Wind turbine generator yaw control system

Abstract

The application discloses a wind turbine yaw control system, comprising a wind direction data acquisition module, an MCU main control module, a yaw control module, a wind-aiming adjustment module, a yaw brake module, a cable release control module, a yaw error angle analysis module, a monitoring control module and a power module; the wind direction data acquisition module transmits collected information to the MCU main control module; the MCU main control module controls the wind-aiming adjustment module, the yaw brake module and the cable release control module through the yaw control module; the MCU main control module controls the yaw error angle analysis module and the monitoring control module; the application provides a wind turbine yaw control system with multiple functions, accurate wind direction control, flexibility, high stability, safety, cost reduction and work efficiency improvement.

Description

Technical Field

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

[0002] Wind turbine rotors can effectively capture wind energy, and a prerequisite for this is the efficient wind alignment of the yaw system. Therefore, the yaw system plays a crucial role in the power generation performance of the wind turbine. Current research and control of the yaw system mainly focuses on the protection of the yaw system itself, wind alignment, load reduction, and wind farm-level control.

[0003] Currently, existing technologies for yaw control systems are ineffective in controlling wind direction, lack accuracy and flexibility in adjusting wind direction, and are costly and have a high failure rate, failing to meet the needs of current social development. Summary of the Invention

[0004] In view of this, the present invention provides a yaw control system for wind turbine generator sets that is multifunctional, accurately and flexibly controls and adjusts wind direction, has high stability, is safer to use, reduces costs, and improves work efficiency.

[0005] To achieve the objectives of this invention, the following technical solutions can be adopted:

[0006] A yaw control system for a wind turbine generator set includes a wind direction data acquisition module, an MCU main control module, a yaw control module, a wind adjustment module, a yaw braking module, a cable unwinding control module, a yaw error angle analysis module, a monitoring and control module, and a power supply module.

[0007] The wind direction data acquisition module is used to collect wind force and direction information; the MCU main control module is used to control and process yaw information; the yaw control module is used to receive control signals and send control commands; the wind alignment module is used to control the wind turbine rotor to align with the wind direction; the yaw braking module is used to control the yaw brake to adjust the wind direction; the cable untying control module is used to control the generator cable to untie; the yaw error angle analysis module is used to analyze the yaw error angle; the monitoring control module is used to monitor yaw information data; and the power supply module provides power to the MCU main control module.

[0008] The wind direction data acquisition module transmits the acquired information to the MCU main control module; the MCU main control module controls the wind adjustment module, yaw braking module, and unmooring control module through the yaw control module; the MCU main control module also controls the yaw error angle analysis module and the monitoring control module.

[0009] The wind direction data acquisition module includes wind direction and wind force sensors.

[0010] The wind direction and wind force sensor includes a yaw control command module, which transmits wind direction and wind force information to the MCU main control module through the yaw control command module.

[0011] The wind direction data acquisition module includes a lidar wind measurement module, which is used to collect wind speed and wind direction information.

[0012] The lidar wind measurement module collects wind speed and direction information using the following formula:

[0013]

[0014] Where Xij, Yij, and Zij are the longitudinal, transverse, and vertical coordinates of the measuring point of the i-th beam at the j-th measurement distance, respectively, in meters; Lj is the lidar measurement distance.

[0015] The MCU module includes a yaw correction module, which is used to correct yaw error angle information.

[0016] The MCU module includes a yaw prediction wind direction module, which is used to predict and adjust the wind direction of the yaw error angle.

[0017] The beneficial effects of the technical solution provided by this invention are:

[0018] First, the wind direction data acquisition module of the present invention transmits the acquired information to the MCU main control module; the MCU main control module controls the wind adjustment module, the yaw error angle analysis module and the monitoring and control module respectively, so as to greatly improve the accuracy of yaw wind control and make it more flexible.

[0019] Secondly, the stability of this invention is greatly improved; it is multifunctional, highly intelligent, and greatly improves work efficiency.

[0020] Third, this invention is safer and more reliable, greatly reduces costs, adapts to the needs of the times, and is easy to promote and popularize. Attached Figure Description

[0021] Figure 1 This is a block diagram of a wind turbine yaw control system according to an embodiment of the present invention;

[0022] Figure 2 This is another system block diagram of a wind turbine yaw control system according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of a lidar wind direction test for a wind turbine yaw control system according to an embodiment of the present invention;

[0024] Figure 4 This is a vector diagram of the lidar wind direction and speed test for a wind turbine yaw control system according to an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the lidar wind direction coordinates for wind turbine yaw control system according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of yaw prediction for a wind turbine yaw control system according to an embodiment of the present invention. Detailed Implementation

[0027] The invention will now be described in further detail with reference to the accompanying drawings and embodiments thereof.

[0028] Example 1

[0029] See Figure 1 The yaw control system for a wind turbine generator includes a wind direction data acquisition module 1, an MCU main control module 2, a yaw control module 3, a wind adjustment module 4, a yaw braking module 5, a mooring control module 6, a yaw error angle analysis module 7, a monitoring and control module 8, and a power supply module 9.

[0030] The wind direction data acquisition module 1 is used to collect wind force and direction information; the MCU main control module 2 is used to control and process yaw information; the yaw control module 3 is used to receive control signals and send control commands; the wind alignment module 4 is used to control the wind turbine rotor to align with the wind direction; the yaw braking module 5 is used to control the yaw brake to adjust the wind direction; the cable unwinding control module 6 is used to control the generator cable to unwind; the yaw error angle analysis module 7 is used to analyze the yaw error angle; the monitoring control module 8 is used to monitor yaw information data; and the power supply module 9 provides power to the MCU main control module 2.

[0031] The wind direction data acquisition module 1 transmits the acquired information to the MCU main control module 2; the MCU main control module 2 controls the wind adjustment module 4, the yaw braking module 5, and the unmooring control module 6 through the yaw control module 3; the MCU main control module 2 controls the yaw error angle analysis module 7 and the monitoring control module 8 respectively.

[0032] Preferably, the MCU main control module is a CX5020 chip.

[0033] In this embodiment, after receiving the wind direction data acquisition module 1, the MCU main control module 2 processes the wind force and direction information and controls the wind alignment module 4, yaw braking module 5, and uncoupling control module 6 through the yaw control module 3. In this embodiment, to maximize the power absorbed by the wind turbine and achieve maximum efficiency, the nacelle must be accurately aligned with the wind. Therefore, the MCU main control module 2 controls the wind alignment module 4 to adjust the wind direction so that the rotor normal of the wind turbine is basically consistent with the wind direction. When the wind direction changes and exceeds the allowable error range, the MCU main control module 2 issues an automatic yaw command to control the wind alignment module 4 to adjust the wind direction so that the nacelle is accurately aligned with the wind.

[0034] In this embodiment, to ensure that the wind turbine generator set does not passively deviate from the wind direction due to wind load on the blades when it stops yawing, the wind turbine generator set is mostly equipped with a yawing brake. The yawing brake is an important component of the yawing system. Under rated load, the braking torque of the brake should be stable, and its value should not be less than the design value. During the yawing process of the unit, the damping torque provided by the brake should remain stable, and the deviation from the design value should be less than 5%. There should be no abnormal noise during the braking process. In this embodiment, the yawing brake module 5 controls the yawing brake to ensure that the wind turbine generator set does not passively deviate from the wind direction due to wind load on the blades when it stops yawing.

[0035] In this embodiment, because the wind turbine needs to frequently yaw to meet the wind, and the direction of yaw is uncertain, the cable will twist as the wind turbine rotates. If the wind turbine rotates in the same direction multiple times, the cable will become tangled, strangled, or even broken, so it is necessary to untangle the cable. Different wind turbines have specific requirements for the number of turns required for untangling. When the specified number of turns is reached, the untangling control module 6 controls the automatic untangling. At this time, the MCU main control module 2 controls the untangling control module 6 to untangle the cable by rotating in the opposite direction to untangle it, returning the nacelle to a position where the cable is not tangled.

[0036] In this embodiment, the MCU main control module 2 controls the yaw error angle analysis module 7 to analyze and adjust the yaw error angle; the specific method by which the yaw error angle analysis module 7 analyzes and adjusts the yaw error angle is as follows:

[0037] Because the yaw system of a wind turbine has high damping, the yaw mechanism usually takes several seconds to act after receiving a yaw request. The yaw speed is usually between 0.5° / s and 0.8° / s, while the wind direction changes randomly, potentially by several degrees or even 10° per second. Therefore, the yaw system cannot guarantee real-time wind alignment, and an error angle α is inevitable. At the same time, frequent starts will seriously affect the lifespan of the yaw system mechanism. Considering the lifespan and safety of the turbine, the number of times the yaw system is started should not be too many times. This also explains the inevitability of the yaw error angle α.

[0038] The power absorbed by the wind turbine rotor can be expressed as:

[0039]

[0040] In the formula, ρ is the air density, and C p Let be the power coefficient, s be the impeller swept area, and v be the wind speed vector. When the yaw error angle is α, the wind speed parallel to the rotor normal is v = V cosα. Substituting this into the equation, we can see that the power absorbed by the turbine is proportional to the cube of the cosine of the yaw error angle, cosα. Therefore, cosα can be used as the power coefficient. 3 α represents the efficiency of the yaw system. When the yaw error angle is within 10°, yaw efficiency is guaranteed; the smaller the yaw error angle, the higher the yaw efficiency. When the error angle is within 6°, the yaw efficiency reaches over 98%, at which point reducing the yaw error angle has little effect on improving yaw efficiency. Therefore, considering the relationship between yaw error and yaw efficiency, the yaw system can tolerate a certain yaw error angle. This characteristic of allowing a certain windward error angle is the tolerance characteristic of the yaw system.

[0041] Example 2

[0042] See Figure 2 The difference from the above embodiments is that, in this embodiment, preferably, the wind direction data acquisition module 1 includes a wind direction and wind force sensor 11, which is used to collect wind direction and wind force information.

[0043] In this embodiment, and preferably, the wind direction and wind force sensor 11 includes a yaw control command module 111, which transmits wind direction and wind force information to the MCU main control module 2 through the yaw control command module 111.

[0044] In this embodiment, the yaw control command module 111 sends an ASS signal to the wind direction and wind force sensor 11 to give a yaw control command.

[0045] When ASS=00, it indicates that the nacelle is in the windward position; if ASS=11, it indicates that an obtuse angle yaw is being performed. To effectively prevent cable entanglement, the direction of the previous obtuse angle yaw is read and its opposite direction is recorded as the yaw direction this time; if ASS=01, the yaw motor is set to rotate forward; if ASS=10, the yaw motor is set to rotate in reverse; after the yaw motor starts working, the yaw timer is started to keep track of the time. The yaw motor is controlled to run for a certain period of time, and then it is checked whether ASS is 00. If ASS=00, it indicates that the nacelle is in the windward position; otherwise, it is checked whether the timer exceeds the time required for a 360-degree yaw. If the timer exceeds the time required for a 360-degree yaw and the yaw motor still has not stopped working, the yaw is stopped, and a safety stop signal and a wind vane fault signal are sent to the MCU main control module 2.

[0046] If ASS=00, and the yaw timing time does not exceed the time required for a 360-degree yaw, the yaw motor will continue to run until ASS=00, at which point an automatic yaw completion signal will be sent to the central controller and the automatic yaw flag will be reset.

[0047] In this embodiment, preferably, the wind direction data acquisition module 1 includes a lidar wind measurement module 12, which is used to collect wind speed and wind direction information.

[0048] See Figures 3 to 5 In this embodiment, the lidar configuration parameters are set as follows: the angle between the beam and the centerline is θ, and the vertical beam subtraction angles are θ2. The line-of-sight (LOS) wind speed is measured at 10 measurement distances from θ to θ9 directly in front of the wind turbine. The relevant parameters for the lidar installation on the wind turbine in the actual test environment are: rotor diameter D (m); horizontal distance between the lidar and the rotor centerline H (m); distance from the rotor plane to the lidar head θ (m); and height of the hub center from the ground θ (m).

[0049] like Figure 3 As shown, a lidar coordinate system is established with the lidar emission position as the origin. Based on the lidar configuration parameters given above, combined with... Figure 4 The coordinates of the four measuring points at each distance are given by the following formula:

[0050]

[0051] Where Xij, Yij, and Zij are the longitudinal, transverse, and vertical coordinates of the measuring point of the i-th beam at the j-th measuring distance, m; Lj is the lidar measuring distance, m; i = 0, 1, 2, 3 represent 4 measuring points; j = 0"-9 represent 10 measuring distances.

[0052] Given the measurement distance, the angle between the beam and the centerline, and the two vertical beam angles, the three-dimensional spatial coordinates of any measurement point at any measurement distance can be obtained using trigonometric relationships. Similarly, the corresponding vector components of the line-of-sight wind speed vector measured by the lidar in the X, Y, and Z directions can be derived.

[0053] LiDAR wind measurement data is output with the LiDAR coordinate system as the reference. The LiDAR will follow the nacelle vibration, causing measurement errors in the actual data. Therefore, the vibration of the nacelle LiDAR is decomposed into motion in three directions, let the rotation around the Z-axis be the yaw angle, Ψ... L The rotation around the X-axis is Ψ L The angle of rotation about the y-axis is the pitch angle Θ. L

[0054] Establish such as Figure 5 The inertial coordinate system shown is used to transform the lidar wind measurement data from the lidar coordinate system to the inertial coordinate system for numerical correction, eliminating measurement errors caused by nacelle vibration. Let the transformation matrix from the lidar coordinate system to the inertial coordinate system be , and the transformation matrix from the inertial coordinate system to the lidar coordinate system be , T. IL ,have:

[0055] T IL =T LI -1 Based on relevant knowledge of spatial geometry, the coordinates and velocity vectors of the lidar coordinate system and the inertial coordinate system have the following correspondence:

[0056] The coordinates of the measuring point in the inertial coordinate system are as follows:

[0057]

[0058] Where Xij, Yij, and Zij are the longitudinal, transverse, and vertical coordinates of the measuring point of the i-th beam at the j-th measurement distance in the inertial coordinate system, respectively, in m;

[0059] Xij, Yij, and Zij represent the longitudinal, lateral, and vertical coordinates of the measuring point at the j-th measurement distance of the i-th beam in the radar coordinate system, respectively, in m.

[0060] The formula for the coordinates of the measuring point in the lidar coordinate system is:

[0061]

[0062] LiDAR line-of-sight wind speed formula

[0063] in, It is the line-of-sight wind speed measured by lidar in inertial coordinates;

[0064] In this embodiment, by establishing a transformation model between the lidar measurement coordinate system and the inertial coordinate system, the data fluctuations caused by nacelle vibration are corrected, improving the accuracy of wind speed reconstruction. To address the issue of blade shading, a method is used to fill in the missing or invalid data of the next second with valid data from the previous second.

[0065] See Figure 2 In this embodiment, preferably, the MCU module 2 includes a yaw correction module 21, which is used to correct yaw error angle information.

[0066] In this embodiment, the yaw correction module 21 utilizes the collected generator power, wind speed, and wind direction data of the wind turbine to employ an automated algorithm to deduce the matching degree between the turbine output and the wind direction, thereby confirming the yaw error correction angle and automatically implementing it online. The yaw correction module 21 undergoes several data iterations to finally confirm the correction angle, ensuring the turbine maintains a high degree of wind alignment accuracy.

[0067] In this embodiment, preferably, the MCU module 2 includes a yaw prediction wind direction module 22, which is used to predict and adjust the yaw error angle wind direction.

[0068] See Figure 6 Traditional yaw control relies on wind vane signals. Yaw is initiated when wind direction changes exceed a certain error angle and stops when the error angle decreases to within an acceptable range. This method fails to consider the characteristics of wind direction changes when determining the stopping point, leading to numerous and continuous yawing maneuvers. To better control yaw, it is necessary to analyze and summarize wind direction characteristics and implement different control methods based on these characteristics.

[0069] The MCU module 2 controls the yaw prediction wind direction module 22. Based on the characteristics of two basic wind conditions—trending wind direction and fluctuating wind direction—and turning wind, it differentiates between different wind conditions when yaw stops, stopping under different conditions. Trending wind direction is suitable for delayed yaw stopping, fluctuating wind direction is suitable for accurate yaw stopping, and turning wind is suitable for early yaw stopping. This wind condition recognition control method can reduce the number of yawing operations and consecutive yawing operations without increasing yaw time, improving yaw efficiency and achieving more accurate wind alignment.

[0070] The yaw system of this invention is an important component of the wind turbine control system. The accuracy of yaw directly affects the power generation efficiency during the operation of the unit. If there is a large yaw error, it will not only reduce the power capture performance of the unit, but also increase the load on the structural components.

[0071] This invention analyzes wind turbine operating data to automatically correct yaw error angles. It also combines lidar wind measurement and wind condition recognition technologies to achieve intelligent yaw prediction and control, thereby increasing the power generation of the turbine.

[0072] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A yaw control system for a wind turbine generator set, characterized in that: It includes a wind direction data acquisition module, an MCU main control module, a yaw control module, a wind adjustment module, a yaw braking module, a mooring control module, a yaw error angle analysis module, a monitoring and control module, and a power supply module. The wind direction data acquisition module is used to collect wind force and wind direction information; The MCU main control module is used to control and process yaw information; The yaw control module is used to receive control signals and send control commands; the wind adjustment module is used to control the wind turbine rotor to align with the wind direction; and the yaw braking module is used to control the yaw brake to adjust the wind direction. The uncoupling control module is used to control the generator set cable to uncouple; the yaw error angle analysis module is used to analyze the yaw error angle; the monitoring control module is used to monitor yaw information data; and the power supply module provides power to the MCU main control module. The wind direction data acquisition module transmits the acquired information to the MCU main control module; the MCU main control module controls the wind adjustment module, yaw braking module, and unmooring control module through the yaw control module; the MCU main control module also controls the yaw error angle analysis module and the monitoring control module. The wind direction data acquisition module includes a wind direction and wind force sensor; the wind direction and wind force sensor includes a yaw control command module, which transmits wind direction and wind force information to the MCU main control module through the yaw control command module. The yaw control command module sends an ASS signal to the wind direction and wind force sensor to give yaw control command; When ASS=00, it indicates that the nacelle is in the windward position; if ASS=11, it indicates that an obtuse angle yaw is being performed. To effectively prevent cable entanglement, the direction of the previous obtuse angle yaw is read and its opposite direction is recorded as the current yaw direction; if ASS=01, the yaw motor is set to rotate forward; if ASS=10, the yaw motor is set to rotate in reverse; after the yaw motor starts working, the yaw timer is started to control the yaw motor to run for a certain period of time, and then it is checked whether ASS is 00. If ASS=00, it indicates that the nacelle is in the windward position; otherwise, it is checked whether the timing time exceeds the time required for a 360-degree yaw. If the timing time exceeds the time required for a 360-degree yaw and the yaw motor still has not stopped working, then the yaw is stopped and a safety stop signal and a wind vane fault signal are sent to the MCU main control module. If ASS=00, and the yaw timing time does not exceed the time required for a 360-degree yaw, the yaw motor will continue to run until ASS=00, at which point an automatic yaw completion signal will be sent to the central controller and the automatic yaw flag will be reset.

2. The yaw control system for a wind turbine generator set according to claim 1, characterized in that: The wind direction data acquisition module includes a lidar wind measurement module, which is used to collect wind speed and wind direction information.

3. The yaw control system for a wind turbine generator set according to claim 2, characterized in that: The lidar wind measurement module collects wind speed and direction information using the following formula: Where Xij, Yij, and Zij are the longitudinal, transverse, and vertical coordinates of the measuring point of the i-th beam at the j-th measurement distance, respectively, in meters; Lj is the lidar measurement distance.

4. The yaw control system for a wind turbine generator set according to claim 1, characterized in that: The MCU module includes a yaw correction module, which is used to correct yaw error angle information.

5. The yaw control system for a wind turbine generator set according to claim 1, characterized in that: The MCU module includes a yaw prediction wind direction module, which is used to predict and adjust the wind direction of the yaw error angle.

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