Yaw slip identification method and device for wind turbine generator set and wind turbine generator set

Abstract

The present invention relates to the field of wind power generation, and provides a yaw slip identification method, device and wind turbine generator set for a wind turbine generator set. The method includes: obtaining the cable torsion angle data and the brake state of the wind turbine generator set in a non-yaw state; intercepting at least one data segment with continuously changing cable torsion angle values from the cable torsion angle data; based on the data segment and the brake state, performing yaw slip identification on the wind turbine generator set to obtain a yaw slip identification result. Since the yaw slip identification is only directed to the data of the wind turbine generator set in the non-yaw state, the cable torsion angle generally does not change in the non-yaw state, and the yaw slip identification result obtained based on the data segment and the brake state of the cable torsion angle data in the non-yaw state is more accurate, and the yaw slip identification process is more convenient and reliable, solving the problems that the implementation process of the existing yaw slip identification method is cumbersome and the accuracy of the yaw slip identification result is low.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular, to a yaw slip identification method, device and wind turbine generator set for a wind turbine generator set. Background Art

[0002] As the main structure for wind control of a wind turbine generator set, the performance of the yaw system directly affects the power generation stability and wind energy utilization rate of the wind turbine generator set. Considering that the yaw slip phenomenon is an important factor affecting the operation stability of the wind turbine generator set, the identification of the yaw slip phenomenon is crucial.

[0003] Currently, the existing yaw slip identification methods are usually obtained by analyzing the yaw speed and yaw direction of the yaw system. The implementation process of this method is cumbersome and the accuracy of the obtained yaw slip identification result is low, which is difficult to meet the actual requirements. Summary of the Invention

[0004] The present invention provides a yaw slip identification method, device and wind turbine generator set for a wind turbine generator set, so as to solve the defects that the implementation process of the existing yaw slip identification method is cumbersome and the accuracy of the obtained yaw slip identification result is low, and to realize accurate and convenient yaw slip identification for the wind turbine generator set.

[0005] In a first aspect, the present invention provides a yaw slip identification method for a wind turbine generator set, the method comprising:

[0006] Obtaining the cable twist angle data and the brake state of the wind turbine generator set in a non-yaw state;

[0007] Intercepting at least one data segment with continuously changing cable twist angle values from the cable twist angle data;

[0008] Based on the data segment and the brake state, performing yaw slip identification on the wind turbine generator set to obtain a yaw slip identification result.

[0009] According to the yaw slip identification method for a wind turbine generator set provided by the present invention, the intercepting at least one data segment with continuously changing cable twist angle values from the cable twist angle data includes:

[0010] Performing a sliding window operation on the cable twist angle data to intercept a plurality of data sub-segments;

[0011] Calculating the mean value of the change amount of the cable twist angle values within the data sub-segments, and determining at least one of the data segments based on the mean value of the change amount.

[0012] According to the yaw slip identification method for a wind turbine generator set provided by the present invention, the determining at least one of the data segments based on the mean value of the change amount includes:

[0013] Determine whether the average value of the change amount is zero, and merge the data sub - segments with non - zero average value of the change amount with adjacent data sub - segments to obtain a merged segment;

[0014] When it is determined that the average value of the change amount is zero, determine the cutting position of the merged segment according to the data sub - segments with zero average value of the change amount;

[0015] Cut the merged segment based on the cutting position to obtain the data segment.

[0016] According to the yaw slip identification method of the wind turbine provided by the present invention, the obtaining of the brake state of the wind turbine in the non - yaw state includes:

[0017] Obtain the original operation data of the wind turbine;

[0018] Extract the key operation data in the non - yaw state from the original operation data;

[0019] Based on the electric - machine brake information, yaw - motor feedback information, yaw - brake pressure, and hydraulic - oil pressure in the key operation data, determine the brake state.

[0020] According to the yaw slip identification method of the wind turbine provided by the present invention, the determining of the brake state based on the electric - machine brake information, yaw - motor feedback information, yaw - brake pressure, and hydraulic - oil pressure in the key operation data includes:

[0021] Based on the electric - machine brake information and the yaw - motor feedback information, determine whether the wind turbine is in the electric - machine brake state to obtain a first judgment result;

[0022] Based on the yaw - brake pressure and the hydraulic - oil pressure, determine whether the wind turbine is in the yaw - brake state to obtain a second judgment result;

[0023] Based on the first judgment result and the second judgment result, determine the brake state.

[0024] According to the yaw slip identification method of the wind turbine provided by the present invention, the yaw slip identification of the wind turbine based on the data segment and the brake state to obtain a yaw slip identification result includes:

[0025] If, based on the data segment and the brake state, it is determined that the yaw - cable angle value continuously changes when the brake state is the electric - machine brake state, the yaw slip identification result is electric - machine - brake - yaw slip; and / or,

[0026] If, based on the data segment and the brake state, it is determined that the yaw cable angle value continuously changes when the brake state is the yaw brake state, the yaw slip recognition result is the yaw slip of the yaw brake.

[0027] According to the yaw slip recognition method of the wind turbine provided by the present invention, the obtaining of the yaw cable angle change data of the wind turbine in the non-yaw state includes:

[0028] Obtaining the original operation data of the wind turbine;

[0029] Extracting the key operation data in the non-yaw state from the original operation data;

[0030] Based on the time information and the yaw cable angle value in the key operation data, obtaining the yaw cable angle data.

[0031] According to the yaw slip recognition method of the wind turbine provided by the present invention, it further includes:

[0032] Based on the change amount and the change speed of the yaw cable angle value in the data segment, performing misjudgment detection on the yaw slip recognition result to obtain a misjudgment detection result;

[0033] Based on the misjudgment detection result, determining whether a yaw slip occurs.

[0034] In a second aspect, the present invention further provides a yaw slip recognition device for a wind turbine, and the device includes:

[0035] An obtaining module, configured to obtain the yaw cable angle data and the brake state of the wind turbine in the non-yaw state;

[0036] A first processing module, configured to intercept at least one data segment in which the yaw cable angle value continuously changes from the yaw cable angle data;

[0037] A second processing module, configured to perform yaw slip recognition on the wind turbine based on the data segment and the brake state to obtain a yaw slip recognition result.

[0038] In a third aspect, the present invention further provides a wind turbine, and the wind turbine uses any one of the above-mentioned yaw slip recognition methods of the wind turbine or includes the above-mentioned yaw slip recognition device of the wind turbine.

[0039] The yaw slip identification method, device and wind turbine generator set provided by the present invention obtain the cable twisting angle data and brake state of the wind turbine generator set in the non-yaw state, intercept at least one data segment with continuously changing cable twisting angle values from the cable twisting angle data, and based on the data segment and the brake state, identify the yaw slip of the wind turbine generator set. Since the yaw slip identification is only for the data of the wind turbine generator set in the non-yaw state, and the cable twisting angle generally does not change in the non-yaw state, therefore, the yaw slip identification result obtained based on the data segment of the cable twisting angle data in the non-yaw state and the brake state is more accurate, and the yaw slip identification process is more convenient and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is one of the flow diagrams of the yaw slip identification method for the wind turbine generator set provided by the present invention;

[0042] Figure 2 is the second flow diagram of the yaw slip identification method for the wind turbine generator set provided by the present invention;

[0043] Figure 3 is the time series diagram of the relevant data of the wind turbine generator set when the yaw slip phenomenon occurs;

[0044] Figure 4 is the time series diagram of the relevant data of the wind turbine generator set when the yaw slip phenomenon does not occur;

[0045] Figure 5 is the structural diagram of the yaw slip identification device for the wind turbine generator set provided by the present invention;

[0046] Figure 6 is the structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0048] The yaw system of a wind turbine controls the electric brake to adjust the windward angle of the blades by clamping the brake disc of the yaw brake with friction pads, so as to ensure that the pitch changes with the wind force, keep the blades in the windward state all the time, and ensure that the wind turbine can make full use of wind energy.

[0049] During the operation of the wind turbine, since the hardness of the brake disc of the yaw brake is greater than that of the friction pads, the friction pads are often severely worn. If abnormal wear occurs, such as the yaw slip phenomenon caused by insufficient braking torque, the brake disc will also be significantly affected, resulting in the abnormal operation of the yaw system or even instability, affecting the working stability and safety of the wind turbine. Therefore, this embodiment provides a yaw slip identification scheme for a wind turbine, which can effectively identify the yaw slip phenomenon of the wind turbine.

[0050] The following combines Figures 1 to 6 to describe the yaw slip identification method, device and wind turbine provided by the embodiments of the present invention.

[0051] Figure 1 FIG. shows the yaw slip identification method for a wind turbine provided by an embodiment of the present invention. The method includes:

[0052] Step 101: Obtain the cable-twisting angle data and the brake state of the wind turbine in the non-yaw state;

[0053] Step 102: Intercept at least one data segment with continuously changing cable-twisting angle values from the cable-twisting angle data;

[0054] Step 103: Based on the data segment and the brake state, perform yaw slip identification on the wind turbine to obtain a yaw slip identification result.

[0055] Considering that when the wind turbine is in the non-yaw state, such as when the yaw brake is locked, the cable-twisting angle generally does not change under normal circumstances, unless a yaw slip phenomenon occurs due to insufficient braking torque under extreme conditions such as strong winds, and then the cable-twisting angle will change significantly.

[0056] Therefore, this embodiment only obtains and analyzes the cable-twisting angle data of the wind turbine and the brake state of the wind turbine in the non-yaw state, and comprehensively determines the yaw slip identification result according to the relevant data segment and the brake state when the cable-twisting angle value changes continuously. The obtained yaw slip identification result is closer to the actual on-site state, so the accuracy and reliability are higher.

[0057] In an exemplary embodiment, obtaining the cable-twisting angle change data of the wind turbine in the non-yaw state may specifically include:

[0058] Obtain the original operation data of the wind turbine generator set;

[0059] Extract the key operation data in the non-yaw state from the original operation data;

[0060] Based on the time information and the cable-twisting angle value in the key operation data, obtain the cable-twisting angle data.

[0061] In this embodiment, the original operation data of the wind turbine generator set mainly refers to the second-level data recorded during the operation of the wind turbine generator set. The key operation data mainly includes multiple field data such as time information, cable-twisting angle value, yaw program number, yaw state, yaw control signal, electric brake information, feedback information of the yaw motor, yaw brake pressure, and hydraulic oil pressure.

[0062] Among them, the time information mainly represents the timestamp information of each field data and can reflect the recording time of each field data.

[0063] The cable-twisting angle value refers to the twisting angle of the cable in the wind turbine generator set, and this cable-twisting angle value is related to the yaw angle of the yaw system.

[0064] The yaw program number mainly represents the yaw type, such as yaw types like automatic yaw, automatic cable untwisting, remote yaw, and manual yaw.

[0065] The yaw state mainly represents two states, one is the yaw state, and the other is the non-yaw state, which can be judged by the status bit being 0 or 1. For example, in this embodiment, the yaw state being 0 indicates that the current is in the non-yaw state, and the yaw state being 1 indicates that the current is in the yaw state.

[0066] The yaw control signal mainly includes the yaw CCW (counterclockwise) control signal and the yaw CW (clockwise) control signal, and is mainly used to control the rotation direction of the yaw motor.

[0067] The electric brake information mainly reflects the working state of the electric brake of the yaw motor.

[0068] The feedback information of the yaw motor includes CW motor feedback information and CCW motor feedback information, and mainly reflects the working state of the yaw motor.

[0069] The yaw brake pressure and the hydraulic oil pressure can comprehensively reflect the working condition information of the yaw brake, and in this embodiment, it is mainly used to judge whether the yaw brake is in the holding brake state.

[0070] The above data can all be obtained through the existing hardware configuration of the wind turbine generator set, without the need to additionally install data acquisition devices such as sensors, making the yaw slip identification process easier to implement.

[0071] In the actual application process, considering that there may be some missing data in the key operation data, preprocessing operations can be performed after obtaining the key operation data to fill in the missing data. The specific data filling methods are as follows:

[0072] For the missing column data in the key operation data, fill it with a default value of 0;

[0073] For the missing row data in the key operation data, fill it according to the field type; among them, if the field type is a continuous value, perform continuous filling; for example, if there is some missing data in the yaw angle, the intermediate value can be taken based on the known data before and after the missing value for completion; if the field type is a status bit, perform forward filling. For example, for status data such as the yaw status, the missing status value can be completed according to the nearest known status value before the missing value.

[0074] In an exemplary embodiment, obtaining the brake state of the wind turbine in the non-yaw state may specifically include:

[0075] Obtain the original operation data of the wind turbine;

[0076] Extract the key operation data in the non-yaw state from the original operation data;

[0077] Based on the electric brake information, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data, determine the brake state.

[0078] In this embodiment, the brake state mainly refers to the two situations of the electric brake state and the yaw brake state of the wind turbine. In these two brake states, if the wind turbine operates normally without yaw slip problems, the yaw angle value will not change. If it is detected that the yaw angle value changes continuously in any of the above two brake states, it can be determined that the wind turbine has a yaw slip phenomenon.

[0079] Furthermore, based on the electric brake information, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data, determining the brake state may specifically include:

[0080] Based on the electric brake information and the feedback information of the yaw motor, determine whether the wind turbine is in the electric brake state to obtain a first judgment result;

[0081] Based on the yaw brake pressure and the hydraulic oil pressure, determine whether the wind turbine is in the yaw brake state to obtain a second judgment result;

[0082] Based on the first judgment result and the second judgment result, determine the brake state.

[0083] In this embodiment, according to the information of the motor brake and the feedback information of the yaw motor, the working state of the motor brake can be analyzed, such as being in a non - braking state or a braking state. Specifically, it can be determined based on data such as the operating conditions of the motor brake in the motor brake information and the motor speed value in the feedback information of the yaw motor.

[0084] Based on the yaw brake pressure and the hydraulic oil pressure, it is determined whether the wind turbine is in the yaw brake braking state. Specifically, it can be achieved through the following process:

[0085] First, it is determined whether the current yaw brake pressure and the hydraulic oil pressure meet the following several determination conditions, specifically including:

[0086] Whether the yaw brake pressure is greater than the first preset pressure value, whether the deviation value between the hydraulic oil pressure and the yaw brake pressure is less than the preset deviation value, whether the average change amount of the hydraulic oil pressure per second is less than the second preset pressure value, and whether the average change amount of the yaw brake pressure per second within the preset time duration is less than the third preset pressure value.

[0087] If the determination results of the above four determination conditions are all yes, that is, the yaw brake pressure is greater than the first preset pressure value, the deviation value between the hydraulic oil pressure and the yaw brake pressure is less than the preset deviation value, the average change amount of the hydraulic oil pressure per second is less than the second preset pressure value, and the average change amount of the yaw brake pressure per second within the preset time duration is less than the third preset pressure value, then it can be determined that the wind turbine is in the yaw brake braking state;

[0088] If one or more of the determination results of the above four determination conditions are no, then it can be determined that the wind turbine is not in the yaw brake braking state.

[0089] In an exemplary embodiment, at least one data segment with continuously changing yaw - twist angle values is intercepted from the yaw - twist angle data. Specifically, it can include:

[0090] Perform a sliding window operation on the yaw - twist angle data to intercept multiple data sub - segments;

[0091] Calculate the average change amount of the yaw - twist angle values within the data sub - segments, and determine at least one data segment based on the average change amount.

[0092] In this embodiment, the data sub - segment refers to the data segment covered by a single window in the sliding window operation, and the data segment refers to the data segment formed by merging one or more adjacent data sub - segments.

[0093] It can be understood that the average change amount of the yaw - twist angle values within the data sub - segment refers to the window average of the change amount of the yaw - twist angle values per second.

[0094] In an exemplary embodiment, determining at least one data segment based on the average value of the change amount may specifically include:

[0095] Determine whether the average value of the change amount is zero, and merge the data sub-segments with non-zero average values of the change amount with adjacent data sub-segments to obtain a merged segment;

[0096] When it is determined that the average value of the change amount is zero, determine the cutting position of the merged segment according to the data sub-segments with zero average values of the change amount;

[0097] Cut the merged segment based on the cutting position to obtain data segments.

[0098] In this embodiment, a sliding window operation is performed according to a pre-determined window size. Specifically, a forward sliding window and a backward sliding window can be performed at the current moment, and the average value of the change amount of the cable-twisting angle value within the data sub-segment is calculated. If the average value of the change amount is not zero, it indicates that the cable-twisting angle within the data sub-segment has changed. At this time, the data sub-segment can be merged with its adjacent data sub-segments, such as performing forward or backward segment merging, to obtain a merged segment;

[0099] If the average value of the change amount is zero, it indicates that the cable-twisting angle value in the data sub-segment has not changed. At this time, the cutting position can be determined according to the data sub-segment, and the adjacent merged segment to the data sub-segment can be intercepted to obtain a data segment.

[0100] It can be understood that if the data sub-segment with a zero average value of the change amount is located at the rear side of the merged segment, the start end of the data sub-segment with a zero average value of the change amount can be used as the cutting position; if the data sub-segment with a zero average value of the change amount is located at the front side of the merged segment, the end end of the data sub-segment with a zero average value of the change amount can be used as the cutting position.

[0101] Before the yaw slip recognition in this embodiment, the cable-twisting angle data is first screened for continuous segments to extract the data segments useful for recognition, which helps prevent abnormal jump data from affecting the recognition result, facilitates the elimination of abnormal data points, and can improve the effectiveness and accuracy of the yaw slip recognition result.

[0102] In the actual application process, considering that the data with yaw slip occurring within five consecutive seconds belongs to the same data sub-segment, the length of the window in the sliding window operation can be set to five seconds.

[0103] In an exemplary embodiment, based on the data segment and the brake state, the yaw slip of the wind turbine generator is recognized to obtain a yaw slip recognition result, which may specifically include:

[0104] If it is determined based on the data segment and the brake state that the yaw cable angle value continuously changes when the brake state is the motor brake state, the yaw slip recognition result is the motor brake yaw slip; and / or,

[0105] If it is determined based on the data segment and the brake state that the yaw cable angle value continuously changes when the brake state is the yaw brake state, the yaw slip recognition result is the yaw brake yaw slip.

[0106] In this embodiment, if it is detected that the current is in the motor brake state and at the same time the yaw cable angle value continuously changes, it can be preliminarily determined that the wind turbine generator set has motor brake yaw slip; if it is detected that the current is in the yaw brake state and at the same time the yaw cable angle value continuously changes, it can be preliminarily determined that the wind turbine generator set has yaw brake yaw slip. In this case, it may be due to insufficient braking torque of the yaw brake that causes yaw slip.

[0107] In the actual application process, one of the above two yaw slip phenomena may occur, or both may occur at the same time. If only one of them occurs, it can be determined that the wind turbine generator set has a general fault. If both yaw slip phenomena occur at the same time, it can be determined that the wind turbine generator set has a serious fault.

[0108] Figure 2 The following shows an implementation process of the yaw slip recognition method for a wind turbine generator set in an embodiment of the present invention:

[0109] Step 201: Obtain key operation data from the original operation data;

[0110] Step 202: Fill in the missing data, where the missing column data is filled with 0, and the missing row data is filled according to the field type;

[0111] Step 203: Screen out the data segments in which the yaw cable angle value continuously changes under the non-yaw state from the yaw cable angle data;

[0112] Step 204: Determine whether the yaw cable angle value continuously changes under the motor brake state;

[0113] Step 205: If the judgment result of step 204 is yes, it can be determined that motor brake yaw slip occurs;

[0114] Step 206: Determine whether there is a continuous change in the cable twisting angle value in the yaw brake holding state, that is, determine whether the following conditions are simultaneously met: the yaw brake pressure is greater than the first preset pressure value P1, the deviation value between the hydraulic oil pressure and the yaw brake pressure is less than the preset deviation value d, the average change amount of the hydraulic oil pressure per second is less than the second preset pressure value P2, the average change amount of the yaw brake pressure per second within the preset time duration is less than the third preset pressure value P3, and the cable twisting angle value changes continuously;

[0115] Step 207: If the judgment conditions in the above Step 206 are simultaneously met, it can be determined that yaw slip occurs with the yaw brake holding;

[0116] Step 208: If it is determined that motor braking yaw slip occurs and yaw slip occurs with the yaw brake holding, it is determined that the wind turbine has a serious fault;

[0117] Step 209: If motor braking yaw slip does not occur, but yaw slip occurs with the yaw brake holding, it is determined that the wind turbine has a general fault;

[0118] Step 210: If motor braking yaw slip occurs, but yaw slip does not occur with the yaw brake holding, it is determined that the wind turbine has a general fault;

[0119] Step 211: If neither motor braking yaw slip nor yaw slip occurs with the yaw brake holding, it is determined that the wind turbine is normal.

[0120] Figure 3 The data state during yaw slip caused by insufficient braking torque of the yaw brake is shown, Figure 3 (a) and Figure 3 (b) show the time series diagram of the cable twisting angle, that is, the change state diagram of the cable twisting angle over time, Figure 3 (c) and Figure 3 (d) show the time series diagram of the yaw brake pressure, that is, the change state diagram of the yaw brake pressure over time, Figure 3 (e) and Figure 3 (f) both show the time series diagrams corresponding to the motor brake information, CW motor feedback information, and CCW motor feedback information of the yaw motor. At the same time, Figure 3 (e) and Figure 3 (f) also show the schematic diagram of the identification bit indicating whether it is filled data. Specifically, Figure 3 (e) and Figure 3 (f) the data identified by cross-shaped points in the first row are all motor brake information, the data identified by solid circular points in the second row are all CW motor feedback information, the data identified by hollow circular points in the third row are all CCW motor feedback information, and the data identified by diamond blocks with relatively small values are the identification bit information indicating whether it is filled data.

[0121] Among them, Figure 3 (a), Figure 3 (c) and Figure 3 (e) respectively correspond to the data segments (i.e., slip intervals) where yaw slip occurs and the data states 150 seconds before and after each of these segments. Figure 3 (b), Figure 3 (d) and Figure 3 (f) respectively correspond to the data segments where yaw slip occurs and the data states 5 seconds before and after each of these segments. Figure 3 In the shown scenario, the wind turbine yaws and slips 11.25 degrees during full braking.

[0122] Figure 4 Shows the normal data corresponding to a wind turbine without yaw slip. Among them, Figure 4 (a) shows the timing diagram of the cable-twisting angle in the normal state. Figure 4 (b) shows the timing diagram of the yaw brake pressure in the normal state. Figure 4 (c) shows the information of the motor brake of the yaw motor, the CW motor feedback information, the CCW motor feedback information, and the flag bit information indicating whether it is filled data in the normal state. It can be seen from Figure 4 that in the normal state, the cable-twisting angle, yaw brake pressure, motor brake information, CW motor feedback information, and CCW motor feedback information do not change with time.

[0123] In an exemplary embodiment, the yaw slip identification method for the wind turbine provided by the present invention may further include:

[0124] Based on the change amount and change speed of the cable-twisting angle value in the data segment, perform misjudgment detection on the yaw slip identification result to obtain a misjudgment detection result;

[0125] Based on the misjudgment detection result, determine whether yaw slip occurs.

[0126] Considering that although it is possible to identify whether yaw slip occurs to a large extent by only judging the change in the cable-twisting angle and based on the brake state, the obtained results still have misjudgment situations. The occurrence of misjudgment situations will affect the accuracy of the yaw slip identification result to a certain extent. Therefore, in this embodiment, after obtaining the yaw slip identification result, an error detection link is added. By comprehensively judging the change amount and change speed of the cable-twisting angle value in the data segment, it is determined whether the yaw slip identification result is reliable. Thus, based on the misjudgment detection result, it can be finally determined whether yaw slip occurs, which can greatly improve the accuracy and reliability of the yaw slip identification process.

[0127] Further, based on the change amount and change speed of the cable-twisting angle value in the data segment, misjudgment detection is performed on the yaw slip recognition result to obtain a misjudgment detection result, which may specifically include:

[0128] If the change amount of the cable-twisting angle value is greater than the preset change amount threshold and the change speed of the cable-twisting angle value is less than the preset change speed threshold, the misjudgment detection result is that the yaw slip recognition result is non-misjudged data;

[0129] If the change amount of the cable-twisting angle value is less than the preset change amount threshold and / or the change speed of the cable-twisting angle value is greater than the preset change speed threshold, the misjudgment detection result is that the yaw slip recognition result is misjudged data.

[0130] For the yaw slip recognition result determined to be misjudged data, this embodiment will not use it as the final yaw slip recognition result. A new round of yaw slip recognition process can be performed on this basis to re-obtain a new yaw slip recognition result. If the yaw slip recognition result is non-misjudged data, it can be used as the final yaw slip recognition result, and at this time, it can be determined that a yaw slip phenomenon occurs.

[0131] In this embodiment, the preset change amount threshold can take a value of 1.2 degrees, and the preset change speed threshold can take any value from 1.5 degrees / second to 3 degrees / second. The specific threshold value can be reasonably set according to the actual application scenario and will not be elaborated here.

[0132] To ensure the safe operation of the wind turbine generator, when it is determined that a yaw slip phenomenon occurs, abnormal prompt and measure protection can be carried out by means of early warning prompts or taking protection measures to prevent the wind turbine generator from shutting down or having a safety accident due to the yaw slip problem.

[0133] This embodiment of the invention mainly diagnoses the slip phenomenon caused by insufficient braking torque of the wind turbine generator in a non-yaw state based on the action data of the cable-twisting angle of the wind turbine generator. In the actual application process, the yaw slip phenomenon can also be recognized according to the rotation speed of the yaw motor. The specific implementation method can be: when the wind turbine generator is in a passive yaw state, that is, without motor drive and without braking, judge and recognize whether the wind turbine generator has a yaw slip according to the monitored motor rotation speed or the motor rotation speed calculated by the change speed of the yaw cable-twisting angle and the gear ratio.

[0134] The yaw slip recognition device of the wind turbine generator provided by the present invention will be described below. The yaw slip recognition device of the wind turbine generator described below can be mutually referred to the yaw slip recognition method of the wind turbine generator described above.

[0135] Figure 5The figure shows a yaw slip identification device for a wind turbine provided by an embodiment of the present invention. The device includes:

[0136] An acquisition module 501, configured to acquire the cable twisting angle data and the brake state of the wind turbine in a non-yaw state;

[0137] A first processing module 502, configured to intercept at least one data segment with continuously changing cable twisting angle values from the cable twisting angle data;

[0138] A second processing module 503, configured to perform yaw slip identification on the wind turbine based on the data segment and the brake state to obtain a yaw slip identification result.

[0139] In an exemplary embodiment, the first processing module 502 may specifically be configured to:

[0140] Perform a sliding window operation on the cable twisting angle data to intercept multiple data sub-segments;

[0141] Calculate the average change amount of the cable twisting angle values within the data sub-segments, and determine at least one data segment based on the average change amount.

[0142] Further, the first processing module 502 may specifically implement the determination of at least one data segment based on the average change amount through the following process:

[0143] Judge whether the average change amount is zero, and merge the data sub-segments with non-zero average change amounts with adjacent data sub-segments to obtain merged segments;

[0144] When it is determined that the average change amount is zero, determine the cutting positions of the merged segments according to the data sub-segments with zero average change amounts;

[0145] Cut the merged segments based on the cutting positions to obtain data segments.

[0146] In an exemplary embodiment, the acquisition module 501 may specifically implement the acquisition of the brake state of the wind turbine in a non-yaw state through the following process:

[0147] Acquire the original operation data of the wind turbine;

[0148] Extract the key operation data in the non-yaw state from the original operation data;

[0149] Based on the electric brake information, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data, determine the brake state.

[0150] Further, the obtaining module 501 can specifically implement the determination of the brake state based on the information of the motor brake, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data through the following process:

[0151] Based on the information of the motor brake and the feedback information of the yaw motor, determine whether the wind turbine generator is in the motor brake braking state to obtain a first determination result;

[0152] Based on the yaw brake pressure and the hydraulic oil pressure, determine whether the wind turbine generator is in the yaw brake braking state to obtain a second determination result;

[0153] Based on the first determination result and the second determination result, determine the brake state.

[0154] In an exemplary embodiment, the above-mentioned second processing module 503 can specifically be used for:

[0155] If it is determined based on the data segment and the brake state that the cable twisting angle value continuously changes when the brake state is the motor brake braking state, the yaw slip identification result is the motor brake braking yaw slip; and / or,

[0156] If it is determined based on the data segment and the brake state that the cable twisting angle value continuously changes when the brake state is the yaw brake braking state, the yaw slip identification result is the yaw brake braking yaw slip.

[0157] In an exemplary embodiment, the obtaining module 501 can specifically implement the obtaining of the cable twisting angle change data of the wind turbine generator in the non-yaw state through the following process:

[0158] Obtain the original operation data of the wind turbine generator;

[0159] Extract the key operation data in the non-yaw state from the original operation data;

[0160] Based on the time information and the cable twisting angle value in the key operation data, obtain the cable twisting angle data.

[0161] In an exemplary embodiment, the yaw slip identification device of the wind turbine generator provided by the present invention may further include:

[0162] A misjudgment detection module, configured to perform misjudgment detection on the yaw slip identification result based on the change amount and the change speed of the cable twisting angle value in the data segment to obtain a misjudgment detection result; and determine whether a yaw slip occurs based on the misjudgment detection result.

[0163] In summary, the yaw slip identification device for a wind turbine provided by the embodiment of the present invention obtains the cable torsion angle data and the brake state of the wind turbine in a non-yaw state through an acquisition module, intercepts at least one data segment with continuously changing cable torsion angle values from the cable torsion angle data through a first processing module, and based on the data segment and the brake state, performs yaw slip identification on the wind turbine through a second processing module. Since the yaw slip identification is only for the data of the wind turbine in the non-yaw state, and the cable torsion angle generally does not change in the non-yaw state, therefore, the yaw slip identification result obtained based on the data segment determined from the cable torsion angle data in the non-yaw state and the brake state is more accurate, and the yaw slip identification process is more convenient and reliable.

[0164] In addition, the embodiment of the present invention further provides a wind turbine. The wind turbine uses the above-mentioned yaw slip identification method for a wind turbine or includes the above-mentioned yaw slip identification device for a wind turbine, and can realize an accurate and convenient yaw slip identification function.

[0165] Figure 6 An example of a schematic physical structure diagram of an electronic device is shown as Figure 6 shown. The electronic device may include: a processor 601, a communication interface 602, a memory 603, and a communication bus 604. Among them, the processor 601, the communication interface 602, and the memory 603 complete mutual communication through the communication bus 604. The processor 601 can call the logical instructions in the memory 603 to execute the yaw slip identification method for a wind turbine, and the method includes: obtaining the cable torsion angle data and the brake state of the wind turbine in a non-yaw state; intercepting at least one data segment with continuously changing cable torsion angle values from the cable torsion angle data; and based on the data segment and the brake state, performing yaw slip identification on the wind turbine to obtain a yaw slip identification result.

[0166] In addition, when the logical instructions in the above-mentioned memory 603 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0167] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the yaw slip identification method of the wind turbine provided in the above-mentioned various embodiments. The method includes: obtaining the cable-twisting angle data and the brake state of the wind turbine in a non-yaw state; intercepting at least one data segment in which the cable-twisting angle values continuously change from the cable-twisting angle data; and based on the data segment and the brake state, performing yaw slip identification on the wind turbine to obtain a yaw slip identification result.

[0168] In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the yaw slip identification method of the wind turbine provided in the above-mentioned various embodiments. The method includes: obtaining the cable-twisting angle data and the brake state of the wind turbine in a non-yaw state; intercepting at least one data segment in which the cable-twisting angle values continuously change from the cable-twisting angle data; and based on the data segment and the brake state, performing yaw slip identification on the wind turbine to obtain a yaw slip identification result.

[0169] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0170] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0171] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A yaw slip identification method for a wind turbine generator, characterized in that Including: Obtaining the cable-twisting angle data and the brake state of the wind turbine generator set in a non-yaw state; Intercepting at least one data segment in which the cable-twisting angle values change continuously from the cable-twisting angle data; Based on the data segment and the brake state, performing yaw slip identification on the wind turbine generator set to obtain a yaw slip identification result; The intercepting at least one data segment in which the cable-twisting angle values change continuously from the cable-twisting angle data includes: Performing a sliding window operation on the cable-twisting angle data to intercept a plurality of data sub-segments; Calculating the average change amount of the cable-twisting angle values within the data sub-segments, and determining at least one of the data segments based on the average change amount.

2. The yaw slip identification method of the wind turbine according to claim 1, characterized in that, The determining at least one of the data segments based on the average change amount includes: Judging whether the average change amount is zero, merging the data sub-segments with non-zero average change amounts with adjacent data sub-segments to obtain a merged segment; When it is determined that the average change amount is zero, determining the cutting position of the merged segment according to the data sub-segments with zero average change amounts; Cutting the merged segment based on the cutting position to obtain the data segment.

3. The yaw slip identification method of the wind turbine according to claim 1, characterized in that The obtaining the brake state of the wind turbine generator set in a non-yaw state includes: Obtaining the original operation data of the wind turbine generator set; Extracting the key operation data in the non-yaw state from the original operation data; Based on the motor brake information, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data, determining the brake state.

4. The yaw slip identification method of a wind turbine according to claim 3, characterized in that, The determining the brake state based on the motor brake information, the feedback information of the yaw motor, the yaw brake pressure, and the hydraulic oil pressure in the key operation data includes: Based on the motor brake information and the feedback information of the yaw motor, judging whether the wind turbine generator set is in the motor brake state to obtain a first judgment result; Based on the yaw brake pressure and the hydraulic oil pressure, judging whether the wind turbine generator set is in the yaw brake state to obtain a second judgment result; Based on the first judgment result and the second judgment result, determining the brake state.

5. The yaw slip identification method of a wind turbine according to any one of claims 1 to 4, characterized in that, The performing yaw slip identification on the wind turbine generator set based on the data segment and the brake state to obtain a yaw slip identification result includes: If, based on the data segment and the brake state, it is determined that the cable-twisting angle values change continuously when the brake state is the motor brake state, the yaw slip identification result is motor brake yaw slip; and / or, If, based on the data segment and the brake state, it is determined that the cable-twisting angle values change continuously when the brake state is the yaw brake state, the yaw slip identification result is yaw brake yaw slip.

6. The yaw slip identification method of a wind turbine according to any one of claims 1 to 4, characterized in that The obtaining the cable-twisting angle change data of the wind turbine generator set in a non-yaw state includes: Obtaining the original operation data of the wind turbine generator set; Extracting the key operation data in the non-yaw state from the original operation data; Based on the time information and the yaw cable angle value in the key operation data, the yaw cable angle data is obtained.

7. The yaw slip identification method for a wind turbine according to any one of claims 1 to 4, characterized in that Further included: Based on the change amount and change speed of the yaw cable angle value in the data segment, false judgment detection is performed on the yaw slip identification result to obtain a false judgment detection result; Based on the false judgment detection result, it is determined whether yaw slip occurs.

8. A yaw slip identification device for a wind turbine generator, characterized in that Including: An acquisition module for acquiring the yaw cable angle data and the brake state of the wind turbine generator set in a non-yaw state; A first processing module for intercepting at least one data segment with continuous change of the yaw cable angle value from the yaw cable angle data; A second processing module for performing yaw slip identification on the wind turbine generator set based on the data segment and the brake state to obtain a yaw slip identification result; The first processing module is specifically configured to perform a sliding window operation on the yaw cable angle data to intercept a plurality of data sub-segments; calculate the average value of the change amount of the yaw cable angle value within the data sub-segments, and determine at least one of the data segments based on the average value of the change amount.

9. A wind power generating set, characterized in that, The wind turbine generator set uses the yaw slip identification method of the wind turbine generator set according to any one of claims 1 to 7 or includes the yaw slip identification device of the wind turbine generator set according to claim 8.

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