Method and device for reducing yaw start-up impact of wind turbine

Abstract

The present application relates to the field of renewable energy power generation technology, and specifically to a method and device for reducing the impact of yaw startup of a wind turbine. The method provided in the present application is applicable to a yaw system, which includes a nacelle, a meshing ring gear and a pinion, and a yaw motor for driving the pinion to rotate. The yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear. The method includes: obtaining the nacelle's wind deviation value and determining whether it is greater than a threshold; if so, obtaining the nacelle's rotation direction; determining the pinion's abutment side based on the nacelle's rotation direction; determining whether there is a tooth gap between the pinion's abutment side and the tooth groove side wall of the ring gear; if so, performing a tooth gap elimination operation; and performing a yaw operation after the tooth gap is eliminated. This method can avoid the impact of sudden startup on the yaw bearing, eliminate startup noise, reduce the wind turbine's shutdown failure caused by excessive vibration, and increase the stability of the unit's operation.

Description

Technical Field

[0001] The present application relates to the field of new energy power generation technology, and in particular to a method for reducing the yaw startup impact of a wind turbine generator set, a device for reducing the yaw startup impact of a wind turbine generator set, a machine-readable storage medium, and a processor. Background Art

[0002] The yaw system is a subsystem of a wind turbine. The yaw motor, through a coaxially connected reduction gearbox, drives the large ring gear of the yaw bearing to rotate, aligning the impeller with the wind. A gap exists between the meshing of the yaw bearing's large gear and the yaw reducer's small gear. Furthermore, the yaw system can rotate in both directions, resulting in a certain amount of no-load travel in the reduction gears during yaw activation. This can cause meshing shock and noise. Furthermore, the hydraulic brake provides fixed damping during activation and cannot automatically adjust to changes in external load, which can easily cause vibration and shutdown.

[0003] Currently, turbine design and installation minimize the clearance between the yaw bearing's large gear and the yaw reducer's small gear. A reduced-voltage start-up strategy is used to start the yaw motor, mitigating the impact on the yaw bearing during startup. However, backlash can only be reduced within a reasonable range. The yaw system of a wind turbine is a high-inertia load, so reduced-voltage starting also significantly impacts the yaw bearing. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method for reducing the yaw startup impact of a wind turbine generator set, a device for reducing the yaw startup impact of a wind turbine generator set, a machine-readable storage medium, and a processor.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for reducing the yaw startup impact of a wind turbine generator set, which is applicable to a yaw system, wherein the yaw system includes a nacelle, a ring gear and a pinion that are meshed with each other, and a yaw motor for driving the pinion to rotate, and the yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear. The method includes: obtaining the nacelle's wind deviation value and determining whether it is greater than a threshold value; if so, obtaining the nacelle's direction of rotation; determining the pinion's side to be abutted based on the nacelle's direction of rotation; the pinion's side to be abutted indicates the side where the pinion's teeth abut against the tooth groove side wall of the ring gear when the pinion drives the entire nacelle to rotate in the direction to be rotated; determining whether there is a tooth gap between the pinion's side to be abutted and the tooth groove side wall of the ring gear; if so, performing a tooth gap elimination operation; after the tooth gap is eliminated, performing a yaw operation.

[0006] Based on the first aspect, in some embodiments of the present application, the yaw system further includes: a yaw frequency converter for driving the yaw motor to operate at a variable speed and an electromagnetic brake device for braking the yaw motor. The operation of eliminating tooth clearance includes: turning on the electromagnetic brake device to release the braking state of the yaw motor; and driving the yaw frequency converter to rotate the yaw motor at a low speed in the direction to be rotated at a preset power supply frequency until there is no tooth clearance between the side to be abutted of the pinion and the tooth groove side wall of the gear ring.

[0007] Based on the first aspect, in some embodiments of the present application, there are multiple pinions, and the multiple pinions are respectively driven by multiple yaw motors, and the pinions correspond to the yaw motors one by one. Before performing the yaw operation, it also includes: using the damping motor to drive the pinion teeth to abut against the tooth groove resistance surface of the ring gear, and making the damping motor output a first preset proportion of the rated torque; the damping motor represents a yaw motor that receives reverse excitation, and the tooth groove resistance surface represents the side wall surface in the tooth groove away from the side to be abutted.

[0008] Based on the first aspect, in some embodiments of the present application, before the gear teeth of the pinion driven by the damping motor abut against the tooth groove resistance surface of the ring gear, the method includes: determining the number of damping motors according to the actual load.

[0009] Based on the first aspect, in some embodiments of the present application, when there are multiple damping motors, the multiple damping motors are evenly arranged along the circumference of the gear ring.

[0010] Based on the first aspect, in some embodiments of the present application, determining whether there is a tooth gap between the side of the pinion to be abutted and the side wall of the tooth groove of the ring gear includes: detecting whether the output torque of the yaw motor reaches a second preset proportional rated torque; if so, it indicates that there is no tooth gap between the side of the pinion to be abutted and the side wall of the tooth groove of the ring gear; otherwise, there is a tooth gap.

[0011] In a second aspect, the present application provides a device for reducing the yaw startup impact of a wind turbine, which is applicable to a yaw system, wherein the yaw system includes a nacelle, a meshing ring gear and a pinion, and a yaw motor for driving the pinion to rotate, wherein the yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear. The device includes: an acquisition module, configured to obtain a nacelle wind deviation value and determine whether it is greater than a threshold value, and when the nacelle wind deviation value is greater than the threshold value, further configured to obtain a direction in which the nacelle is to rotate; an analysis module, configured to determine a side of the pinion to be abutted based on the direction in which the nacelle is to rotate; the side in which the pinion is to be abutted represents a side in which the teeth of the pinion abut against a tooth groove side wall of the ring gear when the pinion drives the entire nacelle to rotate in the direction in which the pinion drives the entire nacelle to rotate; a judgment module, configured to determine whether there is a backlash between the side in which the pinion is to be abutted and the tooth groove side wall of the ring gear; a first execution module, configured to perform a backlash elimination operation when the judgment module determines that a gap exists; and a second execution module, configured to perform a yaw operation after the first execution module performs the backlash elimination operation.

[0012] Based on the second aspect, in some embodiments of the present application, the yaw system further includes: a yaw frequency converter for driving the yaw motor to operate at a variable speed and an electromagnetic brake device for braking the yaw motor. The first execution module eliminates the tooth gap by performing the following operations: turning on the electromagnetic brake device to release the braking state of the yaw motor; and driving the yaw frequency converter to drive the yaw motor to rotate at a low speed in the direction to be rotated at a preset power supply frequency until there is no tooth gap between the side to be abutted of the pinion and the tooth groove side wall of the gear ring.

[0013] In a third aspect, the present application provides a processor configured to execute the above-mentioned method for reducing the yaw startup impact of a wind turbine.

[0014] In a fourth aspect, the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for reducing the yaw startup impact of a wind turbine.

[0015] This application eliminates the clearance between the large gear of the yaw bearing and the small gear of the yaw reducer before yaw is started by adding a control process for eliminating gear clearance in the yaw control strategy. When yaw is started, the sudden start-up is prevented from causing damage to the bearing gear and vibration of the unit, and the starting noise is eliminated. The shutdown failure caused by excessive vibration of the wind turbine is reduced, and the stability of the unit operation is increased. At the same time, the design reduces the load requirements of the yaw bearing and reduces the cost of the unit. Each yaw motor is individually controlled by an inverter, and the drive and damping torque are dynamically adjusted according to the load to maintain yaw stability and ensure stable operation of the unit.

[0016] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0018] Figure 1 A schematic diagram schematically illustrates an application environment of the method for reducing the yaw start-up impact of a wind turbine generator system according to an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a process for reducing the yaw start-up impact of a wind turbine generator system according to an embodiment of the present application is shown;

[0020] Figure 3 A partial schematic diagram of the meshing portion of the pinion and the ring gear in an embodiment of the present application is schematically shown;

[0021] Figure 4 The following schematically shows an electrical schematic diagram of a yaw system according to an embodiment of the present application;

[0022] Figure 5 The internal structure diagram of the computer device according to the embodiment of the present application is schematically shown.

[0023] Description of Reference Numerals

[0024] 102 - terminal; 104 - server; A01 - processor; A02 - network interface; A03 - internal memory; A04 - display screen; A05 - input device; A06 - non-volatile storage medium; B01 - operating system; B02 - computer program; 1 - pinion; 11 - side to be abutted; 2 - ring gear; 21 - resistance surface. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0027] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0028] Example 1

[0029] The method for reducing the yaw start-up impact of a wind turbine provided in this application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 via a network. The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, and the server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0030] The method for reducing the yaw start-up impact of a wind turbine provided in this embodiment is applicable to a yaw system, wherein the yaw system includes a nacelle, a ring gear 2 and a pinion 1 meshing with each other, and a yaw motor for driving the pinion 1 to rotate. The yaw motor can drive the pinion 1 to drive the entire nacelle to rotate along the ring gear 2. The method includes the following steps (see Figure 2 shown):

[0031] S1. Obtain the cabin wind deviation value and determine whether it is greater than a threshold;

[0032] If yes, obtain the direction of the nacelle to be rotated;

[0033] Specifically, existing yaw systems have built-in wind direction detection and yaw start-up judgment functions, which are not described in detail in this embodiment. When the nacelle's deviation from the wind reaches the threshold for yaw activation, the nacelle's desired rotation direction is obtained (this embodiment only discusses rotation in the horizontal plane). Specifically, in this embodiment, the nacelle's desired rotation direction includes two situations: clockwise and counterclockwise. Since both clockwise and counterclockwise rotations can cause the impeller to rotate to the windward direction, this embodiment uses the minimum rotation angle to rotate the impeller to the windward direction as the goal to determine the nacelle's desired rotation direction (if a 180-degree rotation is required to make the impeller face the wind, either clockwise or counterclockwise rotation can be selected); when the nacelle's deviation from the wind does not reach the threshold for yaw activation, the impeller's current orientation is maintained, and no yaw operation is performed.

[0034] S2. Determine the side 11 of the pinion 1 to be abutted based on the direction of rotation of the nacelle. The side 11 of the pinion 1 to be abutted represents the side where the teeth of the pinion 1 abut against the side wall of the tooth groove of the ring gear 2 when the pinion 1 drives the entire nacelle to rotate in the direction of rotation.

[0035] Please refer to Figure 3 As shown, when the pinion 1 rotates in the direction indicated by the arrow in the figure, the side to be abutted 11 is as shown in the figure.

[0036] S3, determining whether there is a backlash between the side 11 to be abutted of the pinion 1 and the tooth groove side wall of the ring gear 2;

[0037] S3: If yes, perform backlash elimination operation; if no, perform yaw operation directly;

[0038] S4. After the backlash is eliminated, perform the yaw operation.

[0039] Furthermore, the yaw system also includes a yaw frequency converter for driving the yaw motor to operate at variable speeds and an electromagnetic brake device for braking the yaw motor. The backlash elimination operation includes: activating the electromagnetic brake device to release the yaw motor's braking state; and causing the yaw frequency converter to drive the yaw motor at a preset power supply frequency at a low speed in the desired direction of rotation until no backlash exists between the contacting side 11 of the pinion 1 and the tooth groove sidewall of the ring gear 2. For example, the preset power supply frequency can be 5 Hz. The speed of the yaw motor during the backlash elimination phase is: n = 60f / p = 60 × 5 / 2 = 150 rpm, where f is the power supply frequency and p is the number of motor pole pairs.

[0040] Preferably, the method for determining whether there is backlash includes:

[0041] detecting whether the output torque of the yaw motor reaches a second preset ratio of the rated torque;

[0042] If so, it means that there is no backlash between the side 11 to be abutted of the pinion 1 and the side wall of the tooth groove of the ring gear 2; otherwise, there is backlash.

[0043] For example, if the rated torque is 14.9N, the second preset ratio may be 50%. In this case, the output torque of the yaw motor is: Tpower=50%T N =50%×14.9=7.45N·m, where T N Indicates rated torque.

[0044] Preferably, in this embodiment, the yaw system further includes a hydraulic brake device. In this embodiment, the yaw braking function is performed by the two devices, the electromagnetic brake device and the hydraulic brake device. The outer ring of the yaw bearing is the ring gear 2, and the brake disc and the outer ring of the yaw bearing are fixedly connected to the tower; the inner ring of the yaw bearing is connected to the nacelle base, the yaw brake is installed below the base, and the yaw reducer is installed above the base, driving the ring gear 2 to achieve the yaw function. The hydraulic brake device clamps the brake disc for braking; the electromagnetic brake device achieves braking of the yaw reducer pinion 1 by locking the motor shaft. Before performing the yaw operation, the electromagnetic brake and the hydraulic brake need to be released simultaneously. Since the yaw motor outputs torque to the pinion 1, the nacelle may become unstable at the moment the brake is released.

[0045] Specifically, there are multiple pinions 1, each of which is driven by a plurality of yaw motors. The pinions 1 correspond to the yaw motors one by one. Before performing the yaw operation, in order to ensure the stability of the cabin when releasing the hydraulic brake, the present application adopts the following operation method:

[0046] The gear teeth of the pinion 1 driven by the damping motor abut against the tooth groove resistance surface 21 of the ring gear 2, and the damping motor outputs a first preset ratio of the rated torque; the damping motor represents a yaw motor receiving reverse excitation, and the tooth groove resistance surface 21 represents the side wall surface in the tooth groove away from the side to be abutted 11. For example, please refer to Figure 3 When the pinion 1 rotates in the direction indicated by the arrow in the figure, the resistance surface 21 is as shown in the figure. For example, if the rated torque is 14.9N, the first preset ratio can be -30%. At this time, the output torque of the yaw motor is: T power = -30% T N =-30%×14.9=-4.47N·m, where T N Indicates rated torque.

[0047] Furthermore, in this embodiment, the yaw motor can function as both a drive motor and a damping motor. The drive motor and damping motor can be switched between them based on the actual load (e.g., wind force). When yaw power is insufficient, the damping motor can be controlled to function as the drive motor. When wind power is unstable and the load fluctuates rapidly, more damping motors are activated. The entire system's driving force and resistance are dynamically stable values, and the drive and damping motors are switched in pairs along the circumference of the yaw bearing to ensure stable yaw of the unit.

[0048] Preferably, to simplify the operation steps, before performing the backlash elimination step (step S3), it is not necessary to determine whether there is backlash between the contacting side 11 of the pinion 1 and the tooth groove of the ring gear 2. Instead, the backlash elimination operation is performed directly after step S2. After the operation is completed, it is determined whether there is backlash between the contacting side 11 of the pinion 1 and the tooth groove of the ring gear 2. This simplifies the process and improves detection efficiency.

[0049] For example, the electrical schematic diagram of the yaw system of the present application is as follows: Figure 4 As shown in the figure, the system workflow includes:

[0050] When the nacelle wind deviation reaches the yaw start threshold, the main control system ( Figure 4 The main control PLC in the center sends the requirements of the cabin rotation direction and angle through CAN communication, and sends them to the yaw control cabinet PLC ( Figure 4 The yaw PLC in the control system receives the backlash elimination instruction, and the yaw PLC is connected to the rectifier inverter unit via CAN communication to control the yaw motor (including the drive motor and the damping motor).

[0051] The yaw control cabinet receives the backlash elimination instruction from the main control, and controls the electromagnetic brake of the yaw motor to open through the Do module of the main control PLC, and detects the status of the electromagnetic brake of the yaw motor through the feedback signal of the auxiliary contact of the contactor.

[0052] After the DI module of the main control PLC receives feedback that the electromagnetic brake is open, it controls the yaw inverter to drive each yaw motor to turn the cabin toward the direction required by the main control. At this time, the inverter inverts 5HZ AC power and drives the yaw motor at a low frequency, causing the yaw bearing large gear and the yaw reducer small gear 1 to engage in advance to eliminate the gap between the teeth. The inverter adopts the torque control mode to control the output torque of each motor to 50% of the rated torque.

[0053] At the same time, according to the load conditions, reverse excitation is provided to some motors, which is opposite to the direction of the drive motor, so that the drive teeth of the corresponding reduction gearbox are close to the resistance surface 21 of the yaw bearing, and -30% of the rated torque is output to ensure the stability of the cabin when the hydraulic brake is released.

[0054] When the inverter detects that the output torque of the drive motor reaches 50% of the rated torque and the output torque of the damping motor reaches -30% of the rated torque, it feeds back to the yaw cabinet PLC and determines that the tooth gap elimination is completed. At this time, the yaw system has hydraulic braking.

[0055] The yaw cabinet feeds backlash elimination completion signal to the main control system via CAN communication. After receiving the feedback, the main control opens the yaw hydraulic brake and sends a yaw enable signal. The output torque of each yaw motor is increased based on 50% of the rated torque, and the output torque is adjusted according to the load. The damping motor is controlled to work in the power generation state, providing variable resistance according to load changes.

[0056] Figure 4 In the example, components F1 and F2 are both circuit breakers.

[0057] Example 2

[0058] The present application provides a device for reducing the yaw startup impact of a wind turbine, which is applicable to a yaw system. The yaw system includes a nacelle, a meshing ring gear and a pinion, and a yaw motor for driving the pinion to rotate. The yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear. The device includes: an acquisition module for acquiring a nacelle wind deviation value and determining whether the value is greater than a threshold value. When the nacelle wind deviation value is greater than the threshold value, the device is further configured to acquire a direction in which the nacelle is to rotate; an analysis module for determining a side to be abutted by the pinion based on the direction in which the nacelle is to rotate; the side to be abutted by the pinion represents the side in which the pinion teeth abut against a tooth groove side wall of the ring gear when the pinion drives the entire nacelle to rotate in the direction in which the nacelle is to rotate; a judgment module for determining whether there is a backlash between the side to be abutted by the pinion and the tooth groove side wall of the ring gear; a first execution module for performing a backlash elimination operation when the judgment module determines that a backlash exists; and a second execution module for performing a yaw operation after the first execution module performs the backlash elimination operation.

[0059] Furthermore, the yaw system also includes: a yaw frequency converter for driving the yaw motor to operate at a variable speed and an electromagnetic brake device for braking the yaw motor. The first execution module eliminates the tooth gap by performing the following operations: turning on the electromagnetic brake device to release the braking state of the yaw motor; and driving the yaw frequency converter to drive the yaw motor to rotate at a low speed in the direction to be rotated at a preset power supply frequency until there is no tooth gap between the side to be abutted of the pinion and the tooth groove side wall of the gear ring.

[0060] The device for reducing the yaw startup impact of a wind turbine generator system includes a processor and a memory. The above-mentioned acquisition module, analysis module, judgment module, first execution module and second execution module are all stored in the memory as program units, and the processor executes the above-mentioned program modules stored in the memory to implement corresponding functions.

[0061] The processor includes a core, which retrieves the corresponding program unit from the memory. One or more cores can be set, and the method of reducing the yaw startup impact of the wind turbine can be achieved by adjusting the core parameters.

[0062] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0063] An embodiment of the present application provides a storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for reducing the yaw startup impact of a wind turbine generator set.

[0064] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a method for reducing the yaw startup impact of a wind turbine is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0065] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0066] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0069] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0070] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0071] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0072] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0073] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for reducing the impact of yaw startup of a wind turbine, characterized in that: Applicable to a yaw system, the yaw system includes a nacelle, a ring gear and a pinion that mesh with each other, and a yaw motor for driving the pinion to rotate, the yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear, the method comprising: Obtain the cabin wind deviation value and determine whether it is greater than a threshold; If yes, the direction of rotation of the nacelle is obtained; the direction of rotation of the nacelle is determined with the minimum rotation angle being the direction in which the impeller faces the wind; The side of the pinion gear to be abutted is determined based on the direction of rotation of the nacelle; the side of the pinion gear to be abutted is the side where the gear teeth of the pinion gear abut against the tooth groove side wall of the ring gear when the pinion gear drives the entire nacelle to rotate in the direction of rotation; Determining whether there is a backlash between the side of the pinion to be abutted and the tooth groove side wall of the ring gear; If so, perform backlash elimination operation; After the backlash is eliminated, perform the yaw operation; The yaw system further includes a yaw frequency converter for driving the yaw motor to operate at a variable speed and an electromagnetic brake device for braking the yaw motor; the backlash elimination operation includes: Open the electromagnetic brake device to release the braking state of the yaw motor; The yaw frequency converter drives the yaw motor to rotate at a low speed in the direction to be rotated at a preset power supply frequency until no tooth gap exists between the side to be abutted by the pinion and the tooth groove side wall of the ring gear; The yaw system further includes a hydraulic brake device, which is used to clamp the brake disc and release the electromagnetic brake and the hydraulic brake simultaneously before performing the yaw operation; There are multiple pinions, each of which is driven by a plurality of yaw motors, and each pinion corresponds to a yaw motor one by one. Before performing the yaw operation, the method further includes: Using the damping motor to drive the gear teeth of the pinion to abut against the tooth groove resistance surface of the ring gear, and causing the damping motor to output a first preset ratio of the rated torque; Wherein, the damping motor is a yaw motor that receives reverse excitation, and the tooth slot resistance surface is a side wall surface in the tooth slot away from the side to be abutted.

2. The method for reducing the yaw start-up impact of a wind turbine according to claim 1, characterized in that: Before the damping motor is used to drive the gear teeth of the pinion to abut against the tooth groove resistance surface of the ring gear, the method further includes: The number of damping motors is determined based on the actual load.

3. The method for reducing the yaw start-up impact of a wind turbine according to claim 1, characterized in that: When there are multiple damping motors, the multiple damping motors are evenly arranged along the circumference of the gear ring.

4. The method for reducing the yaw start-up impact of a wind turbine according to claim 1, characterized in that: Determining whether there is a backlash between the side of the pinion to be abutted and the tooth groove side wall of the ring gear includes: detecting whether the output torque of the yaw motor reaches a second preset ratio of the rated torque; If so, it means that there is no backlash between the side to be abutted of the pinion and the tooth groove side wall of the gear ring; otherwise, there is backlash.

5. A device for reducing the yaw start-up impact of a wind turbine, applicable to a yaw system, wherein the yaw system comprises a nacelle, a meshing ring gear and a pinion, and a yaw motor for driving the pinion to rotate. The yaw motor can drive the pinion to drive the entire nacelle to rotate along the ring gear, characterized in that: The device comprises: an acquisition module, configured to acquire a nacelle wind deviation value and determine whether it is greater than a threshold value, and further configured to acquire a desired rotation direction of the nacelle when the nacelle wind deviation value is greater than the threshold value; and to determine the desired rotation direction of the nacelle with the goal of rotating the nacelle to the direction of the impeller facing the wind at a minimum rotation angle; an analysis module, configured to determine a side of the pinion gear to be in contact based on the direction of rotation of the nacelle; the side of the pinion gear to be in contact is a side where the pinion gear teeth abut against a tooth groove side wall of the ring gear when the pinion gear drives the entire nacelle to rotate in the direction of rotation; a judgment module, configured to judge whether there is a tooth gap between the side to be abutted of the pinion and the tooth groove side wall of the ring gear; A first execution module is configured to execute a backlash elimination operation when it is determined that there is a gap between the side to be abutted of the pinion gear and the side wall of the tooth groove of the ring gear; a second execution module, configured to execute a yaw operation after the first execution module executes a backlash elimination operation; The yaw system further includes: a yaw frequency converter for driving the yaw motor to operate at a variable speed and an electromagnetic brake device for braking the yaw motor. The first execution module eliminates the backlash by performing the following operations: turning on the electromagnetic brake device to release the braking state of the yaw motor; and causing the yaw frequency converter to drive the yaw motor to rotate at a low speed in the direction to be rotated at a preset power supply frequency until no backlash exists between the side to be abutted by the pinion and the tooth groove side wall of the gear ring; The yaw system further includes: a hydraulic brake device, the hydraulic brake device being used to clamp the brake disc and release the electromagnetic brake and the hydraulic brake simultaneously before performing the yaw operation; There are multiple pinions, and the multiple pinions are respectively driven by multiple yaw motors, and the pinions correspond to the yaw motors one by one; before the second execution module performs the yaw operation, it also includes: using the damping motor to drive the pinion teeth to abut against the tooth groove resistance surface of the ring gear, and making the damping motor output a first preset proportion of the rated torque; wherein, the damping motor is a yaw motor that receives reverse excitation, and the tooth groove resistance surface is the side wall surface in the tooth groove away from the side to be abutted.

6. A processor, characterized in that: The method is configured to perform the method for reducing yaw start-up impact of a wind turbine according to any one of claims 1 to 4.

7. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for reducing yaw startup impact of a wind turbine according to any one of claims 1 to 4.

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