Cable limiting device, control method and wind turbine generator system

Abstract

The application provides a cable limiting device, a control method and a wind turbine, and belongs to the technical field of wind power generation. The device comprises: a plurality of annular tracks which are arranged at intervals in the inner wall of the tower of the wind turbine through vertical displacement adjusting mechanisms, the vertical displacement adjusting mechanisms being used for adjusting the vertical displacement of each annular track in the tower; and a plurality of twistable cable racks, each annular track being provided with one twistable cable rack through a horizontal displacement adjusting mechanism, the twistable cable rack being provided with a through hole through which a twisted cable passes, and the horizontal displacement adjusting mechanism being used for adjusting the displacement of each twistable cable rack on the corresponding annular track. The application has the advantages of simple structure, the ability to adjust the position of the twisted cable during the yawing process of the wind turbine, the ability to limit the twisted cable after the yawing of the wind turbine is completed, the effective reduction of the shaking and mutual entanglement of the twisted cables, the reduction of the wear of the twisted cables, the improvement of the service life of the twisted cables and the operation safety of the wind turbine.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wind power generation, in particular to a cable limiting device, a control method of the cable limiting device and a wind turbine. BACKGROUND

[0002] Wind energy as a clean renewable energy, more and more attention of the world. Wind power is currently the world's renewable energy technology most mature, most of the scale of one of them.

[0003] Wind power will be converted into electrical energy, usually in order to maximize the wind energy, wind turbine impeller needs to change with the wind direction changes, that is, the cabin yaw. In order to cooperate with the yaw of the wind turbine, the tower needs to exist a free hanging cable, that is, the cable. However, the yaw will bring the cable twist, sway and each other, while the tower itself in the wind turbine operation process will also produce sway and make the cable sway, will increase the cable wear, reduce the service life of the cable, there is a certain security risk. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a cable limiting device, control method and wind turbine, to solve the above-mentioned yaw will bring the cable twist, sway and each other, while the tower itself in the wind turbine operation process will also produce sway and make the cable sway, will increase the cable wear, reduce the service life of the cable, there is a certain security risk problem.

[0005] In order to achieve the above purpose, the embodiment of the present application provides a cable limiting device, which is used for adjusting the position of the cable during the yaw of the wind turbine and limiting the cable after the yaw of the wind turbine ends, the device comprises:

[0006] A plurality of annular tracks are arranged on the inner wall of the tower of the wind turbine by a vertical displacement adjusting mechanism, the vertical displacement adjusting mechanism is used for adjusting the vertical displacement of each annular track in the tower;

[0007] A plurality of twistable cable racks are arranged on each annular track by a horizontal displacement adjusting mechanism, the twistable cable rack is provided with a through hole for the cable to pass through, and the horizontal displacement adjusting mechanism is used for adjusting the displacement of each twistable cable rack on the corresponding annular track.

[0008] Optionally, the vertical displacement adjusting mechanism comprises:

[0009] A plurality of vertical tracks are arranged on the inner wall of the tower of the wind turbine;

[0010] A plurality of vertical sliding blocks are arranged on each vertical track, and each annular track is arranged on the corresponding vertical sliding block.

[0011] Optionally, the at least one vertical track and the vertical slider on the vertical track constitute a linear motor module, the vertical slider is driven by a linear motor to realize the movement of the vertical slider along the vertical track; or

[0012] The device further comprises:

[0013] A driving mechanism is arranged on the inner wall of the tower of the wind turbine generator, the driving mechanism is connected with the corresponding vertical slider, and the driving mechanism is used for driving the corresponding vertical slider to move along the corresponding vertical track.

[0014] Optionally, a fixed gear is arranged on each annular track along the extension direction of the track;

[0015] The lateral displacement adjusting mechanism comprises:

[0016] A lateral slider is slidingly arranged on the corresponding annular track;

[0017] A driving motor is arranged on the lateral slider, a rotating shaft of the driving motor is connected with the fixed gear through a rotating shaft gear, and the driving motor is used for generating a driving force to move the lateral slider on the corresponding annular track.

[0018] Optionally, the twistable cable frame comprises:

[0019] Oppositely arranged first and second limiting sheets, the first limiting sheet is rotatably arranged on the lateral displacement adjusting mechanism, one end adjacent to the first and second limiting sheets is provided with a through slot, and the through slots on the first and second limiting sheets constitute the through hole;

[0020] A spacing adjusting mechanism, the second limiting sheet is connected with the first limiting sheet through the spacing adjusting mechanism, the spacing between the first and second limiting sheets can be adjusted through the spacing adjusting mechanism, and the diameter of the through hole is adjusted.

[0021] Optionally, a threaded hole is arranged through the first limiting sheet and the second limiting sheet, and the spacing adjusting mechanism comprises:

[0022] Two spaced-apart screw rods, end portions of the screw rods pass through corresponding threaded holes of the first limiting sheet and the second limiting sheet.

[0023] Optionally, the cable limiting device further comprises:

[0024] A controller is connected with the wind turbine main control system, the vertical displacement adjusting mechanism and the lateral displacement adjusting mechanism, and is configured to control the vertical displacement adjusting mechanism and the lateral displacement adjusting mechanism to adjust the position of the torsion cable based on the yaw angle of the wind turbine accepted from the wind turbine main control system during the yawing of the wind turbine.

[0025] The embodiment of the present application also provides a control method of the cable limiting device, which is applied to the cable limiting device and includes the following steps:

[0026] Step 1: obtaining a yaw angle A of a wind turbine;

[0027] Step 2: obtaining a current angle and a maximum adjustable angle of a lateral displacement adjusting mechanism on an Xth annular track, wherein X = 1, 2,..., n;

[0028] Step 3: judging whether the sum of the current angle of the lateral displacement adjusting mechanism on the Xth annular track and a remaining yaw angle A of the Xth annular track is greater than the maximum adjustable angle P of the lateral displacement adjusting mechanism on the Xth annular track. X :

[0029] If yes, controlling the lateral displacement adjusting mechanisms on the Xth annular track and all the annular tracks above the Xth annular track to move the maximum adjustable angle P X , controlling a vertical displacement adjusting mechanism to adjust the spacing between all the annular tracks below the Xth annular track to a preset distance value, and updating data by A = A - P X and X = X + 1, and then returning to Step 2.

[0030] If no, controlling the lateral displacement adjusting mechanisms on the Xth annular track and all the annular tracks above the Xth annular track to move a displacement corresponding to the remaining yaw angle A of the Xth annular track, and controlling the vertical displacement adjusting mechanism to adjust the spacing between all the annular tracks below the Xth annular track to the preset distance value.

[0031] Optionally, for the lateral displacement adjusting mechanism on each annular track:

[0032] The current angle of the lateral displacement adjusting mechanism is obtained by the following method:

[0033] taking the position of a next lateral displacement adjusting mechanism of the lateral displacement adjusting mechanism as a starting position of the lateral displacement adjusting mechanism;

[0034] obtaining a displacement amount of the lateral displacement adjusting mechanism on the corresponding annular track based on the starting position;

[0035] obtaining the current angle of the lateral displacement adjusting mechanism based on the ratio of the displacement amount to the circumference of the annular track;

[0036] The maximum adjustable angle of the transverse displacement adjusting mechanism is calculated in the following way:

[0037] The vertical distance value between the transverse displacement adjusting mechanism and the transverse displacement adjusting mechanism on the next layer of the annular track is obtained, as well as the length of the twisted cable between the transverse displacement adjusting mechanism and the transverse displacement adjusting mechanism on the next layer of the annular track;

[0038] Based on the vertical distance value and the length of the twisted cable, the maximum adjustable angle of the transverse displacement adjusting mechanism is obtained by using a trigonometric function relationship.

[0039] In another aspect, the application provides a wind turbine, comprising the cable limiting device described above.

[0040] The technical solution has the advantages of simple structure, and can adjust the position of the twisted cable according to the yaw angle of the wind turbine during the yaw process of the wind turbine, and limit the twisted cable after the yaw of the wind turbine is completed, thereby effectively reducing the shaking and mutual entanglement of the twisted cable, reducing the wear of the twisted cable, and improving the service life of the twisted cable and the operation safety of the wind turbine.

[0041] Other features and advantages of the embodiments of the application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following detailed description to explain the embodiments of the application, but do not constitute a limitation on the embodiments of the application. In the drawings:

[0043] Figure 1 is a structural schematic diagram of the cable limiting device provided by the application;

[0044] Figure 2 is a front view of the cable limiting device provided by the application;

[0045] Figure 3 is a front view after the yaw is completed;

[0046] Figure 4 is a structural schematic diagram of an annular track and a transverse displacement adjusting mechanism provided by the application;

[0047] Figure 5 is a system block diagram of the cable limiting device provided by the application;

[0048] Figure 6 is a structural schematic diagram of the twisted cable rack provided by the application;

[0049] Figure 7 is a schematic diagram of the maximum adjustable angle provided by the application;

[0050] Figure 8 is a flow chart of the control method of the cable limiting device provided by the present application.

[0051] Explanation of reference numerals

[0052] 1-torsion cable; 2-circular track; 3-vertical displacement adjusting mechanism;

[0053] 4-torsion cable holder; 5-transverse displacement adjusting mechanism; 6-controller;

[0054] 7-wind turbine main control system; 21-fixed gear; 31-vertical track;

[0055] 32-vertical sliding block; 41-through hole; 42-first limiting piece;

[0056] 43-second limiting piece; 44-distance adjusting mechanism; 51-transverse sliding block;

[0057] 52-driving motor; 53-rotary shaft gear; 401-through slot. DETAILED DESCRIPTION

[0058] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0059] In the embodiments of the present application, the orientation words such as "up", "down", "left", "right" used without the opposite description generally refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used.

[0060] The terms "first", "second", "third" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance.

[0061] The terms "parallel", "vertical" and the like do not mean that the components must be absolutely parallel or vertical, but can be slightly inclined. For example, "parallel" only means that its direction is relatively more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly inclined.

[0062] The terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal, vertical or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0063] Furthermore, terms like "approximately" and "substantially" are intended to clarify that the relevant content does not require absolute precision, but rather allows for certain deviations. For example, "approximately equal" does not simply mean absolute equality. Because absolute equality is difficult to achieve in actual production and operational processes, certain deviations generally exist. Therefore, in addition to absolute equality, "approximately equal" also encompasses the aforementioned situation of certain deviations. Taking this as an example, in other contexts, unless otherwise specified, terms like "approximately" and "substantially" have similar meanings as described above.

[0064] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0065] Figure 1 It is a structural schematic diagram of the cable limiting device provided by the present invention; Figure 2 is a front view of the cable limiting device provided by the present invention; Figure 3 This is a front view after the yaw provided by the present invention is completed; Figure 4 This is a structural diagram of a ring track and a lateral displacement adjustment mechanism provided by the present invention; Figure 5 This is a system block diagram of the cable limiting device provided by the present invention; Figure 6 It is a structural schematic diagram of the twistable cable rack provided by the present invention; Figure 7 is a schematic diagram of the maximum adjustable angle provided by the present invention; Figure 8 The present invention provides a flow chart of a method for controlling a cable limiting device.

[0066] like Figures 1-3 As shown, this embodiment provides a cable limiting device for adjusting the position of the twisted cable 1 during the yaw process of the wind turbine and limiting the twisted cable 1 after the yaw of the wind turbine is completed. The device includes:

[0067] A plurality of annular tracks 2 are arranged at intervals on the inner wall of the tower of the wind turbine generator set through a vertical displacement adjustment mechanism 3, wherein the vertical displacement adjustment mechanism 3 is used to adjust the vertical displacement of each annular track 2 in the tower;

[0068] There are multiple twistable cable racks 4, and each circular track 2 is provided with a twistable cable rack 4 through a lateral displacement adjustment mechanism 5. The twistable cable rack 4 is provided with a through hole 41 for the twisted cable 1 to pass through. The lateral displacement adjustment mechanism 5 is used to adjust the displacement of each twistable cable rack 4 on the corresponding circular track 2.

[0069] Specifically, in the embodiment, in order to match the position of the torsion cable 1 with the yaw angle during the yawing of the wind turbine generator, the vertical displacement adjusting mechanism 3 is arranged on the inner wall of the tower of the wind turbine generator, and the annular track 2 is arranged on the vertical displacement adjusting mechanism 3, so as to realize the vertical displacement of the annular track 2 in the tower. In addition, the torsion cable holder 4 is arranged on each annular track 2 through a horizontal displacement adjusting mechanism 5, the horizontal displacement adjusting mechanism 5 can make the torsion cable holder 4 move along the annular track 2 in a circular motion, the torsion cable holder 4 is provided with a through hole 41, and the torsion cable 1 passes through the through hole 41 to be limited. Therefore, the position of the torsion cable 1 is adjusted through the vertical displacement adjusting mechanism 3 and the horizontal displacement adjusting mechanism 5, the swing and the mutual entanglement of the torsion cables are effectively reduced, the wear of the torsion cables is reduced, and the service life of the torsion cables and the operation safety of the wind turbine generator are improved.

[0070] Further, as shown in Figures 1-3 the vertical displacement adjusting mechanism 3 comprises:

[0071] a plurality of vertical tracks 31, which are arranged on the inner wall of the tower of the wind turbine generator in a spaced manner;

[0072] a plurality of vertical sliders 32, one of which is arranged on each vertical track 31, and each annular track 2 is arranged on the corresponding vertical slider 32.

[0073] Specifically, in the embodiment, the vertical track 31 is arranged in a plurality of vertical tracks, which are arranged on the inner wall of the tower of the wind turbine generator in a spaced manner. By arranging a plurality of vertical tracks 31 and vertical sliders 32, the stress of the annular track 2 can be more uniform, and the stability of the connection can be ensured.

[0074] Further, at least one vertical track 31 and the vertical slider 32 on the vertical track 31 constitute a linear motor module, and the vertical slider 32 is driven by a linear motor to realize the movement of the vertical slider 32 along the vertical track 31.

[0075] Specifically, in the embodiment, the vertical track 31 and the vertical slider 32 on the vertical track 31 constitute a linear motor module, so that the vertical slider 32 can be driven by a linear motor to realize the movement of the vertical slider 32 along the vertical track 31, and fast and accurate displacement adjustment can be realized.

[0076] Alternatively, a driving mechanism is arranged on the inner wall of the tower of the wind turbine generator to drive the vertical slider 32, and the driving mechanism is connected with the corresponding vertical slider 32 to drive the vertical slider 32 to move along the corresponding vertical track 31.

[0077] Specifically, in this embodiment, in order to realize the movement of the vertical slider 32, a driving mechanism is arranged to drive the slider, specifically, a screw mechanism, a pneumatic cylinder, an electric cylinder, a hydraulic cylinder or a motor can be used to drive, in this way, the stability is high, the structure is simple, and the service life is long.

[0078] Further, as shown in Figure 4 each annular track 2 is provided with a fixed gear 21 along the track extension direction;

[0079] The lateral displacement adjusting mechanism 5 comprises:

[0080] The lateral slider 51 is slidingly arranged on the corresponding annular track 2;

[0081] The driving motor 52 is arranged on the lateral slider 51, and the rotating shaft of the driving motor 52 is connected with the fixed gear 21 through the rotating shaft gear 53, which is used to generate driving force to move the lateral slider 51 on the corresponding annular track 2.

[0082] Specifically, in one embodiment, the fixed gear 21 and the rotating shaft gear 53 are arranged as bevel gears, in this type of gear, the bevel gears are arranged on the upper surface of the annular track 2, as shown in Figure 4 , and the driving motor 52 is horizontally arranged on or in the lateral slider 51, and the movement of the lateral slider 51 on the annular track 2 is realized through the two bevel gears. In this way, the lateral slider 51 is a ball slider.

[0083] In another embodiment, the fixed gear 21 and the rotating shaft gear 53 are arranged as ordinary gears, in this type of gear, the ordinary gears are arranged on the side surface of the annular track 2, and the driving motor 52 is vertically arranged on or in the lateral slider 51, and the movement of the lateral slider 51 on the annular track 2 is realized through the two ordinary gears.

[0084] The above-mentioned way is used to drive the lateral slider 51, which can realize accurate and fast displacement control, and has simple structure and long service life.

[0085] Further, as shown in Figure 6 , the twistable cable holder 4 comprises:

[0086] The first limiting piece 42 and the second limiting piece 43 are oppositely arranged, the first limiting piece 42 is rotatably arranged on the lateral displacement adjusting mechanism 5, and the adjacent end of the first limiting piece 42 and the second limiting piece 43 is provided with a through slot 401, and the through slots 401 on the first limiting piece 42 and the second limiting piece 43 constitute the through hole 41;

[0087] A spacing adjustment mechanism 44 is arranged between the first limiting piece 42 and the second limiting piece 43, and the spacing between the first limiting piece 42 and the second limiting piece 43 can be adjusted through the spacing adjustment mechanism 44, so as to adjust the diameter of the through hole 41.

[0088] Specifically, in the present embodiment, since there is a certain angle deflection during yawing, the torsion cable 1 will also have an angle deflection. In order to reduce the torque of the device and improve the service life, the torsionable cable holder 4 is arranged to bear the torsion cable 1, and the torsionable cable holder 4 is arranged to cooperate with the angle deflection of the torsion cable 1. More specifically, the torsionable cable holder 4 is arranged to include a first limiting piece 42 and a second limiting piece 43, wherein the first limiting piece 42 is rotatably arranged on the transverse displacement adjustment mechanism 5 (i.e. on the transverse sliding block 51) through a pin shaft, to realize the angle deflection function, and the second limiting piece 43 is connected to the first limiting piece 42 through a spacing adjustment mechanism 44, and adjacent positions on the first limiting piece 42 and the second limiting piece 43 are provided with through grooves 401, and the two through grooves 401 constitute a through hole 41 for accommodating the torsion cable 1. The spacing adjustment mechanism 44 adjusts the spacing between the first limiting piece 42 and the second limiting piece 43, so as to adapt to torsion cables 1 of different diameters and improve the applicability. More specifically, the through grooves 401 are arranged in a semi-cylindrical structure, and the two through grooves 401 of the first limiting piece 42 and the second limiting piece 43 can be combined into a cylindrical through hole 41.

[0089] Further, as shown in the Figure 6 first limiting piece 42 and the second limiting piece 43 are provided with threaded holes, and the spacing adjustment mechanism 44 includes:

[0090] two spaced apart screw rods, the ends of the screw rods penetrating through the corresponding threaded holes on the first limiting piece 42 and the second limiting piece 43.

[0091] Specifically, in the process of use, two spaced apart screw rods are used as the spacing adjustment mechanism 44, which can ensure the stability of the connection. When it is necessary to adjust the diameter of the through hole 41, the screw rod can be directly rotated to quickly adjust the diameter, which is convenient to use. In addition, in order to further improve the stability of the connection, after the ends of the screw rods penetrate through the corresponding threaded holes on the first limiting piece 42 and the second limiting piece 43, the nuts are screwed in to avoid the screw rods from being separated from the first limiting piece 42 and the second limiting piece 43, thereby improving the operation safety.

[0092] Further, as shown in the Figure 5 cable limiting device further includes:

[0093] The controller 6 is connected to the wind turbine main control system 7, the vertical displacement adjustment mechanism 3 and the lateral displacement adjustment mechanism 5, and is used to control the operation of the vertical displacement adjustment mechanism 3 and the lateral displacement adjustment mechanism 5 to adjust the position of the twist cable 1 based on the yaw angle of the wind turbine received from the wind turbine main control system 7 during the yaw process of the wind turbine.

[0094] Specifically, in this embodiment, the wind direction in the environment can be collected in real time by means of the wind direction and speed meter arranged on the wind turbine, and the wind direction data is sent to the wind turbine main control system 7. The wind turbine main control system 7 analyzes and determines the yaw angle that the wind turbine currently needs to yaw based on the received wind direction data, and sends it to the controller 6. The controller 6 controls the operation of the vertical displacement adjustment mechanism 3 and the lateral displacement adjustment mechanism 5 based on the received yaw angle, and realizes the displacement adjustment of the corresponding vertical slider 32 and the lateral slider 51. The position of the twist cable 1 is adjusted through automatic control to adapt to the yaw angle of the wind turbine, thereby protecting the twist cable 1.

[0095] This embodiment also provides a control method for a cable limiting device, which is applied to the above-mentioned cable limiting device. Figures 7-8 As shown, the method includes:

[0096] Step 1: Obtain the yaw angle A of the wind turbine;

[0097] Step 2: Obtain the current angle and maximum adjustable angle of the lateral displacement adjustment mechanism on the X-th layer of the circular track, where X=1, 2, ..., n;

[0098] Step 3: Determine whether the sum of the current angle of the lateral displacement adjustment mechanism on the X-th layer circular track and the remaining required yaw angle A of the layer is greater than the maximum adjustable angle P of the lateral displacement adjustment mechanism on the X-th layer circular track. X :

[0099] If yes, then control the lateral displacement adjustment mechanism on all the circular tracks on the Xth layer and above to move the maximum adjustable angle P X The corresponding displacement and control vertical displacement adjustment mechanism adjusts the spacing between all the circular tracks below the Xth layer to the preset distance value, and uses A=AP X After updating the data with X=X+1, go to step 2;

[0100] If not, the lateral displacement adjustment mechanism on all circular tracks on and above the Xth layer is controlled to move the displacement corresponding to the remaining required yaw angle A of the layer, and the vertical displacement adjustment mechanism is controlled to adjust the spacing between all circular tracks below the Xth layer to the preset distance value.

[0101] Specifically, the yaw angle A of the wind turbine is determined by the wind turbine master control system 7 based on the received wind direction data, and for the calculated yaw angle, it is needed to determine whether it exceeds the maximum yaw angle of the wind turbine, if it exceeds the maximum yaw angle, the yaw is restored to the initial position, and the calculation is re-performed, if it does not exceed the maximum yaw angle, the yaw adjustment is performed. The yaw angle is represented by the starting position of the lateral displacement adjustment mechanism on the first layer of annular tracks.

[0102] In a specific embodiment, taking the case of three annular tracks being provided as an example, the yaw angle of the wind turbine is 15 degrees, the maximum adjustable angle of the lateral displacement adjustment mechanism on the first layer of annular tracks is 40 degrees, and the current angle of the lateral displacement adjustment mechanism on the first layer of annular tracks is 20 degrees, the sum of the current angle of the lateral displacement adjustment mechanism on the first layer of annular tracks and the remaining required yaw angle of the first layer of annular tracks is 35 degrees, which is less than the maximum adjustable angle 40 degrees of the lateral displacement adjustment mechanism on the first layer of annular tracks, so the lateral displacement adjustment mechanism on the first layer of annular tracks is adjusted to the position corresponding to 15 degrees (by moving the lateral displacement adjustment mechanism to the position corresponding to 15 degrees), and subsequent displacement adjustment of the second layer and third layer lateral displacement adjustment mechanisms is not required, and the vertical displacement adjustment mechanism is controlled to adjust the distance between all annular tracks below the first layer (the first layer of annular tracks and the second layer of annular tracks, the second layer of annular tracks and the third layer of annular tracks) to a preset distance value.

[0103] In a specific embodiment, taking the case of three annular tracks being provided as an example, the yaw angle of the wind turbine is 50 degrees, the maximum adjustable angle of the lateral displacement adjustment mechanism on the first layer of annular tracks is 40 degrees, and the current angle of the lateral displacement adjustment mechanism on the first layer of annular tracks is 0 degrees, the sum of the current angle of the lateral displacement adjustment mechanism on the first layer of annular tracks and the remaining required yaw angle of the first layer of annular tracks is 50 degrees, which is greater than the maximum adjustable angle 40 degrees of the lateral displacement adjustment mechanism on the first layer of annular tracks, therefore, the position of the lateral displacement adjustment mechanism on at least two layers of annular tracks needs to be adjusted to match the yaw angle.

[0104] First, the lateral displacement adjustment mechanism on the first layer of annular tracks is adjusted to the maximum adjustable angle (by moving the lateral displacement adjustment mechanism to the position corresponding to the maximum adjustable angle (40 degrees)), and the vertical displacement adjustment mechanism is adjusted to make the vertical distance between the first layer of annular tracks and the second layer of annular tracks, and the second layer of annular tracks and the third layer of annular tracks, be a preset distance value, at this time, the lateral displacement adjustment mechanism on the first layer of annular tracks has been moved to the position corresponding to the maximum adjustable angle (40 degrees).

[0105] Secondly, for the lateral displacement adjustment mechanism on the second layer of the annular track: the remaining required yaw angle of the second layer of the annular track is updated (i.e., the difference between the remaining required yaw angle of the first layer of the annular track and the maximum adjustable angle of the lateral displacement adjustment mechanism on the first layer of the annular track is 10 degrees), the maximum adjustable angle of the lateral displacement adjustment mechanism on the second layer of the annular track is 35 degrees, and the current angle of the lateral displacement adjustment mechanism on the second layer of the annular track is 20 degrees, and the sum of the current angle of the lateral displacement adjustment mechanism on the second layer of the annular track and the remaining required yaw angle of the second layer of the annular track is 30 degrees, which is less than the maximum adjustable angle 35 degrees of the lateral displacement adjustment mechanism on the second layer of the annular track. Therefore, the lateral displacement adjustment mechanism on the second layer of the annular track only needs to move 10 degrees to meet the yaw angle of the wind turbine (i.e., move the lateral displacement adjustment mechanism to the position corresponding to 30 degrees), without subsequent displacement adjustment of the third layer of the lateral displacement adjustment mechanism. At the same time, in order to keep the lateral displacement adjustment mechanism on the first layer of the annular track and the leading end of the torsion cable of the wind turbine on the vertical axis to protect the torsion cable, the lateral displacement adjustment mechanism on the first layer of the annular track is controlled to move 10 degrees at the same time as the lateral displacement adjustment mechanism on the second layer of the annular track is adjusted by 10 degrees, so that the yaw angle of the wind turbine is equal to the total angle of the lateral displacement adjustment mechanism on the first layer of the annular track adjusted on the annular track, without subsequent displacement adjustment of the third layer of the lateral displacement adjustment mechanism, and the vertical distance between the second layer of the annular track and the third layer of the annular track is adjusted to the preset distance value.

[0106] More specifically, in the present embodiment, since the maximum adjustable angle of the lateral displacement adjustment mechanism on each layer of the annular track is closely related to the distance between the lateral displacement adjustment mechanisms on adjacent two layers of the annular track, when the lateral displacement adjustment mechanism on the Xth layer of the annular track is adjusted, the spacing between all the annular tracks below the Xth layer of the annular track needs to be adjusted to the preset distance value, so as to ensure that the maximum adjustable angle of the lateral displacement adjustment mechanism on each layer of the annular track remains in the maximum interval, so as to meet the yaw angle of the wind turbine with the least number of lateral displacement adjustment mechanisms, and reduce the complexity of control.

[0107] In the present scheme, the preset distance value can be set according to a relationship table or a relationship curve, which can represent the relationship between different tower diameters, different cable diameters and corresponding preset distance values.

[0108] In the prior art, in order to cooperate with the yaw of the wind turbine, a free-hanging cable, i.e. a torsion cable, is usually reserved in the tower. However, during the yaw process of the wind turbine, the angle changes, which causes the torsion, shaking and mutual entanglement of the torsion cable, increases the wear of the torsion cable, reduces the service life of the torsion cable, and even causes certain safety hazards. Through the above scheme, the transverse displacement adjusting mechanism is arranged to adjust the position of the torsion cable during the yaw process, so that the torsion cable is an approximate spiral line, the torsion cable has almost no free-hanging cable, and the problem of violent shaking does not occur. At the same time, the torsion of the cable of the torsion cable in the yaw process is changed into the bending of the torsion cable through the layered sliding, the mutual entanglement of the torsion cable is effectively avoided, the service life of the torsion cable is greatly improved, and the operation safety is improved.

[0109] Further, for each transverse displacement adjusting mechanism on the annular track:

[0110] The current angle of the transverse displacement adjusting mechanism is calculated in the following manner:

[0111] The position of the next transverse displacement adjusting mechanism of the transverse displacement adjusting mechanism is taken as the starting position of the transverse displacement adjusting mechanism;

[0112] Based on the starting position, the displacement amount of the transverse displacement adjusting mechanism on the corresponding annular track is obtained;

[0113] Based on the ratio of the displacement amount to the circumference of the annular track, the current angle of the transverse displacement adjusting mechanism is obtained.

[0114] Specifically, in the embodiment, since the circumference of the annular track is a known constant value, when the current angle of the transverse displacement adjusting mechanism is calculated, since the position of the next transverse displacement adjusting mechanism does not change when the last transverse displacement adjusting mechanism moves, due to the pulling of the cable, the position of the next transverse displacement adjusting mechanism is the original position of the movement of the last transverse displacement adjusting mechanism, so the position of the next transverse displacement adjusting mechanism is equivalent to the starting position of the last transverse displacement adjusting mechanism, so as to obtain the movement distance of the last transverse displacement adjusting mechanism on the annular track thereof, calculate the ratio of the displacement amount to the circumference of the annular track, and multiply 360 to obtain the current angle of the transverse displacement adjusting mechanism. The calculation formula is as follows:

[0115]

[0116] Wherein, θ is the current angle of the transverse displacement adjusting mechanism; s is the movement distance of the transverse displacement adjusting mechanism; and l is the circumference of the annular track.

[0117] Further, for each transverse displacement adjusting mechanism on the annular track:

[0118] The maximum adjustable angle of the lateral displacement adjusting mechanism is calculated in the following way:

[0119] The vertical distance value between the lateral displacement adjusting mechanism and the lateral displacement adjusting mechanism on the next layer of the annular track is obtained, as well as the length of the twisted cable between the lateral displacement adjusting mechanism and the lateral displacement adjusting mechanism on the next layer of the annular track.

[0120] Based on the vertical distance value and the length of the twisted cable, the maximum adjustable angle of the lateral displacement adjusting mechanism is obtained by using a trigonometric function relationship.

[0121] Specifically, in the present embodiment, when calculating the maximum adjustable angle, since the length of the twisted cable between the lateral displacement adjusting mechanism on the previous layer and the lateral displacement adjusting mechanism on the next layer is known, the vertical distance value between the lateral displacement adjusting mechanism on the previous layer and the lateral displacement adjusting mechanism on the next layer of the annular track is obtained, and in addition, there is a right angle between the lateral displacement adjusting mechanism on the previous layer and the lateral displacement adjusting mechanism on the next layer. Under the condition that two side lengths and an angle are known, the included angle between the lateral displacement adjusting mechanism on the previous layer and the lateral displacement adjusting mechanism on the next layer, taken as the vertical direction as the reference line, can be obtained by using a trigonometric function relationship, as the maximum adjustable angle.

[0122] On the other hand, the present embodiment also provides a wind turbine, which, in addition to the conventional structure of the wind turbine in the prior art, comprises the cable limiting device described above. The cable limiting device described above can adjust the position of the twisted cable during the yawing process of the wind turbine and limit the twisted cable after the yawing of the wind turbine is completed, effectively reducing the swinging and mutual entanglement of the twisted cables, reducing the wear of the twisted cables, and improving the service life of the twisted cables and the operation safety of the wind turbine.

[0123] The optional embodiments of the embodiments of the present application are described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above-described embodiments. Within the technical concept range of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and these simple modifications all belong to the protection scope of the embodiments of the present application.

[0124] Those skilled in the art can understand that all or part of the steps of the methods in the above-described embodiments can be completed by programs instructing related hardware, and the programs are stored in a storage medium, including a plurality of instructions for causing a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0125] The optional embodiments of the present application are described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above-described embodiments. Within the technical concept scope of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and all these simple modifications belong to the protection scope of the embodiments of the present application. In addition, it should be noted that, in the above-described specific embodiments, various specific technical features described in the embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the present application

[0126] In addition, various different embodiments of the embodiments of the present application can also be combined in any appropriate manner, as long as they do not deviate from the idea of the embodiments of the present application, and they should also be considered as disclosed by the embodiments of the present application.

Claims

1. A cable limiting device for adjusting the position of a twisted cable (1) during the yaw process of a wind turbine and for limiting the position of the twisted cable (1) after the yaw of the wind turbine is completed, characterized in that: The device comprises: A plurality of annular tracks (2) are arranged at intervals on the inner wall of a tower of a wind turbine generator set via a vertical displacement adjustment mechanism (3), wherein the vertical displacement adjustment mechanism (3) is used to adjust the vertical displacement of each annular track (2) within the tower; A plurality of twistable cable racks (4), each annular track (2) being provided with a twistable cable rack (4) via a lateral displacement adjustment mechanism (5), the twistable cable rack (4) being provided with a through hole (41) for the twisted cable (1) to pass through, the lateral displacement adjustment mechanism (5) being used to adjust the displacement of each twistable cable rack (4) on the corresponding annular track (2); A controller (6) is connected to the wind turbine main control system (7), the vertical displacement adjustment mechanism (3) and the lateral displacement adjustment mechanism (5), and is used to control the operation of the vertical displacement adjustment mechanism (3) and the lateral displacement adjustment mechanism (5) to adjust the position of the twist cable (1) based on the yaw angle of the wind turbine received from the wind turbine main control system (7) during the yaw process of the wind turbine, comprising: Step 1: Get the yaw angle of the wind turbine A ; Step 2: Get the X The current angle and maximum adjustable angle of the lateral displacement adjustment mechanism on the layer ring track, X =1, 2, ..., n ; Step 3: Determine X The current angle of the lateral displacement adjustment mechanism on the layer circular track and the remaining required yaw angle of the layer A Is the sum greater than the X The maximum adjustable angle of the lateral displacement adjustment mechanism on the layer ring track P X : If so, control X The maximum adjustable angle of the lateral displacement adjustment mechanism on all circular tracks above the floor P X The corresponding displacement and control vertical displacement adjustment mechanism will X The spacing between all circular tracks below the layer is adjusted to the preset distance value, and the A=A - P X and X=X +1 After updating the data, go to step 2; If not, control X The lateral displacement adjustment mechanism on all the circular tracks above the layer moves the remaining yaw angle required for the layer A The corresponding displacement and control vertical displacement adjustment mechanism will X The spacing between all circular tracks below the layer is adjusted to the preset distance value.

2. The cable limiting device according to claim 1, characterized in that: The vertical displacement adjustment mechanism (3) comprises: A plurality of vertical rails (31) are arranged at intervals on the inner wall of the tower of the wind turbine generator set; A plurality of vertical sliders (32) are provided, each vertical track (31) is provided with a vertical slider (32), and each annular track (2) is provided on a corresponding vertical slider (32).

3. The cable limiting device according to claim 2, characterized in that: At least one vertical rail (31) and a vertical slider (32) on the vertical rail (31) constitute a linear motor module, and the vertical slider (32) is driven by the linear motor to achieve movement of the vertical slider (32) along the vertical rail (31); or The device further comprises: A driving mechanism is arranged on the inner wall of the tower of the wind turbine generator set, and the driving mechanism is connected to the corresponding vertical slider (32) and is used to drive the vertical slider (32) to move along the corresponding vertical track (31).

4. The cable limiting device according to claim 1, characterized in that: A fixed gear (21) is provided on each annular track (2) along the track extension direction; The lateral displacement adjustment mechanism (5) comprises: A transverse slider (51) is slidably arranged on the corresponding annular track (2); A drive motor (52) is provided on the transverse slider (51), and a rotating shaft of the drive motor (52) is meshedly connected with a fixed gear (21) via a rotating shaft gear (53) to generate a driving force to move the transverse slider (51) on the corresponding annular track (2).

5. The cable limiting device according to claim 1, characterized in that: The twistable cable rack (4) comprises: A first limiting piece (42) and a second limiting piece (43) are arranged opposite to each other, the first limiting piece (42) is rotatably arranged on the lateral displacement adjustment mechanism (5), and adjacent ends of the first limiting piece (42) and the second limiting piece (43) are each provided with a through slot (401), and the through slots (401) on the first limiting piece (42) and the second limiting piece (43) constitute the through hole (41); A spacing adjustment mechanism (44), wherein the second limiting piece (43) is connected to the first limiting piece (42) via the spacing adjustment mechanism (44), and the spacing between the first limiting piece (42) and the second limiting piece (43) can be adjusted via the spacing adjustment mechanism (44) to adjust the diameter of the through hole (41).

6. The cable limiting device according to claim 5, characterized in that: The first limiting piece (42) and the second limiting piece (43) are provided with threaded holes, and the spacing adjustment mechanism (44) includes: Two screws are spaced apart, and the ends of the screws pass through corresponding threaded holes on the first limiting piece (42) and the second limiting piece (43).

7. The cable limiting device according to claim 1, characterized in that: For the lateral displacement adjustment mechanism on each circular track: The current angle of the lateral displacement adjustment mechanism is calculated in the following manner: The position of the lateral displacement regulating mechanism on the next layer of the lateral displacement regulating mechanism is used as the starting position of the lateral displacement regulating mechanism; Based on the starting point position, obtaining the displacement of the lateral displacement adjustment mechanism on the corresponding annular track; obtaining a current angle of the lateral displacement adjustment mechanism based on a ratio of the displacement amount to the circumference of the annular track; The maximum adjustable angle of the lateral displacement adjustment mechanism is calculated in the following way: Obtaining a vertical distance between the lateral displacement adjustment mechanism and the lateral displacement adjustment mechanism on the next layer of circular track, and a twisted cable length between the lateral displacement adjustment mechanism and the lateral displacement adjustment mechanism on the next layer of circular track; Based on the vertical distance value and the twisted cable length, the maximum adjustable angle of the lateral displacement adjustment mechanism is obtained using a trigonometric function relationship.

8. A wind turbine generator system, characterized in that: The cable limiting device comprises the cable limiting device according to any one of claims 1 to 7, wherein the cable limiting device is arranged on the inner wall of the tower of the wind turbine.

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