Control method and device for reducing yaw slip effect of wind turbine generator unit and the unit

Abstract

The application discloses a control method and device for reducing the yaw slip influence on a wind turbine and the wind turbine, comprising the following steps: determining whether the wind turbine receives a yaw action instruction; if the wind turbine receives the yaw action instruction, starting a yaw motor, normally yawing the wind turbine, and issuing a yaw stop instruction to control the yaw motor to stop operating after the yawing is completed; then, controlling the yaw motor to brake according to whether the yaw speed is less than a preset ratio of the rated yaw speed; if the wind turbine does not receive the yaw action instruction, then controlling the wind turbine to start yawing according to whether the change value of the nacelle angle within a preset duration exceeds a preset limit value, and controlling the yaw motor to brake after a preset time. The application can effectively reduce the impact of yaw slip on the yaw drive of the wind turbine, thereby achieving the purpose of protecting the yaw drive.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of yaw control of wind turbine generator units, in particular to a control method and device for reducing the impact of yaw slip of wind turbine generator units and the unit. BACKGROUND

[0002] When the wind turbine generator unit does not receive a yaw instruction, the unit will not yaw normally, and the nacelle angle will not change. However, if there is a sudden change in wind speed and a sudden impact of a large wind load, the unit will yaw slip without a yaw instruction. The existing technology is to use hard anti-slip, or to use a yaw frequency converter and a yaw soft start to suppress slip. In this way, the impact on the output teeth of the yaw drive is relatively large, and the internal gears of the yaw drive are easily damaged by impact. In addition, when the wind turbine generator unit receives a yaw instruction, in order to prevent yaw slip from occurring when the yaw is completed, the commonly used control method is to pre-pressurize the yaw system or directly brake the electromagnetic brake before the yaw is completed. The former easily increases the yaw damping, and the latter directly brakes, which causes a sudden impact of the external load and results in yaw slip when the yaw brake is not stopped. Both of them easily cause damage to the yaw drive. SUMMARY

[0003] The first object of the present application is to overcome the shortcomings of the prior art and provide a control method for reducing the impact of yaw slip of wind turbine generator units, which can effectively solve the problem of reducing the impact of yaw slip on the yaw drive of wind turbine generator units, and thus achieve the purpose of protecting the yaw drive.

[0004] The second object of the present application is to provide a control device for reducing the impact of yaw slip of wind turbine generator units.

[0005] The third object of the present application is to provide a wind turbine generator unit.

[0006] The first object of the present application is achieved by the following technical scheme:

[0007] A control method for reducing the impact of yaw slip of wind turbine generator units, comprising the steps of:

[0008] determining whether the unit receives a yaw action instruction, if the unit receives a yaw action instruction, controlling the yaw motor to start, the unit normally yaws, and after the yaw is completed, a yaw stop instruction is issued to control the yaw motor to stop running, and then the yaw motor is controlled to brake according to whether the yaw speed is less than the preset ratio of the rated yaw speed;

[0009] if the unit does not receive a yaw action instruction, the unit is controlled to start yaw according to whether the change value of the nacelle angle within the preset duration exceeds the preset limit value, and the yaw motor is controlled to brake after the preset time.

[0010] Further, the specific execution process of the control method is,

[0011] The yaw action instruction is issued by the control system, and it is judged whether the unit receives the yaw action instruction. If the yaw action instruction is received, the yaw motor is controlled to start by the control system, the unit normally yaws, and when the unit yaws against the wind, the yaw stop instruction is issued by the control system, and it is judged whether the unit receives the yaw stop instruction. If the unit does not receive the yaw stop instruction, the unit continues to yaw against the wind. If the unit receives the yaw stop instruction, the yaw motor is controlled to stop running by the control system, and then it is judged by the control system whether the yaw speed is less than the preset ratio of the rated yaw speed according to the nacelle angle information in the preset time. If the yaw speed is greater than or equal to the preset ratio of the rated yaw speed, the unit continues to yaw under the action of the inertial torque or external load, and returns to the step of judging whether the yaw speed is less than the preset ratio of the rated yaw speed by the control system. If the yaw speed is less than the preset ratio of the rated yaw speed, the yaw motor is controlled to brake by the control system, and the yawing is finished.

[0012] If the unit does not receive the yaw action instruction, it is judged by the control system whether the change value of the nacelle angle in the preset duration exceeds the preset limit value. If the change value of the nacelle angle in the preset duration does not exceed the preset limit value, the unit remains in the non-yawing state. If the change value of the nacelle angle in the preset duration exceeds the preset limit value, it is judged that the unit has yawing slip, and then the yaw instruction is issued by the control system, the unit starts yawing, and the yaw motor is controlled to brake after a preset time, and the yawing is finished.

[0013] Further, if the yaw speed V is greater than or equal to n times the rated yaw speed V 额定 , n is a number greater than or equal to 0.2 and less than or equal to 1, the unit continues to yaw under the action of the inertial torque or external load, and returns to the step of judging whether the yaw speed is less than the preset ratio of the rated yaw speed by the control system. If the yaw speed is less than n times the rated yaw speed V 额定 , the yaw motor is controlled to brake by the control system.

[0014] Further, the calculation formula of the preset limit value A is: A=m×V 额定 ×△t, wherein V 额定 represents the rated yaw speed, △t represents the length of the preset duration, and m is a number greater than or equal to 5 and less than or equal to 10.

[0015] Further, the nacelle angle information in the preset time is recorded by the yaw encoder.

[0016] Further, the control system detects the wind direction information by the wind detection system, and then judges whether the yaw action instruction or the yaw stop instruction needs to be issued.

[0017] Further, the control system is a PLC controller of the wind turbine generator set, and the wind measurement system is a wind speed and direction indicator.

[0018] The second object of the present application is achieved by the following technical solution:

[0019] A control device for reducing the influence of yaw slip of a wind turbine generator set, for implementing the control method for reducing the influence of yaw slip of a wind turbine generator set described above, comprising a wind measurement system, a yaw encoder, a yaw motor, a yaw drive and a control system, the wind measurement system is electrically connected with the control system, for detecting current wind direction information and sending the wind direction information to the control system, and then the control system judges whether the unit needs to yaw against the wind, the yaw encoder is electrically connected with the control system, for recording the cabin angle information and sending it to the control system, and then the control system calculates whether the yaw speed is less than the rated yaw speed preset ratio and judges whether the change value of the cabin angle within the preset duration exceeds the preset limit value according to the cabin angle within the preset time, the yaw drive is electrically connected with the control system through the yaw motor, and the yaw motor is controlled by the control system to start and stop, and then the yaw drive is operated or stopped, so as to realize the start or stop of the unit yaw.

[0020] Further, the wind measurement system is a wind speed and direction indicator, and the control system is a PLC controller of the wind turbine generator set.

[0021] The third object of the present application is achieved by the following technical solution:

[0022] A wind turbine generator set comprising the control device for reducing the influence of yaw slip of a wind turbine generator set described above.

[0023] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0024] 1. The present application can effectively reduce the influence of yaw slip on the yaw system when the yaw slip occurs due to the yaw external load exceeding the braking capacity of the yaw system without yaw instruction, avoid the blocking of the yaw drive, cause the damage of the internal gear teeth of the yaw drive, so that the unit cannot yaw against the wind, and also can effectively reduce the impact on the yaw system when the yaw slip occurs due to the excessive yaw system external load or excessive inertia torque when the yaw instruction is received and the yaw ends, reduce the influence of yaw slip on the unit, and reduce the failure rate of yaw drive gear teeth and yaw bearing gear teeth at a lower cost.

[0025] 2. The present application does not need to increase the hardware cost of yaw frequency converter or yaw soft start for the unit, only needs to increase the control strategy for reducing the influence of yaw slip in the control program, is simple and feasible to operate, and has better effect than the strategy of yaw soft start or yaw frequency converter for suppressing the cabin slip. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Flowchart of the control method of the present invention.

[0027] Figure 2 Schematic diagram of the structure of the control device of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Example 1:

[0030] like Figure 1 As shown, this embodiment provides a control method for reducing the influence of yaw slip of a wind turbine generator set, comprising the steps of:

[0031] Determine whether the unit has received a yaw action command. If so, the yaw motor is started and the unit yaws normally. After the yaw into the wind is completed, a yaw stop command is issued to stop the yaw motor. The yaw motor is then braked based on whether the yaw speed is less than a preset ratio of the rated yaw speed.

[0032] If the unit does not receive the yaw action command, the unit will be controlled to start yaw according to whether the change value of the cabin angle within the preset duration exceeds the preset limit, and the yaw motor will be controlled to perform braking after the preset time; the specific execution process is as follows:

[0033] The control system sends a yaw action command and determines whether the unit has received the yaw action command. If the yaw action command is received, the control system controls the yaw motor to start and the unit yaws normally. After the unit completes yaw to the wind, the control system sends a yaw stop command and determines whether the unit has received the yaw stop command. If the unit has not received the yaw stop command, the unit continues to yaw to the wind. If the unit receives the yaw stop command, the control system controls the yaw motor to stop running. Then, the control system calculates whether the yaw speed is less than the preset ratio of the rated yaw speed based on the cabin angle information recorded by the yaw encoder within the preset time. If the yaw speed V is greater than or equal to n times the rated yaw speed V 额定, where n is a number greater than or equal to 0.2 and less than or equal to 1, the unit continues to operate the yaw drive under the action of the inertia moment or external load to make the unit continue to yaw, and returns to the step of the control system determining whether the yaw speed is less than the preset ratio of the rated yaw speed. If the yaw speed is less than n times the rated yaw speed V 额定 , even if the yaw speed is close to 0, the control system will control the yaw motor electromagnetic brake to brake, and the yaw will end after the brake is braked;

[0034] If the crew does not receive the yaw action command, the control system will determine whether the change value of the cabin angle within the preset duration △t exceeds the preset limit A based on the cabin angle recorded by the yaw encoder within the preset duration. The calculation formula of the preset limit A is: A=m×V 额定 ×△t, where V 额定 represents the rated yaw speed, △t represents the length of the preset duration, and m is a number greater than or equal to 5 and less than or equal to 10. If the change in the nacelle angle within the preset duration △t does not exceed the preset limit A, the unit remains in a non-yaw state, that is, the yaw motor electromagnetic brake is in the braking state, and the process returns to the step where the control system determines whether the unit has issued a yaw action command. If the change in the nacelle angle within the preset time exceeds the preset limit (it is important to exclude abnormal slip data, such as yaw encoder jumps, etc.), it is determined that the unit has yaw slipped, and the control system then issues a yaw command to control the yaw motor, causing the yaw drive to start yaw, and the yaw direction is yawed in the direction of the unit slip. After yaw for a certain period of time, the yaw motor is controlled to apply the brake to stop yaw, and yaw ends.

[0035] In this embodiment, the control system uses a wind measurement system to detect wind direction information, and then determines whether it is necessary to issue a yaw action instruction or a yaw stop instruction.

[0036] The control system of this embodiment is a PLC controller for a wind turbine generator set, and the wind measurement system is an anemometer. The present invention is implemented through programming within the PLC controller of the wind turbine generator set. By adding a control strategy for initiating yaw when yaw slip occurs to the original main control program of the wind turbine generator set, and optimizing the yaw stopping control strategy at the end of yaw, the wind turbine starts yaw when yaw slip occurs without a yaw command, and reduces damage to the yaw drive caused by the yaw slip. When the wind turbine receives a yaw command to stop yaw, the yaw motor stops operating. When the yaw speed drops below a certain ratio of the rated yaw speed, the yaw motor electromagnetic brake re-engages the brake to avoid impact on the yaw drive when yaw stops. This prevents impact on the yaw system caused by yaw slip when the wind turbine is not yawing. It also prevents yaw slip when the wind turbine stops yaw due to the failure of the wind turbine brake to stop yaw at high yaw speeds, which can impact the entire yaw system, particularly the load on the yaw drive, leading to damage to the yaw drive and even broken teeth on the yaw bearing.

[0037] By adopting the method of the present invention, whether the unit has a yaw brake or not is not affected. When the unit has a yaw brake, the yaw system can be pressurized after the yaw motor stops, and the yaw speed decreases faster.

[0038] Example 2:

[0039] like Figure 2 As shown, this embodiment provides a control device for reducing the influence of yaw slip of a wind turbine generator set, which is used to implement the above-mentioned control method for reducing the influence of yaw slip of a wind turbine generator set. The device includes a wind measurement system, a yaw encoder, a yaw motor, a yaw drive, and a control system. The wind measurement system is electrically connected to the control system and is used to detect current wind direction information and send the wind direction information to the control system, so that the control system determines whether the generator set needs to yaw to face the wind. The yaw encoder is electrically connected to the control system and is used to record nacelle angle information and send it to the control system. The control system then calculates whether the yaw speed is less than a preset ratio of the rated yaw speed based on the nacelle angle within a preset time, and determines whether the change in the nacelle angle within a preset duration exceeds a preset limit. The yaw drive is electrically connected to the control system via the yaw motor. The control system controls the start and stop of the yaw motor to operate or stop the yaw drive, thereby starting or stopping the generator set yaw. The control system stores and executes the control method for reducing the influence of yaw slip of a wind turbine generator set described in Example 1.

[0040] Specifically, the wind measurement system is an anemometer and wind direction meter, and the control system is a PLC controller of the wind turbine generator set.

[0041] Example 3:

[0042] This embodiment provides a wind turbine generator set, including the above-mentioned control device for reducing the influence of yaw slip of the wind turbine generator set.

[0043] The above merely describes preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, within the scope disclosed by the present application, can make equivalent replacements or changes according to the technical scheme and inventive concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A control method for reducing the influence of yaw slip of a wind turbine generator set, characterized in that: Including steps, Determine whether the unit has received a yaw action command. If so, the yaw motor is started and the unit yaws normally. After the yaw into the wind is completed, a yaw stop command is issued to stop the yaw motor. The yaw motor is then braked based on whether the yaw speed is less than a preset ratio of the rated yaw speed. If the unit does not receive the yaw action command, the unit will be controlled to start yaw according to whether the change value of the cabin angle within the preset duration exceeds the preset limit, and the yaw motor will be controlled to perform braking after the preset time; The specific execution process of the control method is as follows: The control system issues a yaw action command and determines whether the unit has received the yaw action command. If the yaw action command is received, the control system controls the yaw motor to start, and the unit yaws normally. After the unit completes yaw into the wind, the control system issues a yaw stop command and determines whether the unit has received the yaw stop command. If the unit has not received the yaw stop command, the unit continues to yaw into the wind. If the unit receives the yaw stop command, the control system controls the yaw motor to stop running, and then the control system calculates whether the yaw speed is less than a preset ratio of the rated yaw speed based on the cabin angle information within a preset time. If the yaw speed is greater than or equal to the preset ratio of the rated yaw speed, the unit continues to yaw under the action of the inertia moment or external load, and returns to the step of the control system determining whether the yaw speed is less than the preset ratio of the rated yaw speed. If the yaw speed is less than the preset ratio of the rated yaw speed, the control system controls the yaw motor to perform braking, and the yaw ends. If the crew does not receive a yaw action command, the control system determines whether the change value of the cabin angle within the preset duration exceeds the preset limit. If the change value of the cabin angle within the preset duration does not exceed the preset limit, the crew remains in a non-yaw state. If the change value of the cabin angle within the preset duration exceeds the preset limit, it is determined that the crew has yaw slipped, and the control system issues a yaw command. The crew starts yaw, and after the preset time, controls the yaw motor to perform braking, and the yaw ends.

2. The control method for reducing the influence of yaw slip of a wind turbine generator set according to claim 1, characterized in that: If the yaw speed V is greater than or equal to n times the rated yaw speed V 额定 , where n is a number greater than or equal to 0.2 and less than or equal to 1, the unit continues to yaw under the action of the inertia moment or external load, and returns to the step where the control system determines whether the yaw speed is less than the preset ratio of the rated yaw speed. If the yaw speed is less than n times the rated yaw speed V 额定 , the control system controls the yaw motor to perform braking.

3. The control method for reducing the influence of yaw slip of a wind turbine generator set according to claim 1, characterized in that: The calculation formula of the preset limit value A is: A=m*V 额定 *△t, where V 额定 represents the rated yaw speed, △t represents the length of the preset duration, and m is a number greater than or equal to 5 and less than or equal to 10.

4. The control method for reducing the influence of yaw slip of a wind turbine generator set according to claim 1, characterized in that: A yaw encoder is used to record the cabin angle information within a preset time.

5. The control method for reducing the influence of yaw slip of a wind turbine generator set according to claim 1, characterized in that: The control system uses a wind measurement system to detect wind direction information, and then determines whether it is necessary to issue a yaw action instruction or a yaw stop instruction.

6. The control method for reducing the influence of yaw slip of a wind turbine generator set according to claim 5, characterized in that: The control system is a PLC controller of the wind turbine generator set, and the wind measurement system is an anemometer.

7. A control device for reducing the influence of yaw slip of a wind turbine generator set, characterized in that: A control method for reducing the influence of yaw slip of a wind turbine generator set according to any one of claims 1 to 6, comprising a wind measurement system, a yaw encoder, a yaw motor, a yaw drive and a control system, wherein the wind measurement system is electrically connected to the control system for detecting current wind direction information and sending the wind direction information to the control system, whereby the control system determines whether the generator set needs to yaw to face the wind, the yaw encoder is electrically connected to the control system for recording cabin angle information and sending it to the control system, whereby the control system calculates whether the yaw speed is less than a preset ratio of the rated yaw speed based on the cabin angle within a preset time, and determines whether the change in the cabin angle within a preset duration exceeds a preset limit, the yaw drive is electrically connected to the control system via the yaw motor, and the yaw motor is started and stopped by the control system, whereby the yaw drive is operated or stopped, thereby starting or stopping the yaw of the generator set.

8. The control device for reducing the influence of yaw slip of a wind turbine generator set according to claim 7, characterized in that: The wind measurement system is an anemometer and wind direction meter, and the control system is a PLC controller of a wind turbine generator set.

9. A wind turbine generator set, characterized in that: The invention comprises the control device for reducing the influence of yaw slip of a wind turbine generator set as claimed in claim 7.

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