A wind turbine yaw control method, device and system

Abstract

The present invention provides a method, device, and system for controlling the yaw of a wind turbine, belonging to the field of automated control. The method comprises: receiving yaw requests sent by multiple wind turbines when the wind turbine is in a backup power supply mode; obtaining a yaw observation parameter set for each wind turbine; obtaining a yaw priority sequence based on the yaw observation parameter set for each wind turbine; and controlling the backup power supply to sequentially power the yaw actions of the multiple wind turbines according to the yaw priority sequence. The method, device, and system for controlling the yaw of a wind turbine provided by the present invention quantitatively evaluate and schedule the yaw priority of each wind turbine in the wind turbine that meets the yaw conditions. While ensuring the safety of the wind turbines, this method enables the yaw power supply of the entire wind turbine to be supplied by a single backup power supply, effectively improving resource utilization efficiency and reducing costs.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a yaw control method, device and system for a wind turbine generator set. Background Art

[0002] At present, when the wind turbine is in the backup power supply mode, there are two main types of yaw control using the backup power supply: one backup power supply is configured for the entire wind turbine to be used by multiple wind turbines, or an independent backup power supply is configured for each wind turbine so that each wind turbine can perform autonomous yaw control.

[0003] A backup power supply is configured for the entire wind turbine group to be used by multiple wind turbines. Most of the time, power is supplied to each wind turbine in batches, or power is supplied to each wind turbine or group by group along the wind direction according to changes in wind speed and direction. This cannot effectively determine the wind load conditions of each wind turbine and the urgency of yaw, and there is a great risk.

[0004] Each wind turbine is equipped with an independent backup power supply so that each wind turbine can perform autonomous yaw control. However, due to the high cost of backup power, it will cause waste of resources and fail to maximize the value of the backup power supply. Summary of the Invention

[0005] The present invention provides a wind turbine yaw control method, device and system, which are used to solve the problem that the existing technology uses a single backup power supply for yaw power supply, which cannot effectively determine the wind load conditions of each wind turbine and the urgency of yaw, while the yaw power supply method of configuring an independent backup power supply for each wind turbine has the defect of wasting resources. The method can effectively improve the utilization efficiency of the backup power supply while ensuring the safety of the wind turbine.

[0006] In a first aspect, the present invention provides a method for controlling yaw of a wind turbine, comprising: receiving yaw requests sent by a plurality of wind turbines when the wind turbine is in a backup power supply mode;

[0007] Obtaining a yaw observation parameter set for each wind turbine among the plurality of wind turbines;

[0008] Based on the yaw observation parameter set of each wind turbine, obtaining a yaw priority sequence of the plurality of wind turbines;

[0009] The backup power supply is controlled to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0010] According to a wind turbine yaw control method provided by the present invention, obtaining the yaw priority sequence of the multiple wind turbines based on the yaw observation parameter set of each wind turbine includes:

[0011] Based on the entropy weight method, determine the indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine to obtain a normalized decision matrix corresponding to each yaw observation parameter set;

[0012] Based on a superior-inferior solution distance method and according to a normalized decision matrix corresponding to each wind turbine in the plurality of wind turbines, a yaw priority sequence of the plurality of wind turbines is determined.

[0013] According to a wind turbine yaw control method provided by the present invention, the entropy weight method is used to determine the indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine to obtain a normalized decision matrix corresponding to each yaw observation parameter set, including:

[0014] Constructing an initial decision matrix corresponding to each of the yaw observation parameter sets;

[0015] Normalizing the initial decision matrix to obtain a normalized decision matrix;

[0016] Calculate the information entropy corresponding to each observed variable, and calculate the output entropy corresponding to each observed variable;

[0017] Determine the indicator weight corresponding to each observed variable according to the difference between the output entropies;

[0018] According to the indicator weight corresponding to each observed variable, the normalized decision matrix is ​​weighted transformed to obtain the normalized decision matrix.

[0019] According to a wind turbine yaw control method provided by the present invention, the method is based on the superior-inferior solution distance method and determines the yaw priority sequence of the multiple wind turbines according to the normalized decision matrix corresponding to each wind turbine in the multiple wind turbines, including:

[0020] Calculating, based on a normalized decision matrix corresponding to each of the plurality of wind turbines, a distance between a decision parameter associated with each wind turbine and a positive or negative ideal solution;

[0021] Determine the closeness of each wind turbine-related decision parameter to the positive and negative ideal solutions based on the distance between each wind turbine-related decision parameter and the positive and negative ideal solutions;

[0022] determining a yaw priority sequence of the plurality of wind turbines based on a proximity degree associated with each wind turbine in the plurality of wind turbines;

[0023] The positive ideal solution among the positive and negative ideal solutions is the maximum value in the normalized decision matrix, and the negative ideal solution among the positive and negative ideal solutions is the minimum value in the normalized decision matrix.

[0024] According to a wind turbine yaw control method provided by the present invention, obtaining the yaw priority sequence of the multiple wind turbines based on the yaw observation parameter set of each wind turbine includes:

[0025] determining a yaw level of each wind turbine according to a yaw observation parameter set of each wind turbine among the plurality of wind turbines;

[0026] A yaw priority sequence of the plurality of wind turbines is determined according to the magnitude of the yaw levels.

[0027] According to a wind turbine yaw control method provided by the present invention, after controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence, the execution status of the yaw action of the wind turbine with the highest yaw priority is obtained;

[0028] When it is determined that the execution status is completed, the steps of receiving yaw requests sent by multiple wind turbines and supplying power to the wind turbine with the highest yaw priority among the multiple wind turbines for yaw action are iteratively executed until no yaw request is received from any wind turbine or the wind turbine group exits the backup power supply mode.

[0029] According to a wind turbine yaw control method provided by the present invention, the observation variables in the yaw observation parameter set of each wind turbine include at least one of wind direction deviation, nacelle front and rear vibration value, and nacelle lateral vibration value.

[0030] In a second aspect, the present invention provides a wind turbine yaw control device, comprising:

[0031] An information receiving unit, configured to receive yaw requests sent by multiple wind turbines when the wind turbine generator set is in a backup power supply mode;

[0032] a data acquisition unit, configured to obtain a yaw observation parameter set of each wind turbine among the plurality of wind turbines;

[0033] a data processing unit, configured to obtain a yaw priority sequence of the plurality of wind turbines based on a yaw observation parameter set of each wind turbine;

[0034] The yaw decision unit is used to control the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0035] In a third aspect, the present invention provides a wind turbine yaw control system, comprising a booster station, a backup power supply, a collector line, and an optical fiber ring network;

[0036] The booster station is connected to each wind turbine in the wind turbine generator set via the collector line;

[0037] The backup power supply is connected to the collector line via a main circuit breaker;

[0038] Each wind turbine is connected to the collector circuit via a circuit breaker;

[0039] Each wind turbine in the wind turbine generator set is connected via the optical fiber ring network communication;

[0040] One wind turbine in the wind turbine group is a master wind turbine, and the other wind turbines in the wind turbine group except the master wind turbine are slave wind turbines;

[0041] The wind turbine yaw control method of any one of the first aspects is run on the master station wind turbine to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby realizing yaw control of each slave station wind turbine.

[0042] In a fourth aspect, the present invention further provides a wind turbine yaw control system, comprising a booster station, a backup power supply, a collector line, an optical fiber ring network, and a control system;

[0043] The booster station is connected to each wind turbine in the wind turbine generator set via the collector line;

[0044] The backup power supply is connected to the collector line via a main circuit breaker;

[0045] Each wind turbine is connected to the collector circuit via a circuit breaker;

[0046] The control system is communicatively connected with each wind turbine in the wind turbine generator set via the optical fiber ring network;

[0047] The wind turbine yaw control method described in any one of the first aspects is run in the control system to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby achieving yaw control of each wind turbine.

[0048] In a fifth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-described wind turbine yaw control methods are implemented.

[0049] In a sixth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described wind turbine yaw control methods.

[0050] The wind turbine yaw control method, device and system provided by the present invention quantitatively evaluate and schedule the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, the yaw power supply for the entire wind turbine is realized by a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 This is one of the flow charts of the wind turbine yaw control method provided by the present invention;

[0053] Figure 2 This is the second flow chart of the wind turbine yaw control method provided by the present invention;

[0054] Figure 3 It is a structural schematic diagram of the yaw control device for a wind turbine provided by the present invention;

[0055] Figure 4 This is one of the structural schematic diagrams of the wind turbine yaw control system provided by the present invention;

[0056] Figure 5 This is the second structural diagram of the wind turbine yaw control system provided by the present invention;

[0057] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0059] It should be noted that in the description of the embodiments of the present invention, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element. Terms such as "upper" and "lower" indicate positions or location relationships based on those shown in the accompanying drawings and are intended solely for ease of description and simplification of the present invention. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present invention. Unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be broadly construed, for example, to mean a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or internal communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the previous and subsequent related objects are in an "or" relationship.

[0061] The following combination Figures 1-6 The wind turbine yaw control method, device and system provided by the embodiments of the present invention are described.

[0062] Figure 1 This is one of the flow charts of the wind turbine yaw control method provided by the present invention, such as Figure 1 As shown, the execution subject may be a controller installed in any wind turbine in the wind turbine group, or an independently installed controller, such as a Supervisory Control And Data Acquisition (SCADA) system. The present invention does not make specific limitations on this. The above-mentioned controller mainly performs but is not limited to the following steps:

[0063] Step 101: When a wind turbine generator set is in a backup power supply mode, receiving yaw requests sent by multiple wind turbines.

[0064] Due to external factors such as typhoons, equipment failures, etc., the high-voltage power grid transmission of the wind turbine will fail or there will be an artificial power outage, causing the wind turbines in the wind turbine to stop in their original state and unable to perform yaw movements.

[0065] The wind turbine yaw control method provided by the present invention incorporates a backup power supply during initial installation. This backup power supply is used promptly to meet the yaw requirements of each wind turbine in the event of a power failure in a high-voltage power grid, such as a booster station. When a high-voltage power grid, such as a booster station, fails, the backup power supply can be used to ensure that each wind turbine tracks wind direction changes in real time, maintaining a safe yaw position.

[0066] However, if all wind turbines in the entire wind turbine group are to be yaw controlled at the same time, the amount of electricity required at the moment is very high. In the existing technology, a backup power supply is independently configured for each wind turbine, or an ultra-large capacity backup power supply is configured to meet the needs of simultaneous yaw control of all wind turbines. This will result in excessively high construction and investment costs.

[0067] Based on the above considerations, the wind turbine yaw control method provided by the present invention relies on a single backup power supply of conventional capacity, connected to the power input of each wind turbine via a collector line. Each wind turbine determines whether yaw adjustment is necessary based on its current yaw observation parameters, such as wind speed and direction deviation, combined with its own status. If yaw adjustment is required for any wind turbine, it sends a yaw request to the controller.

[0068] After receiving the yaw requests sent by all wind turbines that need yaw adjustment, the controller can respond to the yaw requests sent by each wind turbine at any time when it determines that the wind turbine is in the high-voltage power grid transmission mode such as the booster station, and the high-voltage power grid such as the booster station will simultaneously supply power to each wind turbine that needs yaw adjustment.

[0069] The key to be protected by the present invention is that when the controller determines that the wind turbine is in the backup power supply mode, the controller needs to make a comprehensive decision based on all the received multiple wind turbines that need to be yaw adjusted to determine the appropriate power distribution method, so that only one backup power supply can be used to meet the yaw adjustment needs of the relevant wind turbines while ensuring the safety of each wind turbine.

[0070] It should be noted that the diesel generator can be started manually through SCADA or automatically started after a power failure in the collector line is detected. If the start is successful, all wind turbines in the wind turbine group will be sent to the backup power supply mode.

[0071] Step 102: Obtain a yaw observation parameter set of each wind turbine in the plurality of wind turbines.

[0072] Specifically, after determining that the wind turbine is in the backup power supply mode, the controller receives yaw requests sent by multiple wind turbines (that is, these multiple wind turbines all have yaw adjustment requirements), and obtains the yaw observation parameters of each wind turbine in the current state and constructs a yaw observation parameter set for each wind turbine.

[0073] As an optional embodiment, the above-mentioned yaw observation parameters may include but are not limited to parameters affecting the yaw requirement, such as wind direction deviation and cabin vibration value, which are not specifically limited in the present invention.

[0074] In this way, for a wind turbine with n wind turbines, an initial decision matrix can be constructed based on the yaw observation parameter set related to each wind turbine, assuming that the number of observation variables in the yaw observation parameter set is 3:

[0075]

[0076] Among them, x n1 represents the first observed variable value of the nth wind turbine, x n2 represents the second observed variable value of the nth wind turbine, x n3 Represents the third observed variable value of the nth wind turbine.

[0077] Optionally, the first observed variable may be the wind direction deviation, the second observed variable may be the front-to-back vibration amplitude, and the third observed variable may be the lateral vibration amplitude.

[0078] Step 103: obtaining a yaw priority sequence of the plurality of wind turbines based on a yaw observation parameter set of each wind turbine;

[0079] After obtaining the information that the wind turbine is in the backup power supply mode, a yaw observation parameter set is constructed based on the observation variable values ​​of all wind turbines with yaw requirements collected at the current sampling moment. Based on the yaw observation parameter set, the number of wind turbines with yaw requirements can be counted, and the yaw urgency of each wind turbine can be calculated, and a yaw priority sequence can be compiled from high to low based on the yaw urgency of each wind turbine.

[0080] Step 104: Control the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0081] Finally, a controller (eg, SCADA) may issue a yaw permission instruction to the wind turbine with the highest priority in the yaw priority sequence. The wind turbine with the highest priority is the wind turbine with the highest yaw urgency.

[0082] The wind turbine yaw control method provided by the present invention quantitatively evaluates and schedules the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, it realizes the yaw power supply of the entire wind turbine set through a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs.

[0083] Based on the content of the above embodiment, as an optional embodiment, obtaining the yaw priority sequence of the multiple wind turbines based on the yaw observation parameter set of each wind turbine includes:

[0084] Based on the entropy weight method, determine the indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine to obtain a normalized decision matrix corresponding to each yaw observation parameter set;

[0085] Based on a superior-inferior solution distance method and according to a normalized decision matrix corresponding to each wind turbine in the plurality of wind turbines, a yaw priority sequence of the plurality of wind turbines is determined.

[0086] The entropy weight method is an objective weighting method. In the specific use of the present invention, the output entropy of each observation variable is calculated using information entropy according to the degree of dispersion of the data of each observation variable in the yaw observation parameter set, and then a more objective indicator weight is obtained based on the difference between the output entropies of each observation variable.

[0087] After obtaining the index weight of each observation variable in the yaw observation parameter set, the index weight of each variable can be used to weight the above initial decision matrix corresponding to the yaw observation parameter set to obtain a weighted normalized decision matrix.

[0088] Finally, the Technique for Order Preference by Similarity to an Ideal Solution (TOPSIS) method in multi-objective decision analysis is used to calculate the decision parameters for determining the yaw urgency based on the normalized decision matrix. The yaw urgency of each wind turbine is ranked according to the distance between the decision parameters of each wind turbine and the positive and negative ideal solutions, and the yaw priority sequence of all wind turbines with yaw requirements is obtained.

[0089] The wind turbine yaw control method provided by the present invention combines the entropy weight method with the TOPSIS sorting method, and can sort the yaw priority of each wind turbine with yaw demand according to multiple observed variable values ​​of each wind turbine at the current moment, such as wind direction deviation, vibration conditions, etc., so that a backup battery can be used to preferentially power the wind turbine with the highest yaw urgency. By iterating the above process, all wind turbines with yaw demand can perform yaw actions one by one, which can effectively improve resource utilization efficiency while ensuring the safety of the wind turbines.

[0090] Based on the content of the above embodiment, as an optional embodiment, the entropy weight method is used to determine the indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine to obtain a normalized decision matrix corresponding to each yaw observation parameter set, including:

[0091] Constructing an initial decision matrix corresponding to each of the yaw observation parameter sets;

[0092] Normalizing the initial decision matrix to obtain a normalized decision matrix;

[0093] Calculate the information entropy corresponding to each observed variable, and calculate the output entropy corresponding to each observed variable;

[0094] Determine the indicator weight corresponding to each observed variable according to the difference between the output entropies;

[0095] According to the indicator weight corresponding to each observed variable, the normalized decision matrix is ​​weighted transformed to obtain the normalized decision matrix.

[0096] For ease of description, in the embodiments provided by the present invention, an example is given in which the observed variables in the yaw observation parameter set include wind direction deviation, front-to-back vibration amplitude, and lateral vibration amplitude.

[0097] 1) For a ring network with n wind turbines, the observed variables involved in the yaw urgency judgment can be organized into an initial decision matrix X:

[0098]

[0099] Among them, x n1 Indicates the first wind direction deviation of the nth wind turbine, x n2 represents the front and rear vibration amplitude of the nth fan, x n3 Indicates the lateral vibration amplitude of the nth fan.

[0100] 2) The above initial decision matrix is ​​normalized, mainly including normalization, and the normalized decision matrix X can be obtained. * :

[0101] X * =(y ij ) nx3 ;

[0102]

[0103] Among them, x ij It refers to the value of the jth observed variable of the i-th wind turbine.

[0104] 3) Further, the information entropy of the above observed variables is calculated respectively, and the calculation formula is:

[0105]

[0106] Among them, S(y i ) is the information entropy of the observed variables of the i-th wind turbine.

[0107] 4) Based on the information entropy calculated in the previous step, the output entropy corresponding to each observed variable can be solved. The specific calculation formula can be expressed as:

[0108] S j =S(y i ) / ln(n);

[0109] Furthermore, the indicator weight corresponding to each observed variable can be calculated based on the difference between the output entropies. The specific calculation formula can be expressed as:

[0110] G j =1-S j ;

[0111]

[0112] Among them, S j is the output entropy corresponding to the j-th observed variable, G j is the output entropy corresponding to the j-th observed variable, W j is the indicator weight corresponding to the j-th observed variable.

[0113] 5) Finally, the above normalized decision matrix X can be calculated based on the indicator weight corresponding to each observed variable. * After weighting, each observed variable in the obtained normalized decision matrix has a weight attribute. The normalized decision matrix Z can be specifically expressed as:

[0114] Z=(z ij ) nx3 ;

[0115] z ij =W j ×y ij .

[0116] Based on the content of the above embodiment, as an optional embodiment, the determining of the yaw priority sequence of the plurality of wind turbines based on the superior-inferior solution distance method according to the normalized decision matrix corresponding to each wind turbine in the plurality of wind turbines includes:

[0117] Calculating, based on a normalized decision matrix corresponding to each of the plurality of wind turbines, a distance between a decision parameter associated with each wind turbine and a positive or negative ideal solution;

[0118] Determine the closeness of each wind turbine-related decision parameter to the positive and negative ideal solutions based on the distance between each wind turbine-related decision parameter and the positive and negative ideal solutions;

[0119] A yaw priority sequence of the plurality of wind turbines is determined based on a magnitude of the proximity associated with each wind turbine in the plurality of wind turbines.

[0120] Specifically, the positive and negative ideal solutions of the TOPSIS ranking method can be predefined.

[0121] Among them, the positive ideal solution in the positive and negative ideal solutions is the maximum value in the normalized decision matrix, and the negative ideal solution in the positive and negative ideal solutions is the minimum value in the normalized decision matrix, which is specifically expressed as:

[0122]

[0123] Among them, V + is a positive ideal solution, V - is a negative ideal solution.

[0124] Furthermore, the Mahalanobis distance can be used to calculate the decision parameter Z related to each wind turbine: i , and calculate the decision parameters Z i The distances from the positive ideal solution and the negative ideal solution:

[0125]

[0126]

[0127] Wherein, T is the transpose symbol, specifically the transpose of the matrix corresponding to the decision parameters and the positive (negative) ideal solution.

[0128] Finally, the closeness between the wind turbine's decision parameters and the negative ideal solution (or the closeness between the positive ideal solutions) can be calculated, specifically:

[0129]

[0130] It should be noted that the further the decision parameter is from the negative ideal solution, the greater the wind direction deviation, the greater the vibration, and the higher the urgency of the yaw. Therefore, the yaw priority of the wind turbines can be sorted according to the calculated proximity of each wind turbine to construct a yaw priority sequence.

[0131] Based on the content of the above embodiment, as an optional embodiment, it includes but is not limited to:

[0132] determining a yaw level of each wind turbine according to a yaw observation parameter set of each wind turbine among the plurality of wind turbines;

[0133] A yaw priority sequence of the plurality of wind turbines is determined according to the magnitude of the yaw levels.

[0134] The present invention actually provides another method for creating a yaw priority sequence by quantitatively sorting all wind turbines with yaw requirements (i.e., all wind turbines that have sent yaw requests to the controller) according to the yaw urgency. The method mainly utilizes the yaw observation parameter set constructed by the values ​​of the observation variables of each wind turbine at the current sampling moment, obtains the yaw level of each wind turbine by analyzing it, and then constructs a yaw priority sequence according to the yaw levels sorted from high to low.

[0135] As an optional embodiment, the observation variables in the yaw observation parameter set of each wind turbine include at least one of a wind direction deviation, a nacelle front-to-back vibration value, and a nacelle side-to-side vibration value.

[0136] It should be noted that the above-mentioned observation variables may also adopt other variables that affect the yaw demand of the wind turbine, and the present invention does not make any specific limitation on this.

[0137] For example, the wind direction deviation, cabin front and rear vibration value, and cabin lateral vibration value obtained by any wind turbine at the current sampling moment are compared with the preset standard values, and after the comparison results are normalized, the three normalized comparison results are accumulated to determine the corresponding yaw level according to the size of the accumulated value.

[0138] The wind turbine yaw control method provided by the present invention, in addition to using the entropy weight method and the TOPSIS sorting method to sort all wind turbines with yaw requirements, also provides a method of sorting all wind turbines with yaw requirements by quickly quantifying the yaw observation parameter set and determining the yaw level of each wind turbine. Compared with the previous method, although the sorting accuracy is reduced, its calculation speed is faster and can respond to the yaw adjustment needs more quickly.

[0139] Based on the content of the above embodiment, as an optional embodiment, after controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence, obtaining the execution status of the yaw action of the wind turbine with the highest yaw priority;

[0140] When it is determined that the execution status is completed, the steps of receiving yaw requests sent by multiple wind turbines and supplying power to the wind turbine with the highest yaw priority among the multiple wind turbines for yaw action are iteratively executed until no yaw request is received from any wind turbine or the wind turbine group exits the backup power supply mode.

[0141] Figure 2 This is the second flow chart of the wind turbine yaw control method provided by the present invention, as shown in FIG. Figure 2 As shown, the wind turbine yaw control method provided by the present invention obtains the execution status of the yaw action of the wind turbine with the highest yaw priority after controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence;

[0142] When it is determined that the execution status is completed, the steps of receiving yaw requests sent by multiple wind turbines and supplying power to the wind turbine with the highest yaw priority among the multiple wind turbines for yaw action are iteratively executed until no yaw request is received from any wind turbine or the wind turbine group exits the backup power supply mode.

[0143] The wind turbine yaw control method provided by the present invention will be briefly described first. This method can realize the control method of supplying power to all wind turbines with yaw requirements by relying on only one backup power supply.

[0144] 1) When a fault is detected in the high-voltage line supplying power to each wind turbine at the booster station, a diesel generator can be automatically or manually started via a controller (such as a SCADA system). The power generated by the diesel generator is used as a backup power source to supply power to each wind turbine that needs to perform yaw operations. At this time, the controller issues a command to each wind turbine to enter the backup power supply mode. In response to this command, each wind turbine enters the backup power supply mode.

[0145] 2) After each wind turbine enters the backup power supply mode, it is judged in real time based on the wind direction, wind speed, yaw angle, etc. collected at the current sampling moment whether the yaw start conditions are met to determine whether yaw adjustment is required.

[0146] 3) After any wind turbine determines that yaw adjustment is required, it will send a yaw request to the control.

[0147] 4) The controller counts the number of all wind turbines with yaw requirements based on all yaw requests received in the ring network, and receives the values ​​of the observed variables of each wind turbine at the current sampling moment, such as wind direction deviation, nacelle front and rear vibration value, nacelle lateral vibration value, etc., and uses the method provided by the above embodiment to sort all wind turbines with yaw adjustment according to the impact of these observed variables on the urgency of yaw, and construct a yaw priority sequence.

[0148] 5) The controller controls the opening and closing of the relevant circuit breakers to use the backup power supply to supply power to the wind turbine (hereinafter referred to as the target wind turbine) that ranks first in the yaw observation parameter set (i.e., has the highest yaw urgency).

[0149] 6) After receiving the yaw permission command from the controller, the target wind turbine begins executing the yaw action. After completing the yaw action, the yaw request and the yaw permission command are cleared. It should be noted that while the target wind turbine is executing the yaw action, other wind turbines with yaw requests continue to detect in real time whether the yaw start conditions are met and continue to send yaw requests to the controller based on the detection results.

[0150] 7) After the target wind turbine completes its yaw, since the controller cannot receive the yaw request sent by it, it continues to sort the remaining wind turbines according to the impact of the yaw urgency.

[0151] 8) The above steps are iterated until the constructed yaw priority sequence is empty or the entire wind turbine generator system exits the backup power supply mode.

[0152] When the yaw priority sequence is empty, it means that there is no wind turbine that needs to perform yaw action, and the controller can stop the operation of the diesel generator.

[0153] When the entire wind turbine generator set exits the backup power supply mode, that is, when the power supply of the collector line is normal and the high-voltage point-to-point network is used to power each wind turbine, there is no need to use the method provided by the present invention to judge the urgency of yaw (the high-voltage power grid can generally meet the needs of all wind turbines to perform yaw actions at the same time). At this time, the entire wind turbine generator set operates in normal mode.

[0154] The wind turbine yaw control method provided by the present invention quantitatively evaluates and schedules the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, it realizes the yaw power supply of the entire wind turbine set through a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs.

[0155] It should be noted that the yaw request for any of the multiple wind turbines is generated by that wind turbine based on matching the currently detected wind speed and wind direction deviation with preset yaw conditions. In other words, each wind turbine can autonomously determine whether yaw adjustment is necessary based on its own data, such as wind direction and wind speed, collected at the current sampling moment, and thus decide whether to send a yaw request to the controller. Using this decentralized wind turbine yaw method, the controller can monitor the real-time status of wind turbines with yaw requirements in real time, enabling rapid response to their yaw requests.

[0156] Figure 3 Schematic diagram of the structure of the yaw control device of the wind turbine provided by the present invention. Figure 3 As shown, it mainly includes but is not limited to an information receiving unit 31, a data acquisition unit 32, a data processing unit 33 and a yaw decision unit 34, wherein:

[0157] The information receiving unit 31 is mainly used to receive yaw requests sent by multiple wind turbines when the wind turbine is in a backup power supply mode;

[0158] The data acquisition unit 32 is mainly used to obtain a yaw observation parameter set of each wind turbine in the plurality of wind turbines;

[0159] The data processing unit 33 is mainly used to obtain the yaw priority sequence of the multiple wind turbines based on the yaw observation parameter set of each wind turbine;

[0160] The yaw decision unit 34 is mainly used to control the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0161] The wind turbine yaw control device can be integrated into a controller as part of SCADA, or SCADA can be used as the wind turbine yaw control device to execute the wind turbine yaw control method provided in any of the above embodiments.

[0162] It should be noted that the wind turbine yaw control device provided in the embodiment of the present invention can execute the wind turbine yaw control method described in any of the above embodiments during specific operation, which will not be described in detail in this embodiment.

[0163] The wind turbine yaw control device provided by the present invention quantitatively evaluates and schedules the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, it realizes the yaw power supply of the entire wind turbine through a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs.

[0164] Figure 4 This is one of the structural diagrams of the wind turbine yaw control system provided by the present invention, such as Figure 4 As shown, it mainly includes: booster station, backup power supply, collector line, optical fiber ring network;

[0165] The booster station is connected to each wind turbine in the wind turbine generator set via the collector line;

[0166] The backup power supply is connected to the collector line via a main circuit breaker;

[0167] Each wind turbine is connected to the collector circuit via a circuit breaker;

[0168] Each wind turbine in the wind turbine generator set is connected via the optical fiber ring network communication;

[0169] One wind turbine in the wind turbine group is a master wind turbine, and the other wind turbines in the wind turbine group except the master wind turbine are slave wind turbines;

[0170] The wind turbine yaw control method provided in any of the above embodiments is run on the master station wind turbine to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby realizing yaw control of each slave station wind turbine.

[0171] It should be emphasized that in the present invention, a certain wind turbine in the collector line can be defined as a master wind turbine, and other wind turbines in the ring network where the collector line is located can be defined as slave wind turbines, and the master station will dispatch them according to the yaw level of each wind turbine.

[0172] like Figure 4 As shown in the figure, the master station wind turbine is numbered 1, and the remaining n-1 slave station wind turbines are numbered 2-n. Each wind turbine can independently determine the yaw level based on its own data such as wind direction and vibration collected at the current sampling moment and send this information to the master station wind turbine, which then performs yaw scheduling based on the yaw level.

[0173] In addition, the master station wind turbine can also use the entropy weight method and TOPSIS sorting method to quantitatively evaluate the yaw priority of each wind turbine with yaw requirements based on the wind direction, vibration and other data of each slave station wind turbine at the current sampling moment, construct a yaw priority sequence, and then realize yaw scheduling of each wind turbine based on the yaw priority sequence.

[0174] The wind turbine yaw control system provided by the present invention quantitatively evaluates and schedules the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, it realizes the yaw power supply of the entire wind turbine through a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs.

[0175] Figure 5 This is the second structural diagram of the wind turbine yaw control system provided by the present invention, such as Figure 5As shown, the present invention also provides another wind turbine yaw control system, which mainly includes: a booster station, a backup power supply, a collector line, an optical fiber ring network and a control system;

[0176] The booster station is connected to each wind turbine in the wind turbine generator set via the collector line;

[0177] The backup power supply is connected to the collector line via a main circuit breaker;

[0178] Each wind turbine is connected to the collector circuit via a circuit breaker;

[0179] The control system is communicatively connected with each wind turbine in the wind turbine generator set via the optical fiber ring network;

[0180] The wind turbine yaw control method provided in any of the above embodiments is run in the control system to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby achieving yaw control of each wind turbine.

[0181] Wherein, the above control system may be a SCADA system.

[0182] The difference from the wind turbine yaw control system provided in the above embodiment is that the present application establishes an independent SCADA system to collect information and perform unified scheduling on all wind turbines with yaw requirements.

[0183] Among them, the backup power supply is supplied through a collector line for the emergency yaw of each wind turbine, and the SCADA is connected to each wind turbine and the backup power supply through a fiber optic ring network to realize data transmission and scheduling control.

[0184] It should be noted that the present invention does not limit the real-time method of how to use the backup power supply to power the yaw of a wind turbine among all wind turbines with yaw requirements. The records of the existing technology can be adopted by setting a certain number of circuit breakers in the collection line, including a main circuit breaker set in the main circuit of the collection line, and a sub-circuit breaker set in the sub-circuit connected to the collection line of each wind turbine, so that the opening and closing of each circuit breaker can be controlled by SCADA to achieve independent power supply for each wind turbine. The present invention does not make specific limitations on this.

[0185] The wind turbine yaw control system provided by the present invention quantitatively evaluates and schedules the yaw priority of each wind turbine that meets the yaw conditions in the wind turbine. Under the premise of ensuring the safety of the wind turbines, it realizes the yaw power supply of the entire wind turbine through a single backup power supply, which can effectively improve resource utilization efficiency and reduce costs.

[0186] Figure 6 Schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute a yaw control method for a wind turbine generator set, the method comprising: when the wind turbine generator set is in a backup power supply mode, receiving yaw requests sent by multiple wind turbines; obtaining a yaw observation parameter set for each wind turbine among the multiple wind turbines; obtaining a yaw priority sequence for the multiple wind turbines based on the yaw observation parameter set for each wind turbine; and controlling the backup power supply to supply power to the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0187] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0188] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the wind turbine yaw control method provided in the above-mentioned embodiments, the method including: when the wind turbine is in a backup power supply mode, receiving yaw requests sent by multiple wind turbines; obtaining a yaw observation parameter set for each wind turbine among the multiple wind turbines; based on the yaw observation parameter set of each wind turbine, obtaining a yaw priority sequence of the multiple wind turbines; controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0189] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the wind turbine yaw control method provided by the above-mentioned embodiments. The method includes: when the wind turbine is in a backup power supply mode, receiving yaw requests sent by multiple wind turbines; obtaining a yaw observation parameter set of each wind turbine among the multiple wind turbines; based on the yaw observation parameter set of each wind turbine, obtaining a yaw priority sequence of the multiple wind turbines; controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence.

[0190] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0191] 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, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain parts of the embodiments.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A wind turbine yaw control method, characterized in that: include: When the wind turbine is in the backup power supply mode, receiving yaw requests sent by multiple wind turbines; Obtaining a yaw observation parameter set for each wind turbine among the plurality of wind turbines; Based on the yaw observation parameter set of each wind turbine, obtaining a yaw priority sequence of the plurality of wind turbines; Controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence; The obtaining of the yaw priority sequence of the plurality of wind turbines based on the yaw observation parameter set of each wind turbine includes: Based on the entropy weight method, an indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine is determined to obtain a normalized decision matrix corresponding to each yaw observation parameter set; each observation variable in the yaw observation parameter set of each wind turbine includes at least one of wind direction deviation, nacelle front-to-back vibration value, and nacelle lateral vibration value; Based on a superior-inferior solution distance method and according to a normalized decision matrix corresponding to each wind turbine in the plurality of wind turbines, a yaw priority sequence of the plurality of wind turbines is determined.

2. The wind turbine yaw control method according to claim 1, characterized in that: The entropy weight method is used to determine the indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine to obtain a normalized decision matrix corresponding to each yaw observation parameter set, including: Constructing an initial decision matrix corresponding to each of the yaw observation parameter sets; Normalizing the initial decision matrix to obtain a normalized decision matrix; Calculate the information entropy corresponding to each observed variable to obtain the output entropy corresponding to each observed variable; Determine the indicator weight corresponding to each observed variable according to the difference between the output entropies; According to the indicator weight corresponding to each observed variable, the normalized decision matrix is ​​weighted transformed to obtain the normalized decision matrix.

3. The wind turbine yaw control method according to claim 1, characterized in that: The determining of the yaw priority sequence of the plurality of wind turbines based on the superior-inferior solution distance method and the normalized decision matrix corresponding to each wind turbine of the plurality of wind turbines includes: Calculating, based on a normalized decision matrix corresponding to each of the plurality of wind turbines, a distance between a decision parameter associated with each wind turbine and a positive or negative ideal solution; Determine the closeness of each wind turbine-related decision parameter to the positive and negative ideal solutions based on the distance between each wind turbine-related decision parameter and the positive and negative ideal solutions; determining a yaw priority sequence of the plurality of wind turbines based on a proximity degree associated with each wind turbine in the plurality of wind turbines; The positive ideal solution among the positive and negative ideal solutions is the maximum value in the normalized decision matrix, and the negative ideal solution among the positive and negative ideal solutions is the minimum value in the normalized decision matrix.

4. The wind turbine yaw control method according to claim 1, characterized in that: After controlling the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the multiple wind turbines according to the yaw priority sequence, obtaining an execution status of the yaw action of the wind turbine with the highest yaw priority; When it is determined that the execution status is completed, the steps of receiving yaw requests sent by multiple wind turbines and supplying power to the wind turbine with the highest yaw priority among the multiple wind turbines for yaw action are iteratively executed until no yaw request is received from any wind turbine or the wind turbine group exits the backup power supply mode.

5. A yaw control device for a wind turbine, characterized in that: include: An information receiving unit, configured to receive yaw requests sent by multiple wind turbines when the wind turbine generator set is in a backup power supply mode; a data acquisition unit, configured to obtain a yaw observation parameter set of each wind turbine among the plurality of wind turbines; a data processing unit, configured to obtain a yaw priority sequence of the plurality of wind turbines based on a yaw observation parameter set of each wind turbine; a yaw decision unit, configured to control the backup power supply to supply power to the yaw action of the wind turbine with the highest yaw priority among the plurality of wind turbines according to the yaw priority sequence; The obtaining of the yaw priority sequence of the plurality of wind turbines based on the yaw observation parameter set of each wind turbine includes: Based on the entropy weight method, an indicator weight corresponding to each observation variable in the yaw observation parameter set of each wind turbine is determined to obtain a normalized decision matrix corresponding to each yaw observation parameter set; each observation variable in the yaw observation parameter set of each wind turbine includes at least one of wind direction deviation, nacelle front-to-back vibration value, and nacelle lateral vibration value; Based on a superior-inferior solution distance method and according to a normalized decision matrix corresponding to each wind turbine in the plurality of wind turbines, a yaw priority sequence of the plurality of wind turbines is determined.

6. A wind turbine yaw control system, characterized in that: Including booster station, backup power supply, collector line, optical fiber ring network; The booster station is connected to each wind turbine in the wind turbine generator set via the collector line; The backup power supply is connected to the collector line via a main circuit breaker; Each wind turbine is connected to the collector circuit via a circuit breaker; Each wind turbine in the wind turbine generator set is connected via the optical fiber ring network communication; One wind turbine in the wind turbine group is a master wind turbine, and the other wind turbines in the wind turbine group except the master wind turbine are slave wind turbines; The wind turbine yaw control method according to any one of claims 1 to 4 is run on the master station wind turbine to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby realizing yaw control of each slave station wind turbine.

7. A wind turbine yaw control system, characterized in that: Including booster station, backup power supply, collector line, optical fiber ring network and control system; The booster station is connected to each wind turbine in the wind turbine generator set via the collector line; The backup power supply is connected to the collector line via a main circuit breaker; Each wind turbine is connected to the collector circuit via a circuit breaker; The control system is communicatively connected with each wind turbine in the wind turbine generator set via the optical fiber ring network; The wind turbine yaw control method according to any one of claims 1 to 4 is run in the control system to control the on and off of the circuit breaker corresponding to each wind turbine through the optical fiber ring network, thereby achieving yaw control of each wind turbine.

Images