Wind turbine nacelle yaw wind control method, system, medium and equipment

Abstract

The present invention belongs to the technical field of wind power generation, and in particular, relates to a method, system, medium and equipment for controlling the yaw of a nacelle of a wind turbine generator set. The method comprises: judging whether a wind turbine in the nacelle of a wind turbine generator set is in a power generation state, and generating a judgment result; when the judgment result is yes, a first strategy is adopted to adjust the current yaw brake caliper pressure value of the nacelle of the wind turbine generator set, so as to perform yaw control on the nacelle of the wind turbine generator set; when the judgment result is no, a second strategy is adopted to adjust the current yaw brake caliper pressure value of the nacelle of the wind turbine generator set, so as to perform yaw control on the nacelle of the wind turbine generator set; wherein, the yaw brake caliper pressure value is determined by the yaw load. The present invention can solve the problem that the nacelle is reversed by strong wind during the yaw start-up phase, and the impact on the yaw components caused by the reversal of the nacelle can be solved; and the effect of the nacelle being blown by strong wind and rotating the angle during the yaw stop phase can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind power generation, and in particular relates to a method, system, medium and equipment for controlling the yaw of a nacelle of a wind power generator set to wind. Background Art

[0002] Wind turbines using rolling yaw bearings generally adopt a half-pressure yaw control strategy: (1) When the yaw start condition is met, the yaw motor brake is released, and the hydraulic system is depressurized to a small and fixed pressure value; (2) When the hydraulic system pressure drops to the set value, the PLC outputs a command to control the left and right yaw; (3) When the angle between the cabin orientation and the wind direction is less than the set value (judgment that the yaw is in place), the PLC outputs a command to stop yaw; (4) The hydraulic system starts to replenish pressure; (5) When the hydraulic system replenishes pressure to the set pressure value, the pressure replenishment stops, the yaw brake is fully braked, the yaw motor brake is engaged, and the yaw action is completed. According to the current control strategy, there are the following two problems when yaw in strong winds. (1) During the yaw start process, since the yaw motor brake has been released, it takes 5-10 seconds for the yaw brake caliper brake pressure to drop to the yaw pressure value. After the pressure drops, it takes another 1-2 seconds to start yaw. At this time, strong winds can easily reverse the wind turbine to a certain angle (with reverse speed); then the yaw motor is started to yaw (the current increases from 0 to 60% instantly), and the cabin instantly goes into reverse state-stop-forward state. The tooth surface of the yaw gearbox will be subjected to a huge impact load. The impact load over a period of time is easy to accumulate and easily cause the yaw drive teeth to break. (2) When the yaw stops, it takes about 15 seconds for the yaw brake caliper to replenish the pressure to the stop pressure. At this time, the yaw motor brake is not activated. Strong winds can easily blow the cabin, causing the angle to change back. The cabin cannot stop at the expected angle facing the wind direction, affecting the power generation, and it is easy to cause secondary yaw against the wind. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method, system, medium and equipment for controlling the yaw of a nacelle of a wind turbine generator set to wind.

[0004] The technical solution of the present invention to solve the above technical problem is as follows: A method for controlling the yaw of a nacelle of a wind turbine generator set to wind direction, comprising:

[0005] Determine whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, and generate a determination result;

[0006] When the judgment result is yes, the first strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle;

[0007] When the judgment result is no, a second strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw control of the wind turbine nacelle;

[0008] The yaw brake caliper pressure value is determined by the yaw load.

[0009] The beneficial effects of the present invention are as follows: through the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine set, the problem of the nacelle being blown reversed by strong winds in the yaw start-up phase and the impact of the nacelle reversal on the yaw components are solved; the problem of the nacelle being blown by strong winds and the angle rotating in the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components and increasing power generation.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, before determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, the method further includes:

[0012] It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

[0013] Further, the determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state includes:

[0014] When the first judgment result is yes, it is judged whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state.

[0015] Further, the process of using the first strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows:

[0016] The current yaw brake caliper pressure value of the wind turbine nacelle is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a first threshold value. When the current yaw brake caliper pressure value reaches the first threshold value, the current of the yaw inverter is increased to a second threshold value to determine whether the wind turbine nacelle stops yaw. If the yaw stops, the current yaw brake caliper pressure value is increased by a third threshold value. When the current yaw brake caliper pressure value reaches the third threshold value, the current of the yaw inverter is increased to a fourth threshold value to complete yaw wind control.

[0017] Further, the process of using the second strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows:

[0018] The current yaw brake caliper pressure value of the wind turbine nacelle is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a fifth threshold value. When the current yaw brake caliper pressure value reaches the fifth threshold value, the current of the yaw inverter is increased to a sixth threshold value to determine whether the wind turbine nacelle has stopped yaw. If the yaw has stopped, the current yaw brake caliper pressure value is increased to a seventh threshold value, and the current of the yaw inverter is dropped to an eighth threshold value to complete yaw control of the wind.

[0019] Another technical solution of the present invention to solve the above technical problem is as follows: a yaw wind control system, comprising:

[0020] A judgment module, used to judge whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state and generate a judgment result;

[0021] A first result module, for, when the judgment result is yes, using a first strategy to regulate the current yaw brake caliper pressure value of the nacelle of the wind turbine generator set, so as to perform yaw wind control on the nacelle of the wind turbine generator set;

[0022] A second result module is used for, when the judgment result is no, using a second strategy to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle;

[0023] The yaw brake caliper pressure value is determined by the yaw load.

[0024] The beneficial effects of the present invention are as follows: through the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine set, the problem of the nacelle being blown reversed by strong winds in the yaw start-up phase and the impact of the nacelle reversal on the yaw components are solved; the problem of the nacelle being blown by strong winds and the angle rotating in the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components and increasing power generation.

[0025] Furthermore, before determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, the method further includes:

[0026] It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

[0027] Further, the determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state includes:

[0028] When the first judgment result is yes, it is judged whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state.

[0029] Further, the process of using the first strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows:

[0030] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a first threshold value. When the current yaw brake caliper pressure value reaches the first threshold value, the current of the yaw inverter is increased to a second threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw stops, the current yaw brake caliper pressure value is increased to a third threshold value. When the current yaw brake caliper pressure value reaches the third threshold value, the current of the yaw inverter is increased to a fourth threshold value to complete yaw wind control.

[0031] Further, the process of using the second strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows:

[0032] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a fifth threshold value. When the current yaw brake caliper pressure value reaches the fifth threshold value, the current of the yaw inverter is increased to a sixth threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw is stopped, the current yaw brake caliper pressure value is increased to a seventh threshold value, and the current of the yaw inverter is dropped to an eighth threshold value to complete yaw control of the wind.

[0033] Another technical solution of the present invention to solve the above technical problem is as follows: a storage medium, in which instructions are stored. When a computer reads the instructions, the computer executes a method for controlling the yaw of a nacelle of a wind turbine as described in any one of the above.

[0034] The beneficial effects of the present invention are as follows: through the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine set, the problem of the nacelle being blown reversed by strong winds in the yaw start-up phase and the impact of the nacelle reversal on the yaw components are solved; the problem of the nacelle being blown by strong winds and the angle rotating in the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components and increasing power generation.

[0035] Another technical solution of the present invention to solve the above technical problem is as follows: an electronic device comprises the above storage medium and a processor for executing instructions in the above storage medium.

[0036] The beneficial effects of the present invention are as follows: through the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine set, the problem of the nacelle being blown reversed by strong winds in the yaw start-up phase and the impact of the nacelle reversal on the yaw components are solved; the problem of the nacelle being blown by strong winds and the angle rotating in the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components and increasing power generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a flow chart of a method for controlling wind yaw of a nacelle of a wind turbine generator set according to an embodiment of the present invention;

[0038] Figure 2 A structural framework diagram provided for an embodiment of a yaw control system for a nacelle of a wind turbine generator set according to the present invention;

[0039] Figure 3 A complete flow chart of a method for controlling wind yaw of a nacelle of a wind turbine generator set according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of yaw load provided in an embodiment of a method for controlling yaw of a nacelle of a wind turbine generator set according to the present invention. DETAILED DESCRIPTION

[0041] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0042] like Figure 1 As shown, a method for controlling the yaw of a nacelle of a wind turbine generator set to wind direction comprises:

[0043] Determine whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, and generate a determination result;

[0044] When the judgment result is yes, the first strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle;

[0045] When the judgment result is no, a second strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw control of the wind turbine nacelle;

[0046] The yaw brake caliper pressure value is determined by the yaw load.

[0047] It should be noted that, in Example 1, Figure 3 As shown, the complete process of the present invention determines whether the nacelle of the wind turbine generator is yawed to the wind. If not, the determination of whether the yaw occurs is repeated. If so, the determination of whether the wind turbine is in a power generation state is made. If so, the first strategy, i.e., the process on the left side of the figure, is executed to detect the wind speed and the yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, release the yaw motor brake, and release the yaw pressure to P 1 , determine whether the yaw half pressure drops to P 1 If not, repeat the pressure relief step. If yes, start yaw, and the yaw pressure is relieved to 20 bar again. The yaw inverter output current increases from 0 to 100%. If the yaw continues, determine whether to stop yaw. If not, the yaw continues. If yes, detect the wind speed and yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, and the yaw brake caliper is pressurized to pressure P 2, judge whether it is replenished to P, if not, continue to replenish pressure, if so, the yaw brake caliper pressure continues to be replenished to 170bar, the yaw inverter output current drops from 100% to 0, the yaw motor brake is activated, and the end. If the result of judging whether the power generation state is no, the second strategy is executed, that is, the process on the right side of the figure, the yaw motor brake is released, the yaw brake pressure is released to 25bar, and it is judged whether the pressure is released to 25bar, if not, continue to release pressure, if so, the yaw inverter starts yaw, the current increases from 0 to 100%, the yaw continues, judge whether to stop yaw, if not, continue yaw, if so, the yaw inverter controls the input current of the yaw motor from 100% to 0, the yaw brake caliper pressure is replenished to 120bar, judge whether the yaw brake caliper pressure value has reached 120bar, if not, continue to replenish pressure, if so, the yaw motor brake is activated, and the yaw pressure continues to be replenished to 170bar, and the end.

[0048] Regarding yaw load: The yaw load of a certain type of unit is calculated by simulation software at various wind speeds and at various angles between the nacelle and wind direction. It is sorted out according to wind speed segments (every 2m / s) and nacelle and wind direction angle segments (every 15°), for example, the yaw load of a wind turbine with a rotor diameter of 102m at various wind speed segments and yaw angles.

[0049] According to the pressure formula, friction formula and the size of the unit itself, the corresponding formula for the yaw brake caliper pressure is calculated as:

[0050] P=(M-M_1) / (100×Πr^2×3×12×μR)

[0051] In the above, P is the yaw brake caliper pressure (bar); M is the yaw load of the wind turbine when it yaws against the wind (kNm); r is the radius of the yaw brake caliper cylinder (m); μ is the friction factor 0.4; R is the radius of the yaw brake caliper center from the tower axis (m); M1 is the load generated by the unit's own gravity (kNm).

[0052] According to the pressure relationship between the yaw load and the yaw brake caliper (see the above formula), a yaw control strategy for wind is formulated. The following steps are performed: yaw load extraction and sorting according to wind speed segments and angles - yaw inverter hardware replacement - calculation of corresponding yaw damping according to yaw load - modification of control strategy to achieve stable yaw in the yaw start and stop stages. (When the wind turbine is generating electricity normally, the wind direction may change. When the wind direction changes, and there is a certain angle between the wind direction and the wind turbine cabin, it is necessary to yaw (rotate the cabin) to reduce the angle, or change the angle to 0 degrees. At this time, the impeller can face the wind direction, and the wind turbine can capture the maximum wind energy and generate the most electricity. When the unit generates electricity, there is a large wind load, plus its own friction. The yaw load can be regarded as a torque that allows the cabin to overcome the wind load and the friction load of its own weight to rotate.)

[0053] In Example 2, the yaw load spectrum calculated by simulation is used to determine the yaw load in the yaw start and stop stages in real time. In these two stages, the corresponding yaw damping is added, and the hardware is changed from a yaw soft starter to a yaw frequency converter to achieve stable yaw in the yaw start and stop stages.

[0054] The following steps are performed: yaw load is extracted and sorted according to wind speed segments and angles - yaw inverter hardware is replaced - corresponding yaw damping is calculated according to yaw load - control strategy is modified to achieve stable yaw in yaw start and stop stages.

[0055] 1. Yaw load

[0056] (1) Based on the wind resource data, hardware information and control logic, the bladed software is input to calculate the load of the whole machine. Then, based on the wind turbine model, the yaw load at each wind speed range and yaw angle is calculated and extracted.

[0057] (2) According to the wind speed segment (divided into 2 m / s segments) and the yaw angle (divided into 15° segments), the yaw load is sorted out. Example: Figure 4 is the yaw load M of a certain type of 2MW unit.

[0058] 2. Calculate yaw damping

[0059] The additional yaw damping required for the unit under different yaw loads is calculated according to the formula.

[0060]

[0061] In the above, P is the yaw brake caliper pressure (bar); M is the yaw load (kNm); r is the radius of the yaw brake caliper cylinder (m); μ is the friction coefficient between the brake pad and the brake disc; R is the radius of the yaw brake caliper center from the tower axis (m); M1 is the load generated by the unit's own gravity (kNm).

[0062] 3. Replace hardware

[0063] The yaw input of the 2MW unit uses a yaw soft starter, and current mutations will occur during the start and stop stages. Replacing the yaw soft starter with a yaw frequency converter can control the yaw motor input current to achieve a stable increase of 0-100% during the start stage, and a stable decrease of 100%-0 during the yaw end stage. This can avoid the impact of input current and cabin shaking.

[0064] 4. Change control strategy

[0065] See Example 1 for details.

[0066] (1) In the non-generating state, the yaw load of the unit is small, and there is no need to perform yaw damping control during the yaw start-stop stage. The unit can yaw normally according to the following process: yaw start command - yaw motor brake releases, yaw brake caliper pressure is reduced to 25 bar - yaw inverter output current starts yaw - yaw stops - yaw brake caliper pressure is increased to 120 bar - yaw motor brake is engaged - yaw brake caliper continues to pressure increase to 170 bar - yaw process ends.

[0067] (2) When yaw is required in the power generation state, the program detects the yaw load under the wind speed range and yaw angle (the angle between the cabin and the wind direction) according to the yaw load spectrum.

[0068] (3) The program calculates the yaw brake caliper pressure P in this state according to the formula for increasing the damping required for yaw.

[0069] (4) Release the yaw motor brake and the yaw brake caliper pressure is released to P. The increased yaw damping and the unit's own friction damping can maintain the stability of the unit's cabin in the state of high wind power generation, after the yaw motor brake is released and the yaw brake caliper pressure is released, and the unit will not be reversed by high winds.

[0070] (5) The program controls the output current of the yaw inverter (0-100%), and the yaw brake caliper pressure is simultaneously released from P to 20 bar, and the yaw is continued. (1. The yaw motor current is steadily increased and the yaw brake caliper pressure is continuously reduced. In the strong wind state, the yaw load is changed from the yaw brake caliper to the yaw drive motor, which realizes the stable change of the load bearer and avoids the impact of the yaw drive components; 2. In the continuous yaw process, the yaw drive load is provided by the yaw motor, and the cabin will no longer be reversed by the strong wind. At this time, the yaw brake caliper pressure is kept at a low pressure, reducing the drive load.)

[0071] (6) When the yaw stops, the program again calculates the yaw brake caliper pressure P under the shutdown wind speed state according to the formula for increasing the damping required for yaw.

[0072] (7) The program controls the yaw brake caliper pressure to be replenished to P. Increase the yaw damping in the yaw shutdown state to prevent the cabin from being blown back by strong winds after the yaw drive stops running (to prevent the cabin from being blown back by strong winds, causing the angle to deviate again and yaw again. Ensure that the unit can yaw to a position facing the wind direction to increase power generation).

[0073] (8) The program controls the yaw inverter output current to drop from 100% to 0, and at the same time the yaw brake caliper pressure is increased from P to 170 bar.

[0074] (9) The yaw motor brake is engaged.

[0075] (10) The yaw process ends.

[0076] In some possible implementations, the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine are used to solve the problem of the nacelle being reversed by strong winds during the yaw start-up phase, and the impact of the nacelle reversal on the yaw components; the problem of the nacelle being blown by strong winds and the angle rotating during the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components, and increasing power generation.

[0077] Preferably, in any of the above embodiments, before determining whether a wind turbine in a nacelle of a wind turbine generator set is in a power generation state, the method further includes:

[0078] It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

[0079] Preferably, in any of the above embodiments, the determining whether a wind turbine in a nacelle of a wind turbine generator set is in a power generation state comprises:

[0080] When the first judgment result is yes, it is judged whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state.

[0081] Preferably, in any of the above embodiments, the process of using the first strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically:

[0082] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a first threshold value. When the current yaw brake caliper pressure value reaches the first threshold value, the current of the yaw inverter is increased to a second threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw stops, the current yaw brake caliper pressure value is increased to a third threshold value. When the current yaw brake caliper pressure value reaches the third threshold value, the current of the yaw inverter is increased to a fourth threshold value to complete yaw wind control.

[0083] Preferably, in any of the above embodiments, the process of using the second strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically:

[0084] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a fifth threshold value. When the current yaw brake caliper pressure value reaches the fifth threshold value, the current of the yaw inverter is increased to a sixth threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw is stopped, the current yaw brake caliper pressure value is increased to a seventh threshold value, and the current of the yaw inverter is dropped to an eighth threshold value to complete yaw control of the wind.

[0085] like Figure 2 As shown, a yaw wind control system for a nacelle of a wind turbine generator set comprises:

[0086] The judgment module 100 is used to judge whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state and generate a judgment result;

[0087] The first result module 200 is used to, when the judgment result is yes, adopt a first strategy to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle;

[0088] The second result module 300 is used for, when the judgment result is no, using the second strategy to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle;

[0089] The yaw brake caliper pressure value is determined by the yaw load.

[0090] In some possible implementations, the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine are used to solve the problem of the nacelle being reversed by strong winds during the yaw start-up phase, and the impact of the nacelle reversal on the yaw components; the problem of the nacelle being blown by strong winds and the angle rotating during the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components, and increasing power generation.

[0091] Preferably, in any of the above embodiments, before determining whether a wind turbine in a nacelle of a wind turbine generator set is in a power generation state, the method further includes:

[0092] It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

[0093] Preferably, in any of the above embodiments, the process of using the first strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically:

[0094] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a first threshold value. When the current yaw brake caliper pressure value reaches the first threshold value, the current of the yaw inverter is increased to a second threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw stops, the current yaw brake caliper pressure value is increased to a third threshold value. When the current yaw brake caliper pressure value reaches the third threshold value, the current of the yaw inverter is increased to a fourth threshold value to complete yaw wind control.

[0095] Preferably, in any of the above embodiments, the process of using the second strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically:

[0096] The current yaw brake caliper pressure value is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a fifth threshold value. When the current yaw brake caliper pressure value reaches the fifth threshold value, the current of the yaw inverter is increased to a sixth threshold value to determine whether the nacelle of the wind turbine generator set stops yaw. If the yaw is stopped, the current yaw brake caliper pressure value is increased to a seventh threshold value, and the current of the yaw inverter is dropped to an eighth threshold value to complete yaw control of the wind.

[0097] Another technical solution of the present invention to solve the above technical problem is as follows: a storage medium, in which instructions are stored. When a computer reads the instructions, the computer executes a method for controlling the yaw of a nacelle of a wind turbine as described in any one of the above items.

[0098] In some possible implementations, the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine are used to solve the problem of the nacelle being reversed by strong winds during the yaw start-up phase, and the impact of the nacelle reversal on the yaw components; the problem of the nacelle being blown by strong winds and the angle rotating during the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components, and increasing power generation.

[0099] Another technical solution of the present invention to solve the above technical problem is as follows: an electronic device comprises the above storage medium and a processor for executing instructions in the above storage medium.

[0100] In some possible implementations, the yaw loads of various wind speeds and yaw angle differences in the power generation state of the wind turbine are used to solve the problem of the nacelle being reversed by strong winds during the yaw start-up phase, and the impact of the nacelle reversal on the yaw components; the problem of the nacelle being blown by strong winds and the angle rotating during the yaw stop phase is solved, thereby avoiding frequent yaw, extending the service life of components, and increasing power generation.

[0101] The reader should understand that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the method embodiments described above are only illustrative, for example, the division of steps is only a logical function division, and there may be other division methods in actual implementation, such as multiple steps can be combined or integrated into another step, or some features can be ignored or not executed.

[0103] If the above method is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0104] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling the yaw of a nacelle of a wind turbine generator set, characterized in that: include: Determine whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, and generate a determination result; When the judgment result is yes, the first strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle; When the judgment result is no, a second strategy is adopted to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw control of the wind turbine nacelle; Wherein, the yaw brake caliper pressure value is determined by the yaw load; The first strategy is: detect the wind speed and the yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, release the yaw motor brake, release the yaw pressure to P1, and determine whether the yaw half pressure drops to P1. If not, repeat the pressure release step. If so, start yaw, release the yaw pressure to 20bar again, increase the yaw inverter output current from 0 to 100%, and the yaw continues. Determine whether to stop yaw. If not, the yaw continues. If so, detect the wind speed and the yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, and increase the pressure of the yaw brake caliper to P2. Determine whether it is increased to P. If not, continue to increase the pressure. If so, the yaw brake caliper pressure continues to increase to 170bar, and the yaw inverter output current drops from 100% to 0. The yaw motor brake is activated, and the process ends. The second strategy is: the yaw motor brake is released, the yaw brake pressure is reduced to 25bar, and it is determined whether the pressure is reduced to 25bar. If not, the pressure is continued to be released. If so, the yaw inverter starts yaw, and the current increases from 0 to 100%. The yaw continues, and it is determined whether to stop yaw. If not, the yaw continues. If so, the yaw inverter controls the input current of the yaw motor to decrease from 100% to 0, and the yaw brake caliper is pressurized to 120bar. It is determined whether the yaw brake caliper pressure value has reached 120bar. If not, the pressure is continued to be supplemented. If so, the yaw motor brake is activated, and the yaw pressure is continued to be supplemented to 170bar, and then it ends.

2. A method for controlling the yaw of a nacelle of a wind turbine generator set according to claim 1, characterized in that: Before determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, the method further includes: It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

3. A method for controlling the yaw of a nacelle of a wind turbine generator set according to claim 2, characterized in that: The step of judging whether a wind turbine in a nacelle of a wind turbine generator set is in a power generation state comprises: When the first judgment result is yes, it is judged whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state.

4. A method for controlling the yaw of a nacelle of a wind turbine generator set according to claim 1, characterized in that: The process of using the first strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows: The current yaw brake caliper pressure value of the wind turbine nacelle is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a first threshold value. When the current yaw brake caliper pressure value reaches the first threshold value, the current of the yaw inverter is increased to a second threshold value to determine whether the wind turbine nacelle stops yaw. If the yaw stops, the current yaw brake caliper pressure value is increased by a third threshold value. When the current yaw brake caliper pressure value reaches the third threshold value, the current of the yaw inverter is increased to a fourth threshold value to complete yaw wind control.

5. A method for controlling the yaw of a nacelle of a wind turbine generator set according to claim 1, characterized in that: The process of using the second strategy and the yaw brake caliper pressure value to perform yaw wind control is specifically as follows: The current yaw brake caliper pressure value of the wind turbine nacelle is calculated in real time, and the current yaw brake caliper pressure value is controlled to drop to a fifth threshold value. When the current yaw brake caliper pressure value reaches the fifth threshold value, the current of the yaw inverter is increased to a sixth threshold value to determine whether the wind turbine nacelle has stopped yaw. If the yaw has stopped, the current yaw brake caliper pressure value is increased to a seventh threshold value, and the current of the yaw inverter is dropped to an eighth threshold value to complete yaw control of the wind.

6. A wind turbine nacelle yaw control system, characterized in that: include: A judgment module, used to judge whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state and generate a judgment result; A first result module, for, when the judgment result is yes, using a first strategy to regulate the current yaw brake caliper pressure value of the nacelle of the wind turbine generator set, so as to perform yaw wind control on the nacelle of the wind turbine generator set; A second result module is used for, when the judgment result is no, using a second strategy to adjust the current yaw brake caliper pressure value of the wind turbine nacelle to perform yaw wind control on the wind turbine nacelle; Wherein, the yaw brake caliper pressure value is determined by the yaw load; The first strategy is: detect the wind speed and the yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, release the yaw motor brake, release the yaw pressure to P1, and determine whether the yaw half pressure drops to P1. If not, repeat the pressure release step. If so, start yaw, release the yaw pressure to 20bar again, increase the yaw inverter output current from 0 to 100%, and the yaw continues. Determine whether to stop yaw. If not, the yaw continues. If so, detect the wind speed and the yaw angle difference, determine the yaw load M and the corresponding yaw pressure P, and increase the pressure of the yaw brake caliper to P2. Determine whether it is increased to P. If not, continue to increase the pressure. If so, the yaw brake caliper pressure continues to increase to 170bar, and the yaw inverter output current drops from 100% to 0. The yaw motor brake is activated, and the process ends. The second strategy is: the yaw motor brake is released, the yaw brake pressure is reduced to 25bar, and it is determined whether the pressure is reduced to 25bar. If not, the pressure is continued to be released. If so, the yaw inverter starts yaw, and the current increases from 0 to 100%. The yaw continues, and it is determined whether to stop yaw. If not, the yaw continues. If so, the yaw inverter controls the input current of the yaw motor to decrease from 100% to 0, and the yaw brake caliper is pressurized to 120bar. It is determined whether the yaw brake caliper pressure value has reached 120bar. If not, the pressure is continued to be supplemented. If so, the yaw motor brake is activated, and the yaw pressure is continued to be supplemented to 170bar, and then it ends.

7. A wind turbine nacelle yaw control system according to claim 6, characterized in that: Before determining whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state, the method further includes: It is determined in real time whether the nacelle of the wind turbine generator set is yawed against the wind, and a first determination result is generated.

8. A yaw wind control system for a nacelle of a wind turbine generator set according to claim 7, characterized in that: The step of judging whether a wind turbine in a nacelle of a wind turbine generator set is in a power generation state comprises: When the first judgment result is yes, it is judged whether the wind turbine in the nacelle of the wind turbine generator set is in a power generation state.

9. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer is enabled to execute a method for controlling the yaw of a nacelle of a wind turbine generator set to wind according to any one of claims 1 to 5.

10. A device, characterized in that: The invention comprises the storage medium as claimed in claim 9 and a processor for executing instructions in the storage medium.

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