Yaw control method and device for wind turbine generator system

Abstract

A yaw control method and apparatus for a wind turbine generator set are provided. The yaw control method includes: identifying the operating condition of the wind turbine generator set; when the wind turbine generator set is in power generation mode, performing yaw control according to a first yaw control rule; when the wind turbine generator set is in non-power generation mode and the current wind speed is within one of multiple preset wind speed ranges, performing yaw control according to a yaw control rule corresponding to the preset wind speed range to which the current wind speed is located; wherein the multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule; wherein the yaw control parameters used by the different yaw control rules are at least partially different.

Description

Technical Field

[0001] This disclosure generally relates to the field of power technology, and more specifically, to a yaw control method and apparatus for a wind turbine generator set. Background Technology

[0002] Wind turbine generators are typically equipped with an automatic yaw system that monitors the deviation angle between the nacelle's centerline and the wind direction in real time (i.e., the wind turbine generator's yaw deviation). When the yaw deviation exceeds a preset yaw start angle for a specified time, a clockwise or counterclockwise start command is sent to the yaw motor. The yaw motor rotates according to the start command to drive the yaw bearing, thereby executing the wind turbine generator's yaw aligning action. During yaw, when the wind deviation reaches a preset yaw stop angle, the yaw aligning action stops. Summary of the Invention

[0003] An exemplary embodiment of this disclosure provides a yaw control method and apparatus for a wind turbine generator set, which uses yaw control rules suitable for the current operating conditions of the wind turbine generator set to perform yaw control, thereby reducing the load during non-power generation conditions and improving the overall stability and reliability of the generator set during non-power generation conditions.

[0004] According to a first aspect of the present disclosure, a yaw control method for a wind turbine generator set is provided, comprising: identifying the operating condition of the wind turbine generator set; when the wind turbine generator set is in a power generation operating condition, performing yaw control according to a first yaw control rule; when the wind turbine generator set is in a non-power generation operating condition and the current wind speed is in one of a plurality of preset wind speed intervals, performing yaw control according to a yaw control rule corresponding to the preset wind speed interval in which the current wind speed is located; wherein the plurality of preset wind speed intervals correspond to a plurality of yaw control rules, and the plurality of yaw control rules are different from the first yaw control rule; wherein the yaw control parameters used by the different yaw control rules are at least partially different.

[0005] Optionally, the yaw control parameters include: yaw initiation angle, yaw stop angle, and yaw duration, wherein the yaw action is started when the wind deviation exceeds the duration of the yaw initiation angle and reaches the yaw duration, and the yaw action is stopped after the wind deviation reaches the yaw stop angle.

[0006] Optionally, when the wind turbine is in a non-power generation condition and the current wind speed is within one of a plurality of preset wind speed ranges, the step of performing yaw control according to the yaw control rule corresponding to the preset wind speed range in which the current wind speed is located includes: when the wind turbine is in a non-power generation condition and the current wind speed is within a first wind speed range, performing yaw control according to a second yaw control rule for resisting vortex-induced vibration; when the wind turbine is in a non-power generation condition and the current wind speed is within a second wind speed range, performing yaw control according to a third yaw control rule for resisting extreme wind conditions, wherein the plurality of preset wind speed ranges include a first wind speed range and a second wind speed range.

[0007] Optionally, the first wind speed range is determined based on the anti-vortex initiation wind speed and the anti-vortex termination wind speed, wherein when the wind speed of the wind turbine is greater than or equal to the anti-vortex initiation wind speed and less than or equal to the anti-vortex termination wind speed, the wind turbine is in the pitch anti-vortex vibration mode; the second wind speed range is determined based on the maximum survival wind speed corresponding to the location of the wind turbine.

[0008] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's deviation from the wind, and the second yaw control rule, compared to the first yaw control rule, satisfies at least one of the following: a smaller yaw stop angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's deviation from the wind.

[0009] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's wind deviation, and the third yaw control rule, compared to the first yaw control rule, satisfies at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0010] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's wind deviation, and the third yaw control rule, compared to the second yaw control rule, satisfies at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0011] Optionally, each of the second and third yaw control rules employs multiple sets of yaw control parameters; compared to the (i-1)th set of yaw control parameters, the i-th set of yaw control parameters in each yaw control rule has a larger yaw initiation angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation, where i is an integer greater than 1.

[0012] Optionally, the step of yaw control according to the second yaw control rule for vortex-induced vibration includes: for each set of yaw control parameters adopted by the second yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, and reaches the yaw duration in the set of yaw control parameters, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the duration of the first preset threshold, and reaches the first preset duration, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle adopted by the second yaw control rule.

[0013] Optionally, the step of yaw control according to the third yaw control rule for resisting extreme wind conditions includes: for each set of yaw control parameters adopted by the third yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, and reaches the yaw duration in the set of yaw control parameters, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the second preset threshold for a duration of a second preset duration, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle adopted by the third yaw control rule.

[0014] Optionally, one or more of the yaw control parameters used in the plurality of yaw control rules are determined based on the load and / or overall stability of the wind turbine generator set.

[0015] Optionally, it further includes: when the wind turbine is in a non-power generation condition and the current wind speed is not in one of the plurality of preset wind speed ranges, yaw control is performed according to the first yaw control rule.

[0016] Optionally, the first wind speed range is between the vortex-resistant initiation wind speed and the vortex-resistant termination wind speed, and the second wind speed range is between the vortex-resistant termination wind speed and the maximum survival wind speed corresponding to the location of the wind turbine generator.

[0017] According to a second aspect of the present disclosure, a yaw control device for a wind turbine generator set is provided, comprising: an operating condition identification unit configured to identify the operating condition of the wind turbine generator set; and a yaw control unit configured to perform yaw control according to a first yaw control rule when the wind turbine generator set is in a power generation operating condition; and to perform yaw control according to a yaw control rule corresponding to the preset wind speed range in which the current wind speed is located when the wind turbine generator set is in a non-power generation operating condition and the current wind speed is in one of a plurality of preset wind speed ranges; wherein the plurality of preset wind speed ranges correspond to a plurality of yaw control rules, and the plurality of yaw control rules are different from the first yaw control rule; wherein the yaw control parameters used by the different yaw control rules are at least partially different.

[0018] Optionally, the yaw control parameters include: yaw initiation angle, yaw stop angle, and yaw duration, wherein the yaw action is started when the wind deviation exceeds the duration of the yaw initiation angle and reaches the yaw duration, and the yaw action is stopped after the wind deviation reaches the yaw stop angle.

[0019] Optionally, the yaw control unit is configured to: when the wind turbine is in a non-power generation condition and the current wind speed is in a first wind speed range, perform yaw control according to a second yaw control rule for resisting vortex-induced vibration; when the wind turbine is in a non-power generation condition and the current wind speed is in a second wind speed range, perform yaw control according to a third yaw control rule for resisting extreme wind conditions, wherein the plurality of preset wind speed ranges include the first wind speed range and the second wind speed range.

[0020] Optionally, the first wind speed range is determined based on the anti-vortex initiation wind speed and the anti-vortex termination wind speed, wherein when the wind speed of the wind turbine is greater than or equal to the anti-vortex initiation wind speed and less than or equal to the anti-vortex termination wind speed, the wind turbine is in the pitch anti-vortex vibration mode; the second wind speed range is determined based on the maximum survival wind speed corresponding to the location of the wind turbine.

[0021] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's deviation from the wind, and the second yaw control rule, compared to the first yaw control rule, satisfies at least one of the following: a smaller yaw stop angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's deviation from the wind.

[0022] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's wind deviation, and the third yaw control rule, compared to the first yaw control rule, satisfies at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0023] Optionally, the yaw control parameters further include: the size of the sliding window used to calculate the wind turbine's wind deviation, and the third yaw control rule, compared to the second yaw control rule, satisfies at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0024] Optionally, each of the second and third yaw control rules employs multiple sets of yaw control parameters; compared to the (i-1)th set of yaw control parameters, the i-th set of yaw control parameters in each yaw control rule has a larger yaw initiation angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation, where i is an integer greater than 1.

[0025] Optionally, the yaw control unit is configured to: for each set of yaw control parameters used in the second yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, reaching the yaw duration in the set of yaw control parameters, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the first preset threshold for a duration reaching the first preset duration, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle used in the second yaw control rule.

[0026] Optionally, the yaw control unit is configured to: for each set of yaw control parameters used in the third yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, reaching the yaw duration in the set of yaw control parameters, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the second preset threshold for a duration reaching the second preset duration, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle used in the third yaw control rule.

[0027] Optionally, one or more of the yaw control parameters used in the plurality of yaw control rules are determined based on the load and / or overall stability of the wind turbine generator set.

[0028] Optionally, the yaw control unit is further configured to perform yaw control according to the first yaw control rule when the wind turbine is in a non-power generation condition and the current wind speed is not in one of the plurality of preset wind speed ranges.

[0029] Optionally, the first wind speed range is between the vortex-resistant initiation wind speed and the vortex-resistant termination wind speed, and the second wind speed range is between the vortex-resistant termination wind speed and the maximum survival wind speed corresponding to the location of the wind turbine generator.

[0030] According to a third aspect of the present disclosure, a computer-readable storage medium storing a computer program is provided, which, when executed by a processor, causes the processor to perform the yaw control method for a wind turbine generator as described above.

[0031] According to a fourth aspect of the present disclosure, a controller is provided, the controller comprising: a processor; and a memory storing a computer program that, when executed by the processor, causes the processor to perform the yaw control method for a wind turbine generator as described above.

[0032] The yaw control method and apparatus for wind turbine generator sets according to exemplary embodiments of the present disclosure use yaw control rules suitable for the current operating conditions of the wind turbine generator set to perform yaw control. In non-power generation operating conditions, different yaw control rules are used to reduce the load in non-power generation operating conditions and improve the overall stability and reliability of the generator set in non-power generation operating conditions.

[0033] Further aspects and / or advantages of the general concept of this disclosure will be set forth in part in the description which follows, and in part will be clear from the description or may be learned by practice of the general concept of this disclosure. Attached Figure Description

[0034] The above and other objects and features of exemplary embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings, which exemplarily illustrate the embodiments, wherein:

[0035] Figure 1 A flowchart illustrating a yaw control method for a wind turbine generator according to an exemplary embodiment of the present disclosure is shown.

[0036] Figure 2 An example of a yaw control-related angle according to an exemplary embodiment of the present disclosure is shown;

[0037] Figure 3A flowchart illustrating a yaw control method for a wind turbine generator according to another exemplary embodiment of the present disclosure;

[0038] Figure 4 Examples of yaw control performance according to exemplary embodiments of the present disclosure are shown;

[0039] Figure 5 A structural block diagram of a yaw control device for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0040] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, examples of which are illustrated in the drawings, wherein the same reference numerals always refer to the same parts. The embodiments will now be described with reference to the accompanying drawings in order to explain this disclosure.

[0041] Figure 1 A flowchart illustrating a yaw control method for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0042] Reference Figure 1 In step S101, the operating condition of the wind turbine generator set is identified.

[0043] In step S102, when the wind turbine generator is in power generation mode, yaw control is performed according to the first yaw control rule.

[0044] In step S103, when the wind turbine is in a non-power generation condition and the current wind speed is in one of a number of preset wind speed ranges, yaw control is performed according to the yaw control rules corresponding to the preset wind speed range in which the current wind speed is located.

[0045] The multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule.

[0046] Specifically, the plurality of preset wind speed ranges can correspond one-to-one with the plurality of yaw control rules. The yaw control parameters used by different yaw control rules are at least partially different.

[0047] As an example, non-power generation conditions can include conditions other than power generation conditions. For example, non-power generation conditions can include: wind turbine generator idling.

[0048] As an example, the yaw control parameters may include: yaw initiation angle, yaw stop angle, and yaw duration. Yaw action is initiated when the wind deviation exceeds the yaw initiation angle for a duration equal to the yaw duration, and the yaw action is stopped after the wind deviation reaches the yaw stop angle.

[0049] Figure 2An example of a yaw control related angle is shown according to an exemplary embodiment of the present disclosure.

[0050] like Figure 2 As shown, the yaw angle can include: the yaw angle L on the left and the yaw angle R on the right. Yaw angle L indicates that yaw begins when the wind direction deviation (i.e., the windward deviation) on the left side of the wind turbine's nacelle exceeds the specified time. Yaw angle R indicates that yaw begins when the wind direction deviation on the right side of the nacelle exceeds the specified time. One side may not necessarily have only one yaw angle; each side may include at least one yaw angle.

[0051] Yaw stop angles can include: the left yaw stop angle L and the right yaw stop angle R. For example, yaw stop angle 1L means that yaw will stop when the wind direction deviation on the left side of the nose reaches this angle; whether to select this angle depends on the actual situation. Yaw stop angle 1R means that yaw will stop when the wind direction deviation on the right side of the nose reaches this angle; whether to select this angle depends on the actual situation. Yaw stop angle 2L means that yaw will stop when the wind direction deviation on the left side of the nose reaches this angle; whether to select this angle depends on the actual situation. Yaw stop angle 2R means that yaw will stop when the wind direction deviation on the right side of the nose reaches this angle; whether to select this angle depends on the actual situation. Yaw stop angle 3 means that yaw will stop when the wind direction deviation on the nose reaches this angle; whether to select this angle depends on the actual situation.

[0052] The simulation error angle L on the left represents the wind direction deviation on the left side of the nose cone during simulation. For example, it can be set to -Z degrees according to standard requirements. The simulation error angle R on the right represents the wind direction deviation on the right side of the nose cone during simulation. For example, it can be set to +Z degrees according to standard requirements. Z can be an integer within the range of circular degrees.

[0053] As an example, the yaw start angle can include: ±x degrees, where a positive x degree indicates the yaw start angle on the right and a negative x degree indicates the yaw start angle on the left. If the wind deviation is greater than positive x degrees or less than negative x degrees, then the wind deviation exceeds the yaw start angle. As an example, the yaw stop angle can include: ±y degrees, where a positive y degree indicates the yaw stop angle on the right and a negative y degree indicates the yaw stop angle on the left. If the wind deviation is less than or equal to positive y degrees, or greater than or equal to negative y degrees, then the wind deviation reaches the yaw stop angle. (See reference...) Figure 2 It is generally stipulated that the windward deviation on the right side of the nacelle is a positive value, and the windward deviation on the left side of the nacelle is a negative value.

[0054] The following description of a smaller yaw start angle refers to a smaller x value, and a smaller yaw stop angle refers to a smaller y value.

[0055] As an example, the unit for yaw duration can be seconds. For instance, the yaw duration can be tens of seconds or even hundreds of seconds.

[0056] As an example, the yaw control parameters may further include the size of a sliding window used to calculate the wind turbine's wind deviation. Specifically, a sliding window can be applied to the time series of wind deviations obtained from real-time monitoring, the average value of multiple wind deviations within the window can be calculated, and the calculated average value can be compared with the yaw initiation angle and yaw stop angle of the wind turbine to determine whether to initiate or stop the yaw action. For example, the size of the sliding window may be tens of seconds.

[0057] It should be understood that the yaw control parameters may also include other types of parameters for yaw control, and this disclosure does not limit them.

[0058] As an example, one or more of the yaw control parameters used in the plurality of yaw control rules are determined based on the load and / or overall stability of the wind turbine generator set. For example, the yaw control parameters used in the plurality of yaw control rules can be optimized by simulating the unit load and overall stability under non-power generation conditions and when the wind speed is within the plurality of preset wind speed ranges.

[0059] This disclosure takes into account the different priorities under different operating conditions. During power generation, the main consideration is the balance between power generation and load, while during non-power generation, the main considerations are load and overall unit stability. Therefore, according to exemplary embodiments of this disclosure, different yaw control rules are proposed for different operating conditions to reduce the load during non-power generation and improve the overall unit stability and reliability during non-power generation.

[0060] As an example, the plurality of preset wind speed ranges may include: a first wind speed range and a second wind speed range.

[0061] As an example, when the wind turbine is in a non-power generation condition and the current wind speed is in the first wind speed range, yaw control can be performed according to the second yaw control rule for resisting vortex-induced vibration.

[0062] That is, the yaw control rule corresponding to the first wind speed range is the second yaw control rule.

[0063] As an example, the first wind speed range is determined based on the anti-vortex initiation wind speed and the anti-vortex termination wind speed, wherein when the wind speed of the wind turbine is greater than or equal to the anti-vortex initiation wind speed and less than or equal to the anti-vortex termination wind speed, the wind turbine is in the pitch anti-vortex vibration mode.

[0064] As an example, the first wind speed range can be between the vortex initiation wind speed and the vortex termination wind speed. That is, the first wind speed range can be V0 to V2. V0 represents the vortex initiation wind speed (unit: m / s); V2 represents the vortex termination wind speed (unit: m / s). For example, V1 can belong to the first wind speed range, and V1 represents the cut-out wind speed (unit: m / s).

[0065] As an example, when the wind turbine is in a non-power generation condition and the current wind speed is in the second wind speed range, yaw control can be performed according to the third yaw control rule for resisting extreme wind conditions.

[0066] That is, the yaw control rule corresponding to the second wind speed range is the third yaw control rule.

[0067] As an example, the second wind speed range can be determined based on the maximum survival wind speed corresponding to the location of the wind turbine generator. For example, the maximum survival wind speed can be a 50-year return period maximum survival wind speed V50, a 25-year return period maximum survival wind speed V25, or a 20-year return period maximum survival wind speed V20. It should be understood that it can also be other types of maximum survival wind speeds, and this disclosure does not limit it.

[0068] As an example, the second wind speed range may lie between the vortex-resistant termination wind speed and the maximum survivable wind speed corresponding to the location of the wind turbine generator. For example, the second wind speed range may be V2 to V4, where V4 represents the wind speed corresponding to V50 (unit: m / s). For example, V3 may belong to the second wind speed range, where V3 represents the wind speed corresponding to 0.8 × V50 (unit: m / s).

[0069] As an example, the second yaw control rule, compared to the first yaw control rule, can satisfy at least one of the following: a smaller yaw stop angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0070] As an example, the third yaw control rule, compared to the first yaw control rule, can satisfy at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0071] As an example, the third yaw control rule, compared to the second yaw control rule, can satisfy at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0072] As an example, each of the second and third yaw control rules can employ multiple sets of yaw control parameters. Each set of yaw control parameters includes: yaw initiation angle, yaw stop angle, yaw duration, and the size of the sliding window used to calculate the wind turbine's windward deviation. For example, compared to the (i-1)th set of yaw control parameters, the i-th set of yaw control parameters in each yaw control rule has a larger yaw initiation angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's windward deviation, where i is an integer greater than 1. For instance, the second yaw control rule can employ 3 sets of yaw control parameters, and the third yaw control rule can employ 2 sets of yaw control parameters.

[0073] As an example, the first yaw control rule can use multiple sets of yaw control parameters. Compared with the (i-1)th set of yaw control parameters, the i-th set of yaw control parameters in the first yaw control rule has a larger yaw start angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation. Here, i is an integer greater than 1.

[0074] For example, the j-th group of yaw control parameters in the second yaw control rule has a smaller yaw stop angle and a shorter yaw duration compared to the j-th group of yaw control parameters in the first yaw control rule, where j is an integer greater than 0.

[0075] For example, compared with the j-th group of yaw control parameters in the first yaw control rule, the j-th group of yaw control parameters in the third yaw control rule has a smaller yaw initiation angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation, where j is an integer greater than 0.

[0076] For example, compared with the j-th group of yaw control parameters in the second yaw control rule, the j-th group of yaw control parameters in the third yaw control rule has a smaller yaw initiation angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation, where j is an integer greater than 0.

[0077] As an example, the steps of yaw control according to the second yaw control rule for vortex-induced vibration suppression may include: for each set of yaw control parameters used in the second yaw control rule, when the windward deviation calculated according to the sliding window size in that set of yaw control parameters exceeds the duration of the yaw initiation angle in that set of yaw control parameters, reaching the yaw duration in that set of yaw control parameters, the wind turbine generator is controlled to perform a yaw action so that the windward deviation reaches the yaw stop angle in that set of yaw control parameters; or, when the nacelle acceleration of the wind turbine generator exceeds a first preset threshold for a duration reaching a first preset duration, the wind turbine generator is controlled to perform a yaw action so that the windward deviation reaches the yaw stop angle used in the second yaw control rule. It should be understood that yaw action can be triggered when any set of yaw control parameters in the second yaw control rule is satisfied, or when the nacelle acceleration exceeds the first preset threshold for a duration reaching the first preset duration.

[0078] As an example, the steps for yaw control according to the third yaw control rule for combating extreme wind conditions may include: for each set of yaw control parameters used in the third yaw control rule, when the wind deviation calculated according to the sliding window size in that set of yaw control parameters exceeds the duration of the yaw initiation angle in that set of yaw control parameters, reaching the yaw duration in that set of yaw control parameters, the wind turbine generator is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle in that set of yaw control parameters; or, when the nacelle acceleration of the wind turbine generator exceeds a second preset threshold for a duration reaching a second preset duration, the wind turbine generator is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle used in the third yaw control rule. It should be understood that yaw action can be triggered when any set of yaw control parameters in the third yaw control rule is satisfied, or when the nacelle acceleration exceeds the second preset threshold for a duration reaching the second preset duration.

[0079] According to exemplary embodiments of this disclosure, by selectively using yaw control rules for resisting vortex-induced vibration and yaw control rules for resisting extreme wind conditions, yaw control can improve the anti-vortex effect: it can avoid the risk of vortex-induced vibration occurring before yaw at a large yaw angle, reduce the constraint of anti-vortex wind speed on the overall design load, and improve the reliability of the unit; on the other hand, it can improve the effect of resisting extreme wind conditions: it can reduce the actual load of the unit under extreme wind conditions, reduce the constraint of extreme wind conditions on the overall design load, and improve the reliability of the unit.

[0080] The yaw control method for a wind turbine generator set according to an exemplary embodiment of the present disclosure may further include: when the wind turbine generator set is in a non-power generation condition and the current wind speed is not in one of the plurality of preset wind speed ranges, performing yaw control according to the first yaw control rule.

[0081] Figure 3 A flowchart illustrating a yaw control method for a wind turbine generator according to another exemplary embodiment of the present disclosure is shown.

[0082] Reference Figure 3 In step S201, it is identified whether the wind turbine generator is in power generation mode.

[0083] When it is determined in step S201 that the power generation condition is being met, step S202 is executed to perform yaw control according to the first yaw control rule.

[0084] When it is determined in step S201 that the power generation condition is not in operation, step S203 is executed to determine whether the current wind speed is within the first wind speed range.

[0085] When it is determined in step S203 that the current wind speed is in the first wind speed range, step S204 is executed to perform yaw control according to the second yaw control rule for anti-vortex-induced vibration.

[0086] When it is determined in step S203 that the current wind speed is not in the first wind speed range, step S205 is executed to determine whether the current wind speed is in the second wind speed range.

[0087] When it is determined in step S205 that the current wind speed is in the second wind speed range, step S206 is executed to perform yaw control according to the third yaw control rule for combating extreme wind conditions.

[0088] When it is determined in step S205 that the current wind speed is not in the second wind speed range, step S202 is executed.

[0089] It should be understood that, depending on the actual engineering situation, the order of judgment in steps S203 and S205 can be interchanged.

[0090] Figure 4 An example of yaw control performance according to an exemplary embodiment of the present disclosure is shown.

[0091] like Figure 4 As shown, the horizontal axis represents time and the vertical axis represents wind direction. It can be seen that, compared with the existing yaw control methods, the yaw control method according to the exemplary embodiments of this disclosure is more accurate in yawing the unit to the wind, thereby making the load assessment more reliable and reducing the risk of vortex-induced vibration.

[0092] Figure 5A structural block diagram of a yaw control device for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0093] like Figure 5 As shown, the yaw control device for a wind turbine generator set according to an exemplary embodiment of the present disclosure includes: a condition identification unit 10 and a yaw control unit 20.

[0094] Specifically, the operating condition identification unit 10 is configured to identify the operating condition of the wind turbine generator set.

[0095] The yaw control unit 20 is configured to perform yaw control according to a first yaw control rule when the wind turbine is in power generation mode; and to perform yaw control according to the yaw control rule corresponding to the preset wind speed range when the wind turbine is in non-power generation mode and the current wind speed is in one of a plurality of preset wind speed ranges.

[0096] The multiple preset wind speed ranges correspond to multiple yaw control rules, and these multiple yaw control rules are different from the first yaw control rule. The yaw control parameters used by different yaw control rules are at least partially different.

[0097] As an example, the yaw control parameters may include: yaw initiation angle, yaw stop angle, and yaw duration, wherein the yaw action is initiated when the wind deviation exceeds the duration of the yaw initiation angle, and the yaw action is stopped after the wind deviation reaches the yaw stop angle. As an example, the yaw control parameters may also include: the size of the sliding window used to calculate the wind deviation of the wind turbine generator.

[0098] As an example, the yaw control unit 20 can be configured to: when the wind turbine is in a non-power generation condition and the current wind speed is in a first wind speed range, perform yaw control according to a second yaw control rule for resisting vortex-induced vibration; when the wind turbine is in a non-power generation condition and the current wind speed is in a second wind speed range, perform yaw control according to a third yaw control rule for resisting extreme wind conditions, wherein the plurality of preset wind speed ranges include the first wind speed range and the second wind speed range.

[0099] As an example, the first wind speed range is determined based on the anti-vortex initiation wind speed and the anti-vortex termination wind speed, wherein when the wind speed of the wind turbine is greater than or equal to the anti-vortex initiation wind speed and less than or equal to the anti-vortex termination wind speed, the wind turbine is in the pitch anti-vortex vibration mode; the second wind speed range is determined based on the maximum survival wind speed corresponding to the location of the wind turbine.

[0100] As an example, the second yaw control rule, compared to the first yaw control rule, can satisfy at least one of the following: a smaller yaw stop angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0101] As an example, the third yaw control rule, compared to the first yaw control rule, can satisfy at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0102] As an example, the third yaw control rule, compared to the second yaw control rule, can satisfy at least one of the following: a smaller yaw inflection angle, a shorter yaw duration, a smaller yaw stop angle, and a smaller sliding window used to calculate the wind turbine's wind deviation.

[0103] As an example, each of the second and third yaw control rules employs multiple sets of yaw control parameters; compared to the (i-1)th set of yaw control parameters, the i-th set of yaw control parameters in each yaw control rule has a larger yaw initiation angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's wind deviation, where i is an integer greater than 1.

[0104] As an example, the yaw control unit 20 can be configured to: for each set of yaw control parameters used in the second yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, reaching the yaw duration in the set of yaw control parameters, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the first preset threshold for a duration reaching the first preset duration, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle used in the second yaw control rule.

[0105] As an example, the yaw control unit 20 can be configured to: for each set of yaw control parameters used in the third yaw control rule, when the wind deviation calculated according to the sliding window size in the set of yaw control parameters exceeds the duration of the yaw start angle in the set of yaw control parameters, reaching the yaw duration in the set of yaw control parameters, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle in the set of yaw control parameters; or, when the nacelle acceleration of the wind turbine exceeds the second preset threshold for a duration reaching the second preset duration, control the wind turbine to perform a yaw action so that the wind deviation reaches the yaw stop angle used in the third yaw control rule.

[0106] As an example, one or more of the yaw control parameters used in the plurality of yaw control rules may be determined based on the load and / or overall stability of the wind turbine generator set.

[0107] As an example, the yaw control unit 20 can also be configured to perform yaw control according to the first yaw control rule when the wind turbine is in a non-power generation condition and the current wind speed is not in one of the plurality of preset wind speed ranges.

[0108] As an example, the first wind speed range is between the vortex initiation wind speed and the vortex termination wind speed, and the second wind speed range is between the vortex termination wind speed and the maximum survival wind speed corresponding to the location of the wind turbine generator.

[0109] As an example, the yaw control device of a wind turbine generator set according to an exemplary embodiment of the present disclosure may be installed in the yaw controller or main controller of the wind turbine generator set.

[0110] It should be understood that the specific processing performed by the yaw control device of the wind turbine generator according to the exemplary embodiments of this disclosure has been referenced. Figures 1 to 4 A detailed description has been provided, and the relevant details will not be repeated here.

[0111] It should be understood that the various units in the yaw control device of the wind turbine generator according to the exemplary embodiments of this disclosure may be implemented as hardware components and / or software components. Those skilled in the art can implement the various units, for example, using field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs), based on the processes performed by the defined various units.

[0112] Exemplary embodiments of this disclosure provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform a yaw control method for a wind turbine generator as described in the exemplary embodiments above. The computer-readable storage medium is any data storage device capable of storing data read from a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disc, magnetic tape, floppy disk, optical data storage device, and carrier waves (such as data transmission via the Internet through wired or wireless transmission paths).

[0113] The controller according to an exemplary embodiment of the present disclosure includes a processor (not shown) and a memory (not shown), wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the yaw control method for a wind turbine generator as described in the exemplary embodiment above.

[0114] As an example, the controller may be a yaw controller or a main controller for a wind turbine generator set.

[0115] While some exemplary embodiments of this disclosure have been shown and described, those skilled in the art will understand that modifications may be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents.

Claims

1. A yaw control method for a wind turbine generator set, characterized in that, include: Identify the operating conditions of the wind turbine generator set; When the wind turbine generator is in power generation mode, yaw control is performed according to the first yaw control rule. When the wind turbine is in a non-power generation condition and the current wind speed is in one of a number of preset wind speed ranges, yaw control is performed according to the yaw control rules corresponding to the preset wind speed range in which the current wind speed is located. Among them, the multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule; Among these, the yaw control parameters used in different yaw control rules are at least partially different. The yaw control parameters include: yaw initiation angle, yaw de-yawing angle, yaw duration, and the size of the sliding window used to calculate the wind turbine generator's windward deviation. When the wind turbine is in a non-power generation condition and the current wind speed is within one of several preset wind speed ranges, the step of performing yaw control according to the yaw control rule corresponding to the preset wind speed range in which the current wind speed is located includes: When the wind turbine is in a non-power generation condition and the current wind speed is in the first wind speed range, yaw control is performed according to the second yaw control rule for anti-vortex-induced vibration. When the wind turbine is in a non-power generation condition and the current wind speed is in the second wind speed range, yaw control is performed according to the third yaw control rule used to combat extreme wind conditions. The plurality of preset wind speed ranges include a first wind speed range and a second wind speed range. The second yaw control rule, compared to the first yaw control rule, satisfies the following conditions: a smaller sliding window used to calculate the wind turbine's deviation from the wind, and at least one of the following: a smaller yaw stop angle and a shorter yaw duration.

2. The yaw control method according to claim 1, characterized in that, The yawing action begins when the wind deviation exceeds the yawing start angle for a duration that reaches the yawing duration, and stops when the wind deviation reaches the yawing stop angle.

3. The yaw control method according to claim 1, characterized in that, The first wind speed range is determined based on the anti-vortex initiation wind speed and the anti-vortex termination wind speed. When the wind speed of the wind turbine is greater than or equal to the anti-vortex initiation wind speed and less than or equal to the anti-vortex termination wind speed, the wind turbine is in the pitch anti-vortex vibration mode. The second wind speed range is determined based on the maximum survivable wind speed corresponding to the location of the wind turbine generator.

4. The yaw control method according to claim 1, characterized in that, Compared with the first yaw control rule, the third yaw control rule satisfies at least one of the following: smaller yaw initiation angle, shorter yaw duration, smaller yaw stop angle, and smaller sliding window used to calculate the wind turbine's wind deviation.

5. The yaw control method according to claim 1, characterized in that, Compared with the second yaw control rule, the third yaw control rule satisfies at least one of the following: smaller yaw initiation angle, shorter yaw duration, smaller yaw stop angle, and smaller sliding window used to calculate the wind turbine generator's wind deviation.

6. The yaw control method according to any one of claims 1 to 5, characterized in that, Each of the second and third yaw control rules employs multiple sets of yaw control parameters; Compared to the (i-1)th group of yaw control parameters, the i-th group of yaw control parameters in each yaw control rule has a larger yaw initiation angle, a shorter yaw duration, and a smaller sliding window used to calculate the wind turbine's windward deviation. Where i is an integer greater than 1.

7. The yaw control method according to claim 6, characterized in that, The steps for yaw control according to the second yaw control rule for vortex-induced vibration suppression include: For each set of yaw control parameters used in the second yaw control rule, when the wind deviation calculated according to the sliding window size in that set of yaw control parameters exceeds the duration of the yaw start angle in that set of yaw control parameters, reaching the yaw duration in that set of yaw control parameters, the wind turbine generator is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle in that set of yaw control parameters; or... When the nacelle acceleration of the wind turbine exceeds the first preset threshold for a duration of the first preset duration, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle adopted by the second yaw control rule.

8. The yaw control method according to claim 6, characterized in that, The steps for yaw control according to the third yaw control rule for combating extreme wind conditions include: For each set of yaw control parameters used in the third yaw control rule, when the wind deviation calculated according to the sliding window size in that set of yaw control parameters exceeds the duration of the yaw start angle in that set of yaw control parameters, reaching the yaw duration in that set of yaw control parameters, the wind turbine generator is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle in that set of yaw control parameters; or... When the nacelle acceleration of the wind turbine exceeds the second preset threshold for a duration of the second preset duration, the wind turbine is controlled to perform a yaw action so that the wind deviation reaches the yaw stop angle adopted by the third yaw control rule.

9. The yaw control method according to claim 1, characterized in that, One or more of the yaw control parameters used in the plurality of yaw control rules are determined based on the load and / or overall stability of the wind turbine generator set.

10. The yaw control method according to claim 1, characterized in that, Also includes: When the wind turbine is in a non-power generation condition and the current wind speed is not in one of the multiple preset wind speed ranges, yaw control is performed according to the first yaw control rule.

11. The yaw control method according to claim 1, characterized in that, The first wind speed range is between the initial wind speed of vortex resistance and the final wind speed of vortex resistance, and the second wind speed range is between the final wind speed of vortex resistance and the maximum survival wind speed corresponding to the location of the wind turbine generator.

12. A yaw control device for a wind turbine generator set, characterized in that, include: The operating condition identification unit is configured to identify the operating condition of the wind turbine generator set; The yaw control unit is configured to perform yaw control according to a first yaw control rule when the wind turbine is in power generation mode; and to perform yaw control according to a yaw control rule corresponding to the preset wind speed range when the wind turbine is in non-power generation mode and the current wind speed is in one of a plurality of preset wind speed ranges. Among them, the multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule; The yaw control parameters used in different yaw control rules are at least partially different. These yaw control parameters include: yaw initiation angle, yaw stop angle, yaw duration, and the size of the sliding window used to calculate the wind turbine's windward deviation. The yaw control unit is configured as follows: When the wind turbine is in a non-power generation condition and the current wind speed is within one of several preset wind speed ranges, the steps for yaw control according to the yaw control rules corresponding to the preset wind speed range in which the current wind speed is located include: When the wind turbine is in a non-power generation condition and the current wind speed is in the first wind speed range, yaw control is performed according to the second yaw control rule for anti-vortex-induced vibration. When the wind turbine is in a non-power generation condition and the current wind speed is in the second wind speed range, yaw control is performed according to the third yaw control rule used to combat extreme wind conditions. The plurality of preset wind speed ranges include a first wind speed range and a second wind speed range. The second yaw control rule, compared to the first yaw control rule, satisfies the following conditions: a smaller sliding window used to calculate the wind turbine's deviation from the wind, and at least one of the following: a smaller yaw stop angle and a shorter yaw duration.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the yaw control method for a wind turbine generator as described in any one of claims 1 to 11.

14. A controller, characterized in that, The controller includes: processor; A memory storing a computer program that, when executed by a processor, causes the processor to perform the yaw control method for a wind turbine generator as described in any one of claims 1 to 11.

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