Yaw control method, controller and wind turbine generator system

Abstract

Disclosed are a yaw control method, a controller and a wind turbine generator set. The yaw control method comprises: in response to a yaw system of the wind turbine generator set starting a yaw operation, continuously collecting a yaw current value of the yaw system; determining whether the collected yaw current value meets a preset condition, wherein the yaw current value meeting the preset condition comprises: a thermal accumulation value of the yaw current value being greater than a first preset threshold or an instantaneous value of the yaw current value always being greater than a second preset threshold; in response to the yaw current value meeting the preset condition, determining that the yaw current value is abnormal, and performing a protection action on the yaw system. The yaw control method can effectively detect abnormal current data of the yaw system and perform a corresponding protection action, so as to reduce the tripping probability.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of wind power generation in general, and more particularly, to a yaw control method, a controller and a wind turbine generator system. BACKGROUND

[0002] With the increase of the capacity of the wind turbine generator system, the diameter of the impeller tends to be large. For large-diameter impeller units, such as 130m, 140m, 150m, 160m and 170m and above impeller diameter units, when facing large turbulence, gust, oblique incidence and large wind direction reversal or complex terrain, the yaw system continues to yaw, the yaw load of the unit exceeds the standard frequently, the yaw motor is overloaded and overcurrent, and the breaker tripping failure frequency increases. Moreover, the yaw breaker generally adopts two types, one is a motor starting protection breaker (motor switch), and the other is a thermal relay. The motor starting protection breaker cannot be reset after tripping, and needs to be manually reclosed, which affects the normal operation of the unit and the driving system such as yaw, causing loss of power generation; although the thermal relay can be reclosed, frequent tripping thermal tripping also reduces the service life of the device. SUMMARY

[0003] The present disclosure provides a yaw control method, a controller and a wind turbine generator system, so as to effectively detect abnormal current data of the yaw system and perform corresponding protection actions, improve the adaptability of the unit in special environment, and reduce the tripping probability.

[0004] In one general aspect, there is provided a yaw control method, the yaw control method comprising: continuously collecting a yaw current value of a yaw system of a wind turbine generator system in response to the yaw system starting a yaw operation; determining whether the collected yaw current value satisfies a preset condition, wherein the yaw current value satisfying the preset condition comprises: a thermal accumulation value of the yaw current value being greater than a first preset threshold or an instantaneous value of the yaw current value being always greater than a second preset threshold; determining that the yaw current value is abnormal and performing a protection action on the yaw system in response to the yaw current value satisfying the preset condition.

[0005] In another general aspect, there is provided a computer readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the yaw control method as described above is implemented.

[0006] In another general aspect, there is provided a controller, the controller comprising: a processor; and a memory storing a computer program, wherein when the computer program is executed by the processor, the yaw control method as described above is implemented.

[0007] In another general aspect, there is provided a wind turbine generator system, the wind turbine generator system comprising the controller as described above.

[0008] The yaw control method, the controller and the wind turbine generator set according to the embodiments of the present disclosure can accurately identify abnormal current data by detecting the current value of the yaw system, and trigger the corresponding protection mechanism, thereby avoiding the influence of complex wind conditions or complex terrain on the load of the whole system, enhancing the safety protection of mechanical parts, and reducing the occurrence of the situation that the breaker frequently trips due to excessive yaw current caused by complex wind conditions or complex terrain.

[0009] Additional aspects and / or advantages of the general inventive concept will be set forth in part in the description that follows, and in part will be obvious from the description, or can be learned by practice of the general inventive concept. BRIEF DESCRIPTION OF DRAWINGS

[0010] The above and other objects and features of the embodiments of the present disclosure will become more apparent from the following description made with reference to the accompanying drawings, in which:

[0011] Figure 1 is a flowchart illustrating a yaw control method according to an embodiment of the present disclosure;

[0012] Figure 2 is a flowchart illustrating a step S102 of Figure 1

[0013] Figure 3 is a flowchart illustrating determination of a first preset threshold according to an embodiment of the present disclosure;

[0014] Figure 4a is a trip curve diagram illustrating a motor start protection breaker according to an embodiment of the present disclosure;

[0015] Figure 4b is a trip curve diagram illustrating a thermal relay according to an embodiment of the present disclosure;

[0016] Figure 5 is a block diagram of a controller according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The following detailed description is provided to help the reader understand the method, device and / or system described herein. However, various changes, modifications and equivalents can be made to the method, device and / or system described herein after understanding the disclosure of the present application. For example, the order of the operations described herein is only an example, and is not limited to those set forth herein, but can be changed as will be apparent to those skilled in the art after understanding the disclosure of the present application, except for the operations that must occur in a specific order. In addition, the description of features known in the art can be omitted for more clarity and conciseness.

[0018] ​The yaw control method, the controller and the wind turbine generator set according to the embodiments of the present disclosure can reasonably set the protection threshold according to the current characteristic curve of the yaw system, set the preset condition of yaw protection on this basis, and then judge whether the detected current value meets the preset condition in real time by detecting the current value of the yaw system, so that the abnormally large current data can be detected in advance before the breaker of the yaw system trips, and the corresponding protection actions such as stopping yaw or limiting power operation are triggered, which effectively avoids the yaw system from continuously yawing for a long time under extreme wind conditions or complex terrain and the like, thereby effectively reducing the probability of the occurrence of the situations such as the axial load of the yaw bearing exceeding the standard, the yaw motor overloading and overcurrent, and the breaker tripping, and reducing the operation and maintenance cost of the wind turbine generator set.

[0019] Reference will be made to the drawings below Figures 1 to 5 The yaw control method, the controller and the wind turbine generator set according to the embodiments of the present disclosure will be described in detail.

[0020] Figure 1 is a flow chart showing the yaw control method according to the embodiments of the present disclosure. The method can be run on a wind turbine main control PLC, or on a yaw controller, or on a controller other than the above two, without too many limitations here.

[0021] Reference will be made to the drawings below Figure 1 In step S101, the yaw current value of the yaw system is continuously collected in response to the yaw system of the wind turbine generator set starting yaw operation. Here, the yaw current value can be the sum of all yaw motor current values of the yaw system, but is not limited thereto, and the yaw current value can also be the sum of part of the yaw motor current values of the yaw system, or the composition of the yaw current value can be determined by those skilled in the art according to the actual configuration of the yaw system.

[0022] Generally, the current value can be obtained by a current transformer or a Hall current sensor, so the current transformer or the Hall current sensor can be installed on any one phase (U phase, V phase or W phase) of the total loop of the yaw system to detect the yaw current value of the yaw system. The specific setting mode and quantity are not limited thereto, and the specific implementation is set by those skilled in the art according to the actual situation, for example, the current transformer or the Hall current sensor is installed on the three-phase loop of the yaw system and the branch circuit of each yaw motor to detect the current value of each yaw motor.

[0023] After the yaw current value is obtained, a thermal accumulation value of the yaw system in a first preset time period is calculated according to the yaw current value; and / or, an instantaneous value of the yaw current value of the yaw system in a second preset time period is collected in real time. Here, the square value of the yaw current value is integrated to obtain the thermal accumulation value of the yaw current value in the first preset time period. Further, in response to the yaw being stopped in the first preset time period, the integration of the square value of the yaw current value is paused; secondly, in response to the yaw being restarted in the first preset time period, a time interval from the yaw being stopped to the yaw being restarted is determined; then, in response to the time interval being less than a first preset duration, the integration of the square value of the yaw current value is continued on the basis of the square value of the yaw current value calculated at the last yaw stop time to obtain the thermal accumulation value of the yaw current value. In addition, in response to the time interval being equal to or greater than the first preset duration, the integration of the square value of the yaw current value is restarted to obtain a new thermal accumulation value of the yaw current value. Here, the first preset time period, the second preset time period and the first preset duration are set by a person skilled in the art according to actual conditions.

[0024] According to an embodiment of the present disclosure, as an example, when the yaw system starts the yaw operation, the square value of the yaw current value can be integrated in a T1 time period. In the above T1 time period, when the yaw is stopped, if the yaw is restarted in a T2 time period, the integration of the square value of the yaw current value is continued on the basis of the square value of the yaw current value calculated at the last yaw stop time to obtain the thermal accumulation value of the yaw current value. At the same time, at the time of restarting the yaw, the square value of the yaw current value is integrated in another T1 time period in parallel. Here, multiple detections are performed through multiple parallel integrations to prevent the occurrence of missed detection. In addition, when the yaw is stopped, if the yaw is restarted after the T2 time period, the integration of the square value of the yaw current value is restarted in the next T1 time period to obtain a new thermal accumulation value of the yaw current value.

[0025] According to an embodiment of the present disclosure, as an example, when the yaw system continuously yaws for more than a T1 time period and still does not stop yawing, the integration of the square value of the yaw current value is restarted in the next T1 time period to obtain a new thermal accumulation value of the yaw current value, thereby ensuring the timeliness of the thermal accumulation value.

[0026] Next, in step S102, it is determined whether the collected yaw current value meets preset conditions. Here, meeting the preset conditions for the yaw current value may include: the thermal accumulation value of the yaw current value is greater than a first preset threshold, or the instantaneous value of the yaw current value is always greater than a second preset threshold. Step S103 can proceed as long as either of these two conditions is met. Furthermore, those skilled in the art can specifically set the above preset conditions according to the actual equipment configuration of the yaw system, so that abnormal high current data can be detected in advance before the circuit breaker of the yaw system trips.

[0027] Next, in step S103, in response to the yaw current value meeting a preset condition, an abnormal yaw current value is determined, and protective actions are performed on the yaw system. Here, by combining the thermal accumulation and instantaneous values ​​of the yaw current value with a threshold judgment, the abnormal yaw current value can be determined more accurately, and the possibility of missed detection can be effectively prevented. Furthermore, the protective actions performed on the yaw system include at least one of triggering a yaw current abnormality warning, controlling the yaw system to stop yaw operation, and limiting the power of the wind turbine generator. By triggering protective actions such as stopping yaw or limiting power operation, the continuous yaw of the yaw system under extreme wind conditions can be effectively avoided, reducing the probability of excessive axial load on the yaw bearing, overload and overcurrent of the yaw motor, and circuit breaker tripping. Moreover, the abnormality warning can remind maintenance personnel to take appropriate follow-up actions on the wind turbine generator in a timely manner.

[0028] The following reference Figure 2 Detailed description Figure 1 Step S102 in the process.

[0029] Figure 2 According to the embodiments shown in this disclosure Figure 1 The flowchart for step S102.

[0030] Reference Figure 2 In step S201, it is determined whether the heat accumulation value of the yaw current is greater than a first preset threshold within a first preset time period; and / or, it is determined whether the instantaneous value of the yaw current is greater than a second preset threshold at the end of the second preset time period. Here, the second preset threshold is set based on the number of yaw motors in the yaw system, the current parameters of the yaw motors, and a preset coefficient. The current parameters of the yaw motors refer to current parameters such as the rated current, stall current, or maximum torque current of the yaw motors, and the preset coefficient can be determined by those skilled in the art based on actual conditions. As an example, the second preset threshold is set as the product of the rated current value of the yaw motors multiplied by the number of yaw motors and then multiplied by the preset coefficient. When determining whether the collected yaw current value meets the preset conditions, it can be determined by judging whether the instantaneous value of the yaw current is always greater than the second preset threshold within the second preset time period. However, this disclosure is not limited to this.

[0031] Next, in step S202, it is determined that the collected yaw current value meets the preset condition in response to the thermal accumulation value of the yaw current value being greater than a first preset threshold value within a first preset time period, and / or, the instantaneous value of the yaw current value being greater than a second preset threshold value at the end of a second preset time period. By combining the thermal accumulation and instantaneous value of the yaw current value within the respective set time periods for threshold value judgment, the yaw current value anomaly can be more accurately determined, preventing false action and effectively preventing missed detection. Referring to Figure 3 The way of determining the first preset threshold value is described in detail.

[0032] Figure 3 The flow chart for determining the first preset threshold value is shown according to the embodiment of the present disclosure.

[0033] Referring to Figure 3 In step S301, based on the current characteristic curve of the yaw system, the current protection value of the multiple protection time points is set so that the current protection value of any one of the multiple protection time points is less than the value corresponding to the protection time point in the current characteristic curve. Here, the current characteristic curve of the yaw system includes the trip curve of the motor starting protection circuit breaker or thermal relay arranged in the yaw system, and / or the overcurrent protection curve of the yaw frequency converter arranged in the yaw system. The motor starting protection circuit breaker, thermal relay and yaw frequency converter in the above-mentioned yaw system all have switching capability and can control the yaw motor to be cut in or cut out from the wind turbine generator set. The person skilled in the art can comprehensively select the current characteristic curve of the yaw system to set the current protection value of each protection time point according to the actual configuration of the wind turbine generator set.

[0034] Next, in step S302, based on the current protection value of each protection time point, the first preset threshold value of each protection time point is determined.

[0035] As an example, the first preset threshold value of each protection time point is determined by multiplying the square value of the current protection value by the time value of the protection time point, for example, the first preset threshold value of the 10s protection time point = the square value of the current protection value of the 10s protection time point x 10. Here, by appropriately determining the first preset threshold value of each protection time point, a more accurate and effective judgment result can be obtained when determining whether the thermal accumulation value of the yaw current value meets the preset condition.

[0036] Next, in step S303, the first preset threshold values of the multiple protection time points are calculated by linear interpolation to obtain the continuously distributed first preset threshold values. Here, since the difference between the first preset threshold values of each protection time point is large, the linear value between the first preset threshold values of each protection time point is obtained by linear interpolation calculation.

[0037] In the background art, in the yaw system of a wind turbine generator, two types of yaw circuit breakers are generally used, one is a motor starting and protection circuit breaker (i.e., a motor switch), and the other is a thermal relay. The motor starting and protection circuit breaker is more widely used in application, but cannot be reset automatically after tripping and needs to be manually reclosed. The thermal relay can be reclosed, but frequent tripping and thermal tripping can also cause the service life of the device to be reduced.

[0038] Therefore, in order to reduce the operation and maintenance cost of the wind turbine generator, it is necessary to reduce the tripping probability of the yaw circuit breaker.

[0039] According to an embodiment of the present disclosure, as an example, a reference value of a single yaw motor protection setting is set based on the rated current of a single yaw motor, and a reference value of a yaw system total loop protection setting is the reference value of the single yaw motor protection setting multiplied by the number of yaw motors. Based on the tripping curves of the motor starting and protection circuit breaker or the thermal relay, the current protection values at the protection times of 10s, 20s, 30s, 40s, …, and Ns are set, but the present disclosure is not limited thereto.

[0040] Figure 4a is a tripping curve diagram of a motor starting and protection circuit breaker according to an embodiment of the present disclosure, Figure 4b is a tripping curve diagram of a thermal relay according to an embodiment of the present disclosure.

[0041] Referring to Figure 4a and Figure 4b , the abscissa represents the current multiple, and the ordinate represents the tripping time. The tripping curves corresponding to the second load and the third load are shown in the diagram, and the yaw system of the present disclosure refers to the tripping curve of the second load. The illustrated tripping curve is a kind of inverse time curve, that is, the larger the current, the shorter the tripping time, so as to effectively protect the associated circuit. In Figure 4a , according to the different protection purposes, the tripping curve of the motor starting and protection circuit breaker is divided into two intervals of thermal tripping and electromagnetic tripping, the thermal tripping is used for overload protection, and the electromagnetic tripping is used for short circuit protection. While in Figure 4b , the tripping curve of the thermal relay only has the interval of thermal tripping.

[0042] As an example, on the basis of the tripping curve diagram of the motor starting and protection circuit breaker shown in Figure 4a and the tripping curve diagram of the thermal relay shown in Figure 4b , the person skilled in the art can refer to the values corresponding to each protection time in the curve to set the current protection values at each protection time, but is not limited thereto. In specific implementation, the current protection values at each protection time need to be set according to the actual situation, and the set current protection value setting scheme is optimized and adjusted according to the unit operation data.

[0043] Here, the reference value represents a reference value of a yaw system total loop protection setting, the current represents a corresponding current value in a thermal relay or a motor switch tripping curve or a current value set in a current protection value setting scheme, and the multiple represents a current multiple based on the reference value.

[0044] Next, according to an embodiment of the present disclosure, in response to the yaw current value satisfying the preset condition, the protection action performed on the yaw system includes triggering a yaw current abnormality warning and controlling the yaw system to stop performing yaw operation. Then, in response to a time for the yaw system to stop performing yaw operation reaching a second preset time length, the yaw current abnormality warning is reset to allow the yaw system to perform yaw operation. Here, the second preset time length is set and adjusted by a person skilled in the art according to the current characteristic curve of the yaw system or the actual situation such as the operating wind condition of the wind turbine generator set.

[0045] According to another embodiment of the present disclosure, in response to the yaw current value satisfying the preset condition, the protection action performed on the yaw system further includes triggering a yaw current abnormality warning, controlling the yaw system to stop performing yaw operation, and causing the wind turbine generator set to operate at a limited power. Then, a time length for the wind turbine generator set to operate at a limited power can be determined in response to the power of the wind turbine generator set reaching a preset target power. Here, the preset target power can be set as a power corresponding to a minimum yaw load value of the unit according to data such as historical load measurement and load simulation evaluation, but is not limited thereto, and a person skilled in the art needs to set it according to the actual situation during implementation to reduce the possibility of damage to the mechanical parts of the yaw system. Then, in response to the time length for the wind turbine generator set to operate at a limited power reaching a third preset time length, the yaw current abnormality warning is reset to allow the yaw system to perform yaw operation; then, in response to the time length for the wind turbine generator set to operate at a limited power reaching a fourth preset time length, the wind turbine generator set is caused to resume normal operation. Here, the third preset time length and the fourth preset time length are set by a person skilled in the art according to the actual situation, and the fourth preset time length is greater than the third preset time length.

[0046] According to an embodiment of the present disclosure, as an example, the protection action performed on the yaw system is selected according to the environment of the location of the wind turbine generator set. For example, when the location of the unit is a mountainous area, the wind condition is relatively severe, and yaw tripping, mechanical overload failure or load exceeding, etc. often occur, the protection mode of controlling the yaw system to stop performing yaw operation and causing the wind turbine generator set to operate at a limited power can be selected; and when the location of the unit is a smooth wind condition, and overload tripping, etc. rarely occurs, the protection mode of controlling the yaw system to stop performing yaw operation can be selected.

[0047] Next, according to the embodiment of the present disclosure, it is determined whether the number of times of triggering the yaw current abnormality warning in the third preset time period exceeds a third preset threshold value. Then, in response to the number of times of triggering the yaw current abnormality warning in the third preset time period exceeding the third preset threshold value, the yaw system is controlled to stop performing the yaw operation, and a fault shutdown process of the wind turbine generator system is triggered. Here, the third preset time period and the third preset threshold value can be set by the person skilled in the art according to the actual situation, so that the wind turbine generator system meets the operation requirements of fault tolerance.

[0048] According to the yaw control method of the embodiment of the present disclosure, by detecting the current value of the yaw system, abnormal current data can be detected in advance before the circuit breaker of the yaw system trips, and the corresponding protection action is triggered, thereby effectively reducing the situation of excessive yaw bearing axial load, yaw motor overload and overcurrent, and circuit breaker tripping caused by complex wind conditions and the like, and reducing the operation and maintenance cost of the wind turbine generator system.

[0049] Figure 5 is a block diagram showing a controller 500 of a wind turbine generator system according to an embodiment of the present disclosure.

[0050] With reference to Figure 5 , the controller 500 according to the embodiment of the present disclosure can include a processor 510 and a memory 520. The processor 510 can include (but is not limited to) a central processing unit (CPU), a digital signal processor (DSP), a microcomputer, a field programmable gate array (FPGA), a system on chip (SoC), a microprocessor, an application specific integrated circuit (ASIC), etc. The memory 520 stores a computer program to be executed by the processor 510. The memory 520 includes a high-speed random access memory and / or a non-volatile computer readable storage medium. When the processor 510 executes the computer program stored in the memory 520, the yaw control method as described above can be implemented.

[0051] The yaw control method according to embodiments of the present disclosure can be written as a computer program and stored on a computer-readable storage medium. When the computer program is executed by a processor, the yaw control method as described above can be implemented. Examples of the computer-readable storage medium include read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disc memory, hard disk drive (HDD), solid state drive (SSD), card memory (such as a multimedia card, a secure digital (SD) card or an extreme digital (XD) card), magnetic tape, a floppy disk, a magneto-optical data storage device, an optical data storage device, a hard disk, a solid state disk, and any other device configured to store a computer program and any associated data, data files and data structures in a non-transitory manner and provide the computer program and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files and data structures are distributed over a networked computer system, so that the computer program and any associated data, data files and data structures are stored, accessed and executed by one or more processors or computers in a distributed manner.

[0052] The yaw control method, the controller and the wind turbine generator according to embodiments of the present disclosure can detect abnormally large current data in advance before the circuit breaker of the yaw system trips, trigger corresponding protection actions, effectively reduce the probability of the occurrence of situations such as excessive axial load of the yaw bearing, overloading and overcurrent of the yaw motor, and tripping of the circuit breaker, and reduce the operation and maintenance cost of the wind turbine generator.

[0053] Although some embodiments of the present disclosure have been shown and described, those skilled in the art should understand that modifications can be made to these embodiments without departing from the principles and spirit of the present disclosure, which are defined by the scope of the claims and their equivalents.

Claims

1. A yaw control method, characterized in that, The yaw control method includes: In response to the yaw system of the wind turbine generator starting yaw operation, the yaw current value of the yaw system is continuously collected; Determine whether the collected yaw current value meets the preset conditions, wherein the yaw current value meets the preset conditions including: the heat accumulation value of the yaw current value is greater than the first preset threshold. In response to the yaw current value meeting the preset conditions, the abnormal yaw current value is determined, and protection actions are performed on the yaw system.

2. The yaw control method according to claim 1, characterized in that, The yaw control method further includes: The heat accumulation value of the yaw system during the first preset time period is calculated based on the yaw current value.

3. The yaw control method according to claim 2, characterized in that, The steps to determine whether the collected yaw current value meets the preset conditions include: Determine whether the heat accumulation value of the yaw current is greater than a first preset threshold within a first preset time period; If the heat accumulation value of the yaw current value is greater than the first preset threshold within the first preset time period, it is determined that the collected yaw current value meets the preset condition.

4. The yaw control method as described in claim 1, characterized in that, The yaw current value is the sum of the current values ​​of all yaw motors in the yaw system.

5. The yaw control method as described in claim 3, characterized in that, The steps for calculating the heat accumulation value of the yaw system during the first preset time period based on the yaw current value include: The square of the yaw current value is integrated within a first preset time period to obtain the thermal accumulation value of the yaw current value.

6. The yaw control method as described in claim 5, characterized in that, The step of integrating the square of the yaw current value within a first preset time period includes: In response to the yaw stopping within the first preset time period, the integral calculation of the square value of the yaw current is paused. In response to restarting yaw within a first preset time period, the time interval between yaw cessation and restarting yaw is determined; In response to the time interval being less than a first preset duration, the square value of the yaw current is integrated based on the square value of the yaw current calculated at the previous yaw stop time to obtain the heat accumulation value of the yaw current. If the time interval is greater than or equal to a first preset duration, the integral calculation of the square value of the yaw current is restarted to obtain a new thermal accumulation value of the yaw current.

7. The yaw control method as described in claim 1, characterized in that, The first preset threshold is determined through the following steps: Based on the current characteristic curve of the yaw system, the current protection value at multiple protection moments is adjusted so that the current protection value at any one of the multiple protection moments is less than the value corresponding to that protection moment in the current characteristic curve. Based on the current protection value at each protection moment, determine the first preset threshold at each protection moment; By performing linear interpolation calculations on the first preset thresholds of the multiple protection times, a continuously distributed first preset threshold is obtained.

8. The yaw control method as described in claim 7, characterized in that, The current characteristic curves of the yaw system include: the tripping curve of the motor start protection circuit breaker or thermal relay installed in the yaw system, and / or the overcurrent protection curve of the yaw inverter installed in the yaw system.

9. The yaw control method as described in claim 1, characterized in that, The yaw current value meeting the preset conditions also includes: the instantaneous value of the yaw current value is always greater than the second preset threshold.

10. The yaw control method according to claim 9, characterized in that, The yaw control method further includes: The instantaneous value of the yaw current of the yaw system is collected in real time during the second preset time period.

11. The yaw control method according to claim 10, characterized in that, The steps to determine whether the collected yaw current value meets the preset conditions include: Determine whether the instantaneous value of the yaw current is greater than the second preset threshold at the end of the second preset time period; If the instantaneous value of the yaw current is greater than the second preset threshold at the end of the second preset time period, it is determined that the collected yaw current value meets the preset condition. The second preset threshold is determined based on the number of yaw motors in the yaw system, the current parameters of the yaw motors, and preset coefficients.

12. The yaw control method as described in claim 1, characterized in that, The steps for performing protective actions on the yaw system include: triggering a yaw current abnormality warning and controlling the yaw system to stop performing yaw operations. The yaw control method further includes: resetting the yaw current abnormality warning in response to the yaw system stopping yaw operation for a second preset duration, so as to allow the yaw system to perform yaw operation.

13. The yaw control method as described in claim 1, characterized in that, The steps for performing protective actions on the yaw system include: triggering a yaw current abnormality warning, controlling the yaw system to stop performing yaw operations, and causing the wind turbine generator to operate at limited power. The yaw control method further includes: In response to the wind turbine generator reaching a preset target power, the duration of the wind turbine generator operating at limited power is determined; In response to the wind turbine generator set operating at limited power for a period of time reaching a third preset duration, the yaw current abnormality warning is reset to allow the yaw system to perform yaw operation; In response to the wind turbine generator set operating at limited power for a period of time reaching a fourth preset duration, the wind turbine generator set is restored to normal operation.

14. The yaw control method as described in claim 12 or 13, characterized in that, The yaw control method further includes: Determine whether the number of times the yaw current abnormality warning is triggered within the third preset time period exceeds the third preset threshold; In response to the number of times the yaw current abnormality warning is triggered within a third preset time period exceeding a third preset threshold, the yaw system is controlled to stop performing yaw operations, and the fault shutdown processing of the wind turbine generator set is triggered.

15. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the yaw control method as described in any one of claims 1 to 14.

16. A controller, characterized in that, The controller includes: processor; and A memory storing a computer program that, when executed by a processor, implements the yaw control method as described in any one of claims 1 to 14.

17. A wind turbine generator set, characterized in that, The wind turbine generator set includes the controller as described in claim 16.

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