Automatic detection method of fan yaw loop, yaw controller and medium

Abstract

The invention provides an automatic detection method for a fan yaw loop, a yaw controller and a medium, the fan yaw loop comprises a breaker arranged on a main power supply loop of a yaw motor, and the automatic detection method comprises the steps that the breaker is controlled to be switched off and switched on, testing whether the breaker can be normally switched on and switched off or not through corresponding contact feedback signals of the breaker in the switched-off and switched-on states; in response to the passing of the test of the breaker, controlling the on or off of the breaker according to whether the cabin is allowed to yaw in the assembly process; and determining whether the fan yaw loop is abnormal or not based on at least one of the detected yaw current value of the yaw motor, the detected yaw speed value of the cabin and the detected contact feedback signal value of a contactor used for controlling the yaw motor.

Description

Technical Field

[0001] The present application relates to the field of wind power, and more specifically, to an automatic detection method for a wind turbine yaw circuit, a yaw controller and a medium. Background Art

[0002] Factory inspection of the action of the actuators of wind turbines, especially the inspection of power supply lines, is an important measure to ensure product quality, improve the reliability of wind turbine operation, and reduce on-site commissioning and maintenance time.

[0003] For wind turbines, the yaw system is one of its important functional components. The yaw system generally includes three parts: electrical control, yaw motor, and machinery. However, during assembly, the assembly process of different models makes some nacelles allow yaw, while others do not allow yaw (i.e., the yaw motor cannot rotate).

[0004] At present, the yaw motor is generally tested by starting the yaw to observe whether the yaw is working. This detection method has the following defects: 1) Due to assembly process reasons, some cabins are not allowed to yaw (i.e. the yaw motor cannot rotate). In such cases, sometimes the yaw test is not performed, but the yaw is not "started", and it is impossible to accurately verify whether the electrical components and wiring in the cabinet are correct. Therefore, even if the yaw motor cannot rotate, the yaw control test is still required. In this case, the cable of the yaw motor can be removed first, and then reconnected after testing. However, as the capacity of the unit increases, the number of yaw motors is also increasing. The method of removing the cable will result in a large workload, and may also cause wrong wiring and wrong phase sequence when rewiring.

[0005] 2) If the power switch is manually disconnected, the test requirements of the electrical circuit can be met, but omissions may occur during manual operation. Once an omission occurs, the yaw motor rotates when yaw is not allowed, and the cabin will be at risk of capsizing, posing a greater hidden danger.

[0006] 3) If you use a multimeter to measure whether the circuit is conductive, you can only test whether the line from the contactor port to the programmable logic controller (PLC) is conductive, but you cannot verify whether the contactor is working properly and whether the feedback contacts are closed normally. Summary of the invention

[0007] In order to solve at least one of the above technical problems, the present disclosure provides an automatic detection method for a wind turbine yaw loop.

[0008] One of the objectives of the invention disclosed herein is to provide an automatic detection method capable of testing whether a yaw circuit of a wind turbine is abnormal during the assembly process.

[0009] One of the objectives of the invention disclosed herein is to provide an automatic detection method capable of detecting whether a yaw loop of a wind turbine is abnormal when the wind turbine is running.

[0010] According to a first aspect of the present disclosure, there is provided an automatic detection method for a yaw circuit of a wind turbine, the yaw circuit of the wind turbine comprising a breaker arranged on a main power supply circuit of a yaw motor, the automatic detection method comprising: controlling the disconnection and closing of the breaker, and testing whether the breaker can be normally connected and disconnected by means of corresponding contact feedback signals of the breaker in the open and closed states; in response to passing the test of the breaker, controlling the connection or disconnection of the breaker according to whether the cabin is allowed to yaw during the assembly process; and determining whether the yaw circuit of the wind turbine is abnormal based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the cabin, and the contact feedback signal value of the contactor for controlling the yaw motor.

[0011] According to a second aspect of the present disclosure, an automatic detection method for a wind turbine yaw circuit is provided, and the automatic detection method may include: obtaining a first yaw current value of each wind direction bin segment when yawed along a first direction; obtaining a second yaw current value of the wind direction bin segment corresponding to each wind direction bin segment when yawed in a second direction opposite to the first direction; in response to the yaw angle of the corresponding wind direction bin segment being less than or equal to a preset angle threshold, comparing the first yaw current value and the second yaw current value of the corresponding wind direction bin segment; and determining whether the wind turbine yaw circuit is normal based on the comparison result.

[0012] According to a third aspect of the present disclosure, a yaw controller is provided. The yaw controller may include a memory and a processor. The memory stores a program or instruction. When the program or instruction is executed by the processor, it prompts the processor to execute the above-mentioned automatic detection method.

[0013] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the processor is prompted to execute the above-mentioned automatic detection method.

[0014] The automatic detection method disclosed in the present invention can avoid omissions that are easily caused by human operation (such as manually disconnecting a switch), avoid the risk of the cabin capsizing, and eliminate hidden dangers during the test process.

[0015] The automatic detection method disclosed in the present invention can meet the detection requirements of various aircraft models, especially new aircraft models, maintain program consistency, shorten program development cycle, and improve unit test efficiency. It is suitable for detection where yaw cannot be performed, and can also be used for detection where yaw can be performed with minor modifications.

[0016] The automatic detection method disclosed in the present invention can detect the working status of the yaw motor through the existing electrical structure, thereby improving the automation level of factory inspection of the wind turbine generator set.

[0017] The automatic detection method disclosed in the present invention can timely detect whether the yaw circuit of the wind turbine is abnormal in the shortest possible time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram showing a yaw circuit of a wind turbine according to an embodiment of the present disclosure.

[0019] Figure 2 is a control principle diagram of a wind turbine yaw loop according to an embodiment of the present disclosure.

[0020] Figure 3 is a timing diagram showing the operation of a detection function block according to an embodiment of the present disclosure.

[0021] Figure 4 is a flow chart showing a method for automatically detecting a yaw loop of a wind turbine according to a first embodiment of the present disclosure.

[0022] Figure 5 is a flow chart showing a method for automatically detecting a yaw loop of a wind turbine according to a second embodiment of the present disclosure.

[0023] Figure 6 is a waveform diagram showing abnormal state feedback when yaw is not possible; Figure 7 is a waveform diagram showing a normal state when yaw is not possible; Figure 8 is a flow chart showing a method for automatically detecting a yaw loop of a wind turbine according to a third embodiment of the present disclosure.

[0024] Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar elements will be indicated by the same or similar reference numerals throughout the accompanying drawings. DETAILED DESCRIPTION

[0025] The following detailed description is provided to help gain a comprehensive understanding of the methods, devices and / or systems described herein. However, the order of operations described herein is only an example and is not limited to those orders set forth herein, but may be equivalently replaced or changed except for operations that must occur or be performed in a specific order. In addition, for greater clarity and simplicity, the description of content known in the art will be omitted or simplified.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in general dictionaries) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.

[0027] Without special instructions, the same reference numerals generally refer to the same elements (e.g., components, steps, and methods). Reference numerals described in previous embodiments may be omitted if they appear again in later embodiments. In addition, the technical features described in different or the same embodiments may be combined in any manner, as long as the combined embodiments or technical solutions are complete and can solve the technical problems of the present application or achieve the technical effects described or not described in the present disclosure but can be determined based on the above complete technical solutions. The terms used in the present disclosure are explained below.

[0028] 1) Inspection: When conducting product quality control, various testing, measuring tools and methods are used to check the characteristics of the product and compare them with the specified standards to determine whether it meets the specifications.

[0029] 2) Current transformer: An instrument that converts a large primary current into a small secondary current for measurement based on the principle of electromagnetic induction. A current transformer consists of a closed iron core and a winding. Its primary winding has very few turns and is connected in series in the circuit where the current needs to be measured.

[0030] 3) Yaw system: A part of the wind turbine nacelle, also known as the wind-facing device. The yaw system of a wind turbine is a component that orients the nacelle of the wind turbine toward the wind direction. The yaw system is equipped with a yaw motor that can rotate the nacelle of the wind turbine against the fixed tower.

[0031] The present disclosure controls the disconnection of the yaw AC power supply by setting a yaw disconnect switch (i.e., a disconnector), so that when the cabin is allowed to rotate (i.e., the yaw motor is allowed to rotate in the assembly process of the final assembly), the power supply of the yaw motor is turned on; when the yaw motor is not allowed to rotate, the power supply of the yaw motor is disconnected, thereby ensuring the safety of the unit during the detection process.

[0032] The present invention can detect the current of the yaw circuit through a current transformer, and when the yaw motor is allowed to rotate, automatically detect whether the start-up and operation process of the yaw motor is normal; when the yaw motor is not allowed to rotate, monitor the state of the yaw motor in real time to stop the yaw process in time in an emergency.

[0033] The present disclosure can detect the yaw speed of the nacelle through the Hall sensor, and when the yaw motor is not allowed to rotate, monitor the state of the nacelle orientation in real time to stop the yaw process in time in an emergency. The following will be described in detail in conjunction with the preferred embodiments of the present disclosure.

[0034] Figure 1 is a schematic diagram showing a yaw circuit of a wind turbine according to an embodiment of the present disclosure.

[0035] The wind turbine yaw circuit according to the embodiment of the present disclosure can be used to detect various components, circuits, etc. on the yaw circuit of the yaw system of the wind turbine generator set, such as the yaw motor, contactor, disconnector, circuit breaker, etc. The wind turbine yaw circuit of the present disclosure may include a disconnector arranged on the main power supply circuit of the yaw motor.

[0036] In addition, the yaw motor of the present disclosure may include two groups of yaw motors (a first group of yaw motors and a second group of yaw motors). The number of yaw motors in each group of yaw motors may not be specifically limited.

[0037] Reference Figure 1 The number of the first set of yaw motors may be 5, and the five yaw motors are respectively connected to the circuit breakers F1, F2, F3, F4 and F5. The number of the second set of yaw motors may be 4, and the four yaw motors are respectively connected to the circuit breakers F6, F7, F8 and F9.

[0038] In addition, the yaw motors may be divided into three groups, four groups or more groups, that is, the yaw motors of the present disclosure may include a third group of yaw motors, a fourth group of yaw motors, a fifth group of yaw motors, etc. in addition to the first group of yaw motors and the second group of yaw motors. The preferred installation method of the yaw motors is to be distributed around the yaw gear at equal angular intervals to balance the torque during yaw.

[0039] Reference Figure 1 According to the embodiment of the present disclosure, the wind turbine yaw circuit may include a first contactor KM1, a second contactor KM2, a third contactor KM3, a fourth contactor KM4 and a current transformer. In addition, according to the embodiment of the present disclosure, the wind turbine yaw circuit may also include a controller (for example, Figure 2 programmable logic controller shown).

[0040] The first contactor KM1 , the second contactor KM2 , the third contactor KM3 and the fourth contactor KM4 may be electrically connected to the yaw motors to be detected, respectively.

[0041] The first contactor KM1 can be electrically connected between the first group of yaw motors in the yaw motor and the AC power supply and is used to control the first group of yaw motors to rotate forward, that is, when the first contactor KM1 is energized, the first group of yaw motors rotate forward. As an example, the A-phase line, the B-phase line, and the C-phase line of the AC power supply are electrically connected to the first input terminal, the second input terminal, and the third input terminal of each yaw motor in the first group of yaw motors through the first contactor KM1; the A-phase line, the B-phase line, and the C-phase line of the AC power supply are electrically connected to the first input terminal, the second input terminal, and the third input terminal of each yaw motor in the second group of yaw motors through the third contactor KM3; the A-phase line, the B-phase line, and the C-phase line of the AC power supply are electrically connected to the third input terminal, the second input terminal, and the first input terminal of each yaw motor in the first group of yaw motors through the second contactor KM2; the A-phase line, the B-phase line, and the C-phase line of the AC power supply are electrically connected to the third input terminal, the second input terminal, and the first input terminal of each yaw motor in the second group of yaw motors through the fourth contactor KM4.

[0042] The second contactor KM2 can be electrically connected between the first set of yaw motors and the AC power supply, and connected in parallel with the first contactor KM1, for controlling the first set of yaw motors to rotate in reverse. That is, when the second contactor KM2 is closed, the first set of yaw motors rotate in reverse.

[0043] The third contactor KM3 can be electrically connected between the second group of yaw motors in the yaw motor and the AC power supply to control the second group of yaw motors to rotate forward, that is, when the third contactor KM3 is energized, the second group of yaw motors rotate forward.

[0044] The fourth contactor KM4 can be electrically connected between the second group of yaw motors and the AC power supply. The fourth contactor KM4 can be connected in parallel with the third contactor KM3 to control the reverse rotation of the second group of yaw motors. That is, when the fourth contactor KM4 is energized, the second group of yaw motors rotates reversely.

[0045] A current detector (eg, a current transformer) is electrically connected to a common power supply path for powering the first and second yaw motors, and a disconnector may be connected between the power supply and the current detector.

[0046] As mentioned above, the present disclosure provides a set of contactors, which can be used to start different yaw motors respectively, so that the magnitude of the current during forward and reverse yaw can be used to determine whether the yaw circuit of the fan is abnormal. The magnitude of the current can be measured by a current detector (such as Figure 1 The current transformer shown is used for detection.

[0047] Reference Figure 1The current transformer may be electrically connected to a common power supply path for the AC power supply to power the first set of yaw motors and the second set of yaw motors. The breaker of the present disclosure may be electrically connected between the current transformer and the AC power supply. As an example, the current transformer may be electrically connected to a programmable logic controller (PLC). In addition, the current transformer may also be an electric energy meter, etc., and may be communicatively connected to the programmable logic controller.

[0048] The current transformer can detect a first detection current of the common power supply path when the first contactor KM1 and the third contactor KM3 are connected (at this time, the second contactor KM2 and the fourth contactor KM4 are not connected, the corresponding motor does not start running, and only passively rotates), and can detect a second detection current of the common power supply path when one of the second contactor KM2 and the fourth contactor KM4 is connected (at this time, the other of the second contactor KM2 and the fourth contactor KM4 and the first contactor KM1 and the third contactor KM3 are not connected, the corresponding motor does not start running, and the corresponding motor only passively rotates).

[0049] That is to say, the current transformer can detect the total current (first detection current) when the first and second yaw motors are yawed forward at the same time, and can also detect the current (second detection current) when the first or second yaw motors are yawed backward.

[0050] The contacting of the first contactor, the second contactor, the third contactor, and the fourth contactor may be controlled by a controller (e.g., a programmable logic controller). The controller may be used to determine whether there is an abnormality, for example, the abnormality may include contactor failure, the yaw motor not being connected to the circuit, other power supply line failures, yaw motor damage (e.g., phase loss), etc.

[0051] The present invention detects whether the electrical control (including software functions, relays, contactors, etc.), feedback contacts are correct, whether the yaw motor is normal, and whether the yaw current is normal when yaw control cannot be performed (the yaw motor is not allowed to rotate during the assembly process). Although the operation of the yaw motor cannot be detected, the electrical control and feedback contacts are detected.

[0052] Figure 2 is a control principle diagram of a wind turbine yaw loop according to an embodiment of the present disclosure.

[0053] Reference Figure 2 , Figure 2 The programmable logic controller is shown in the figure. The CPU is used for data and logic operations, the DO module is used to output switch signals to control the closing and opening of the breaker, and the DI module is used to collect feedback signals from contact 1, contact 2, and contact 3. Contact 1 is the feedback contact of the breaker, and contact 2 is Figure 1The first contactor KM1 and the third contactor KM3 are the feedback contacts, and contact 3 is Figure 1 The AI ​​module 1 is used to collect the signal of the current transformer, that is, to collect the current of the yaw circuit of the wind turbine; the AI ​​module 2 is used to receive the signal of the Hall sensor, that is, to collect the yaw angle of the cabin, and calculate the yaw speed from the yaw angle in the CPU.

[0054] The automatic detection method of the wind turbine yaw circuit disclosed in the present invention may include a breaker testing step in the assembly process, etc. Specifically, the automatic detection method of the wind turbine yaw circuit disclosed in the present invention may include: controlling the breaker to open and close, and testing whether the breaker can be normally connected and disconnected through the corresponding contact feedback signal of the breaker in the open and closed states.

[0055] Reference Figure 2 , the corresponding channel of the DO module of the programmable logic controller can output a high level to close the breaker, or output a low level to open the breaker, and then receive the feedback signal of contact 1 (i.e., the feedback contact of the breaker) through the DI module of the programmable logic controller. For example, for a normally open contact, the feedback signal when the breaker is closed can be a high level, and the feedback signal when it is open can be a low level. Therefore, the high and low levels of the feedback signal can be used to determine whether the breaker is normally opened or connected.

[0056] The automatic detection method of the wind turbine yaw circuit disclosed in the present invention may include: in response to the test of the breaker passing, controlling the breaker to be turned on or off according to whether the nacelle is allowed to yaw during the assembly process.

[0057] After the breaker test passes, the breaker can be controlled to be turned on or off according to whether the yaw motor is allowed to rotate during the assembly process. In response to the cabin not allowing yaw during the assembly process, the breaker is controlled to be opened; in response to the cabin allowing yaw during the assembly process, the breaker is controlled to be closed. Not allowing yaw here means that the yaw motor is not allowed to rotate during the assembly process, and allowing yaw means that the yaw motor is allowed to rotate during the assembly process. This ensures the safety of the unit during the inspection process.

[0058] The automatic detection method of the wind turbine yaw circuit disclosed in the present invention may include: determining whether the wind turbine yaw circuit is abnormal based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the nacelle, and the contact feedback signal value of the contactor for controlling the yaw motor.

[0059] As an example, when any one of the detected yaw current value of the yaw motor, the yaw speed value of the nacelle, and the contact feedback signal value of the contactor for controlling the yaw motor is abnormal, it can be determined that the yaw circuit of the wind turbine is abnormal.

[0060] Based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the cabin, and the contact feedback signal value of the contactor for controlling the yaw motor, the step of determining whether the yaw circuit of the wind turbine is abnormal includes: in response to the deviation between any one of the yaw current value, the yaw speed value, and the contact feedback signal value and its normal value in the on state or the off state of the disconnector exceeding the preset deviation value, determining that there is an abnormality in the yaw circuit of the wind turbine. The normal values ​​of the yaw current value, the yaw speed value, and the contact feedback signal value when the yaw motor is not allowed to rotate and when it is allowed to rotate can be predetermined. As an example, the yaw current value when the yaw motor is not allowed to rotate can be 0; when the yaw motor is not allowed to rotate, it can be 0, the on contact feedback signal value when the yaw motor is not allowed to rotate can be a high level, and the off contact feedback signal value can be a low level.

[0061] Figure 3 is a timing diagram showing the operation of a detection function block according to an embodiment of the present disclosure.

[0062] The action sequence of each detection function block of the present invention can be as follows: Figure 3 shown.

[0063] Reference Figure 3 When the automated detection program corresponding to the automated detection method of the present invention detects the relevant functional blocks, it may first perform a 2-second reset (i.e., the high level duration of the Test_end_reset signal is 2 seconds) to reset the current fault of the wind turbine generator set to ensure the smooth progress of the detection process.

[0064] When the reset is completed, the activation time and delay time can be started at the same time. When the delay time is over, the test time starts. Figure 3, at the falling edge of the Test_end_reset signal, the activation signal (Test_active, that is, the DO module outputs a high level to start yaw) starts timing. In addition, after the reset time is over, a certain time is delayed (that is, the time corresponding to the high level of Delay_time, which is used to skip the action time or response time of the contactor and current transformer to ensure the accuracy of the detection timing), after the delay time is over (the time when delay_time is high is over), the test is started (Test_time changes from low level to high level), the duration of the signal input (that is, the duration of Test_var is greater than the test time, that is, the duration of Test_var being high level is greater than the duration of Test_time being high level), after the test is completed, Test_end becomes high level, and Test_busy becomes low level (that is, reset) after the test is completed. In addition, the Test_manual_operate_completed signal is used to determine whether the required manual operation is completed.

[0065] If Test_var is high and lasts longer than Test_time, the test passes. Otherwise, the test fails. Specifically, the time when Test_var is 1 must be greater than or equal to the test time to output Test_OK (test passes). Otherwise, Test_not_OK (test fails) is output.

[0066] During the detection process, at least one of the above-mentioned various signals can be set or reset according to the detection result to end or continue the detection process.

[0067] As described above, the yaw current value, the yaw speed value, and the contact feedback signal value may be detected or determined by a current transformer, a Hall sensor, a DI module, and the like.

[0068] In response to the deviation between any one of the yaw current value, the yaw speed value, and the contact feedback signal value and its normal value in the on state or the off state of the disconnector exceeding a preset deviation value, the step of determining that there is an abnormality in the yaw circuit of the wind turbine may include: in the case where the cabin is not allowed to yaw during the assembly process and the disconnector is disconnected, in response to the yaw current being not zero or the yaw speed being not zero, determining that there is an abnormality in the yaw circuit of the wind turbine and exiting the first automatic detection.

[0069] If the yaw motor is not allowed to rotate, but the yaw current is not zero or the yaw speed is not zero, it can be determined that there is an abnormality in the yaw circuit of the fan. In the case of abnormality, the automatic detection can be exited.

[0070] Figure 4 is a flow chart showing a method for automatically detecting a wind turbine yaw loop according to a first embodiment of the present disclosure, Figure 5 is a flow chart showing a method for automatically detecting a wind turbine yaw loop according to a second embodiment of the present disclosure, Figure 6 is a waveform diagram showing abnormal state feedback when yaw is not possible; Figure 7 This is a waveform diagram showing a normal state when yaw is not possible.

[0071] For details, please refer to Figure 4 When the cabin cannot yaw, it is possible to check whether the breaker and contactor are operating normally and whether the feedback contacts are closed normally. At the same time, combined with the function of the detection function block, each signal is monitored during the detection process to see if there is any abnormality. This can realize the automatic control of the switch device and the detection of the electrical function of the yaw circuit, while avoiding potential risks caused by negligence during operation.

[0072] The automatic detection method of the wind turbine yaw loop according to the first embodiment of the present disclosure may include step 401 , step 402 , step 403 , step 404 , step 405 , step 406 , step 407 , step 408 , step 409 and step 410 .

[0073] In step 401, it is determined whether the breaker detection process has been reached. In addition to the yaw detection circuit, the test or detection may also include detection of other circuits, electrical control, etc. Before starting the yaw detection, it can be determined whether the breaker detection process on the yaw circuit has been reached.

[0074] In step 402, if the breaker detection process is reached, the breaker is closed by PLC control. Specifically, PLC controls the corresponding channel of DO module to output high level to close the breaker. In addition, the yaw command needs to be disconnected. If the breaker detection process is not reached, the detection is ended.

[0075] Step 403, judging whether the breaker contacts are closed normally. This step detects whether the breaker operates normally. If it operates normally, step 404 is executed, otherwise the yaw detection process is skipped.

[0076] Step 404, determine whether the left and right yaw detection process has been reached, and disconnect the breaker at the same time. When the left and right yaw (left yaw and right yaw can be detected separately) detection process is reached, the PLC controls the control channel of the breaker to output a low level to ensure that the breaker is in the disconnected state. That is, after the test of the breaker is completed, if the yaw motor is not allowed to rotate, the breaker is disconnected.

[0077] Step 405, PLC controls DO to output high level, controls yaw start (i.e., in the case of no 400V power supply, provides control signal to corresponding contactor through DO module, so that corresponding contactor is turned on), and collects various status data. Specifically, yaw current, yaw speed, contact status of breaker and contactor, etc. can be detected.

[0078] Step 406, state feedback is abnormal; if the yaw current is not 0, the yaw speed is not 0, the contact state of the breaker is abnormal (for example, high level) or the contact feedback signal of the relevant contactor is abnormal, then execute step 407 to immediately end the yaw operation.

[0079] Step 407, setting the detection time to 0 value, and setting the delay time to 0 value.

[0080] Step 408: The process detection result is "failed", and the DO module output is stopped immediately.

[0081] Step 409: the process detection result is "passed", and the yaw detection process ends; Step 410, enter the next detection process.

[0082] Reference Figure 6 , Figure 6 It shows the abnormal detection when yaw is not possible. Curve 1 is the yaw prohibition signal, curve 2 is the function block reset signal (Test_end_reset), curve 3 is the DO activation signal (i.e. start yaw, Test_active), and curve 4 is the detection end signal (Test_end). Curve 5 is the result of the test passing (Test_OK). Curve 6 is the result of the test failing (Test_not_ok), and the high level shown in the figure indicates that the test failed.

[0083] from Figure 6 It can be seen that when the yaw inhibit signal suddenly changes to 1 (i.e., high level (TURE)), the activation signal Test_active immediately changes to 0 (i.e., low level (FALSE)), that is, the yaw output is stopped at this time. At the same time, Test_end changes to 1, indicating that the yaw detection is completed, and Test_not_ok changes to 1, indicating that the detection fails.

[0084] Reference Figure 7 , Figure 7It shows that abnormal detection can be performed when yaw is possible. Curve 1 is the yaw prohibition signal, curve 2 is the function block reset signal (Test_end_reset), curve 3 is the DO activation signal (i.e., start yaw, Test_active), and curve 4 is the detection end signal (Test_end). Curve 5 is the result of the test passing (Test_OK), and a high level indicates that the test passed. Curve 6 is the result of the test failing (Test_not_ok), and the low level shown in the figure indicates that the test passed.

[0085] from Figure 7 It can be seen that when the yaw inhibit signal is always 0, the activation signal test_active can be output normally until the test is completed. At the same time, test_ok becomes 1, indicating that the test has passed.

[0086] When the cabin is allowed to yaw during the assembly process and the disconnector is closed, in response to the deviation of the left yaw current value and the right yaw current value in the yaw current exceeding a first preset threshold, the yaw speed is not within the preset yaw speed range, or the difference between the contact feedback signal value and the normal value is less than the preset value, it is determined that there is an abnormality in the wind turbine yaw circuit and the second automatic detection is exited.

[0087] Specifically, the step of determining whether the yaw circuit of the wind turbine is abnormal can be based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the nacelle and the contact feedback signal value of the contactor for controlling the yaw motor. The step also includes: in response to the yaw current value, the yaw speed value and the contact feedback signal value matching their normal values ​​in the on state or the off state of the disconnector, determining that the yaw circuit of the wind turbine is normal and passes the test of the yaw circuit of the wind turbine.

[0088] As an example, when the deviation between the left yaw current value and the right yaw current value exceeds a threshold, the yaw speed exceeds a preset yaw threshold, and the contact feedback signal value is at a low level, it is determined that an abnormality exists in the wind turbine yaw circuit and the automatic detection is exited.

[0089] For details, please refer to Figure 5 The flowchart of the automatic detection method of the wind turbine yaw loop according to the second embodiment of the present disclosure may include step 501, step 502, step 503, step 504, step 505, step 506, step 507, step 508 and step 509.

[0090] Step 501, determine whether the breaker detection process is reached. If the breaker detection process is not reached, the detection is terminated.

[0091] Step 502: If the breaker detection process is reached, the PLC controls the breaker to close, that is, the PLC controls the corresponding channel of the DO module to output a high level to close the breaker.

[0092] Step 503, determine whether the breaker contacts are closed normally, if they are closed normally, execute step 504, otherwise skip the yaw detection process.

[0093] Step 504, reaching the left and right yaw detection process, and closing the breaker at the same time, that is, after reaching the left and right yaw detection process, the PLC controls the control channel of the breaker to output a high level and close the breaker.

[0094] Step 505, PLC controls DO to output high level, closes related contactors (for example, closes the first contactor and the third contactor or closes the second contactor and the fourth contactor), controls yaw start, and collects various status data. Specifically, yaw current, yaw speed, breaker, contactor contact status, etc. can be detected.

[0095] Specifically, the yaw current during forward yaw and the yaw current during reverse yaw can be detected, and compared with the normal current respectively to determine whether the yaw circuit of the wind turbine is abnormal (for example, it can be determined whether the yaw motor is abnormal). The yaw current during forward yaw and the yaw current during reverse yaw can also be compared to determine whether there is an abnormality. The above-mentioned forward yaw can make the yaw system (for example, the yaw bearing) yaw from the first position (starting position) to the second position (predetermined position), and the reverse yaw can be the yaw from the second position to the first position. The reverse yaw can be divided into multiple times, that is, it can reverse yaw to the middle position between the first position and the second position, and then reverse yaw to the first position once or multiple times.

[0096] In addition, the current detector can detect the second detection current when the corresponding one of the first group of yaw motors and the second group of yaw motors starts running (the corresponding contactor is turned on) and reversely yaws the yaw system from a predetermined position (for example, the first position of the yaw bearing) to the middle position, and detect the third detection current of the common power supply path when the corresponding one of the first group of yaw motors and the second group of yaw motors continues to start (the corresponding contactor is turned on again) after stopping at the middle position for a predetermined time to make the yaw system further reversely yaw from the middle position to the initial position. Then, it can be determined whether there is a non-working yaw motor in the yaw motors according to the magnitude of the first detection current, the second detection current and the third detection current. As an example, the second detection current can be divided by the number of yaw motors in the corresponding one of the second contactor and the fourth contactor to obtain a second average value, the third detection current can be divided by the number of yaw motors in the corresponding one to obtain a third average value, the first average value is compared with the second average value and the third average value, respectively, and it is determined whether there is a non-working yaw motor in the yaw motors according to the comparison result. For example, if the three are equal (approximately equal within the error range), it means that the yaw motors are normal; if they are not equal, it means that there is a non-working yaw motor. Whether the non-working yaw motor is in the first group of yaw motors or the second group of yaw motors can be judged based on the above principle according to the specific size relationship. If the second average value and the third average value are not equal, it means that the corresponding one of the yaw motors or the circuit of the yaw motor may fail during the testing, detection and inspection process.

[0097] As an example, the current detector may detect a second detection current when starting a certain group of yaw motors to make the yaw system reverse yaw from a predetermined position to an intermediate position, and may detect a fourth detection current of a common power supply path when turning off this group of yaw motors (turning off the corresponding contactors) and starting another group of yaw motors (turning on the corresponding contactors), and making the yaw system reverse yaw from the intermediate position to the initial position. As an example, during detection, it is not required to reverse yaw to the starting position. The position of the cabin is automatically returned to its original position during the detection process (that is, the angle values ​​of the yaw rotation in the forward and reverse directions are equal. In actual testing, whether the total yaw time in the forward direction is the same as the total yaw time in the reverse direction is used to determine whether the angle values ​​are the same, which can ensure the safety of the mechanical support of the cabin. In other words, it is possible to determine whether there is an inoperative yaw motor in the yaw motor based on the magnitude of the first detection current, the second detection current, and the fourth detection current.

[0098] In addition, for the yaw speed value, the calculated yaw speed value can be compared with the yaw speed value statistically calculated under normal circumstances to determine whether there is an abnormality in the yaw circuit of the wind turbine. If there is an abnormality in the yaw circuit, the type of abnormality can be determined based on the detected signal, or further manual investigation can be performed.

[0099] For the contact feedback signal, the contact feedback signal value (the contact feedback signal value of the contactor, circuit breaker and / or breaker) can be compared with the normal value to determine whether there is an abnormality in the yaw circuit (e.g., the contactor, circuit breaker and / or breaker). For example, if the contact feedback signal value under normal circumstances should correspond to a high level, but the actual contact feedback signal value corresponds to a low level, it can be determined that there is an abnormality in the yaw circuit of the wind turbine.

[0100] Step 506 , judging whether the operation status is normal, if the yaw current is normal, the yaw speed is normal and the contact feedback is normal, executing step 507 ; otherwise, executing step 508 .

[0101] Step 507, the process detection result is "passed"; Step 508, the process detection result is "failed"; Step 509, enter the next detection process.

[0102] After the assembly process is completed and the wind turbine is running, further testing or verification can be performed through the automatic detection circuit. Specifically, the wind direction and wind speed values ​​can be combined to statistically compare the yaw motor current values ​​during the left and right yaw wind-following process and the unwinding process to determine whether there is a yaw motor release failure or a loose power cable.

[0103] According to the third embodiment of the present disclosure, the automatic detection method of the wind turbine yaw circuit may include: obtaining a first yaw current value of each wind direction compartment segment when yawed along a first direction.

[0104] As an example, the first yaw current value of each wind direction bin segment during left yaw may be obtained. Here, each wind direction bin segment refers to each pre-divided wind direction interval. As an example, the first yaw current value may be an average current value.

[0105] According to the third embodiment of the present disclosure, the automatic detection method of the wind turbine yaw circuit further includes obtaining a second yaw current value of the wind direction bin segment corresponding to each wind direction bin segment when yawed in a second direction opposite to the first direction.

[0106] As an example, the second yaw current value of each wind direction bin segment during right yaw can be obtained. Each wind direction bin segment of left and right yaw can correspond to each other. For example, the division of the wind direction interval during right yaw can be the same as the division of the wind direction interval during left yaw (same granularity, for example, divided with 10 as the granularity, and the wind direction span of each interval is 10 degrees). For details, please refer to Table 1 below. The wind direction here refers to the wind direction value measured by the wind vane, which is the angle between the direction of the wind and the direction of the cabin.

[0107] Table 1 Current statistics

[0108] According to the third embodiment of the present disclosure, the automatic detection method of the wind turbine yaw circuit also includes: in response to the yaw angle of the corresponding wind direction bin segment being less than or equal to a preset angle threshold, comparing the first yaw current value and the second yaw current value of the corresponding wind direction bin segment; and determining whether the wind turbine yaw circuit is normal based on the comparison result.

[0109] Specifically, when the wind turbine is running on site, the left and right wind direction intervals during yaw are counted and compared with the same intervals. For example, [0 ~ 10] corresponds to [-10 ~ 0], [10 ~ 20] corresponds to [-20 ~ -10], [20 ~ 30] corresponds to [-30 ~ 20], [30 ~ 40] corresponds to [-40 ~ -30]...; when the absolute value of the wind direction is greater than 40 degrees, or when the wind turbine is untied when it is stopped, or when it is yawed to the wind before starting, the wind direction can be ignored (the wind direction has little impact at this time). If the yaw currents in the left and right wind direction intervals are consistent, the yaw motor and cable are judged to be normal; otherwise, the yaw motor or cable is judged to be abnormal.

[0110] If the current deviation is obviously abnormal, the yaw is determined to be abnormal. At this time, the controller can control the breaker to disconnect and send a shutdown command and alarm information to protect the safety of the unit. Or the yaw can be stopped by the controller, but a software fault is triggered. This software fault controls the breaker to disconnect and needs to be manually eliminated before it can be automatically reset. Manual troubleshooting means restarting the left and right yaws, and the fault is allowed to be reset only after the currents are consistent.

[0111] In each wind direction bin segment or wind direction interval, the average value of the yaw current in the wind direction interval is counted and stored in the controller.

[0112] When the wind direction changes in the opposite direction, the yaw current value within the wind direction interval is recorded again, and the average value of the yaw current within the wind direction interval is calculated.

[0113] If the yaw current is basically the same in the left and right symmetrical intervals, it means that the yaw motor and yaw circuit are normal. Otherwise, it is considered abnormal.

[0114] As an example, the step of determining whether the wind turbine yaw circuit is normal based on the comparison result may include: in response to the difference or ratio between the first yaw current value and the second yaw current value being greater than a first preset threshold, determining that the wind turbine yaw circuit is abnormal; in response to the difference or ratio between the first yaw current value and the second yaw current value being less than or equal to the first preset threshold, determining that the wind turbine yaw circuit is normal.

[0115] As an example, in response to the yaw angle of the corresponding wind direction bin segment being greater than the first preset threshold, the first yaw current value or the second yaw current value of any wind direction bin segment is compared with the preset current value. In other words, when the yaw angle is greater than a certain threshold (e.g., 80 degrees), it is not necessary to judge the wind direction interval, and only the current average value in the unit time is detected for judgment.

[0116] As an example, in response to an abnormality in the yaw circuit of the wind turbine, the fault flag is set and the breaker is controlled to disconnect, then the yaw is manually started and the first yaw current value and the second yaw current value are updated; the updated first yaw current value and the updated second yaw current value of the corresponding wind direction bin segment are compared again; in response to the updated first yaw current value matching the updated second yaw current value, the fault flag is reset. After the unit triggers a fault, manual maintenance is required, and the unit is manually yawed to the left and right again to update the current mean data in the array. If the reset condition is met, the fault flag is automatically reset. The following is combined with Figure 8 Describe in detail.

[0117] Figure 8 is a flow chart showing a method for automatically detecting a yaw loop of a wind turbine according to a third embodiment of the present disclosure.

[0118] The automatic detection method of the wind turbine yaw loop according to the third embodiment of the present disclosure may include step 901 , step 902 , step 903 , step 904 , step 905 , step 906 , step 907 , step 908 , step 909 and step 910 .

[0119] Step 901, determine whether to start left (right) yaw or untie. In other words, yaw during the wind turbine generator power generation operation, for example, yaw to the wind before starting and untie, can be detected.

[0120] Step 902: Count the wind direction intervals, and count the average current value in the intervals according to the blade angle value (i.e., yaw angle). As an example, the wind direction may be binned (for example, the bin granularity may be greater than or equal to 5 degrees, and the difference between the upper and lower limits of each bin segment may be the same) and count the average yaw current value in the interval during the yaw process in real time.

[0121] Step 903, determine whether to start right (left) yaw and release the cable.

[0122] Step 904: Count the wind direction intervals and the current average value in the intervals. This step is used to count the yaw current average value of each wind direction bin segment during reverse yaw in real time, and the wind direction intervals are symmetrical with the wind direction intervals in step 902 (for 0 value).

[0123] Step 905, compare the data consistency in the same interval. In other words, the average current values ​​in each interval can be directly compared. For example, the average current value A1 of the 0-10 wind direction bin segment or wind direction interval during right yaw in Table 1 can be compared with the average current value D1 of the -10-0 wind direction bin segment or wind direction interval during left yaw, and the average current value A2 of the 10-20 wind direction bin segment or wind direction interval during right yaw in Table 1 can be compared with the average current value D2 of the -20-10 wind direction bin segment or wind direction interval during left yaw.

[0124] Step 906, determine whether the current deviation is large. If the current deviation is large, it means that the yaw operation is abnormal. At this time, execute step 907; Step 907, disconnect the breaker, or trigger a fault after the yaw is completed, and then disconnect the breaker. If the current deviation is obviously abnormal (that is, the average value of the left and right yaw currents exceeds the preset threshold), the controller can control the breaker to disconnect and send a shutdown command and alarm information to protect the safety of the unit. Or the yaw can be stopped by the controller, but a software fault is triggered, and the breaker is controlled to disconnect. Manual troubleshooting is required to automatically reset. Manual troubleshooting means restarting the left and right yaws, and the fault is allowed to be reset only after the currents are consistent.

[0125] Step 908, manually start yaw and complete the left and right yaw data update; after the unit triggers a fault, manual maintenance is required, and the unit is manually yawed to the left and right again to update the current mean data in the array.

[0126] Step 909, determine whether the current data is basically consistent. If the manually detected current is consistent, the fault is automatically reset. Otherwise, the yaw start may not be allowed to protect the safety of the unit and the yaw motor.

[0127] Step 910: After the reset condition is met, the fault flag is automatically reset.

[0128] Although not shown, as mentioned above, if the yaw angle is greater than a certain threshold, such as 80 degrees, there is no need to determine the wind direction interval, and only the current average value per unit time is required to be detected for determination.

[0129] The above has been referred to Figures 1 to 8 The automatic detection method and various functional modules according to the exemplary embodiments of the present disclosure are described. However, it should be understood that the modules, units and systems shown in the drawings can be configured as software, hardware, firmware or any combination of the above items to perform specific functions. For example, these systems and devices may correspond to dedicated integrated circuits, pure software codes, or modules that combine software and hardware. In addition, one or more functions implemented by these systems or devices may also be uniformly performed by components in physical entity devices (e.g., processors, clients or servers, etc.).

[0130] The yaw controller according to the embodiment of the present disclosure may include a memory and a processor, wherein the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the processor is prompted to execute the above-mentioned automatic detection method.

[0131] According to an embodiment of the present disclosure, a computer-readable storage medium stores a program or an instruction. When the program or the instruction is executed by a processor, the processor is prompted to execute the above automatic detection method.

[0132] On the other hand, when the system, device, module or unit is implemented in software, firmware, middleware or microcode, the program code or code segment for performing the corresponding operation can be stored in a computer-readable medium such as a storage medium, so that at least one processor or at least one computing device can perform the corresponding operation by reading and running the corresponding program code or code segment. In addition, the computer-readable medium or storage medium can cause the processor to execute the above-mentioned automatic detection method when the computer program is executed by the processor.

[0133] The automatic detection method according to the embodiment of the present disclosure can test whether the yaw loop of the wind turbine is abnormal during the assembly process.

[0134] The automatic detection method according to the embodiment of the present disclosure can detect whether the yaw loop of the wind turbine is abnormal when the wind turbine is running.

[0135] The automatic detection method according to the embodiment of the present disclosure can meet the detection needs of various aircraft models, especially new aircraft models, maintain program consistency, shorten the program development cycle, and improve the efficiency of unit testing. It is suitable for detection that cannot be yawed, and can also be used for detection that can be yawed with minor changes.

[0136] The automatic detection method according to the embodiment of the present disclosure can detect the working status of the yaw motor through the existing electrical structure, thereby improving the degree of automation of factory inspection of the wind turbine generator set.

[0137] The automatic detection method according to the embodiment of the present disclosure can detect the yaw loop abnormality in a timely manner in the shortest possible time.

Claims

1. A method for automatically detecting a yaw loop of a wind turbine, characterized in that: The wind turbine yaw circuit includes a breaker arranged on the main power supply circuit of the yaw motor, and the automatic detection method includes: Controlling the disconnection and closing of the breaker, and testing whether the breaker can be normally connected and disconnected through the corresponding contact feedback signals of the breaker in the open and closed states; In response to the test of the breaker passing, controlling the breaker to be turned on or off according to whether the nacelle is allowed to yaw during the assembly process; Whether the yaw circuit of the wind turbine is abnormal is determined based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the nacelle, and the contact feedback signal value of the contactor for controlling the yaw motor.

2. The automatic detection method of the wind turbine yaw loop according to claim 1 is characterized in that: The step of controlling the connection or disconnection of the breaker according to whether the nacelle is allowed to yaw during the assembly process comprises: In response to the nacelle not being allowed to yaw during the assembly process, controlling the breaker to open; In response to the nacelle being allowed to yaw during the assembly process, the disconnector is controlled to close.

3. The automatic detection method of the wind turbine yaw loop according to claim 1 is characterized in that: Based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the cabin and the contact feedback signal value of the contactor for controlling the yaw motor, the step of determining whether the yaw circuit of the wind turbine is abnormal includes: in response to the deviation between the yaw current value, the yaw speed value and the contact feedback signal value and their normal values ​​in the on state or the off state of the disconnector exceeding a preset deviation value, determining that there is an abnormality in the yaw circuit of the wind turbine.

4. The automatic detection method of the wind turbine yaw loop according to claim 3 is characterized in that: In response to a deviation between any one of the yaw current value, the yaw speed value, and the contact feedback signal value and its normal value in the on state or the off state of the breaker exceeding a preset deviation value, the step of determining that an abnormality exists in the yaw circuit of the wind turbine includes: In the case that the nacelle is not allowed to yaw during the assembly process and the breaker is disconnected, in response to the yaw current being not zero or the yaw speed being not zero, it is determined that there is an abnormality in the wind turbine yaw circuit and the first automatic detection is exited, or, When the cabin is allowed to yaw during the assembly process and the disconnector is closed, in response to the deviation of the left yaw current value and the right yaw current value in the yaw current exceeding a first preset threshold, the yaw speed is not within the preset yaw speed range, or the difference between the contact feedback signal value and the normal value is less than a preset value, it is determined that there is an abnormality in the wind turbine yaw circuit and the second automatic detection is exited.

5. The automatic detection method of the wind turbine yaw loop according to claim 3 is characterized in that: Based on at least one of the detected yaw current value of the yaw motor, the yaw speed value of the nacelle and the contact feedback signal value of the contactor for controlling the yaw motor, the step of determining whether the yaw circuit of the wind turbine is abnormal also includes: in response to the yaw current value, the yaw speed value and the contact feedback signal value matching their normal values ​​in the on state or the off state of the disconnector, determining that the yaw circuit of the wind turbine is normal and passes the test of the yaw circuit of the wind turbine.

6. The automatic detection method of the wind turbine yaw loop according to any one of claims 1 to 5, characterized in that: The yaw motor includes a first group of yaw motors and a second group of yaw motors, and the fan yaw circuit includes: a first contactor, electrically connected between the first set of yaw motors and a power source and used to control the first set of yaw motors to rotate forward; a second contactor, electrically connected between the first set of yaw motors and the power supply, connected in parallel with the first contactor and used to control the first set of yaw motors to rotate in reverse; a third contactor, electrically connected between the second set of yaw motors and the power supply and used to control the second set of yaw motors to rotate forward; a fourth contactor, electrically connected between the second group of yaw motors and the power supply, connected in parallel with the third contactor and used to control the second group of yaw motors to rotate in reverse; a current detector, electrically connected to a common power supply path for the power supply to supply power to the first group of yaw motors and the second group of yaw motors, Wherein, the breaker is connected between the power supply and the current detector.

7. A method for automatically detecting a yaw loop of a wind turbine, characterized in that: The automatic detection method comprises: Acquire a first yaw current value of each wind direction bin segment when yawed in a first direction; Acquire a second yaw current value of the wind direction bin segment corresponding to each wind direction bin segment when yawed in a second direction opposite to the first direction; In response to the yaw angle of the corresponding wind direction bin segment being less than or equal to a preset angle threshold, comparing a first yaw current value and a second yaw current value of the corresponding wind direction bin segment; Whether the wind turbine yaw circuit is normal is determined according to the comparison result.

8. The automatic detection method of the wind turbine yaw loop according to claim 7, characterized in that: The step of determining whether the wind turbine yaw circuit is normal according to the comparison result comprises: In response to a difference or a ratio between the first yaw current value and the second yaw current value being greater than a first preset threshold, determining that the wind turbine yaw circuit is abnormal; In response to a difference or a ratio between the first yaw current value and the second yaw current value being less than or equal to the first preset threshold, it is determined that the wind turbine yaw circuit is normal.

9. The automatic detection method of the wind turbine yaw loop according to claim 7, characterized in that: In response to the yaw angle of the corresponding wind direction segment being greater than a first preset threshold, the first yaw current value or the second yaw current value of any wind direction segment is compared with a preset current value.

10. The automatic detection method of the wind turbine yaw loop according to claim 7, characterized in that: The wind turbine yaw circuit includes a breaker arranged on a main power supply circuit of a yaw motor, and the automatic detection method further includes: In response to an abnormality in the yaw circuit of the wind turbine, a fault flag is set and the breaker is controlled to be disconnected, and then the yaw is manually started and the first yaw current value and the second yaw current value are updated; again comparing the updated first yaw current value and the updated second yaw current value of the corresponding wind direction bin segment; In response to the updated first yaw current value matching the updated second yaw current value, the fault flag is reset.

11. A yaw controller, characterized in that: The yaw controller comprises a memory and a processor, wherein the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the processor is prompted to perform the automatic detection method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or an instruction, which, when executed by a processor, causes the processor to execute the automatic detection method according to any one of claims 1 to 9.

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