Wind turbine yaw detection method and device, storage medium and electronic equipment

Abstract

The present disclosure relates to a wind turbine yaw detection method, device, storage medium and electronic equipment. The wind turbine yaw detection method comprises: obtaining target operation data of a yaw system of a wind turbine, the target operation data comprising wind speed, active power and an included angle between a nacelle and a wind direction of the wind turbine at any time; determining a target mean value and a target median of power of the wind turbine according to the target operation data; determining a yaw error angle of the wind turbine according to the target mean value and the target median; and determining a yaw state of the wind turbine according to the yaw error angle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of wind turbine generators, in particular, to a wind turbine generator yaw detection method and device, a storage medium and an electronic device. BACKGROUND

[0002] The yaw system of a wind turbine generator is an important component for accurately and quickly pointing the wind turbine generator to the wind direction. The yaw system is used to cooperate with the control system to keep the wind wheel in the wind direction at all times, so as to maximize the absorption of wind energy and improve the power generation efficiency of the wind turbine generator. The yaw system can also provide the necessary locking torque to ensure that the wind turbine generator can be safely positioned and operated after completing the wind pointing action.

[0003] The performance of the yaw system directly affects the power generation efficiency of the wind turbine generator. Inaccurate yawing can also increase the wear and tear of the components of the wind turbine generator and affect the safety and economy of the wind turbine generator. However, the current yaw system of the wind turbine generator lacks a simple and efficient method for determining the yaw state, and often requires a large amount of time for manual judgment, which is less accurate. SUMMARY

[0004] The purpose of the present disclosure is to provide a wind turbine generator yaw detection method, device, storage medium and electronic device to solve the above technical problems.

[0005] In order to achieve the above purpose, according to a first aspect of an embodiment of the present disclosure, a wind turbine generator yaw detection method is provided, comprising:

[0006] Obtaining target operation data of a yaw system of a wind turbine generator, the target operation data including wind speed, active power and the included angle between the nacelle and the wind direction of the wind turbine generator at any time;

[0007] Determining the target mean and target median of the power of the wind turbine generator according to the target operation data;

[0008] Determining the yaw error angle of the wind turbine generator according to the target mean and target median;

[0009] Determining the yaw state of the wind turbine generator according to the yaw error angle.

[0010] Optionally, the determining the target mean and target median of the power of the wind turbine generator according to the target operation data comprises:

[0011] Dividing a plurality of wind speeds in the target operation data into a plurality of wind speed intervals according to a preset wind speed interval, and determining a target wind speed interval according to the data amount included in the plurality of wind speed intervals;

[0012] According to a preset angle interval, an included angle between a plurality of nacelles in the target wind speed interval and a wind direction is divided into a plurality of angle intervals;

[0013] A mean value and a median value of active power included in each angle interval are determined, to obtain a mean value set and a median value set;

[0014] A maximum value in the mean value set is determined as the target mean value, and a maximum value in the median value set is determined as the target median value.

[0015] Optionally, the determining of the target mean value and the target median value, and the determination of the yaw error angle of the wind turbine, comprises:

[0016] Determining whether a first angle interval corresponding to the target mean value and a second angle interval corresponding to the target median value satisfy a preset consistency condition;

[0017] In a case where the first angle interval and the second angle interval satisfy the preset consistency condition, a wind speed interval corresponding to the first angle interval is determined as a first wind speed interval, and a wind speed interval corresponding to the second angle interval is determined as a second wind speed interval;

[0018] Determining whether the first wind speed interval satisfies a preset monotonicity condition;

[0019] In a case where the first wind speed interval satisfies the preset monotonicity condition, the yaw error angle of the wind turbine is determined.

[0020] Optionally, the determining of whether the first angle interval corresponding to the target mean value and the second angle interval corresponding to the target median value satisfy the preset consistency condition, comprises:

[0021] Determining a first rank corresponding to the first angle interval and a second rank corresponding to the second angle interval;

[0022] Calculating a difference value of the first rank and the second rank;

[0023] In a case where the difference value is less than or equal to a preset difference value, it is determined that the first angle interval and the second angle interval satisfy the consistency condition.

[0024] Optionally, the determining of whether the first wind speed interval satisfies the preset monotonicity condition, comprises:

[0025] Determining a mean value set included in the first wind speed interval;

[0026] Determining a first minimum value of the first angle interval and a second minimum value of the second angle interval;

[0027] In a case that the first minimum value and the second minimum value are both greater than or equal to 0, and the average angle between the nacelle and the wind direction in the first wind speed interval increases with the wind speed, or the first minimum value and the second minimum value are both less than 0, and the average angle between the nacelle and the wind direction in the first wind speed interval decreases with the wind speed, it is determined that the first wind speed interval satisfies the monotonicity condition.

[0028] Optionally, the yaw error angle of the wind turbine is determined according to the following calculation formula:

[0029]

[0030] wherein, θ s represents the yaw error angle, θ m1 represents the first minimum value, θ m2 represents the second minimum value.

[0031] Optionally, the target operation data of the yaw system of the wind turbine is obtained, including:

[0032] The historical operation data of the yaw system is obtained, the historical operation data including the wind speed, the active power and the angle between the nacelle and the wind direction of the wind turbine at any time;

[0033] The operation data in the historical operation data satisfying the following condition is determined as the target operation data:

[0034] v in ≤v t ≤v r

[0035] p t ≥0

[0036] -θ0≤θ t ≤θ0

[0037] 0<ω (1,t) <ω1

[0038] 0<ω (2,t) <ω2

[0039] 0<ω (3,t) <ω3

[0040] (v t , p t ) is located below the curve p=f(v)+σ and above the curve p=f(v)-σ;

[0041] wherein, v t represents the wind speed of the wind turbine at t time, v in represents the cut-in wind speed of the wind turbine, v rrepresents a rated wind speed of the wind turbine, p t represents an active power of the wind turbine at time t, θ t represents an angle between a nacelle of the wind turbine and a wind direction at time t, θ0represents an upper limit value of the angle between the nacelle of the wind turbine and the wind direction, ω (1,t) represents a first pitch angle of the wind turbine, ω (2,t) represents a second pitch angle of the wind turbine, ω (3,t) represents a third pitch angle of the wind turbine, ω1represents an upper limit value of the first pitch angle, ω2represents an upper limit value of the second pitch angle, ω3represents an upper limit value of the third pitch angle, p=f(v) represents a standard wind speed-power curve of the wind turbine, and σ represents a power fluctuation value of the wind turbine.

[0042] According to a second aspect of the embodiments of the present disclosure, a wind turbine yaw detection device is provided, which comprises:

[0043] an acquisition module configured to acquire target operation data of a yaw system of a wind turbine, the target operation data comprising a wind speed, an active power and an angle between a nacelle and a wind direction of the wind turbine at any time;

[0044] a first determination module configured to determine a target mean value and a target median value of a power of the wind turbine according to the target operation data;

[0045] a second determination module configured to determine a yaw error angle of the wind turbine according to the target mean value and the target median value;

[0046] a third determination module configured to determine a yaw state of the wind turbine according to the yaw error angle.

[0047] According to a third aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, which has stored thereon a computer program, the program being executed by a processor to implement the steps of the method according to any one of the first aspect.

[0048] According to a fourth aspect of the embodiments of the present disclosure, an electronic device is provided, which comprises:

[0049] a memory having stored thereon a computer program;

[0050] a processor configured to execute the computer program in the memory to implement the steps of the method according to any one of the first aspect.

[0051] The above technical solution acquires operational data stored in the yaw system of the wind turbine, including wind speed, active power, and the angle between the nacelle and the wind direction at any given moment. Then, based on this target operational data, the target mean and median power of the wind turbine are determined. Next, the yaw error angle is calculated using these target mean and median, allowing the determination of the wind turbine's yaw status. This reduces the difficulty of determining the wind turbine's yaw status, effectively minimizing downtime and power generation losses, improving the efficiency of yaw fault repair, and saving on spare parts procurement costs for yaw status assessment. Furthermore, the stored operational data in the yaw system allows for real-time monitoring and preventative measures to be taken, thereby extending the wind turbine's service life.

[0052] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0054] Figure 1 This is a flowchart illustrating a wind turbine yaw detection method according to an exemplary embodiment.

[0055] Figure 2 This is a scatter plot of wind speed-power from historical operating data, as illustrated in an exemplary embodiment.

[0056] Figure 3 This is a scatter plot of wind speed-power data for a target operating condition, as illustrated in an exemplary embodiment.

[0057] Figure 4 This is a schematic diagram illustrating a wind speed range-data volume according to an exemplary embodiment.

[0058] Figure 5 This is a schematic diagram illustrating the angle interval-power average value corresponding to a wind speed interval that satisfies the consistency condition, according to an exemplary embodiment.

[0059] Figure 6 This is a block diagram illustrating a wind turbine yaw detection device according to an exemplary embodiment.

[0060] Figure 7 This is a block diagram illustrating a device according to an exemplary embodiment. Detailed Implementation

[0061] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0062] Figure 1 is a wind turbine yaw detection method according to an exemplary embodiment, comprising the following steps:

[0063] In step S101, target operation data of the yaw system of the wind turbine is obtained, the target operation data including the wind speed, active power and the angle between the nacelle and the wind direction of the wind turbine at any time;

[0064] In step S102, the target mean and target median of the power of the wind turbine are determined according to the target operation data;

[0065] In step S103, the yaw error angle of the wind turbine is determined according to the target mean and target median;

[0066] In step S104, the yaw state of the wind turbine is determined according to the yaw error angle.

[0067] Through the above technical solution, by obtaining the operation data such as the wind speed, active power and the angle between the nacelle and the wind direction of the wind turbine at any time stored in the yaw system of the wind turbine, then determining the target mean and target median of the power of the wind turbine according to the target operation data, and then calculating the yaw error angle of the wind turbine according to the target mean and target median, the yaw state of the wind turbine can be determined through the yaw error angle. In this way, the difficulty of determining the yaw state of the wind turbine is reduced, the downtime of the wind turbine and the loss of generated power caused thereby are effectively reduced, the efficiency of the yaw fault maintenance of the wind turbine is improved, and the procurement expenditure of spare parts for determining the yaw state of the wind turbine is saved. In addition, according to the operation data of the wind turbine stored in the yaw system of the wind turbine, the yaw state of the wind turbine can be monitored in real time, and prevention can be made in advance, thereby increasing the service life of the wind turbine.

[0068] In a possible manner, the target operation data of the yaw system of the wind turbine can be obtained by first obtaining the historical operation data of the yaw system of the wind turbine, and then determining the operation data in the historical operation data that meets the following conditions as the target operation data:

[0069] v in ≤v t ≤v r

[0070] p t ≥0

[0071] -θ0≤θ t ≤θ0

[0072] 0<ω (1，t) <ω1

[0073] 0<ω (2，t) <ω2

[0074] 0<ω (3，t) <ω3

[0075] (v t , p t ) is below the curve p = f(v) + σ and above the curve p = f(v) - σ;

[0076] wherein v t represents the wind speed of the wind turbine at time t, v in represents the cut-in wind speed of the wind turbine, v r represents the rated wind speed of the wind turbine, p t represents the active power of the wind turbine at time t, θ t represents the angle between the nacelle of the wind turbine and the wind direction at time t, θ0represents the upper limit of the angle between the nacelle of the wind turbine and the wind direction, ω (1,t) represents the first pitch angle of the wind turbine, ω (2,t) represents the second pitch angle of the wind turbine, ω (3,t) represents the third pitch angle of the wind turbine, ω1represents the upper limit of the first pitch angle, ω2represents the upper limit of the second pitch angle, ω3represents the upper limit of the third pitch angle, p = f(v) represents the standard wind speed-power curve of the wind turbine, and σ represents the power fluctuation value of the wind turbine.

[0077] It should also be understood that the cut-in wind speed represents the minimum wind speed that can enable the wind turbine to operate normally, and the rated wind speed represents the maximum wind speed that can enable the wind turbine to operate normally. The cut-in wind speed, the rated wind speed, the upper limit of the angle between the nacelle and the wind direction, and the power fluctuation value of the wind turbine can all be set according to the operating parameters and actual conditions of the wind turbine, and the embodiments of the present disclosure do not limit them.

[0078] For example, the cut-in wind speed can be 3.5 m / s, the rated wind speed can be 12 m / s, the upper limit of the angle between the nacelle and the wind direction can be 10°, and the upper limit of the first pitch angle, the upper limit of the second pitch angle, and the upper limit of the third pitch angle can all be 1.5°. The power fluctuation value of the wind turbine can be 100 kw, so the operating data above the curve p = f(v) + 100 or below the curve p = f(v) - 100 can be removed, and specifically, the coordinates (v t , pt The wind speed is compared with the curve f(v), and the preset value can be 25 m / s. For example, the scatter plot of wind speed-power in the historical operating data recorded by the SCADA monitoring system can be like this: Figure 2 As shown, the scatter plot of wind speed-power data for the target operation can be obtained as follows: Figure 3 As shown.

[0079] In one possible approach, determining the target mean and target median power of the wind turbine based on the target operating data can be achieved by first dividing the multiple wind speeds in the target operating data into multiple wind speed intervals according to preset wind speed intervals, and determining the target wind speed interval based on the amount of data included in the multiple wind speed intervals. Then, according to preset angle intervals, the angles between the multiple nacelles and the wind direction in the target wind speed intervals can be divided into multiple angle intervals. Finally, the mean and median of the active power included in each angle interval can be determined to obtain a set of means and a set of medians. The maximum value in the set of means is determined as the target mean, and the maximum value in the set of medians is determined as the target median.

[0080] For example, the preset wind speed interval v d The value can be 0.5 m / s. Based on the example above, the multiple wind speeds in the target operating data can be divided into (12-3.5) / 0.5 = 17 wind speed intervals. The wind speed range is denoted as B. i =v i <v t <v i +v d (v i =v r v r +v d , ...v in -v d For the first There are 17 wind speed intervals. It's worth noting that these 17 wind speed intervals are arranged in ascending order of wind speed within each interval; that is, the wind speed in the i-th interval is always less than the minimum wind speed in the (i+1)-th interval, and so on. Furthermore, within each wind speed interval, the multiple wind speeds are also arranged in ascending order of wind speed; that is, the a-th wind speed within the interval is less than the (a+1)-th wind speed, and so on.

[0081] Then, the multiple wind speed intervals can be sorted according to the amount of data included in each interval. A diagram illustrating wind speed intervals and data amounts can be shown as follows: Figure 4 As shown, the first k = 2 wind speed intervals are selected as the target wind speed interval, denoted as B1: 3.5 m / s. <v t <4m / s, B2: 4m / s <v t <4.5m / s.

[0082] For the jth (j = 1, 2) target wind speed interval, the cabin and wind direction angle interval θ d = 0.5° can be divided into angle intervals, and when θ0= 10°, the target wind speed intervals B1 and B2 can be divided into 40 angle intervals, and the mth (m = 1, …, 40) angle interval is denoted as A m : θ m < θ t < θ m + 0.5° (θ m = -10°, -9.5°, …, 9.5°). It is worth noting that the 40 angle intervals are arranged in ascending order of the angles in the angle intervals, that is, the angles in the mth angle interval are all less than the smallest angle in the m+1th angle interval, and the same applies. And for each angle interval, the angles included therein are also arranged in ascending order, that is, the bth angle in the interval is less than the b+1th angle, and the same applies.

[0083] For example, for the jth (j = 1, 2) target wind speed interval, the mean and median of the active power included in the interval are calculated, denoted as λ1 (j，m) and λ2 (j，m) , respectively, to obtain a mean set and a median set, the mean set is denoted as and the median set is denoted as Then the maximum value in the mean set is determined as the target mean, and the maximum value in the median set is determined as the target median.

[0084] In a possible manner, after determining the target mean and the target median, the yaw error angle of the wind turbine can be determined by first determining whether the first angle interval corresponding to the target mean and the second angle interval corresponding to the target median satisfy a preset consistency condition, in the case that the first angle interval and the second angle interval satisfy the preset consistency condition, determining the wind speed interval corresponding to the first angle interval as the first wind speed interval and the wind speed interval corresponding to the second angle interval as the second wind speed interval, and then determining whether the first wind speed interval satisfies a preset monotonicity condition, in the case that the first wind speed interval satisfies the preset monotonicity condition, determining the yaw error angle of the wind turbine.

[0085] For example, according to the above example, the first angle interval corresponding to the target mean can be denoted as A x : θ x < θ t < θ x + θ d , and the second angle interval corresponding to the target median can be denoted as A y : θ y<θ t <θ y +θ d In the case that the first angle interval and the second angle interval satisfy the preset consistency condition, the wind speed interval corresponding to the first angle interval is determined as the first wind speed interval, and the wind speed interval corresponding to the second angle interval is determined as the second wind speed interval, and then it is determined whether the first wind speed interval satisfies the preset monotonicity condition, and in the case that the first wind speed interval satisfies the preset monotonicity condition, the yaw error angle of the wind turbine is determined.

[0086] In a possible manner, the determination of whether the first angle interval corresponding to the target mean value and the second angle interval corresponding to the target median value satisfy the preset consistency condition comprises:

[0087] The first rank corresponding to the first angle interval and the second rank corresponding to the second angle interval are determined.

[0088] The difference between the first rank and the second rank is calculated.

[0089] In the case that the difference is less than or equal to the preset difference value, it is determined that the first angle interval and the second angle interval satisfy the consistency condition.

[0090] For example, according to the above example, the first angle interval A x : θ x <θ t <θ x +θ d corresponding to the first rank is x, the second angle interval A y : θ y <θ t <θ y +θ d corresponding to the second rank is y, and then the difference between x and y is calculated. The preset difference value can be 1. If the obtained difference is less than or equal to 1, it can be determined that the first angle interval and the second angle interval are adjacent, that is, the mean value is maximum, and the median value is also maximum. Of course, the preset difference value can also be adaptively adjusted according to the specific test scene, and the specific range thereof is not limited in the present disclosure.

[0091] In a possible manner, the determination of whether the first wind speed interval satisfies the preset monotonicity condition can be that the mean value set included in the first wind speed interval is first determined, and then the first minimum value of the first angle interval and the second minimum value of the second angle interval are determined, in the case that the first minimum value and the second minimum value are both greater than or equal to 0, and the mean value in the first wind speed interval increases with the angle between the random cabin and the wind direction, or the first minimum value and the second minimum value are both less than 0, and the mean value in the first wind speed interval decreases with the angle between the random cabin and the wind direction, it is determined that the first wind speed interval satisfies the monotonicity condition.

[0092] It should be understood that, in the mean value set included in the first wind speed interval, the plurality of mean values are arranged in order of the angle interval within the wind speed interval,

[0093] For example, according to the above example, the first minimum value of the first angle interval is determined as θ x , and the second minimum value of the second angle interval is determined as θ y , in the case of θ x ≥ 0, θ y ≥ 0, and In the case of θ x < 0, θ y < 0, and , the first wind speed interval is determined as a monotonically decreasing interval, and the first wind speed interval is a monotonically increasing interval or a monotonically decreasing interval, both of which satisfy the monotonicity condition described above.

[0094] For example, according to the above distance, the first angle interval and the second angle interval can be as shown in Table 1, wherein the first bit of the first angle interval corresponding to the first wind speed interval is 40, the second bit of the second angle interval is 38, 40-38 = 2, which does not satisfy the consistency condition, the first bit of the first angle interval corresponding to the second wind speed interval is 39, the second bit of the second angle interval is 40, 40-39 = 1, which satisfies the consistency condition. The schematic diagram of the angle interval-power mean value corresponding to the second wind speed interval satisfying the consistency condition can be as shown in Figure 5 , the second wind speed interval is a monotonically increasing interval, and θ x = 8.5° ≥ 0, θ y = 9° ≥ 0, which satisfies the monotonicity principle.

[0095] Table 1

[0096] Wind speed interval First angle interval First angle interval 1 A 40 :9°<θ t ≤9.5°]]> A 38 :8°<θ t ≤8.5°]]> 2 A 39 :8.5°<θ t ≤9°]]> A 40 :9°<θ t ≤9.5°]]>

[0097] In a possible manner, the yaw error angle of the wind turbine is determined according to the following calculation formula:

[0098]

[0099] Wherein, θ s represents the yaw error angle, θ m1 represents the first minimum value, and θ m2 represents the second minimum value.

[0100] For example, according to the above example, the first minimum value of the first angle interval corresponding to the second wind speed interval is 8.5°, and the second minimum value of the second angle interval is 9°, the yaw error angle of the wind turbine is

[0101] In a possible manner, the yaw error angle of the wind turbine is determined according to the following calculation formula, and when the yaw error angle is greater than a preset yaw error angle threshold, an alarm is prompted, so that the staff can perform a maintenance operation in time. The yaw error angle threshold is not specifically limited in the embodiment of the disclosure, and the manner of the alarm is also not limited.

[0102] Figure 6 is a block diagram of a wind turbine yaw detection device 600 according to an exemplary embodiment. Referring to Figure 6 The device includes an acquisition module 601, a first determination module 602, a second determination module 603, and a third determination module 604.

[0103] The acquisition module 601 is configured to acquire target operation data of a yaw system of a wind turbine, the target operation data including a wind speed, an active power, and an angle between a nacelle and a wind direction of the wind turbine at any time;

[0104] The first determination module 602 is configured to determine a target mean value and a target median of the power of the wind turbine according to the target operation data;

[0105] The second determination module 603 is configured to determine a yaw error angle of the wind turbine according to the target mean value and the target median;

[0106] The third determination module 604 is configured to determine a yaw state of the wind turbine according to the yaw error angle.

[0107] Optionally, the first determination module 602 is configured to:

[0108] According to a preset wind speed interval, a plurality of wind speeds in the target operation data are divided into a plurality of wind speed intervals, and a target wind speed interval is determined according to a data amount included in the plurality of wind speed intervals;

[0109] According to a preset angle interval, a plurality of angles between the nacelle and the wind direction in the target wind speed interval are divided into a plurality of angle intervals;

[0110] A mean value and a median of the active power included in each angle interval are determined to obtain a mean value set and a median set;

[0111] A maximum value in the mean value set is determined as the target mean value, and a maximum value in the median set is determined as the target median.

[0112] Optionally, the second determination module 603 is configured to:

[0113] It is determined whether a first angle interval corresponding to the target mean value and a second angle interval corresponding to the target median satisfy a preset consistency condition.

[0114] determining the first wind speed interval as a first wind speed interval and the second wind speed interval as a second wind speed interval in a case where the first angle interval and the second angle interval satisfy a preset consistency condition;

[0115] determining whether the first wind speed interval satisfies a preset monotonicity condition;

[0116] determining the yaw error angle of the wind turbine in a case where the first wind speed interval satisfies the preset monotonicity condition.

[0117] Optionally, the second determining module 603 is configured to:

[0118] determining a first order corresponding to the first angle interval and a second order corresponding to the second angle interval;

[0119] calculating a difference between the first order and the second order;

[0120] determining that the first angle interval and the second angle interval satisfy the consistency condition in a case where the difference is less than or equal to a preset difference.

[0121] Optionally, the second determining module 603 is configured to:

[0122] determining a mean value set included in the first wind speed interval;

[0123] determining a first minimum value of the first angle interval and a second minimum value of the second angle interval;

[0124] determining that the first wind speed interval satisfies the monotonicity condition in a case where the first minimum value and the second minimum value are both greater than or equal to 0, and the mean values in the first wind speed interval increase with the angle between the wind direction and the wind turbine, or the first minimum value and the second minimum value are both less than 0, and the mean values in the first wind speed interval decrease with the angle between the wind direction and the wind turbine.

[0125] Optionally, the yaw error angle of the wind turbine is determined according to the following calculation formula:

[0126]

[0127] wherein θ s represents the yaw error angle, θ m1 represents the first minimum value, and θ m2 represents the second minimum value.

[0128] Optionally, the acquisition module 601 is configured to:

[0129] obtain historical operation data of a yaw system of a wind turbine, the historical operation data comprising a wind speed, an active power and an angle between a nacelle and a wind direction of the wind turbine at any time;

[0130] determine target operation data in the historical operation data satisfying the following conditions:

[0131] v in ≤v t ≤v r

[0132] p t ≥0

[0133] -θ0≤θ t ≤θ0

[0134] 0<ω (1,t) <ω1

[0135] 0<ω (2,t) <ω2

[0136] 0<ω (3,t) <ω3

[0137] (v t , p t ) is below a curve p = f(v) + σ and above a curve p = f(v) - σ;

[0138] wherein, v t represents a wind speed of the wind turbine at t, v in represents a cut-in wind speed of the wind turbine, v r represents a rated wind speed of the wind turbine, p t represents an active power of the wind turbine at t, θ t represents an angle between a nacelle and a wind direction of the wind turbine at t, θ0represents an upper limit value of the angle between the nacelle and the wind direction of the wind turbine, ω (1,t) represents a first pitch angle of the wind turbine, ω (2,t) represents a second pitch angle of the wind turbine, ω (3,t) represents a third pitch angle of the wind turbine, ω1represents an upper limit value of the first pitch angle, ω2represents an upper limit value of the second pitch angle, ω3represents an upper limit value of the third pitch angle, p = f(v) represents a standard wind speed-power curve of the wind turbine, and σ represents a power fluctuation value of the wind turbine.

[0139] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0140] Based on the same inventive concept, the embodiment of the present disclosure further provides a non-transitory computer readable medium, which stores a computer program, and the program is executed by a processor to implement the steps of the wind turbine yaw detection method provided by the present disclosure.

[0141] Figure 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. As shown, the electronic device 700 can include a processor 701, a memory 702. The electronic device 700 can also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705. Figure 7

[0142] ​The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the wind turbine yaw detection method described above. The memory 702 is configured to store various types of data to support operations of the electronic device 700. The data can include, for example, instructions for operating any application or method on the electronic device 700, and application-related data such as contact data, sent and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be a touch screen, for example. The audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other electronic devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the communication component 705 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0143] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for executing the wind turbine yaw detection method described above.

[0144] In another exemplary embodiment, a computer readable medium including program instructions is also provided, which when executed by a processor, implement the steps of the wind turbine yaw detection method described above. For example, the computer readable medium can be the memory 702 described above including program instructions executable by the processor 701 of the electronic device 700 to complete the wind turbine yaw detection method described above.

[0145] In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the wind turbine yaw detection method described above when executed by the programmable apparatus.

[0146] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept scope of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0147] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0148] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. A wind turbine generator yaw detection method, characterized by, include: Acquire the target operating data of the yaw system of the wind turbine, the target operating data including the wind speed, active power and the angle between the nacelle and the wind direction of the wind turbine at any time; Determine the target mean and target median power of the wind turbine based on the target operating data; The yaw error angle of the wind turbine is determined based on the target mean and the target median. The yaw state of the wind turbine is determined based on the yaw error angle. The step of determining the target mean and target median power of the wind turbine based on the target operating data includes: According to the preset wind speed interval, the multiple wind speeds in the target operating data are divided into multiple wind speed intervals, and the target wind speed interval is determined according to the amount of data included in the multiple wind speed intervals. According to the preset angle interval, the angle between the multiple nacelles and the wind direction in the target wind speed range is divided into multiple angle intervals; Determine the mean and median of the active power within each angular interval to obtain the set of means and the set of medians; The maximum value in the set of means is determined as the target mean, and the maximum value in the set of medians is determined as the target median; Determining the target mean and the target median, and determining the yaw error angle of the wind turbine, includes: Determine whether the first angle interval corresponding to the target mean and the second angle interval corresponding to the target median satisfy a preset consistency condition; If the first angle interval and the second angle interval meet the preset consistency conditions, the wind speed interval corresponding to the first angle interval is determined as the first wind speed interval, and the wind speed interval corresponding to the second angle interval is determined as the second wind speed interval. Determine whether the first wind speed range meets the preset monotonicity condition; Under the condition that the preset monotonicity condition is met in the first wind speed range, the yaw error angle of the wind turbine is determined.

2. The method of claim 1, wherein, Determining whether the first angle interval corresponding to the target mean and the second angle interval corresponding to the target median satisfy a preset consistency condition includes: Determine the first position corresponding to the first angle interval and the second position corresponding to the second angle interval; Calculate the difference between the first position and the second position; If the difference is less than or equal to a preset difference, the first angle interval and the second angle interval are determined to satisfy the consistency condition.

3. The method of claim 1, wherein, Determining whether the first wind speed range meets the preset monotonicity condition includes: Determine the set of mean values ​​included in the first wind speed range; Determine the first minimum value of the first angle interval and the second minimum value of the second angle interval; If both the first minimum value and the second minimum value are greater than or equal to 0, and the angle between the mean random cabin and the wind direction in the first wind speed range increases, or if both the first minimum value and the second minimum value are less than 0, and the angle between the mean random cabin and the wind direction in the first wind speed range decreases, then the first wind speed range is determined to satisfy the monotonicity condition.

4. The method of claim 3, wherein, The yaw error angle of the wind turbine is determined according to the following formula: wherein, denotes the yaw error angle, denotes the first minimum value, denotes the second minimum value.

5. The method of claim 1, wherein, The target operation data of the yaw system of the wind turbine generator includes: The historical operation data of the yaw system is acquired, and the historical operation data includes the wind speed, the active power and the included angle between the nacelle and the wind direction of the wind turbine generator at any time; The operation data in the historical operation data that meets the following conditions is determined as the target operation data: located below the curve p below, and located above the curve above; in, This indicates that the wind turbine unit is in t Wind speed at any moment This indicates the cut-in wind speed of the wind turbine unit. This indicates the rated wind speed of the wind turbine unit. This indicates that the wind turbine unit is in t Active power at any given time Indicates in t At any given time, the angle between the nacelle of the wind turbine and the wind direction is... This indicates the upper limit of the angle between the nacelle of the wind turbine and the wind direction. This represents the first pitch angle of the wind turbine. This represents the second pitch angle of the wind turbine. This indicates the third pitch angle of the wind turbine. This represents the upper limit of the first pitch angle. This indicates the upper limit of the second pitch angle. This indicates the upper limit of the third pitch angle. This represents the standard wind speed power curve of the wind turbine. This indicates the power fluctuation value of the wind turbine unit.

6. A wind turbine generator yaw detection apparatus characterized by, The target operation data of the yaw system of the wind turbine generator includes: The target operation data of the yaw system of the wind turbine generator includes: The first determining module is configured to: According to the preset wind speed interval, the plurality of wind speeds in the target operation data is divided into a plurality of wind speed intervals, and the target wind speed interval is determined according to the data amount included in the plurality of wind speed intervals; According to the preset angle interval, the plurality of included angles between the nacelle and the wind direction in the target wind speed interval is divided into a plurality of angle intervals; The maximum value in the mean value set is determined as the target mean value, and the maximum value in the median number set is determined as the target median number. The second determining module is configured to: Determine whether the first angle interval corresponding to the target mean value and the second angle interval corresponding to the target median number meet a preset consistency condition; In the case where the first angle interval and the second angle interval meet the preset consistency condition, the wind speed interval corresponding to the first angle interval is determined as a first wind speed interval, and the wind speed interval corresponding to the second angle interval is determined as a second wind speed interval; Determine whether the first wind speed interval meets a preset monotonicity condition; In the case where the first wind speed interval meets the preset monotonicity condition, the yaw error angle of the wind turbine generator is determined. The program is executed by the processor to realize the steps of the method in any one of claims 1-5. The target operation data of the yaw system of the wind turbine generator includes: The target operation data of the yaw system of the wind turbine generator includes: The first determining module is configured to:

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, According to the preset wind speed interval, the plurality of wind speeds in the target operation data is divided into a plurality of wind speed intervals, and the target wind speed interval is determined according to the data amount included in the plurality of wind speed intervals; 8. An electronic device, comprising: According to the preset angle interval, the plurality of included angles between the nacelle and the wind direction in the target wind speed interval is divided into a plurality of angle intervals; The maximum value in the mean value set is determined as the target mean value, and the maximum value in the median number set is determined as the target median number. The second determining module is configured to: Determine whether the first angle interval corresponding to the target mean value and the second angle interval corresponding to the target median number meet a preset consistency condition; In the case where the first angle interval and the second angle interval meet the preset consistency condition, the wind speed interval corresponding to the first angle interval is determined as a first wind speed interval, and the wind speed interval corresponding to the second angle interval is determined as a second wind speed interval; Determine whether the first wind speed interval meets a preset monotonicity condition; In the case where the first wind speed interval meets the preset monotonicity condition, the yaw error angle of the wind turbine generator is determined. The program is executed by the processor to realize the steps of the method in any one of claims 1-5. The target operation data of the yaw system of the wind turbine generator includes: The target operation data of the yaw system of the wind turbine generator includes: The first determining module is configured to: According to the preset wind speed interval, the plurality of wind speeds in the target operation data is divided into a plurality of wind speed intervals, and the target wind speed interval is determined according to the data amount included in the plurality of wind speed intervals; According to the preset angle interval, the plurality of included angles between the nacelle and the wind direction in the target wind speed interval is divided into a plurality of angle intervals; The maximum value in the mean value set is determined as the target mean value, and the maximum value in the median number set is determined as the target median number. The second determining module is configured to: Determine whether the first angle interval corresponding to the target mean value and the second angle interval corresponding to the target median number meet a preset consistency condition; In the case where the first angle interval and the second angle interval meet the preset consistency condition, the wind speed interval corresponding to the first angle interval is determined as a first wind speed interval, and the wind speed interval corresponding to the second angle interval is determined as a second wind speed interval; Determine whether the first wind speed interval meets a preset monotonicity condition; In the case where the first wind speed interval meets the preset monotonicity condition, the yaw error angle of the wind turbine generator is determined. The program is executed by the processor to realize the steps of the method in any one of claims 1-5.

Images