Wind farm control method, device, system and storage medium

Abstract

The application discloses a wind farm control method, device, system and storage medium. The method comprises: obtaining a first power of a first wind turbine and a second power of a second wind turbine under each yaw angle of a plurality of yaw angles; determining a power difference value of the first power and the second power under each yaw angle; determining a reference yaw angle of a cabin of the first wind turbine when facing the second wind turbine according to the power difference value corresponding to each yaw angle; generating a reference calibration coefficient according to the reference yaw angle and a positional relationship between the first wind turbine and the second wind turbine; and determining a first true north direction of the cabin of the first wind turbine according to the reference calibration coefficient and a current yaw angle of the cabin of the first wind turbine, so as to control wake of the wind farm. According to the embodiment of the application, the true north direction can be positioned through the yaw angle of the cabin of the wind turbine, so that the wake of the plurality of wind turbines can be controlled according to the true north direction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wind power, and particularly relates to a wind farm control method, device, system and storage medium. BACKGROUND

[0002] A plurality of wind turbines are usually arranged in a wind farm, and the wind turbines can convert wind energy in flowing air into electric energy. After the wind turbines absorb part of the energy in the air and exert disturbance, a wake area affected by the wind turbines is formed downstream of the wind turbines. Other wind turbines in the wind farm are affected by the wake area, resulting in reduced power generation efficiency.

[0003] In order to reduce the influence of the wake in the wind farm, the operating state of part of the wind turbines located upstream needs to be controlled to reduce the influence of the wake of the upstream wind turbines on the downstream wind turbines, so as to improve the power generation of the downstream wind turbines. When the wind turbines are controlled, the inflow wind direction of the wind turbines and the relative position relationship between the wind turbines and other wind turbines need to be determined to determine the wind turbines that need to be controlled. At present, the position relationship between the wind turbines is usually indicated by the true north direction in the true north coordinate system, and the inflow wind direction of the wind turbines is usually indicated by the relative angle of the nacelle in the relative coordinate system of the nacelle. Since the inflow wind direction and the position relationship of the wind turbines correspond to different coordinate systems, the true north direction of the nacelle needs to be determined according to the yaw angle of the nacelle through the calibration coefficient corresponding to each wind turbine.

[0004] After the wind turbines in the wind farm operate for a period of time, the calibration coefficient stored in the wind turbines may deviate, and the true north direction of the nacelle of the wind turbines cannot be accurately positioned according to the calibration coefficient, resulting in weakened effect of the wake control of the wind farm. SUMMARY

[0005] The embodiments of the application provide a wind farm control method, device, system and storage medium, which can solve the technical problem that the calibration coefficient for orientation in the prior art is prone to deviation, resulting in weakened effect of the wake control.

[0006] In a first aspect, the embodiments of the application provide a wind farm control method, and the wind farm includes a plurality of wind turbines. The method includes the following steps.

[0007] obtaining a first power of a first wind turbine and a second power of a second wind turbine at each yaw angle of a plurality of yaw angles of the first wind turbine; the distance between the first wind turbine and the second wind turbine is within a preset distance;

[0008] determining a power difference value of the first power and the second power at each yaw angle of the first wind turbine;

[0009] determining a reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine according to the power difference value corresponding to each yaw angle;

[0010] generating a reference calibration coefficient according to the reference yaw angle and a positional relationship between the first wind turbine and the second wind turbine;

[0011] determining a first true north direction of the nacelle of the first wind turbine according to the reference calibration coefficient and a current yaw angle of the nacelle of the first wind turbine;

[0012] controlling wake of the wind farm according to the first true north directions of the first wind turbine respectively corresponding to the first wind turbine.

[0013] In some embodiments, the obtaining the first power of the first wind turbine and the second power of the second wind turbine respectively at each yaw angle of the plurality of yaw angles of the first wind turbine includes:

[0014] obtaining historical operation data of the first wind turbine and the second wind turbine, the historical operation data including yaw angles and turbine powers of the first wind turbine and the second wind turbine;

[0015] determining, from the historical operation data, a plurality of turbine powers of the first wind turbine and a plurality of turbine powers of the second wind turbine at a plurality of time nodes corresponding to each yaw angle of the first wind turbine;

[0016] for each yaw angle, obtaining the first power of the first wind turbine and the second power of the second wind turbine according to the plurality of turbine powers of the first wind turbine and the plurality of turbine powers of the second wind turbine.

[0017] In some embodiments, the determining the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine includes:

[0018] determining a minimum power difference value from the plurality of power difference values;

[0019] determining the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine according to the yaw angle corresponding to the minimum power difference value.

[0020] In some embodiments, before the determining the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine according to the yaw angle corresponding to the minimum power difference value, the method further includes:

[0021] determining a maximum power difference value from the plurality of power difference values;

[0022] the determining the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine according to the yaw angle corresponding to the minimum power difference value includes:

[0023] corresponding to the maximum power difference as the first yaw angle, and the yaw angle corresponding to the minimum power difference as the second yaw angle;

[0024] determining a reference yaw angle according to the first yaw angle and the second yaw angle.

[0025] In some embodiments, the historical operation data is operation data in a preset wind speed section, and the preset wind speed section is a wind speed section in which neither the first wind turbine nor the second wind turbine is full-load.

[0026] In some embodiments, before obtaining the first power of the first wind turbine and the second power of the second wind turbine respectively at each yaw angle of the plurality of yaw angles of the first wind turbine, the method further comprises:

[0027] obtaining a record calibration coefficient, the record calibration coefficient being an original calibration coefficient of the wind farm unit;

[0028] generating a reference calibration coefficient according to the reference yaw angle and a positional relationship between the first wind turbine and the second wind turbine, comprising:

[0029] generating an analysis calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine;

[0030] determining the reference calibration coefficient according to a coefficient deviation between the analysis calibration coefficient and the record calibration coefficient.

[0031] In some embodiments, determining the reference calibration coefficient according to the coefficient deviation between the analysis calibration coefficient and the record calibration coefficient comprises:

[0032] when the coefficient deviation is greater than a first preset deviation threshold, determining the reference calibration coefficient according to the analysis calibration coefficient;

[0033] when the coefficient deviation is less than the first preset deviation threshold, determining the reference calibration coefficient according to the record calibration coefficient.

[0034] In some embodiments, when the coefficient deviation is less than the first preset deviation threshold, determining the reference calibration coefficient according to the record calibration coefficient comprises:

[0035] when the coefficient deviation is less than the first preset deviation threshold and greater than a second preset deviation threshold, obtaining the reference calibration coefficient by weighted average of the analysis calibration coefficient and the record calibration coefficient according to a preset weighting coefficient.

[0036] In some embodiments, before generating the reference calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine, the method further comprises:

[0037] obtain a first position coordinate of the first wind turbine and a second position coordinate of the second wind turbine;

[0038] generate a position relationship of the first wind turbine and the second wind turbine in a true north coordinate system according to the first position coordinate and the second position coordinate.

[0039] In a second aspect, the embodiments of the present application provide a control device of a wind farm, the control device of the wind farm comprising:

[0040] a data obtaining module, configured to obtain a first power of a first wind turbine and a second power of a second wind turbine at each yaw angle of a plurality of yaw angles of the first wind turbine respectively, wherein a distance between the first wind turbine and the second wind turbine is within a preset distance;

[0041] a calculating module, configured to determine a power difference value of the first power and the second power at each yaw angle of the first wind turbine;

[0042] a yaw positioning module, configured to determine a reference yaw angle of a nacelle of the first wind turbine when facing the second wind turbine according to the power difference value corresponding to each yaw angle;

[0043] a calibration module, configured to generate a reference calibration coefficient according to the reference yaw angle and a position relationship of the first wind turbine and the second wind turbine;

[0044] a directing module, configured to determine a first true north direction of the nacelle of the first wind turbine according to the reference calibration coefficient and a current yaw angle of the nacelle of the first wind turbine;

[0045] a wake control module, configured to perform wake control on the wind farm according to a plurality of first true north directions corresponding to a plurality of first wind turbines respectively.

[0046] In a third aspect, the embodiments of the present application provide a wind farm control system, the wind farm control system comprising:

[0047] a field group controller;

[0048] a plurality of wind turbines, each of the wind turbines comprising a unit controller, and the unit controller being in communication connection with the field group controller;

[0049] the field group controller comprising a processor and a memory storing computer program instructions;

[0050] the processor implementing the control method of the wind farm as above when executing the computer program instructions.

[0051] In a fourth aspect, the embodiments of the present application provide a computer storage medium, the computer storage medium storing computer program instructions, and the computer program instructions being executed by a processor to implement the control method of the wind farm as above.

[0052] Compared with the prior art, the control method of the wind farm provided in the embodiments of the present application can obtain the first power of the first wind turbine and the second power of the second wind turbine under different yaw angles of the first wind turbine. According to the power difference between the first power and the second power under each yaw angle, the reference yaw angle corresponding to the orientation of the nacelle of the first wind turbine towards the second wind turbine can be determined. Since the positional relationship between the first wind turbine and the second wind turbine can be determined by the position coordinates of the wind turbines, according to the actual positional relationship between the first wind turbine and the second wind turbine and the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine, the reference calibration coefficient for converting the yaw angle of the nacelle to the true north orientation of the nacelle can be generated. By using the calibration coefficient, the true north orientation of the nacelle of the first wind turbine can be determined when the yaw angle of the nacelle of the first wind turbine is obtained, so that the nacelle can be oriented according to the yaw angle of the nacelle. After the reference calibration coefficients of part of the wind turbines in the wind farm are calculated, the true north orientations of the nacelles of these wind turbines can be accurately determined, thereby improving the wake control effect of the wind farm. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0054] Figure 1 is a flowchart of the control method of the wind farm provided in an embodiment of the present application;

[0055] Figure 2 is a detailed flowchart of S110 in the control method of the wind farm provided in an embodiment of the present application;

[0056] Figure 3 is a flowchart of the control method of the wind farm provided in another embodiment of the present application;

[0057] Figure 4 is a corresponding relationship diagram of the yaw angle and the power difference provided in an embodiment of the present application;

[0058] Figure 5 is a structural diagram of the control device of the wind farm provided in an embodiment of the present application;

[0059] Figure 6 is a hardware structural diagram of the wind farm control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the drawings. For the purpose of clarity, not all features of the application are described in detail herein. It should be appreciated that the detailed description of the application is but one possible embodiment of the application, not limiting of the application. The application can be implemented in its other embodiments without some of the specific details, which are not described in detail below. The following description of the embodiments is merely provided to give a better understanding of the application by showing examples of the application.

[0061] It should be noted that the relative terms, such as first and second, etc., are used herein only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0062] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.

[0063] At present, with the continuous development of wind power generation technology, the areas suitable for wind conditions have gradually begun to lay wind farms. A plurality of wind turbine generators are usually arranged in the wind farm, and each wind turbine generator is arranged at a certain distance. The wind turbine generator can convert wind energy in flowing air into electric energy. When the wind turbine generator absorbs wind energy in the air and causes disturbance to the wind energy through the electric energy conversion process, a wake area affected by the wind turbine generator will be formed in the downstream area of the wind turbine generator. Compared with the area where the air flows freely, the air flow rate in the wake area is smaller, and the turbulence degree is increased. If another wind turbine generator is arranged in the downstream area, the wind turbine generator will be affected by the wake area, resulting in a decrease in power generation, thereby causing a loss of power generation, and increasing the fatigue load of the wind turbine generator and reducing the service life of the wind turbine generator.

[0064] In order to reduce the influence of the wake of upstream wind turbines on each wind turbine in the wind farm, the related art adjusts the operating state of the wind turbines to achieve wind farm wake control. For example, the operating state of some wind turbines, especially the upstream wind turbines, can be adjusted to deviate from the optimal operating state. For example, the adjustment can be changing the rotor speed, adjusting the yaw angle, adjusting the blade pitch angle, etc. When the operating state of the upstream wind turbines deviates, the power generation of the upstream wind turbines decreases, and the disturbance to the downstream area also decreases, so that the influence of the upstream wind turbines on the downstream wind turbines decreases, the power generation of the downstream wind turbines increases, and finally the power generation of the entire wind farm is improved compared with the power generation without wake control. At the same time, reducing the influence of the wake on the downstream wind turbines can also reduce the fatigue load of the wind turbines and improve the service life of the wind turbines.

[0065] Before implementing the wind farm wake control, it is necessary to determine whether each wind turbine in the wind farm is an upstream wind turbine or a downstream wind turbine. That is, which wind turbines are the disturbance wind turbines and which wind turbines are the wind turbines affected by the wake. The determination of the upstream wind turbines and the downstream wind turbines is related to the relative position direction between the wind turbines and the relative position relationship between the wind turbines and the incoming wind direction. Therefore, before the wake control, it is necessary to determine the connection direction between the wind turbines and the incoming wind direction in the same coordinate system, so as to determine the upstream wind turbines and the downstream wind turbines in the plurality of wind turbines.

[0066] At present, the position coordinates of each wind turbine in the wind farm are usually represented by spatial coordinates, such as a true north coordinate system, etc. The incoming wind direction measured by the wind turbine is generally relative to the current cabin orientation of the wind turbine, so that the cabin can adjust the cabin orientation according to the incoming wind direction. The cabin orientation is usually represented by the cabin yaw angle, and the cabin orientation can be adjusted according to the wind direction angle of the incoming wind and the current yaw angle of the cabin.

[0067] Since the connection direction between the wind turbines belongs to the spatial coordinate system, and the wind direction angle representing the incoming wind direction belongs to the cabin relative coordinate system. In order to realize the mutual conversion between the coordinate systems, so that the connection direction between the wind turbines and the cabin orientation and the incoming wind direction of each wind turbine can be represented in the same coordinate system, a corresponding calibration coefficient needs to be configured in each wind turbine to realize the conversion between the coordinate systems.

[0068] During the operation of the wind farm, with the long-time operation of the wind turbines, the calibration coefficients stored in some wind turbines will be affected by various factors and deviate, or even fail. At this time, the true north orientation of the cabin of the wind turbines cannot be accurately positioned by the calibration coefficients, which reduces the effect of the wind farm wake control.

[0069] To solve the above technical problems, the application provides a wind farm control method, device, system and storage medium. First, the wind farm control method provided by the application is introduced.

[0070] Figure 1 The structure of the wind farm control method provided by one embodiment of the application is shown. The wind farm control method comprises:

[0071] S110, acquiring the first power of the first wind turbine and the second power of the second wind turbine at each yaw angle of the plurality of yaw angles of the first wind turbine, respectively; the distance between the first wind turbine and the second wind turbine is within a preset distance;

[0072] S120, determining the power difference between the first power and the second power at each yaw angle of the first wind turbine;

[0073] S130, determining the reference yaw angle of the nacelle of the first wind turbine when facing the second wind turbine according to the power difference corresponding to each yaw angle;

[0074] S140, generating a reference calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine;

[0075] S150, determining the first true north direction of the nacelle of the first wind turbine according to the reference calibration coefficient and the current yaw angle of the nacelle of the first wind turbine;

[0076] S160, performing wake control on the wind farm according to the plurality of first true north directions corresponding to the plurality of first wind turbines, respectively.

[0077] The wind farm usually includes a plurality of wind turbines, which are referred to as wind turbines in the following embodiments. In the following embodiments, the wind farm can include at least one upstream unit and one downstream unit affected by the wake of the upstream unit.

[0078] In the embodiment, by obtaining the first power of the first wind turbine and the second power of the second wind turbine at each yaw angle of the first wind turbine, the corresponding reference yaw angle can be determined according to the power difference between the first power and the second power, and the reference yaw angle is the yaw angle of the nacelle of the first wind turbine facing the second wind turbine. According to the actual positional relationship between the first wind turbine and the second wind turbine and the reference yaw angle, the reference calibration coefficient for converting the yaw angle and the true north direction can be determined. After calibrating the plurality of first wind turbines respectively to obtain the corresponding reference calibration coefficients respectively, the current true north direction can be determined according to the current yaw angle of each first wind turbine in the wind farm, so as to determine the upstream wind turbine and the downstream wind turbine according to the positional coordinates of each wind turbine and the current true north direction, and to adjust the operating state of each wind turbine to realize the wake control. When the calibration coefficient of the wind turbine deviates, the calibration coefficient can be recalculated to avoid the deviation of the calibration coefficient leading to the inability to perform the wake control or the weakening of the effect of the wake control.

[0079] In S110, the control module of the wind farm can select a wind turbine that needs to adjust the calibration coefficient as the first wind turbine, and select another wind turbine within a preset distance from the first wind turbine as the second wind turbine.

[0080] For the first wind turbine, in the previous operation process, due to the change of the incoming wind direction, the first wind turbine will adjust the yaw angle of the nacelle in real time, so that the first wind turbine can face the direction of the incoming wind and convert the wind energy in the flowing air into electric energy. Therefore, from the historical operation data of the first wind turbine, the corresponding nacelle yaw angle and the first power of the first wind turbine at each historical time node can be obtained, and the first power is the power generated at the corresponding nacelle yaw angle. Similarly, from the historical operation data of the second wind turbine, the corresponding nacelle yaw angle and the second power at each historical node can also be obtained.

[0081] From the operation data of the first wind turbine and the second wind turbine, one or more time nodes corresponding to each yaw angle of the first wind turbine can be determined, and the first power of the first wind turbine and the second power of the second wind turbine at the one or more time nodes can be determined respectively. For example, if it is determined from the historical operation data that the corresponding yaw angle of the first wind turbine in the past 10 time periods is 90°, the first power of the first wind turbine and the second power of the second wind turbine in the 10 time periods can be obtained respectively.

[0082] After grouping the first power of the first wind turbine and the second power of the second wind turbine according to the yaw angle of the first wind turbine from the historical data, the first power of the first wind turbine and the second power of the second wind turbine under each yaw angle of the first wind turbine can be obtained.

[0083] It can be understood that when there are multiple wind turbines within the preset distance of the first wind turbine, the wind turbine closest to the first wind turbine can also be taken as the second wind turbine.

[0084] As an optional embodiment, please refer to Figure 2 The S110 can include:

[0085] S210, obtaining historical operation data of the first wind turbine and the second wind turbine, the historical operation data including yaw angles and unit powers of the first wind turbine and the second wind turbine;

[0086] S220, determining multiple unit powers of the first wind turbine and multiple unit powers of the second wind turbine under multiple time nodes corresponding to each yaw angle of the first wind turbine from the historical operation data;

[0087] S230, obtaining the first power of the first wind turbine and the second power of the second wind turbine according to the multiple unit powers of the first wind turbine and the multiple unit powers of the second wind turbine for each yaw angle.

[0088] In the embodiment, by obtaining the historical operation data of the first wind turbine and the second wind turbine, the unit powers of the first wind turbine corresponding to the multiple time nodes under the same yaw angle and the unit powers of the second wind turbine corresponding to the same multiple time nodes can be determined. The first power of the first wind turbine under a certain yaw angle can be determined according to the multiple unit powers of the first wind turbine, and the second power of the second wind turbine can be determined according to the multiple unit powers of the second wind turbine. The first power and the second power are respectively the average powers of the two wind turbines in the same time interval, and the average power is used to represent the corresponding power of the two wind turbines under a certain yaw angle, which can avoid the influence of the partial power values with large deviations on the calibration results and improve the calibration accuracy.

[0089] In S210, the control module of the wind farm can obtain the corresponding historical operation data from the first wind turbine and the second wind turbine respectively. The historical operation data includes the nacelle yaw angle and the unit power of the wind turbine under the corresponding time node.

[0090] In S220, after obtaining the corresponding historical operation data, the multiple time nodes corresponding to each yaw angle can be obtained from the historical operation data of the first wind turbine.

[0091] It can be understood that the yaw angle of the first wind turbine is related to the wind direction of the incoming wind. At different time nodes, if the wind direction of the incoming wind is the same, the yaw angle of the first wind turbine is also the same. For example, there can be 10 time nodes in the historical operation data, and the yaw angle of the first wind turbine at the 10 time nodes is 90°, indicating that the wind direction of the incoming wind at the 10 time nodes is the same.

[0092] After determining the plurality of time nodes corresponding to each yaw angle, the plurality of time nodes can be obtained from the historical operation data pool, and the plurality of time nodes correspond to the plurality of unit powers of the first wind turbine and the plurality of unit powers of the second wind turbine, respectively.

[0093] In S230, for each yaw angle, after determining the plurality of unit powers of the first wind turbine, the average power of the plurality of unit powers can be calculated to obtain the first power of the first wind turbine at the yaw angle. Similarly, after determining the plurality of unit powers of the second wind turbine, the average power of the plurality of unit powers can be calculated to obtain the second power of the second wind turbine when the nacelle yaw angle of the first wind turbine is the yaw angle.

[0094] It should be noted that for the yaw angle in the historical operation data, the yaw angle can also be divided into a plurality of bins according to a preset binning step. The angle range included in each bin can be set to 1°, 2°, or 5°, etc. Taking the binning step of 5° as an example, the yaw angle in the range of 360° can be divided into 72 bins, and the first power of the first wind turbine and the second power of the second wind turbine in each bin include the yaw angle in the range of 5°.

[0095] In S120, after determining the first power of the first wind turbine and the second power of the second wind turbine at each yaw angle of the first wind turbine, the power difference of the first power and the second power at each yaw angle can be calculated, respectively.

[0096] In S130, after calculating the power difference corresponding to each yaw angle of the first wind turbine, the minimum power difference can be determined from the power differences, and the yaw angle corresponding to the minimum power difference is determined as the reference yaw angle when the nacelle of the first wind turbine is oriented to the second wind turbine.

[0097] It can be understood that, at the same time node, if the first wind turbine and the second wind turbine do not interfere with each other, that is, the nacelle of the first wind turbine is not directed to the second wind turbine or the nacelle of the second wind turbine is not directed to the first wind turbine, the generated power of the two wind turbines is also relatively close under the condition that the operating parameters of the two wind turbines are relatively close. That is, when the two wind turbines do not produce wake interference with each other, the difference between the generated power of the two wind turbines should be approximately zero.

[0098] If the nacelle of the first wind turbine is directed to the second wind turbine, at this time, the second wind turbine is the upstream unit of the first wind turbine, and the first wind turbine will be affected by the wake of the second wind turbine, resulting in that the generated power of the first wind turbine is lower than that of the second wind turbine.

[0099] If the nacelle of the second wind turbine is directed to the first wind turbine, at this time, the first wind turbine is the upstream unit of the second wind turbine, resulting in that the generated power of the second wind turbine is lower than that of the first wind turbine.

[0100] The power difference corresponding to each yaw angle above is the average power of the first wind turbine and the average power of the second wind turbine under the same yaw angle. It can be understood that, when the nacelle of the first wind turbine is directed to the second wind turbine, the average power of the first wind turbine is most seriously affected by the wake, so that the difference between the average power of the first wind turbine and the average power of the second wind turbine reaches a minimum value; and when the nacelle of the second wind turbine is directed to the first wind turbine, the average power of the second wind turbine is most seriously affected by the wake, so that the difference between the average power of the first wind turbine and the average power of the second wind turbine reaches a maximum value.

[0101] After determining the power difference corresponding to each yaw angle, if there is a power difference that is the minimum value of multiple power differences, the yaw angle corresponding to the power difference is the reference yaw angle when the nacelle of the first wind turbine is directed to the second wind turbine.

[0102] It should be noted that, when the yaw angle of the nacelle of the first wind turbine is within a certain range, the first wind turbine can receive the wake from the second wind turbine, thereby being affected by the wake to reduce the generated power. When the nacelle of the first wind turbine is directly opposite to the second wind turbine, the first wind turbine is most affected by the wake. That is, when the yaw angle is within a certain range, the average power of the first wind turbine is less than that of the second wind turbine, and the closer the yaw angle is to the reference yaw angle, the smaller the difference between the average power of the first wind turbine and the second wind turbine.

[0103] In another embodiment, after the first power of the first wind turbine and the second power of the second wind turbine are determined, a power ratio of the first power and the second power can also be calculated. It can be understood that when the nacelle of the first wind turbine is oriented towards the second wind turbine, the first power is affected by the wake and is less than the second power; when the nacelle of the second wind turbine is oriented towards the first wind turbine, the second power is affected by the wake and is less than the first power. Then, after the power ratio corresponding to each yaw angle is calculated, the yaw angle corresponding to the minimum power ratio can be taken as the reference yaw angle when the nacelle of the first wind turbine is oriented towards the second wind turbine.

[0104] As an optional embodiment, the above S130 can include:

[0105] S310, determining the minimum power difference from the plurality of power differences;

[0106] S320, determining the reference yaw angle when the nacelle of the first wind turbine is oriented towards the second wind turbine according to the yaw angle corresponding to the minimum power difference.

[0107] In the embodiment, after the average power difference of the first wind turbine and the second wind turbine in the same time under different yaw angles is determined, since the average power value of the first wind turbine is affected by the wake and is less than the average power value of the second wind turbine when the nacelle of the first wind turbine is oriented towards the second wind turbine, it can be determined that the nacelle of the first wind turbine is oriented towards the second wind turbine when the power difference is the minimum, and the yaw angle corresponding to the minimum power difference is the reference yaw angle when the nacelle of the first wind turbine is oriented towards the second wind turbine. The reference yaw angle when the nacelle of the first wind turbine is oriented towards the second wind turbine can be determined according to the corresponding power difference, so that the corresponding yaw angle can be accurately positioned to determine the corresponding reference calibration coefficient.

[0108] In S310, after the plurality of power differences corresponding to the plurality of yaw angles are determined, the minimum power difference can be determined from the plurality of power differences.

[0109] In S320, the minimum power difference indicates that the power generation of the first wind turbine is most affected by the wake at this time, that is, the nacelle of the first wind turbine is oriented towards the second wind turbine at this time, so that the nacelle of the first wind turbine is affected by the wake of the second wind turbine, and the average power of the first wind turbine is less than the average power of the second wind turbine. The yaw angle corresponding to the minimum power difference is the reference yaw angle when the nacelle of the first wind turbine is oriented towards the second wind turbine.

[0110] As an optional embodiment, the above S320 can include:

[0111] S410, determining the maximum power difference from the plurality of power differences;

[0112] S320, comprising:

[0113] S420, taking the yaw angle corresponding to the maximum power difference as the first yaw angle, and taking the yaw angle corresponding to the minimum power difference as the second yaw angle;

[0114] S430, determining the reference yaw angle according to the first yaw angle and the second yaw angle.

[0115] In the embodiment, since the step of the yaw angle of the wind turbine is affected by the number of teeth of the yaw gear, there is a certain error between the yaw angle corresponding to the minimum power difference and the yaw angle when the nacelle of the first wind turbine faces the second wind turbine. In order to avoid the error of the reference yaw angle caused by the too large step of the yaw angle, the yaw angle when the nacelle of the second wind turbine is closest to face the first wind turbine can also be determined according to the maximum power difference. And the reference yaw angle is calculated according to the two yaw angles to eliminate the angle error.

[0116] In S410, the control module can also determine the maximum power difference from the plurality of power differences, and determine the yaw angle corresponding to the maximum power difference as the yaw angle of the nacelle of the first wind turbine when the nacelle of the second wind turbine faces the first wind turbine.

[0117] It can be understood that when the nacelle of the second wind turbine faces the first wind turbine, the average power of the second wind turbine is most affected by the wake, so that the average power of the second wind turbine at this time will be less than that of the first wind turbine.

[0118] It should be noted that since the nacelle of the first wind turbine faces the second wind turbine, the average power of the first wind turbine is affected by the wake, and is usually less than the average power of the second wind turbine. At this time, the first power is less than the second power, and the power difference between the first power and the second power should be negative. Similarly, when the nacelle of the second wind turbine faces the first wind turbine, the power difference between the first power and the second power should be positive.

[0119] In S420, after determining the maximum power difference and the minimum power difference in the plurality of power differences respectively, the yaw angle corresponding to the maximum power difference can be taken as the first yaw angle, and the yaw angle corresponding to the minimum power difference can be taken as the second yaw angle.

[0120] In the S430, the yaw angle of the wind turbine nacelle is calculated using the number of teeth on the yaw gear. Since the deflection angle of a single tooth on the yaw gear is relatively large, the yaw angle corresponding to the first wind turbine nacelle facing the second wind turbine may fall between two teeth. This means the first wind turbine can never be completely aligned with the second wind turbine. In other words, even with a large yaw angle adjustment step, the yaw angle corresponding to the minimum power difference still has some error. Therefore, to eliminate the error caused by a large yaw step, the yaw angle when the second wind turbine is closest to the first wind turbine—that is, the first yaw angle corresponding to the maximum power difference—can be obtained. Based on the first and second yaw angles, the reference yaw angle when the first wind turbine nacelle faces the second wind turbine can be calculated.

[0121] Understandably, when the yaw angle adjustment step of the yaw gear does not affect the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine, the second yaw angle can be used as the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine, and the difference between the first yaw angle and the second yaw angle is 180°.

[0122] When the yaw angle adjustment step of the yaw gear is too large and causes errors, the reference yaw angle can be calculated according to the following formula:

[0123] δ0=(mod(δ2,360)+mod(δ1+180,360)) / 2;

[0124] Where δ1 is the first yaw angle, δ2 is the second yaw angle, and δ0 is the reference yaw angle.

[0125] like Figure 4 As shown, near the second yaw angle, the nacelle of the first wind turbine begins to gradually face the second wind turbine. At this time, the power generation of the first wind turbine begins to be affected by the wake of the second wind turbine, resulting in the average power of the first wind turbine being less than that of the second wind turbine. Furthermore, the closer the yaw angle is to the second yaw angle, the smaller the difference in average power between the first and second wind turbines.

[0126] Similarly, near the first yaw angle, the nacelle of the second wind turbine begins to gradually face the first wind turbine. At this time, the power generation of the second wind turbine begins to be affected by the wake of the first wind turbine, resulting in the average power of the second wind turbine being less than that of the first wind turbine. Furthermore, the closer the yaw angle is to the first yaw angle, the greater the difference in average power between the first and second wind turbines.

[0127] In S140, after determining the reference yaw angle of the nacelle of the first wind turbine when the nacelle faces the second wind turbine, a conversion relationship between the true north coordinate system and the yaw angle can be determined according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine, so as to obtain a reference calibration coefficient.

[0128] The positional relationship between the first wind turbine and the second wind turbine can be determined by the spatial coordinates of the two wind turbines in the true north coordinate system. For example, when the spatial coordinates of the two wind turbines in the true north coordinate system are determined, and it is determined that the second wind turbine is located in the east direction of the first wind turbine, it indicates that the true north angle of the second wind turbine relative to the first wind turbine is 90°. At this time, if the reference yaw angle of the nacelle of the first wind turbine when the nacelle faces the second wind turbine is 180°, it indicates that the reference yaw angle of the first wind turbine is 180°, and the corresponding true north angle of the first wind turbine is 90°. At this time, the reference calibration coefficient is -90°.

[0129] According to the vector angle of the line connecting the first wind turbine and the second wind turbine in the true north coordinate system, and the reference yaw angle of the nacelle of the first wind turbine when the nacelle faces the second wind turbine, the reference calibration coefficient required for mutual conversion between the true north coordinate system and the yaw angle can be determined, so that the yaw angle of the nacelle facing direction of the first wind turbine can be converted into the true north angle of the nacelle facing direction by the reference calibration coefficient.

[0130] In S150, after the reference calibration coefficient is determined, the yaw angle of the nacelle of the first wind turbine can be determined, and the true north angle corresponding to the yaw angle can be determined according to the reference calibration coefficient, so as to determine the first true north direction of the nacelle of the first wind turbine.

[0131] For example, when the reference calibration coefficient is -90°, if the current yaw angle of the nacelle of the first wind turbine is 270°, it can be determined that the true north angle of the nacelle of the first wind turbine is 180°, that is, the first true north direction of the nacelle of the first wind turbine is the south direction at this time.

[0132] In S160, after the reference calibration coefficient of one first wind turbine is determined, other wind turbines in the wind farm can be taken as new first wind turbines, and the reference calibration coefficients of the new wind turbines can be calculated. After a plurality of wind turbines in the wind farm are taken as first wind turbines and the corresponding reference calibration coefficients are calculated respectively, the respective first true north directions of the first wind turbines can be determined according to the current nacelle yaw angles of the first wind turbines and the corresponding reference calibration coefficients. According to the true north directions of the wind turbines and the positional coordinates of the wind turbines, the upstream wind turbines and the downstream wind turbines in the wind farm can be determined, and the wake control of the wind farm can be realized by adjusting the operating state of the upstream wind turbines.

[0133] As an optional embodiment, the historical operation data needs to select the operation data in a preset wind speed section, which is a wind speed section in which neither the first wind turbine nor the second wind turbine is full-load.

[0134] When the wind speed reaches the rated wind speed and above, the first wind turbine and the second wind turbine are both in full-load state. At this time, even if the first wind turbine is affected by the wake of the second wind turbine, since the wind speed reaches or exceeds the rated wind speed, the first wind turbine can maintain full-load power under the influence of the wake, that is, equal to the power of the second wind turbine. At this time, the reference yaw angle of the nacelle of the first wind turbine when facing the second wind turbine cannot be determined according to the power difference between the first wind turbine and the second wind turbine.

[0135] For example, when the rated wind speed of the wind turbine is 9 m / s, the data in the wind speed section of 7 m / s to 9 m / s or the data in the wind speed section of 5 m / s to 8 m / s can be selected, and the power difference between the first wind turbine and the second wind turbine is determined according to the historical operation data in the wind speed section.

[0136] As an optional embodiment, please refer to Figure 3 Before S110, the above-mentioned can also include:

[0137] S510, obtaining a record calibration coefficient, the record calibration coefficient being an original calibration coefficient of the wind turbine of the wind farm;

[0138] The above-mentioned S140 can include:

[0139] S520, generating an analysis calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine;

[0140] S530, determining a reference calibration coefficient according to the coefficient deviation between the analysis calibration coefficient and the record calibration coefficient.

[0141] In the embodiment, the first wind turbine can also pre-store a record calibration coefficient, and after calculating the analysis calibration coefficient according to the power difference, the reference calibration coefficient can also be determined according to the coefficient deviation between the analysis calibration coefficient and the record calibration coefficient. When the coefficient deviation does not exceed the preset range, the original record calibration coefficient can be continued to be used. When the coefficient deviation exceeds the preset range, the calibration coefficient needs to be updated to the calculated analysis calibration coefficient. According to the preset determination condition, the corresponding reference calibration coefficient can be determined from the analysis calibration coefficient and the record calibration coefficient, thereby improving the accuracy and reliability of the reference calibration coefficient.

[0142] In S510, the first wind turbine can pre-store a record calibration coefficient, which can be the original calibration data of the first wind turbine.

[0143] It can be understood that during the installation of the wind turbine, the relevant personnel can manually calibrate through the calibration tool to obtain a record calibration coefficient and store it in the corresponding wind turbine. The record calibration coefficient may itself have errors due to the influence of the operation during the calibration process. Moreover, with the continuous operation of the wind turbine, the record calibration coefficient may also be affected by the operation process and maintenance process of the wind turbine and deviate.

[0144] In S520, after determining the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine, an analysis calibration coefficient can be generated according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine.

[0145] In S530, after generating the analysis calibration coefficient, a corresponding coefficient deviation can be determined according to the obtained record calibration coefficient and the calculated analysis calibration coefficient, and a reference calibration coefficient can be determined according to the coefficient deviation. For example, when the coefficient deviation is within a corresponding deviation range, the reference calibration coefficient can be selected from the record calibration coefficient or the analysis calibration coefficient.

[0146] As an optional embodiment, the first wind turbine and the second wind turbine can also extract historical operation data in multiple different wind speed segments, respectively. For the historical operation data in each wind speed segment, the first power of the first wind turbine and the second power of the second wind turbine at each yaw angle can be determined, respectively, and the corresponding analysis calibration coefficient can be calculated according to the calculated reference yaw angle. After calculating multiple analysis calibration coefficients according to multiple different historical operation data, respectively, the average of the multiple analysis calibration coefficients can also be taken as the final analysis calibration coefficient.

[0147] It should be noted that the multiple different wind speed segments should all be lower than the rated wind speed of the wind turbine, and the different wind speed segment intervals do not overlap.

[0148] As an optional embodiment, S530 can include:

[0149] S610, when the coefficient deviation is greater than a first preset deviation threshold, determining the reference calibration coefficient according to the analysis calibration coefficient;

[0150] S620, when the coefficient deviation is less than the first preset deviation threshold, determining the reference calibration coefficient according to the record calibration coefficient.

[0151] In this embodiment, according to whether the coefficient deviation is greater than the first preset deviation threshold, it can be selected whether to use the analysis calibration coefficient as the reference calibration coefficient or to use the record calibration coefficient as the reference calibration coefficient.

[0152] In S610, after the coefficient deviation of the record calibration coefficient and the analysis calibration coefficient is calculated, a first preset deviation threshold can be obtained. If the coefficient deviation is greater than the first preset deviation threshold, it indicates that the error of the original record calibration coefficient is large, and the original record calibration coefficient cannot be used any more. In this case, the analysis calibration coefficient can be selected as the reference calibration coefficient.

[0153] In S620, if the coefficient deviation is less than the first preset deviation threshold, it indicates that the error of the original record calibration coefficient is small, and the original record calibration coefficient can still be used. In this case, the original record calibration coefficient can also be selected as the reference calibration coefficient for use.

[0154] As an optional embodiment, S620 can include:

[0155] S710, when the coefficient deviation is less than the first preset deviation threshold and greater than a second preset deviation threshold, the analysis calibration coefficient and the record calibration coefficient are weighted and averaged according to a preset weighting coefficient to obtain the reference calibration coefficient.

[0156] In this embodiment, the control module can also obtain a second preset deviation, and when the coefficient deviation is less than the first preset deviation threshold, it is determined whether the coefficient deviation is greater than the second preset deviation threshold. If the coefficient deviation is still less than the second preset deviation threshold, the original record calibration coefficient can be used as the reference calibration coefficient, so that the wind turbine is calibrated according to the original calibration coefficient, and the stability and reliability of the calibration coefficient are ensured.

[0157] If the coefficient deviation is greater than the second preset deviation threshold, the analysis calibration coefficient and the record calibration coefficient can be weighted and averaged according to a preset weighting coefficient, and the result of the weighted and averaged can be used as the reference calibration coefficient.

[0158] In some embodiments, the first preset deviation threshold can be 20°, and the second preset deviation threshold can be 10°. When the deviation between the record calibration coefficient and the analysis calibration coefficient is greater than 20°, the analysis calibration coefficient can be used as the reference calibration coefficient. When the deviation between the record calibration coefficient and the analysis calibration coefficient is less than 10°, the record calibration coefficient can be used as the reference calibration coefficient. When the deviation between the record calibration coefficient and the analysis calibration coefficient is between 10° and 20°, a preset weighting coefficient can be obtained to weight and average the record calibration coefficient and the analysis calibration coefficient, and the weighted and averaged calibration coefficient can be used as the reference calibration coefficient.

[0159] The weighted and averaged method can be linear weighting, and the weighted and averaged calibration coefficient is:

[0160] γ2=α·γ0+(1-α)·γ1;

[0161] wherein a is a weighting coefficient, γ0 is a recording calibration coefficient, γ1 is an analysis calibration coefficient, and γ2 is a weighted average calibration coefficient.

[0162] As an optional embodiment, before S140, the method further comprises:

[0163] S810, obtaining a first position coordinate of the first wind turbine and a second position coordinate of the second wind turbine;

[0164] S820, generating a position relationship between the first wind turbine and the second wind turbine in a true north coordinate system according to the first position coordinate and the second position coordinate.

[0165] In the embodiment, after obtaining the first position coordinate of the first wind turbine and the second position coordinate of the second wind turbine, a position vector corresponding to the two wind turbines in the true north coordinate system can be generated according to the position coordinates of the two wind turbines, and the position vector is from the first wind turbine to the second wind turbine. The vector angle of the position vector in the true north coordinate system is the true north direction of the second wind turbine relative to the first wind turbine.

[0166] In S810, each wind turbine in the wind farm can determine the corresponding position coordinate by satellite positioning or manual positioning. The control module can obtain the first position coordinate of the first wind turbine and the second position coordinate of the second wind turbine. The first position coordinate and the second position coordinate can be position coordinates in the true north coordinate system.

[0167] In S820, after determining the first position coordinate and the second position coordinate, a position vector from the first position coordinate to the second position coordinate can be obtained in the true north coordinate system with the first position coordinate as the starting point. The angle of the position vector in the true north coordinate system is the true north angle of the second wind turbine relative to the first wind turbine. According to the true north angle of the second wind turbine relative to the first wind turbine, the true north direction of the second wind turbine relative to the first wind turbine can be determined.

[0168] As an optional embodiment, the recording calibration coefficient γ0 can be pre-stored in the first wind turbine. According to the yaw angle time sequence γ(t) of the first wind turbine, the first true north direction time sequence β(t) of the first wind turbine can be obtained through the recording calibration coefficient γ0. The corresponding relationship between the first true north direction time sequence and the yaw angle time sequence is as follows:

[0169] β(t)=f(γ(t),γ0);

[0170] wherein f is a function relationship formula for converting the yaw angle to the first true north direction.

[0171] After the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine is determined by the power difference between the first wind turbine and the second wind turbine, and the analysis calibration coefficient γ1 is calculated according to the reference yaw angle, the record calibration coefficient γ0 can be determined according to the difference between the record calibration coefficient γ0 and the analysis calibration coefficient γ1, so that the reference calibration coefficient is selected from the record calibration coefficient γ0 and the analysis calibration coefficient γ1, or the weighted average result of the record calibration coefficient γ0 and the analysis calibration coefficient γ1 is taken as the reference calibration coefficient.

[0172] As an optional embodiment, the original record calibration coefficient γ0 of the first wind turbine can also be judged for effectiveness in other ways. For example, for multiple wind turbines in a wind farm, the original record calibration coefficient γ0 and the current nacelle yaw angle are used to determine the true north direction of the corresponding wind turbine. Since the multiple wind turbines in the wind farm have the same inflow wind direction, their true north directions should also be similar. Among the true north directions calibrated by the multiple wind turbines, if there is a small part of the wind turbines whose calibrated true north direction is greatly different from the true north direction calibrated by other wind turbines, it can be determined that the record calibration coefficient γ0 of the small part of the wind turbines has errors, and the analysis calibration coefficient γ1 of these wind turbines is calculated to correct the record calibration coefficient γ0 and obtain a new reference calibration coefficient.

[0173] Based on the control method of the wind farm provided in the above embodiments, the application also provides a specific implementation of the control device of the wind farm. Please refer to the following embodiments.

[0174] Firstly, referring to Figure 5 The control device 500 of the wind farm provided in the embodiments of the application comprises the following modules:

[0175] The data acquisition module 501 is configured to acquire the first power of the first wind turbine and the second power of the second wind turbine at each of a plurality of yaw angles of the first wind turbine; the distance between the first wind turbine and the second wind turbine is within a preset distance.

[0176] The calculation module 502 is configured to determine the power difference between the first power and the second power at each yaw angle of the first wind turbine.

[0177] The yaw positioning module 503 is configured to determine the reference yaw angle of the nacelle of the first wind turbine towards the second wind turbine according to the power difference corresponding to each yaw angle.

[0178] The calibration module 504 is configured to generate a reference calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine.

[0179] The orientation module 505 is configured to determine a first true north direction of the nacelle of the first wind turbine according to the reference calibration coefficient and a current yaw angle of the nacelle of the first wind turbine.

[0180] The wake control module 506 is configured to perform wake control on the wind farm according to the plurality of first true north directions corresponding to the plurality of first wind turbines respectively.

[0181] In this embodiment, by obtaining the first power of the first wind turbine and the second power of the second wind turbine at each yaw angle of the first wind turbine, the reference yaw angle can be determined according to the power difference between the first power and the second power, and the reference yaw angle is the yaw angle of the nacelle of the first wind turbine when the nacelle faces the second wind turbine. According to the actual positional relationship between the first wind turbine and the second wind turbine and the reference yaw angle, the reference calibration coefficient for converting the yaw angle and the true north direction can be determined. After calibrating the plurality of first wind turbines to obtain the reference calibration coefficients corresponding to the plurality of first wind turbines respectively, the current true north direction can be determined according to the current yaw angle of each first wind turbine in the wind farm, so as to determine the upstream wind turbine and the downstream wind turbine according to the positional coordinates of each wind turbine and the current true north direction, and to adjust the operating state of each wind turbine to achieve wake control. When the calibration coefficient deviates, recalibration can be performed to avoid the deviation of the calibration coefficient weakening the effect of the wake control.

[0182] As an implementation manner of the present application, in order to determine the average power of the first wind turbine and the second wind turbine at each yaw angle, the data acquisition module 501 can further include:

[0183] The first acquisition unit is configured to acquire historical operation data of the first wind turbine and the second wind turbine, and the historical operation data includes the yaw angle and the power of the first wind turbine and the second wind turbine;

[0184] The first statistical unit is configured to determine, from the historical operation data, a plurality of power values of the first wind turbine and a plurality of power values of the second wind turbine of the first wind turbine at a plurality of time nodes corresponding to each yaw angle;

[0185] The first calculation unit is configured to, for each yaw angle, obtain the first power of the first wind turbine and the second power of the second wind turbine according to the plurality of power values of the first wind turbine and the plurality of power values of the second wind turbine.

[0186] As an implementation manner of the present application, in order to determine the reference yaw angle according to the power difference, the yaw orientation module 503 can further include:

[0187] The first determination unit is configured to determine the minimum power difference from the plurality of power differences;

[0188] The second determining unit is configured to determine the reference yaw angle of the nacelle of the first wind turbine when facing the second wind turbine according to the yaw angle corresponding to the minimum power difference.

[0189] As an implementation form of the present application, in order to reduce the error of the reference yaw angle, the yaw positioning module 503 can further include:

[0190] The third determining unit is configured to determine the maximum power difference from the plurality of power differences.

[0191] The second determining unit can further include:

[0192] The analysis sub-unit is configured to take the yaw angle corresponding to the maximum power difference as the first yaw angle, and take the yaw angle corresponding to the minimum power difference as the second yaw angle.

[0193] The calculation sub-unit is configured to determine the reference yaw angle according to the first yaw angle and the second yaw angle.

[0194] As an implementation form of the present application, in order to determine the reference calibration coefficient, the control device 500 of the wind farm can further include:

[0195] The first obtaining module is configured to obtain a record calibration coefficient, the record calibration coefficient being an original calibration coefficient of a wind turbine of the wind farm.

[0196] The calibration module 504 can further include:

[0197] The analysis calibration unit is configured to generate an analysis calibration coefficient according to the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine.

[0198] The second calculation unit is configured to determine the reference calibration coefficient according to the coefficient deviation between the analysis calibration coefficient and the record calibration coefficient.

[0199] As an implementation form of the present application, in order to select the reference calibration coefficient from the analysis calibration coefficient and the record calibration coefficient, the second calculation unit can further include:

[0200] The first selection sub-unit is configured to determine the reference calibration coefficient according to the analysis calibration coefficient when the coefficient deviation is greater than a first preset deviation threshold.

[0201] The second selection sub-unit is configured to determine the reference calibration coefficient according to the record calibration coefficient when the coefficient deviation is less than the first preset deviation threshold.

[0202] As an implementation form of the present application, in order to improve the accuracy of the reference calibration coefficient, the second selection sub-unit can further include:

[0203] The third selection subunit is configured to, when the coefficient deviation is less than the first preset deviation threshold and greater than the second preset deviation threshold, obtain a reference calibration coefficient by performing weighted average on the analysis calibration coefficient and the record calibration coefficient according to a preset weighting coefficient.

[0204] As an implementation form of the present application, in order to determine the true north direction of the second wind turbine relative to the first wind turbine, the control device 500 of the wind farm can further include:

[0205] A position module is configured to obtain a first position coordinate of the first wind turbine and a second position coordinate of the second wind turbine.

[0206] A vector module is configured to generate a position relationship between the first wind turbine and the second wind turbine in a true north coordinate system according to the first position coordinate and the second position coordinate.

[0207] Figure 6 A hardware structure schematic diagram of the wind farm control system provided by the embodiment of the present application is shown.

[0208] The wind farm control system can include:

[0209] A farm group controller;

[0210] A plurality of wind turbines, each of which includes a unit controller, and the unit controller is in communication connection with the farm group controller.

[0211] The farm group controller includes a processor 601 and a memory 602 in which computer program instructions are stored.

[0212] Specifically, the processor 601 can include a central processing unit (CPU), or a specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application.

[0213] The memory 602 can include a mass storage for data or instructions. By way of example and not limitation, the memory 602 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 602 can include removable or non-removable (or fixed) media. Where appropriate, the memory 602 can be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 602 is a non-volatile solid-state memory.

[0214] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physically tangible / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods according to an aspect of the present disclosure.

[0215] The processor 601 implements the control method of the wind farm in any of the above embodiments by reading and executing computer program instructions stored in the memory 602.

[0216] In one example, the wind farm control system can further include a communication interface 603 and a bus 610. Wherein, as shown, the processor 601, the memory 602, the communication interface 603 are connected through the bus 610 and complete the communication between each other. Figure 6

[0217] The communication interface 603 is mainly used to realize the communication between each module, device, unit and / or equipment in the embodiments of the present application.

[0218] The bus 610 includes hardware, software or both, which couples the components of the wind farm control system to each other. By way of example, and not limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or combination of two or more of these. Where appropriate, the bus 610 can include one or more buses. Although the present embodiments describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0219] The wind farm control system can be based on the above embodiments, thereby realizing the control method and device of the wind farm described in combination Figures 1 to 5 with the above embodiments.

[0220] ​In addition, in combination with the wind farm control method in the above embodiments, the embodiments of the present application can provide a computer storage medium for implementation. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the wind farm control methods in the above embodiments, and the same technical effects can be achieved. To avoid repetition, details are not described here. The above computer readable storage medium can include a non-transitory computer readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc., which is not limited here.

[0221] It should be noted that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0222] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine readable medium or transmitted through a data signal carried in a carrier wave on a transmission medium or communication link. The "machine readable medium" can include any medium capable of storing or transmitting information. Examples of machine readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0223] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be executed simultaneously.

[0224] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0225] The above is merely specific implementation of the present application, and those skilled in the art can clearly understand the specific working processes of the system, module and unit described above for the convenience and brevity of description, which can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein. It should be understood that the protection scope of the present application is not limited in this way, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A control method for a wind farm, characterized in that, The wind farm includes multiple wind turbine units, and the method includes: The first power of the first wind turbine and the second power of the second wind turbine are obtained at each of the multiple yaw angles of the first wind turbine; the distance between the first wind turbine and the second wind turbine is within a preset distance. Determine the power difference between the first power and the second power at each yaw angle of the first wind turbine; The reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine is determined based on the power difference corresponding to each yaw angle. A reference calibration coefficient is generated based on the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine. The first true north orientation of the nacelle of the first wind turbine is determined based on the reference calibration coefficient and the current yaw angle of the nacelle of the first wind turbine. Wake control of the wind farm is performed based on the multiple first true north orientations corresponding to the multiple first wind turbine units; The positional relationship between the first wind turbine and the second wind turbine is the vector angle of the line connecting the first wind turbine and the second wind turbine in the true north coordinate system; The reference calibration coefficient is used to indicate the conversion relationship between the true north coordinate system and the yaw angle.

2. The wind farm control method according to claim 1, characterized in that, The step of obtaining the first power of the first wind turbine and the second power of the second wind turbine at each of the multiple yaw angles of the first wind turbine includes: Acquire historical operating data of the first wind turbine and the second wind turbine, the historical operating data including the yaw angle and power of the first wind turbine and the second wind turbine; The power of multiple units of the first wind turbine and the power of multiple units of the second wind turbine are determined from the historical operating data at multiple time points corresponding to each yaw angle. For each yaw angle, the first power of the first wind turbine and the second power of the second wind turbine are obtained based on the multiple unit powers of the first wind turbine and the multiple unit powers of the second wind turbine.

3. The wind farm control method according to claim 2, characterized in that, The step of determining the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine based on the power difference corresponding to each yaw angle includes: Determine the minimum power difference from multiple power differences; The reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine is determined based on the yaw angle corresponding to the minimum power difference.

4. The wind farm control method according to claim 3, characterized in that, Before determining the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine based on the yaw angle corresponding to the minimum power difference, the method further includes: Determine the largest power difference from multiple power differences; Determining the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine based on the yaw angle corresponding to the minimum power difference includes: The yaw angle corresponding to the largest power difference is taken as the first yaw angle, and the yaw angle corresponding to the smallest power difference is taken as the second yaw angle. The reference yaw angle is determined based on the first yaw angle and the second yaw angle.

5. The wind farm control method according to claim 2, characterized in that, The historical operating data refers to the operating data within a preset wind speed range, which is the wind speed interval in which neither the first wind turbine nor the second wind turbine is operating at full capacity.

6. The wind farm control method according to claim 1, characterized in that, Before obtaining the first power of the first wind turbine and the second power of the second wind turbine at each of the multiple yaw angles of the first wind turbine, the method further includes: Obtain the recorded calibration coefficients, which are the original calibration coefficients of the wind farm turbines; The step of generating reference calibration coefficients based on the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine includes: Analysis calibration coefficients are generated based on the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine. The reference calibration coefficient is determined based on the coefficient deviation between the analytical calibration coefficient and the recorded calibration coefficient.

7. The wind farm control method according to claim 6, characterized in that, The step of determining the reference calibration coefficient based on the coefficient deviation between the analytical calibration coefficient and the recorded calibration coefficient includes: When the coefficient deviation is greater than a first preset deviation threshold, the reference calibration coefficient is determined based on the analysis calibration coefficient; When the coefficient deviation is less than the first preset deviation threshold, the reference calibration coefficient is determined based on the recorded calibration coefficient.

8. The wind farm control method according to claim 7, characterized in that, When the coefficient deviation is less than a first preset deviation threshold, determining the reference calibration coefficient based on the recorded calibration coefficient includes: When the coefficient deviation is less than a first preset deviation threshold and greater than a second preset deviation threshold, the reference calibration coefficient is obtained by weighting the analysis calibration coefficient and the record calibration coefficient according to the preset weighting coefficient.

9. The wind farm control method according to claim 8, characterized in that, Before generating the reference calibration coefficient based on the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine, the method further includes: Obtain the first position coordinates of the first wind turbine and the second position coordinates of the second wind turbine; The positional relationship between the first wind turbine and the second wind turbine in the true north coordinate system is generated based on the first position coordinate and the second position coordinate.

10. A control device for a wind farm, characterized in that, The control device for the wind farm includes: The data acquisition module is used to acquire the first power of the first wind turbine and the second power of the second wind turbine at each of the multiple yaw angles of the first wind turbine; the distance between the first wind turbine and the second wind turbine is within a preset distance. The calculation module is used to determine the power difference between the first power and the second power at each yaw angle of the first wind turbine. The yaw positioning module is used to determine the reference yaw angle when the nacelle of the first wind turbine is facing the second wind turbine based on the power difference corresponding to each yaw angle. The calibration module is used to generate reference calibration coefficients based on the reference yaw angle and the positional relationship between the first wind turbine and the second wind turbine. The orientation module is used to determine the first true north orientation of the nacelle of the first wind turbine based on the reference calibration coefficient and the current yaw angle of the nacelle of the first wind turbine. The wake control module is used to control the wake of the wind farm according to the multiple first true north orientations corresponding to the multiple first wind turbine units; The positional relationship between the first wind turbine and the second wind turbine is the vector angle of the line connecting the first wind turbine and the second wind turbine in the true north coordinate system; The reference calibration coefficient is used to indicate the conversion relationship between the true north coordinate system and the yaw angle.

11. A wind farm control system, characterized in that, The wind farm control system includes: Field group controller; Multiple wind turbine units, each wind turbine unit including a unit controller, the unit controller being communicatively connected to the farm group controller; The field cluster controller includes a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the wind farm control method as described in any one of claims 1 to 9.

12. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the wind farm control method as described in any one of claims 1 to 9.

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