Fan yaw control method, system and equipment and storage medium

Abstract

The invention relates to the technical field of fan yawing, in particular to a fan yawing control method, system and device and a storage medium, and the method comprises the following steps: obtaining a wind direction predicted value at the next yawing occurrence moment and N historical wind directions before the moment to obtain a target yawing angle, and when a fan meets a yawing condition, determining the yawing angle of the fan according to the target yawing angle; whether the target yaw angle is larger than the economic benefit optimal yaw angle of the corresponding yaw direction or not is judged, when the remaining yaw adjustment time is zero, yaw is conducted on the basis of the target yaw angle and the weighted value of the economic benefit optimal yaw angle of the corresponding yaw direction, and otherwise, the target yaw angle is updated according to the environment parameters at the current moment. And controlling the yaw speed according to the yaw interval. The adaptive capacity of the fan to yaw control under the variable wind condition can be met, the yaw accuracy can be improved, and abrasion of a braking system is reduced.

Description

Technical Field

[0001] The present invention relates to the field of wind turbine yaw technology, and in particular to a wind turbine yaw control method, system, device and storage medium. Background Art

[0002] The main function of the yaw system of a wind turbine is to rotate the nacelle and impeller according to the change of wind direction, so that the impeller faces the wind direction, so that the impeller can obtain the maximum wind energy for power generation. The process of facing the wind is that the multiple yaw drive motors of the yaw system rotate simultaneously to drive the nacelle and impeller to rotate, and the braking system maintains the nacelle at the target yaw angle.

[0003] Wind is uncertain and volatile. Existing active yaw technology determines the wind direction by the angle between the wind rotor direction and the wind direction deviation. The wind direction is the predicted wind direction or the real-time wind direction. When the angle is greater than the set angle, yaw is executed. After the yaw is adjusted, when the angle is less than the set angle, the yaw stops. However, this yaw control method has at least the following defects: (1) The yaw adjustment method based on the real-time wind direction has a large lag, which makes it difficult to meet the wind turbine's adaptive yaw control ability under variable wind conditions, resulting in a series of problems such as a decrease in wind energy utilization and a decrease in comprehensive economic benefits; (2) While the yaw adjustment method based on the predicted wind direction improves the timeliness of yaw control, it also has the problem of prediction accuracy; (3) If the wind direction changes frequently, frequent yaw will occur, causing increased wear on the braking system. Summary of the invention

[0004] The object of the present invention is to provide a wind turbine yaw control method, system, device and storage medium, aiming to solve the problems pointed out in the background technology.

[0005] The embodiment of the present invention is implemented by the following technical solution: A wind turbine yaw control method comprises the following steps:

[0006] Obtain the wind speed-wind direction change angle relationship curve, use the relationship curve as the judgment condition for starting the yaw system under various wind speed conditions, and use different yaw delays to simulate different yaw strategies. Based on the target economic benefits, determine the yaw time t from the multiple sets of yaw control parameters obtained by simulation. 1 ;

[0007] Get the next yaw occurrence time t 1 The wind direction prediction value and t 1 The target yaw angle is obtained based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1;

[0008] When the wind turbine meets the yaw condition and the target yaw angle is greater than the first wind angle threshold |θ|, determine the current time t2 With t 1 Is the time difference t equal to 0? 1 Compared with the last wind turbine yaw time t 1 -1 time difference t 3 Is it less than the set time difference t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw ε, ε is the weighted value of the target yaw angle and the first wind angle threshold |θ|. When the second time difference condition is met, the wind turbine is yawed at the second yaw speed v 2 Yaw ε;

[0009] When the wind turbine meets the yaw condition and the target yaw angle is greater than the second wind angle threshold -|θ|, determine whether t is 0 and whether t 3 Is it less than t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw -ε, the first time difference condition is that t is 0 and t 3 Less than t 4 , -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|. When the second time difference condition is met, the wind turbine is yawed at the second speed v 2 Yaw -ε, the second time difference condition is that t is 0 and t 3 Greater than t 4 .

[0010] According to a preferred embodiment, the target yaw angle is determined based on a predicted wind direction value and an average of N historical wind directions.

[0011] According to a preferred embodiment, the target yaw angle is determined using the following expression:

[0012]

[0013] In the above formula, For fan t 1 The target yaw angle at the moment, mean( ) is the mean function, α is the wind direction prediction value output by the wind direction prediction model, For fan t 1 The sum of N historical wind directions before the moment, Indicates t 1 The historical trend at the moment.

[0014] According to a preferred implementation, the yaw condition is that the wind speed in the wind farm is greater than a set wind speed value or the wind turbine is in a grid-connected state.

[0015] The present invention also provides a wind turbine yaw control system, comprising:

[0016] The relationship curve acquisition module is used to obtain the wind speed-wind direction change angle relationship curve, and use the relationship curve as the judgment condition for starting the yaw system under various wind speed conditions, and use different yaw delays to simulate different yaw strategies. Based on the target economic benefit, the yaw time t is determined from the multiple sets of yaw control parameters obtained by simulation. 1 ;

[0017] Target yaw angle acquisition module, obtains the next yaw occurrence time t 1 The wind direction prediction value and t 1 The target yaw angle is obtained based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1;

[0018] The judgment module determines the current time t when the wind turbine meets the yaw condition and the target yaw angle is greater than the first wind angle threshold |θ|. 2 With t 1 Is the time difference t equal to 0? 1 Compared with the last wind turbine yaw time t 1 -1 time difference t 3 Is it less than the set time difference t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw ε, ε is the weighted value of the target yaw angle and the first wind angle threshold |θ|. When the second time difference condition is met, the wind turbine is yawed at the second yaw speed v 2 Yaw ε;

[0019] When the wind turbine meets the yaw condition and the target yaw angle is greater than the second wind angle threshold -|θ|, determine whether t is 0 and whether t 3 Is it less than t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw -ε, the first time difference condition is that t is 0 and t 3 Less than t 4 , -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|. When the second time difference condition is met, the wind turbine is yawed at the second speed v 2 Yaw -ε, the second time difference condition is that t is 0 and t 3 Greater than t 4 .

[0020] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described above when executing the computer program.

[0021] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described above is implemented.

[0022] The technical solution of a wind turbine yaw control method, system, device and storage medium provided by the present invention has at least the following advantages and beneficial effects:

[0023] (1) By calculating the target yaw angle based on the wind direction prediction value and the historical wind direction, it can reflect both the actual wind direction change characteristics and the historical wind direction change characteristics, and can effectively reduce the yaw error;

[0024] (2) By judging the time difference t, the predicted wind direction can be updated by the real-time environmental parameter changes before the next yaw to obtain the best target yaw angle to match the next yaw, which can effectively improve the yaw accuracy. 3 By making a judgment and controlling the yaw speed according to the judgment result, it is possible to effectively avoid the aggravated wear of the brake system caused by frequent yaw, so as to extend the service life of the brake system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic flow chart of a wind turbine yaw control method provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Example 1

[0028] The embodiment of the present invention provides a wind turbine yaw control method, the flow chart of the yaw control method is shown in FIG. Figure 1 shown.

[0029] Specifically in this embodiment, the yaw control method includes steps S1 to S5, which are specifically as follows:

[0030] Step S1, obtaining a wind speed-wind direction change angle relationship curve, using the relationship curve as a judgment condition for starting the yaw system under various wind speed conditions, using the average wind direction value within a set time as the operating angle of the yaw system, and using different yaw delays Δt to simulate different yaw strategies, obtaining multiple sets of yaw control parameters, and determining the yaw time t from the multiple sets of yaw control parameters obtained by simulation based on the target economic benefit 1, the yaw time t 1 In this embodiment, the comprehensive economic benefit of yaw is determined based on the increased power generation income obtained by executing the yaw strategy under different yaw delays and the yaw motor power consumption caused by executing the yaw strategy, and the maximization of the comprehensive economic benefit of yaw is taken as the target economic benefit.

[0031] Get the next yaw occurrence time t 1 The wind direction prediction value and t 1 The target yaw angle is obtained based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1.

[0032] The wind direction prediction value can be obtained by using the wind direction prediction model based on ARIMA and neural network LSTM, which will not be described in detail here. The historical wind direction is based on the next yaw time t 1 Obtained from the historical database.

[0033] In one embodiment of the present invention, the target yaw angle is determined based on a predicted wind direction value and an average of N historical wind directions, where N is 4, but is not specifically limited thereto.

[0034] The specific expression is as follows:

[0035]

[0036] In the above formula, For fan t 1 The target yaw angle at the moment, mean( ) is the mean function, α is the wind direction prediction value output by the wind direction prediction model, For fan t 1 The sum of N historical wind directions before the moment, Indicates t 1 The historical trend at the moment.

[0037] It should be noted that by calculating the target yaw angle based on the wind direction prediction value and the historical wind direction, it can reflect both the actual wind direction change characteristics and the historical wind direction change characteristics, and can effectively reduce the yaw error.

[0038] Step S2, determine whether the wind turbine meets the yaw condition. In one implementation of the present embodiment, the yaw condition is that the wind speed in the wind farm is greater than the set wind speed value or the wind turbine is in a grid-connected state, and the set wind speed value here is set to 2.5m / s; when the wind speed in the wind farm is greater than 2.5m / s or the wind turbine is in a grid-connected state, go to step S3, otherwise the yaw stops; it should be noted that, affected by other wind turbines in the wind farm, the wind speed in the wind farm here can be replaced by the incoming wind speed corresponding to each wind turbine.

[0039] Step S3, determine whether the target yaw angle is greater than the first wind angle threshold value |θ|. In the present embodiment, |θ| is the right yaw angle with the best economic benefit. The economically optimal yaw angle can be optionally obtained based on the economically optimal wind turbine yaw angle optimization objective function. The construction of the objective function and the setting of the constraint conditions are not described in detail here.

[0040] When the target yaw angle is greater than the first wind angle threshold value |θ|, go to step S4; otherwise, further determine whether the target yaw angle is greater than the second wind angle threshold value -|θ|, where -|θ| is the left yaw angle with the best economic benefits; when the target yaw angle is greater than the second wind angle threshold value -|θ|, go to step S5; otherwise, the yaw stops, and the wind turbine directly performs yaw control at the yaw angle with the best economic benefits.

[0041] Step S4: Determine the current time t 2 With t 1 Is the time difference t equal to 0? 1 Compared with the last wind turbine yaw time t 1 -1 time difference t 3 Is it less than the set time difference t 4 Here, the time difference t is used to indicate the remaining time for yaw angle adjustment. When the time difference t is 0, in order to achieve the best economic benefit, it is necessary to immediately yaw to the target yaw angle.

[0042] Specifically, when the time difference t is not 0, it means that there is still time to adjust the yaw angle, obtain the current environmental parameters of the wind farm, adjust the predicted wind direction, and go to step S1 to obtain a new target yaw angle; when t is 0 and t 3 Less than t 4 When the first time difference condition is met, it indicates that yaw control needs to be performed immediately. Considering that the time interval between the last wind turbine yaw and the current wind turbine yaw is too short, the braking system is still in a high temperature and high pressure state at this time. Therefore, this embodiment triggers the wind turbine to yaw at the first yaw speed v 1 Yaw ε, when t is 0 and t 3 Greater than t 4 When the second time difference condition is met, the wind turbine rotates at the second yaw speed v 2 Yaw ε, where ε is the weighted value of the target yaw angle and the first pair of wind angle thresholds |θ|, v 1 Less than v 2 .

[0043] Step S5: Similar to step S4, step S5 is for the left yaw of the wind turbine, specifically determining whether t is 0, and determining whether t 3 Is it less than t 4 , if t is not 0, go to step S1, otherwise when t is 0 and t 3 Less than t4 , that is, when the first time difference condition is met, the fan is at v 1 Yaw-ε, when t is 0 and t 3 Greater than t 4 , that is, when the second time difference condition is met, the fan 2 Yaw -ε, where -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|.

[0044] It should be noted that by adjusting the time difference The predicted wind direction can be updated by the real-time environmental parameter changes before the next yaw to obtain the best target yaw angle to match the next yaw, which can effectively improve the yaw accuracy. 3 By making a judgment and controlling the yaw speed according to the judgment result, it is possible to effectively avoid the aggravated wear of the brake system caused by frequent yaw, so as to extend the service life of the brake system.

[0045] Example 2

[0046] An embodiment of the present invention provides a wind turbine yaw control system, comprising:

[0047] The relationship curve acquisition module is used to obtain the wind speed-wind direction change angle relationship curve, and use the relationship curve as the judgment condition for starting the yaw system under various wind speed conditions, and use different yaw delays to simulate different yaw strategies. Based on the target economic benefit, the yaw time t is determined from the multiple sets of yaw control parameters obtained by simulation. 1 ;

[0048] Target yaw angle acquisition module, obtains the next yaw occurrence time t 1 The wind direction prediction value and t 1 The target yaw angle is obtained based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1;

[0049] The judgment module determines the current time t when the wind turbine meets the yaw condition and the target yaw angle is greater than the first wind angle threshold |θ| 2 With t 1 Is the time difference t equal to 0? 1 Compared with the last wind turbine yaw time t 1 -1 time difference t 3 Is it less than the set time difference t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw ε, the first time difference condition is that t is 0 and t 3 Less than t 4, ε is the weighted value of the target yaw angle and the first pair of wind angle thresholds |θ|. When the second time difference condition is met, the wind turbine is yawed at the second speed v 2 Yaw ε, the second time difference condition is that t is 0 and t 3 Greater than t 4 ;

[0050] When the wind turbine meets the yaw condition and the target yaw angle is greater than the second wind angle threshold -|θ|, determine whether t is 0 and whether t 3 Is it less than t 4 , when the first time difference condition is met, the wind turbine moves at the first yaw speed v 1 Yaw -ε, -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|. When the second time difference condition is met, the wind turbine is yawed at the second yaw speed v 2 Yaw -ε, the second time difference condition is that t is 0 and t 3 Greater than t 4 .

[0051] Example 3

[0052] An embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in Embodiment 1 when executing the computer program.

[0053] Example 4

[0054] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method described in Embodiment 1 is implemented.

[0055] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wind turbine yaw control method, characterized in that: The following steps are involved: Obtain a wind speed-wind direction change angle relationship curve, use the relationship curve as a determination condition for starting the yaw system under various wind speed conditions, and simulate different yaw strategies using different yaw delays. Based on the target economic benefit, determine the yaw time t1 from multiple sets of yaw control parameters obtained by simulation; Obtain the wind direction prediction value at the next yaw occurrence time t1 and the N historical wind directions before t1, and obtain the target yaw angle based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1; When the wind turbine meets the yaw condition and the target yaw angle is greater than the first wind angle threshold value |θ|, it is determined whether the time difference t between the current time t2 and t1 is 0, and whether the time difference t3 between t1 and the last wind turbine yaw time t1-1 is less than the set time difference t4. When the first time difference condition is met, the wind turbine yaws ε at the first yaw speed v1, where ε is the weighted value of the target yaw angle and the first wind angle threshold value |θ|. When the second time difference condition is met, the wind turbine yaws ε at the second yaw speed v2; When the wind turbine meets the yaw condition and the target yaw angle is greater than the second wind angle threshold -|θ|, determine whether t is 0 and whether t3 is less than t4. When the first time difference condition is met, the wind turbine yaws -ε at the first yaw speed v1. The first time difference condition is that t is 0 and t3 is less than t4. -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|. When the second time difference condition is met, the wind turbine yaws -ε at the second yaw speed v2. The second time difference condition is that t is 0 and t3 is greater than t4.

2. The wind turbine yaw control method according to claim 1, characterized in that: The target yaw angle is determined based on a wind direction prediction value and an average of N historical wind directions.

3. The wind turbine yaw control method according to claim 2, characterized in that: The target yaw angle is determined using the following expression: ； In the above formula, is the target yaw angle of the wind turbine at time t1, mean( ) is the mean function, α is the wind direction prediction value output by the wind direction prediction model, is the sum of N historical wind directions before wind turbine t1, Indicates the historical wind direction before time t1.

4. The wind turbine yaw control method according to any one of claims 1 to 3, characterized in that: The yaw condition is that the wind speed in the wind farm is greater than a set wind speed value or the wind turbine is in a grid-connected state.

5. A wind turbine yaw control system, characterized in that: include: A relationship curve acquisition module is used to obtain a wind speed-wind direction change angle relationship curve, use the relationship curve as a determination condition for starting the yaw system under various wind speed conditions, and simulate different yaw strategies using different yaw delays. Based on the target economic benefit, the yaw time t1 is determined from multiple sets of yaw control parameters obtained by simulation; A target yaw angle acquisition module obtains the wind direction prediction value at the next yaw occurrence time t1 and the N historical wind directions before t1, and obtains the target yaw angle based on the wind direction prediction value and the N historical wind directions, where N is a positive integer greater than or equal to 1; The judgment module judges whether the time difference t between the current moment t2 and t1 is 0, and judges whether the time difference t3 between t1 and the last yaw moment t1-1 of the wind turbine is less than the set time difference t4 when the wind turbine meets the yaw condition and the target yaw angle is greater than the first wind angle threshold value |θ|. When the first time difference condition is met, the wind turbine yaws ε at the first yaw speed v1, where ε is the weighted value of the target yaw angle and the first wind angle threshold value |θ|. When the second time difference condition is met, the wind turbine yaws ε at the second yaw speed v2; When the wind turbine meets the yaw condition and the target yaw angle is greater than the second wind angle threshold -|θ|, determine whether t is 0 and whether t3 is less than t4. When the first time difference condition is met, the wind turbine yaws -ε at the first yaw speed v1. The first time difference condition is that t is 0 and t3 is less than t4. -ε is the weighted value of the target yaw angle and the second wind angle threshold -|θ|. When the second time difference condition is met, the wind turbine yaws -ε at the second yaw speed v2. The second time difference condition is that t is 0 and t3 is greater than t4.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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