Wind turbine generator yaw control method and device, terminal, medium and program product
By calculating the wind direction error angle and adjusting the yaw working mode of the wind turbine unit, the problem of excessive load caused by wind power changes is solved, and the safety and stability of the unit is improved.
Patent Information
- Application Number
- CN202411540598.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-02-25
AI Technical Summary
During the operation of the wind turbine, the blades are subjected to excessive load due to factors such as wind speed changes, wind direction changes, turbulence and blade wear, which affects the stability and safety of the wind turbine.
By obtaining wind power monitoring data and wind turbine attribute parameters, the wind direction error angle is calculated, and the yaw working mode of the target wind turbine is determined based on the yaw error threshold and wind direction error angle, thereby adjusting the azimuth angle of the wind turbine to reduce the impact of the wind direction on the unit.
It effectively reduces the occurrence of blade tremor and improves the safety and stability of wind turbines.
Smart Images
Figure CN119508133A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of wind power equipment, and in particular to a method, device, terminal, medium and program product for yaw control of a wind turbine. Background Art
[0002] As the core equipment of the wind power generation industry, the operating efficiency and safety of wind turbines are directly related to the power generation and economic benefits of the entire wind power plant. However, during the operation of wind turbines, they will be affected by many factors, such as wind speed changes, wind direction changes, turbulence, blade wear, etc. These factors may cause the blades to bear excessive loads, thereby affecting the stability and safety of wind turbines.
[0003] As the scale of wind turbines becomes larger and larger, the length of blades gradually increases, and the wind direction has a greater impact on the turbines. If the difference between the azimuth angle of the turbine and the wind direction angle is too large, the load on the turbine may be too large, which may cause blade vibration and other situations, thus affecting the safety of the wind turbine. Summary of the invention
[0004] The embodiments of the present application provide a wind turbine yaw control method, device, terminal, medium and program product, which can adjust the yaw working mode of the wind turbine according to the monitoring data of the wind turbine, so as to reduce the influence of wind direction on the turbine, thereby reducing the occurrence of blade flutter and the like, and improving the safety of the wind turbine.
[0005] A first aspect of an embodiment of the present application provides a yaw control method for a wind turbine generator system, the method comprising:
[0006] Obtain wind monitoring data and wind turbine attribute parameters;
[0007] Calculate the wind direction error angle based on wind monitoring data;
[0008] Extracting a yaw error threshold from the wind turbine attribute parameters;
[0009] Determine the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle;
[0010] Switch the current wind turbine to the yaw working mode of the target wind turbine.
[0011] Furthermore, the wind direction error angle is calculated based on the wind monitoring data, including:
[0012] Extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data;
[0013] Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units;
[0014] Take the average of the unit azimuth angles to obtain the average unit azimuth angle;
[0015] The wind direction error angle is calculated based on the mean unit wind direction angle and the mean unit azimuth angle.
[0016] Furthermore, the calculation formula of the wind direction error angle is as follows:
[0017] φ=|α-β|
[0018] Among them, φ is the wind direction error angle, α is the mean unit wind direction angle, and β is the mean unit azimuth angle.
[0019] Further, according to the yaw error threshold and the wind direction error angle, the yaw working mode of the target wind turbine is determined, including:
[0020] If the wind direction error angle is greater than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the active yaw working state;
[0021] If the wind direction error angle is less than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the yaw damping state.
[0022] In this example, wind monitoring data and wind turbine attribute parameters are first obtained, and then the wind direction error angle is calculated based on the wind monitoring data, and the yaw error threshold is extracted from the wind turbine attribute parameters. The wind direction error angle and the yaw error threshold are used to determine the current state of the blades to the wind in real time, thereby confirming the yaw working mode of the target wind turbine, and then adjusting the azimuth angle of the wind turbine, thereby reducing the impact of wind direction on the unit, reducing the occurrence of blade flutter, and improving the safety of the wind turbine.
[0023] A second aspect of an embodiment of the present application provides a yaw control device for a wind turbine generator set, comprising:
[0024] A first acquisition unit, used to acquire wind monitoring data and wind turbine attribute parameters;
[0025] A first processing unit is used to calculate a wind direction error angle according to wind monitoring data;
[0026] A second acquisition unit is used to extract a yaw error threshold from the attribute parameters of the wind turbine generator set;
[0027] A second processing unit is used to determine a yaw working mode of a target wind turbine according to a yaw error threshold and a wind direction error angle;
[0028] The third processing unit is used to switch the current wind turbine set to the yaw working mode of the target wind turbine set.
[0029] Further, in the aspect of calculating the wind direction error angle according to the wind monitoring data, the first processing unit is used for:
[0030] Extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data;
[0031] Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units;
[0032] Take the average of the unit azimuth angles to obtain the average unit azimuth angle;
[0033] The wind direction error angle is calculated based on the mean unit wind direction angle and the mean unit azimuth angle.
[0034] Further, in the aspect of determining the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle, the second processing unit is used to:
[0035] If the wind direction error angle is greater than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the active yaw working state;
[0036] If the wind direction error angle is less than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the yaw damping state.
[0037] A third aspect of an embodiment of the present application provides a terminal, comprising a processor, an input device, an output device and a memory, wherein the processor, input device, output device and memory are interconnected, wherein the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the step instructions of the wind turbine group yaw control method in the first aspect of the embodiment of the present application.
[0038] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the wind turbine yaw control method in the first aspect of the embodiments of the present application.
[0039] A fifth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the wind turbine yaw control method in the first aspect of the embodiments of the present application. The computer program product may be a software installation package. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0041] Figure 1 A schematic diagram of the overall process of a wind turbine yaw control method is provided for an embodiment of the present application;
[0042] Figure 2 A schematic diagram of specific steps for calculating a wind direction error angle in a yaw control method for a wind turbine is provided for an embodiment of the present application;
[0043] Figure 3 A schematic diagram of the active yaw working state of a yaw oil circuit control system of a wind turbine is provided for an embodiment of the present application;
[0044] Figure 4 A schematic diagram of the yaw damping working state of a yaw oil circuit control system of a wind turbine is provided for an embodiment of the present application;
[0045] Figure 5 A schematic structural diagram of a yaw control device for a wind turbine is provided for an embodiment of the present application;
[0046] Figure 6 A schematic diagram of the structure of a terminal provided in an embodiment of the present application;
[0047] Reference numerals:
[0048] Hydraulic motor-1, balancing valve-2, one-way valve-3, filter-4, speed regulating valve-5, safety valve-6, solenoid reversing valve-7, first acquisition unit-8, first processing unit-9, second acquisition unit-10, second processing unit-11, third processing unit-13.
[0049] Hydraulic motor 1, balancing valve 2, one-way valve 3, filter 4, speed regulating valve 5, safety valve 6, solenoid reversing valve 7, first acquisition unit 8, first processing unit 9, second acquisition unit 10, second processing unit 11, third processing unit 13. DETAILED DESCRIPTION
[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0051] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.
[0052] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.
[0053] In order to better understand the yaw control method of a wind turbine provided in the embodiment of the present application, the following first briefly introduces the scenario of applying the yaw control method of a wind turbine. During the operation of a wind turbine, it will be affected by many factors. Among them, when there is a deviation between the wind direction angle and the azimuth angle of the unit, the load of the unit may increase, thereby causing the blades of the wind turbine to vibrate, thereby reducing the operating safety of the wind turbine. In view of the above situation, this embodiment proposes a yaw control method for a wind turbine, which can adjust the yaw working mode of the wind turbine according to the monitoring data of the wind turbine, so as to adjust the error between the azimuth angle of the wind turbine and the wind direction angle, thereby reducing the influence of wind direction on the unit, thereby reducing the occurrence of blade vibration and the like, and improving the safety of the wind turbine.
[0054] The wind turbine yaw control method is applied to the wind turbine yaw control device. Figure 1 FIG. 2 shows a schematic diagram of the overall process of a wind turbine yaw control method. Figure 1 As shown, including:
[0055] S1. Obtain wind monitoring data and wind turbine attribute parameters.
[0056] S2. Calculate the wind direction error angle based on the wind monitoring data. Specifically, Figure 2 A schematic diagram of specific steps for calculating the wind direction error angle in a yaw control method for a wind turbine is shown. Figure 2 As shown, including:
[0057] S201, extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data, that is, extracting the wind direction angle and azimuth angle of the unit at the current first moment and the second moment.
[0058] S202. Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units.
[0059] S203, taking the average of the unit azimuth angles to obtain the average unit azimuth angle.
[0060] S204. Calculate the wind direction error angle according to the mean unit wind direction angle and the mean unit azimuth angle.
[0061] The calculation formula of the wind direction error angle is as follows:
[0062] φ=|α-β|
[0063] Among them, φ is the wind direction error angle, α is the mean unit wind direction angle, and β is the mean unit azimuth angle.
[0064] S3. Extract a yaw error threshold from the wind turbine attribute parameters. The yaw error threshold is a basic safety attribute parameter of the original wind turbine. Whether the current wind turbine is in a safe operating state can be determined by judging the difference between the wind direction error angle of the current wind turbine and the yaw error threshold.
[0065] S4. Determine the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle.
[0066] This embodiment is preferred, and specifically includes:
[0067] If the wind direction error angle is greater than the yaw error threshold, the wind turbine yaw working mode is confirmed to be the active yaw working state. That is, it is considered that the current wind turbine is in an unsafe or non-efficient working state, and the current wind turbine needs to be yawed to adjust the wind direction error angle to 0.
[0068] If the wind direction error angle is less than the yaw error threshold, the yaw working mode of the wind turbine is confirmed to be the yaw damping state. It is considered that the current wind turbine is in a safe working state and there is no need to perform yaw operation on the current wind turbine.
[0069] S5. Switch the current wind turbine to the target wind turbine yaw working mode. When the wind turbine yaw working mode is in the active yaw working state, adjust the wind turbine to switch to the active yaw working state, so that the unit is in the optimal power generation position. When the absolute value of the angle formed by the wind direction angle and the unit azimuth angle is less than the yaw threshold, the status quo will be maintained without action; when the unit keeps moving, the existing direction angle will be locked.
[0070] When the wind turbine is not generating electricity and is in a shutdown state, the yaw working mode of the wind turbine automatically switches to the yaw damping working state. When the wind speed exceeds the safety threshold of the unit, the unit will automatically yaw downwind to reduce the load on the unit, thereby placing the unit in the optimal safety position.
[0071] In this example, wind monitoring data and wind turbine attribute parameters are first obtained, and then the wind direction error angle is calculated based on the wind monitoring data, and the yaw error threshold is extracted from the wind turbine attribute parameters. The wind direction error angle and the yaw error threshold are used to determine the current state of the blades to the wind in real time, thereby confirming the yaw working mode of the target wind turbine, and then adjusting the azimuth angle of the wind turbine, thereby reducing the impact of wind direction on the unit, reducing the occurrence of blade flutter, and improving the safety of the wind turbine.
[0072] As a preferred solution of this embodiment, this embodiment provides a wind turbine yaw oil circuit control system, specifically, Figure 3 The figure shows a schematic diagram of the active yaw working state of a yaw oil circuit control system of a wind turbine. Figure 4 A schematic diagram of the yaw damping working state of a yaw oil circuit control system of a wind turbine is shown. Figure 3-Figure 4 As shown, including:
[0073] First, the components in the yaw oil circuit control system of the wind turbine are introduced. The hydraulic motor 1 is used to transmit torque and speed; the balance valve 2 is used for load holding and setting the initial torque of yaw operation; the one-way valve 3 is used to protect the system and prevent oil backflow; the filter 4 is used to clean the impurities in the system oil to prevent the system from malfunctioning due to impurities; the speed regulating valve 5 is used to control the yaw rotation speed; the safety valve 6 is used to protect the system safety and prevent damage to the system caused by excessive pressure; the electromagnetic reversing valve 7 is mainly used to switch the system between active yaw state and yaw damping state; the high-level oil tank is used to replenish oil to the system and has the ability to dissipate heat for the system.
[0074] When the wind turbine is switched to the active yaw mode, the system is in the following working state: Figure 3 As shown, the direction of the oil circuit is Figure 3 As shown by the middle arrow, the oil circuit passes through the electromagnetic reversing valve 7. When the electromagnetic reversing valve 7 works, the azimuth angle of the wind turbine set is actively yawed toward the wind, and the error between the azimuth angle of the set and the wind direction angle is adjusted from the threshold to 0 error, so that the blades of the wind turbine set are in the optimal power generation position, thereby ensuring the power generation efficiency of the wind turbine set.
[0075] When the working state of the generator set is switched to the wind turbine set yaw damping working mode, the working state of the system is as follows: Figure 4 As shown, the direction of the oil circuit is Figure 4As shown by the middle arrow, the oil circuit does not pass through the electromagnetic reversing valve 7, the electromagnetic reversing valve 7 does not work, the azimuth angle of the wind turbine set enters the damping working mode, and the error between the azimuth angle of the set and the wind direction angle is maintained at the current angle. At this time, there is no need to adjust the load of the wind turbine blades. When the error between the azimuth angle of the set and the wind direction angle reaches the threshold, the wind turbine set enters the active yaw working mode.
[0076] Furthermore, when the unit is in a shutdown and power-off condition, the yaw device will enter the passive unit protection mode and automatically enter the yaw damping state; when the unit load exceeds the set pressure of the balance valve 2, the unit begins to perform downwind yaw action; the speed control valve 5 sets the cabin yaw speed so that it can yaw at the required speed.
[0077] In line with the above, see Figure 5 , Figure 5 The present invention provides a wind turbine yaw control device. Figure 5 As shown, the device comprises:
[0078] A first acquisition unit 8, used to acquire wind monitoring data and wind turbine attribute parameters;
[0079] A first processing unit 9 is used to calculate a wind direction error angle according to wind monitoring data;
[0080] A second acquisition unit 10 is used to extract a yaw error threshold from the wind turbine attribute parameters;
[0081] The second processing unit 11 is used to determine the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle;
[0082] The third processing unit 13 is used to switch the current wind turbine set to the yaw working mode of the target wind turbine set.
[0083] In this example, wind monitoring data and wind turbine attribute parameters are first obtained, and then the wind direction error angle is calculated based on the wind monitoring data, and the yaw error threshold is extracted from the wind turbine attribute parameters. The wind direction error angle and the yaw error threshold are used to determine the current state of the blades to the wind in real time, thereby confirming the yaw working mode of the target wind turbine and adjusting the azimuth angle of the wind turbine to reduce the impact of wind direction on the turbine, reduce blade vibration, and improve the safety of the wind turbine.
[0084] In the aspect of calculating the wind direction error angle according to the wind monitoring data, the first processing unit 9 is used for:
[0085] Extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data;
[0086] Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units;
[0087] Take the average of the unit azimuth angles to obtain the average unit azimuth angle;
[0088] The wind direction error angle is calculated based on the mean unit wind direction angle and the mean unit azimuth angle.
[0089] In the aspect of determining the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle, the second processing unit 11 is used for:
[0090] If the wind direction error angle is greater than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the active yaw working state;
[0091] If the wind direction error angle is less than the yaw error threshold or is in a shutdown and power-off condition, it is confirmed that the yaw working mode of the wind turbine set is in the yaw damping state.
[0092] For the above embodiments, please refer to Figure 6 , Figure 6 A schematic diagram of the structure of a terminal provided in an embodiment of the present application, as shown in the figure, includes a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, the processor is configured to call the program instructions, and the program includes instructions for executing the following steps;
[0093] Obtain wind monitoring data and wind turbine attribute parameters;
[0094] Calculate the wind direction error angle based on wind monitoring data;
[0095] Extracting a yaw error threshold from the wind turbine attribute parameters;
[0096] Determine the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle;
[0097] Switch the current wind turbine to the yaw working mode of the target wind turbine.
[0098] In this example, wind monitoring data and wind turbine attribute parameters are first obtained, and then the wind direction error angle is calculated based on the wind monitoring data, and the yaw error threshold is extracted from the wind turbine attribute parameters. The wind direction error angle and the yaw error threshold are used to determine the current state of the blades to the wind in real time, thereby confirming the yaw working mode of the target wind turbine and adjusting the azimuth angle of the wind turbine to reduce the impact of wind direction on the turbine, reduce blade vibration, and improve the safety of the wind turbine.
[0099] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that in order to realize the above functions, the terminal includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can 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.
[0100] The embodiment of the present application can divide the terminal into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.
[0101] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any wind turbine yaw control method recorded in the above method embodiments.
[0102] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program enables a computer to execute part or all of the steps of any wind turbine yaw control method recorded in the above method embodiments.
[0103] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.
[0104] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0105] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.
[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0107] In addition, the functional units in the various embodiments of the application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software program modules.
[0108] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.
[0109] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.
[0110] The embodiments of the present application are 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 and core idea of the present application. At the same time, for general technical personnel in this field, according to the idea of the present application, there will be changes in the specific implementation method 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, characterized in that: include: Obtain wind monitoring data and wind turbine attribute parameters; Calculate the wind direction error angle based on wind monitoring data; Extracting a yaw error threshold from the wind turbine attribute parameters; Determine the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle; Switch the current wind turbine to the yaw working mode of the target wind turbine.
2. The wind turbine yaw control method according to claim 1, characterized in that: Calculate the wind direction error angle based on wind monitoring data, including: Extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data; Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units; Take the average of the unit azimuth angles to obtain the average unit azimuth angle; The wind direction error angle is calculated based on the mean unit wind direction angle and the mean unit azimuth angle.
3. The wind turbine yaw control method according to claim 2, characterized in that: The calculation formula of the wind direction error angle is as follows: φ=|α-β| Among them, φ is the wind direction error angle, α is the mean unit wind direction angle, and β is the mean unit azimuth angle.
4. The wind turbine yaw control method according to claim 1, characterized in that: According to the yaw error threshold and the wind direction error angle, the yaw working mode of the target wind turbine is determined, including: If the wind direction error angle is greater than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the active yaw working state; If the wind direction error angle is less than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the yaw damping state.
5. A yaw control device for a wind turbine, characterized in that: include: A first acquisition unit, used to acquire wind monitoring data and wind turbine attribute parameters; A first processing unit is used to calculate a wind direction error angle according to wind monitoring data; A second acquisition unit is used to extract a yaw error threshold from the attribute parameters of the wind turbine generator set; A second processing unit is used to determine a yaw working mode of a target wind turbine according to a yaw error threshold and a wind direction error angle; The third processing unit is used to switch the current wind turbine set to the yaw working mode of the target wind turbine set.
6. The yaw control device for a wind turbine according to claim 5, characterized in that: In the aspect of calculating the wind direction error angle according to the wind monitoring data, the first processing unit is used for: Extracting the wind direction angle and azimuth angle of the unit at the nth moment and the n+1th moment from the wind monitoring data; Take the average of the wind direction angles of the units to obtain the average wind direction angle of the units; Take the average of the unit azimuth angles to obtain the average unit azimuth angle; The wind direction error angle is calculated based on the mean unit wind direction angle and the mean unit azimuth angle.
7. The yaw control device for a wind turbine according to claim 5, characterized in that: In the aspect of determining the yaw working mode of the target wind turbine according to the yaw error threshold and the wind direction error angle, the second processing unit is used for: If the wind direction error angle is greater than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the active yaw working state; If the wind direction error angle is less than the yaw error threshold, it is confirmed that the yaw working mode of the wind turbine is in the yaw damping state.
8. A terminal, characterized in that: The method comprises a processor, an input device, an output device and a memory, wherein the processor, the input device, the output device and the memory are interconnected, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the wind turbine yaw control method according to any one of claims 1 to 4.
9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the wind turbine yaw control method according to any one of claims 1 to 4.
10. A computer program product, characterized in that The computer program product comprises a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute part or all of the steps of the wind turbine yaw control method as claimed in any one of claims 1 to 4.