An electromagnetic damping yaw system and control method for a wind turbine generator set

Abstract

The present disclosure proposes an electromagnetic damping yaw system and control method for a wind turbine generator set, wherein the system includes: a first acquisition module, a second acquisition module and a control module, and the control method includes: selecting at least one yaw motor as a damping motor in the yaw device of the wind turbine generator set, and the remaining yaw motors as driving motors; wherein, when the actual power of the driving motor increases, the damping motor is started, and the torque direction of the damping motor is controlled to be the same as the torque direction of the driving motor; when the actual power of the driving motor decreases, the damping motor is started, and the torque direction of the damping motor is controlled to be opposite to the torque direction of the driving motor. In the electromagnetic damping yaw system and control method for a wind turbine generator set disclosed in the present disclosure, the stability of the yaw operation of the yaw device is improved, and at the same time, it plays a role in effectively protecting the yaw motor and the yaw reducer, driving small gear, yaw large gear and other yaw structures at the lower end of the yaw motor.

Description

Technical Field

[0001] The present disclosure relates to the technical field of yaw control, and in particular to an electromagnetic damping yaw system and a control method of a wind turbine generator set. Background Art

[0002] A wind turbine is a system that converts the kinetic energy of wind into electrical energy. During operation, the wind turbine needs to use the yaw motor of the yaw device to achieve yaw movement to ensure high wind energy utilization and power generation efficiency. However, the actual power of the yaw motor will vary with the change of external load. The large and high-frequency power fluctuations lead to low yaw stability, and at the same time increase the impact damage, fatigue damage and wear of the yaw motor and the yaw structures such as the yaw reducer, drive small tooth, and yaw large tooth at the lower end of the yaw motor, making it difficult to meet usage requirements. Summary of the invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, an object of the present disclosure is to provide an electromagnetic damping yaw system and a control method for a wind turbine generator set.

[0005] To achieve the above-mentioned purpose, the first aspect of the present disclosure provides an electromagnetic damping yaw control method for a wind turbine generator set, comprising: selecting at least one yaw motor as a damping motor in the yaw device of the wind turbine generator set, and the remaining yaw motors as drive motors; when the wind direction deviation angle is greater than a preset angle, starting the drive motor to enable the yaw device to perform a yaw movement; wherein, when the actual power of the drive motor increases, starting the damping motor, and controlling the torque direction of the damping motor to be the same as the torque direction of the drive motor; when the actual power of the drive motor decreases, starting the damping motor, and controlling the torque direction of the damping motor to be opposite to the torque direction of the drive motor.

[0006] Optionally, the control method further includes: synchronously starting all the drive motors according to an initial given torque; obtaining additional torque of the drive motor according to an actual rotational speed and a rated rotational speed of the drive motor; and compensating the additional torque into the given torque of the drive motor.

[0007] Optionally, the control method also includes: when the actual speed of the drive motor is less than the rated speed, the additional torque is a positive value, and the additional torque is compensated to the given torque of the drive motor to increase the given torque of the drive motor; when the actual speed of the drive motor is greater than the rated speed, the additional torque is a negative value, and the additional torque is compensated to the given torque of the drive motor to reduce the given torque of the drive motor.

[0008] Optionally, the control method also includes: before starting the yaw motor, first controlling the electromagnetic brake of the yaw motor to release, and then controlling the hydraulic brake of the cabin in the wind turbine generator set to release; before shutting down the yaw motor, first controlling the hydraulic brake of the cabin, and then controlling the electromagnetic brake of the yaw motor.

[0009] Optionally, the control method further includes: after the electromagnetic brake of the yaw motor is engaged and the nacelle slides, first controlling the electromagnetic brake of the yaw motor to release, and then controlling the electromagnetic brake of the yaw motor to engage.

[0010] Optionally, the control method also includes: after the electromagnetic brake of the drive motor is released and before the hydraulic brake of the cabin is released, starting the drive motor according to the tooth-fitting torque to make the engaging surfaces between the drive small tooth at the drive motor end and the yaw large tooth at the cabin end fit together, thereby eliminating the gap between the drive small tooth and the yaw large tooth.

[0011] Optionally, the control method also includes: selecting some of the yaw motors in the yaw device as positive torque motors and the remaining yaw motors as negative torque motors; after the hydraulic brake of the cabin is engaged and before the electromagnetic brake of the yaw motor is engaged, starting the positive torque motor and the negative torque motor according to the tooth-fitting torque, so that the driving small teeth at the positive torque motor end and the driving small teeth at the negative torque motor end are respectively fitted with the occlusal surfaces between the yaw large teeth at the cabin end, thereby eliminating the gap between the driving small teeth and the yaw large teeth; wherein the torque direction of the positive torque motor is opposite to the torque direction of the negative torque motor.

[0012] Optionally, the difference between the number of the positive torque motors and the number of the negative torque motors is no more than 1.

[0013] Optionally, the control method also includes: when the given torque of the damping motor is increased and the actual power of the damping motor reaches the limiting power, and the actual power of the driving motor continues to increase, increasing the given torque of the driving motor; when the given torque of the damping motor is increased and the actual power of the damping motor reaches the limiting power, and the actual power of the driving motor continues to decrease, reducing the given torque of the driving motor.

[0014] Optionally, the control method also includes: before turning off the yaw motor, comparing the output torques of all the yaw motors and obtaining the maximum output torque; selecting the yaw motor corresponding to the maximum output torque in the last yaw movement as the damping motor in the yaw device, and the remaining yaw motors as drive motors.

[0015] Optionally, the control method also includes: when starting the yaw motor, gradually increasing the given voltage of the yaw motor to linearly increase the rotation speed of the yaw motor and making the actual current of the yaw motor no greater than a preset current limit; when shutting down the yaw motor, gradually decreasing the given voltage of the yaw motor to linearly reduce the rotation speed of the yaw motor.

[0016] Optionally, the control method also includes: when the actual power of the drive motor exceeds the rated power of the drive motor, and the excess portion accounts for no less than a first preset proportion in the rated power, turning off the yaw motor, and restarting the yaw device after a first preset time; and / or when the actual speed of the drive motor exceeds the rated speed of the drive motor, and the excess portion accounts for no less than a second preset proportion in the rated speed, turning off the yaw motor, and restarting the yaw device after a second preset time; and / or when the actual torque of the drive motor exceeds the rated torque of the drive motor, and the excess portion accounts for no less than a third preset proportion in the rated torque, turning off the yaw motor, and restarting the yaw device after a third preset time.

[0017] Optionally, the control method also includes: when the effective value of the vibration filter of the wind turbine generator set is not less than a first preset filter value, shutting down the yaw motor, and restarting the yaw device after the effective value of the vibration filter of the wind turbine generator set is not greater than a second preset filter value, wherein the first preset filter value is greater than the second preset filter value; and / or when the effective value of the vibration filter of the wind turbine generator set is not less than the first preset filter value, and / or when the instantaneous value of the vibration of the wind turbine generator set is not less than a preset instantaneous value, issuing an alarm message.

[0018] According to a second aspect of the present disclosure, there is provided an electromagnetic damping yaw system of a wind turbine generator set, comprising: a first acquisition module, the first acquisition module being used to acquire a wind direction deviation angle of a yaw device in the wind turbine generator set; a second acquisition module, the second acquisition module being used to acquire an actual power of a yaw motor in the yaw device; a control module, the control module being used to select at least one yaw motor in the yaw device as a damping motor and the remaining yaw motors as driving motors, and when the wind direction deviation angle is greater than a preset angle, start the driving motor so that the yaw device performs a yaw motion; wherein, when the actual power of the driving motor increases, the control module is used to start the damping motor and control the torque direction of the damping motor to be the same as the torque direction of the driving motor; when the actual power of the driving motor decreases, the control module is used to start the damping motor and control the torque direction of the damping motor to be opposite to the torque direction of the driving motor.

[0019] The technical solution provided by the present disclosure may have the following beneficial effects:

[0020] The drive motor is used to provide the drive torque, and the damping motor is used to provide the forward drive torque or the reverse damping torque, thereby realizing the dynamic adaptation of the drive motor, playing the role of peak shaving and valley filling, thereby avoiding large fluctuations in the actual power of the drive motor. Not only the stability of the yaw operation of the yaw device is improved, but also the impact damage, fatigue damage and wear of the yaw motor and the transmission part at the lower end of the yaw motor are reduced, thereby playing the role of timely and effective protection of the yaw device structure.

[0021] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 is a flow chart of an electromagnetic damping yaw control method for a wind turbine generator set proposed in one embodiment of the present disclosure;

[0024] Figure 2 It is a schematic diagram of the partial structure of a yaw device in a wind turbine generator set proposed in an embodiment of the present disclosure;

[0025] Figure 3 It is a schematic diagram of the partial structure of a yaw device in a wind turbine generator set proposed in an embodiment of the present disclosure;

[0026] Figure 4 is a flow chart of an electromagnetic damping yaw control method for a wind turbine generator set proposed in one embodiment of the present disclosure;

[0027] Figure 5 is a flow chart of an electromagnetic damping yaw control method for a wind turbine generator set proposed in one embodiment of the present disclosure;

[0028] Figure 6 is a flow chart of an electromagnetic damping yaw control method for a wind turbine generator set proposed in one embodiment of the present disclosure;

[0029] Figure 7 is a flow chart of an electromagnetic damping yaw control method for a wind turbine generator set proposed in one embodiment of the present disclosure;

[0030] As shown in the figure: 1. Yaw motor, 11. Drive motor, 12. Damping motor;

[0031] 2. Driving small tooth, 3. Yaw large tooth. DETAILED DESCRIPTION

[0032] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and are not to be construed as limitations of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, the embodiment of the present disclosure provides an electromagnetic damping yaw control method for a wind turbine generator set, comprising:

[0034] S1: selecting at least one yaw motor 1 in the yaw device of the wind turbine generator set as the damping motor 12, and the remaining yaw motors 1 as the driving motors 11;

[0035] S2: When the wind direction deviation angle is greater than a preset angle, the drive motor 11 is started to make the yaw device perform yaw motion;

[0036] When the actual power of the driving motor 11 increases, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be the same as the torque direction of the driving motor 11;

[0037] When the actual power of the driving motor 11 decreases, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be opposite to the torque direction of the driving motor 11 .

[0038] It is understandable that when the wind direction deviation angle is greater than a preset angle, the drive motor 11 is started to drive the yaw device to perform a yaw motion, thereby ensuring a higher wind energy utilization rate and power generation efficiency of the wind turbine generator set.

[0039] When the actual power of the driving motor 11 increases with the increase of the external load, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be the same as the torque direction of the driving motor 11, so that the damping motor 12 is used to provide additional positive driving torque; when the actual power of the driving motor 11 decreases with the decrease of the external load, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be opposite to the torque direction of the driving motor 11, so that the damping motor 12 is used to provide additional reverse damping torque. Thus, the driving motor 11 is used to provide driving torque, and the damping motor 12 is used to provide positive driving torque or reverse damping torque, so as to achieve dynamic adaptation of the driving motor 11, play a role in cutting peaks and filling valleys, and thus avoid large fluctuations in the actual power of the driving motor 11, which not only improves the stability of the yaw operation of the yaw device, but also reduces the impact damage, fatigue damage and wear of the yaw motor 1 and the transmission part at the lower end of the yaw motor 1, and plays a role in timely and effective protection of the yaw device structure.

[0040] It should be noted that the yaw device includes: multiple yaw motors 1. In the relevant embodiments, all the yaw motors 1 drive the yaw device to perform yaw movement at the same time, and the actions are synchronized. Due to the instability of the external environment, the external load of the yaw device is constantly changing, and the actual power of the yaw motor 1 will change accordingly to adapt to the change of the external load, which causes the power of all yaw motors 1 to continuously fluctuate at high frequency and significantly. In this embodiment, the peak-shaving and valley-filling effect of the damping motor 12 can stably adapt to the changes in the external load during the yaw movement, thereby avoiding the high-frequency and large fluctuations of the drive motor 11, and further ensuring the stable operation of the drive motor 11 and the transmission part at the lower end of the drive motor 11.

[0041] Among them, when the external load increases, the actual power of the drive motor 11 increases accordingly, which indicates that the yaw device requires a larger driving torque. Therefore, when the torque direction of the damping motor 12 is controlled to be the same as the torque direction of the drive motor 11, the damping motor 12 can be used to provide additional positive driving torque to reduce the increase in the actual power of the drive motor 11.

[0042] When the external load decreases, the actual power of the drive motor 11 decreases accordingly, which indicates that the yaw device requires a smaller driving torque. Therefore, when the torque direction of the damping motor 12 is controlled to be opposite to the torque direction of the drive motor 11, the damping motor 12 can be used to provide additional reverse damping torque to reduce the reduction in the actual power of the drive motor 11.

[0043] The preset angle can be set according to actual needs and there is no limitation on this. When the wind direction deviation angle is greater than the preset angle, the drive motor 11 and the damping motor 12 cooperate to make the yaw device perform yaw movement until the wind direction deviation angle is no greater than the preset angle.

[0044] The yaw device, also known as the wind-facing device, is a part of the nacelle of a wind turbine. Its function is to quickly and smoothly align the wind direction when the direction of the wind speed vector changes, so that the wind wheel can obtain the maximum wind energy. For example, the yaw device includes: a wind vane, a yaw motor 1, a yaw reducer, a servo drive, a transformer, a yaw control cabinet, a brake, etc. Specifically, the wind vane acts as a sensing element to transmit the change of wind direction to the control module of the yaw motor 1 using an electrical signal. After comparison, the control module uses the servo drive to control the yaw motor 1 to execute a clockwise (forward) or counterclockwise (reverse) yaw command.

[0045] Among them, the yaw motor 1 uses a yaw reducer to convert high speed and low torque into low speed and high torque, thereby using the transmission between the yaw reducer and the cabin to drive the small tooth 2 and the large yaw tooth 3 to push the cabin to yaw; the electromagnetic brake placed at the yaw motor 1 provides electromagnetic braking for the yaw motor 1, and the hydraulic brake placed at the cabin provides hydraulic braking for the cabin; the transformer converts the power supply voltage in the cabin to power the servo drive, for example: converting 600V AC into 400V AC required by the servo drive; the yaw control cabinet is used to place equipment related to yaw control, including: switching power supply, distribution switch, control relay, filter, servo drive, cooling fan, inductor, heater, control contactor, temperature control switch, etc.; the control module may include the main control system of the wind turbine generator set and a PLC (programmable logic controller) that receives signals from the main control system and sends yaw control strategies to the servo drive.

[0046] The yaw reducer, the driving pinion 2, the yaw gear 3, the electromagnetic brake and the like are all transmission parts at the lower end of the yaw motor 1. When the actual power fluctuation of the yaw motor 1 is large, the yaw reducer, the driving pinion 2, the yaw gear 3, the electromagnetic brake and other transmission components will suffer large impact damage, fatigue damage and wear, and will be easily damaged. At the same time, the yaw reducer, the driving pinion 2, the yaw gear 3, the electromagnetic brake and other transmission components are not only expensive, but also difficult to maintain. Therefore, the electromagnetic damping yaw control using the driving motor 11 and the damping motor 12 can effectively improve the stability of the yaw motion, while extending the service life of the yaw motor 1 and the transmission part at the lower end of the yaw motor 1, thereby reducing the cost of the yaw motion.

[0047] In the relevant embodiments, the yaw motor 1 has no feedback module, that is, the servo driver performs open-loop control on the yaw motor 1 and is unable to provide feedback on the current, torque, etc. of the yaw motor 1 during operation. In the present embodiment, an encoder may be provided on the yaw motor 1 so that the servo driver can utilize the encoder to collect parameters such as the actual current, actual torque, and actual speed of the yaw motor 1, thereby further obtaining parameters such as the actual power and actual voltage of the yaw motor 1 based on the collected parameters, thereby facilitating the implementation of closed-loop control of the yaw motor 1 by the servo driver.

[0048] like Figure 4 and Figure 5 As shown, in some embodiments, the control method further includes:

[0049] S10: Synchronously start all the drive motors 11 according to the initial given torque;

[0050] S20: Obtaining an additional torque of the drive motor 11 according to the actual speed and rated speed of the drive motor 11;

[0051] S30 : Compensating the additional torque to the set torque of the drive motor 11 .

[0052] It can be understood that, firstly, all the drive motors 11 are synchronously started according to the initial given torque, then the additional torque of the drive motor 11 is obtained according to the actual rotational speed and the rated rotational speed of the drive motor 11, and the additional torque is compensated to the given torque of the drive motor 11. This not only makes the actual torque of all the drive motors 11 tend to be consistent, but also maintains the actual rotational speed of the drive motor 11 at the rated rotational speed. Thus, load balancing control is achieved. On the one hand, it can effectively reduce the impact load caused by wind turbulence, thereby protecting the internal transmission structure of the yaw device. On the other hand, it can reduce the cabin vibration caused by the yaw motion and enhance the stability of the yaw motion.

[0053] It should be noted that steps S10 to S30 can utilize the synchronous starting and torque control of all drive motors 11 to achieve consistent torque of the drive motors 11, and thus achieve load balancing control. The load balancing control is used for uniform yaw of the yaw device, which can prevent unbalanced current loads among all drive motors 11 and avoid damage to some or individual yaw motors 1 due to long-term overload.

[0054] The initial given torque is used for low-torque starting of all driving motors 11 . The initial given torque can be set according to actual needs without limitation. For example, the initial given torque can be 15% of the rated torque.

[0055] The additional torque is calculated based on a certain corresponding relationship according to the difference between the actual speed and the rated speed of the driving motor 11 . The specific value of the additional torque can be set according to actual needs and is not limited thereto.

[0056] The additional torque is obtained by utilizing the actual rotation speed and rated rotation speed of the drive motor 11, and the given torque of the drive motor 11 is compensated by the additional torque. This method can not only ensure the consistency of torque between the drive motors 11, but also avoid the actual rotation speed of the drive motor 11 being too high.

[0057] In some embodiments, the control method also includes: when the actual speed of the drive motor 11 is less than the rated speed, the additional torque is a positive value, and the additional torque is compensated to the given torque of the drive motor 11 to increase the given torque of the drive motor 11; when the actual speed of the drive motor 11 is greater than the rated speed, the additional torque is a negative value, and the additional torque is compensated to the given torque of the drive motor 11 to reduce the given torque of the drive motor 11.

[0058] It can be understood that when the actual speed of the drive motor 11 is less than the rated speed, it indicates that the given torque of the drive motor 11 is small, so the given torque of the drive motor 11 is increased by compensating the positive additional torque to the given torque of the drive motor 11; when the actual speed of the drive motor 11 is greater than the rated speed, it indicates that the given torque of the drive motor 11 is large, so the negative additional torque is compensated to the given torque of the drive motor 11 to reduce the given torque of the drive motor 11. Therefore, by compensating the additional torque, the functions of torque consistency and uniform speed yaw can be stably achieved.

[0059] like Figure 5 As shown, in some embodiments, the control method also includes: before starting the yaw motor 1, first controlling the electromagnetic brake of the yaw motor 1 to release, and then controlling the hydraulic brake of the cabin in the wind turbine generator set to release; before shutting down the yaw motor 1, first controlling the hydraulic brake of the cabin, and then controlling the electromagnetic brake of the yaw motor 1.

[0060] It can be understood that before starting the yaw motor 1, the electromagnetic brake of the yaw motor 1 is first controlled to be released, and then the hydraulic brake of the cabin is controlled to be released. Also, before shutting down the yaw motor 1, the hydraulic brake of the cabin is first controlled to be engaged, and then the electromagnetic brake of the yaw motor 1 is controlled to be engaged. This allows the hydraulic brake of the cabin to bear the main load during braking, while the electromagnetic brake of the yaw motor 1 plays an auxiliary braking role. As a result, the electromagnetic brake of the yaw motor 1 can be effectively protected and the service life of the electromagnetic brake can be extended.

[0061] It should be noted that the yaw motor 1 and the electromagnetic brake on the yaw motor 1 are powered off almost synchronously, that is, when the yaw motor 1 is turned off, the electromagnetic brake is also turned off synchronously. Specifically, before turning off the yaw motor 1, braking is achieved by controlling the hydraulic brake of the cabin, and then the electromagnetic brake of the yaw motor 1 is controlled to achieve auxiliary braking. At the same time, the yaw motor 1 is also turned off synchronously.

[0062] In some embodiments, the control method further includes: after the electromagnetic brake of the yaw motor 1 is engaged and the nacelle slides, first controlling the electromagnetic brake of the yaw motor 1 to release, and then controlling the electromagnetic brake of the yaw motor 1 to engage.

[0063] It is understandable that when the nacelle slips, it indicates that the hydraulic brake of the nacelle fails, so that the electromagnetic brake of the yaw motor 1 plays the role of bearing the main braking load, which is likely to cause damage to the electromagnetic brake of the yaw motor 1.

[0064] By first controlling the release of the electromagnetic brake of the yaw motor 1 and then controlling the engagement of the electromagnetic brake of the yaw motor 1, the electromagnetic brake of the yaw motor 1 can be released after the cabin slip is completed, so that the main braking load is transferred to the hydraulic brake of the cabin, so that the electromagnetic brake of the yaw motor 1 plays an auxiliary braking role, thereby effectively protecting the electromagnetic brake of the yaw motor 1 and extending the service life of the electromagnetic brake.

[0065] It should be noted that the nacelle slippage of a wind turbine generator set refers to the deviation of the rotation axis of the wind turbine due to the action of external forces during the operation of the wind turbine, or the rotation axis of the wind turbine is not parallel to the direction of the wind, thereby reducing the output power of the wind turbine generator set. Among them, when the nacelle slips, the hydraulic brake of the nacelle does not play a braking role, and the main braking load is transferred to the electromagnetic brake of the yaw motor 1. The solution of this embodiment is to transfer the main braking load back to the hydraulic brake of the nacelle after the nacelle slips.

[0066] Therefore, by utilizing the release and engagement control of the electromagnetic brake of the yaw motor 1 and the release and engagement control of the hydraulic brake of the nacelle, the yaw start and stop logic control is realized, which effectively improves the stability of the yaw device and prolongs the service life of the yaw device.

[0067] In some embodiments, the control method also includes: before starting the yaw motor 1, and when the turbulence intensity at the wind turbine generator set is not less than a preset intensity, the release degree of the hydraulic brake is less than 100%; before starting the yaw motor 1, and when the turbulence intensity at the wind turbine generator set is less than a preset intensity, the release degree of the hydraulic brake reaches 100%.

[0068] It can be understood that when the turbulence intensity at the wind turbine generator set is not less than the preset intensity, it means that the external load is large, and the braking demand cannot be met by only the reverse damping torque of the damping motor 12. Therefore, the release degree of the hydraulic brake is controlled to be less than 100%, so that the yaw device can achieve stable yaw by the coordinated braking of the damping motor 12 and the hydraulic brake; when the turbulence intensity at the wind turbine generator set is less than the preset intensity, it means that the external load is small, and the braking demand can be met by only the reverse damping torque of the damping motor 12. Therefore, the release degree of the hydraulic brake is controlled to reach 100%, so that the yaw device can achieve stable yaw by only the braking of the damping motor 12.

[0069] It should be noted that the preset strength can be set according to actual needs, and there is no limitation on this. For example, the preset strength can be 0.14.

[0070] The release degree of the cabin hydraulic brake can be set according to actual needs, and there is no limitation on this. For example, when the release degree of the hydraulic brake is less than 100%, the hydraulic brake can be depressurized from 168 bar to 28 bar.

[0071] like Figure 5 As shown, in some embodiments, the control method also includes: after the electromagnetic brake of the drive motor 11 is released and before the hydraulic brake of the cabin is released, starting the drive motor 11 according to the tooth-fitting torque to make the engaging surfaces between the drive small tooth 2 at the end of the drive motor 11 and the yaw large tooth 3 at the cabin end fit together, thereby eliminating the gap between the drive small tooth 2 and the yaw large tooth 3.

[0072] It can be understood that after the electromagnetic brake of the drive motor 11 is released and before the hydraulic brake of the cabin is released, the braking of the yaw device relies on the hydraulic brake of the cabin, so that when the drive motor 11 is started according to the tooth-contact torque, the drive small tooth 2 at the end of the drive motor 11 can be rotated, and then the engaging surfaces between the drive small tooth 2 and the yaw large tooth 3 are made to fit, thereby eliminating the gap between the drive small tooth 2 and the yaw large tooth 3, preventing the occurrence of tooth collision between the drive small tooth 2 and the yaw large tooth 3 due to instantaneous large torque, and ensuring the stable operation of the yaw device.

[0073] It should be noted that in the initial state, there may be a small gap in the occlusal surface between the driving small tooth 2 and the yaw large tooth 3. When determining the yaw direction, the driving motor 11 can be started using the tooth-fitting torque according to the yaw direction to use a lower torque to achieve the fit of the occlusal surfaces between the teeth, thereby achieving the purpose of eliminating the gap.

[0074] The tooth-contact torque is used for low-torque starting of the drive motor 11 to cooperate with the hydraulic braking of the cabin, so that the drive small tooth 2 at the end of the drive motor 11 and the yaw large tooth 3 at the end of the cabin can achieve tooth-contact clearance elimination. The tooth-contact torque can be set according to actual needs and is not limited to this. For example, the initial given torque can be 4.5% of the rated torque.

[0075] like Figure 5 and Figure 6 As shown, in some embodiments, the control method further includes:

[0076] S100: Selecting some yaw motors 1 in the yaw device as positive torque motors and the remaining yaw motors 1 as negative torque motors;

[0077] S200: after the hydraulic brake of the nacelle is engaged and before the electromagnetic brake of the yaw motor 1 is engaged, the positive torque motor and the reverse torque motor are started according to the tooth-fitting torque, so that the driving small tooth 2 at the positive torque motor end and the driving small tooth 2 at the reverse torque motor end are respectively fitted with the occlusal surfaces of the yaw large tooth 3 at the nacelle end, thereby eliminating the gap between the driving small tooth 2 and the yaw large tooth 3;

[0078] Among them, the torque direction of the positive torque motor is opposite to the torque direction of the reverse torque motor.

[0079] It can be understood that the braking of the yaw device relies on the hydraulic brake of the cabin after the hydraulic brake of the cabin is engaged and before the electromagnetic brake of the yaw motor 1 is engaged, so that when the positive torque motor and the reverse torque motor are started according to the tooth-engaging torque, the driving small tooth 2 at the positive torque motor end and the driving small tooth 2 at the reverse torque motor end can be rotated, thereby making the engaging surface between the driving small tooth 2 and the yaw large tooth 3 engage.

[0080] Among them, since the torque direction of the positive torque motor is opposite to that of the reverse torque motor, when the yaw device is turning in the forward direction, the driving small tooth 2 of the positive torque motor and the yaw large tooth 3 at the nacelle end are close to each other to eliminate backlash. When the yaw device is turning in the reverse direction, the driving small tooth 2 of the reverse torque motor and the yaw large tooth 3 at the nacelle end are close to each other to eliminate backlash. Therefore, no matter whether the yaw device is turning in the forward or reverse direction, part of the yaw motor 1 will achieve backlash elimination, thereby minimizing the tooth collision phenomenon and ensuring the stable operation of the yaw device.

[0081] It should be noted that the positive torque motor and the reverse torque motor are yaw motors 1 with opposite torques at the end of the yaw motion. The positive torque motor is used to make the corresponding drive small tooth 2 and the yaw large tooth 3 close to each other in the positive direction to eliminate the backlash, and the reverse torque motor is used to make the corresponding drive small tooth 2 and the yaw large tooth 3 close to each other in the reverse direction to eliminate the backlash.

[0082] The cooperation of the positive torque motor and the reverse torque motor can also achieve smooth load reduction to prevent the reverse electromotive force from impacting the gears when the yaw motor 1 stops.

[0083] In some embodiments, the difference between the number of positive torque motors and the number of negative torque motors is no more than 1.

[0084] It can be understood that since the difference between the number of positive torque motors and the number of reverse torque motors is not greater than 1, the number of positive torque motors and the number of reverse torque motors are the same or close. Therefore, no matter whether the steering of the yaw device is forward or reverse, there will be a large number of yaw motors 1 to achieve tooth contact and backlash elimination, thereby minimizing the tooth collision phenomenon and ensuring the stable operation of the yaw device.

[0085] It should be noted that, when the number of yaw motors 1 is an odd number, the number of positive torque motors and the number of reverse torque motors differ by one, and when the number of yaw motors 1 is an even number, the number of positive torque motors and the number of reverse torque motors are the same. For example, when the number of yaw motors 1 is four, the four yaw motors 1 serve as the first motor, the second motor, the third motor and the fourth motor respectively, and the first motor, the second motor, the third motor and the fourth motor are uniformly distributed in sequence along the circumference of the yaw gear 3, wherein the relatively arranged first motor and the third motor can be used as positive torque motors, and the relatively arranged second motor and the fourth motor can be used as reverse torque motors.

[0086] In some embodiments, the control method also includes: when the given torque of the damping motor 12 is increased and the actual power of the damping motor 12 reaches the limiting power, and the actual power of the driving motor 11 continues to increase, increasing the given torque of the driving motor 11; when the given torque of the damping motor 12 is increased and the actual power of the damping motor 12 reaches the limiting power, and the actual power of the driving motor 11 continues to decrease, reducing the given torque of the driving motor 11.

[0087] It can be understood that when the given torque of the damping motor 12 is increased and the actual power of the damping motor 12 reaches the limited power, and the actual power of the driving motor 11 continues to increase, it indicates that the positive driving torque provided by the damping motor 12 while reaching the limited output torque can no longer adapt to the change in the external load. Therefore, by increasing the given torque of the driving motor 11, the torque output of the driving motor 11 can be utilized to ensure the stable yaw movement of the yaw device.

[0088] When the given torque of the damping motor 12 is increased and the actual power of the damping motor 12 reaches the limited power, and the actual power of the driving motor 11 continues to decrease, it indicates that the reverse damping torque provided by the damping motor 12 when the limited output torque is reached can no longer adapt to the change in the external load. Therefore, the given torque of the driving motor 11 is reduced to utilize the torque output of the driving motor 11 to ensure the stable yaw movement of the yaw device.

[0089] Among them, limiting the actual power of the damping motor 12 below the limited power can reduce the output of the damping motor 12, thereby reducing the impact damage, fatigue damage and wear of the damping motor 12 and extending the service life of the damping motor 12.

[0090] It should be noted that when the torque provided by the damping motor 12 reaches the limit output torque and can no longer adapt to the change in external load, the given torque of the drive motor 11 is adjusted to meet the stable yaw movement of the yaw device. Although this method also causes power fluctuations in the drive motor 11, the fluctuation amplitude is small and the fluctuation frequency is low, so it has little impact on the stability and life of the yaw device.

[0091] The power limit can be set according to actual needs and is not limited thereto. For example, the power limit can be 30% of the rated power of the yaw motor 1 .

[0092] like Figure 7 As shown, in some embodiments, the control method further includes:

[0093] S1000: before turning off the yaw motor 1, comparing the output torques of all the yaw motors 1 and obtaining the maximum output torque;

[0094] S2000: In the yaw device, a yaw motor 1 corresponding to the maximum output torque in the previous yaw movement is selected as the damping motor 12 , and the remaining yaw motors 1 are selected as the driving motors 11 .

[0095] It can be understood that after each yaw movement, the maximum output torque can be obtained by comparing the output torque, so that it is convenient to select the yaw motor 1 corresponding to the maximum output torque in the previous yaw movement as the damping motor 12 in the yaw device, thereby avoiding the problem of excessive output of a certain yaw motor 1 and shortened life. Therefore, the method of selecting the damping motor 12 according to the output torque can ensure the balanced output of each yaw motor 1, and the driving performance has a high consistency.

[0096] In some embodiments, the control method also includes: when starting the yaw motor 1, gradually increasing the given voltage of the yaw motor 1 to linearly increase the rotation speed of the yaw motor 1, and making the actual current of the yaw motor 1 not greater than a preset current limit; when shutting down the yaw motor 1, gradually decreasing the given voltage of the yaw motor 1 to linearly reduce the rotation speed of the yaw motor 1.

[0097] It can be understood that when starting the yaw motor 1, the given voltage of the yaw motor 1 is gradually increased to achieve a linear increase in the speed of the yaw motor 1, thereby achieving the soft start of the yaw motor 1, and when shutting down the yaw motor 1, the given voltage of the yaw motor 1 is gradually decreased to achieve a linear decrease in the speed of the yaw motor 1, thereby achieving the soft stop of the yaw motor 1. Therefore, through the soft start and soft stop control of the yaw motor 1, the generation of impact current is avoided, thereby ensuring the stable operation of the yaw motor 1.

[0098] When starting the yaw motor 1 , the actual current of the yaw motor 1 is controlled not to be greater than a preset current limit, so as to avoid an excessive starting current from impacting the power grid or damaging the yaw motor 1 .

[0099] It should be noted that the soft start and soft stop control is used for start and stop protection of the yaw motor 1 .

[0100] Specifically, the soft start of the yaw motor 1 includes current detection and control, that is, the servo driver will monitor the current of the yaw motor 1 before starting, and gradually increase the voltage applied to the yaw motor 1 instead of applying the full voltage at one time, so as to gradually increase the speed of the yaw motor 1; at the same time, the soft start of the yaw motor 1 also includes synchronous control, that is: for the situation where multiple yaw motors 1 need to be started at the same time, the servo driver can ensure that they are started synchronously to prevent the speed inconsistency problem caused by asynchronous starting, and ensure the smoothness of the yaw operation; moreover, the soft start of the yaw motor 1 also includes voltage regulation, that is: during the soft start process, the servo driver can smoothly increase the given torque of the yaw motor 1 by adjusting the output voltage until full speed operation is reached. This method can effectively reduce energy consumption and mechanical stress during the startup process.

[0101] The soft stop of the yaw motor 1 includes smooth deceleration, that is, by gradually reducing the given voltage of the yaw motor 1, the yaw motor 1 is slowly decelerated until it stops, instead of immediately cutting off the power supply, which can avoid mechanical shock caused by inertia and reduce the recoil voltage on the transmission system and the power grid; the soft stop of the yaw motor 1 also includes a gradual decrease in voltage, that is, during the soft stop process, the servo driver will gradually reduce the given voltage of the yaw motor 1 according to a predetermined deceleration curve, so that the speed of the yaw motor 1 drops smoothly to zero, thereby achieving an impact-free stop; the soft stop of the yaw motor 1 also includes feedback control, that is, during the soft stop process, the servo driver will continuously monitor the state of the yaw motor 1 (such as speed, current, etc.), and adjust the voltage drop rate according to actual parameters to ensure that the shutdown process is both smooth and safe.

[0102] The preset current limit value can be set according to actual needs and there is no restriction on this.

[0103] In some embodiments, the control method also includes: when the actual power of the drive motor 11 exceeds the rated power of the drive motor 11, and the excess portion accounts for no less than a first preset proportion in the rated power, turning off the yaw motor 1, and restarting the yaw device after a first preset time; and / or, when the actual speed of the drive motor 11 exceeds the rated speed of the drive motor 11, and the excess portion accounts for no less than a second preset proportion in the rated speed, turning off the yaw motor 1, and restarting the yaw device after a second preset time; and / or, when the actual torque of the drive motor 11 exceeds the rated torque of the drive motor 11, and the excess portion accounts for no less than a third preset proportion in the rated torque, turning off the yaw motor 1, and restarting the yaw device after a third preset time.

[0104] It can be understood that when the actual power of the drive motor 11 exceeds the rated power of the drive motor 11, and the excess portion accounts for a proportion of not less than the first preset proportion in the rated power, and / or when the actual speed of the drive motor 11 exceeds the rated speed of the drive motor 11, and the excess portion accounts for a proportion of not less than the second preset proportion in the rated speed, and / or when the actual torque of the drive motor 11 exceeds the rated torque of the drive motor 11, and the excess portion accounts for a proportion of not less than the third preset proportion in the rated torque, it indicates that an abnormality has occurred in the yaw device and the yaw motor 1 cannot meet the yaw demand. Therefore, the yaw motor 1 is turned off and the yaw device is restarted after a certain period of time, thereby effectively protecting the yaw motor 1, thereby improving the stability of the yaw device, and extending the service life of the yaw motor 1 and the transmission part at the lower end of the yaw motor 1.

[0105] It should be noted that the first preset proportion can be set according to actual needs, and there is no limitation on this. For example, the first preset proportion can be 30%.

[0106] The second preset ratio can be set according to actual needs, and there is no limitation on this. For example, the rated speed of the yaw motor 1 is 940 rpm, and when the actual speed of the drive motor 11 reaches 1500 rpm, the yaw motor 1 is turned off.

[0107] The third preset proportion can be set according to actual needs, and there is no limitation on this. For example, the third preset proportion can be 30%.

[0108] The first preset time, the second preset time and the third preset time can be set according to actual needs, and there is no limitation on this. For example, the first preset time can be 10 minutes; the second preset time can be 30 minutes; and the third preset time can be 5 minutes.

[0109] Among them, in addition to the monitoring and protection of the actual power, actual speed and actual torque of the drive motor 11, the monitoring and protection of bus current, temperature and other parameters can also be carried out, and there is no limitation on this.

[0110] In some embodiments, the control method also includes: when the effective value of the vibration filter of the wind turbine generator set is not less than a first preset filter value, shutting down the yaw motor 1, and restarting the yaw device after the effective value of the vibration filter of the wind turbine generator set is not greater than a second preset filter value, wherein the first preset filter value is greater than the second preset filter value.

[0111] It can be understood that when the effective value of the vibration filter of the wind turbine generator set is not less than the first preset filter value, it indicates that an abnormality occurs in the yaw device, causing excessive vibration of the wind turbine generator set, and therefore the yaw motor 1 is shut down to avoid causing greater losses, and when the effective value of the vibration filter of the wind turbine generator set is not greater than the second preset filter value, it indicates that the yaw device has returned to normal, and therefore the yaw device is restarted to meet the requirements of yaw movement.

[0112] It should be noted that the vibration values ​​of the vibration sensor are divided into two groups: instantaneous vibration values ​​and vibration filter effective values. Each group of signals is further divided into axial vibration and radial vibration. The protection of the yaw device by monitoring the effective value of the vibration filter can ensure the stable operation of the wind turbine.

[0113] The first preset filter value and the second preset filter value can be set according to actual needs, and there is no limitation on this. For example, the first preset filter value can be 0.6m / s^2, and the second preset filter value can be 0.2m / s^2.

[0114] In some embodiments, the control method further includes: issuing an alarm message when the effective value of the vibration filter of the wind turbine generator set is not less than a first preset filter value, and / or when the instantaneous value of the vibration of the wind turbine generator set is not less than a preset instantaneous value.

[0115] It can be understood that when the effective value of the vibration filter of the wind turbine generator set is not less than the first preset filter value, and / or when the instantaneous value of the vibration of the wind turbine generator set is not less than the preset instantaneous value, it indicates that an abnormality has occurred in the yaw device, causing the vibration of the wind turbine generator set to be excessive. Therefore, by issuing an alarm message, the operating personnel can be promptly prompted to carry out subsequent maintenance work, thereby ensuring the stable operation of the wind turbine generator set.

[0116] It should be noted that the preset instantaneous value can be set according to actual needs, and there is no limitation on this. For example, the preset instantaneous value can be 1.2m / s^2.

[0117] When executing each step in this embodiment, an interval time can be set between adjacent steps to avoid interference problems. For example: after executing the electromagnetic brake release action, after an interval of 1s, the tooth-adhering gap elimination action is executed, and after another interval of 1s, the hydraulic brake release action is executed.

[0118] The disclosed embodiment also proposes an electromagnetic damping yaw system of a wind turbine generator set, comprising: a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used to acquire the wind direction deviation angle of the yaw device in the wind turbine generator set, the second acquisition module is used to acquire the actual power of the yaw motor 1 in the yaw device, and the control module is used to select at least one yaw motor 1 in the yaw device as the damping motor 12, and the remaining yaw motors 1 as the driving motor 11, and when the wind direction deviation angle is greater than a preset angle, start the driving motor 11 so that the yaw device performs a yaw motion. Wherein, when the actual power of the driving motor 11 increases, the control module is used to start the damping motor 12, and control the torque direction of the damping motor 12 to be the same as the torque direction of the driving motor 11; when the actual power of the driving motor 11 decreases, the control module is used to start the damping motor 12, and control the torque direction of the damping motor 12 to be opposite to the torque direction of the driving motor 11.

[0119] It is understandable that when the wind direction deviation angle is greater than a preset angle, the drive motor 11 is started to drive the yaw device to perform a yaw motion, thereby ensuring a higher wind energy utilization rate and power generation efficiency of the wind turbine generator set.

[0120] When the actual power of the driving motor 11 increases with the increase of the external load, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be the same as the torque direction of the driving motor 11, so that the damping motor 12 is used to provide additional positive driving torque; when the actual power of the driving motor 11 decreases with the decrease of the external load, the damping motor 12 is started, and the torque direction of the damping motor 12 is controlled to be opposite to the torque direction of the driving motor 11, so that the damping motor 12 is used to provide additional reverse damping torque. Thus, the driving motor 11 is used to provide driving torque, and the damping motor 12 is used to provide positive driving torque or reverse damping torque, so as to achieve dynamic adaptation of the driving motor 11, play a role in cutting peaks and filling valleys, and thus avoid large fluctuations in the actual power of the driving motor 11, which not only improves the stability of the yaw operation of the yaw device, but also reduces the impact damage, fatigue damage and wear of the yaw motor 1 and the transmission part at the lower end of the yaw motor 1, and plays a role in timely and effective protection of the yaw device structure.

[0121] It should be noted that the specific type of the first acquisition module can be set according to actual needs and is not limited to this. For example, the first acquisition module can be an angle sensor set at the yaw axis.

[0122] The specific type of the second acquisition module can be set according to actual needs, and there is no limitation on this. For example, the second acquisition module can be an encoder arranged on the yaw motor.

[0123] Among them, the electromagnetic damping yaw system utilizes the cooperation of the driving motor 11 and the damping motor 12 to realize electromagnetic damping yaw control. The system monitors the current, speed, torque, power and other parameters of the yaw motor 1 in real time through the servo driver, realizes the servo refined closed-loop control of the yaw motor 1, and can grasp the operating status of the yaw device in real time, and play a role in timely and effective protection of the yaw device structure. It has the advantages of fast response speed, good control effect, high safety, small yaw vibration, and low yaw noise.

[0124] In the description of the present disclosure, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0125] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0127] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. An electromagnetic damping yaw control method for a wind turbine generator set, characterized in that: include: Selecting at least one yaw motor in the yaw device of the wind turbine generator set as a damping motor, and the remaining yaw motors as driving motors; When the wind direction deviation angle is greater than a preset angle, starting the driving motor to make the yaw device perform a yaw motion; Wherein, when the actual power of the driving motor increases, the damping motor is started, and the torque direction of the damping motor is controlled to be the same as the torque direction of the driving motor; When the actual power of the driving motor decreases, the damping motor is started, and the torque direction of the damping motor is controlled to be opposite to the torque direction of the driving motor; The control method further includes: synchronously starting all the drive motors according to an initial given torque; obtaining an additional torque of the drive motor according to an actual speed and a rated speed of the drive motor; and compensating the additional torque to the given torque of the drive motor; The control method also includes: when the actual speed of the drive motor is less than the rated speed, the additional torque is a positive value, and the additional torque is compensated to the given torque of the drive motor to increase the given torque of the drive motor; when the actual speed of the drive motor is greater than the rated speed, the additional torque is a negative value, and the additional torque is compensated to the given torque of the drive motor to reduce the given torque of the drive motor.

2. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 1, characterized in that: The control method further comprises: Before starting the yaw motor, first control the electromagnetic brake of the yaw motor to release, and then control the hydraulic brake of the nacelle in the wind turbine generator set to release; Before shutting down the yaw motor, the hydraulic brake of the nacelle is controlled first, and then the electromagnetic brake of the yaw motor is controlled.

3. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 2, characterized in that: The control method further comprises: After the electromagnetic brake of the yaw motor is engaged and the nacelle slides, the electromagnetic brake of the yaw motor is first controlled to be released, and then the electromagnetic brake of the yaw motor is controlled to be engaged.

4. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 2, characterized in that: The control method further comprises: After the electromagnetic brake of the drive motor is released and before the hydraulic brake of the cabin is released, the drive motor is started according to the tooth-fitting torque to make the engaging surfaces between the drive small tooth at the drive motor end and the yaw large tooth at the cabin end fit together, thereby eliminating the gap between the drive small tooth and the yaw large tooth.

5. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 2, characterized in that: The control method further comprises: Selecting some of the yaw motors in the yaw device as positive torque motors and the remaining yaw motors as negative torque motors; After the hydraulic brake of the nacelle is engaged and before the electromagnetic brake of the yaw motor is engaged, the positive torque motor and the reverse torque motor are started according to the tooth-fitting torque, so that the driving small teeth at the positive torque motor end and the driving small teeth at the reverse torque motor end are respectively fitted with the occlusal surfaces between the yaw large teeth at the nacelle end, thereby eliminating the gap between the driving small teeth and the yaw large teeth; Wherein, the torque direction of the positive torque motor is opposite to the torque direction of the negative torque motor.

6. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 5, characterized in that: The difference between the number of the positive torque motors and the number of the negative torque motors is not greater than 1.

7. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 1, characterized in that: The control method further comprises: When the given torque of the damping motor is increased and the actual power of the damping motor reaches the limit power, and the actual power of the driving motor continues to increase, the given torque of the driving motor is increased; When the given torque of the damping motor is increased and the actual power of the damping motor reaches the limit power, and the actual power of the driving motor continues to decrease, the given torque of the driving motor is reduced.

8. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 1, characterized in that: The control method further comprises: When starting the yaw motor, gradually increasing the given voltage of the yaw motor to linearly increase the rotation speed of the yaw motor, and making the actual current of the yaw motor no greater than a preset current limit; When the yaw motor is turned off, the given voltage of the yaw motor is gradually reduced to linearly reduce the rotation speed of the yaw motor.

9. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 1, characterized in that: The control method further comprises: When the actual power of the driving motor exceeds the rated power of the driving motor, and the proportion of the exceeding part in the rated power is not less than a first preset proportion, turning off the yaw motor, and restarting the yaw device after a first preset time; and / or When the actual speed of the drive motor exceeds the rated speed of the drive motor, and the proportion of the exceeding part in the rated speed is not less than a second preset proportion, turning off the yaw motor, and restarting the yaw device after a second preset time; and / or When the actual torque of the drive motor exceeds the rated torque of the drive motor, and the proportion of the excess portion in the rated torque is not less than a third preset proportion, the yaw motor is turned off, and the yaw device is restarted after a third preset time.

10. The electromagnetic damping yaw control method for a wind turbine generator set according to claim 1, characterized in that: The control method further comprises: When the effective value of the vibration filter of the wind turbine generator set is not less than a first preset filter value, shut down the yaw motor, and restart the yaw device after the effective value of the vibration filter of the wind turbine generator set is not greater than a second preset filter value, wherein the first preset filter value is greater than the second preset filter value; and / or When the effective value of the vibration filter of the wind turbine generator set is not less than a first preset filter value, and / or when the instantaneous value of the vibration of the wind turbine generator set is not less than a preset instantaneous value, an alarm message is issued.

11. An electromagnetic damping yaw system for a wind turbine generator set, characterized in that: include: A first acquisition module, the first acquisition module is used to acquire a wind direction deviation angle of a yaw device in the wind turbine generator set; A second acquisition module, the second acquisition module is used to collect the actual power of the yaw motor in the yaw device; A control module, wherein the control module is used to select at least one of the yaw motors in the yaw device as a damping motor and the remaining yaw motors as drive motors, and when the wind direction deviation angle is greater than a preset angle, start the drive motor to enable the yaw device to perform a yaw motion; Wherein, when the actual power of the driving motor increases, the control module is used to start the damping motor and control the torque direction of the damping motor to be the same as the torque direction of the driving motor; When the actual power of the driving motor decreases, the control module is used to start the damping motor and control the torque direction of the damping motor to be opposite to the torque direction of the driving motor; The control module is also used for synchronously starting all the drive motors according to the initial given torque, obtaining the additional torque of the drive motor according to the actual speed and the rated speed of the drive motor, and compensating the additional torque to the given torque of the drive motor; The control module is also used to determine that the additional torque is a positive value when the actual speed of the drive motor is less than the rated speed, and to compensate the additional torque into the given torque of the drive motor to increase the given torque of the drive motor; and to determine that the additional torque is a negative value when the actual speed of the drive motor is greater than the rated speed, and to compensate the additional torque into the given torque of the drive motor to reduce the given torque of the drive motor.

Images