A wind turbine yaw automatic correction control method

Abstract

The present invention discloses a method for automatically correcting the yaw of a wind turbine. When the wind turbine has an alarm of large wind direction deviation, a correction value obtained by adding a certain angle deviation value to the measured value of one of the wind vanes is used as a yaw error input for automatic wind alignment. Then, by adjusting the angle deviation value in the yaw error input, the deviation percentage between the actual measured power of the wind turbine after wind alignment and the corresponding power obtained by looking up a table using a real-time wind speed segment meets a preset condition, and a correction value is obtained. The correction value is used to replace the average value of the two wind vanes as the yaw error input for automatic wind alignment. The present invention takes the adjusted yaw error input as the correction value, and uses the correction value to replace the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine, thereby finally enabling the wind turbine to achieve precise wind alignment, thereby improving the power generation of the wind turbine before the alarm of large wind direction deviation is repaired, reducing damage to the wind turbine itself, and alleviating manpower operation and maintenance costs.

Description

Technical Field

[0001] The present invention relates to the technical field of yaw control of a wind turbine generator set, and in particular to an automatic yaw correction control method for a wind turbine generator set. Background Art

[0002] Modern megawatt-class wind turbines are equipped with a yaw system, which rotates the nacelle according to wind direction, allowing the wind turbine to quickly and efficiently complete wind-facing operations, keeping the rotor facing the wind as much as possible. Current technology uses the yaw control system to collect real-time wind direction data from two wind vanes on the mast atop the nacelle. The average of the two vanes is used as the yaw error input. Combined with wind speed, the drive motor adjusts the nacelle position, reducing the deviation between the nacelle axis and the wind direction. This keeps the average angle between the nacelle and the wind direction close to zero, allowing the wind turbine to capture the maximum amount of wind energy.

[0003] Yaw error is the angle between the true wind direction and the nacelle axis. On site, the N-point reference of the wind vane is usually aligned with the nacelle axis. Figure 1 As shown in the figure, a is the nacelle axis, b is the true wind direction, c is the wind direction measured by the wind vane, α is the wind vane measurement, θ is the angle between the wind vane measurement and the true wind direction, and β is the angle between the true wind direction and the nacelle axis, which is the yaw error. When the wind vane measurement is accurate, that is, θ = 0, the wind vane measurement is the yaw error. This technique uses the average of two wind vane measurements as the yaw error input, which is more accurate than a single wind vane measurement. However, the operating environment of wind turbines is quite harsh. If one or both of the two wind vanes on the nacelle roof are damaged or N points are offset, causing the measured value to deviate from the actual value, this technique has a drawback. The main control system cannot determine whether the wind vane measurement value is deviating. Only when the deviation reaches a certain level will the main control system issue a "large wind direction deviation" alarm, but the turbine will not shut down and will continue to automatically adjust to the wind using the average of the two wind vanes as the yaw error input. Before repair, there will be a significant deviation between the turbine's rotor and the actual wind direction. This will not only reduce the turbine's efficiency in capturing wind energy, but also cause aeroelastic fluctuations in the blades, increase the asymmetric load on the turbine, and thus reduce the turbine's operating life. This is especially true for offshore wind turbines. If they are unable to go out to sea for an extended period due to sea conditions or other reasons, the loss of power generation and damage to the turbine itself will be immeasurable. Summary of the Invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art and provide a method for automatic yaw correction control of a wind turbine. When an alarm of a large wind direction deviation occurs in the wind turbine, a correction value obtained by adding a certain angle deviation value to the measured value of one of the wind vanes is used as the yaw error input for automatic wind alignment. Then, by adjusting the angle deviation value in the yaw error input, the deviation percentage between the actual measured power of the wind turbine after wind alignment and the corresponding power obtained by looking up the table using the real-time wind speed segment meets the preset conditions, and a correction value is obtained. This correction value replaces the average value of the two wind vanes as the yaw error input for automatic wind alignment, so that the wind turbine is more accurately aligned with the wind.

[0005] The present invention is achieved through the following technical solutions: a method for automatic correction control of the yaw of a wind turbine, which optimizes the yaw control of an existing wind turbine, wherein the main control system of the wind turbine obtains the measurement values ​​of two wind vanes in real time, and when the wind turbine has an alarm of large wind direction deviation, the measurement value of one of the wind vanes plus a preset angle deviation value is used as a yaw error input to automatically align the wind turbine with the wind, and then the angle deviation value in the yaw error input is adjusted so that the deviation percentage between the actual measured power of the wind turbine after the wind alignment is completed and the corresponding power obtained by looking up the table using the real-time wind speed segment is not greater than the preset percentage, and then the adjusted yaw error input is taken as a correction value, and the correction value replaces the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine, thereby finally enabling the wind turbine to achieve precise wind alignment.

[0006] The above-mentioned method for automatic yaw correction control of a wind turbine generator system comprises the following steps:

[0007] S1, the main control system of the wind turbine generator set obtains the measurement value Wd1 of the first wind vane and the measurement value Wd2 of the second wind vane installed on the mast on the top of the wind turbine generator set nacelle in real time;

[0008] S2. When the main control system of the wind turbine generator set does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used as the yaw error input to automatically align the wind turbine generator set with the wind; when the wind turbine generator set issues an alarm indicating a large wind direction deviation, the measured values ​​of the two wind vanes are added to the preset angle deviation values ​​to obtain two yaw error inputs to automatically align the wind turbine generator set with the wind;

[0009] S3. After the wind turbine is aligned with the wind, the deviation percentages between the wind turbine's actual power corresponding to the two yaw error inputs and the corresponding power obtained by looking up the table using the real-time wind speed segment are calculated respectively. The angle deviation values ​​in the two yaw error inputs are adjusted so that the power deviation percentage is no more than 3%. The adjusted yaw error input is taken as a correction value. The correction value is used to replace the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine. Automatic wind alignment is performed for 24 hours, or until the wind turbine generates a reset signal for the yaw automatic correction program.

[0010] S4. When the wind turbine has automatically aligned with the wind for 24 hours or the wind turbine has a reset signal for the yaw automatic correction program, initialization is performed and the above steps S1 to S3 are executed again.

[0011] Furthermore, in step S2, the following operations are specifically performed:

[0012] When the main control system of the wind turbine does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used. Used as yaw error input to automatically align wind turbines with the wind;

[0013] When the wind turbine has a large wind direction deviation alarm, the measured values ​​of the two wind vanes are added with the preset angle deviation value, and the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) is obtained. n and the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n , which are respectively applied to the yaw control system of the wind turbine to automatically align the wind turbine with the wind; among them, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2], and n is an integer variable representing the direction and size of the angle deviation value.

[0014] Furthermore, in step S3, the following operations are specifically performed:

[0015] For the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) n , determine the wind turbine power P measured after the wind direction is completed corresponding to the first yaw error input 测1 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表1 The absolute value of the deviation percentage|(P 测1 -P 查表1 ) / P 查表1 |Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the first yaw error input at this time as Wd1+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input for automatic wind adjustment, if it does not meet the requirements, the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input, the wind direction is automatically adjusted, and finally the wind turbine actual power P after the wind direction is completed is determined. 测2 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表2 The absolute value of the deviation percentage|(P 测2 -P查表2 ) / P 查表2 |Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the second yaw error input at this time as Wd2+2×TRUNC[(n+1) / 2]×(-1) n Automatic wind adjustment is performed as the yaw error input. If the requirements are not met, the angle deviation value n is adjusted until a correction value that meets the requirements is obtained. Among them, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2]. n is an integer variable representing the direction and magnitude of the angle deviation value.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] The present invention takes the adjusted yaw error input as a correction value, and uses this correction value to replace the average value of the two wind vanes as the yaw error input for the wind turbine to automatically face the wind, ultimately enabling the wind turbine to achieve precise wind facing. On the one hand, it improves the power generation of the wind turbine before the alarm repair of large wind direction deviation, reduces damage to the wind turbine itself, and on the other hand, reduces the manpower operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of yaw error.

[0019] Figure 2 Flowchart of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to specific embodiments.

[0021] See also Figure 2 As shown, the present embodiment provides a method for automatic correction control of yaw of a wind turbine. The method optimizes the yaw control of an existing wind turbine. The main control system of the wind turbine obtains the measurement values ​​of two wind vanes in real time. When the wind turbine generates an alarm of a large wind direction deviation, the measurement value of one of the wind vanes plus a preset angle deviation value is used as a yaw error input to automatically align the wind turbine with the wind. The angle deviation value in the yaw error input is then adjusted so that the deviation percentage between the actual power of the wind turbine after alignment and the corresponding power obtained by looking up a table using a real-time wind speed segment is not greater than a preset percentage. The adjusted yaw error input is then taken as a correction value. The correction value replaces the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine, ultimately enabling the wind turbine to achieve precise wind alignment. The method includes the following steps:

[0022] S1, the main control system of the wind turbine generator set obtains the measurement value Wd1 of the first wind vane and the measurement value Wd2 of the second wind vane installed on the mast on the top of the wind turbine generator set nacelle in real time;

[0023] S2. When the main control system of the wind turbine generator set does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used as the yaw error input to automatically align the wind turbine generator set with the wind. When the wind turbine generator set issues an alarm indicating a large wind direction deviation, the measured values ​​of the two wind vanes are added to the preset angle deviation values ​​to obtain two yaw error inputs to automatically align the wind turbine generator set with the wind. Specifically, the following operations are performed:

[0024] When the main control system of the wind turbine does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used. Used as yaw error input to automatically align wind turbines with the wind;

[0025] When the wind turbine has a large wind direction deviation alarm, the measured values ​​of the two wind vanes are added with the preset angle deviation value, and the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) is obtained. n and the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n , which are respectively applied to the yaw control system of the wind turbine to automatically align the wind turbine with the wind; among them, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2], n is an integer variable representing the angle deviation value, and the positive or negative value of n represents the direction of the angle deviation value.

[0026] S3. After the wind turbine is aligned with the wind, the deviation percentages between the wind turbine's measured power corresponding to the two yaw error inputs and the corresponding power obtained by looking up the table using the real-time wind speed segment are calculated respectively. The angle deviation values ​​in the two yaw error inputs are adjusted so that the power deviation percentage is no more than 3%. The adjusted yaw error input is taken as a correction value. The correction value replaces the average value of the two wind vanes as the yaw error input for the wind turbine to automatically align with the wind. The wind turbine is automatically aligned with the wind for 24 hours, or until the wind turbine generates a yaw automatic correction program reset signal. Specifically, the following operations are performed:

[0027] For the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) n , determine the wind turbine power P measured after the wind direction is completed corresponding to the first yaw error input 测1 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表1 The absolute value of the deviation percentage|(P 测1 -P 查表1 ) / P 查表1|Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the first yaw error input at this time as Wd1+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input for automatic wind adjustment, if it does not meet the requirements, the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input, the wind direction is automatically adjusted, and finally the wind turbine actual power P after the wind direction is completed is determined. 测2 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表2 The absolute value of the deviation percentage|(P 测2 -P 查表2 ) / P 查表2 |Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the second yaw error input at this time as Wd2+2×TRUNC[(n+1) / 2]×(-1) n Automatic wind adjustment is performed as the yaw error input. If the requirements are not met, the angle deviation value n is adjusted until a correction value that meets the requirements is obtained. Among them, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2]. n is an integer variable representing the angle deviation value, and the positive or negative value of n represents the direction of the angle deviation value.

[0028] S4. When the wind turbine has automatically aligned with the wind for 24 hours or the wind turbine has a reset signal for the yaw automatic correction program, initialization is performed and the above steps S1 to S3 are executed again.

[0029] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any changes made based on the shape and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically correcting the yaw of a wind turbine generator system, characterized by: The method optimizes the yaw control of an existing wind turbine generator set. The main control system of the wind turbine generator set obtains the measurement values ​​of two wind vanes in real time. When the wind turbine generator set has an alarm of large wind direction deviation, the measurement value of one of the wind vanes plus a preset angle deviation value is used as a yaw error input to automatically align the wind turbine generator set with the wind. The angle deviation value in the yaw error input is then adjusted so that the deviation percentage between the actual measured power of the wind turbine generator set after the wind alignment is completed and the corresponding power obtained by looking up a table using a real-time wind speed segment is not greater than a preset percentage. The adjusted yaw error input is then taken as a correction value, and the correction value is used to replace the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine generator set, thereby ultimately achieving precise wind alignment of the wind turbine generator set. The method comprises the following steps: S1, the main control system of the wind turbine generator set obtains the measurement value Wd1 of the first wind vane and the measurement value Wd2 of the second wind vane installed on the mast on the top of the wind turbine generator set nacelle in real time; S2. When the main control system of the wind turbine generator set does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used as the yaw error input to automatically align the wind turbine generator set with the wind. When the wind turbine generator set issues an alarm indicating a large wind direction deviation, the measured values ​​of the two wind vanes are added to the preset angle deviation values ​​to obtain two yaw error inputs to automatically align the wind turbine generator set with the wind. Specifically, the following operations are performed: When the main control system of the wind turbine does not issue an alarm, the average value of the measured values ​​of the two wind vanes is used. Used as yaw error input to automatically align wind turbines with the wind; When the wind turbine has a large wind direction deviation alarm, the measured values ​​of the two wind vanes are added with the preset angle deviation value, and the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) is obtained. n and the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n , respectively applied to the wind turbine yaw control system to automatically align the wind turbine with the wind; wherein, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2], where n is an integer variable representing the angle deviation value; S3. After the wind turbine is aligned with the wind, the deviation percentages between the wind turbine's actual power corresponding to the two yaw error inputs and the corresponding power obtained by looking up the table using the real-time wind speed segment are calculated respectively. The angle deviation values ​​in the two yaw error inputs are adjusted so that the power deviation percentage is no more than 3%. The adjusted yaw error input is taken as a correction value. The correction value is used to replace the average value of the two wind vanes as the yaw error input for automatic wind alignment of the wind turbine. Automatic wind alignment is performed for 24 hours, or until the wind turbine generates a reset signal for the yaw automatic correction program. S4. When the wind turbine has automatically aligned with the wind for 24 hours or the wind turbine has a reset signal for the yaw automatic correction program, initialization is performed and the above steps S1 to S3 are executed again.

2. The method for automatic yaw correction control of a wind turbine according to claim 1, characterized in that: In step S3, the following operations are specifically performed: For the first yaw error input Wd1+2×TRUNC[(n+1) / 2]×(-1) n , determine the wind turbine actual power P after the wind direction is completed corresponding to the first yaw error input 测1 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表1 The absolute value of the deviation percentage|(P 测1 -P 查表1 ) / P 查表1 |Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the first yaw error input at this time as Wd1+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input for automatic wind adjustment, if it does not meet the requirements, the second yaw error input Wd2+2×TRUNC[(n+1) / 2]×(-1) n As the yaw error input, the wind direction is automatically adjusted, and finally the wind turbine actual power P after the wind direction is completed is determined. 测2 The corresponding power P is obtained by looking up the table in real-time wind speed segment 查表2 The absolute value of the deviation percentage|(P 测2 -P 查表2 ) / P 查表2 |Whether it meets the requirement of no more than 3%. If it meets the requirement, then take the second yaw error input at this time as Wd2+2×TRUNC[(n+1) / 2]×(-1) n Automatic wind adjustment is performed as the yaw error input. If the requirements are not met, the angle deviation value n is adjusted until a correction value that meets the requirements is obtained. Among them, the function TRUNC[(n+1) / 2] means removing the decimal part of the parameter value [(n+1) / 2] and rounding the parameter value [(n+1) / 2]. n is an integer variable representing the angle deviation value.

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