Wind turbine yaw control method and device, computer equipment and storage medium

Abstract

The present application provides a yaw control method and device for a wind turbine, a computer device and a storage medium, and relates to the technical field of wind power generation. After obtaining a yaw start instruction for a target wind turbine, the present application controls the brake pressure of a target yaw system for the target wind turbine to be released from a preset anchoring pressure value to zero, and then controls the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and synchronously controls the brake pressure of the target yaw system to be increased from zero to a preset yaw residual pressure value, so that the target yaw system can start to perform a yaw action in a soft start mode when the corresponding brake is always in a dynamic friction coefficient state, avoiding the dynamic and static friction coefficient conversion operation of the brake during the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a method and device for yaw control of a wind turbine generator set, a computer device and a storage medium. Background Art

[0002] With the continuous development of science and technology, the application of wind power generation technology has become more and more extensive. In the actual use of wind turbines, it is often necessary to use the yaw system to yaw the wind turbine when the wind direction changes, so as to improve the power generation efficiency of the wind turbine. It is worth noting that the newly installed brake pads in the yaw system have a large difference between the dynamic and static friction coefficients when they are not run-in, and the yaw system often has a dynamic and static friction coefficient conversion process when starting or stopping the yaw action, which can easily lead to yaw vibration and yaw noise problems. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a wind turbine yaw control method and device, computer equipment and storage medium, which can make the corresponding brake always in the dynamic friction coefficient state through soft start when the yaw system starts to perform the yaw action, so as to avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0004] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0005] In a first aspect, the present application provides a yaw control method for a wind turbine, the control method comprising:

[0006] Obtaining yaw start instructions for target wind turbines;

[0007] Controlling the brake pressure of the target yaw system for the target wind turbine to be released from a preset anchoring pressure value to zero;

[0008] According to the yaw start instruction, the yaw motor of the target yaw system is controlled to perform a corresponding yaw action, and at the same time, the brake pressure of the target yaw system is controlled to be increased from zero to a preset yaw residual pressure value.

[0009] In an optional embodiment, the target yaw system includes a target brake and a target hydraulic station, the pressure input end of the target brake is connected to the hydraulic output port of the target hydraulic station via a pressure stabilizing solenoid valve, the pressure output end of the target brake is connected to the hydraulic input port of the target hydraulic station via a pressure relief solenoid valve, and the pressure output end of the target brake is also connected to the hydraulic input port of the target hydraulic station via a residual pressure solenoid valve and an overflow valve involving the preset yaw residual pressure value;

[0010] The step of controlling the brake pressure of the target yaw system of the target wind turbine to be released from a preset anchoring pressure value to zero comprises:

[0011] When the target hydraulic station provides braking pressure to the target brake according to a preset anchoring pressure value, the pressure stabilizing solenoid valve is controlled to switch from an on state to an off state, and the pressure relief solenoid valve is controlled to switch from an off state to an on state, and at the same time, the residual pressure solenoid valve is controlled to maintain an off state, wherein the target hydraulic station provides braking pressure to the target brake according to the preset anchoring pressure value when the pressure stabilizing solenoid valve is on, the residual pressure solenoid valve is off, and the pressure relief solenoid valve is off.

[0012] In an optional implementation, the step of controlling the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value comprises:

[0013] When the brake pressure of the target brake is zero, the voltage-stabilizing solenoid valve is controlled to switch from an off state to an on state, the pressure-relief solenoid valve is controlled to switch from an on state to an off state, and the residual-pressure solenoid valve is controlled to switch from an off state to an on state;

[0014] Controlling the target hydraulic station to continuously provide brake pressure to the target brake;

[0015] When the brake pressure of the target brake reaches the preset yaw residual pressure value, the voltage-stabilizing solenoid valve is controlled to switch from an on state to an off state, so that the brake pressure of the target brake is maintained at the preset yaw residual pressure value.

[0016] In an optional implementation, the control method further includes:

[0017] Obtaining a yaw stop instruction for a target wind turbine;

[0018] Controlling the yaw motor to perform a corresponding stop action according to the yaw stop instruction;

[0019] The brake pressure of the target yaw system is controlled to be released from the preset yaw residual pressure value to zero, and then the brake pressure of the target yaw system is controlled to be increased from zero to a preset anchoring pressure value.

[0020] In an optional implementation manner, the step of controlling the brake pressure of the target yaw system to release pressure from the preset yaw residual pressure value to zero comprises:

[0021] When the brake pressure of the target brake is maintained at the preset yaw residual pressure value, the voltage stabilizing solenoid valve is controlled to maintain an off state, the pressure relief solenoid valve is controlled to switch from an off state to an on state, and the residual pressure solenoid valve is controlled to switch from an on state to an off state.

[0022] In an optional embodiment, the step of controlling the brake pressure of the target yaw system to increase from zero to a preset anchoring pressure value comprises:

[0023] When the brake pressure of the target brake is zero, the pressure-stabilizing solenoid valve is controlled to switch from an off state to an on state, and the pressure-relief solenoid valve is controlled to switch from an on state to an off state, and the residual-pressure solenoid valve is controlled to maintain an off state;

[0024] The target hydraulic station is controlled to continuously provide brake pressure to the target brake, and the brake pressure of the target brake is maintained at the preset anchor pressure value.

[0025] In a second aspect, the present application provides a yaw control device for a wind turbine, the control device comprising:

[0026] A yaw command acquisition module is used to obtain a yaw start command for a target wind turbine;

[0027] A yaw brake control module, used for controlling the brake pressure of the target yaw system of the target wind turbine to be released from a preset anchor pressure value to zero;

[0028] The yaw brake control module is further used to control the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and simultaneously control the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value.

[0029] In an optional embodiment, the control device further includes:

[0030] The yaw instruction acquisition module is also used to acquire a yaw stop instruction for a target wind turbine group;

[0031] The yaw braking control module is further used to control the yaw motor to perform a corresponding stopping action according to the yaw stopping instruction;

[0032] The yaw brake control module is further used to control the brake pressure of the target yaw system to be released from the preset yaw residual pressure value to zero, and then control the brake pressure of the target yaw system to be increased from zero to a preset anchoring pressure value.

[0033] In a third aspect, the present application provides a computer device, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the wind turbine yaw control method described in any one of the aforementioned embodiments.

[0034] In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the wind turbine yaw control method described in any one of the aforementioned embodiments is implemented.

[0035] In this case, the beneficial effects of the embodiments of the present application include the following:

[0036] After obtaining the yaw start instruction for the target wind turbine group, the present application controls the brake pressure of the target yaw system for the target wind turbine group to be released from a preset anchoring pressure value to zero, and then controls the yaw motor of the target yaw system to perform the corresponding yaw action according to the yaw start instruction, and synchronously controls the brake pressure of the target yaw system to be increased from zero to a preset yaw residual pressure value, so that the target yaw system can start to perform the yaw action through a soft start method when the corresponding brake is always in a dynamic friction coefficient state, avoiding the dynamic and static friction coefficient conversion operation of the brake during the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0037] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the composition of a computer device provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the system composition of a target yaw system provided in an embodiment of the present application;

[0041] Figure 3 One of the flow charts of the wind turbine yaw control method provided in the embodiment of the present application;

[0042] Figure 4A second flow chart of the wind turbine yaw control method provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the composition of a wind turbine yaw control device provided in an embodiment of the present application.

[0044] Icons: 10-computer equipment; 11-memory; 12-processor; 13-communication unit; 100-wind turbine yaw control device; 20-target yaw system; 21-target hydraulic station; 22-target brake; 23-pressure stabilizing solenoid valve; 24-pressure relief solenoid valve; 25-residual pressure solenoid valve; 26-overflow valve; 27-first pressure sensor; 28-second pressure sensor; 110-yaw command acquisition module; 120-yaw brake control module. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0048] In the description of the present application, it is to be understood that the relational terms such as the term "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "comprising one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood by specific circumstances.

[0049] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] Through painstaking research, the applicant discovered that in actual use, in order to avoid external loads causing a large impact on the meshing gear pair of the yaw system, the existing wind turbine yaw system needs to perform yaw actions with partial pressure (i.e., yaw residual pressure). The existing solutions for eliminating yaw vibration and yaw noise usually improve the yaw vibration and yaw noise problems caused by yaw residual pressure by adjusting the yaw brake design or directly adjusting the yaw residual pressure of the hydraulic station. In essence, it does not improve the yaw vibration and yaw noise problems caused by the conversion operation of the dynamic and static friction coefficients when the yaw system starts or stops performing yaw actions.

[0051] To this end, the present application provides a wind turbine yaw control method and apparatus, computer equipment and storage medium to effectively avoid yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation when the yaw system starts or stops performing yaw action.

[0052] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0053] Please refer to Figure 1 , Figure 11 is a schematic diagram of the composition of the computer device 10 provided in the embodiment of the present application. In the embodiment of the present application, the computer device 10 can be connected to the yaw system of at least one wind turbine generator system in communication, and control the specific working condition of the connected yaw system, so that when the corresponding yaw system starts or stops performing the yaw action, the corresponding brake is always in the dynamic friction coefficient state through the soft start mode, avoiding the dynamic and static friction coefficient conversion operation of the brake during the yaw movement, thereby effectively avoiding the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0054] Optionally, see Figure 2 , Figure 2 : is a schematic diagram of the system composition of the target yaw system 20 provided in the embodiment of the present application. In the embodiment of the present application, the target yaw system 20 may include a yaw motor for driving the corresponding target wind turbine to yaw, and the target yaw system 20 may also include a target brake 22 and a target hydraulic station 21, wherein the target hydraulic station 21 may be used to provide braking pressure to the target brake 22, so that the target brake 22 can achieve a yaw braking effect for the target wind turbine. Among them, the pressure input end (i.e., IN end) of the target brake 22 is connected to the hydraulic output port (i.e., OUT port) of the target hydraulic station 21 through a pressure stabilizing solenoid valve 23, and the pressure output end (i.e., OUT end) of the target brake 22 is connected to the hydraulic input port (i.e., IN port) of the target hydraulic station 21 through a pressure relief solenoid valve 24, and the pressure output end of the target brake 22 can also be connected to the hydraulic input port of the target hydraulic station 21 through a residual pressure solenoid valve 25 and a relief valve 26 involving a preset yaw residual pressure value.

[0055] During this process, when the pressure-stabilizing solenoid valve 23 is in the on state and the pressure-relief solenoid valve 24 and the residual-pressure solenoid valve 25 are both in the off state, the target hydraulic station 21 can continuously provide braking pressure to the target brake 22, so that the brake pressure of the target brake 22 is continuously at a certain pressure value (for example, a preset anchoring pressure value for achieving the anchoring state of the target wind turbine); when the pressure-relief solenoid valve 24 is in the on state and the pressure-stabilizing solenoid valve 23 and the residual-pressure solenoid valve 25 are both in the off state, the liquid maintaining a certain pressure value at the target brake 22 will flow into the target hydraulic station 21 accordingly. In the target hydraulic station 21, the brake pressure of the target brake 22 will be relieved to zero at this time; when the pressure-stabilizing solenoid valve 23 is in the on state, the residual pressure solenoid valve 25 is in the on state and the pressure relief solenoid valve 24 is in the off state, the overflow valve 26 can, when the brake pressure of the target brake 22 reaches the preset yaw residual pressure value, transfer the excess liquid except the liquid for realizing the preset yaw residual pressure value to the target hydraulic station 21, and at this time the pressure-stabilizing solenoid valve 23 can be switched to the off state to ensure that the brake pressure of the target brake 22 is maintained at the preset yaw residual pressure value.

[0056] In this embodiment, the target yaw system 20 may also include a first pressure sensor 27 and a second pressure sensor 28, wherein the first pressure sensor 27 is arranged in the pipeline between the pressure-stabilizing solenoid valve 23 and the target hydraulic station 21, and is used to detect the brake pressure value provided by the target hydraulic station 21; the second pressure sensor 28 is arranged in the pipeline between the pressure-stabilizing solenoid valve 23 and the target brake 22, and is used to detect the actual brake pressure value of the target brake 22.

[0057] Therefore, the computer device 10 can control the on / off states of the above-mentioned voltage-stabilizing solenoid valve 23, the pressure-relief solenoid valve 24 and the residual pressure solenoid valve 25, as well as the working state of the target hydraulic station 21, so that the target yaw system 20 can flexibly adjust the brake pressure output by itself during the corresponding yaw movement, thereby effectively ensuring that when the target yaw system 20 starts or stops performing a yaw action, the corresponding brake can always be in a dynamic friction coefficient state through a soft start method, thereby avoiding the dynamic and static friction coefficient conversion operation of the brake during the yaw movement.

[0058] In the embodiment of the present application, the computer device 10 may include a memory 11, a processor 12, a communication unit 13 and a wind turbine yaw control device 100. The memory 11, the processor 12 and the communication unit 13 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, the memory 11, the processor 12 and the communication unit 13 may be electrically connected to each other via one or more communication buses or signal lines.

[0059] In this embodiment, the memory 11 may be, but not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 11 is used to store a computer program, and the processor 12 may execute the computer program accordingly after receiving an execution instruction.

[0060] In this embodiment, the processor 12 may be an integrated circuit chip with signal processing capability. The processor 12 may be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc., which may implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present application.

[0061] In this embodiment, the communication unit 13 is used to establish a communication connection between the computer device 10 and other electronic devices through a network, and to send and receive data through the network, wherein the network includes a wired communication network and a wireless communication network. For example, the computer device 10 can communicate with each electronic device included in the target yaw system 20 through the communication unit 13, and control the working conditions of each electronic device included in the target yaw system 20.

[0062] In this embodiment, the wind turbine yaw control device 100 includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or stored in the operating system of the computer device 10. The processor 12 can be used to execute the executable modules stored in the memory 11, such as the software function modules and computer programs included in the wind turbine yaw control device 100. The computer device 10 can enable the target yaw system 20 to start the yaw action in a soft start mode when the corresponding brake is always in the dynamic friction coefficient state through the wind turbine yaw control device 100, so as to avoid the dynamic and static friction coefficient conversion operation of the brake during the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0063] Understandably, Figure 1 The block diagram shown is only a schematic diagram of a composition of the computer device 10. The computer device 10 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0064] In the present application, in order to ensure that the computer device 10 can keep the corresponding brake in the dynamic friction coefficient state through soft start when the yaw system starts to perform the yaw action, and avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation, the embodiment of the present application provides a wind turbine yaw control method to achieve the above purpose. The wind turbine yaw control method provided by the present application is described in detail below.

[0065] Please refer to Figure 3 , Figure 3 It is one of the flow charts of the wind turbine yaw control method provided in the embodiment of the present application. In the embodiment of the present application, the wind turbine yaw control method may include steps S310 to S330.

[0066] Step S310, obtaining a yaw start instruction for a target wind turbine group.

[0067] In the embodiment of the present application, the yaw start instruction is used to instruct the target yaw system 20 of the target wind turbine to start the yaw motion, wherein the yaw start instruction may include specific yaw action content corresponding to the yaw motion process. The yaw start instruction may be sent from the wind turbine monitoring station to the computer device 10 via the network.

[0068] Step S320 , controlling the brake pressure of the target yaw system of the target wind turbine to be released from a preset anchoring pressure value to zero.

[0069] In this embodiment, before the computer device 10 receives the yaw start command, the target wind turbine is in an anchored power generation state, and the brake pressure of the target yaw system 20 is maintained at a preset anchor pressure value to ensure that the target wind turbine can maintain the current posture unchanged to perform power generation operations. When the computer device 10 receives the yaw start command, the computer device 10 controls the target yaw system 20 to release its own brake pressure from the preset anchor pressure value to zero, so that the subsequent start of the yaw action will not be affected by the brake pressure, ensuring that the target brake 22 included in the target yaw system 20 is always in a dynamic friction coefficient state when the yaw action is started, avoiding the dynamic and static friction coefficient conversion operation that occurs when the yaw action is started.

[0070] Optionally, in this embodiment, the target hydraulic station 21 provides braking pressure to the target brake 22 according to the preset anchoring pressure value when the pressure stabilizing solenoid valve 23 is turned on, the residual pressure solenoid valve 25 is turned off, and the pressure relief solenoid valve 24 is turned off, so that the brake pressure of the target brake 22 is at the preset anchoring pressure value. At this time, the step of controlling the brake pressure of the target yaw system 20 for the target wind turbine to be relieved from the preset anchoring pressure value to zero may include:

[0071] When the target hydraulic station 21 provides braking pressure to the target brake 22 according to a preset anchoring pressure value, the pressure-stabilizing solenoid valve 23 is controlled to switch from an on state to an off state, and the pressure-relief solenoid valve 24 is controlled to switch from an off state to an on state, while the residual pressure solenoid valve 25 is controlled to maintain an off state.

[0072] At this time, the liquid maintaining the preset anchoring pressure value at the target brake 22 will flow into the target hydraulic station 21 accordingly, and the second pressure sensor 28 will correspondingly detect that the brake pressure of the target brake 22 is relieved from the preset anchoring pressure value to zero.

[0073] In one implementation of the present embodiment, the pressure-stabilizing solenoid valve 23 and the residual pressure solenoid valve 25 can both adopt electromagnetic reversing valves that are disconnected when energized and conducted when de-energized, and the pressure relief solenoid valve 24 can adopt an electromagnetic reversing valve that is conducted when energized and disconnected when de-energized. Therefore, when the brake pressure of the target brake 22 is maintained at the preset anchoring pressure value, the pressure relief solenoid valve 24 is de-energized, the residual pressure solenoid valve 25 is energized, and the pressure-stabilizing solenoid valve 23 is de-energized; when the brake pressure of the target brake 22 is relieved from the preset anchoring pressure value to zero, the pressure-stabilizing solenoid valve 23 is energized, the pressure relief solenoid valve 24 is energized, and the residual pressure solenoid valve 25 is energized.

[0074] Step S330 , controlling the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and simultaneously controlling the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value.

[0075] In this embodiment, when the brake pressure of the target yaw system 20 becomes zero, the computer device 10 can control the yaw motor of the target yaw system 20 to perform the corresponding yaw action according to the specific yaw action content included in the yaw start instruction, so that the yaw motor will not be affected by the brake pressure when starting to perform the yaw action, ensuring that the target brake 22 included in the target yaw system 20 is always in a dynamic friction coefficient state when the yaw action starts to be performed, avoiding the dynamic and static friction coefficient conversion operation that occurs when the yaw action starts to be performed. At the same time, the computer device 10 will correspondingly control the brake pressure of the target yaw system 20 to increase from zero to a preset yaw residual pressure value, so that the meshing gear pair of the target yaw system 20 can effectively avoid a large impact caused by external load under the action of the yaw residual pressure.

[0076] Optionally, the step of controlling the brake pressure of the target yaw system 20 to increase from zero to a preset yaw residual pressure value may include:

[0077] When the brake pressure of the target brake 22 is zero, the voltage-stabilizing solenoid valve 23 is controlled to switch from the disconnected state to the on state, the pressure-relief solenoid valve 24 is controlled to switch from the on state to the disconnected state, and the residual pressure solenoid valve 25 is controlled to switch from the disconnected state to the on state;

[0078] Controlling the target hydraulic station 21 to continuously provide brake pressure to the target brake 22;

[0079] When the brake pressure of the target brake 22 reaches the preset yaw residual pressure value, the voltage-stabilizing solenoid valve 23 is controlled to switch from the on state to the off state, so that the brake pressure of the target brake 22 is maintained at the preset yaw residual pressure value.

[0080] The following examples illustrate that both the pressure-stabilizing solenoid valve 23 and the residual-pressure solenoid valve 25 can adopt solenoid reversing valves that are disconnected when energized and conducted when de-energized, and the pressure-relief solenoid valve 24 can adopt a solenoid reversing valve that is conducted when energized and disconnected when de-energized: when the brake pressure of the target brake 22 is zero, the pressure-stabilizing solenoid valve 23 is de-energized, the pressure-relief solenoid valve 24 is de-energized, and the residual-pressure solenoid valve 25 is de-energized. At this time, the target hydraulic station 21 can continue to provide braking pressure to the target brake 22. When the second pressure sensor 28 detects that the brake pressure of the target brake 22 reaches the preset yaw residual pressure value, the target hydraulic station 21 can be controlled to stop running, and the pressure-stabilizing solenoid valve 23 is energized, the pressure-relief solenoid valve 24 is de-energized, and the residual-pressure solenoid valve 25 is de-energized, thereby effectively ensuring that the brake pressure of the target brake 22 is maintained at the preset yaw residual pressure value.

[0081] Therefore, the present application can ensure that the brake pressure of the target brake 22 is increased from zero to the preset yaw residual pressure value by executing the specific step process of the above steps, and effectively maintain the brake pressure of the target brake 22 at the preset yaw residual pressure value during the process of the yaw motor performing the yaw action.

[0082] The present application can execute the above steps S310 to S330, and when the target yaw system 20 starts to perform the yaw action, the corresponding brake is always in the dynamic friction coefficient state through a soft start method, thereby avoiding the dynamic and static friction coefficient conversion operation that occurs when the yaw action starts to be performed, thereby effectively avoiding the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation during the yaw movement.

[0083] Optionally, see Figure 4 , Figure 4 This is the second flow chart of the wind turbine yaw control method provided in the embodiment of the present application. Figure 3 Compared with the wind turbine yaw control method shown in the figure, Figure 4 The wind turbine yaw control method shown may further include steps S340 to S370, so that when the target yaw system 20 stops performing the yaw action, the corresponding brake is always in a dynamic friction coefficient state through a soft stop method, thereby avoiding the dynamic and static friction coefficient conversion operation that occurs when the yaw action is stopped, thereby effectively avoiding the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation during the yaw movement.

[0084] Step S340: obtaining a yaw stop instruction for the target wind turbine group.

[0085] In this embodiment, the yaw stop instruction is used to instruct the target yaw system 20 of the target wind turbine to stop performing the yaw movement. The yaw stop instruction can be sent from the wind turbine monitoring site to the computer device 10 through the network.

[0086] Step S350: controlling the yaw motor to execute a corresponding stop action according to the yaw stop instruction.

[0087] In this embodiment, after receiving the yaw stop instruction, the computer device 10 controls the yaw motor to perform a corresponding stop action according to the yaw stop instruction, thereby controlling the yaw motor to stop running when the target brake 22 is in a dynamic friction coefficient state.

[0088] Step S360 , controlling the brake pressure of the target yaw system to be released from a preset yaw residual pressure value to zero, and then controlling the brake pressure of the target yaw system to be increased from zero to a preset anchoring pressure value.

[0089] In this embodiment, after controlling the yaw motor to perform the corresponding stopping action, the computer device 10 can control the brake pressure of the target yaw system 20 to be released from a preset yaw residual pressure value to zero, and then control the brake pressure of the target yaw system 20 to be increased from zero to a preset anchoring pressure value, thereby ensuring that the target brake 22 of the target yaw system 20 will not perform a dynamic and static friction coefficient conversion operation when anchoring the current posture of the target wind turbine group, so that the target brake 22 of the target yaw system 20 is always in a dynamic friction coefficient state when stopping the yaw action, thereby effectively avoiding the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation during the yaw movement.

[0090] Optionally, the step of controlling the brake pressure of the target yaw system 20 to be released from a preset yaw residual pressure value to zero may include:

[0091] When the brake pressure of the target brake 22 is maintained at the preset yaw residual pressure value, the pressure stabilizing solenoid valve 23 is controlled to maintain the disconnected state, and the pressure relief solenoid valve 24 is controlled to switch from the disconnected state to the on state, and the residual pressure solenoid valve 25 is controlled to switch from the on state to the disconnected state.

[0092] Taking the example that both the pressure-stabilizing solenoid valve 23 and the residual pressure solenoid valve 25 can adopt electromagnetic reversing valves that are disconnected when energized and conductive when de-energized, and the pressure relief solenoid valve 24 can adopt an electromagnetic reversing valve that is conductive when energized and disconnected when de-energized as an example for explanation: when it is necessary to relieve the brake pressure of the target brake 22 from a preset yaw residual pressure value to zero, the pressure-stabilizing solenoid valve 23 is energized, the pressure relief solenoid valve 24 is energized, and the residual pressure solenoid valve 25 is energized. At this time, the liquid of the target brake 22 used to maintain the preset yaw residual pressure value will flow into the target hydraulic station 21 accordingly to relieve the brake pressure of the target brake 22 to zero.

[0093] Optionally, the step of controlling the brake pressure of the target yaw system 20 to increase from zero to a preset anchoring pressure value may include:

[0094] When the brake pressure of the target brake 22 is zero, the pressure-stabilizing solenoid valve 23 is controlled to switch from the disconnected state to the on state, and the pressure-relief solenoid valve 24 is controlled to switch from the on state to the disconnected state, and the residual pressure solenoid valve 25 is controlled to maintain the disconnected state;

[0095] The target hydraulic station 21 is controlled to continuously provide brake pressure to the target brake 22 , and the brake pressure of the target brake 22 is maintained at the preset anchor pressure value.

[0096] Taking the example that both the pressure-stabilizing solenoid valve 23 and the residual-pressure solenoid valve 25 can adopt solenoid reversing valves that are disconnected when energized and conducted when de-energized, and the pressure-relief solenoid valve 24 can adopt solenoid reversing valves that are conducted when energized and disconnected when de-energized as an example, when it is necessary to increase the brake pressure of the target brake 22 from zero to the preset anchoring pressure value, the pressure-stabilizing solenoid valve 23 is de-energized, the pressure-relief solenoid valve 24 is de-energized, and the residual-pressure solenoid valve 25 is energized, at which time the target hydraulic station 21 can continuously provide braking pressure to the target brake 22, and when the second pressure sensor 28 detects that the brake pressure of the target brake 22 reaches the preset anchoring pressure value, the target hydraulic station 21 is controlled to stop running, thereby effectively ensuring that the brake pressure of the target brake 22 is maintained at the preset anchoring pressure value.

[0097] Therefore, the present application can execute the above-mentioned steps S340 to S370, and when the target yaw system 20 stops performing the yaw action, the corresponding brake is always in the dynamic friction coefficient state through a soft stop method, thereby avoiding the dynamic and static friction coefficient conversion operation that occurs when the yaw action is stopped, thereby effectively avoiding the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation during the yaw movement.

[0098] In the present application, in order to ensure that the computer device 10 can execute the above-mentioned wind turbine yaw control method through the wind turbine yaw control device 100, the present application implements the above-mentioned functions by dividing the wind turbine yaw control device 100 into functional modules. The specific composition of the wind turbine yaw control device 100 provided by the present application is described below.

[0099] Please refer to Figure 5 , Figure 5 1 is a schematic diagram of the composition of a wind turbine yaw control device 100 provided in an embodiment of the present application. In the embodiment of the present application, the wind turbine yaw control device 100 includes a yaw instruction acquisition module 110 and a yaw brake control module 120 .

[0100] The yaw instruction acquisition module 110 is used to acquire a yaw start instruction for a target wind turbine group.

[0101] The yaw brake control module 120 is used to control the brake pressure of the target yaw system of the target wind turbine to be released from a preset anchor pressure value to zero.

[0102] The yaw brake control module 120 is further used to control the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and simultaneously control the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value.

[0103] Therefore, the wind turbine yaw control device 100 can, through the cooperation between the yaw command acquisition module 110 and the yaw brake control module 120, enable the target yaw system 20 to start executing the yaw action in a soft start manner when the corresponding brake is always in a dynamic friction coefficient state, thereby avoiding the dynamic and static friction coefficient conversion operation of the brake during the start of the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0104] Optionally, in the embodiment of the present application, the yaw instruction acquisition module 110 is further used to acquire a yaw stop instruction for a target wind turbine group.

[0105] The yaw braking control module 120 is further configured to control the yaw motor to perform a corresponding stopping action according to the yaw stopping instruction.

[0106] The yaw brake control module 120 is further used to control the brake pressure of the target yaw system to be released from a preset yaw residual pressure value to zero, and then control the brake pressure of the target yaw system to be increased from zero to a preset anchoring pressure value.

[0107] Therefore, the wind turbine yaw control device 100 can, through the cooperation between the yaw command acquisition module 110 and the yaw brake control module 120, enable the target yaw system 20 to stop the yaw action in a soft stop manner when the corresponding brake is always in a dynamic friction coefficient state, thereby avoiding the dynamic and static friction coefficient conversion operation of the brake during the process of stopping the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0108] It should be noted that the basic principle and technical effect of the wind turbine yaw control device 100 provided in the embodiment of the present application are the same as those of the aforementioned wind turbine yaw control method. For the sake of brief description, for matters not mentioned in this embodiment, reference may be made to the description of the aforementioned wind turbine yaw control method.

[0109] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the present application is essentially 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, and the computer software product is stored in a storage medium, including several instructions to enable 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 application. 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, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), a disk or an optical disk.

[0111] In summary, in the wind turbine yaw control method and device, computer equipment and storage medium provided in the present application, after obtaining the yaw start instruction for the target wind turbine, the present application will control the brake pressure of the target yaw system for the target wind turbine to be released from the preset anchoring pressure value to zero, and then control the yaw motor of the target yaw system to perform the corresponding yaw action according to the yaw start instruction, and synchronously control the brake pressure of the target yaw system to be increased from zero to the preset yaw residual pressure value, so that the target yaw system can start to perform the yaw action through a soft start method when the corresponding brake is always in the dynamic friction coefficient state, avoiding the dynamic and static friction coefficient conversion operation of the brake during the yaw movement, so as to effectively avoid the yaw vibration and yaw noise problems caused by the dynamic and static friction coefficient conversion operation.

[0112] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A yaw control method for a wind turbine generator set, It is characterized in that The control method comprises: Obtaining yaw start instructions for target wind turbines; Control the brake pressure of the target yaw system for the target wind turbine to be released from a preset anchoring pressure value to zero; wherein the target yaw system includes a target brake and a target hydraulic station, the pressure input end of the target brake is connected to the hydraulic output port of the target hydraulic station via a pressure stabilizing solenoid valve, the pressure output end of the target brake is connected to the hydraulic input port of the target hydraulic station via a pressure relief solenoid valve, and the pressure output end of the target brake is also connected to the hydraulic input port of the target hydraulic station via a residual pressure solenoid valve and a relief valve involving a preset yaw residual pressure value, then the control for the target wind turbine The step of releasing the brake pressure of the target yaw system from a preset anchoring pressure value to zero comprises: when the target hydraulic station provides the brake pressure to the target brake according to the preset anchoring pressure value, controlling the pressure stabilizing solenoid valve to switch from the on state to the off state, and controlling the pressure relief solenoid valve to switch from the off state to the on state, and controlling the residual pressure solenoid valve to maintain the off state, wherein the target hydraulic station provides the brake pressure to the target brake according to the preset anchoring pressure value when the pressure stabilizing solenoid valve is on, the residual pressure solenoid valve is off, and the pressure relief solenoid valve is off; Controlling the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and simultaneously controlling the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value; Among them, the step of controlling the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value includes: when the brake pressure of the target brake is zero, controlling the pressure-stabilizing solenoid valve to switch from a disconnected state to a conductive state, and controlling the pressure relief solenoid valve to switch from a conductive state to a disconnected state, and controlling the residual pressure solenoid valve to switch from a disconnected state to an conductive state; controlling the target hydraulic station to continuously provide braking pressure to the target brake; when the brake pressure of the target brake reaches the preset yaw residual pressure value, controlling the pressure-stabilizing solenoid valve to switch from an conductive state to a disconnected state, so that the brake pressure of the target brake is maintained at the preset yaw residual pressure value.

2. The control method according to claim 1, It is characterized in that The control method further comprises: Obtaining a yaw stop instruction for a target wind turbine; Controlling the yaw motor to perform a corresponding stop action according to the yaw stop instruction; Controlling the brake pressure of the target yaw system to be released from the preset yaw residual pressure value to zero, and then controlling the brake pressure of the target yaw system to be increased from zero to a preset anchoring pressure value; wherein the step of controlling the brake pressure of the target yaw system to be released from the preset yaw residual pressure value to zero comprises: when the brake pressure of the target brake is maintained at the preset yaw residual pressure value, controlling the pressure stabilizing solenoid valve to maintain a disconnected state, controlling the pressure relief solenoid valve to switch from a disconnected state to a conductive state, and controlling the residual pressure solenoid valve to switch from a conductive state to a disconnected state; Among them, the step of controlling the brake pressure of the target yaw system to increase from zero to a preset anchoring pressure value includes: when the brake pressure of the target brake is zero, controlling the pressure stabilizing solenoid valve to switch from a disconnected state to a conductive state, and controlling the pressure relief solenoid valve to switch from a conductive state to a disconnected state, and controlling the residual pressure solenoid valve to maintain a disconnected state; controlling the target hydraulic station to continuously provide braking pressure to the target brake, and maintaining the brake pressure of the target brake at the preset anchoring pressure value.

3. A yaw control device for a wind turbine generator set, It is characterized in that The control device comprises: A yaw command acquisition module is used to obtain a yaw start command for a target wind turbine; A yaw brake control module is used to control the brake pressure of the target yaw system of the target wind turbine to be released from a preset anchor pressure value to zero; wherein the target yaw system includes a target brake and a target hydraulic station, the pressure input end of the target brake is connected to the hydraulic output port of the target hydraulic station via a pressure stabilizing solenoid valve, the pressure output end of the target brake is connected to the hydraulic input port of the target hydraulic station via a pressure relief solenoid valve, and the pressure output end of the target brake is also connected to the hydraulic input port of the target hydraulic station via a residual pressure solenoid valve and a relief valve involving a preset yaw residual pressure value, then the yaw brake control module controls the target The method of releasing the brake pressure of the target yaw system of the target wind turbine from a preset anchoring pressure value to zero includes: when the target hydraulic station provides the brake pressure to the target brake according to the preset anchoring pressure value, controlling the pressure stabilizing solenoid valve to switch from the on state to the off state, and controlling the pressure relief solenoid valve to switch from the off state to the on state, and controlling the residual pressure solenoid valve to maintain the off state, wherein the target hydraulic station provides the brake pressure to the target brake according to the preset anchoring pressure value when the pressure stabilizing solenoid valve is on, the residual pressure solenoid valve is off, and the pressure relief solenoid valve is off; The yaw brake control module is further used to control the yaw motor of the target yaw system to perform a corresponding yaw action according to the yaw start instruction, and simultaneously control the brake pressure of the target yaw system to increase from zero to a preset yaw residual pressure value; Among them, the yaw brake control module controls the brake pressure of the target yaw system from zero to a preset yaw residual pressure value, including: when the brake pressure of the target brake is zero, controlling the pressure-stabilizing solenoid valve to switch from a disconnected state to a conductive state, and controlling the pressure relief solenoid valve to switch from a conductive state to a disconnected state, and controlling the residual pressure solenoid valve to switch from a disconnected state to an conductive state; controlling the target hydraulic station to continuously provide braking pressure to the target brake; when the brake pressure of the target brake reaches the preset yaw residual pressure value, controlling the pressure-stabilizing solenoid valve to switch from a conductive state to a disconnected state, so that the brake pressure of the target brake is maintained at the preset yaw residual pressure value.

4. The control device according to claim 3, It is characterized in that The control device also includes: The yaw instruction acquisition module is also used to acquire a yaw stop instruction for a target wind turbine group; The yaw braking control module is further used to control the yaw motor to perform a corresponding stopping action according to the yaw stopping instruction; The yaw brake control module is further used to control the brake pressure of the target yaw system to be released from the preset yaw residual pressure value to zero, and then control the brake pressure of the target yaw system to be increased from zero to a preset anchoring pressure value; wherein the yaw brake control module controls the brake pressure of the target yaw system to be released from the preset yaw residual pressure value to zero in a manner including: when the brake pressure of the target brake is maintained at the preset yaw residual pressure value, controlling the voltage stabilizing solenoid valve to maintain a disconnected state, controlling the pressure relief solenoid valve to switch from a disconnected state to a conductive state, and controlling the residual pressure solenoid valve to switch from a conductive state to a disconnected state; Among them, the yaw brake control module controls the brake pressure of the target yaw system from zero to a preset anchoring pressure value, including: when the brake pressure of the target brake is zero, controlling the pressure stabilizing solenoid valve to switch from a disconnected state to a conductive state, and controlling the pressure relief solenoid valve to switch from a conductive state to a disconnected state, while controlling the residual pressure solenoid valve to maintain a disconnected state; controlling the target hydraulic station to continuously provide braking pressure to the target brake, and maintaining the brake pressure of the target brake at the preset anchoring pressure value.

5. A computer device, It is characterized in that It comprises a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor can execute the computer program to implement the wind turbine yaw control method according to claim 1 or 2.

6. A storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the wind turbine yaw control method according to claim 1 or 2 is implemented.

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