Wind turbine yaw drive control system, control method and wind turbine

Abstract

This invention relates to the field of wind power generation equipment, and in particular to a wind turbine yaw drive control system, control method, and wind turbine generator. The wind turbine yaw drive control method calculates the yaw speed based on the rotational speed of the yaw motor, and controls the yaw process based on the obtained yaw speed. When the yaw speed exceeds a first set value, yaw is stopped and restarted after a set interval. If yaw fails after at least one restart, the wind turbine generator is shut down. When the yaw speed exceeds a safety threshold, the wind turbine generator is directly shut down. The first set value is greater than the maximum allowable yaw speed for normal wind power and less than the safety threshold. This invention can accurately control the wind turbine yaw process, and the entire process only requires setting the corresponding threshold, making the implementation extremely simple. This solves the problem of complex control of wind turbine yaw drive in existing wind turbine yaw drive control methods.

Description

Technical Field

[0001] This invention relates to the field of wind power generation equipment, and in particular to a wind turbine yaw drive control system, control method, and wind turbine generator. Background Technology

[0002] The yaw system is a crucial component for maximizing the power generation efficiency of wind turbines. It primarily consists of a main control PLC module, yaw inverter, yaw motor, yaw reducer, yaw gear ring, and yaw sensor (cam counter). In existing technologies, yaw drive control often employs V / F open-loop control to regulate yaw speed. A yaw sensor (cam counter) is used to detect and calculate the yaw speed (nacelle rotation speed), thereby adjusting the yaw motor speed and controlling the yaw speed. However, due to the transmission ratio of the yaw gear ring and pulse counting, the calculated nacelle rotation speed can have significant deviations. When yaw control is initiated or stopped under high wind conditions, inaccurate yaw speed calculations can cause malfunctions such as overcurrent in the yaw system, severe nacelle vibration, and component damage, leading to shutdown, reduced power generation, and in severe cases, increased fatigue load or performance degradation, affecting the turbine's lifespan.

[0003] The patent for a wind turbine yaw control method and system disclosed in the Chinese patent specification with announcement number CN102011698B and authorization announcement date of September 4, 2013 adopts the following scheme: the speed of the yaw motor is adjusted according to the changes in wind speed or wind turbine output power, so that the operating speed is lower when the wind speed is high and higher when the wind speed is low, thereby effectively reducing the impact and vibration generated during yaw without affecting the yaw motor's tracking of the wind direction.

[0004] The patent for a method, device, and system for yaw control of a wind turbine generator set disclosed in the Chinese patent specification with authorization announcement number CN109960144B and authorization announcement date of June 28, 2022 adopts the following approach: by obtaining the correspondence between wind direction characteristic values ​​and corresponding optimal yaw control parameters, it is possible to use the corresponding optimal yaw control parameters to yaw the wind turbine generator set under different wind conditions, thereby improving the accuracy of the wind turbine generator set's yaw and power generation efficiency.

[0005] The solutions for reducing unit vibration and improving yaw accuracy implemented according to the aforementioned patents can both avoid shutdowns caused by severe unit vibration. However, the solution in document CN102011698B requires differentiation between different wind speed zones and output power ranges. The solution disclosed in document CN109960144B requires obtaining multiple sets of yaw control parameters and establishing a yaw control knowledge base. Both are relatively complex to implement. Summary of the Invention

[0006] The purpose of this invention is to provide a wind turbine yaw drive control method to solve the problem of complex control of wind turbine yaw drive in the prior art.

[0007] Meanwhile, the present invention also aims to provide a wind power yaw drive control system and a wind turbine generator that can be used to implement the above-mentioned methods.

[0008] To address the aforementioned problems, the wind turbine yaw drive control method of the present invention adopts the following technical solution: The wind turbine yaw drive control method calculates the wind turbine yaw speed based on the rotational speed of the yaw motor, and controls the wind turbine yaw process based on the obtained wind turbine yaw speed. When the wind turbine yaw speed exceeds a first set value, yaw is stopped and restarted after a set interval. If yaw fails after at least one restart, the wind turbine is shut down. When the wind turbine yaw speed exceeds a safety threshold, the wind turbine is directly shut down. The first set value is greater than the maximum allowable speed for normal wind turbine yaw and less than the safety threshold.

[0009] Beneficial effects: The method of the present invention improves upon existing methods by controlling the yaw process of wind power based on the rotational speed of the yaw motor. The rotational speed of the yaw motor can most accurately reflect the actual yaw speed of the wind power, thus enabling accurate control of the yaw process. The entire process can be achieved simply by setting the corresponding threshold, making the implementation extremely simple. This solves the problem of complex control of wind power yaw drive in existing wind power yaw drive control methods.

[0010] Furthermore, the yaw motor speed is obtained through a speed measuring device configured for some of the yaw motors. Since the speeds of all yaw motors (usually multiple) in a wind turbine are the same, collecting the speeds of only some (at least one) yaw motors is sufficient to accurately reflect the yaw speed of the wind turbine. In this case, collecting the speeds of only some yaw motors reduces the amount of data processing and allows for the acquisition of yaw motor speeds at a lower cost.

[0011] Furthermore, during a single yaw operation, the number of yaw restarts should not exceed two. If yaw cannot be completed after two restarts during a single yaw operation, it can be concluded that the current conditions are not suitable for yaw operations. Setting the number of restarts to no more than two can fully protect wind power and avoid damage caused by multiple restarts under unsuitable conditions.

[0012] Furthermore, when yaw stops, the yaw gear ring of the wind turbine is locked via a hydraulic system. Locking the yaw gear ring via a hydraulic system when yaw stops effectively protects the wind power.

[0013] The wind turbine yaw drive control system of the present invention adopts the following technical solution: The wind turbine yaw drive control system includes a yaw motor and a yaw controller. The yaw motor is equipped with a speed acquisition device, which is connected to the yaw controller. When the speed acquisition device acquires that the yaw speed of the wind turbine is greater than a first set value, the yaw controller controls the wind turbine to stop yawing and restarts yawing after a set interval. If yawing fails after restarting at least once, the wind turbine is shut down. When the speed acquisition device acquires that the yaw speed of the wind turbine is greater than a safety threshold, the yaw controller directly shuts down the wind turbine. The first set value is greater than the maximum allowable yaw speed of the wind turbine and less than the safety threshold.

[0014] Beneficial effects: The system of the present invention improves upon existing technology by acquiring the rotational speed of the yaw motor through a speed acquisition device and using the rotational speed of the yaw motor as the basis for controlling the yaw process of the wind power. The rotational speed of the yaw motor can most accurately reflect the actual yaw speed of the wind power, thus enabling accurate control of the wind power yaw process. The entire process can be achieved simply by setting the corresponding threshold, making the implementation extremely simple. This solves the problem of the complexity of wind power yaw drive control in existing wind power yaw drive control methods.

[0015] Furthermore, the speed acquisition device is configured only on some of the yaw motors. Since the speed of each yaw motor (generally there are multiple ones) in a wind turbine is the same, acquiring the speed of only some (at least one) yaw motors is sufficient to accurately reflect the yaw speed of the wind turbine. In this case, acquiring the speed of only some yaw motors can reduce the amount of data processing and achieve the acquisition of yaw motor speeds at a lower cost.

[0016] Furthermore, the speed acquisition device is a rotary transformer. Rotary transformers, as a mature speed acquisition device, have the advantages of high reliability and easy availability.

[0017] Furthermore, during a single yaw operation, the number of yaw restarts should not exceed two. If a yaw operation cannot be completed after two restarts during a single yaw operation, it can be concluded that the current conditions are not suitable for yaw operations. Setting the number of restarts to no more than two can effectively protect wind power and avoid damage caused by multiple restarts under unsuitable conditions.

[0018] Furthermore, when the yaw controller stops the wind turbine from yawing, it locks the yaw gear ring of the wind turbine via a hydraulic system. Locking the yaw gear ring via a hydraulic system when yaw stops can effectively protect the wind turbine.

[0019] The wind turbine adopts the following technical solution: A wind turbine, characterized in that it includes a wind turbine yaw control system, the system comprising a yaw motor and a yaw controller, the yaw motor being equipped with a speed acquisition device connected to the yaw controller; when the speed acquisition device detects that the wind turbine yaw speed is greater than a first set value, the yaw controller controls the wind turbine to stop yawing and restarts yawing after a set interval; if yawing fails after at least one restart, the wind turbine is shut down; when the speed acquisition device detects that the wind turbine yaw speed is greater than a safety threshold, the yaw controller directly shuts down the wind turbine; the first set value is greater than the maximum allowable normal yaw speed of the wind turbine and less than the safety threshold.

[0020] Beneficial effects: In the wind turbine of the present invention, by improving the existing technology, the wind power yaw control system collects the rotational speed of the yaw motor through a speed acquisition device, and controls the yaw process of the wind power based on the rotational speed of the yaw motor. The rotational speed of the yaw motor can most accurately reflect the actual yaw speed of the wind power, so the yaw process of the wind power can be accurately controlled. The entire process can be achieved by simply setting the corresponding threshold, and the implementation method is extremely simple, thereby solving the problem of the complexity of wind power yaw drive control in the existing wind power yaw drive control method.

[0021] Furthermore, the speed acquisition device is configured only on some of the yaw motors. Since the speed of each yaw motor (generally there are multiple ones) in a wind turbine is the same, acquiring the speed of only some (at least one) yaw motors is sufficient to accurately reflect the yaw speed of the wind turbine. In this case, acquiring the speed of only some yaw motors can reduce the amount of data processing and achieve the acquisition of yaw motor speeds at a lower cost.

[0022] Furthermore, the speed acquisition device is a rotary transformer. Rotary transformers, as a mature speed acquisition device, have the advantages of high reliability and easy availability.

[0023] Furthermore, during a single yaw operation, the number of yaw restarts should not exceed two. If a yaw operation cannot be completed after two restarts during a single yaw operation, it can be concluded that the current conditions are not suitable for yaw operations. Setting the number of restarts to no more than two can effectively protect wind power and avoid damage caused by multiple restarts under unsuitable conditions.

[0024] Furthermore, when the yaw controller stops the wind turbine from yawing, it locks the yaw gear ring of the wind turbine via a hydraulic system. Locking the yaw gear ring via a hydraulic system when yaw stops can effectively protect the wind turbine. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of one embodiment of the wind power yaw drive control system of the present invention;

[0026] Figure 2 for Figure 1 A flowchart of the wind power yaw drive control system for controlling yaw start-up;

[0027] Figure 3 for Figure 1 The flowchart of the wind turbine yaw drive control system controlling yaw shutdown. Detailed Implementation

[0028] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0029] Example 1 of the wind power yaw drive control method of the present invention:

[0030] This method calculates the yaw speed of the wind turbine based on the rotational speed of the yaw motor, and controls the yaw process based on the obtained yaw speed. When the yaw speed exceeds a first set value, yaw is stopped and restarted after a set interval. If yaw fails after at least one restart, the wind turbine is shut down. When the yaw speed exceeds a safety threshold, the wind turbine is shut down directly. The first set value is greater than the maximum allowable yaw speed for normal wind turbine operation and less than the safety threshold. In this embodiment, only the rotational speed of one yaw motor is collected. In other embodiments, the rotational speeds of more or all yaw motors can be collected. In this embodiment, the first set value is 0.32° / s, and the safety threshold is 0.45° / s. In other embodiments, the first set value and the safety threshold can be set by the operator according to actual needs. In this embodiment, yaw is restarted only twice during one yaw process. In other embodiments, the number of restarts can be only one or more than three, but two is preferable.

[0031] Embodiment 1 of the wind power yaw drive control system of the present invention:

[0032] The yaw system, a crucial component of wind turbine generators, primarily consists of a main control PLC module, yaw frequency converter, yaw motor, yaw reducer, yaw gear ring, and hydraulic system. Its function is to control the wind direction and disconnect / unconnect power cables, ensuring the smooth operation of the generator.

[0033] The following explanation uses the yaw system applied to the 3.XMW unit as an example.

[0034] The wind turbine yaw drive control system consists of the following components: Figure 1As shown, the system includes a main control PLC module, wind speed and direction sensors, a yaw inverter, a yaw motor, a yaw reducer, a yaw gear ring, and a hydraulic system. The main control PLC module receives wind speed and direction information via an RS485 communication line. When the wind speed and direction meet the yaw conditions, the main control system sends a start yaw control command and a running speed command via CAN communication. Upon receiving the yaw command, the yaw inverter controls the yaw motor to accelerate at a set acceleration, driving the yaw reducer to rotate the nacelle gear ring. Similarly, when the wind speed and direction meet the stop yaw conditions, the main control system sends a stop yaw control command and a zero-speed command via CAN communication. Upon receiving the stop yaw command, the yaw inverter controls the yaw motor to decelerate at a set acceleration / deceleration until the yaw system stops.

[0035] Among them, the wind speed and direction sensor is used to collect wind speed and direction information in real time;

[0036] The main control PLC module controls the hydraulic system, receives wind speed and direction information via RS485 communication line and calculates whether yaw is possible, and communicates with the yaw inverter via CAN to send control commands, speed and receive status uploaded by the yaw inverter.

[0037] The yaw inverter interacts with the main control PLC on one hand, and collects the motor speed and controls the operation of the yaw motor on the other.

[0038] The yaw inverter collects the motor speed by calculating the signal from the yaw motor's rotary transformer.

[0039] The yaw start-up control procedure is as follows: Figure 2 As shown, when the wind speed and direction meet the requirements for starting yaw, the main control system first releases the hydraulic system and checks whether the hydraulic pressure is within the range of 24 bar and 35 bar. If the pressure meets the requirements, it sends a start yaw control command (the yaw inverter immediately releases the motor brake after receiving this command) and a speed command (the yaw drive executes the speed command sent by the main control after detecting that the brake feedback is normal); otherwise, if the pressure does not meet the requirements, the unit reports a fault and shuts down.

[0040] The yaw stop control procedure is as follows: Figure 3 As shown, when the wind speed and direction meet the requirements for starting yaw, the main controller sends a zero-speed command to the yaw inverter. After a delay of 2.5 seconds (which can be adjusted according to the ratio of yaw speed to deceleration), the hydraulic braking system is then engaged. Simultaneously, a 7-second timer is started. If the hydraulic pressure is less than 145 bar or greater than 180 bar after 7 seconds, the wind turbine reports a fault and stops. At this time, an enable command is sent to the yaw inverter to engage the motor brake. Otherwise, the yaw inverter remains enabled and generates braking torque without engaging the motor brake.

[0041] Fault shutdown control logic:

[0042] (1) If the yaw speed is detected to be greater than 0.32° / s during yaw (or the yaw driver reports a fault), the PLC control immediately switches to full pressure and issues a yaw zero speed command to end the yaw. If the yaw is restarted after 20s, and the unit still cannot complete the yaw and wind alignment after 3 consecutive attempts, the unit will report a yaw fault and shut down.

[0043] (2) When the yaw speed is detected to be greater than 0.45° / s during yaw, the unit reports a yaw overspeed fault and shuts down.

[0044] In Embodiment 1 of the wind power yaw drive control system of the present invention, only one yaw motor is equipped with a speed acquisition device. In other embodiments of the wind power yaw drive control system of the present invention, speed acquisition devices can be configured for more or all yaw motors to acquire the speed of more or all yaw motors. In Embodiment 1 of the wind power yaw drive control system of the present invention, the first set value is 0.32° / s and the safety threshold is 0.45° / s. In other embodiments, the first set value and the safety threshold can be set by the operator according to actual needs. In this embodiment, the yaw is restarted only twice during one yaw process. In other embodiments, the number of restarts can be only one or more than three, but two is preferred.

[0045] Embodiments of the wind turbine generator of the present invention:

[0046] The innovation of this wind turbine lies in the use of the wind power yaw drive control system of this invention, which will not be elaborated here.

Claims

1. A wind power yaw drive control method, characterized in that The wind power yawing speed is calculated according to the rotation speed of the yaw motor, and the wind power yawing process is controlled according to the obtained wind power yawing speed; when the wind power yawing speed is greater than a first set value, the yawing is stopped and restarted after an interval set time, and after restarting at least once, if the yawing is not successful, the wind turbine is stopped; when the wind power yawing speed is greater than a safety threshold, the wind turbine is directly stopped; the first set value is greater than the maximum value of the normal yawing allowed speed of the wind power and less than the safety threshold.

2. The wind power yaw drive control method according to claim 1, characterized in that, The rotation speed of the yaw motor is obtained by a speed measuring device arranged on the partial yaw motor.

3. The wind power yaw drive control method according to claim 1 or 2, characterized in that, In one yawing process, the number of times of restarting the yawing is not greater than two.

4. The wind power yaw drive control method according to claim 1 or 2, characterized in that, When the yawing is stopped, the fan yawing gear ring is locked by a hydraulic system.

5. A yaw drive control system for a wind turbine, comprising a yaw motor and a yaw controller, characterized in that The yaw motor is provided with a rotation speed collecting device, and the rotation speed collecting device is connected with the yaw controller; when the wind power yawing speed collected by the rotation speed collecting device is greater than a first set value, the yaw controller controls the wind power to stop yawing and restart yawing after an interval set time, and after restarting at least once, if the yawing is not successful, the wind turbine is stopped; when the wind power yawing speed collected by the rotation speed collecting device is greater than a safety threshold, the yaw controller directly stops the wind turbine; the first set value is greater than the maximum value of the normal yawing allowed speed of the wind power and less than the safety threshold.

6. The wind power yaw drive control system according to claim 5, characterized in that The rotation speed collecting device is arranged only on the partial yaw motor.

7. The wind power yaw drive control system according to claim 5 or 6, characterized in that, The rotation speed collecting device is a rotary transformer.

8. The wind power yaw drive control system according to claim 5 or 6, characterized in that, In one yawing process, the number of times of restarting the yawing is not greater than two.

9. The wind power yaw drive control system according to claim 5 or 6, characterized in that, When the yaw controller controls the wind power to stop yawing, the fan yawing gear ring is locked by a hydraulic system.

10. Wind power generator, characterized in that The wind power yawing drive control system comprises the wind power yawing drive control system according to any one of claims 5-9.

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