Wind turbine continuous yaw control system and continuous yaw control method

Abstract

The present invention discloses a continuous yaw control system and a continuous yaw control method for a wind turbine, relating to the technical field of a yaw system. The continuous yaw control system for a wind turbine includes: a sensing device; an actuator; a reset mechanism; a control device, which is used to judge whether a specified angle a is less than a limit angle b. If so, it controls the actuator to twist to the specified angle a; if not, it controls the actuator to twist to the limit angle b and controls the reset mechanism to drive the actuator to reset, and controls the actuator to twist to a to-be-rotated angle x; it judges whether the to-be-rotated angle x is greater than the limit angle b. If so, it returns to the step of controlling the actuator to twist to the limit angle b. If not, it controls the actuator to twist to the to-be-rotated angle x, wherein the to-be-rotated angle x is the difference between the specified angle a and n limit angles b, and n is the number of times the actuator is reset. It can enable the wind turbine generator set to continuously yaw, and the yaw angle and direction are not restricted.

Description

Technical Field

[0001] The present invention relates to the technical field of the yaw system of a fan, and more specifically, to a continuous yaw control system for a wind turbine. In addition, it also relates to a continuous yaw control method applied to the above-mentioned continuous yaw control system of a wind turbine. Background Art

[0002] In the prior art, the yaw system is one of the essential component systems of a horizontal-axis wind turbine generator set. The yaw systems of existing fans are mainly divided into active yaw and passive yaw. The common forms of active yaw are gear drive and sliding drive; passive yaw refers to a yaw method in which the wind turbine rotor is aligned with the wind direction by relying on the wind force through relevant mechanisms. When the impeller of a wind turbine generator set is facing the wind direction, the absorption efficiency of the wind function reaches the highest. Large-scale units usually adopt an active yaw control system to ensure that the unit is facing the wind direction.

[0003] However, at present, the maximum yaw angle range of the yaw system of a fan product is 0 to 720°, that is, when the fan rotates to a certain angle, it cannot continue to rotate in a fixed direction and can only perform cable untwisting operations. However, the cable untwisting operation takes more than half an hour, and the fan cannot continue to generate electricity during the cable untwisting operation. In addition, long-term high-angle yaw operation causes the cable to be in a long-term high-angle torsion state, which has a great impact on its service life, resulting in relatively high requirements for the later maintenance, management cost, and manufacturing process of the fan.

[0004] In summary, how to provide a wind turbine generator set that can maintain continuous yaw and whose yaw angle and direction are not restricted by specific conditions is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0005] In view of this, an object of the present invention is to provide a continuous yaw control system for a wind turbine, which can enable the wind turbine generator set to maintain continuous yaw and whose yaw angle and direction are not restricted by specific conditions, thereby ensuring the continuous and efficient operation of the fan of the wind turbine generator set.

[0006] Another object of the present invention is to provide a continuous yaw control method applied to the above-mentioned continuous yaw control system of a wind turbine.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A continuous yaw control system for a wind turbine, comprising:

[0009] An induction device, which is used to collect the operation parameters of the wind turbine generator set and evaluate and analyze the operation parameters to obtain a specified angle a that the cable needs to be twisted when the wind turbine generator set yaws;

[0010] An actuator, which is used to drive the cable to twist within a limit angle b;

[0011] A reset mechanism for driving the actuator to return to its initial in - place position;

[0012] A control device, wherein the sensing device, the actuator, and the reset mechanism are all connected to the control device. The control device is used to determine whether the specified angle a is less than the limit angle b. If so, it controls the actuator to twist to the specified angle a. If not, it controls the actuator to twist to the limit angle b, and controls the reset mechanism to drive the actuator to reset, and controls the actuator to twist to the angle to be rotated x;

[0013] Judge whether the angle to be rotated x is greater than the limit angle b. If so, return to the step of controlling the actuator to twist to the limit angle b. If not, control the actuator to twist to the angle to be rotated x;

[0014] Wherein, the angle to be rotated x is the difference between the specified angle a and n limit angles b, and n is the number of times the actuator is reset.

[0015] Preferably, the actuator includes a fixed base fixedly connected to the bottom cable and the tower barrel, a yaw turntable fixedly connected to the middle cable, and a switch mechanism for controlling whether the yaw turntable yaws and twists. The switch mechanism is connected to the control device.

[0016] Preferably, the reset mechanism includes an elastic - force - driven reset member, or a mechanical - driven reset member, or an electric - driven reset member.

[0017] Preferably, the reset mechanism includes an elastic connector with elasticity, a turntable break - contact buckle, and a reset controller connected to the turntable break - contact buckle;

[0018] One end of the elastic connector is connected to the yaw turntable, and the other end is connected to the fixed base. The turntable break - contact buckle is engaged and clamped with the yaw turntable, and the turntable break - contact buckle can move up and down along the axial direction of the cable. The reset controller is connected to the control device and is used to control the up - and - down movement of the turntable break - contact buckle.

[0019] Preferably, the reset controller includes a counter for recording the number of times the actuator is reset during operation.

[0020] Preferably, the turntable break - contact buckle and the yaw turntable are in meshing fit with rectangular teeth, or triangular teeth, or gear drive fit.

[0021] Preferably, the sensing device includes an impeller speed sensor for detecting the impeller speed, a yaw torsion cable counter for recording the yaw angle, a wind vane for detecting the wind direction, an anemometer for detecting the wind speed, a pitch encoder for detecting the blade angle, and a pressure sensor for detecting the bearing pressure.

[0022] Preferably, the limit angles include 180°, 360°, or 720°.

[0023] A continuous yaw control method is applied to the continuous yaw control system of the wind turbine as described in any one of the above, and includes:

[0024] Obtain the specified angle a to be twisted by the cable during the yaw of the wind turbine generator set;

[0025] Judge whether the specified angle a is 0. If so, no yaw operation is performed. If not, judge whether the specified angle a is less than the limit angle b;

[0026] If so, control the actuator to twist to the specified angle a. If not, control the actuator to twist to the limit angle b, and control the reset mechanism to drive the actuator to reset, and control the actuator to twist to the angle x to be rotated;

[0027] Judge whether the angle x to be rotated is greater than the limit angle b. If so, return to the step of controlling the actuator to twist to the limit angle b. If not, control the actuator to twist to the angle x to be rotated;

[0028] Wherein, the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of times the actuator is reset.

[0029] Preferably, the obtaining of the specified angle a to be twisted by the cable during the yaw of the wind turbine generator set includes:

[0030] Collect the operating parameters of the wind turbine generator set and evaluate and analyze the operating parameters.

[0031] When using the continuous yaw control system for wind turbines provided by the present invention, first, the sensing device can collect the operating parameters of the wind turbine set in real time, and evaluate and analyze the operating parameters to obtain the specified angle a of the cable to be twisted when the wind turbine set yaws. Then, the control device can determine whether the specified angle a is less than the limit angle b. If so, it controls the actuator to drive the cable to twist to the specified angle a; if not, it controls the actuator to twist to the limit angle b, and controls the reset mechanism to drive the actuator to reset, and controls the actuator to twist to the angle x to be rotated; it is judged whether the angle x to be rotated is greater than the limit angle b. If so, it returns to the step of controlling the actuator to twist to the limit angle b. If not, it controls the actuator to twist to the angle x to be rotated; where the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of times the actuator is reset.

[0032] This system can enable the wind turbine set to maintain continuous yaw, making the yaw angle and direction of the wind turbine set not subject to specific restrictions. Moreover, it can align the wind turbine set with the wind direction at any time to ensure the continuous and efficient operation of the wind turbine of the wind turbine set. In addition, the actuator only operates within a certain small range, resulting in relatively small mechanical loads and relatively small cable twisting angles, improving the service life of components. And, the structure of this system is relatively simple, with relatively low requirements for management, post-maintenance, processing and manufacturing, etc., and the production and operation costs are relatively advantageous.

[0033] In summary, the continuous yaw control system for wind turbines provided by the present invention can enable the wind turbine set to maintain continuous yaw, and the yaw angle and direction are not subject to specific restrictions, thereby ensuring the continuous and efficient operation of the wind turbine of the wind turbine set.

[0034] In addition, the present invention also provides a continuous yaw control method applied to the above continuous yaw control system for wind turbines. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0036] Figure 1 It is a schematic structural diagram of the continuous yaw control system for wind turbines provided by the present invention;

[0037] Figure 2 It is a schematic flow diagram of the continuous yaw control method provided by the present invention;

[0038] Figure 3It is a detailed operation flowchart of the continuous yaw control method.

[0039] Figures 1 - 3 In which:

[0040] 1 is the actuator, 11 is the fixed base, 12 is the yaw turntable, 13 is the switch mechanism, 2 is the reset mechanism, 21 is the elastic connector, 22 is the turntable break contact buckle, 23 is the reset controller, and 3 is the middle cable. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] The core of the present invention is to provide a continuous yaw control system for a wind turbine, which can enable the wind turbine generator set to maintain continuous yaw, and the yaw angle and direction are not specifically limited, thereby ensuring the continuous and efficient operation of the wind turbine of the wind turbine generator set.

[0043] Another core of the present invention is to provide a continuous yaw control method applied to the above-mentioned continuous yaw control system for a wind turbine.

[0044] Please refer to Figures 1 to 3 .

[0045] This specific embodiment provides a continuous yaw control system for a wind turbine, including:

[0046] An induction device, which is used to collect the operation parameters of the wind turbine generator set, and evaluate and analyze the operation parameters to obtain the specified angle a that the cable needs to be twisted when the wind turbine generator set yaws;

[0047] The actuator 1, which is used to drive the cable to twist within the limit angle b;

[0048] The reset mechanism 2, which is used to drive the actuator 1 to return to the initial original position;

[0049] A control device, the induction device, the actuator 1 and the reset mechanism 2 are all connected to the control device. The control device is used to judge whether the specified angle a is less than the limit angle b. If so, it controls the actuator 1 to twist to the specified angle a. If not, it controls the actuator 1 to twist to the limit angle b, and controls the reset mechanism 2 to drive the actuator 1 to reset, and controls the actuator 1 to twist to the angle x to be rotated;

[0050] Determine whether the angle x to be rotated is greater than the limit angle b. If so, return the step of controlling the actuator 1 to rotate to the limit angle b. If not, control the actuator 1 to rotate to the angle x to be rotated;

[0051] Wherein, the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of reset times of the actuator 1.

[0052] It should be noted that the sensing device is mainly used to collect the parameters of the wind turbine generator set and send the parameters to the control device. Among them, the parameters that the sensing device needs to collect at least include: impeller speed, yaw angle, wind speed, wind direction, blade angle, bearing pressure, etc. Based on at least the above information, the control device can monitor the self-state of the fan in real time, facilitate synchronous analysis with the surrounding environmental parameters, and determine the optimal yaw angle of the wind turbine generator set.

[0053] In the actual application process, the shape, structure, type, etc. of the sensing device, the actuator 1, the reset mechanism 2, and the control device can be determined according to the actual situation and actual needs.

[0054] When using the continuous yaw control system of the wind turbine provided by the present invention, first of all, the sensing device can collect the operation parameters of the wind turbine generator set in real time, and evaluate and analyze the operation parameters to obtain the specified angle a of the cable to be twisted during the yaw of the wind turbine generator set. Then, the control device can determine whether the specified angle a is less than the limit angle b. If so, control the actuator 1 to drive the cable to rotate to the specified angle a; if not, control the actuator 1 to rotate to the limit angle b, and control the reset mechanism 2 to drive the actuator 1 to reset, and control the actuator 1 to rotate to the angle x to be rotated;

[0055] Determine whether the angle x to be rotated is greater than the limit angle b. If so, return to the step of controlling the actuator 1 to rotate to the limit angle b. If not, control the actuator 1 to rotate to the angle x to be rotated; wherein, the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of reset times of the actuator 1.

[0056] This system can enable the wind turbine generator set to maintain continuous yaw, so that the yaw angle and direction of the wind turbine generator set are not subject to specific restrictions. Moreover, the wind turbine generator set and the wind direction can be aligned at any time to ensure the continuous and efficient operation of the fan of the wind turbine generator set. Moreover, the actuator 1 only operates within a certain small range, so that the mechanical load is relatively small, the twisting angle of the cable is small, and the service life of the components is improved. And the structure of this system is relatively simple, with lower requirements for management, later maintenance, processing and manufacturing, etc., and the production and operation costs are relatively advantageous.

[0057] In summary, the wind turbine continuous yaw control system provided by the present invention can enable the wind turbine to maintain continuous yaw without specific restrictions on the yaw angle and direction, thereby ensuring continuous and efficient operation of the wind turbine of the wind turbine.

[0058] Based on the above embodiment, preferably, the actuator 1 includes a fixed base 11 fixedly connected to the bottom cable and the tower, a yaw turntable 12 fixedly connected to the middle cable 3, and a switch mechanism 13 for controlling whether the yaw turntable 12 is yaw-twisted, and the switch mechanism 13 is connected to the control device.

[0059] It should be noted that the switch mechanism 13 has two operating modes: on and off, which are used to control whether the wind turbine's yaw system is activated. When the switch mechanism 13 is in the on mode, the wind turbine's yaw system operates, causing the yaw turntable 12 to begin yaw twisting. The yaw turntable 12 drives the central cable 3 to twist, while the bottom cable connected to the fixed base 11 does not twist, ultimately causing the cable to bend and twist. When the switch mechanism 13 is in the off mode, the wind turbine's yaw system stops operating, the yaw turntable 12 no longer yaws and twists, and the central cable 3 no longer twists, preventing the cable from twisting and bending.

[0060] Preferably, the reset mechanism 2 includes an elastically driven reset element, a mechanically driven reset element, or an electrically driven reset element. That is, the reset mechanism 2 may use an elastic material as a reset force driver, or may employ other mechanical or electrically driven methods for reset drive. In other words, any mechanism design capable of quickly resetting the yaw disc 12 and cable may serve as the reset mechanism 2 of the present application.

[0061] On the basis of the above embodiment, preferably, the reset mechanism 2 includes an elastic connector 21 with elasticity, a turntable touch-off buckle 22 and a reset controller 23 connected to the turntable touch-off buckle 22; one end of the elastic connector 21 is connected to the yaw turntable 12, and the other end is connected to the fixed base 11, the turntable touch-off buckle 22 and the yaw turntable 12 are engaged and snap-fitted, and the turntable touch-off buckle 22 can move up and down along the axial direction of the cable, and the reset controller 23 is connected to the control device and is used to control the turntable touch-off buckle 22 to move up and down.

[0062] It should be noted that when the yaw turntable 12 drives the cable to twist to the limit angle b, the reset controller 23 can be controlled to operate to drive the turntable break contact buckle 22 to move upward along the axis of the cable, so that the turntable break contact buckle 22 is separated from the yaw turntable 12. At this time, the twisted and stretched elastic connector 21 can automatically reset to quickly drive the yaw turntable 12 to rotate back to the initial position. When it is necessary to continue driving the yaw turntable 12 to twist, the reset controller 23 can be controlled to run in the reverse direction to drive the turntable break contact buckle 22 to move downward along the axis of the cable, so that the turntable break contact buckle 22 is clamped and fixed to the yaw turntable 12. Then, when the yaw turntable 12 rotates, it can drive the cable and the turntable break contact buckle 22 to rotate synchronously. When the turntable break contact buckle 22 rotates, it can cause the elastic connector 21 to twist, facilitating subsequent reset operations.

[0063] It should also be noted that the turntable break contact buckle 22 connected to the yaw turntable 12 in this proposal moves along the axial directions of the tower barrel and the cable to achieve the function of connecting or disconnecting from the yaw turntable 12. If it is a structure at other angles, it can also achieve the on-off function with the yaw turntable 12. For example, adding a card slot on the side for contact and separation in a manner similar to the reciprocating motion of a piston, etc. are also within the protection scope of this proposal.

[0064] Preferably, the reset controller 23 includes a counter for recording the number of reset times of the actuator 1 during operation.

[0065] It should be noted that the reset mechanism 2 is mainly used to control the twisted cable to return to the initial untwisted state after the cable is twisted within a certain range, so that the nacelle can achieve continuous yaw without being restricted by the cable twist angle. One end of the elastic connector 21 is fixedly connected to the yaw turntable 12, and the other end of the elastic connector 21 is connected to the fixed base 11. The fixed base 11 is fixed to the tower barrel and remains stationary. The elastic connector 21 has a certain elastic modulus and can work normally under appropriate stretching, compression, torsion, and vibration environments to drive the yaw turntable 12 and the cable to quickly reset through the action of elastic force.

[0066] It should also be noted that the turntable break contact buckle 22 is meshed and connected to the yaw turntable 12. The turntable break contact buckle 22 can move up and down along the axis of the cable to achieve the connection or separation operation with the yaw turntable 12. The reset controller 23 is connected to the turntable break contact buckle 22 and is used to control the up and down movement of the turntable break contact buckle 22 to achieve the reset operation. Among them, the reset controller 23 includes a counter, and the counter is used to record the number of reset times of the twisting component during operation to analyze and calculate the total yaw angle of the wind turbine.

[0067] Preferably, the turntable break-off buckle 22 and the yaw turntable 12 are in a rectangular tooth meshing fit, a triangular tooth meshing fit or a gear transmission fit. Of course, designing the turntable break-off buckle 22 and the yaw turntable 12 into other shapes and other connection forms to achieve a force transmission structure is also within the protection scope of this proposal. During actual operation, the structures of the turntable break-off buckle 22 and the yaw turntable 12 can be determined according to the actual situation and actual requirements.

[0068] Preferably, the sensing device includes an impeller speed sensor for detecting the impeller speed, a yaw cable counter for recording the yaw angle, a wind vane for detecting the wind direction, an anemometer for detecting the wind speed, a pitch encoder for detecting the blade angle, and a pressure sensor for detecting the bearing pressure. Therefore, through the sensing device, parameters such as the impeller speed, yaw angle, wind speed, wind direction, blade angle, and bearing pressure can be collected. Based on at least the above information, the control device can monitor the self-state of the wind turbine in real time, and then facilitate synchronous analysis with the surrounding environmental parameters to determine the optimal yaw angle of the wind power generation unit.

[0069] Preferably, the limit angle includes 180°, 360°, or 720°.

[0070] It should be noted that when the cable torsion angle is within a small range, the losses and risks caused by cable torsion can be greatly reduced, and the service life of the cable can be extended. Therefore, it is more recommended that the limit angle be 360°, so that the yaw system components only need to confirm the state of the small-range yaw angle to ensure its accuracy, which is more friendly to the overall design, assembly, test verification, etc. Moreover, any yaw angle can be converted into a numerical control of 0 to 360° (the extra part can be counted by the number of turns), which can greatly improve the efficiency of test verification, etc.

[0071] It should also be noted that the limit angle can be set to 360°, that is, the angle limit of the system design is one turn. Of course, according to the actual situation of the product, the limit angle can also be designed as other angles, such as 180° or 720°, which all belong to the idea of this proposal.

[0072] In addition to the above-mentioned continuous yaw control system of the wind turbine, the present invention also provides a continuous yaw control method applied to the continuous yaw control system of the wind turbine in any one of the above, and the continuous yaw control method includes:

[0073] Obtain the specified angle a to be twisted by the cable when the wind power generation unit yaws;

[0074] Determine whether the specified angle a is less than the limit angle b. If so, control the actuator 1 to twist to the specified angle a. If not, control the actuator 1 to twist to the limit angle b, and control the reset mechanism 2 to drive the actuator 1 to reset, and control the actuator 1 to twist to the angle x to be rotated; Determine whether the angle x to be rotated is greater than the limit angle b. If so, return to the step of controlling the actuator 1 to twist to the limit angle b. If not, control the actuator 1 to twist to the angle x to be rotated.

[0075] Wherein, the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of times the actuator 1 is reset.

[0076] Further, determining whether the specified angle a is less than the limit angle b includes determining whether the specified angle a is 0. If so, no yaw operation is performed, that is, the switch mechanism 13 is in the closed working mode; if not, determine whether the specified angle a is less than the limit angle b, that is, the switch mechanism 13 is in the open working mode.

[0077] It should also be added that the above steps for calculating the angle x to be rotated are to divide the specified angle a that the cable needs to be twisted during the yaw of the wind turbine generator into multiple limit angles b, so as to control the actuator 1 to twist to the limit angle b and then control the reset mechanism 2 to operate to achieve continuous small-range yaw. Finally, the angle x to be rotated is made less than the limit angle b, and at this time, there is no need to perform yaw twist and reset operations again.

[0078] If the initial position of the yaw position is not 0°, it is also necessary to first twist the actuator 1 to the limit angle b, and then repeat the above yaw twist and reset operations. And it is necessary to ensure that the cumulative continuous yaw angle of the wind turbine generator is the required specified angle a.

[0079] The main implementation mode of the continuous yaw control method provided by this application is that the sensing device detects the environmental parameters, analyzes whether to start the yaw system according to the program. If it is necessary to start, the command is transmitted to the actuator 1 to turn on the yaw system of the fan. The size of the yaw angle needs to be analyzed and evaluated according to the information provided by the sensing device, and the yaw turntable 12 starts to rotate and rotates to the corresponding angle.

[0080] When the yaw turntable 12 rotates to the limit angle b (generally less than 360°), the reset controller 23 in the reset mechanism 2 is triggered to control the turntable break-off buckle 22 to disconnect from the yaw turntable 12. Since the elastic connector 21 is twisted when the yaw turntable 12 rotates, after the turntable break-off buckle 22 is controlled to disconnect from the yaw turntable 12, the elastic connector 21 will drive the yaw turntable 12 and the cable to return to their original positions together. After returning to the original position, the reset controller 23 controls the turntable break-off buckle 22 to engage with the yaw turntable 12 again, enabling the yaw turntable 12 to rotate again. Repeating the above process can achieve continuous yawing.

[0081] Preferably, obtaining the specified angle a that the cable needs to be twisted during the yaw of the wind turbine generator set includes collecting the operating parameters of the wind turbine generator set and evaluating and analyzing the operating parameters. Therefore, the detailed operation process of the continuous yaw control method provided in this application is as Figure 3 shown.

[0082] To further illustrate the continuous yaw control method provided by the present invention, an example will be given below.

[0083] According to the information monitored in real time by the wind turbine and the analysis results, it is obtained that the wind turbine needs to yaw 600°. Assuming that the limit angle b for cable twisting is 360°, the control method of the yaw system is as follows: Confirm that the required yaw angle of 600° is greater than the cable twisting design limit of 360°. The yaw turntable 12 drives the cable to start rotating. As the yaw turntable 12 rotates, the elastic connector 21 undergoes elastic deformation. When the yaw turntable 12 rotates to 360°, the turntable break-off buckle 22 is triggered to disconnect from the yaw turntable 12, and the elastic connector 21 quickly rebounds, driving the yaw turntable 12 and the cable to return to their original positions. Then, the turntable break-off buckle 22 engages with the yaw turntable 12 again. At this time, the wind turbine has yawed 360° as a whole. Finally, the remaining rotation angle x of the yaw turntable 12 after reset is 240°. The wind turbine as a whole continues to yaw to 600°, reaching the target value, and stops yawing.

[0084] Furthermore, if it is still necessary to continue yawing 360° on the basis of having already yawed 600°, the yaw turntable 12 can first rotate 120° (because the yaw turntable 12 has rotated 240°, and the limit angle b is set to 360°, so the yaw turntable 12 can still rotate 120° at this time). The reset mechanism 2 is triggered to work (the turntable break-off buckle 22 disconnects from the yaw turntable 12, and the elastic connector 21 drives the yaw turntable 12 and the cable to reset). After the turntable break-off buckle 22 engages with the yaw turntable 12 again, the yaw turntable 12 continues to rotate 240° (so that the yaw turntable 12 rotates a total of 360° this time), and the goal of still needing to continue yawing 360° on the basis of having already yawed 600° can be achieved.

[0085] If continuous yawing is required, the above steps can be repeated. Therefore, regardless of the yaw angle, the cable twisting angle is within the set range of 0 to 360°, and the overall yaw angle of the wind turbine can vary continuously according to the actual situation. The counter in the reset controller 23 can calculate the yaw angle, so as to achieve the purpose of continuous yaw control of the wind turbine.

[0086] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other. Any combination of all the embodiments provided by the present invention is within the protection scope of this invention and will not be elaborated here.

[0087] The continuous yaw control system and method for a wind turbine provided by the present invention have been introduced in detail above. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A continuous yaw control system for a wind turbine, characterized in that, Comprising: An induction device, which is used to collect the operating parameters of the wind turbine generator set, and evaluate and analyze the operating parameters to obtain a specified angle a of the cable to be twisted when the wind turbine generator set yaws; An actuator (1), which is used to drive the cable to twist within a limited angle b; A reset mechanism (2), which is used to drive the actuator (1) to return to its initial original position; A control device, the induction device, the actuator (1) and the reset mechanism (2) are all connected to the control device, and the control device is used to judge whether the specified angle a is less than the limited angle b. If so, control the actuator (1) to twist to the specified angle a. If not, control the actuator (1) to twist to the limited angle b, and control the reset mechanism (2) to drive the actuator (1) to reset, and control the actuator (1) to twist to the angle x to be rotated; Judge whether the angle x to be rotated is greater than the limited angle b. If so, return to the step of controlling the actuator (1) to twist to the limited angle b. If not, control the actuator (1) to twist to the angle x to be rotated; Wherein, the angle x to be rotated is the difference between the specified angle a and n limited angles b, and n is the number of times the actuator (1) is reset; 2. The continuous yaw control system of a wind turbine according to claim 1, wherein The actuator (1) includes a fixed base (11) fixedly connected to the bottom cable and the tower barrel, a yaw turntable (12) fixedly connected to the middle cable (3), and a switch mechanism (13) for controlling whether the yaw turntable (12) yaws and twists. The switch mechanism (13) is connected to the control device; 3. The continuous yaw control system of a wind turbine according to claim 2, wherein, The reset mechanism (2) includes an elastic force-driven reset member, or a mechanical-driven reset member, or an electric-driven reset member; 4. The continuous yaw control system for a wind turbine according to claim 3, wherein, The reset mechanism (2) includes an elastic connector (21) with elasticity, a turntable break-off buckle (22), and a reset controller (23) connected to the turntable break-off buckle (22); One end of the elastic connector (21) is connected to the yaw turntable (12), and the other end is connected to the fixed base (11). The turntable break-off buckle (22) is engaged and clamped with the yaw turntable (12), and the turntable break-off buckle (22) can move up and down along the axial direction of the cable. The reset controller (23) is connected to the control device and is used to control the up and down movement of the turntable break-off buckle (22); 5. The continuous yaw control system of a wind turbine according to claim 4, wherein The reset controller (23) includes a counter for recording the number of times the actuator (1) is reset during operation; 6. The continuous yaw control system of a wind turbine according to claim 4, characterized in that, The turntable break-off buckle (22) and the yaw turntable (12) are in rectangular tooth meshing fit, triangular tooth meshing fit or gear transmission fit; 7. The continuous yaw control system for a wind turbine according to any one of claims 1 to 6, characterized in that, The induction device includes an impeller speed sensor for detecting the impeller speed, a yaw cable twist counter for recording the yaw angle, a wind vane for detecting the wind direction, an anemometer for detecting the wind speed, a pitch encoder for detecting the blade angle, and a pressure sensor for detecting the bearing pressure; 8. The continuous yaw control system for a wind turbine according to any one of claims 1 to 6, characterized in that, The limited angle b includes 180°, 360° or 720°; 9. A continuous yaw control method is applied to the continuous yaw control system of the wind turbine according to any one of claims 1-8 above, characterized in that, Comprising: Obtain the specified angle a of the cable to be twisted when the wind turbine generator set yaws; Determine whether the specified angle a is less than the limit angle b. If so, control the actuator (1) to twist to the specified angle a. If not, control the actuator (1) to twist to the limit angle b, and control the reset mechanism (2) to drive the actuator (1) to reset, and control the actuator (1) to twist to the angle x to be rotated; Determine whether the angle x to be rotated is greater than the limit angle b. If so, return to the step of controlling the actuator (1) to twist to the limit angle b. If not, control the actuator (1) to twist to the angle x to be rotated; Wherein, the angle x to be rotated is the difference between the specified angle a and n limit angles b, and n is the number of resets of the actuator (1).

10. The continuous yaw control method according to claim 9, characterized in that, The obtaining of the specified angle a to be twisted by the cable during yaw of the wind turbine generator includes Collecting the operating parameters of the wind turbine generator and evaluating and analyzing the operating parameters.

Images