Diagnostic method and system for yaw action jitter abnormity of wind turbine generator

Abstract

The invention relates to the technical field of wind power generation, and provides a method and a system for diagnosing jitter abnormity of yaw action of a wind turbine generator. The method comprises the following steps: acquiring running state data and working condition data of the wind turbine generator, and judging a yaw action state of the wind turbine generator; if the yaw action process of the wind turbine generator is normal, fitting the yaw action process in an ideal state according to the running state data; calculating Teager energy operator characteristic values of the actual yaw curve and the fitting yaw curve of the cabin so as to calculate sample entropies of the Teager characteristic values of the actual yaw curve and the fitting yaw curve; calculating the difference value between the sample entropy of the actual yaw curve and the sample entropy of the Teager characteristic value of the fitting yaw curve, and evaluating whether the yaw of the wind turbine generator shakes or not according to the difference value; and if the yaw action of the wind turbine generator shakes, evaluating different levels of abnormal yaw shaking according to the difference value and the duration time.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a method and system for diagnosing abnormal yaw motion jitter of a wind turbine set. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The yaw system is a key subsystem in the whole wind turbine. Its main function is to control the fuselage and wind rotor of the wind turbine by sensing the wind direction information of the wind farm, ensuring that the wind turbine blades are always facing the direction of the wind, so as to capture wind energy to the greatest extent and improve the power generation efficiency of the wind turbine. The stability and reliability of the yaw system are crucial to the overall efficiency of wind power generation, and are directly related to the power generation efficiency and economic benefits of the entire wind farm. However, abnormal jitter during the yaw process may indicate that there are faults or hidden dangers inside the equipment. If not discovered and handled in time, long-term yaw jitter may cause fatigue of local structural parts of the unit, increased wear of friction plates, hydraulic system failure and other problems, thereby shortening the service life of the unit, and may cause equipment shutdown, damage and even safety accidents. Therefore, in-depth research on the mechanism and solution of the yaw jitter problem of wind turbines can further accurately identify, warn and build an effective control and protection mechanism. It is one of the important means to promote the continuous development, progress and application of wind power generation technology and improve the performance of the unit. It is of great significance to ensure the safe, stable and efficient operation of wind turbines.

[0004] By accurately identifying and processing the yaw jitter problem, it can be ensured that the wind turbine is always accurately aligned with the wind direction, improve the efficiency of capturing wind energy, thereby increasing power generation and improving economic benefits. In the prior art, there is a method of collecting the vibration of the cabin through the whole machine vibration sensor, taking a series of measures such as state judgment, early warning and control logic, so as to timely protect the unit when the yaw action jitter abnormality occurs. In this method, the whole machine vibration sensor is usually installed on the generator chassis or main frame, and there is a certain distance from the position of the unit yaw system. When the vibration caused by the abnormal yaw action jitter is picked up by the whole machine vibration sensor, there will be a certain physical transmission path energy attenuation and delay, and the diagnosis and protection of the abnormal yaw action jitter do not have good timeliness and consistency. In addition, there is another technology that uses a torque sensor to collect information such as the torque, speed and working conditions of the yaw motor, and comprehensively judges the operating status of the yaw system and motor of the wind turbine. This method has good comprehensiveness for monitoring the operating status of the yaw motor, but the accuracy of identifying abnormal yaw action jitter is poor. Moreover, the above-mentioned common protection mechanisms are all early warning and control protections taken after the abnormal yaw motion jitter of the wind turbine causes a major safety hazard to the unit. The yaw state judgment and control logic are a self-protection mechanism after the accident occurs, and effective measures are not taken in time at the early stage of the yaw jitter abnormality. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method and system for diagnosing abnormal jitter of the yaw action of a wind turbine set. The present invention can timely identify the abnormal state at the first moment when the yaw jitter of the set occurs, thereby reducing the vibration fatigue damage of the yaw system and the whole machine of the wind turbine set caused by excessive vibration triggered by abnormal jitter, thereby improving the power generation efficiency of the set and extending the service life of the wind turbine set.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a method for diagnosing abnormal yaw motion vibration of a wind turbine.

[0008] A method for diagnosing abnormal yaw motion of a wind turbine generator set comprises:

[0009] Obtain the operating status data and working condition data of the wind turbine set to determine the yaw action status of the wind turbine set;

[0010] If the yaw action process of the wind turbine is normal, fit the yaw action process under the ideal state according to the operating status data; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is shaking according to the difference;

[0011] If the yaw motion of the wind turbine generator set vibrates, different levels of abnormal yaw vibration are evaluated according to the difference and the duration.

[0012] Furthermore, the method of obtaining the operating status data and operating condition data of the wind turbine set and judging the yaw action state of the wind turbine set includes: obtaining the operating status data and operating condition data of the wind turbine set, judging whether the wind turbine set is in a yaw action state, and if the wind turbine set is not in a yaw action state, the judging process ends; otherwise, judging whether the yaw action operating state of the wind turbine set is in a normal state.

[0013] Furthermore, the method for determining whether the yaw operation state of the wind turbine is in a normal state comprises:

[0014] Obtain the wind turbine vibration sensor data and evaluation results to determine whether the threshold is exceeded to trigger the vibration protection mechanism. If so, execute the original control strategy;

[0015] Otherwise, evaluating whether a first abnormal operating condition exists according to the operating condition data, and if so, executing the original control strategy;

[0016] Otherwise, when the wind turbine enters the yaw state, the yaw action process and yaw rate are monitored in real time to evaluate whether there is a second abnormal condition in the yaw action of the wind turbine. If there is a second abnormal condition in the yaw, the original control strategy is executed; otherwise, the yaw action process of the wind turbine is normal.

[0017] Furthermore, the first abnormal operating condition refers to whether there is turbulence, instantaneous excessive wind speed, sudden change in wind direction, and power shedding in the operating condition data, and the second abnormal operating condition refers to whether there is jamming and reverse deviation in the yaw action of the wind turbine.

[0018] Furthermore, if the yaw action of the wind turbine generator set vibrates, different levels of abnormal yaw vibration are evaluated according to the difference and the duration, and the method includes:

[0019] If the yaw process triggers the unit's whole machine vibration to exceed the limit, the original control strategy will be executed;

[0020] If it is not triggered, and the difference is greater than or equal to the set threshold, then the wind turbine has abnormal yaw jitter;

[0021] Evaluate different abnormal levels of yaw jitter and input the evaluation results to the unit control system to execute the corresponding control strategy.

[0022] Furthermore, the operating condition data includes wind speed data, wind direction data and power data.

[0023] A second aspect of the present invention provides a wind turbine yaw motion abnormality diagnosis system.

[0024] A wind turbine yaw motion abnormality diagnosis system, comprising:

[0025] A yaw action judgment module is configured to: obtain the operation status data and working condition data of the wind turbine generator set, and judge the yaw action status of the wind turbine generator set;

[0026] The yaw jitter judgment module is configured as follows: if the yaw action process of the wind turbine is normal, according to the operating status data, fit the yaw action process under the ideal state; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is jittering according to the difference;

[0027] The jitter judgment module is configured to: if the yaw action of the wind turbine generator set jitters, evaluate different levels of abnormal yaw jitter according to the difference and duration.

[0028] A third aspect of the present invention provides a computer-readable storage medium.

[0029] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for diagnosing abnormal yaw motion jitter of a wind turbine set as described in the first aspect above.

[0030] A fourth aspect of the present invention provides a computer device.

[0031] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for diagnosing abnormal yaw motion jitter of a wind turbine set as described in the first aspect above are implemented.

[0032] A fifth aspect of the present invention provides a computer program product or a computer program.

[0033] The present invention provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the method for diagnosing abnormal yaw motion jitter of a wind turbine set as described in the first aspect above.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention reads the yaw action operation status of the wind turbine nacelle in real time, and at the same time uses other various operating parameters of the wind turbine to comprehensively judge whether the yaw jitter occurs in the unit at the first moment, and warns of abnormal yaw action jitter status, thereby providing logical judgment input for the safe and stable operation protection mechanism of the unit's yaw system, thereby achieving timely identification of abnormal status at the first moment when the yaw jitter of the unit occurs, thereby reducing vibration fatigue damage to the yaw system of the wind turbine and the entire machine caused by excessive vibration triggered by abnormal jitter, thereby improving the power generation efficiency of the unit and extending the service life of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0037] Figure 1 The present invention is a flow chart of a method for diagnosing abnormal yaw motion of a wind turbine set. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0042] Embodiment 1

[0043] The present embodiment provides a method for diagnosing abnormal yaw motion jitter of a wind turbine. The present embodiment takes the method being applied to a server as an example. It is understandable that the method can also be applied to a terminal, and can also be applied to a system including a terminal, a server, and a server, and is implemented through the interaction between the terminal and the server. The server can be an independent physical server, or a server cluster or a distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network servers, cloud communications, middleware services, domain name services, security services CDN, and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in this application. In the present embodiment, the method includes the following steps:

[0044] Obtain the operating status data and working condition data of the wind turbine set to determine the yaw action status of the wind turbine set;

[0045] If the yaw action process of the wind turbine is normal, fit the yaw action process under the ideal state according to the operating status data; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is shaking according to the difference;

[0046] If the yaw motion of the wind turbine generator set vibrates, different levels of abnormal yaw vibration are evaluated according to the difference and the duration.

[0047] The present embodiment is described in detail below with reference to the accompanying drawings. Figure 1 As shown, a method for diagnosing abnormal yaw motion of a wind turbine generator system comprises:

[0048] Step (1): Collect the wind turbine operating status data and working condition data. According to the working condition "yaw status code" of the turbine, each instruction will have a corresponding code. By identifying the target code, it is determined whether the turbine has issued a "yaw" instruction to determine whether the turbine is in a yaw action. If the turbine is not in a yaw action state, the logic judgment program ends, otherwise it proceeds to the next step.

[0049] Step (2): If the unit is in the yaw action state, further determine the yaw action operation state of the wind turbine unit:

[0050] Step (2-1): determine in real time whether the vibration data of the wind turbine set exceeds the set threshold. If the threshold is exceeded and vibration protection is triggered, the logic judgment program ends and the original control strategy is executed. If it is not exceeded, proceed to the next step.

[0051] Step (2-2): Determine whether the wind turbine operating condition is in a normal state. If a condition is abnormal, the logic judgment program ends and the original control strategy is executed. If all conditions are normal, proceed to the next step.

[0052] Step (2-3): Evaluate whether there is any jamming, reverse slipping, etc. during the yaw action of the wind turbine. If there is an abnormal yaw condition, the logic judgment program ends and the original control strategy is executed. If the yaw action process is normal, proceed to the next step;

[0053] Specifically, it is evaluated whether there are any jamming, reverse slipping, etc. during the yaw action of the wind turbine. If there is an abnormal yaw condition, the method includes: calculating the "yaw position" of the unit's operating condition through a sliding window, calculating the change in the yaw position within the window, and setting a judgment threshold. If the change is greater than the threshold and the sign is consistent with the yaw direction, the unit is considered to be yawed normally. If the change is greater than the threshold but the sign is opposite to the yaw, it is considered to be reverse slipping. If it is less than the threshold, it is considered to be jammed.

[0054] Step (3): Determine whether the wind turbine has yaw vibration:

[0055] Step (3-1): fitting the yaw action process under the ideal state according to the yaw starting position and yaw rate of the wind turbine;

[0056] Among them, the yaw rate of the crew is a set value (a degree change per second). At the start of yaw, the yaw position of the crew at the start of yaw is determined (i.e. angle b). Then after x seconds, the position y should be expressed as: y=ax+b, i.e. y is the theoretical yaw motion trajectory.

[0057] Step (3-2): Calculate the Teager energy operator eigenvalues ​​of the actual cabin yaw curve and the fitted yaw curve;

[0058] Step (3-3): Calculate the sample entropy of the Teager eigenvalues ​​of the actual yaw curve and the fitted yaw curve respectively;

[0059] Step (3-4): Compare and analyze the sample entropy of the actual yaw curve and the fitted yaw curve, and evaluate whether the yaw of the unit is shaking based on the difference. If the yaw action is shaking, proceed to the next step;

[0060] The present invention can ensure that the wind turbine is always accurately aligned with the wind direction by accurately identifying and processing the yaw jitter problem, thereby improving the efficiency of capturing wind energy, thereby increasing power generation and improving economic benefits.

[0061] Step 4: Evaluate the abnormal level of yaw jitter:

[0062] Step (4-1): Evaluate different levels of abnormal yaw jitter according to the difference between the actual yaw action and the ideal yaw action of the unit and the duration of the yaw jitter;

[0063] Specifically, the levels of abnormal yaw jitter are divided into normal, attention and warning, and the duration threshold is set to s. If the duration is greater than s, the level is judged as attention. At the same time, the difference is judged, less than m is normal, greater than m and less than n is attention, and greater than n is warning. Normal does not require any action. If any of the time and threshold judgments are met, the level judgment can be triggered, and the result with the higher level of the two is the final output result.

[0064] Step (4-2): Input different levels of abnormal yaw vibration into the unit control system so as to execute the corresponding control strategy.

[0065] In some embodiments, step (1) collects the operating control parameters of the wind turbine generator set to determine whether the set is in a yaw or untwisting state.

[0066] In some embodiments, in step (2), determining whether the yaw operation state of the wind turbine is in a normal state specifically includes the following steps:

[0067] Collect the whole machine vibration sensor data and evaluation results of the wind turbine. If the vibration protection mechanism is triggered by exceeding the threshold, the original control strategy is executed. If the whole machine vibration is at a normal level, proceed to the next step.

[0068] Collect the operating data of wind turbines, including wind speed, wind direction, power, etc., and evaluate whether there are abnormal conditions such as turbulence, instantaneous excessive wind speed, sudden change in wind direction, and power shedding. If there are a series of sudden abnormal conditions such as sudden wind conditions and load shedding, execute the original control strategy. If it is at a normal level, proceed to the next step.

[0069] When the unit enters the yaw state, the yaw action process and yaw rate are monitored in real time. Further, it is evaluated whether there is any jamming, reverse offset, etc. in the yaw action of the unit. If there is an abnormal yaw condition, the original control strategy is executed. If the yaw action process is normal, the yaw jitter abnormal condition identification step is entered.

[0070] In some embodiments, according to the yaw starting position and yaw rate of the wind turbine generator set, fitting the yaw action process under the ideal state specifically includes the following steps:

[0071] Calculate the actual yaw curve of the cabin and the eigenvalue of the Teager energy operator of the fitted yaw curve;

[0072] Calculate the sample entropy of the Teager energy operator of the actual yaw curve and the fitted yaw curve respectively;

[0073] Compare and analyze the sample entropy of the actual yaw curve and the fitted yaw curve to determine whether the yaw action of the unit is shaking. If the yaw of the unit has not stopped and no shaking action has occurred, then loop this step. If the yaw of the unit has stopped, then end this logic. If the yaw of the unit is shaking, then enter the step of evaluating the impact of the yaw action of the unit.

[0074] In some embodiments, the influence degree of the yaw motion jitter is evaluated according to the difference between the actual yaw motion of the unit and the ideal yaw motion and the whole machine vibration warning information, which specifically includes the following steps:

[0075] If the yaw process triggers the unit vibration to exceed the limit, the original control strategy will be executed. If not, proceed to the next step.

[0076] If the difference is greater than or equal to the set threshold, it is considered that the yaw jitter poses a major risk to the safe and stable operation of the entire machine, and the unit is deemed to have abnormal yaw jitter;

[0077] Evaluate different abnormal levels of yaw jitter and input the evaluation results to the unit control system to execute the corresponding control strategy.

[0078] Embodiment 2

[0079] This embodiment provides a system for diagnosing abnormal yaw motion jitter of a wind turbine.

[0080] A wind turbine yaw motion abnormality diagnosis system, comprising:

[0081] A yaw action judgment module is configured to: obtain the operation status data and working condition data of the wind turbine generator set, and judge the yaw action status of the wind turbine generator set;

[0082] The yaw jitter judgment module is configured as follows: if the yaw action process of the wind turbine is normal, according to the operating status data, fit the yaw action process under the ideal state; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is jittering according to the difference;

[0083] The jitter judgment module is configured to: if the yaw action of the wind turbine generator set jitters, evaluate different levels of abnormal yaw jitter according to the difference and duration.

[0084] In some embodiments, the yaw action judgment module is further configured to: obtain the operating status data and operating condition data of the wind turbine group, and judge whether the wind turbine group is in a yaw action state. If the wind turbine group is not in a yaw action state, the judgment process ends; otherwise, judge whether the yaw action operating state of the wind turbine group is in a normal state.

[0085] In some embodiments, the yaw action judgment module is further configured to: obtain the whole-machine vibration sensor data and evaluation results of the wind turbine set, determine whether the threshold is exceeded to trigger the vibration protection mechanism, and if so, execute the original control strategy; otherwise, evaluate whether there is a first abnormal operating condition based on the operating condition data, and if so, execute the original control strategy; otherwise, when the wind turbine set enters the yaw state, monitor the yaw action process and yaw rate in real time, and evaluate whether there is a second abnormal operating condition in the yaw action of the wind turbine set. If there is a second abnormal operating condition in the yaw, execute the original control strategy, otherwise, the yaw action process of the wind turbine set is normal.

[0086] In some embodiments, the first abnormal operating condition is whether there is turbulence in the operating condition data, instantaneous excessive wind speed, sudden change in wind direction, and whether there is load shedding, and the second abnormal operating condition is whether there is jamming and reverse deviation in the yaw action of the wind turbine.

[0087] In some embodiments, the jitter judgment module is further configured as follows: if the yaw process triggers the whole unit vibration to exceed the limit, the original control strategy is executed; if it is not triggered, and the difference is greater than or equal to the set threshold, then the wind turbine has an abnormal yaw jitter; evaluate different abnormal levels of yaw jitter, and input the evaluation results to the unit control system to execute the corresponding control strategy.

[0088] In some embodiments, the operating condition data includes wind speed data, wind direction data, and power data.

[0089] Embodiment 3

[0090] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method for diagnosing abnormal yaw motion jitter of a wind turbine set as described in the first embodiment above are implemented.

[0091] Embodiment 4

[0092] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for diagnosing abnormal yaw motion jitter of a wind turbine as described in the first embodiment above are implemented.

[0093] Embodiment 5

[0094] This embodiment provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the above-mentioned method for diagnosing abnormal yaw motion of a wind turbine.

[0095] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0096] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0099] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for diagnosing abnormal yaw motion of a wind turbine, characterized in that: include: Obtain the operating status data and working condition data of the wind turbine set to determine the yaw action status of the wind turbine set; If the yaw action process of the wind turbine is normal, fit the yaw action process under the ideal state according to the operating status data; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is shaking according to the difference; If the yaw motion of the wind turbine generator set vibrates, different levels of abnormal yaw vibration are evaluated according to the difference and the duration.

2. The method for diagnosing abnormal yaw motion of a wind turbine according to claim 1, characterized in that: The method of obtaining the operating status data and operating condition data of the wind turbine set and judging the yaw action state of the wind turbine set includes: obtaining the operating status data and operating condition data of the wind turbine set, judging whether the wind turbine set is in a yaw action state, and if the wind turbine set is not in a yaw action state, the judging process ends; otherwise, judging whether the yaw action operating state of the wind turbine set is in a normal state.

3. The method for diagnosing abnormal yaw motion of a wind turbine according to claim 2, characterized in that: The method for determining whether the yaw operation state of the wind turbine generator set is in a normal state comprises: Obtain the wind turbine vibration sensor data and evaluation results to determine whether the threshold is exceeded to trigger the vibration protection mechanism. If so, execute the original control strategy; Otherwise, evaluating whether a first abnormal operating condition exists according to the operating condition data, and if so, executing the original control strategy; Otherwise, when the wind turbine enters the yaw state, the yaw action process and yaw rate are monitored in real time to evaluate whether there is a second abnormal condition in the yaw action of the wind turbine. If there is a second abnormal condition in the yaw, the original control strategy is executed; otherwise, the yaw action process of the wind turbine is normal.

4. The method for diagnosing abnormal yaw motion of a wind turbine according to claim 3, characterized in that: The first abnormal operating condition refers to whether there is turbulence, instantaneous excessive wind speed, sudden change in wind direction, and power shedding in the operating condition data, and the second abnormal operating condition refers to whether there is jamming and reverse deviation in the yaw action of the wind turbine.

5. The method for diagnosing abnormal yaw motion of a wind turbine according to claim 2, characterized in that: If the yaw motion of the wind turbine generator set vibrates, different levels of abnormal yaw vibration are evaluated according to the difference and duration, and the method includes: If the yaw process triggers the unit's whole machine vibration to exceed the limit, the original control strategy will be executed; If it is not triggered, and the difference is greater than or equal to the set threshold, then the wind turbine has abnormal yaw jitter; Evaluate different abnormal levels of yaw jitter and input the evaluation results to the unit control system to execute the corresponding control strategy.

6. The method for diagnosing abnormal yaw motion of a wind turbine according to claim 2, characterized in that: The operating condition data includes wind speed data, wind direction data and power data.

7. A wind turbine yaw motion abnormality diagnosis system, characterized in that: include: A yaw action judgment module is configured to: obtain the operation status data and working condition data of the wind turbine generator set, and judge the yaw action status of the wind turbine generator set; The yaw jitter judgment module is configured as follows: if the yaw action process of the wind turbine is normal, according to the operating status data, fit the yaw action process under the ideal state; calculate the Teager energy operator eigenvalues ​​of the actual yaw curve of the cabin and the fitted yaw curve to calculate the sample entropy of the actual yaw curve and the Teager eigenvalue of the fitted yaw curve; calculate the difference between the sample entropy of the actual yaw curve and the sample entropy of the Teager eigenvalue of the fitted yaw curve, and evaluate whether the yaw of the wind turbine is jittering according to the difference; The jitter judgment module is configured to: if the yaw action of the wind turbine generator set jitters, evaluate different levels of abnormal yaw jitter according to the difference and duration.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method for diagnosing abnormal yaw motion jitter of a wind turbine set as described in any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for diagnosing abnormal yaw motion jitter of a wind turbine set according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps in the method for diagnosing abnormal yaw motion jitter of a wind turbine set according to any one of claims 1 to 6 are implemented.

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