present invention in an initial state;

[0044] Fig.13 It is a schematic diagram of the state of the cable harness and the supporting body when the cabin is yawed to one side extreme angle in the present invention;

[0045] Fig.14 It is a schematic diagram of the relationship between the angle detected by the angle sensor and the yaw angle when the yaw rotation is performed along the first direction in the present invention;

[0046] Fig.15 It is a schematic diagram of the relationship between the angle detected by the angle sensor and the yaw angle when the yaw rotation is performed in the direction opposite to the first direction in the present invention;

[0047] Fig.16 The present invention is a flow chart of a yaw angle measurement method.

[0048] in, Figures 1 to 13 middle:

[0049] 100-tower; 101-inner wall of tower; 200-saddle; 300-platform;

[0050] 1-cable harness; 11-vertical section; 12-sag section;

[0051] 2-support body; 20-horizontal arm; 22-first section; 21-second section; 23-connecting ribs;

[0052] 2b- hinged hole; 2b1- polygonal hole segment; 2b2- circular hole segment; 2a- fixed through hole;

[0053] 3-Mounting arm;

[0054] 4-mounting part; 41-pin shaft; 411-head; 412-large diameter section; 413-small diameter section;

[0055] 5- Angle detector. DETAILED DESCRIPTION

[0056] One of the purposes of the embodiments of the present invention is to provide a yaw angle measuring device, which can accurately measure the yaw angle of a wind turbine generator set. In addition, another purpose of the embodiments of the present invention is to provide a yaw angle measuring method based on the yaw angle measuring device.

[0057] The yaw mentioned in this article refers to the deflection of the wind turbine's cabin towards the wind, that is, the cabin can be rotated relative to the mounting base on the top of the tower to face the wind, so as to quickly capture greater wind energy. The yaw system is a mechanism to achieve yaw, and its main structure includes a yaw motor, a wind direction sensor for sensing wind direction, and a gear transmission system. Of course, the transmission system of the yaw system is not limited to the gear transmission system, as long as the power can be transmitted normally to meet the yaw requirements, the specific structure and its function can refer to the existing technology, and this article will not give a detailed introduction.

[0058] Please refer to Figure 1 The cable bundles of the power components and actuators in the wind turbine nacelle extend from the nacelle downward along the tower surface to the ground power supply system, or extend to the ground power supply system along a certain distance from the tower. A saddle is installed inside the tower. Usually, the cable harness 1 extends vertically from the center of the tower through multiple platforms 300 for a distance (usually about 10 meters), is placed on the saddle 200, and then fixed on the tower wall to the bottom of the tower. Before going from the vertical section 11 to the saddle 200, a sag section 12 is reserved to absorb the torsion of the cable bundle when the nacelle is yawed.

[0059] This study found that when the cable harness vertical section 11 moves from the initial angle to the left yaw limit angle or the right yaw limit angle (positive yaw limit angle or negative yaw limit angle), a certain point on the cable harness vertical section 11 will move a certain distance upward or downward. Usually, the cable harness 1 will rise 300mm-500mm from the initial angle to the limit value of a yaw direction. Of course, this distance is related to the size of the wind turbine and the yaw limit angle.

[0060] It should be noted that this article defines the yaw initial angle as the state in which the cable is in a free state after installation, that is, the state in which the cable has no torsion angle. The yaw initial angle is usually defined as 0. The left yaw limit angle is the maximum angle position of the cabin turning to the left. Similarly, the right yaw limit angle is the maximum angle position of the cabin turning to the right. The left yaw limit angle and the right yaw limit angle can be determined according to the specific wind turbine and the specific use environment. For example, the left and right limit angles can be 720 degrees, 540 degrees or other angles.

[0061] Based on the above research findings, this paper proposes a yaw angle measurement device that can accurately obtain the yaw angle of the cabin.

[0062] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with a yaw angle measurement device, a yaw angle measurement method, drawings and specific embodiments.

[0063] Please refer to Figures 2 to 12 , an embodiment of the present invention provides a yaw angle detection device, which is mainly used to obtain the yaw angle of the cabin, and the device includes a support body 2 and a detection component. The support body 2 mainly plays the role of connection and support. Specifically, the support body 2 includes a fixing portion and a mounting portion 4, and the fixing portion is used to be fixedly connected with the cable harness 1 of the wind turbine. The cable harness 1 can have one bundle, or two bundles or more than two bundles. The mounting portion 4 is mainly used to rotatably cooperate with the inner wall 101 of the tower, so that the two can at least rotate in the vertical plane, that is, after the mounting portion 4 is connected with the corresponding structure of the tower 100, the support body 2 can rotate at least in the vertical plane relative to the connection point between the tower 100 and the mounting portion 4.

[0064] The detection component is mainly used to detect position parameters that can characterize the displacement of the cable harness 1 in the vertical direction. In a preferred embodiment, the detection component detects the position parameters of the fixed part relative to the tower 100, and the vertical displacement of the cable harness 1 can be determined by the position parameters of the fixed part at the first moment and the second moment. The position parameters described here can be angle parameters or coordinate position parameters, as long as the displacement change of the fixed part can be calculated, especially the change in the vertical direction.

[0065] When the yaw angle measuring device of the embodiment of the present invention is used, the mounting portion 4 of the supporting body 2 is pre-connected with the inner wall 101 of the tower, and the cable harness 1 is fixed to the fixing portion of the supporting body 2. Under the action of the natural vertical force of the cable harness 1, the mounting portion 4 and the inner wall 101 of the tower can be in a certain static state (the cable harness 1 is in a non-twisted state as defined as the initial state), and the detection component can detect that the cable harness 1 is in the initial position state.

[0066] When a yaw action is performed, the section of cable harness 1 located above the surface of the saddle 200 will be gradually lifted with the yaw, and the detection component can detect the position parameters of the fixed part relative to the tower 100 in real time. The position parameters of the fixed part at different times detected by the detection component can be used to obtain the displacement of the cable harness 1 in the vertical direction. The yaw angle of the wind turbine at the current moment can be known through the relationship between the displacement of the cable harness 1 and the yaw angle.

[0067] Since the yaw angle measuring device according to the embodiment of the present invention is located inside the tower 100 and is substantially not affected by the external environment, the measurement accuracy is greatly improved.

[0068] The yaw angle of the wind turbine obtained in this paper can be used to correct the control of the yaw system, making the yaw action of the yaw execution system more accurate. In particular, the yaw angle of the wind turbine obtained in this paper is of great significance for executing the unwinding action. That is, when the yaw angle of the wind turbine detected in this paper is greater than or equal to the yaw limit angle, the control system executes the unwinding action. This helps to avoid excessive winding and twisting of the cable harness 1, and plays a role in protecting the cable harness 1.

[0069] In a specific embodiment, Figure 4 As shown, the fixing portion may include a fixing through hole 2a extending in the vertical direction, the number of the fixing through hole 2a is at least one, and the inner wall of the fixing through hole 2a is matched and fixed with the corresponding cable harness 1. In other words, the fixing through hole 2a corresponds to the cable harness 1 one by one, and the cable harness 1 can be installed inside the fixing through hole 2a by interference fit. Of course, the cable harness 1 can also be fixed inside the fixing through hole 2a by other means, such as gluing, etc., as long as the relative position of the cable harness 1 and the fixing portion can be fixed.

[0070] Figure 6 A specific implementation method of providing a fixing through hole 2a is given. Fig.11 An embodiment of providing a plurality of fixing through holes is provided.

[0071] The method of fixing the cable harness 1 by fixing the through hole 2a in the above embodiment is simple and easy.

[0072] As described above, the supporting body 2 mainly plays the role of supporting connection, and its structure can have various forms as long as it can meet the requirements of this article. A specific implementation of the supporting body 2 is given below.

[0073] In a specific embodiment, the support body 2 may include at least one transversely extending horizontal arm 20 , the inner end of each horizontal arm 20 is fixedly connected to the outer wall of the fixing through hole 2a , and the outer end of the horizontal arm 20 is provided with a mounting portion 4 . Figures 2 to 4, a specific method of setting two horizontal arms 20 is shown, the outer ends of the two horizontal arms 20 are provided with mounting portions 4, and the inner ends are fixedly connected to the outer wall of the fixed through hole 2a. The two horizontal arms 20 roughly form a triangular structure with high stability. Each horizontal arm 20 can be integrally formed with the outer wall of the fixed through hole 2a, or each horizontal arm 20 can be welded to the outer wall of the fixed through hole 2a.

[0074] In addition, in order to increase the support stability of the horizontal arms 20, connecting ribs 23 may be added between adjacent horizontal arms 20. Both ends of the connecting ribs 23 are fixedly connected to the horizontal arms 20 on the corresponding sides, and the connecting ribs 23 may be integrally formed with each horizontal arm 20, or may be welded to the horizontal arms 20 by welding.

[0075] This structure can reduce the overall weight as much as possible while achieving stable support for the support body 2.

[0076] like Figure 4 As shown, taking the number of horizontal arms 20 as two as an example, from the outside to the inside, the horizontal arm 20 includes a first section 22 and a second section 21 connected to each other, wherein the first sections 22 of the two horizontal arms 20 are parallel to each other, and the mounting portion 4 is arranged on the first section 22. The mounting portions 4 on the two parallel first sections 22 can be hinge holes, and the mounting portion 4 is rotatably connected to the tower inner wall 101 through a hinge shaft. The inner end of the second section 21 of the horizontal arm 20 is fixedly connected to the outer wall of the fixed through hole 2a, and the distance between the second sections 21 of the two horizontal arms 20 gradually decreases from the outside to the inside.

[0077] In the above embodiment, the mutually parallel first sections 22 are provided to facilitate the installation of the support body 2 and to achieve the stability of the support body 2 at the same time.

[0078] In order to facilitate the hinge connection between the mounting portion 4 of the horizontal arm 20 and the tower inner wall 101, the present invention may further be configured as follows.

[0079] In the above embodiments, the yaw angle measuring device may further include a mounting arm 3, one end of the mounting arm 3 is used to be fixedly connected to the inner wall 101 of the tower, and the other end is provided with a hinge hole 2b, the outer end of the horizontal arm 20 is also provided with a hinge hole 2b, the mounting portion 4 includes the hinge hole 2b, and the pin shaft 41 is installed inside the hinge holes 2b of both the mounting arm 3 and the horizontal arm 20.

[0080] As described above, the vertical displacement of the cable harness 1 is characterized by detecting the rotation angle of the fixing part, thereby establishing the relationship between the rotation angle of the fixing part and the yaw angle of the cabin. Of course, the vertical displacement of the cable harness 1 can also be directly detected. Therefore, according to different detection parameters, two typical detection component types are given below.

[0081] In a specific embodiment, the pin 41 and the hinge hole 2b of the horizontal arm 20 can be interference fit, and the pin 41 and the hinge hole 2b of the mounting arm 3 can be rotationally matched. The detection component includes an angle detector 5 for detecting the rotation angle of the fixed part relative to the tower. The angle detector 5 includes a fixed shell and a rotating mechanism. The fixed shell is fixed to the mounting arm 3, and the rotating mechanism is fixed to the pin 41. The rotation axis of the horizontal arm 20 is roughly perpendicular to the horizontal direction of the first section 22. The rotating mechanism and the pin 41 can rotate with the horizontal arm 20, and then the rotating mechanism rotates relative to the fixed shell. By obtaining the rotation angle of the rotating mechanism relative to the fixed shell, the rotation angle of the fixed part of the support body 2 in the vertical plane can be known.

[0082] The specific structure and working principle of the angle detector 5 can be referred to the prior art and will not be described in detail herein.

[0083] The following still takes the example that the detection component includes an angle detector 5 for detecting the rotation angle of the end portion where the fixing through hole 2a is set relative to the tower, and provides another specific implementation according to the different structures of the pin shaft 41.

[0084] Please refer to Figures 8 to 10 In another embodiment, the pin 41 is circumferentially limited with the hinge hole 2b of the horizontal arm, and the end of the pin 41 passes through the hinge hole 2b of the horizontal arm and the hinge hole connecting nut of the mounting arm; the fixed shell of the angle detector 5 is fixed to the mounting arm 3, and the rotating mechanism is fixed to the pin 41.

[0085] Furthermore, at least part of the hinge hole 2b of the horizontal arm is a polygonal hole segment 2b1, the cross section of the polygonal hole segment 2b1 is a polygon, and the pin 41 includes an axis segment that cooperates with the above-mentioned polygonal hole segment 2b1, and the outer contour of the axis segment is adapted to the polygonal hole segment 2b1.

[0086] The cross-sectional shape of the polygonal hole segment may be a triangle, a quadrilateral, a hexagon or other N-gons, where N is greater than or equal to 3.

[0087] The above-mentioned circumferential limiting method of the pin shaft 41 and the horizontal arm has a simple structure.

[0088] In a specific embodiment, the pin 41 may specifically include a head 411, a large diameter section 412 and a small diameter section 413 connected in sequence, the outer contour of the head 411 is a polygon to match the polygonal hole section 2b1, the large diameter section 412 is an optical axis section, and the outer surface of the small diameter section 413 has a thread to cooperate with a nut. The nut can limit the axial displacement of the pin 41 to prevent the pin 41 from falling out of the hinge hole.

[0089] The above method of detecting the rotation angle has high reliability and is easy to install.

[0090] In a second specific implementation, the detection component may be a displacement sensor for detecting the coordinate position parameters of the fixing part, that is, the displacement sensor can detect the position of the fixing part at different times and calculate the displacement of the fixing part in the vertical direction according to the coordinate position of the fixing part.

[0091] In the above two embodiments, the displacement of the fixing part fixedly connected to the cable harness 1 is detected by the detection component to realize the calculation of the vertical displacement of the cable harness 1. This method has high reliability.

[0092] Of course, the signal of the above detection component usually needs to be transmitted to the outside world for further analysis and calculation, so in the above embodiments, the yaw angle measurement device may also include a controller, which calculates the yaw angle of the cabin according to the displacement detected by the detection component, and pre-stores the corresponding relationship between the detection parameters of the detection component and the yaw angle of the cabin, such as the corresponding relationship between the detection angle of the angle sensor and the yaw angle of the cabin, or the corresponding relationship between the displacement parameter and the yaw angle of the cabin.

[0093] The controller can be the main controller of the wind turbine generator set, and of course a separate intermediate control module can also be set up to judge, analyze and calculate the signal of the detection component through the intermediate control module, and the intermediate control module then sends the calculation result to the main controller of the wind turbine generator set.

[0094] Based on the above-mentioned yaw angle measuring device, the present invention also provides a wind turbine generator set, including a tower, and also includes any of the above-mentioned yaw angle measuring devices, the wind turbine generator set cabin cable harness 1 is fixed to the fixed part of the support body 2, and the mounting part 4 of the support body 2 is rotatably connected to the inner wall 101 of the tower.

[0095] In addition, based on the above-mentioned yaw angle measuring device, the present invention also provides a yaw angle measuring method, please refer to Fig.16 , the method comprises the following steps:

[0096] S1, pre-storing the corresponding relationship between the position parameter representing the vertical displacement of the cable harness 1 and the yaw angle of the cabin in the controller;

[0097] S2, obtaining in real time the parameters representing the vertical displacement of the cable harness 1 in the current state;

[0098] The parameter characterizing the vertical displacement of the cable harness 1 may be a fixed part position parameter. In the above-mentioned yaw angle measurement method, the corresponding relationship between the fixed part position parameter of the support body 2 and the cabin yaw angle is the corresponding relationship between the fixed part rotation angle and the cabin yaw angle; or the corresponding relationship between the fixed part position parameter of the support body 2 and the cabin yaw angle is the corresponding relationship between the fixed part displacement in the vertical direction and the cabin yaw angle. Among them, taking the corresponding relationship between the fixed part position parameter and the cabin yaw angle as an example, the relationship between the two can be achieved by the following means:

[0099] Please refer to Figures 12 to 15 First, after the cable harness 1 is installed, ensure that the cable harness 1 is in a free state, that is, the cable harness 1 has no torsion angle and the yaw angle is 0°; fix the yaw angle measuring device to the cable harness 1 and the tower, and make the initial angle downward α1, and define α1=0°, such as Fig.12 , the controller records the angle.

[0100] Secondly, yaw along the first direction (clockwise or counterclockwise) at a set constant yaw speed v to the limit angle. For the sake of simplicity and convenience in description, this article defines the first direction as the positive direction, and the corresponding limit angle of this direction is defined as the positive limit angle. The direction opposite to the first direction is defined as the reverse direction, and the corresponding limit angle of rotation to the reverse side is defined as the reverse limit angle. In order to distinguish between positive and reverse yaw, this article adds a minus sign "-" before the reverse yaw angle value. Take the positive limit angle of 720° as an example, where the positive limit angle of 720° is obtained by multiplying v by the yaw time. The cable harness 1 will increase with the yaw angle until it reaches the highest angle α2 of the angle sensor, such as Fig.13 shown.

[0101] The real-time yaw angle s of the wind turbine is calculated in real time according to the yaw speed v, and it is matched with the angle sensor α in real time, and the following is obtained: Fig.14 The controller records α2 and stores Fig.14 Curve (the curve in the figure is only for reference).

[0102] Then, the cable harness 1 is yawed in the direction opposite to the first direction to the initial state, i.e., α1 = 0°, and then it descends to the initial state, and then it yaws in the opposite direction and gradually reaches the reverse limit angle (usually the reverse limit angle is still -720°). The cable harness 1 will still rise with the yaw angle until the angle sensor rises upward to the highest angle α3, as shown in FIG. Fig.15 As shown. It should be noted that α2 is not necessarily equal to α3. The reason is that the cable harness 1 is usually not completely symmetrical along its own center line. The controller records α3 and stores Fig.15 curve.

[0103] in Fig.14and Fig.15 The vertical coordinate s in represents the yaw angle.

[0104] In this way, a relationship curve between the angle of the angle sensor and the yaw angle is obtained.

[0105] S3. According to the acquired position parameters of the fixed part relative to the tower in the current state, the yaw angle in the current state is searched from the pre-stored correspondence between the position parameters representing the vertical displacement of the cable harness 1 and the yaw angle of the cabin.

[0106] The above method is implemented based on the yaw angle measurement device, so the measurement method also has the above technical effects of the device, which will not be elaborated in this article.

[0107] The above is a detailed introduction to a yaw angle measurement device and a measurement method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A yaw angle measuring device for obtaining the yaw angle of a nacelle, characterized in that: It comprises a supporting body (2) and a detection component; The support body (2) comprises a fixing portion and a mounting portion, the fixing portion being used for fixed connection with the cable harness (1) of the wind turbine generator set; the mounting portion being used for rotationally matching connection with the inner wall (101) of the tower, so that the two can at least rotate in a vertical plane; The detection component is used to detect a position parameter that can characterize the vertical displacement of the cable harness (1).

2. The yaw angle measuring device according to claim 1, characterized in that: The fixing portion comprises a fixing through hole (2a) extending in a vertical direction, the number of the fixing through hole (2a) is at least one, the fixing through hole (2a) corresponds one-to-one to the cable harness (1), and the inner wall of the fixing through hole (2a) is matched and fixed with the corresponding cable harness (1).

3. The yaw angle measuring device according to claim 2, characterized in that: The support body (2) comprises at least one horizontal arm extending laterally, the inner end of each horizontal arm is fixedly connected to the outer wall of the fixing through hole (2a), and the mounting portion is arranged at the outer end of the horizontal arm.

4. The yaw angle measuring device according to claim 3, characterized in that: There are two horizontal arms, and from outside to inside, the horizontal arms include a first section (22) and a second section (21) connected to each other, the first sections (22) of the two horizontal arms are parallel to each other, the mounting portion is arranged on the first section (22), the inner end of the second section (21) of the horizontal arm is fixedly connected to the outer wall of the fixing through hole (2a), and the distance between the second sections (21) of the two horizontal arms gradually decreases from outside to inside.

5. The yaw angle measuring device according to claim 3, characterized in that: It also includes a mounting arm (3), one end of which is used for fixed connection to the inner wall (101) of the tower, and the other end is provided with a hinge hole (2b), the outer end of the horizontal arm is also provided with a hinge hole (2b), the mounting portion (4) includes the hinge hole, and the pin (41) is simultaneously installed inside the hinge holes of both the mounting arm (3) and the horizontal arm.

6. The yaw angle measuring device according to claim 5, characterized in that: The pin shaft (41) is interference-fitted with the hinge hole (2b) of the horizontal arm, and the pin shaft (41) is rotationally matched with the hinge hole of the mounting arm (3). The detection component includes an angle detector (5) for detecting the rotation angle of the end portion where the fixed through hole (2a) is set relative to the tower. The angle detector (5) includes a fixed shell and a rotating mechanism. The fixed shell is fixed to the mounting arm (3), and the rotating mechanism is fixed to the pin shaft (41).

7. The yaw angle measuring device according to claim 5, characterized in that: The pin shaft (41) and the hinge hole (2b) of the horizontal arm are circumferentially limited, and the end of the pin shaft (41) passes through the hinge hole (2b) of the horizontal arm and the hinge hole connecting nut of the mounting arm (3); the detection component includes an angle detector (5) for detecting the rotation angle of the end of the fixed through hole (2a) relative to the tower, and the angle detector (5) includes a fixed shell and a rotating mechanism, the fixed shell is fixed to the mounting arm (3), and the rotating mechanism is fixed to the pin shaft (41).

8. The yaw angle measuring device according to claim 7, characterized in that: At least part of the hinge hole (2b) of the horizontal arm is a polygonal hole segment (2b1), the cross section of the polygonal hole segment (2b1) is a polygon, and the pin shaft (41) includes an axis segment that matches the polygonal hole segment (2b1), and the outer contour of the axis segment is adapted to the polygonal hole segment (2b1).

9. The yaw angle measuring device according to claim 8, characterized in that: The pin shaft (41) comprises a head (411), a large diameter section (412) and a small diameter section (413) which are connected in sequence; the outer contour of the head (411) is a polygon so as to match the polygonal hole section (2b1); the large diameter section (412) is an optical axis section; and the outer surface of the small diameter section (413) has threads so as to be connected in cooperation with the nut.

10. The yaw angle measuring device according to any one of claims 1 to 9, characterized in that: It also includes a controller for calculating the yaw angle of the cabin according to the position parameters detected by the detection component and capable of representing the vertical displacement of the cable harness (1), and pre-stores the corresponding relationship between the detection parameters of the detection component and the cabin yaw angle.

11. A wind turbine generator set, comprising a tower, characterized in that: It also includes the yaw angle measuring device according to any one of claims 1 to 10, wherein the cabin cable harness (1) of the wind turbine generator set is fixed to the fixing part of the supporting body (2), and the mounting part of the supporting body (2) is rotatably connected to the inner wall (101) of the tower.

12. A yaw angle measurement method, characterized in that: The method comprises the yaw angle measuring device according to any one of claims 1 to 10, and the method comprises the following steps: Pre-storing the corresponding relationship between the position parameter representing the vertical displacement of the cable harness (1) and the yaw angle of the cabin in the controller; Real-time acquisition of the position parameters of the current state capable of characterizing the vertical displacement of the cable harness (1); According to the acquired position parameters of the fixed part relative to the tower in the current state, the yaw angle in the current state is searched from the pre-stored correspondence between the position parameters representing the vertical displacement of the cable harness (1) and the yaw angle of the cabin.

13. The yaw angle measurement method according to claim 12, characterized in that: The corresponding relationship between the position parameter characterizing the vertical displacement of the cable harness (1) and the yaw angle of the cabin is the corresponding relationship between the rotation angle of the fixing part of the support body (2) and the yaw angle of the cabin; Alternatively, the position parameter characterizing the vertical displacement of the cable harness (1) and the corresponding relationship between the yaw angle of the cabin are the corresponding relationship between the vertical displacement of the fixed part of the cabin that is the support body (2) and the yaw angle of the cabin.

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