Wind turbine yaw control method, system, device, equipment and medium

Abstract

The present application discloses a yaw control method, system, device, equipment and medium for a wind turbine generator set, and relates to the technical field of wind power generation, including: a controller outputs a signal based on a yaw control direction, closes a yaw contactor based on the signal and releases an electromagnetic brake of a yaw motor; starts a soft starter, performs a soft start on the yaw motor, and reduces the pressure of a yaw brake caliper at a preset first moment; in the process of increasing the voltage of the yaw motor and the pressure of the yaw brake caliper, at a preset second moment, controls the yaw motor to yaw at full voltage based on the soft starter; when it is necessary to stop the yaw, based on soft stopping the soft starter, reduces the voltage of the yaw motor, and at a preset third moment after the soft stop, controls the electromagnetic valve to perform yaw braking; at a preset fourth moment, outputs a stop signal, disconnects the yaw contactor based on the stop signal and applies an electromagnetic brake of the yaw motor to complete the yaw control of the wind turbine generator set. Thus, the yaw control of the wind turbine generator set is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a yaw control method, system, device, equipment and medium for a wind power generator set. Background Art

[0002] With the rapid development of the wind power industry and the gradual expansion of wind power scale, the functional control requirements for various systems of wind turbines are becoming more and more stringent. In addition, wind power generation can realize the conversion of wind energy into electrical energy for utilization, and plays an important role in the development of low-carbon electricity for energy substitution and energy conservation and emission reduction. However, due to the various uncertain characteristics of wind speed, such as probabilistic randomness and parameter fuzziness, it is necessary to control the yaw of wind turbines. However, at present, the yaw braking force is divided into rated braking force, target braking force, starting braking force, parking mechanism braking force, etc., which are very complicated and difficult to implement, and no implementation method is given. The main pressure of the hydraulic main circuit must be controlled to switch between multiple pressure points, and direct control of the pressure value cannot be achieved. If multiple overflow valves are needed to control the pressure value of the yaw hydraulic brake, a more complex hydraulic circuit is required for switching, and hydraulic valves and overflow valves are used more frequently, and the failure rate of the hydraulic system is relatively high. Therefore, how to perform simple and easy yaw control and reduce failures in the yaw control process is an urgent problem to be solved. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a method, system, device, equipment and medium for yaw control of a wind turbine generator set, which can perform simple and easy yaw control and reduce failures in the yaw control process. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a yaw control method for a wind turbine generator set, which is applied to a controller and includes:

[0005] Determine a yaw control direction according to a yaw demand, output a first signal, a second signal, and a third signal based on the yaw control direction, close a yaw contactor based on the first signal, and release an electromagnetic brake of a yaw motor based on the second signal;

[0006] Starting the soft starter through the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper;

[0007] In the process that the voltage of the yaw motor increases and the pressure of the yaw brake caliper decreases to the damping pressure, if the current moment is the preset second moment, controlling the yaw motor to yaw at full voltage based on the soft starter;

[0008] When it is necessary to stop yaw, a first stop signal is output, the soft starter is soft-stopped based on the first stop signal, and the voltage of the yaw motor is reduced, and at a preset third time after the soft stop, a second stop signal is output, and the solenoid valve is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper;

[0009] At a preset fourth moment after the soft stop, a third stop signal and a fourth stop signal are output, the yaw contactor is disconnected based on the third stop signal, and the yaw motor electromagnetic brake is applied according to the fourth stop signal to complete the yaw control of the wind turbine generator set.

[0010] Optionally, before determining the yaw control direction according to the yaw demand, the method further includes:

[0011] The angle between the wind turbine generator set and the wind direction is determined according to the feedback signal of the wind vane of the wind turbine generator set, and the yaw requirement is determined based on the corresponding determination result.

[0012] Optionally, determining the yaw control direction according to the yaw demand, outputting a first signal, a second signal, and a third signal based on the yaw control direction, closing a yaw contactor based on the first signal, and releasing the yaw motor electromagnetic brake based on the second signal, includes:

[0013] If it is determined according to the yaw demand that the yaw control direction is clockwise, the first signal, the second signal and the third signal are output based on the yaw control direction, a main contact corresponding to the clockwise yaw contactor is closed based on the first signal, and the electromagnetic brake of the yaw motor is released according to the second signal;

[0014] If the yaw control direction is determined to be counterclockwise according to the yaw requirement, the first signal, the second signal and the third signal are output based on the yaw control direction, the main contact corresponding to the counterclockwise yaw contactor is closed based on the first signal, and the yaw motor electromagnetic brake is released according to the second signal.

[0015] Optionally, the method further includes:

[0016] A mechanical interlock and an electrical interlock are added between the counterclockwise yaw contactor and the clockwise yaw contactor, so that when the yaw contactor is closed based on the first signal, any one of the counterclockwise yaw contactor and the clockwise yaw contactor is closed.

[0017] Optionally, controlling the yaw motor to perform full voltage yaw based on the soft starter includes:

[0018] The bypass contactor inside the soft starter is turned on to end the soft start process of the soft starter so that the yaw motor can yaw at full voltage.

[0019] Optionally, the damping pressure is a pressure determined based on a preset pressure of a relief valve.

[0020] In a second aspect, the present application discloses a yaw control system for a wind turbine generator set, comprising:

[0021] A controller and a yaw contactor connected to the controller and the soft starter, used to adjust the yaw control direction of the wind turbine generator set;

[0022] The soft starter connected to the controller, the circuit breaker and the yaw contactor is used to output voltage to the yaw motor to control the soft start and soft stop of the yaw motor; wherein the soft starter is located between the circuit breaker and the yaw contactor;

[0023] The yaw motor connected to the yaw contactor and the controller is used to control the yaw of the wind turbine generator set;

[0024] The solenoid valve group connected to the controller is used to control the pressure of the yaw brake caliper;

[0025] The yaw brake caliper connected to the solenoid valve group is used to perform yaw braking on the wind turbine generator set by increasing or decreasing pressure;

[0026] Wherein, the controller implements the yaw control method of the wind turbine generator set by executing a computer program.

[0027] In a third aspect, the present application discloses a yaw control device for a wind turbine generator set, which is applied to a controller and includes:

[0028] A signal output module, used for determining a yaw control direction according to a yaw demand, outputting a first signal, a second signal and a third signal based on the yaw control direction, closing a yaw contactor based on the first signal and releasing an electromagnetic brake of a yaw motor based on the second signal;

[0029] a pressure reducing module, configured to start a soft starter through the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper;

[0030] A yaw motor yaw control module, configured to control the yaw motor to yaw at full voltage based on the soft starter if the current moment is a preset second moment during a process in which the yaw motor voltage increases and the pressure of the yaw brake caliper decreases to a damping pressure;

[0031] a solenoid valve control module, configured to output a first stop signal when the yaw needs to be stopped, soft-stop the soft starter based on the first stop signal, and reduce the voltage of the yaw motor, and output a second stop signal at a preset third time after the soft stop, and control the solenoid valve through the second stop signal so as to increase the pressure of the yaw brake caliper, and perform yaw braking based on the pressure of the yaw brake caliper;

[0032] The yaw control completion module is used to output a third stop signal and a fourth stop signal at a preset fourth time after the soft stop, disconnect the yaw contactor based on the third stop signal, and apply the yaw motor electromagnetic brake according to the fourth stop signal to complete the yaw control of the wind turbine generator set.

[0033] In a fourth aspect, the present application discloses an electronic device, including:

[0034] Memory, used to store computer programs;

[0035] The processor is used to execute the computer program to implement the wind turbine generator set yaw control method as described above.

[0036] In a fifth aspect, the present application discloses a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned wind turbine yaw control method.

[0037] When the present application performs yaw control on a wind turbine generator set, the controller first determines the yaw control direction according to the yaw demand, outputs a first signal, a second signal, and a third signal based on the yaw control direction, closes the yaw contactor based on the first signal, and releases the yaw motor electromagnetic brake based on the second signal; then starts the soft starter through the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper; in the process of the yaw motor voltage increasing and the pressure of the yaw brake caliper decreasing to the damping pressure, if the current moment is the preset second moment, then based on the soft starter, the yaw motor is soft-started. The starter controls the full-voltage yaw of the yaw motor; when the yaw needs to be stopped, the first stop signal is output, the soft starter is soft-stopped based on the first stop signal, and the voltage of the yaw motor is reduced; at a preset third moment after the soft stop, the second stop signal is output, and the solenoid valve is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper; finally, at a preset fourth moment after the soft stop, the third stop signal and the fourth stop signal are output, the yaw contactor is disconnected based on the third stop signal, and the yaw motor electromagnetic brake is applied according to the fourth stop signal to complete the yaw control of the wind turbine. It can be seen that the present application realizes that when the yaw is started, the yaw driving force is gradually increased through soft start while the yaw hydraulic braking force is gradually reduced to the set yaw hydraulic damping force through simple control logic. Yaw begins to occur when the yaw driving force overcomes the yaw hydraulic damping force, so that the yaw start is smooth and impact-free, and the yaw slip phenomenon that may occur during strong wind yaw is avoided; when the yaw is stopped, full hydraulic pressure braking is applied during the process of gradually reducing the yaw driving force through soft stop, and the yaw brake caliper pressure gradually increases from the damping pressure to the full pressure. The gradual reduction of the yaw driving force and the gradual increase of the braking force are superimposed in time, so that the yaw stops smoothly without impact. In addition, the yaw slip that may occur during the switching between yaw start and stop under strong wind conditions can be prevented, making the yaw action more stable, and the drive and brake switching transition smoothly, so that the yaw system of the wind turbine generator set starts and stops smoothly. At the same time, the control method of yaw drive and braking is simple and effective, the complexity of yaw hydraulic braking is reduced, and the yaw control is simple, reliable, and easy to implement, thereby reducing costs. In addition, soft starting can reduce the load of yaw start and stop, and reduce yaw mechanical and transmission failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention 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, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 A flow chart of a yaw control method for a wind turbine generator set disclosed in this application;

[0040] Figure 2 A yaw control timing diagram disclosed in this application;

[0041] Figure 3 A schematic diagram of a controller disclosed in this application;

[0042] Figure 4 This is a schematic diagram of a soft starter terminal disclosed in this application;

[0043] Figure 5 A timing diagram of a soft starter disclosed in this application;

[0044] Figure 6 A schematic diagram of a yaw control system of a wind turbine generator set disclosed in this application;

[0045] Figure 7 A schematic diagram of a control flow of a yaw control system of a wind turbine generator set disclosed in this application;

[0046] Figure 8 An electrical diagram of a yaw drive system disclosed in the present application;

[0047] Fig. 9 This is a schematic diagram of the principle of a yaw hydraulic brake system disclosed in this application;

[0048] Fig.10 This is a schematic structural diagram of a yaw control device for a wind turbine generator set disclosed in this application;

[0049] Fig.11 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] At present, the yaw braking force is divided into rated braking force, target braking force, starting braking force, parking brake force, etc., which are very complex and difficult to implement, and no implementation method is given. The main pressure of the hydraulic main circuit must be controlled to switch between multiple pressure points, and direct control of the pressure value cannot be achieved. If multiple overflow valves are needed to control the pressure value of the yaw hydraulic brake, a more complex hydraulic circuit is required for switching, and hydraulic valves and overflow valves are used more frequently, and the failure rate of the hydraulic system is relatively high. In order to solve the above technical problems, the present application discloses a yaw control method for a wind turbine generator set, which can perform simple and easy-to-implement yaw control and reduce failures during yaw control.

[0052] See also Figure 1 As shown, an embodiment of the present invention discloses a yaw control method for a wind turbine generator set, which is applied to a controller and includes:

[0053] Step S11, determining a yaw control direction according to a yaw demand, outputting a first signal, a second signal, and a third signal based on the yaw control direction, closing a yaw contactor based on the first signal, and releasing an electromagnetic brake of a yaw motor based on the second signal.

[0054] In this embodiment, before determining the yaw control direction according to the yaw demand, the angle between the wind turbine and the wind direction is first determined according to the feedback signal of the wind vane of the wind turbine, and the yaw demand is determined based on the corresponding judgment result. After that, the yaw control direction is determined according to the yaw demand. Different yaw control directions correspond to different yaw contactors. The yaw contactors in this application include counterclockwise yaw contactors and clockwise yaw contactors. Mechanical interlocking and electrical interlocking are added between the counterclockwise yaw contactors and the clockwise yaw contactors, so that when the yaw contactor is closed based on the first signal, any one of the counterclockwise yaw contactors and the clockwise yaw contactors is closed. That is to say, the clockwise and counterclockwise yaw contactors have a mechanical interlocking mechanism (mechanically, when one contactor is closed, the other contactor cannot be closed), and the auxiliary contacts of the contactor are connected in series to the contactor coil control circuit in the control circuit to increase the electrical interlocking of the clockwise and counterclockwise contactors. Therefore, if the yaw control direction is determined to be clockwise according to the yaw requirement, the first signal, the second signal and the third signal are output based on the yaw control direction, the main contact corresponding to the clockwise yaw contactor is closed based on the first signal, and the electromagnetic brake of the yaw motor is released according to the second signal; if the yaw control direction is determined to be counterclockwise according to the yaw requirement, the first signal, the second signal and the third signal are output based on the yaw control direction, the main contact corresponding to the counterclockwise yaw contactor is closed based on the first signal, and the electromagnetic brake of the yaw motor is released according to the second signal.

[0055] Next, we will take clockwise yaw control as an example to explain the yaw control method. Figure 2As described above, at the time T1 of yaw start, the controller simultaneously outputs the soft starter start signal DO4, the yaw contactor control signal DO1 (clockwise yaw contactor is energized), and the yaw motor electromagnetic brake release signal DO3. The soft starter output voltage, i.e., the yaw motor voltage, jumps to the initial voltage (e.g., 40% of the main voltage) and starts to increase. The yaw motor starts to soft start and releases the electromagnetic brake of the yaw motor at the same time. The controller is as follows: Figure 3 As shown, this controller can be used as a part of the fan controller and can share a controller with the fan controller; among them, DO-digital output, DI-digital input, AI-analog input.

[0056] Step S12: starting the soft starter through the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper.

[0057] In this embodiment, the controller outputs the soft starter start signal DO4, the yaw motor starts soft starting, and the electromagnetic brake of the yaw motor is released at the same time. At this time, the motor driving force is not enough at the beginning of the soft start, and the yaw hydraulic brake force still maintains full pressure to prevent the yaw from passively slipping due to strong wind. Among them, the interface of the soft starter mainly includes, Figure 4 The three-phase input L1\L2\L3 shown, the output three-phase T1\T2\T3, control power and start / stop control signal, output signal (running signal and full voltage signal). The initial starting voltage, starting time, starting ramp, stop time, stop voltage, stop ramp can be set in the starter. Figure 5 As shown in the figure, when the main circuit power supply (L1-L3) and control power supply (A1-A2 control power) of the soft starter are normally powered, after the start / stop signal is energized, the soft starter starts soft starting, and the output voltage steps from 0 voltage to the initial starting voltage (adjustable parameters, such as 40% of the main voltage), and then ramps up to 100% voltage (full voltage). After the start / stop signal loses power, the soft starter starts soft stopping, and the output voltage ramps down from the current voltage to the stop voltage (adjustable parameters, such as 40% of the main voltage), and then steps to 0 voltage. During the full voltage period, the bypass contactor inside the soft starter is turned on to reduce the loss of the soft starter switch device.

[0058] At time T2 (preset first time) after the yaw motor voltage gradually increases (motor driving force gradually increases), the controller outputs the control signal DO6 of the solenoid valve. Specifically, the controller Figure 3 DO6 outputs 1, the solenoid valve is energized, and the pressure of the yaw brake caliper begins to decrease.

[0059] Step S13: When the voltage of the yaw motor increases and the pressure of the yaw brake caliper decreases to the damping pressure, if the current moment is the preset second moment, the yaw motor is controlled to yaw at full voltage based on the soft starter.

[0060] In this embodiment, the controller Figure 3 When DO6 outputs 1, the solenoid valve is energized, which will reduce the pressure of the yaw brake caliper, and the pressure will eventually drop to the pressure set by the relief valve. For the pressure change curve, see Figure 2 The hydraulic pressure curve of the yaw brake caliper. The yaw motor driving force plus the damping force of the yaw brake caliper is enough to overcome the possible yaw slip caused by strong winds. When the yaw motor voltage continues to increase and the yaw brake caliper pressure decreases to the damping pressure, the yaw motor driving force overcomes the yaw damping pressure and wind resistance, the yaw starts to move, and the cabin enters the yaw state. When the soft start output voltage increases to be equal to the input voltage, that is, if the current moment is the preset second moment ( Figure 2 At the T3 moment shown in the figure, the bypass contactor inside the soft starter is turned on, ending the soft start process of the soft starter so that the yaw motor can yaw at full voltage. In simple terms, at T3 moment, the soft starter outputs 100% voltage, the soft starter enters the bypass state, the soft start process ends, and the yaw motor is powered to drive the yaw at full voltage. That is, the output voltage of the soft starter has risen to be equal to the input voltage of the soft starter, and the soft start process ends.

[0061] Step S14: When it is necessary to stop yaw, a first stop signal is output, the soft starter is soft-stopped based on the first stop signal, and the voltage of the yaw motor is reduced. At a preset third moment after the soft stop, a second stop signal is output, and the solenoid valve is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper.

[0062] In this embodiment, at time T4 when yaw is facing the wind or yaw cable release is completed (when yaw needs to be stopped), controller DO4 stops outputting, the soft starter starts soft stop, and the yaw motor voltage gradually decreases.

[0063] At the second half of the soft stop at time T5 (the preset third moment), the controller DO6 stops outputting, the solenoid valve of the hydraulic station loses power, and the pressure of the yaw brake caliper gradually increases from the damping pressure to the full pressure. The yaw hydraulic braking overlaps with the second half of the yaw soft stop (time period t4). That is, the controller outputs a second stop signal, and the solenoid valve of the hydraulic station is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper. In this way, during the yaw soft stop and the gradual reduction of the yaw driving force, full hydraulic pressure braking is applied, and the yaw brake caliper pressure gradually increases from the damping pressure to the full pressure. The gradual reduction of the yaw driving force and the gradual increase of the braking force are superimposed in time, making the shutdown process smooth.

[0064] Step S15: at a preset fourth moment after the soft stop, output a third stop signal and a fourth stop signal, disconnect the yaw contactor based on the third stop signal, and apply the yaw motor electromagnetic brake according to the fourth stop signal to complete the yaw control of the wind turbine generator set.

[0065] In this embodiment, Figure 2 At the moment T6 shown (the preset fourth moment after the soft stop), the controller stops the output of the yaw contactor control signal DO1 and the yaw motor electromagnetic brake release signal DO3, the yaw motor loses power, the yaw motor electromagnetic brake loses power, the yaw motor soft stop ends, and the yaw motor electromagnetic brake is applied to complete the yaw control of the wind turbine.

[0066] To summarize, in the present application, when performing yaw control on a wind turbine generator set, the controller first determines the yaw control direction according to the yaw demand, outputs a first signal, a second signal, and a third signal based on the yaw control direction, closes the yaw contactor based on the first signal, and releases the yaw motor electromagnetic brake based on the second signal; then, the soft starter is started by the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper; in the process of increasing the yaw motor voltage and reducing the pressure of the yaw brake caliper to the damping pressure, if the current moment is the preset second moment, then based on the The soft starter controls the full-voltage yaw of the yaw motor; when it is necessary to stop the yaw, a first stop signal is output, the soft starter is soft-stopped based on the first stop signal, and the voltage of the yaw motor is reduced; at a preset third moment after the soft stop, a second stop signal is output, and the solenoid valve is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper; finally, at a preset fourth moment after the soft stop, a third stop signal and a fourth stop signal are output, the yaw contactor is disconnected based on the third stop signal, and the yaw motor electromagnetic brake is applied according to the fourth stop signal to complete the yaw control of the wind turbine generator set. It can be seen that the present application realizes that when the yaw is started, the yaw driving force is gradually increased through soft start while the yaw hydraulic braking force is gradually reduced to the set yaw hydraulic damping force through simple control logic. Yaw begins to occur when the yaw driving force overcomes the yaw hydraulic damping force, so that the yaw start is smooth and impact-free, and the yaw slip phenomenon that may occur during strong wind yaw is avoided; when the yaw is stopped, full hydraulic pressure braking is applied during the process of gradually reducing the yaw driving force through soft stop, and the yaw brake caliper pressure gradually increases from the damping pressure to the full pressure. The gradual reduction of the yaw driving force and the gradual increase of the braking force are superimposed in time, so that the yaw stops smoothly without impact. In addition, the yaw slip that may occur during the switching between yaw start and stop under strong wind conditions can be prevented, making the yaw action more stable, and the drive and brake switching transition smoothly, so that the yaw system of the wind turbine generator set starts and stops smoothly. At the same time, the control method of yaw drive and braking is simple and effective, the complexity of yaw hydraulic braking is reduced, and the yaw control is simple, reliable, and easy to implement, thereby reducing costs. In addition, soft starting can reduce the load of yaw start and stop, and reduce yaw mechanical and transmission failures.

[0067] See also Figure 6As shown, an embodiment of the present invention discloses a yaw control system for a wind turbine generator set, comprising: a controller and a yaw contactor connected to the controller and the soft starter, used to adjust the yaw direction of the wind turbine generator set; a soft starter connected to the controller, the circuit breaker and the yaw contactor, used to output voltage to the yaw motor to control the soft start and soft stop of the yaw motor; wherein the soft starter is located between the circuit breaker and the yaw contactor; the yaw motor connected to the yaw contactor and the controller, used to control the yaw of the wind turbine generator set; the solenoid valve group connected to the controller, used to control the pressure of the yaw brake caliper; the yaw brake caliper connected to the solenoid valve group, used to perform yaw braking on the wind turbine generator set by increasing or decreasing the pressure; wherein the controller implements the yaw control method for the wind turbine generator set by executing a computer program. In this way, the soft starter is located between the protection switch and the yaw contactor, and the main circuit of the soft starter is always powered. Compared with the soft starter being located after the yaw contactor, the main circuit of the soft starter is prevented from being frequently powered on and off. At the same time, it also avoids the soft starter reporting a phase loss or power failure alarm when the contactor is not closed and the soft starter start signal is energized. It can be known that the control logic flow of the yaw system is as follows Figure 7 As shown. Specifically, a yaw control system of a wind turbine generator set includes a controller and a control method for controlling a yaw drive system and a yaw hydraulic system, a yaw drive system, and a yaw hydraulic brake system. Among them, the yaw drive system includes a power supply, a circuit breaker, a soft starter, a contactor, an overload protection, a yaw motor, and a motor brake. Among them, the contactor includes a clockwise yaw contactor and a counterclockwise yaw contactor. The yaw hydraulic brake system includes a hydraulic motor, an accumulator, a solenoid valve, a hydraulic brake caliper, a pressure sensor, and a relief valve.

[0068] Specifically, the electrical diagram of the yaw drive system is as follows: Figure 8As shown, it includes a power supply, a circuit breaker, a soft starter, a contactor, an overload protection, a yaw motor, and a motor brake. Among them, the power supply is connected to the input end of the circuit breaker, the input end of the soft starter is connected to the output end of the circuit breaker, the input end of the contactor is connected to the output end of the soft starter, the input end of the overload protection is connected to the output end of the contactor, the yaw motor is connected to the output end of the overload protection, the motor brake is contained inside the yaw motor, the motor brake is independently powered and controlled, and the motor brake is released when powered on and braked when powered off. In addition, the contactor includes a clockwise yaw contactor and a counterclockwise yaw contactor, the main contact a of the counterclockwise yaw contactor is connected to the main contact a of the clockwise yaw contactor, the main contact c of the counterclockwise yaw contactor is connected to the main contact c of the clockwise yaw contactor, the main contact e of the counterclockwise yaw contactor is connected to the main contact e of the clockwise yaw contactor, the main contact f of the counterclockwise yaw contactor is connected to the main contact b of the clockwise yaw contactor, the main contact d of the counterclockwise yaw contactor is connected to the main contact d of the clockwise yaw contactor, and the main contact b of the counterclockwise yaw contactor is connected to the main contact f of the clockwise yaw contactor. The phase sequence of the three-phase alternating current at the yaw motor end is changed by switching the contactor on and off, so as to realize the switching between clockwise yaw and counterclockwise yaw. Also, it is important to know that the clockwise and counterclockwise yaw contactors have a mechanical interlocking mechanism (mechanically, when one contactor is closed, the other contactor cannot be closed), and the auxiliary contacts of the contactor are connected in series to the contactor coil control circuit in the control circuit to increase the electrical interlocking of the clockwise and counterclockwise contactors.

[0069] The schematic diagram of the yaw hydraulic brake system is as follows: Fig. 9 As shown, 1 is a motor, 2 is a hydraulic pump, 3 is a one-way valve, 4 and 8 are overflow valves, 6 is an accumulator, 7 is a pressure sensor, 9, 10, and 11 are solenoid valves, and 12 is a brake caliper. When the pressure feedback from the pressure sensor is less than the set pressure I (e.g., 130 bar), the hydraulic pump is started to pressurize, and when the pressure feedback from the pressure sensor is greater than the set pressure II (e.g., 140 bar), the hydraulic pump is shut down, and the pressure of the main oil circuit of the hydraulic system is controlled between the set pressure I and the set pressure II (e.g., 130~140 bar). When yaw stops, solenoid valves 9 and 10 are in a power-off state, solenoid valve 9 is in a passage, solenoid valve 10 is cut off, the pressure of the yaw brake caliper 12 is equal to the pressure of the main oil circuit, and the yaw brake is in full pressure braking; when yaw starts, solenoid valves 9 and 10 are powered, solenoid valve 9 is cut off, and solenoid valve 10 is in a passage. At this time, the pressure of the yaw brake 12 is determined by the overflow valve 8 (for example, the overflow valve 8 can be set to 20bar), and the yaw brake is in a damping state of partial pressure braking. Solenoid valve 11 is always in a power-off cut-off state, and is powered only when the system maintenance requires the yaw brake to be depressurized.

[0070] It can be seen that the present application coordinates the cooperation between the yaw drive system (including the soft starter) and the yaw brake system (including the hydraulic brake and the yaw motor electromagnetic brake) through the controller, so that the yaw drive and the yaw brake overlap in time at the initial stage of the yaw action switching, making the yaw action more stable and the drive and brake switching smoothly transition. The control method is simple and efficient, and the supporting hydraulic brake system is simple, efficient and easy to implement.

[0071] See also Fig.10 As shown, an embodiment of the present invention discloses a yaw control device for a wind turbine generator set, which is applied to a controller and includes:

[0072] A signal output module 111 is used to determine a yaw control direction according to a yaw demand, output a first signal, a second signal and a third signal based on the yaw control direction, close a yaw contactor based on the first signal and release an electromagnetic brake of a yaw motor based on the second signal;

[0073] a pressure reducing module 112, configured to start a soft starter through the third signal so that the soft starter outputs a voltage, performs soft starting on the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper;

[0074] A yaw motor yaw control module 113, configured to control the yaw motor to yaw at full voltage based on the soft starter if the current moment is a preset second moment during the process in which the yaw motor voltage increases and the pressure of the yaw brake caliper decreases to a damping pressure;

[0075] The solenoid valve control module 114 is used to output a first stop signal when it is necessary to stop the yaw, perform a soft stop on the soft starter based on the first stop signal, and reduce the voltage of the yaw motor, and output a second stop signal at a preset third time after the soft stop, and control the solenoid valve through the second stop signal so as to increase the pressure of the yaw brake caliper, and perform yaw braking based on the pressure of the yaw brake caliper;

[0076] The yaw control completion module 115 is used to output a third stop signal and a fourth stop signal at a preset fourth time after the soft stop, disconnect the yaw contactor based on the third stop signal, and apply the yaw motor electromagnetic brake according to the fourth stop signal to complete the yaw control of the wind turbine generator set.

[0077] It can be seen that the present application realizes that when the yaw is started, the yaw driving force is gradually increased through soft start while the yaw hydraulic braking force is gradually reduced to the set yaw hydraulic damping force through simple control logic. Yaw begins to occur when the yaw driving force overcomes the yaw hydraulic damping force, so that the yaw start is smooth and impact-free, and the yaw slip phenomenon that may occur during strong wind yaw is avoided; when the yaw is stopped, full hydraulic pressure braking is applied during the process of gradually reducing the yaw driving force through soft stop, and the yaw brake caliper pressure gradually increases from the damping pressure to the full pressure. The gradual reduction of the yaw driving force and the gradual increase of the braking force are superimposed in time, so that the yaw stops smoothly without impact. In addition, the yaw slip that may occur during the switching between yaw start and stop under strong wind conditions can be prevented, making the yaw action more stable, and the drive and brake switching transition smoothly, so that the yaw system of the wind turbine generator set starts and stops smoothly. At the same time, the control method of yaw drive and braking is simple and effective, the complexity of yaw hydraulic braking is reduced, and the yaw control is simple, reliable, and easy to implement, thereby reducing costs. In addition, soft starting can reduce the load of yaw start and stop, and reduce yaw mechanical and transmission failures.

[0078] In some specific embodiments, the device may further include:

[0079] The yaw demand determination module is used to determine the angle between the wind turbine generator set and the wind direction according to the feedback signal of the wind vane of the wind turbine generator set, and determine the yaw demand based on the corresponding judgment result.

[0080] In some specific embodiments, the signal output module 111 may specifically include:

[0081] a first yaw demand determination unit, configured to output the first signal, the second signal, and the third signal based on the yaw control direction if the yaw control direction is determined to be clockwise according to the yaw demand, close a main contact corresponding to a clockwise yaw contactor based on the first signal, and release an electromagnetic brake of a yaw motor according to the second signal;

[0082] The second yaw demand determination unit is used to output the first signal, the second signal and the third signal based on the yaw control direction if the yaw control direction is determined to be counterclockwise according to the yaw demand, close the main contact corresponding to the counterclockwise yaw contactor based on the first signal and release the electromagnetic brake of the yaw motor according to the second signal.

[0083] In some specific embodiments, the device may further include:

[0084] An interlock adding module is used to add a mechanical interlock and an electrical interlock between the counterclockwise yaw contactor and the clockwise yaw contactor, so as to close any one of the counterclockwise yaw contactor and the clockwise yaw contactor when the yaw contactor is closed based on the first signal.

[0085] In some specific embodiments, the yaw motor yaw control module 113 may specifically include:

[0086] The yaw control signal output unit is used to connect the bypass contactor inside the soft starter to end the soft start process of the soft starter so that the yaw motor can yaw at full voltage.

[0087] Furthermore, the present application also discloses an electronic device. Fig.11 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0088] Fig.11 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the yaw control method of a wind turbine generator set disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0089] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0090] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0091] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and may be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the wind turbine yaw control method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0092] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the wind turbine generator set yaw control method disclosed above is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the above embodiments, and will not be repeated here.

[0093] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0094] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0095] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0096] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0097] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A yaw control method for a wind turbine generator set, characterized in that: Applicable to controllers, including: Determine a yaw control direction according to a yaw demand, output a first signal, a second signal, and a third signal based on the yaw control direction, close a yaw contactor based on the first signal, and release an electromagnetic brake of a yaw motor based on the second signal; The soft starter is started by the third signal so that the soft starter outputs a voltage, soft-starts the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper; wherein the soft starter is located between the circuit breaker and the yaw contactor; In the process that the voltage of the yaw motor increases and the pressure of the yaw brake caliper decreases to the damping pressure, if the current moment is the preset second moment, controlling the yaw motor to yaw at full voltage based on the soft starter; When it is necessary to stop yaw, a first stop signal is output, the soft starter is soft-stopped based on the first stop signal, and the voltage of the yaw motor is reduced, and at a preset third time after the soft stop, a second stop signal is output, and the solenoid valve is controlled by the second stop signal to increase the pressure of the yaw brake caliper, and yaw braking is performed based on the pressure of the yaw brake caliper; At a preset fourth moment after the soft stop, a third stop signal and a fourth stop signal are output, a yaw contactor is disconnected based on the third stop signal, and an electromagnetic brake of the yaw motor is applied according to the fourth stop signal to complete the yaw control of the wind turbine generator set; The method of determining a yaw control direction according to a yaw demand, outputting a first signal, a second signal, and a third signal based on the yaw control direction, closing a yaw contactor based on the first signal, and releasing an electromagnetic brake of a yaw motor based on the second signal includes: If it is determined according to the yaw demand that the yaw control direction is clockwise, the first signal, the second signal and the third signal are output based on the yaw control direction, a main contact corresponding to the clockwise yaw contactor is closed based on the first signal, and the electromagnetic brake of the yaw motor is released according to the second signal; If it is determined according to the yaw demand that the yaw control direction is counterclockwise, the first signal, the second signal and the third signal are output based on the yaw control direction, a main contact corresponding to the counterclockwise yaw contactor is closed based on the first signal, and the electromagnetic brake of the yaw motor is released according to the second signal; The method further comprises: A mechanical interlock and an electrical interlock are added between the counterclockwise yaw contactor and the clockwise yaw contactor, so that when the yaw contactor is closed based on the first signal, any one of the counterclockwise yaw contactor and the clockwise yaw contactor is closed.

2. The yaw control method of a wind turbine generator set according to claim 1, characterized in that: Before determining the yaw control direction according to the yaw demand, the method further includes: The angle between the wind turbine generator set and the wind direction is determined according to the feedback signal of the wind vane of the wind turbine generator set, and the yaw requirement is determined based on the corresponding determination result.

3. The yaw control method of a wind turbine generator set according to claim 1 or 2, characterized in that: The method of controlling the full voltage yaw of the yaw motor based on the soft starter comprises: The bypass contactor inside the soft starter is turned on to end the soft start process of the soft starter so that the yaw motor can yaw at full voltage.

4. The yaw control method of a wind turbine generator set according to claim 1, characterized in that: The damping pressure is a pressure determined based on a preset pressure of a relief valve.

5. A yaw control system for a wind turbine generator set, characterized in that: include: A controller and a yaw contactor connected to the controller and the soft starter, used to adjust the yaw control direction of the wind turbine generator set; The soft starter connected to the controller, the circuit breaker and the yaw contactor is used to output voltage to the yaw motor to control the soft start and soft stop of the yaw motor; wherein the soft starter is located between the circuit breaker and the yaw contactor; The yaw motor connected to the yaw contactor and the controller is used to control the yaw of the wind turbine generator set; The solenoid valve group connected to the controller is used to control the pressure of the yaw brake caliper; The yaw brake caliper connected to the solenoid valve group is used to perform yaw braking on the wind turbine generator set by increasing or decreasing pressure; Wherein, the controller implements the yaw control method of the wind turbine generator set according to any one of claims 1 to 4 by executing a computer program.

6. A yaw control device for a wind turbine generator set, characterized in that: Applicable to controllers, including: A signal output module, used for determining a yaw control direction according to a yaw demand, outputting a first signal, a second signal and a third signal based on the yaw control direction, closing a yaw contactor based on the first signal and releasing an electromagnetic brake of a yaw motor based on the second signal; a pressure reducing module, configured to start a soft starter through the third signal so that the soft starter outputs a voltage, performs soft starting on the yaw motor based on the voltage, and outputs a control signal of the solenoid valve at a preset first moment to reduce the pressure of the yaw brake caliper; wherein the soft starter is located between the circuit breaker and the yaw contactor; A yaw motor yaw control module, configured to control the yaw motor to yaw at full voltage based on the soft starter if the current moment is a preset second moment during a process in which the yaw motor voltage increases and the pressure of the yaw brake caliper decreases to a damping pressure; a solenoid valve control module, configured to output a first stop signal when the yaw needs to be stopped, soft-stop the soft starter based on the first stop signal, and reduce the voltage of the yaw motor, and output a second stop signal at a preset third time after the soft stop, and control the solenoid valve through the second stop signal so as to increase the pressure of the yaw brake caliper, and perform yaw braking based on the pressure of the yaw brake caliper; A yaw control completion module, configured to output a third stop signal and a fourth stop signal at a preset fourth moment after a soft stop, disconnect a yaw contactor based on the third stop signal, and apply an electromagnetic brake to the yaw motor according to the fourth stop signal to complete the yaw control of the wind turbine generator set; The signal output module specifically includes: a first yaw demand determination unit, configured to output the first signal, the second signal, and the third signal based on the yaw control direction if the yaw control direction is determined to be clockwise according to the yaw demand, close a main contact corresponding to a clockwise yaw contactor based on the first signal, and release an electromagnetic brake of a yaw motor according to the second signal; a second yaw demand determination unit, configured to output the first signal, the second signal, and the third signal based on the yaw control direction if the yaw control direction is determined to be counterclockwise according to the yaw demand, close a main contact corresponding to the counterclockwise yaw contactor based on the first signal, and release the electromagnetic brake of the yaw motor according to the second signal; The device further comprises: An interlock adding module is used to add a mechanical interlock and an electrical interlock between the counterclockwise yaw contactor and the clockwise yaw contactor, so as to close any one of the counterclockwise yaw contactor and the clockwise yaw contactor when the yaw contactor is closed based on the first signal.

7. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the yaw control method of a wind turbine generator set according to any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the yaw control method for a wind turbine generator set according to any one of claims 1 to 4 is implemented.

Images