An optimization method for automatic yaw control of a wind turbine based on vibration monitoring

Abstract

The present invention discloses an optimization method for automatic yaw control of a wind turbine based on vibration monitoring. The method first determines whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the controller of the wind turbine directly calculates the deviation between the wind turbine and the received wind direction, and controls the yaw system of the wind turbine to yaw and align with the wind. If it is found that the wind direction signal is abnormal, the wind direction of the wind turbine is calculated by the vibration acceleration monitored by the vibration sensor installed at the wind turbine. The controller of the wind turbine calculates the deviation between the wind turbine and the calculated wind direction, then determines the yaw direction according to the calculated wind direction, and finally controls the yaw system of the wind turbine to yaw and align with the wind. The present invention does not require additional equipment, and only needs to add corresponding control methods to the program of the controller to optimize the yaw of the wind turbine, achieve complete alignment of the wind turbine with the wind, with low implementation cost and simple implementation, effectively ensuring the safety of the wind turbine.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine yaw control, and in particular to an optimization method for automatic yaw control of wind turbines based on vibration monitoring. Background Art

[0002] The yaw system is an important part of a wind power generation unit, ensuring that the wind power generation unit is always in the upwind state and improving the utilization efficiency of wind energy. If the wind alignment is inaccurate, it will have many adverse effects, such as reducing the power generation efficiency of the wind turbine and increasing vibration. When the wind direction changes, the wind power generation unit obtains the wind direction through a wind direction measuring device. The controller calculates the deviation between the wind power generation unit and the wind direction, and controls the yaw system to perform yaw alignment. However, once the wind vane is damaged or there is no wind to obtain the wind direction, the wind power generation unit cannot perform yaw alignment. Especially for offshore wind power generation units with inconvenient transportation and high wind speeds, if yaw cannot be performed, there will be great safety risks. Summary of the Invention

[0003] The purpose of the present invention is to provide an optimization method for automatic yaw control of wind turbines based on vibration monitoring to solve the deficiencies in the prior art. The vibration of the wind turbine is monitored by a vibration sensor, and the magnitude and direction of the force on the wind turbine are calculated using the monitored vibration data, thereby obtaining the wind direction. The controller calculates the deviation between the wind turbine and the wind direction, and controls the yaw system to perform yaw alignment, thereby ensuring the safety of the wind turbine.

[0004] The present invention is achieved through the following technical solutions: An optimization method for automatic yaw control of wind turbines based on vibration monitoring. First, it is determined whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the controller of the wind turbine directly calculates the deviation between the wind turbine and the received wind direction, and controls the yaw system of the wind turbine to perform yaw alignment. If it is found that the wind direction signal is abnormal, the wind direction of the wind turbine is calculated using the vibration acceleration monitored by the vibration sensor installed at the wind turbine. The controller of the wind turbine calculates the deviation between the wind turbine and the calculated wind direction, and then determines the yaw direction based on the calculated wind direction, and finally controls the yaw system of the wind turbine to perform yaw alignment.

[0005] Further, the method includes the following steps:

[0006] S1. Determine whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the wind turbine directly enters the yaw control mode. After calculating the deviation between the wind turbine and the wind direction and obtaining the yaw direction based on the received wind direction signal, step S4 is executed. If it is found that the wind direction signal is abnormal, the wind turbine enters the yaw control mode based on vibration monitoring, and step S2 is executed.

[0007] S2. Calculate the magnitude and direction of the force on the wind turbine based on the vibration acceleration monitored by the vibration sensor installed at the wind turbine, so as to obtain the wind direction received by the wind turbine at this time;

[0008] S3. The controller of the wind turbine calculates the deviation between the wind turbine and the wind direction, and determines the yaw direction according to the wind direction;

[0009] S4. According to the calculated deviation between the wind turbine and the wind direction and the yaw direction, control the yaw system of the wind turbine to yaw and align with the wind until the wind turbine is completely aligned with the wind.

[0010] Furthermore, step S2 includes the following steps:

[0011] A vibration sensor capable of three-axis measurement is installed on the central axis of the hub of the wind turbine, and the magnitude and direction of the force on the wind turbine are calculated from the vibration acceleration monitored by the vibration sensor:

[0012] F = ma; (1)

[0013] Among them, F is the force on the wind turbine, m is the mass of the nacelle and impeller of the wind turbine, and a is the vibration acceleration monitored by the vibration sensor;

[0014] When the wind turbine is completely aligned with the wind, the wind turbine is only subjected to a force along the direction from the hub to the nacelle, and vibrates along this direction from the hub to the nacelle. Presuppose the axis along this direction from the hub to the nacelle as the longitudinal axis Y, and the axis perpendicular to the longitudinal axis Y as the transverse axis X. Then, when the wind turbine is completely aligned with the wind, the acceleration monitored by the vibration sensor in the longitudinal axis direction is a Y , then according to formula (1), the force F on the wind turbine is the force F on the longitudinal axis Y Y , that is, F = F Y = ma Y , the force F on the wind turbine is the wind direction of the wind turbine at this time; when the wind turbine is not completely aligned with the wind, the acceleration monitored by the vibration sensor in the longitudinal axis direction is a Y , and the acceleration in the transverse axis direction is a X , then according to formula (1), the force F on the longitudinal axis Y Y = ma Y , the force F on the transverse axis X X = ma X , the force F on the wind turbine is the force F on the longitudinal axis Y Y and the force F on the transverse axis X X 's resultant force, and the force F on the wind turbine is the wind direction of the wind turbine at this time.

[0015] Furthermore, in step S3, determining the yaw direction according to the wind direction includes the following steps:

[0016] S301. Calculate the angle α1 between the wind direction obtained in step S2 and the longitudinal axis Y;

[0017] After controlling the fan to yaw in a preset direction, calculate the included angle α2 between the yawing wind direction and the longitudinal axis Y.

[0018] S303. Compare the magnitudes of the included angle α1 and the included angle α2. If α1 > α2, continue to yaw in the preset direction; if α1 < α2, yaw in the direction opposite to the preset direction.

[0019] Furthermore, the preset direction includes the clockwise direction and the counterclockwise direction.

[0020] Furthermore, the step S4 includes the following steps:

[0021] When the fan is completely aligned with the wind, the fan is only subjected to a force along the direction from the hub to the nacelle and vibrates along this direction from the hub to the nacelle. Preset the axis along this direction from the hub to the nacelle as the longitudinal axis Y, and the axis perpendicular to the longitudinal axis Y as the transverse axis X. Then, when controlling the yaw system of the fan to yaw and align with the wind, when the included angle between the wind direction and the longitudinal axis Y is 0, it is determined that the fan has yawed to be completely aligned with the wind.

[0022] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0023] The present invention monitors the vibration of the fan through a vibration sensor, calculates the magnitude and direction of the force on the fan using the monitored vibration data, thereby obtaining the wind direction. The controller calculates the deviation between the wind turbine generator set and the wind direction and controls the yaw system to yaw and align with the wind. The present invention does not require additional equipment, and only needs to add corresponding control methods to the program of the controller, achieving low cost and simple implementation, and effectively ensuring the safety of the fan. Description of the Drawings

[0024] Figure 1 Schematic diagram of the longitudinal axis and force direction of the fan when the fan is completely aligned with the wind.

[0025] Figure 2 Schematic diagram of the force synthesis and direction of the fan.

[0026] Figure 3 Control flowchart of the present invention. Detailed Embodiments

[0027] The present invention will be further described below in conjunction with specific embodiments.

[0028] See Figures 1 to 3As shown, the optimization method of automatic yaw control of a wind turbine based on vibration monitoring provided by the present embodiment is firstly to determine whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the controller of the wind turbine directly calculates the deviation between the wind turbine and the received wind direction, and controls the yaw system of the wind turbine to yaw the wind; if the wind direction signal is abnormal, the wind direction of the wind turbine is calculated by monitoring the vibration acceleration obtained by the vibration sensor installed at the wind turbine, the controller of the wind turbine calculates the deviation between the wind turbine and the calculated wind direction, and then confirms the yaw direction according to the calculated wind direction, and finally controls the yaw system of the wind turbine to yaw the wind, comprising the following steps:

[0029] S1. Determine whether the wind direction signal of the fan is abnormal. If the wind direction signal is normal, the fan directly enters the yaw control mode, calculates the deviation between the fan and the wind direction according to the received wind direction signal, and obtains the yaw direction, and then executes step S4; if the wind direction signal is abnormal, the fan enters the yaw control mode based on vibration monitoring, and executes step S2;

[0030] S2, calculating the magnitude and direction of the force on the fan by monitoring the vibration acceleration obtained by the vibration sensor installed at the fan, thereby obtaining the wind direction to which the fan is subjected at this time, including the following steps:

[0031] A vibration sensor LE2183S capable of three-axis measurement is installed on the central axis of the fan hub. The vibration sensor LE2183S has three built-in vibration sensors (accelerometers, 0.1-50Hz), which can perform three-axis measurements in directions A, B and C. The range is set to -2g-+2g. The vibration acceleration monitored by the vibration sensor LE2183S is used to calculate the force magnitude and direction of the fan:

[0032] F = ma; (1)

[0033] Where F is the force on the fan, m is the mass of the fan nacelle and impeller, and a is the vibration acceleration monitored by the vibration sensor;

[0034] When the fan is fully facing the wind, the fan is only subjected to a force along the direction from the hub to the nacelle, and vibrates along this direction from the hub to the nacelle. The axis along the direction from the hub to the nacelle is preset as the longitudinal axis Y, and the axis perpendicular to the longitudinal axis Y is the transverse axis X. When the fan is fully facing the wind, the vibration sensor only monitors the acceleration in the longitudinal direction as a. Y , then according to formula (1), the force F of the fan is the force F on the vertical axis Y Y , that is, F = F Y =ma Y , the force F on the fan is the wind direction of the fan at this time; when the fan is not completely facing the wind, the acceleration in the longitudinal direction monitored by the vibration sensor is a Y, the acceleration in the horizontal axis direction is a X , then according to formula (1), the force F on the vertical axis Y Y = ma Y , the force F on the horizontal axis X X = ma X , the force F on the fan is the force F on the vertical axis Y Y and the force F on the horizontal axis X X of the resultant force. The force F on the fan is the wind direction of the fan at this time, and the included angle between the wind direction and the vertical axis Y is α.

[0035] S3. The controller of the fan calculates the deviation between the fan and the wind direction, and determines the yaw direction according to the wind direction. The steps of determining the yaw direction according to the wind direction include the following:

[0036] S301. Calculate the included angle α1 between the wind direction and the vertical axis Y according to the wind direction obtained in step S2;

[0037] S302. After controlling the fan to yaw in the preset direction, calculate the included angle α2 between the yawed wind direction and the vertical axis Y;

[0038] S303. Compare the magnitudes of the included angle α1 and the included angle α2. If α1 > α2, continue to yaw in the preset direction; if α1 < α2, yaw in the direction opposite to the preset direction.

[0039] S4. According to the calculated deviation between the fan and the wind direction and the yaw direction, control the yaw system of the fan to yaw and align with the wind until the fan is completely aligned with the wind, including the following steps:

[0040] When the fan is completely aligned with the wind, the fan is only subjected to a force along the direction from the hub to the nacelle, and vibrates along this direction from the hub to the nacelle. Preset the axis along this direction from the hub to the nacelle as the vertical axis Y, and the axis perpendicular to the vertical axis Y as the horizontal axis X. Then when controlling the yaw system of the fan to yaw and align with the wind, when the included angle between the wind direction and the vertical axis Y is 0, it is determined that the fan has yawed to be completely aligned with the wind.

[0041] The above-described embodiments are only the preferred embodiments of the present invention, and do not limit the scope of implementation of the present invention. Therefore, all changes made according to the shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An optimization method for automatic yaw control of a wind turbine based on vibration monitoring, characterized in that: This method first determines whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the controller of the wind turbine directly calculates the deviation between the wind turbine and the received wind direction, and controls the yaw system of the wind turbine to yaw and align with the wind. If it is found that the wind direction signal is abnormal, the wind direction of the wind turbine is calculated by the vibration acceleration monitored by the vibration sensor installed at the wind turbine. The controller of the wind turbine calculates the deviation between the wind turbine and the calculated wind direction, then confirms the yaw direction according to the calculated wind direction, and finally controls the yaw system of the wind turbine to yaw and align with the wind, including the following steps: S1. Determine whether the wind direction signal of the wind turbine is abnormal. If the wind direction signal is normal, the wind turbine directly enters the yaw control mode. After calculating the deviation between the wind turbine and the wind direction based on the received wind direction signal and obtaining the yaw direction, step S4 is executed; if it is found that the wind direction signal is abnormal, the wind turbine enters the yaw control mode based on vibration monitoring and step S2 is executed. S2. Calculate the magnitude and direction of the force on the wind turbine by the vibration acceleration monitored by the vibration sensor installed at the wind turbine, so as to obtain the wind direction received by the wind turbine at this time, including the following steps: A vibration sensor capable of three-axis measurement is installed on the central axis of the hub of the wind turbine, and the magnitude and direction of the force on the wind turbine are calculated from the vibration acceleration monitored by the vibration sensor: F = ma; (1) Wherein, F is the force on the wind turbine, m is the mass of the nacelle and the impeller of the wind turbine, and a is the vibration acceleration monitored by the vibration sensor. When the wind turbine is perfectly aligned with the wind, the wind turbine is only subjected to a force in the direction from the hub to the nacelle and vibrates in this direction from the hub to the nacelle. Assume the axis in this direction from the hub to the nacelle is the longitudinal axis Y, and the axis perpendicular to the longitudinal axis Y is the transverse axis X. Then, when the wind turbine is perfectly aligned with the wind, the acceleration in the longitudinal axis direction monitored by the vibration sensor is a Y , then according to formula (1), the force F on the wind turbine is the force F on the longitudinal axis Y Y , that is, F = F Y = ma Y . The force F on the wind turbine is the wind direction of the wind turbine at this time; when the wind turbine is not perfectly aligned with the wind, the acceleration in the longitudinal axis direction monitored by the vibration sensor is a Y , and the acceleration in the transverse axis direction is a X , then according to formula (1), the force F on the longitudinal axis Y Y = ma Y , the force F on the transverse axis X X = ma X . The force F on the wind turbine is the resultant force of the force F on the longitudinal axis Y Y and the force F on the transverse axis X X . The force F on the wind turbine is the wind direction of the wind turbine at this time; S3. The controller of the wind turbine calculates the deviation between the wind turbine and the wind direction, and confirms the yaw direction according to the wind direction, including the following steps: S301. Calculate the angle between the wind direction and the vertical axis Y based on the wind direction obtained in step S2 ; S302. After controlling the fan to yaw in a preset direction, calculate the angle between the yawed wind direction and the vertical axis Y. ; S303. Compare the included angles and the included angle in terms of magnitude. If , continue to yaw in the preset direction; if , yaw in the direction opposite to the preset direction; S4. According to the calculated deviation between the wind turbine and the wind direction and the yaw direction, control the yaw system of the wind turbine to yaw and align with the wind until the wind turbine is completely aligned with the wind.

2. An optimization method for automatic yaw control of a wind turbine based on vibration monitoring according to claim 1, characterized in that: The preset directions include the clockwise direction and the counterclockwise direction.

3. An optimization method for automatic yaw control of a fan based on vibration monitoring according to claim 1, characterized in that, Step S4 includes the following steps: When the wind turbine is completely aligned with the wind, the wind turbine is only subjected to a force along the direction from the hub to the nacelle and vibrates along this direction. The axis along this direction from the hub to the nacelle is preset as the longitudinal axis Y, and the axis perpendicular to the longitudinal axis Y is the transverse axis X. Then, when controlling the yaw system of the wind turbine to yaw and align with the wind, when the included angle between the wind direction and the longitudinal axis Y is 0, it is judged that the wind turbine has yawed to be completely aligned with the wind.

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