Self-adaptive yaw starting method and device for wind turbine generator, storage medium and computer program product

Abstract

The invention discloses a wind turbine generator self-adaptive yaw starting method and device, a storage medium and a computer program product, and relates to the field of fan control, and the wind turbine generator self-adaptive yaw starting method comprises the steps that a wind speed data set and a wind direction data set collected in a current collection period are obtained; obtaining a static yaw condition, and determining a dynamic yaw condition matched with the current acquisition period according to the wind speed data set and the wind direction data set; acquiring a wind direction deviation data set according to the wind direction data set and the wind facing angle value of the cabin of the wind driven generator in the current acquisition period; and under the condition that the yaw state indicated by the wind direction deviation data set meets the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent, and the yaw control instruction is used for adjusting the wind facing angle value of a cabin of the wind driven generator. By adopting the technical scheme, the problem of electricity loss caused by frequent yawing of the wind driven generator under the small wind working condition is solved.

Description

Technical Field

[0001] The present application relates to the field of wind turbine control, and in particular, to a method and device for adaptively starting a yaw of a wind turbine, a storage medium, and a computer program product. Background Art

[0002] The yaw system is an important component of a wind turbine. It is mainly used to adjust the direction of the wind turbine nacelle so that the wind turbine impeller is always in the direction of the wind to obtain the maximum wind energy. In recent years, with the continuous improvement of the unit capacity and structural size and the diversification of the operating environment, many wind turbines have yaw problems. The existing yaw control strategy is to start yaw when the wind direction deviation exceeds a certain value and lasts for a certain period of time. However, for areas with complex wind conditions, especially wind turbines built in complex mountainous areas, due to the drastic changes in wind direction and wind speed, especially in low wind conditions, the wind speed and wind direction are more unstable. Frequent changes in wind direction can easily cause frequent yaw movements, which has an adverse effect on the fatigue load of the unit. In addition, the purpose of yaw is to better face the wind to obtain a larger increase in power generation, but in low wind conditions or standby conditions, the frequent operation of the yaw motor also increases the power loss of the auxiliary machine, and the increase in power generation brought by the wind is not enough to offset the loss of frequent yaw.

[0003] Regarding the problem in related technologies that wind turbines frequently yaw under low wind conditions, resulting in power loss, no effective solution has been proposed so far.

[0004] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0005] The embodiments of the present application provide a method and device for adaptively starting a yaw of a wind turbine, a storage medium and a computer program product, so as to at least solve the problem in the related art that the wind turbine frequently yaws under low wind conditions, resulting in power loss.

[0006] According to one aspect of an embodiment of the present application, there is provided a method for adaptively starting a yaw of a wind turbine, comprising: obtaining a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current collection period; obtaining a static yaw condition, and determining a dynamic yaw condition matching the current collection period according to the wind speed data set and the wind direction data set; obtaining a wind direction deviation data set according to the wind direction data set and the wind angle value of a nacelle of a wind turbine in the current collection period, wherein the wind direction deviation data set includes yaw angles corresponding to a plurality of timestamps in the current collection period, and the yaw angle is determined according to a deviation value between the wind angle value and the wind direction angle value; sending a yaw control instruction when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, wherein the yaw control instruction is used to adjust the wind angle value of the nacelle of the wind turbine.

[0007] In an exemplary embodiment, a dynamic yaw condition matching the current acquisition period is determined based on a wind speed data set and a wind direction data set, including at least one of the following: determining a wind speed description parameter based on the wind speed data set, and determining a dynamic yaw duration condition matching the wind speed description parameter based on a first dynamic mapping relationship, wherein the wind speed description parameter is used to indicate the wind speed state within the current acquisition period, the first dynamic mapping relationship is used to indicate the correspondence between the reference wind speed parameter and the yaw duration condition, and the dynamic yaw condition includes a dynamic yaw duration condition; determining a wind direction change description parameter based on the wind direction data set, and determining a dynamic yaw angle condition matching the wind direction change description parameter based on a second dynamic mapping relationship, wherein the wind direction change description parameter is used to indicate the wind direction change state within the current acquisition period, the second dynamic mapping relationship is used to indicate the correspondence between the reference wind direction change description parameter and the yaw angle condition, and the dynamic yaw condition includes a dynamic yaw angle condition.

[0008] In an exemplary embodiment, a wind speed description parameter is determined based on a wind speed data set, including: determining a weighted average value between multiple wind speed values ​​in the wind speed data set as the wind speed description parameter; a wind direction change description parameter is determined based on a wind direction data set, including: determining a wind direction angle change variance corresponding to multiple wind direction angle values ​​in the wind direction data set as the wind direction change description parameter.

[0009] In an exemplary embodiment, before determining the dynamic yaw duration condition that matches the wind speed description parameter according to the first dynamic mapping relationship, it also includes: obtaining a first dynamic control information set, wherein the first dynamic control information set includes multiple average wind speed values ​​and yaw durations corresponding to the multiple average wind speed values ​​respectively; determining the first dynamic mapping relationship according to the correspondence between the multiple average wind speed values ​​in the first dynamic control information set and the respective corresponding yaw durations; before determining the dynamic yaw angle condition that matches the wind direction change description parameter according to the second dynamic mapping relationship, it also includes: obtaining a second dynamic control information set, wherein the second dynamic control information set includes multiple wind direction angle change variance values ​​and yaw angles corresponding to the multiple wind direction angle change variance values ​​respectively; determining the second dynamic mapping relationship according to the correspondence between the multiple wind direction angle change variance values ​​in the second dynamic control information set and the respective corresponding yaw angles.

[0010] In an exemplary embodiment, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, before sending the yaw control instruction, it includes: when the yaw angle corresponding to the yaw state indicated by the wind direction deviation data set is greater than or equal to the first yaw angle condition in the static yaw condition, and the duration of the yaw state is greater than or equal to the first yaw duration condition in the static yaw condition, obtaining a dynamic matching result between the yaw state and the dynamic yaw condition; when the dynamic matching result indicates that the yaw angle corresponding to the yaw state is greater than or equal to the second yaw angle condition in the dynamic yaw condition, and the duration of the yaw state is greater than or equal to the second yaw duration condition in the dynamic yaw condition, generating a yaw control instruction.

[0011] In an exemplary embodiment, before obtaining the static yaw condition, it includes: obtaining a set of slip average values ​​of historical yaw angles in multiple historical acquisition periods, and performing weighted averaging processing on multiple slip average values ​​in each slip average value set to obtain multiple reference slip average values ​​matching the multiple historical acquisition periods; obtaining a static control information set based on the reference slip average values ​​and the reference yaw angles matching them; and determining a static mapping relationship based on the correspondence between multiple reference slip average values ​​in the static control information set and their respective corresponding reference yaw angles.

[0012] In an exemplary embodiment, after the static mapping relationship is determined, it includes: performing weighted averaging processing on the sliding average values ​​of the yaw angles in the wind direction data set matching the current acquisition period to obtain a target sliding average value; and determining a target yaw angle matching the target sliding average value based on the static mapping relationship.

[0013] According to another aspect of an embodiment of the present application, there is also provided an adaptive yaw starting device for a wind turbine, comprising: a first acquisition unit, for acquiring a wind speed data set and a wind direction data set collected in a current acquisition cycle, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current acquisition cycle, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current acquisition cycle; a second acquisition unit, for acquiring a static yaw condition, and determining a dynamic yaw condition matching the current acquisition cycle according to the wind speed data set and the wind direction data set; a third acquisition unit, for acquiring a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current acquisition cycle, wherein the wind direction deviation data set includes yaw angles corresponding to a plurality of timestamps in the current acquisition cycle, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value; a starting unit, for sending a yaw control instruction when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, wherein the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle.

[0014] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned wind turbine adaptive yaw start method when running.

[0015] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the adaptive yaw start method of the wind turbine set through the computer program.

[0016] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0017] Through the present application, the wind speed data set and wind direction data set collected in the current collection cycle can be first obtained, and the static yaw condition can be further obtained. According to the wind speed data set and the wind direction data set, the dynamic yaw condition matching the current collection cycle can be determined, so as to obtain the wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection cycle, wherein the wind direction deviation data set includes the yaw angles corresponding to multiple timestamps in the current collection cycle, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value, so that when the yaw state indicated by the wind direction deviation data set meets the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle. Thus, the problem of frequent yaw of wind turbines under low wind conditions, which leads to power loss, is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 It is a hardware structure block diagram of a computer terminal of a method for adaptive yaw start of a wind turbine generator set according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a method for adaptively starting a yaw turbine of a wind turbine according to an embodiment of the present application;

[0022] Figure 3 is a flow chart of another method for adaptive yaw start of a wind turbine according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an adaptive yaw start method for a wind turbine according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of another method for adaptive yaw start of a wind turbine according to an embodiment of the present application;

[0025] Figure 6 It is a structural block diagram of an adaptive yaw starting device for a wind turbine according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal of a wind turbine adaptive yaw start method according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor (Central Processing Unit, MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)) and a memory 104 for storing data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the adaptive yaw start method of the wind turbine in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0030] A wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a method for adaptively starting a wind turbine generator set in yaw is provided. Figure 2 is a flow chart of a method for adaptively starting a wind turbine according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0032] S202, obtaining a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current collection period;

[0033] S204, obtaining a static yaw condition, and determining a dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set;

[0034] S206, obtaining a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection period, wherein the wind direction deviation data set includes yaw angles corresponding to multiple timestamps in the current collection period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value;

[0035] S208, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, sending a yaw control instruction, wherein the yaw control instruction is used to adjust the wind-facing angle value of the nacelle of the wind turbine generator.

[0036] Optionally, in the above step S202, the wind speed data set and wind direction data set collected in the current collection period are obtained. It should be noted that the wind speed data set includes wind speed values ​​corresponding to multiple timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to multiple timestamps in the current collection period. For example, the wind speed value and wind direction value are obtained every second within 10 minutes.

[0037] In step S204, a static yaw condition is obtained, and a dynamic yaw condition matching the current acquisition period is determined according to the wind speed data set and the wind direction data set;

[0038] Specifically, the static yaw condition may be that the deviation between the wind direction and the generator nose exceeds a wind direction start value (for example, statically set to 10°) and lasts for a certain period of time (the delay time is statically set to 20s, for example), then it is considered that the wind direction has shifted and a yaw action is required to ensure that the nose is accurately facing the wind.

[0039] Based on the wind speed data set and the wind direction data set, the dynamic yaw condition that matches the current acquisition cycle is determined. For example, the current average wind speed within the last 10 minutes is determined based on the wind speed data set, and interpolation calculation is performed based on the historical average wind speed and the historical delay time, and the target delay time corresponding to the current average wind speed is dynamically determined; the current wind direction offset variance within the last 10 minutes is determined based on the wind direction data set, and interpolation calculation is performed based on the historical wind direction offset variance and the wind direction start value, and the target wind direction start value corresponding to the current wind direction offset variance is dynamically determined. Then, it can be determined that the dynamic yaw condition that matches the current acquisition cycle is that within the target delay time, the deviation between the wind direction and the generator head continues to exceed the target wind direction start value. This is just an example.

[0040] In the above step S206, the wind direction deviation data set is obtained according to the wind direction data set and the wind angle value of the wind turbine cabin in the current acquisition period. It should be noted that the wind direction deviation data set includes the yaw angles corresponding to multiple timestamps in the current acquisition period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value. The wind angle value is the angle difference between the wind turbine head and the reference direction, and the wind direction angle value is the angle difference between the wind force and the reference direction. Then, the wind direction and the deviation angle of the generator head can be determined according to the wind angle value and the wind direction angle value.

[0041] It should be noted that the above-mentioned yaw angle value can be determined in real time according to the wind direction and the nose direction, and can also be calculated by a sliding average algorithm. For example, the average yaw angle value within 1-5s, the average yaw angle value within 2-6s, the average yaw angle value within 3-7s, and the average yaw angle value within 4-8s are calculated, and then multiple yaw angle values ​​​​calculated by sliding average within 1-8s are obtained.

[0042] Then in step S208, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent. It should be noted that the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle.

[0043] As an optional implementation, for example, the static yaw condition determined based on historical experience is that the yaw angle between the wind direction and the head of the wind turbine continues to exceed 10° and lasts for 20S, and the dynamic yaw condition determined based on the wind speed data set and wind direction data set acquired in the current period is that the yaw angle between the wind direction and the head of the wind turbine continues to exceed 20° and lasts for 10S. If the yaw angle between the wind direction and the head of the wind turbine measured from the current moment continues to exceed 20° and lasts for 20S, it is determined that the yaw state satisfies the dynamic yaw condition and the static yaw condition.

[0044] The above-mentioned yaw control instruction can, for example, be sent to the fan head of the wind turbine nacelle, yawing 20° in the direction corresponding to the wind direction (that is, a yaw angle that satisfies both dynamic and static yaw conditions). It can be understood that the above-mentioned operation will encapsulate the calculated yaw control instruction into a data format that can be recognized by the flight control system, and send the encapsulated yaw control instruction to the yaw actuator for execution through the communication interface of the flight control system.

[0045] Through the above steps, the wind speed data set and wind direction data set collected in the current collection cycle can be first obtained, and the static yaw condition can be further obtained. According to the wind speed data set and the wind direction data set, the dynamic yaw condition matching the current collection cycle is determined, so as to obtain the wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection cycle, wherein the wind direction deviation data set includes the yaw angles corresponding to multiple timestamps in the current collection cycle, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value, so that when the yaw state indicated by the wind direction deviation data set meets the dynamic yaw condition and the static yaw condition, the yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle. Thus, the problem of frequent yaw of the wind turbine under low wind conditions, which leads to power loss, is solved.

[0046] In an optional implementation, determining a dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set includes at least one of the following:

[0047] Method 1: determining a wind speed description parameter according to a wind speed data set, and determining a dynamic yaw duration condition matching the wind speed description parameter according to a first dynamic mapping relationship, wherein the wind speed description parameter is used to indicate a wind speed state in a current acquisition cycle, the first dynamic mapping relationship is used to indicate a corresponding relationship between a reference wind speed parameter and a yaw duration condition, and the dynamic yaw condition includes a dynamic yaw duration condition;

[0048] Method 2: determine the wind direction change description parameter based on the wind direction data set, and determine the dynamic yaw angle condition that matches the wind direction change description parameter based on the second dynamic mapping relationship, wherein the wind direction change description parameter is used to indicate the wind direction change state within the current acquisition cycle, and the second dynamic mapping relationship is used to indicate the correspondence between the reference wind direction change description parameter and the yaw angle condition, and the dynamic yaw condition includes the dynamic yaw angle condition.

[0049] As an optional implementation, a wind speed description parameter is determined according to a wind speed data set, and a dynamic yaw duration condition matching the wind speed description parameter is determined according to a first dynamic mapping relationship. It should be noted that the wind speed description parameter is used to indicate the wind speed state in the current acquisition cycle, and the first dynamic mapping relationship is used to indicate the corresponding relationship between the reference wind speed parameter and the yaw duration condition, and the dynamic yaw condition includes the dynamic yaw duration condition;

[0050] The wind speed description parameters are determined according to the wind speed data set. For example, the average of all wind speeds in the wind speed data set is taken to obtain the average wind speed value as the above-mentioned wind speed description parameter, or a weighted average of all wind speeds is taken. For example, the wind speed closer to the current time node has a greater weight. The above-mentioned first dynamic mapping relationship is, for example, multiple arrays determined according to the average wind speed values ​​and corresponding delay times obtained in the historical yaw start execution scenarios, and then a function is obtained by interpolating the arrays. The dynamic yaw duration condition matching the wind speed description parameter is determined according to the first dynamic mapping relationship. For example, the average wind speed calculated in the current acquisition period is input into the function to obtain a target dynamic yaw duration matching the average wind speed value, and the wind speed target dynamic yaw duration is used as the dynamic yaw duration condition.

[0051] In another embodiment, a wind direction change description parameter is determined according to a wind direction data set, and a dynamic yaw angle condition matching the wind direction change description parameter is determined according to a second dynamic mapping relationship, wherein the wind direction change description parameter is used to indicate a wind direction change state within a current acquisition cycle, and the second dynamic mapping relationship is used to indicate a corresponding relationship between a reference wind direction change description parameter and a yaw angle condition, and the dynamic yaw condition includes a dynamic yaw angle condition;

[0052] The wind direction change description parameter is determined according to the wind direction data set. For example, the variance processing of the yaw angle of each second in the wind direction data set can be performed to obtain the offset angle variance and use it as the above-mentioned wind speed description parameter. The above-mentioned offset angle variance is used to represent the fluctuation of the direction change. The above-mentioned second dynamic mapping relationship is, for example, a plurality of arrays determined according to the offset angle variance obtained in the historical yaw start-up execution scenario and the corresponding wind direction start-up value, and then a function is obtained by interpolating the array. The dynamic yaw duration condition matching the wind speed description parameter is determined according to the second dynamic mapping relationship. For example, the offset angle variance calculated in the current acquisition period is input into the function to obtain the target dynamic yaw angle matching the offset angle variance, and the wind direction continuously being greater than the target dynamic yaw angle is used as the dynamic yaw angle condition.

[0053] Through the above implementation, the current dynamic yaw condition is determined according to the current acquisition cycle, and then whether to start the yaw operation can be determined according to the dynamic yaw condition and the static yaw condition of the original algorithm, thereby avoiding the problem of power loss caused by frequent yaw.

[0054] In an optional implementation, S1, determining a wind speed description parameter according to a wind speed data set, includes: determining a weighted average value between a plurality of wind speed values ​​in the wind speed data set as the wind speed description parameter;

[0055] S2, determining a wind direction change description parameter according to the wind direction data set, including: determining a wind direction angle change variance corresponding to a plurality of wind direction angle values ​​in the wind direction data set as the wind direction change description parameter.

[0056] As an optional implementation, the weighted average value between multiple wind speed values ​​in the wind speed data set is determined as the wind speed description parameter. For example, the weighted average value of the wind speed within 3 seconds is obtained, and the weight value at a later time (the closer the wind speed is to the current time node, the greater the weight) is. For example, the weight of the wind speed of 3 m / s in the first second is 0.2, the weight of the wind speed of 4 m / s in the second second is 0.3, and the weight of the wind speed of 5 m / s in the third second is 0.5. The weighted average wind speed value within 3 seconds is 3*0.2+4*0.3+5*0.5=4.3 m / s, that is, the wind speed description parameter is 4.3 m / s.

[0057] As an optional implementation, the wind direction angle change variance corresponding to multiple wind direction angle values ​​in the wind direction data set is determined as a wind direction change description parameter. For example, the variance of the wind direction and the generator head deviation angle can be determined based on the wind angle value and the wind direction angle value within 3 seconds. For example, the deviation angle in the first second is 10°, the deviation angle in the second second is 8°, and the deviation angle in the third second is 15°. First, the average value of these three numbers is calculated, that is, (10+8+15) / 3=11, and then the square of the difference between each number and the average value is calculated: (10-11)^2=1; (8-11)^2=9; (15-11)^2=16. Finally, the average value of the squares of these differences is calculated, that is, (1+9+16) / 3=9.33, and the wind direction change description parameter is 9.33°.

[0058] Through the above-mentioned implementation mode recorded in the present application, the weighted average value of the wind speed is determined as the wind speed description parameter, and the variance of the wind direction angle change is determined as the wind direction change description parameter, and then the wind speed change rate and the wind direction change rate within the collection period are considered. When the wind speed average value is small, it means that the wind direction is unstable at this time and the delay time needs to be increased. When the wind direction variance is large, it means that the wind direction fluctuates greatly and the wind direction start value needs to be increased. In this way, frequent yaw actions at low wind speeds or when the wind direction changes drastically can be avoided, the increase in yaw and whole machine load caused by frequent actions of the yaw system can be reduced, and the increase in factory electricity consumption caused by frequent yaw actions can be reduced, thereby reducing the loss of power generation.

[0059] In an optional implementation, S1, before determining the dynamic yaw duration condition matching the wind speed description parameter according to the first dynamic mapping relationship, further includes: acquiring a first dynamic control information set, wherein the first dynamic control information set includes a plurality of average wind speed values ​​and yaw durations respectively corresponding to the plurality of average wind speed values; determining the first dynamic mapping relationship according to the correspondence between the plurality of average wind speed values ​​in the first dynamic control information set and the respective corresponding yaw durations;

[0060] S2, before determining the dynamic yaw angle condition that matches the wind direction change description parameter according to the second dynamic mapping relationship, it also includes: obtaining a second dynamic control information set, wherein the second dynamic control information set includes multiple wind direction angle change variance values ​​and yaw angles corresponding to the multiple wind direction angle change variance values; determining the second dynamic mapping relationship according to the correspondence between the multiple wind direction angle change variance values ​​in the second dynamic control information set and the corresponding yaw angles.

[0061] In the above step S1, the first dynamic control information set can be determined by obtaining a historical operation log of executing a yaw start operation, or can be preset manually based on historical experience. For example, three yaw start operations are executed in the past 1 hour, and the historical operation log records the average wind speed value and yaw duration corresponding to each operation, for example: [(2,40); (4,30); (6,20)]. The above array contains the first dynamic control information set, and the first dynamic mapping relationship is obtained by interpolation processing of the first dynamic control information set. For example, the first dynamic mapping relationship is: delay time = 50-5*average wind speed value. This is only an example, and a more accurate dynamic mapping relationship can be determined according to actual conditions by selecting a suitable algorithm such as fitting.

[0062] In the above step S2, the second dynamic control information set is determined by obtaining the historical operation log of executing the yaw start operation. For example, the yaw start operation is executed three times in the history of 1 hour, and the historical operation log records the wind direction angle change variance value and the yaw angle corresponding to each operation, for example, (10,5); (20,10); (40,15)]. The above array is the second dynamic control information set, and the first dynamic control information set is interpolated to obtain the second dynamic mapping relationship. For example, the second dynamic mapping relationship is: yaw angle = wind direction angle change variance value / 2. This is only an example. The interpolation or fitting algorithm can be selected as needed to obtain the functional relationship between the wind direction angle change variance value and the yaw angle.

[0063] Through the above implementation of the present application, a first dynamic control information set is obtained, wherein the first dynamic control information set includes a plurality of average wind speed values ​​and yaw durations respectively corresponding to the plurality of average wind speed values; a first dynamic mapping relationship is determined according to a correspondence between the plurality of average wind speed values ​​in the first dynamic control information set and the respective corresponding yaw durations;

[0064] And obtaining a second dynamic control information set, wherein the second dynamic control information set includes multiple wind direction angle change variance values ​​and yaw angles corresponding to the multiple wind direction angle change variance values; determining a second dynamic mapping relationship based on the correspondence between the multiple wind direction angle change variance values ​​in the second dynamic control information set and the corresponding yaw angles; and thereby achieving determination of a dynamic yaw condition that matches the wind speed description parameters and wind direction change description parameters determined in the current acquisition period based on the first dynamic mapping relationship between the average wind speed and the delay time and the second dynamic mapping relationship between the wind direction angle change variance values ​​and the yaw angle.

[0065] In an optional implementation, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, before sending the yaw control instruction, the method includes:

[0066] S1, when the yaw angle corresponding to the yaw state indicated by the wind direction deviation data set is greater than or equal to the first yaw angle condition in the static yaw condition, and the duration of the yaw state is greater than or equal to the first yaw duration condition in the static yaw condition, obtaining a dynamic matching result between the yaw state and the dynamic yaw condition;

[0067] S2: Generate a yaw control instruction when the dynamic matching result indicates that the yaw angle corresponding to the yaw state is greater than or equal to the second yaw angle condition in the dynamic yaw condition, and the duration of the yaw state is greater than or equal to the second yaw duration condition in the dynamic yaw condition.

[0068] As an optional implementation, in steps S1-S2, when the yaw angle in the yaw state satisfies the first yaw angle condition in the static yaw condition, that is, the yaw angle (which may be the yaw angle obtained in real time, or the value after multiple sliding average calculations are performed on all yaw angles within a period of time) is greater than or equal to the first yaw angle indicated by the first yaw angle condition, and the yaw duration in the yaw state satisfies the first yaw duration condition in the static yaw condition, that is, the yaw duration is greater than or equal to the first yaw duration indicated by the first yaw angle condition, a dynamic matching result between the yaw state and the dynamic yaw condition is obtained, that is, whether the yaw state satisfies the dynamic yaw condition matching the current acquisition period is further determined;

[0069] When the dynamic matching result indicates that the yaw angle corresponding to the yaw state is greater than or equal to the second yaw angle indicated by the second yaw angle condition in the dynamic yaw condition, and the duration of the yaw state is greater than or equal to the second yaw duration indicated by the dynamic yaw condition, it is determined that both the static and dynamic yaw start conditions are met, and a yaw control instruction can be generated.

[0070] In an optional implementation manner, before obtaining the static yaw condition, the process includes:

[0071] S1, obtaining a set of slip average values ​​of historical yaw angles in multiple historical acquisition periods, and performing weighted averaging processing on multiple slip average values ​​in each set of slip average values ​​to obtain multiple reference slip average values ​​matching the multiple historical acquisition periods;

[0072] S2, obtaining a static control information set according to the reference slip average value and the reference yaw angle matched therewith;

[0073] S3, determining a static mapping relationship according to a correspondence between a plurality of reference slip average values ​​in the static control information set and the respective corresponding reference yaw angles.

[0074] Optionally, for example, there are three acquisition cycles between 9 am and 12 pm, corresponding to the sliding average set A, the sliding average set B and the sliding average set C respectively, and each sliding average set contains 5 data. For example, in the sliding average set A, the sliding average is calculated for {2, 4, 6, 8, 10}, and the sliding average from the first data to the third data is (2+4+6) / 3=4, the sliding average from the second data to the fourth data is (4+6+8) / 3=6, and the sliding average from the third data to the fifth data is (6+8+10) / 3=8;

[0075] Furthermore, weighted averaging processing may be performed on multiple sliding average values ​​in each sliding average value set, in which the weight of later data is larger, for example, 0.2, 0.3, 0.5, and the reference sliding average value matching the sliding average value set A is calculated to be 0.2*4+0.3*6+0.5*8=6.6. Repeating the above steps may obtain multiple reference sliding average values ​​matching multiple historical acquisition cycles. This is only an example.

[0076] The reference yaw angle may be, but is not limited to, determined by a person skilled in the art based on historical experience, and then a static mapping relationship, such as a linear equation relationship, is determined by interpolation or fitting based on multiple reference slip averages and a reference yaw angle matching the reference slip average.

[0077] In an optional implementation manner, after determining the static mapping relationship, the following steps are included:

[0078] S1, performing weighted average processing on the sliding average of the yaw angle in the wind direction data set matching the current collection period to obtain the target sliding average;

[0079] S2, determining a target yaw angle that matches the target slip average value according to a static mapping relationship.

[0080] As an optional implementation, in the above steps S1-S2, the sliding average of the yaw angle in the wind direction data set matching the current collection period is weighted averaged to obtain the target sliding average, and then the target yaw angle matching the target sliding average is determined according to the static mapping relationship.

[0081] Optionally, for example, the static mapping relationship is that the reference slip average and the reference yaw angle matching the reference slip average have a 2:1 relationship. Then, after obtaining the target slip average by weighted averaging the slip average of the yaw angle in the wind direction data set matching the current acquisition period, the target yaw angle can be determined to be the target slip average / 2. This is only an example, and the static yaw condition can be determined to be that the yaw angle is continuously greater than the target yaw angle within a fixed time.

[0082] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. In order to better understand the above-mentioned wind turbine adaptive yaw start method, the above-mentioned process is described below in conjunction with the embodiments, but it is not intended to limit the technical solutions of the embodiments of the present application, specifically:

[0083] In an optional embodiment, in combination Figure 3 The adaptive yaw start method of the wind turbine generator system of the present application is further described. Figure 3 As shown, the following steps are included:

[0084] S302, data input; specifically, the wind speed and wind direction of the wind turbine are collected in real time through the main control PLC of the wind turbine, and the collection frequency is usually 20ms-100ms.

[0085] It can be understood that the wind direction information is input into the original yaw control algorithm, and the wind direction deviation is calculated by sliding average. When the wind direction deviation reaches a certain wind direction start value and lasts for a fixed time, the static trigger yaw action of the original algorithm is satisfied;

[0086] S304, a new algorithm is added to calculate the average wind speed and wind direction change respectively, and perform interpolation algorithm processing to determine the delay time matching the average wind speed and the starting wind direction value matching the wind direction change.

[0087] Specifically, the wind speed and wind direction data within the past 10 minutes stored in the cache are processed, and the average value of the wind speed and the variance of the wind direction (reflecting the change rate index) are calculated every ten minutes.

[0088] Call two arrays stored in the PLC in advance. Array 1 represents Figure 4 Curve A in , array 2 represents Figure 5 In the curve A, array 1 represents the one-to-one correspondence between the average wind speed and the delay time, and value 2 represents the one-to-one correspondence between the wind direction change variance and the wind direction start value (start wind direction deviation). Curve B represents the algorithm in the original yaw control module (which can be a static yaw condition), that is, the delay time and the wind direction start value are both constant values. According to array 1 and array 2, the input average wind speed and wind direction variance are subtracted to obtain the corresponding dynamic delay time and wind direction start value.

[0089] As an optional implementation, array 1 represents the relationship between the average wind speed and the delay time as [(2,40); (4,30); (6,20); (8,20), (10,5)]; array 2 represents the relationship between the wind direction change variance value and the start-up wind direction change value as [(10,5); (20,10); (40,15); (60,20), (80,25)].

[0090] If the average wind speed in the current collection period of 10 minutes is 4m / s (array 1) and the wind direction variance in 10 minutes is 20 (difference array 2), it is obtained that the yaw deviation needs to be more than 10 degrees and the delay is 30s.

[0091] S306, yaw execution;

[0092] Specifically, it is updated every 10 minutes to obtain a new delay time and wind direction start value, which are then input into the yaw control algorithm module;

[0093] S306-1, determining whether the yaw condition is met;

[0094] The new algorithm and the original yaw control algorithm are carried out simultaneously. In order to avoid frequent yaw, two conditions need to be met at the same time to start yaw. That is, according to the original algorithm, it is judged in real time whether to start yaw, and whether the new yaw wind direction start value and delay time are met. If the original algorithm does not reach the yaw threshold, and the new algorithm reaches the yaw threshold, the yaw will not act; or if the original algorithm reaches the yaw threshold, and it is judged that the new algorithm does not reach the yaw threshold, the yaw will not act and continue to wait until the push satisfies the original algorithm and the new algorithm to reach the yaw start, the yaw command is input into the yaw actuator, S306-2 is executed, and the yaw actuator executes the yaw action; after the execution is completed, S306-3, the yaw ends;

[0095] The adaptive yaw start method for wind turbines proposed in the above embodiment dynamically adjusts the start and stop conditions of yaw by evaluating changes in wind speed and wind direction, so as to reduce invalid yaw, reduce auxiliary power loss caused by yaw, and reduce fatigue load on the unit caused by frequent yaw.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0097] In this embodiment, a wind turbine adaptive yaw start device is also provided, which is used to implement the above embodiments and preferred implementations, and will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] Figure 6 : is a structural block diagram of a wind turbine adaptive yaw start device according to an embodiment of the present application, the device comprising:

[0099] A first acquisition unit 62 acquires a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current collection period;

[0100] The second acquisition unit 64 acquires the static yaw condition and determines the dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set;

[0101] The third acquisition unit 66 acquires a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current acquisition cycle, wherein the wind direction deviation data set includes yaw angles corresponding to a plurality of time stamps in the current acquisition cycle, and the yaw angle is determined according to a deviation value between the wind angle value and the wind direction angle value;

[0102] The start unit 68 sends a yaw control instruction when the yaw state indicated by the wind direction deviation data set meets the dynamic yaw condition and the static yaw condition, wherein the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle.

[0103] Through the above device, the wind speed data set and wind direction data set collected in the current collection cycle can be first obtained, and the static yaw condition can be further obtained. According to the wind speed data set and the wind direction data set, the dynamic yaw condition matching the current collection cycle can be determined, so as to obtain the wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection cycle, wherein the wind direction deviation data set includes the yaw angles corresponding to multiple timestamps in the current collection cycle, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value, so that when the yaw state indicated by the wind direction deviation data set meets the dynamic yaw condition and the static yaw condition, the yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the wind turbine nacelle. Thus, the problem of frequent yaw of the wind turbine under low wind conditions, which leads to power loss, is solved.

[0104] In an exemplary embodiment, the third acquisition unit 66 is further used to determine a wind speed description parameter based on a wind speed data set, and determine a dynamic yaw duration condition matching the wind speed description parameter based on a first dynamic mapping relationship, wherein the wind speed description parameter is used to indicate the wind speed state within a current acquisition period, and the first dynamic mapping relationship is used to indicate the correspondence between the reference wind speed parameter and the yaw duration condition, and the dynamic yaw condition includes a dynamic yaw duration condition; determine a wind direction change description parameter based on a wind direction data set, and determine a dynamic yaw angle condition matching the wind direction change description parameter based on a second dynamic mapping relationship, wherein the wind direction change description parameter is used to indicate the wind direction change state within the current acquisition period, and the second dynamic mapping relationship is used to indicate the correspondence between the reference wind direction change description parameter and the yaw angle condition, and the dynamic yaw condition includes a dynamic yaw angle condition.

[0105] In an exemplary embodiment, the above-mentioned third acquisition unit 66 is also used to determine the weighted average value between multiple wind speed values ​​in the wind speed data set as the wind speed description parameter; determine the wind direction change description parameter according to the wind direction data set, including: determining the wind direction angle change variance corresponding to multiple wind direction angle values ​​in the wind direction data set as the wind direction change description parameter.

[0106] In an exemplary embodiment, the third acquisition unit 66 is further used to acquire a first dynamic control information set, wherein the first dynamic control information set includes a plurality of average wind speed values ​​and yaw durations corresponding to the plurality of average wind speed values; determine a first dynamic mapping relationship based on the correspondence between the plurality of average wind speed values ​​in the first dynamic control information set and the respective corresponding yaw durations; acquire a second dynamic control information set, wherein the second dynamic control information set includes a plurality of wind direction angle change variance values ​​and yaw angles corresponding to the plurality of wind direction angle change variance values; determine a second dynamic mapping relationship based on the correspondence between the plurality of wind direction angle change variance values ​​in the second dynamic control information set and the respective corresponding yaw angles.

[0107] In an exemplary embodiment, the above-mentioned starting unit 68 is also used to obtain a dynamic matching result between the yaw state and the dynamic yaw condition when the yaw angle corresponding to the yaw state indicated by the wind direction deviation data set is greater than or equal to the first yaw angle condition in the static yaw condition, and the duration of the yaw state is greater than or equal to the first yaw duration condition in the static yaw condition; and generate a yaw control instruction when the dynamic matching result indicates that the yaw angle corresponding to the yaw state is greater than or equal to the second yaw angle condition in the dynamic yaw condition, and the duration of the yaw state is greater than or equal to the second yaw duration condition in the dynamic yaw condition.

[0108] In an exemplary embodiment, the second acquisition unit 64 is further used to acquire a set of slip average values ​​of historical yaw angles in multiple historical acquisition periods, and perform weighted averaging processing on multiple slip average values ​​in each slip average value set to obtain multiple reference slip average values ​​matching the multiple historical acquisition periods; obtain a static control information set according to the reference slip average values ​​and the reference yaw angles matching the reference slip average values; determine a static mapping relationship according to the correspondence between the multiple reference slip average values ​​in the static control information set and the corresponding reference yaw angles;

[0109] In an exemplary embodiment, the second acquisition unit 64 is further used to perform weighted averaging on the slip average values ​​of the yaw angles in the wind direction data set matching the current acquisition period to obtain a target slip average value; and determine a target yaw angle matching the target slip average value based on a static mapping relationship.

[0110] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0111] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0112] S1, obtaining a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to multiple timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to multiple timestamps in the current collection period;

[0113] S2, obtaining a static yaw condition, and determining a dynamic yaw condition matching the current acquisition period according to a wind speed data set and a wind direction data set;

[0114] S3, obtaining a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection period, wherein the wind direction deviation data set includes yaw angles corresponding to multiple timestamps in the current collection period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value;

[0115] S4, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the nacelle of the wind turbine generator.

[0116] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0117] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0118] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0119] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0120] S1, obtaining a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to multiple timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to multiple timestamps in the current collection period;

[0121] S2, obtaining a static yaw condition, and determining a dynamic yaw condition matching the current acquisition period according to a wind speed data set and a wind direction data set;

[0122] S3, obtaining a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection period, wherein the wind direction deviation data set includes yaw angles corresponding to multiple timestamps in the current collection period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value;

[0123] S4, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the nacelle of the wind turbine generator.

[0124] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0125] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0126] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0127] S1, obtaining a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to multiple timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to multiple timestamps in the current collection period;

[0128] S2, obtaining a static yaw condition, and determining a dynamic yaw condition matching the current acquisition period according to a wind speed data set and a wind direction data set;

[0129] S3, obtaining a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection period, wherein the wind direction deviation data set includes yaw angles corresponding to multiple timestamps in the current collection period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value;

[0130] S4, when the yaw state indicated by the wind direction deviation data set satisfies the dynamic yaw condition and the static yaw condition, a yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind angle value of the nacelle of the wind turbine generator.

[0131] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0132] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0133] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for adaptive yaw start of a wind turbine, characterized in that: include: Acquire a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current collection period; Acquire a static yaw condition, and determine a dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set; According to the wind direction data set and the wind angle value of the wind turbine nacelle in the current collection period, a wind direction deviation data set is obtained, wherein the wind direction deviation data set includes yaw angles corresponding to a plurality of timestamps in the current collection period, and the yaw angle is determined according to the deviation value between the wind angle value and the wind direction angle value; When the yaw state indicated by the wind direction deviation data set satisfies a dynamic yaw condition and a static yaw condition, a yaw control instruction is sent, wherein the yaw control instruction is used to adjust the wind-facing angle value of the nacelle of the wind turbine generator.

2. The method according to claim 1, characterized in that Determining a dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set includes at least one of the following: Determine a wind speed description parameter according to the wind speed data set, and determine a dynamic yaw duration condition matching the wind speed description parameter according to a first dynamic mapping relationship, wherein the wind speed description parameter is used to indicate the wind speed state in the current acquisition cycle, the first dynamic mapping relationship is used to indicate the corresponding relationship between the reference wind speed parameter and the yaw duration condition, and the dynamic yaw condition includes the dynamic yaw duration condition; A wind direction change description parameter is determined according to the wind direction data set, and a dynamic yaw angle condition matching the wind direction change description parameter is determined according to a second dynamic mapping relationship, wherein the wind direction change description parameter is used to indicate the wind direction change state within the current acquisition cycle, and the second dynamic mapping relationship is used to indicate the correspondence between the reference wind direction change description parameter and the yaw angle condition, and the dynamic yaw condition includes the dynamic yaw angle condition.

3. The method according to claim 2, characterized in that The determining of wind speed description parameters according to the wind speed data set comprises: Determine a weighted average value among a plurality of the wind speed values ​​in the wind speed data set as the wind speed description parameter; The determining of wind direction change description parameters according to the wind direction data set includes: The wind direction angle change variance corresponding to the plurality of wind direction angle values ​​in the wind direction data set is determined as the wind direction change description parameter.

4. The method according to claim 2, characterized in that: Before determining the dynamic yaw duration condition matching the wind speed description parameter according to the first dynamic mapping relationship, the method further includes: Acquire a first dynamic control information set, wherein the first dynamic control information set includes a plurality of average wind speed values ​​and yaw durations respectively corresponding to the plurality of average wind speed values; determine the first dynamic mapping relationship according to a correspondence between the plurality of average wind speed values ​​in the first dynamic control information set and the respective corresponding yaw durations; Before determining the dynamic yaw angle condition matching the wind direction change description parameter according to the second dynamic mapping relationship, the method further includes: Obtain a second dynamic control information set, wherein the second dynamic control information set includes multiple wind direction angle change variance values ​​and yaw angles corresponding to the multiple wind direction angle change variance values; determine the second dynamic mapping relationship based on the correspondence between the multiple wind direction angle change variance values ​​in the second dynamic control information set and the respectively corresponding yaw angles.

5. The method according to claim 1, characterized in that When the yaw state indicated by the wind direction deviation data set satisfies a dynamic yaw condition and a static yaw condition, before sending a yaw control instruction, the method includes: When the yaw angle corresponding to the yaw state indicated by the wind direction deviation data set is greater than or equal to the first yaw angle condition in the static yaw condition, and the duration of the yaw state is greater than or equal to the first yaw duration condition in the static yaw condition, obtaining a dynamic matching result between the yaw state and the dynamic yaw condition; The yaw control instruction is generated when the dynamic matching result indicates that the yaw angle corresponding to the yaw state is greater than or equal to the second yaw angle condition in the dynamic yaw condition, and the duration of the yaw state is greater than or equal to the second yaw duration condition in the dynamic yaw condition.

6. The method according to claim 1, characterized in that Before obtaining the static yaw condition, include: Acquire a set of slip average values ​​of historical yaw angles in multiple historical acquisition cycles, and perform weighted averaging processing on multiple slip average values ​​in each of the slip average value sets to obtain multiple reference slip average values ​​matching the multiple historical acquisition cycles; Obtaining a static control information set according to the reference slip average value and a reference yaw angle matched therewith; A static mapping relationship is determined according to the correspondence between a plurality of the reference slip average values ​​in the static control information set and the respective corresponding reference yaw angles.

7. The method according to claim 6, characterized in that After the static mapping relationship is determined, it includes: Performing weighted average processing on the sliding average of the yaw angle in the wind direction data set matching the current collection period to obtain a target sliding average; A target yaw angle matching the target slip average value is determined according to the static mapping relationship.

8. An adaptive yaw start device for a wind turbine, characterized in that: include: A first acquisition unit is configured to acquire a wind speed data set and a wind direction data set collected in a current collection period, wherein the wind speed data set includes wind speed values ​​corresponding to a plurality of timestamps in the current collection period, and the wind direction data set includes wind direction angle values ​​corresponding to a plurality of timestamps in the current collection period; A second acquisition unit acquires a static yaw condition, and determines a dynamic yaw condition matching the current acquisition period according to the wind speed data set and the wind direction data set; A third acquisition unit acquires a wind direction deviation data set according to the wind direction data set and the wind angle value of the wind turbine nacelle in the current acquisition period, wherein the wind direction deviation data set includes yaw angles corresponding to a plurality of timestamps in the current acquisition period, and the yaw angle is determined according to a deviation value between the wind angle value and the wind direction angle value; The starting unit sends a yaw control instruction when the yaw state indicated by the wind direction deviation data set satisfies a dynamic yaw condition and a static yaw condition, wherein the yaw control instruction is used to adjust the wind-facing angle value of the nacelle of the wind turbine generator.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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