Yaw control method, device and storage medium for wind turbine generator system

Abstract

The embodiment of the present application provides a yaw control method, device and storage medium of a wind turbine generator set, the method comprises the following steps: when a preset yaw action condition is met and operating power of the wind turbine generator set is below a preset setting value, determining an additional electric quantity obtained if the wind turbine generator set performs yaw wind alignment correction; determining a unit self loss electric quantity if the wind turbine generator set performs yaw wind alignment correction; when the additional electric quantity is greater than the loss electric quantity, controlling the wind turbine generator set to perform yaw action. According to the method provided by the embodiment of the present application, when the unit operates below the set power value and the preset yaw action condition is met, the yaw control method can effectively reduce the power generation loss caused by continuous yaw.

Description

Technical Field

[0001] This invention relates to the field of wind power technology, and in particular to a yaw control method, device and storage medium for wind turbine generator sets. Background Technology

[0002] Wind power generation is one of the most mature and commercially promising renewable energy generation methods. Wind energy is characterized by non-stationarity, randomness, and low energy density. These characteristics lead to constant changes in wind direction and speed, preventing wind turbines from always being aligned with the wind, thus reducing the efficiency of wind energy utilization. The yaw system is a unique servo system in wind turbines; its main function is to control the wind turbine to track changing wind direction and improve power capture.

[0003] Active yaw of a wind turbine involves the yaw controller controlling the yaw action based on the output signal from the wind direction sensor and the yaw control strategy. For example, when the error between the wind direction and the nacelle position exceeds the set allowable range, the yaw controller will issue a yaw command to control the yaw motor to drive the yaw gear ring to perform a yaw correction action, so that the nacelle is accurately aligned with the wind.

[0004] In existing technologies, only the error variation between wind direction and nacelle position is usually considered, and the operation is triggered when the set value is met. However, the power loss caused by the frequent yaw movements of the wind turbine is ignored, which leads to a decrease in the power generation efficiency of the wind turbine and affects the power generation. Summary of the Invention

[0005] To overcome the above problems, embodiments of the present invention provide a yaw control method, device and storage medium for wind turbine generator sets. When the operating power of the wind turbine generator set is below a set value, the power loss generated by the yaw action is used as a reference factor and added to the conditions for activating the yaw strategy, thereby effectively reducing power generation loss.

[0006] According to a first aspect of the present invention, a yaw control method for a wind turbine generator is provided, comprising:

[0007] When the preset yaw action conditions are met and the operating power of the wind turbine is below the preset set value, determine the additional electricity obtained by the wind turbine if it performs yaw wind correction.

[0008] Determine the unit's own power loss when the wind turbine performs yaw correction;

[0009] When the extra power is greater than the power loss, the wind turbine generator is controlled to yaw.

[0010] In some alternative embodiments, determining the additional electricity generated by the wind turbine when performing yaw correction includes:

[0011] Based on the wind turbine's current wind deviation value, grid-connected power value, and yaw rate, the additional electricity gained by the wind turbine if it performs yaw wind correction is calculated.

[0012] In some optional embodiments, the step of calculating the additional electricity generated by the wind turbine if it performs yaw correction, based on the wind turbine's current wind deviation value, grid-connected power value, and yaw rate, includes:

[0013] The additional electricity generated by a wind turbine generator when performing yaw correction is calculated using the following formula:

[0014]

[0015] In the formula, W extra For additional power, P is the power value for internet access, θ is the current wind deviation value, V is the yaw rate, and t is the time taken to perform yaw wind correction.

[0016] In some optional embodiments, the Internet power value is the moving average of the Internet power, and the current wind deviation value is the moving average of the wind deviation.

[0017] In some optional embodiments, determining the unit's own power loss when the wind turbine performs yaw correction includes:

[0018] Based on the yaw power of each yaw motor, the current wind deviation value, and the yaw rate, the power loss of the wind turbine generator set when performing yaw wind correction is calculated.

[0019] In some optional embodiments, the step of determining the unit's own power loss when the wind turbine performs yaw correction further includes:

[0020] When the additional power exceeds the sum of the power loss and the current bias power, the wind turbine generator is controlled to yaw.

[0021] In some optional embodiments, the step of controlling the wind turbine to yaw when the additional power is greater than the sum of the power loss and the current bias power includes:

[0022] The current bias charge is calculated using the following formula (2);

[0023]

[0024] In the formula, δW is the current bias charge; Counter is the number of historical yaws, C1 is the upper limit of the number of yaws, and C2 is the lower limit of the number of yaws; or, Counter is the historical yaw time, C1 is the upper limit of the yaw time, and C2 is the lower limit of the yaw time; k1 and k2 are both constants less than 1.

[0025] According to a second aspect of the present invention, a yaw control device for a wind turbine generator set is provided, comprising:

[0026] The extra power calculation module is used to determine the extra power obtained by the wind turbine generator when it performs yaw wind correction, provided that the preset yaw action conditions are met and the operating power of the wind turbine generator is below the preset set value.

[0027] The power loss calculation module is used to determine the power loss of the wind turbine generator set when it performs yaw correction.

[0028] The first yaw control module is used to control the wind turbine to yaw when the extra power is greater than the power loss.

[0029] In some optional embodiments, the yaw control device of the wind turbine generator set further includes a second yaw control module for controlling the wind turbine generator set to yaw when the additional power is greater than the sum of the power loss and the current bias power.

[0030] In some optional embodiments, the current bias charge is calculated according to the following formula;

[0031]

[0032] In the formula, δW is the current bias charge; Counter is the number of historical yaws, C1 is the upper limit of the number of yaws, and C2 is the lower limit of the number of yaws; or, Counter is the historical yaw time, C1 is the upper limit of the yaw time, and C2 is the lower limit of the yaw time; k1 and k2 are both constants less than 1.

[0033] In some alternative embodiments, the generator yaw control device is located in the main controller of the wind turbine generator set.

[0034] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein instructions are stored therein, which, when executed on a computer, cause the computer to perform the yaw control method for a wind turbine generator described above.

[0035] According to the yaw control method, device and storage medium of the wind turbine generator set in the embodiments of the present invention, when the preset yaw action conditions are met and the operating power of the wind turbine generator set is below the preset set value, the power loss generated by the yaw action is used as a reference factor to limit the yaw start conditions, thereby avoiding unnecessary power loss caused by frequent yaw actions and thus improving power generation efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating a yaw control method for a wind turbine generator according to an embodiment of the present invention;

[0038] Figure 2 This is a flowchart illustrating a yaw control method for a wind turbine generator according to another embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a yaw control device for a wind turbine generator set according to an embodiment of the present invention is shown;

[0040] Figure 4 A schematic diagram of the yaw control device for a wind turbine generator set according to another embodiment of the present invention is shown;

[0041] Figure 5 This is a structural diagram illustrating an exemplary hardware architecture of a computing device that can implement the yaw control method and apparatus for a wind turbine generator according to embodiments of the present invention. Detailed Implementation

[0042] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0044] The following is combined with Figure 1 and Figure 2 The present invention describes a yaw control method for a wind turbine generator set according to one embodiment. It should be noted that these embodiments are not intended to limit the scope of the present invention.

[0045] Figure 1 This is a flowchart illustrating a yaw control method for a wind turbine generator according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating a yaw control method for a wind turbine generator according to another embodiment of the present invention. Figure 1 As shown, the yaw control method 100 for wind turbine generator sets in this embodiment of the invention includes steps 110 to 130.

[0046] Step 110: When the preset yaw action conditions are met and the operating power of the wind turbine is below a preset set value, determine the additional electricity W obtained by the wind turbine if it performs yaw wind correction. extra .

[0047] In this step, the additional electrical energy W that can be captured after performing the current yaw wind correction is estimated based on the current wind deviation and the current operating power of the unit. extra .

[0048] In one embodiment, reference Figure 2 Step 110 may specifically include:

[0049] Step 1101: Based on the current wind deviation value, grid-connected power value, and yaw rate of the wind turbine generator set, calculate the additional power W obtained by the wind turbine generator set if yaw wind correction is performed. extra .

[0050] Specifically, W extra The calculation formula is:

[0051]

[0052] In the formula, W extra For additional power, P is the power value for internet access, θ is the current wind deviation value, V is the yaw rate, and t is the time taken to perform yaw wind correction.

[0053] In one embodiment, the internet power value P can be either the current internet power value or the predicted internet power value.

[0054] In one embodiment, the internet power value can be the moving average of internet power, and the wind deviation can be the moving average of wind deviation. Specifically, the moving average of internet power and the moving average of wind deviation can be determined based on the moving average time constant T and the first-order low-pass formula.

[0055] Specifically, the first-order low-pass formula is:

[0056]

[0057] In the formula, y is the filter output, u is the filter input, f is the filter coefficient, and k is the number of samples; the filter coefficient f is determined based on the moving average time constant T. This is the moving average of internet power. The moving average of the wind deviation is used. When the calculation period is 20ms and the moving average time constant T is 30s, the corresponding filter coefficient f is 1500; when the moving average time constant T is 60s, the corresponding filter coefficient f is 3000. Furthermore, according to the first-order low-pass formula (2), when the input is set to the real-time power P, the output is the moving average of the power. When the input is set to the current wind deviation value θ, the output is the moving average of the wind deviation.

[0058] In one embodiment, the yaw rate V can be set to a value in the range of 0.2° / s to 0.4° / s.

[0059] Step 120: Determine the unit's own power loss W when the wind turbine performs yaw correction. loss .

[0060] In one embodiment, step 120 may specifically include:

[0061] Step 1201: Based on the yaw power of each yaw motor, the current wind deviation value, and the yaw rate, calculate the unit's own power loss W if the wind turbine performs yaw wind correction. loss .

[0062] Specifically, W loss The calculation formula is:

[0063]

[0064] In the formula, n is the number of yaw motors, and P m The yaw power for each yaw motor.

[0065] Step 130: When the additional power is greater than the power loss, control the wind turbine to perform a yaw action.

[0066] In one embodiment, step 130 may specifically include:

[0067] Step 1301: When the additional power is greater than the sum of the power loss and the current bias power, the wind turbine generator is controlled to perform a yaw action. The specific calculation formula is as follows (4):

[0068]

[0069] Where δW is the current bias charge, P rated This refers to the rated power of the unit.

[0070] In one embodiment, the formula for calculating the current bias charge δW is:

[0071]

[0072] In the formula, δW is the current bias charge; Counter is the number of historical yaws, C1 is the upper limit of the number of yaws, and C2 is the lower limit of the number of yaws; or, Counter is the historical yaw time, C1 is the upper limit of the yaw time, and C2 is the lower limit of the yaw time; k1 and k2 are both constants less than 1.

[0073] In this step, an upper limit C1 and a lower limit C2 for yaw actions are set. The bias charge δW is further adjusted by comparing the historical yaw action value Counter with the upper and lower limits C1 and C2. If there are too many yaw actions (i.e., the historical yaw action value Counter is greater than the upper limit C1), the bias charge δW is increased to reduce yaw actions; conversely, if there are too few yaw actions (i.e., the historical yaw action value Counter is less than the lower limit C2), the bias charge δW is decreased to increase yaw actions. The lower limit for bias charge δW is 0.

[0074] Among them, the historical yaw action value Counter, the upper limit value of yaw action C1, and the lower limit value of yaw action C2 can be either the number of yaws or the yaw time.

[0075] Preferably, the upper limit value of yaw action C1 can be set to 130 times or 2.4 hours; the lower limit value of yaw action C2 can be set to 80 times or 0.5 hours.

[0076] In one embodiment, the first coefficient k1 and the second coefficient k2 can be determined by the effective range of the historical yaw value Counter and the bias charge δW.

[0077] Preferably, both the first coefficient k1 and the second coefficient k2 are 0.001.

[0078] According to an embodiment of the wind turbine generator yaw control method of the present invention, additional yaw protection is provided. Specifically, if the yaw error of the generator is within 5°, no yaw is performed; if the average yaw error of the generator over 30 seconds exceeds 25° and lasts for more than 20 seconds, forced yaw is performed, and the priority is higher than the above yaw control conditions.

[0079] The yaw control method for wind turbine generator sets according to embodiments of the present invention can effectively reduce power generation loss caused by continuous yaw when the generator set is operating below a set power value. Specifically, it can utilize the method combined with the above... Figure 1 and Figure 2 The described reference yaw control method determines the additional power gained by the wind turbine generator when performing yaw correction and the power loss of the wind turbine generator when performing yaw correction. When the operating power of the wind turbine generator is below the set value, it judges the sum of the additional power, the power loss and the current bias power. If the additional power is greater than the sum of the power loss and the current bias power, it controls the wind turbine generator to perform yaw action.

[0080] According to the yaw control method of the wind turbine generator according to the present invention, by determining the additional power obtained by the wind turbine generator if it performs yaw correction and the power loss of the wind turbine generator if it performs yaw correction, the power loss generated by the yaw action is used as a reference factor and incorporated into the conditions for starting the yaw strategy. When the operating power of the wind turbine generator is below a set value, the yaw action condition is limited. If the additional power is greater than the sum of the power loss and the current bias power, the wind turbine generator is controlled to perform yaw action, thereby effectively reducing power generation loss.

[0081] Figure 3 A schematic diagram of a yaw control device for a wind turbine generator set according to an embodiment of the present invention is shown. In one embodiment, the reference power curve generation device 300 for the wind turbine generator set may include:

[0082] The extra power calculation module 310 is used to determine the extra power obtained by the wind turbine generator set if it performs yaw wind correction when the preset yaw action conditions are met and the operating power of the wind turbine generator set is below the preset set value.

[0083] The power loss calculation module 320 is used to determine the power loss of the wind turbine generator set when it performs yaw correction.

[0084] The first yaw control module 330 is used to control the wind turbine generator to perform yaw action when the additional power is greater than the power loss.

[0085] In one embodiment, the additional power calculation module 310 is further configured to:

[0086] When the preset yaw action conditions are met and the operating power of the wind turbine is below the preset set value, the additional electricity obtained by the wind turbine if it performs yaw wind correction is calculated based on the wind turbine's current wind deviation value, grid power value, and yaw rate.

[0087] In one embodiment, the power consumption calculation module 320 is further used for:

[0088] Based on the yaw power, yaw deviation from wind speed, and yaw rate of each yaw motor, the power loss of the wind turbine generator set during the yaw correction process is calculated.

[0089] Figure 4 A schematic diagram of a yaw control device for a wind turbine generator set according to another embodiment of the present invention is shown. In one embodiment, such as Figure 4 The reference power curve generation device 300 for the wind turbine generator set shown may further include:

[0090] The second yaw control module 340 is used to control the wind turbine generator to perform yaw action when the additional power is greater than the sum of the power loss and the current bias power.

[0091] In one embodiment, the second yaw control module 340 is further used to calculate and determine the bias charge, using the following formula:

[0092]

[0093] In the formula, δW is the current bias charge; Counter is the number of historical yaws, C1 is the upper limit of the number of yaws, and C2 is the lower limit of the number of yaws; or, Counter is the historical yaw time, C1 is the upper limit of the yaw time, and C2 is the lower limit of the yaw time; k1 and k2 are both constants less than 1.

[0094] In this step, an upper limit C1 and a lower limit C2 for yaw actions are set. The bias charge δW is further adjusted by comparing the historical yaw action value Counter with the upper and lower limits C1 and C2. If there are too many yaw actions (i.e., the historical yaw action value Counter is greater than the upper limit C1), the bias charge δW is increased to reduce yaw actions; conversely, if there are too few yaw actions (i.e., the historical yaw action value Counter is less than the lower limit C2), the bias charge δW is decreased to increase yaw actions. The lower limit for bias charge δW is 0.

[0095] Among them, the historical yaw action value Counter, the upper limit value of yaw action C1, and the lower limit value of yaw action C2 can be either the number of yaws or the yaw time.

[0096] Preferably, the upper limit value of yaw action C1 can be set to 130 times or 2.4 hours; the lower limit value of yaw action C2 can be set to 80 times or 0.5 hours.

[0097] In one embodiment, the first coefficient k1 and the second coefficient k2 can be determined by the effective range of the historical yaw value Counter and the bias charge δW.

[0098] Preferably, both the first coefficient k1 and the second coefficient k2 are 0.001.

[0099] According to an embodiment of the present invention, the yaw control device for a wind turbine generator set determines the additional power obtained by the wind turbine generator set when performing yaw correction and the power loss caused by the yaw action. When the preset yaw action conditions are met and the operating power of the wind turbine generator set is below a preset set value, and the additional power is greater than the power loss, the device controls the wind turbine generator set to perform yaw action. This method effectively reduces the power loss caused by excessively frequent yaw actions and improves power generation efficiency.

[0100] It should be clarified that the present invention is not limited to the specific configurations and processes described in the above embodiments and shown in the figures. For the sake of convenience and brevity, detailed descriptions of known methods are omitted here, and the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0101] Figure 5 This is a structural diagram illustrating an exemplary hardware architecture of a computing device capable of implementing the yaw control method and apparatus for a wind turbine generator according to embodiments of the present invention.

[0102] like Figure 5As shown, the computing device 400 includes an input device 401, an input interface 402, a central processing unit 403, a memory 404, an output interface 405, and an output device 406. The input interface 402, the central processing unit 403, the memory 404, and the output interface 405 are interconnected via a bus 410. The input device 401 and the output device 406 are connected to the bus 410 via the input interface 402 and the output interface 405, respectively, and are thus connected to other components of the computing device 400.

[0103] Specifically, input device 401 receives input information from the outside and transmits the input information to central processing unit 403 through input interface 402; central processing unit 403 processes the input information based on computer-executable instructions stored in memory 404 to generate output information, temporarily or permanently stores the output information in memory 404, and then transmits the output information to output device 406 through output interface 405; output device 406 outputs the output information to the outside of computing device 400 for user use.

[0104] In one embodiment, Figure 5 The computing device 400 shown can be implemented as a yaw control system for a wind turbine generator set. The yaw control system may include: a memory configured to store a program; and a processor configured to run the program stored in the memory to perform the yaw control of the wind turbine generator set described in the above embodiments.

[0105] According to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network, and / or installed from a removable storage medium.

[0106] In the above embodiments, implementation can be achieved, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions that, when run on a computer, cause the computer to perform the methods described in the various embodiments above. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0107] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A yaw control method for a wind turbine generator set, characterized in that, include: When the preset yaw action conditions are met and the operating power of the wind turbine generator is below a preset set value, Determine the additional electricity generated by the wind turbine generator if it performs yaw correction; Determine the unit's own power loss when the wind turbine performs yaw correction; When the additional power is greater than the power loss, the wind turbine generator is controlled to yaw. Specifically, determining the additional electricity generated by the wind turbine generator when performing yaw correction includes: Based on the current wind deviation value, grid-connected power value, and yaw rate of the wind turbine generator set, the additional power obtained by the wind turbine generator set if yaw wind correction is performed is calculated.

2. The yaw control method for a wind turbine generator set according to claim 1, characterized in that, The step of calculating the additional electricity generated by the wind turbine generator set if it performs yaw correction based on the current wind deviation value, grid-connected power value, and yaw rate includes: The additional power generated by the wind turbine generator when performing yaw correction is calculated using the following formula; In the formula, For extra power, This is the power consumption value for internet access. This is the current wind deviation value. t is the yaw rate, and t is the time taken to perform yaw correction to the wind.

3. The yaw control method for a wind turbine generator set according to claim 1, characterized in that, The internet power value is the moving average of internet power, and the current wind deviation value is the moving average of wind deviation.

4. The yaw control method for a wind turbine generator set according to claim 1, characterized in that, The determination of the unit's own power loss when the wind turbine performs yaw correction specifically includes: Based on the yaw power of each yaw motor, the current wind deviation value, and the yaw rate, the unit's own power loss when performing yaw wind correction is calculated.

5. The yaw control method for a wind turbine generator set according to any one of claims 1-4, characterized in that, When the additional power is greater than the power loss, the wind turbine generator is controlled to yaw, including: When the additional power is greater than the sum of the power loss and the current bias power, the wind turbine generator is controlled to perform a yaw action.

6. The yaw control method for a wind turbine generator set according to claim 5, characterized in that, Before the step of controlling the wind turbine to yaw when the additional power is greater than the sum of the power loss and the current bias power, the following steps are included: The current bias charge is calculated using the following formula; In the formula, This is the current bias charge; For the number of times the ship veered off course in history, This is the maximum number of yaw attempts. This is the lower limit for the number of yaws, or... For historical deviation time, This is the upper limit of yaw time. Lower limit of yaw time and All are constants less than 1.

7. A yaw control device for a wind turbine generator set, characterized in that, include: The extra power calculation module is used to determine the extra power obtained by the wind turbine generator set if it performs yaw wind correction when the preset yaw action conditions are met and the operating power of the wind turbine generator set is below the preset set value. The power loss calculation module is used to determine the power loss of the wind turbine generator set when it performs yaw correction. The first yaw control module is used to control the wind turbine generator to perform yaw action when the additional power is greater than the power loss. The additional power calculation module is further used to: when the preset yaw action conditions are met and the operating power of the wind turbine is below the preset set value, calculate the additional power obtained by the wind turbine if it performs yaw wind correction based on the current wind deviation value, grid power value and yaw rate of the wind turbine.

8. The yaw control device for a wind turbine generator set according to claim 7, characterized in that, Also includes: The second yaw control module is used to control the wind turbine to perform a yaw action when the additional power is greater than the sum of the power loss and the current bias power.

9. The yaw control device for a wind turbine generator set according to claim 8, characterized in that, The current bias charge is calculated using the following formula; In the formula, This is the current bias charge; For the number of times the ship veered off course in history, This is the maximum number of yaw attempts. This is the lower limit for the number of yaws, or... For historical deviation time, This is the upper limit of yaw time. Lower limit of yaw time and All are constants less than 1.

10. The yaw control device for a wind turbine generator set according to any one of claims 7-9, characterized in that, The yaw control device of the wind turbine generator set is located in the main controller of the wind turbine generator set.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the yaw control method for a wind turbine generator as described in any one of claims 1 to 6.

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