Yaw simulation control method of yaw system of wind generating set and yaw system

Abstract

The invention provides a yaw simulation control method of a yaw system of a wind generating set and the yaw system. The yaw simulation control method comprises the steps that the first motor torque of a hydraulic motor under the initial opening degree of a hydraulic valve and the aerodynamic torque acting on a cabin are determined; determining a first motor speed based on the first motor torque and the aerodynamic torque; determining a first target opening degree based on the first motor rotating speed and a preset rotating speed; based on the first target opening degree, determining a second motor torque of the hydraulic motor under the first target opening degree so as to simulate the yaw process of the yaw system; and controlling the yaw system based on the simulation result of the yaw process. According to the yaw simulation control method of the yaw system of the wind generating set and the yaw system, the problems that electrical equipment of a motor yaw system is complex and poor in reliability can be solved by arranging the hydraulic yaw system, control over the yaw system in actual operation can be optimized, and the stability and reliability of the wind generating set are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of wind power generation, and more particularly, to a yaw simulation control method and a yaw system for a yaw system of a wind turbine generator set. Background Art

[0002] As a new energy source, wind power generation has formed a mature scale.

[0003] A wind turbine generator set is a device that converts wind energy into electrical energy. The test device of the wind turbine generator set is of great significance to the performance, reliability and economy of the unit. Among them, the yaw technology is an important part to support the operation of the wind turbine generator set.

[0004] In the related art, the yaw of the unit can be realized by an electrically driven motor yaw system. However, such a motor yaw generally requires a standby power supply and also needs to be equipped with devices such as braking resistors, which makes the structure required for the motor yaw complex and the cost high. In addition, under extreme operating conditions, problems such as device fusing or tripping may occur in the motor yaw system, affecting the overall reliability and stability of the unit. Summary of the Invention

[0005] In view of the problems of complex electrical equipment and poor reliability of the motor yaw system in the related art, the present disclosure provides a yaw simulation control method and a yaw system for a yaw system of a wind turbine generator set.

[0006] A first aspect of the present disclosure provides a yaw simulation control method for a yaw system of a wind turbine generator set. The yaw system includes a yaw drive system, a hydraulic motor and a hydraulic valve. Wherein, the yaw simulation control method includes: determining a first motor torque applied by the hydraulic motor to the yaw drive system at an initial opening of the hydraulic valve and an aerodynamic torque acting on the nacelle of the wind turbine generator set; determining a first motor speed of the hydraulic motor based on the first motor torque and the aerodynamic torque; determining a first target opening of the hydraulic valve based on the first motor speed and a preset speed; determining a second motor torque of the hydraulic motor at the first target opening based on the first target opening to simulate the yaw process of the yaw system; and controlling the yaw system based on the simulation result of the yaw process.

[0007] Optionally, the first target opening of the hydraulic valve is determined by the following method: determining a target flow rate of the hydraulic motor based on the first motor speed and the preset speed; and determining the first target opening based on the target flow rate.

[0008] Optionally, the target flow rate is determined as follows: in response to the first motor speed being greater than the preset speed, based on the hydraulic pressure difference between the liquid inlet and the liquid outlet of the hydraulic motor and the flow rate corresponding to the preset speed, the target flow rate is determined.

[0009] Optionally, the hydraulic pressure difference is determined as follows: based on the first motor torque and the aerodynamic torque, the braking torque received by the yaw drive system is determined; based on the braking torque and the motor volume of the hydraulic motor, the hydraulic pressure difference is determined.

[0010] Optionally, the step of simulating the yaw process of the yaw system includes: based on the second motor torque and the aerodynamic torque, determining the second motor speed of the hydraulic motor to simulate the yaw speed of the yaw system.

[0011] Optionally, the first motor speed is determined as follows: obtaining the frictional torque received by the yaw drive system; based on the frictional torque, the first motor torque and the aerodynamic torque, determining the first motor speed of the hydraulic motor.

[0012] Optionally, the yaw simulation control method further includes: based on the first motor speed and the reference speed of the hydraulic motor, determining the second target opening of the hydraulic valve; based on the second target opening, determining the target motor torque applied by the hydraulic motor to the yaw drive system; based on the target motor torque and the aerodynamic torque acting on the nacelle of the wind turbine generator, determining the third motor speed of the hydraulic motor at the second target opening to simulate the yaw speed of the yaw system.

[0013] Optionally, the target motor torque is determined as follows: based on the second target opening, the pressure sensitivity coefficient of the hydraulic valve, and the motor volume and motor efficiency of the hydraulic motor, the target motor torque is determined.

[0014] Optionally, the third motor speed is determined as follows: obtaining the frictional torque received by the yaw drive system; based on the frictional torque, the target motor torque and the aerodynamic torque, determining the third motor speed.

[0015] Optionally, the yaw system is controlled as follows: determining the first actual motor speed of the hydraulic motor; based on the first actual motor speed and the preset speed, determining the first actual target opening of the hydraulic valve; based on the first actual target opening, controlling the opening of the hydraulic valve to control the braking force applied by the hydraulic motor to the yaw drive system.

[0016] Optionally, the first actual target opening degree of the hydraulic valve is determined as follows: based on the first actual motor speed and the preset speed, determine the target flow rate of the hydraulic motor; based on the target flow rate, determine the first actual target opening degree.

[0017] Optionally, the target flow rate is determined as follows: in response to the first actual motor speed being greater than the preset speed, based on the hydraulic pressure difference between the inlet and outlet of the hydraulic motor and the flow rate corresponding to the preset speed, determine the target flow rate.

[0018] Optionally, the yaw simulation control method further includes: based on the first actual motor speed and the reference speed of the hydraulic motor, determine the second actual target opening degree of the hydraulic valve; based on the second actual target opening degree, control the opening degree of the hydraulic valve to control the driving force applied by the hydraulic motor to the yaw drive system.

[0019] A second aspect of the present disclosure provides a yaw system of a wind turbine generator, the yaw system including: a yaw drive system that receives an aerodynamic torque from the nacelle of the wind turbine generator; a hydraulic motor connected to the yaw drive system and capable of providing a braking force and a driving force to the yaw drive system; a hydraulic valve for controlling the flow rate of the hydraulic motor; a yaw simulation control system for performing the yaw simulation control method of the yaw system of the wind turbine generator according to the exemplary embodiments of the present disclosure.

[0020] Optionally, the yaw system further includes a hydraulic drive device and a liquid storage device, wherein the liquid storage device is used for storing a hydraulic medium, and the hydraulic drive device can drive the hydraulic medium in the liquid storage device to the hydraulic motor.

[0021] A third aspect of the present disclosure provides a computer-readable storage medium, when the instructions in the computer-readable storage medium are run by at least one processor, causing the at least one processor to execute the yaw simulation control method of the yaw system of the wind turbine generator according to the exemplary embodiments of the present disclosure.

[0022] The yaw simulation control method and yaw system of a wind turbine according to the present disclosure can achieve hydraulic yaw by setting a hydraulic motor and a hydraulic valve, and can determine the motor speed of the hydraulic motor by determining the first motor torque of the hydraulic motor and the aerodynamic torque received by the unit. Thus, based on the motor speed and a preset speed, the target opening of the hydraulic valve can be determined, and the second motor torque of the hydraulic motor at the target opening can be determined to simulate the yaw process. Therefore, based on the simulation results of this process, the yaw system can be controlled to achieve yaw control based on the hydraulic yaw system. In this way, on the one hand, by setting the hydraulic yaw system, the problems of complex electrical equipment and poor reliability of the motor yaw system can be solved; on the other hand, the control of the yaw system during actual operation can also be optimized by simulating the yaw process of hydraulic yaw, improving the stability and reliability of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. is a schematic structural diagram showing the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0024] Figure 2 FIG. is a schematic diagram showing the passive yaw process of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0025] Figure 3 FIG. is a schematic diagram showing the active yaw process of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0026] Figure 4 FIG. is a schematic flowchart showing the passive yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0027] Figure 5 FIG. is a schematic flowchart showing the step of determining the first target opening of the hydraulic valve during the passive yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0028] Figure 6 FIG. is a schematic flowchart showing the step of determining the hydraulic pressure difference during the passive yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0029] Figure 7 FIG. is an exemplary schematic diagram of the hydraulic valve flow curve during the passive yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0030] Figure 8It is a schematic flowchart showing the control of the yaw system during the passive yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0031] Figure 9 It is a schematic flowchart showing the determination of the first target opening during the control process of the yaw system in the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0032] Figure 10 It is a schematic flowchart showing the active yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0033] Figure 11 It is a schematic flowchart showing the control of the yaw system during the active yaw process of the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0034] Figure 12 It is a schematic diagram showing the strategy of performing passive yaw simulation control in the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0035] Figure 13 It is a schematic diagram showing the strategy of performing active yaw simulation control in the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure. Detailed implementation manners

[0036] The following detailed implementation manners are provided to assist the reader in obtaining a comprehensive understanding of the methods, devices, and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will be apparent. For example, the order of operations described herein is merely exemplary and is not limited to those set forth herein, but may be changed as will be apparent after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, descriptions of features known in the art may be omitted for greater clarity and conciseness.

[0037] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. On the contrary, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, devices, and / or systems described herein, which will be apparent after understanding the disclosure of the present application.

[0038] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more thereof.

[0039] Although terms such as "first", "second", and "third" may be used herein to describe various components, elements, regions, layers, or sections, these components, elements, regions, layers, or sections should not be limited by these terms. Instead, these terms are only used to distinguish one component, element, region, layer, or section from another. Thus, a first component, first element, first region, first layer, or first section described in an example herein may also be referred to as a second component, second element, second region, second layer, or second section without departing from the teachings of the example.

[0040] In the specification, when an element (such as a layer, region, or substrate) is described as "on" another element, "connected to" or "coupled to" another element, the element may be directly "on" the other element, directly "connected to" or "coupled to" the other element, or there may be one or more other elements therebetween. In contrast, when an element is described as "directly on" another element, "directly connected to" or "directly coupled to" another element, there may be no other elements therebetween.

[0041] The terms used herein are only for describing various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. The terms "comprising", "including", and "having" specify the presence of the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0042] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains after understanding the disclosure. Unless explicitly defined herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and should not be interpreted in an idealized or overly formal manner.

[0043] Furthermore, in the description of the examples, when a detailed description of related structures or functions that are considered well-known would cause an unclear interpretation of the disclosure, such detailed descriptions will be omitted.

[0044] As described above, in the related art, there are problems with the complex electrical equipment and poor reliability of the motor yaw system, which may affect the stability and reliability of the operation of the wind turbine generator set.

[0045] Taking the passive yaw process of a wind turbine generator as an example, compared with the active yaw technology, the passive yaw technology does not need to overcome the aerodynamic torque of the nacelle during the yaw process of the nacelle, but only needs to provide part of the resistance. During the stopping yaw process, it is also not necessary for devices such as calipers to provide friction to maintain the pose, which greatly saves the yaw cost.

[0046] During the passive yaw process, for the motor yaw system, not only a backup power supply is required, but also a braking resistor needs to be equipped if the unit is operating in the power generation state. In addition, in extreme working conditions, device fusing or tripping may also occur. In passive yaw, if the yaw motor does not provide electromagnetic torque as resistance, the yaw may overspeed, thus constituting a harmful load on other components.

[0047] In addition, during the active yaw process, similar problems also exist in the motor yaw system.

[0048] In view of the above problems, the present disclosure provides a yaw simulation control method for a yaw system of a wind turbine generator, a yaw system of a wind turbine generator, and a computer-readable storage medium to solve or at least alleviate the above problems.

[0049] First, refer to Figures 1 to 3 to describe an example of a yaw system of a wind turbine generator according to the first aspect of an exemplary embodiment of the present disclosure.

[0050] As Figure 1 shown, the yaw system of a wind turbine generator according to an exemplary embodiment of the present disclosure includes a yaw drive system 100, a hydraulic motor 200, a hydraulic valve 300, and a yaw simulation control system 400.

[0051] The yaw drive system 100 can receive the aerodynamic torque from the nacelle of the wind turbine generator and can also receive the motor torque from the hydraulic motor 200. The hydraulic motor 200 can be connected to the yaw drive system 100 and is capable of providing braking force and driving force to the yaw drive system. Here, the yaw drive system 100 can include, for example, a yaw bearing and a gearbox, etc.

[0052] Specifically, on the one hand, the impeller of the wind turbine generator generates an aerodynamic load under the action of wind, and this aerodynamic load can be transmitted to the yaw drive system 100 through the nacelle, and the yaw drive system 100 can transmit this aerodynamic load to the hydraulic motor 200; on the other hand, the hydraulic motor 200 can output a motor torque to the yaw drive system 100, and the yaw drive system 100 can transmit this torque to the nacelle to provide driving force for active yaw or braking force for passive yaw.

[0053] The hydraulic valve 300 can be used to control the flow rate of the hydraulic motor 200. By controlling the flow rate of the hydraulic motor 200, the motor torque output by the hydraulic motor 200 can be adjusted, thereby adjusting the braking force or driving force provided by the hydraulic motor 200 to the yaw drive system. As an example, the hydraulic valve 300 can include, for example, a proportional valve, a throttle speed control valve, and a relief valve.

[0054] The yaw simulation control system 400 can be used to execute the yaw simulation control method of the yaw system of a wind turbine according to an embodiment of the present disclosure described below. The yaw simulation control system 400 can control the yaw system to perform a yaw action, for example, can control the opening degree of the hydraulic valve 300, etc.

[0055] In addition, the yaw system can further include a hydraulic driving device 500 and a liquid storage device 600. The hydraulic driving device 500 can drive a hydraulic medium such as hydraulic oil in the liquid storage device 600 to the hydraulic motor 200. The hydraulic driving device 500 can be, for example, an oil pump. The liquid storage device 600 can be used to store the hydraulic medium. The liquid storage device 600 can be, for example, an oil tank.

[0056] Figure 2 and Figure 3 respectively show examples of the hydraulic paths during passive yaw and active yaw of a yaw system according to an exemplary embodiment of the present disclosure. Among them, the solid line represents the liquid outlet path, and the dashed line represents the liquid return path.

[0057] As Figure 2 shown, in the passive yaw working mode, the hydraulic motor 200 can work as a pump, and the aerodynamic load on the impeller is transmitted to the hydraulic motor 200 acting as a pump through the nacelle and the yaw drive system 100. Specifically, during passive yaw, the hydraulic driving device 500 can be inoperative, and the load of the nacelle is transmitted to the hydraulic motor 200 through the yaw drive system 100. The hydraulic motor 200 operates as a pump, and the hydraulic medium at the liquid outlet of the hydraulic motor 200 flows back to the liquid storage device 600 through a hydraulic valve 300 such as a proportional valve or a throttle valve, and the hydraulic medium at the liquid inlet of the hydraulic motor 200 is sucked from the liquid storage device 600.

[0058] When the yaw speed does not exceed the rated speed, the hydraulic valve 300 can be fully opened; when the yaw speed is higher than the rated speed, the opening degree of the hydraulic valve 300 can become smaller to control the yaw speed by throttling. In the passive yaw working mode, the hydraulic valve 300 can provide damping. If the opening degree becomes smaller, the damping increases; if the opening degree becomes larger, the damping decreases. In this way, a braking force can be provided to the yaw drive system 100 through the hydraulic motor 200.

[0059] As Figure 3As shown, in the active yaw working mode (for example, in the active yaw working mode under light wind), the hydraulic drive device 500 can provide power, and the aerodynamic load of the impeller can be used as a load. In this case, a closed-loop control of the speed can be adjusted in real time through the hydraulic valve 300 to control the yaw speed (which can also be referred to as "yaw rotation speed"). When the hydraulic differential remains unchanged, the smaller the opening of the hydraulic valve 300 such as a proportional valve, the smaller the flow rate and the speed; the larger the opening of the hydraulic valve 300, the larger the flow rate and the speed. When there is a load, the change of the load will affect the hydraulic differential, so it is necessary to perform real-time adjustment through the hydraulic valve 300 and the closed-loop control.

[0060] In the active yaw working mode, the hydraulic drive device 500 can send out the hydraulic medium through rotation, pass through the hydraulic valve 300 (for example, the oil inlet (P port) of the proportional valve), and then enter the hydraulic motor 200. The return fluid of the hydraulic motor 200 returns to the liquid storage device 600 through the hydraulic valve 300 (for example, the oil return port (T port) of the proportional valve). The opening of the hydraulic valve 300 can adjust the flow rate, so as to achieve the purpose of adjusting the rotation speed.

[0061] According to a second aspect of the exemplary embodiments of the present disclosure, a yaw simulation control method for a yaw system of a wind turbine generator is provided. The yaw simulation control method can be executed in a yaw simulation control system of the yaw system of the wind turbine generator. The device for executing this method can be a terminal device or a server. Among them, the above terminal device can be, for example, a tablet computer, a notebook computer, a digital assistant, etc.; the above server can be an independent server, a server cluster, a cloud computing platform or a virtualization center.

[0062] In an example application scenario, the yaw simulation control system can determine a first motor torque applied to the yaw drive system by the hydraulic motor at an initial opening of the hydraulic valve and an aerodynamic torque acting on the nacelle of the wind turbine generator, and can determine a first motor speed of the hydraulic motor based on the first motor torque and the aerodynamic torque. The yaw simulation control system can also determine a first target opening of the hydraulic valve based on the first motor speed and a preset speed, and can determine a second motor torque of the hydraulic motor at the first target opening to simulate the yaw process of the yaw system. In this way, the yaw simulation control system can control the yaw system based on the simulation results of the yaw process.

[0063] Here, the yaw simulation control system can be communicatively connected to a database or a data management system, and the database or the data management system can store the unit operation data, yaw system data, etc. required in the simulation and control process, so that the yaw simulation control system can execute the above method based on these data.

[0064] According to the yaw simulation control scheme of the yaw system of a wind turbine according to the present disclosure, by setting a hydraulic yaw system, the problems of complex electrical equipment and poor reliability of the yaw system can be solved, and the control of the yaw system during actual operation can be optimized by simulating the yaw process of the hydraulic yaw, thereby improving the stability and reliability of the unit.

[0065] The yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure can be applied, for example, to the yaw system described in the embodiment of the first aspect above. As described above, the yaw system may include a yaw drive system, a hydraulic motor, and a hydraulic valve. The yaw simulation control method may include the following steps:

[0066] As Figure 4 shown, in step S410, the first motor torque applied by the hydraulic motor to the yaw drive system at the initial opening of the hydraulic valve and the aerodynamic torque acting on the nacelle of the wind turbine can be determined.

[0067] In this step, the initial opening of the hydraulic valve may refer to the current opening of the hydraulic valve, for example. The first motor torque can be determined based on the initial opening, the pressure sensitivity coefficient of the hydraulic valve, and the motor volume and motor efficiency of the hydraulic motor. As an example, according to the system gain of the hydraulic system, the first motor torque can be determined based on the initial opening by the following formula (1):

[0068] T yaw1 = η·x 0 ·K p ·V a (1)

[0069] where, T yaw1 represents the first motor torque, x 0 represents the initial opening of the hydraulic valve, η represents the motor efficiency of the hydraulic motor, K p represents the pressure sensitivity coefficient of the hydraulic valve, and V a represents the motor volume of the hydraulic motor.

[0070] The aerodynamic torque can be determined based on the rotational speed of the impeller of the wind turbine. For example, existing methods can be used to calculate the aerodynamic torque of the wind turbine, and the embodiments of the present disclosure do not limit this.

[0071] In step S420, the first motor speed of the hydraulic motor can be determined based on the first motor torque and the aerodynamic torque.

[0072] In this step, according to the nose dynamics model of the wind turbine generator set, the nose dynamics relationship under the first motor torque and aerodynamic torque during the actual yaw process can be simulated, so as to determine the first motor speed of the hydraulic motor. As an example, the first motor speed can be determined by the following formula (2):

[0073] J·dω / dt=T yaw1 -T areo (2)

[0074] Wherein, J represents the moment of inertia of the nose of the wind turbine generator, ω represents the motor speed, and T yaw1 represents the first motor torque, for example, the actuator torque converted to the low-speed shaft of the yaw drive system, and T areo represents the aerodynamic torque, and T yaw -T areo can represent the torque T actually acting on the yaw drive system act .

[0075] Although the example process of calculating the first motor speed is described above with reference to formula (2), it is not limited thereto. For example, the above formula (2) can also be transformed according to the nose dynamics, or the relationship among the motor speed, motor torque and aerodynamic torque with other expression forms can be established.

[0076] In addition, as an example, when determining the first motor speed, the frictional torque received by the yaw system can also be considered. Specifically, the first motor speed can be determined in the following manner: obtain the frictional torque received by the yaw system; based on the frictional torque, the first motor torque and the aerodynamic torque, determine the first motor speed of the hydraulic motor.

[0077] For example, as Figure 12 shown, the frictional torque T fric , the first motor torque T yaw and the aerodynamic torque T areo can be used as input quantities to determine the torque T actually received by the yaw drive system under the action of these torques act , and by establishing a nose dynamics model for simulating the movement process of the unit, the first motor speed ω act is determined.

[0078] Specifically, taking the model shown in the above formula (2) as an example, the first motor speed can be determined by the following formula (3):

[0079] J·dω / dt=T yaw1 -T L (3)

[0080] Wherein, T L represents the aerodynamic torque T areo and the frictional torque Tfric The difference

[0081] In this way, considering the frictional torque, the first motor speed can be determined more accurately, so as to be closer to the real yaw process and improve the accuracy of the simulation results.

[0082] In step S430, based on the first motor speed and the preset speed, the first target opening of the hydraulic valve can be determined.

[0083] In this step, a preset speed can be set for the motor speed. This preset speed can be the limiting speed of the hydraulic motor during operation (for example, it can be the maximum motor speed). When the motor speed exceeds this preset speed, there may be yaw overspeed.

[0084] In the embodiments of the present disclosure, the relationship between the motor speed of the hydraulic motor and the yaw speed of the yaw drive system can be determined by the transmission ratio between the hydraulic motor and the yaw drive system. Therefore, when one of the motor speed and the yaw speed is known, the other can be determined based on the transmission ratio. It can be seen from this that the above preset speed can be the limiting speed directly set for the hydraulic motor, or the limiting speed of the motor speed determined based on the limiting speed set for the yaw speed and the transmission ratio.

[0085] When the first motor speed and the preset speed are determined, as an example, in step S430, the first target opening of the hydraulic valve can be determined in the following manner:

[0086] As Figure 5 shown, in step S510, based on the first motor speed and the preset speed, the target flow rate of the hydraulic motor can be determined.

[0087] Specifically, when the first motor speed is less than or equal to the above preset speed, it can be considered that the yaw speed has not exceeded the speed limit, and the flow rate of the hydraulic motor does not need to be adjusted; when the first motor speed is greater than the above preset speed, it can be considered that there is yaw overspeed, so the yaw speed can be adjusted by adjusting the flow rate of the hydraulic motor.

[0088] As an example, the target flow rate can be determined in the following manner: in response to the first motor speed being greater than the preset speed, based on the hydraulic difference between the inlet and outlet of the hydraulic motor and the flow rate corresponding to the preset speed, the target flow rate is determined.

[0089] For example, as Figure 12 shown, based on the first motor speed ω act and the torque T actually received by the yaw drive system act, by establishing a resistance-adding algorithm and model that simulate the hydraulic motor to provide resistance, the target flow rate output by the motor is determined for determining the target opening of the hydraulic valve and the motor torque at the target opening.

[0090] Specifically, the target flow rate can be determined by the following formula (4):

[0091]

[0092] where Q x represents the flow rate corresponding to the preset rotational speed; Q d represents the target flow rate; Δp x represents the hydraulic pressure difference between the inlet and outlet of the current hydraulic motor, which can be calculated based on the torque T act actually acting on the yaw drive system described above, which will be described in detail below; Δp d represents the standard hydraulic pressure difference corresponding to the flow rate Q x , and the corresponding hydraulic pressure difference Δp x can be determined in the case of a known flow rate Q d .

[0093] In this way, the relationship between the current hydraulic pressure difference, the standard hydraulic pressure difference, and the flow rate corresponding to the preset rotational speed can be established, so that the target flow rate can be determined to control the rotational speed of the hydraulic motor not to exceed the preset rotational speed based on the target flow rate.

[0094] Here, the flow rate Q x can be determined, for example, based on the preset rotational speed and the motor volume. As an example, the target flow rate can be determined by the following formula (5):

[0095] ω x ·V a = Q x (5)

[0096] where ω x represents the preset rotational speed, and V a represents the motor volume of the hydraulic motor.

[0097] In addition, as an example, in step S510, the hydraulic pressure difference can be determined in the following manner:

[0098] As Figure 6 shown, in step S610, the braking torque received by the yaw drive system can be determined based on the first motor torque and the aerodynamic torque.

[0099] Specifically, the braking torque received by the yaw drive system can be the resultant torque of the first motor torque and the aerodynamic torque, for example, it can be the torque T act described above.

[0100] As an example, the hydraulic pressure difference corresponding to the braking torque can be determined by the following expression:

[0101] T act = Δp x ·V a ·Num·η

[0102] Wherein, T act represents the braking torque, Δp x represents the hydraulic pressure difference, V a represents the motor volume of the hydraulic motor, Num represents the number of hydraulic motors, and η represents the motor efficiency of the hydraulic motor.

[0103] In step S620, the hydraulic pressure difference can be determined based on the braking torque and the motor volume of the hydraulic motor.

[0104] In this step, when the braking torque and the motor volume are determined, the hydraulic pressure difference corresponding to the braking torque can be determined based on the dynamic equation.

[0105] In the above manner, the corresponding hydraulic pressure difference can be determined when the first motor torque, the aerodynamic torque, and the motor volume are determined, so as to facilitate the determination of the target flow rate.

[0106] Returning to reference Figure 5 , in step S520, the first target opening can be determined based on the target flow rate.

[0107] In this step, when the target flow rate is determined, the first target opening corresponding to the target flow rate can be determined according to the relationship between the opening of the hydraulic valve and the flow rate.

[0108] For example, Figure 7 shows an example of a hydraulic valve flow curve representing the relationship between the opening of the hydraulic valve and the flow rate. In Figure 7 , different curves can represent different hydraulic valves. When the target flow rate is known, the first target opening can be determined by querying the curve of the hydraulic valve used.

[0109] In the above manner, the target opening of the hydraulic valve can be determined to adjust the rotational speed of the hydraulic motor by adjusting the opening of the hydraulic valve, thereby adjusting the braking force applied by the hydraulic motor to the yaw drive system to achieve the effect of adjusting the yaw speed.

[0110] In step S440, the second motor torque of the hydraulic motor at the first target opening can be determined based on the first target opening to simulate the yaw process of the yaw system.

[0111] In this step, for example, the second motor torque can be determined based on the relationship between the first target opening and the above-described formula (1):

[0112] T yaw2 = η·x 1 ·K p ·V a

[0113] Wherein, T yaw2 represents the second motor torque, x 1 represents the first target opening of the hydraulic valve, η represents the motor efficiency of the hydraulic motor, K p represents the pressure sensitivity coefficient of the hydraulic valve, and V a represents the motor volume of the hydraulic motor.

[0114] When the second motor torque is determined, based on the motor torque and aerodynamic torque received by the yaw system, the yaw process of the yaw system during the actual operation of the unit can be simulated to determine whether the expected yaw control effect can be achieved after the output torque of the hydraulic motor is adjusted from the first motor torque to the second motor torque.

[0115] Here, as an example, the steps of simulating the yaw process of the yaw system may include: determining the second motor speed of the hydraulic motor based on the second motor torque and the aerodynamic torque to simulate the yaw speed of the yaw system.

[0116] Specifically, for example, the second motor speed can be determined through the relationship shown in Equation (2) or Equation (3) described above. Taking Equation (2) as an example:

[0117] J·dω / dt = T yaw2 -T areo

[0118] Wherein, T yaw2 represents the second motor torque, and T areo represents the aerodynamic torque.

[0119] By solving the above equation, the second motor speed can be determined. In this way, it can be judged whether the control of the yaw speed is achieved after the adjustment of the above hydraulic system by comparing the second motor speed with the preset speed described above.

[0120] In step S450, the yaw system can be controlled based on the simulation results of the yaw process.

[0121] According to an exemplary embodiment of the present disclosure, the yaw simulation process can be carried out before the operation of the wind turbine or executed in parallel with the operation of the wind turbine to serve as a digital twin system for the yaw control of the wind turbine. For example, based on the yaw simulation results, the actual yaw process can be controlled. Based on these laws in the twin system, the opening can be dynamically adjusted according to the load to ensure that the yaw rate is stable and controllable. In contrast, the traditional PID control is executed only in the case of input rate demand and actual rate feedback, so it is prone to overshoot or slow response.

[0122] As an example, for the yaw simulation control method according to an embodiment of the present disclosure, in step S450, the yaw system can be controlled in the following manner:

[0123] As Figure 8 shown, in step S810, the first actual motor speed of the hydraulic motor can be determined.

[0124] Here, the first actual motor speed can be measured by a measuring device or calculated from the data measured by the measuring device. For example, an angle encoder can be set on the hydraulic motor to measure the rotation angle of the motor within a certain time, and thus the first actual motor speed can be calculated.

[0125] In step S820, based on the first actual motor speed and the preset speed, the first actual target opening of the hydraulic valve can be determined.

[0126] In this step, a process similar to the process described in step S430 above can be used to determine the target opening of the hydraulic valve. The preset speed described in this step can be the same as the preset speed described in step S430 above.

[0127] As an example, similar to step S430 above, in this step S820, the first actual target opening of the hydraulic valve can be determined in the following manner: As Figure 9 shown, in step S910, based on the first actual motor speed and the preset speed, the target flow rate of the hydraulic motor can be determined; in step S920, based on the target flow rate, the first actual target opening can be determined.

[0128] Here, in step S910, similar to step S430 above, the target flow rate can be determined in the following manner: In response to the first actual motor speed being greater than the preset speed, based on the hydraulic difference between the inlet and outlet of the hydraulic motor and the flow rate corresponding to the preset speed, the target flow rate is determined.

[0129] In this step, the processes described in step S430 are all applicable here, so they will not be repeated here.

[0130] In step S830, the opening of the hydraulic valve can be controlled based on the first actual target opening degree to control the braking force applied by the hydraulic motor to the yaw drive system.

[0131] When the first actual target opening degree is determined, the opening of the hydraulic valve can be controlled to the first actual target opening degree, thereby adjusting the rotational speed of the hydraulic motor. For example, the rotational speed of the hydraulic motor can be made not to exceed a preset rotational speed to control the braking force applied by the hydraulic motor to the yaw drive system. In this way, during the passive yaw process of the wind turbine, the yaw speed can be controlled by adjusting the braking force applied by the hydraulic motor, and precise passive yaw control can be achieved.

[0132] As described above with reference to Figures 4 to 9 the process of performing passive yaw simulation control using the yaw simulation control method according to an embodiment of the present disclosure will be described below with reference to Figure 10 and Figure 11 the process of performing active yaw simulation control using the yaw simulation control method according to an embodiment of the present disclosure.

[0133] According to an exemplary embodiment of the present disclosure, the yaw simulation control method may further include:

[0134] As Figure 10 shown, in step S1010, the second target opening degree of the hydraulic valve can be determined based on the first motor rotational speed and the reference rotational speed of the hydraulic motor.

[0135] Here, the reference rotational speed can be the desired rotational speed of the hydraulic motor. The reference rotational speed can be directly set for the hydraulic motor, or the desired rotational speed can be set for the yaw drive system, and then the reference rotational speed of the hydraulic motor can be determined based on the desired rotational speed and the transmission ratio between the hydraulic motor and the yaw drive system. As an example, the reference rotational speed can be less than the preset rotational speed described above.

[0136] In this step, the first motor rotational speed can be compared with the reference rotational speed, and the second target opening degree of the hydraulic valve during the active yaw process can be determined through proportional-integral-derivative (PID) control.

[0137] In step S1020, the target motor torque applied by the hydraulic motor to the yaw drive system can be determined based on the second target opening degree.

[0138] In this step, the target motor torque can be determined based on the second target opening degree, the pressure sensitivity coefficient of the hydraulic valve, and the motor volume and motor efficiency of the hydraulic motor. For example, the target motor torque can be determined based on the relationship of formula (1) described above and the second target opening degree:

[0139] T yaw3= η·x 2 ·K p ·V a

[0140] Wherein, T yaw3 represents the target motor torque, x 2 represents the second target opening of the hydraulic valve, η represents the motor efficiency of the hydraulic motor, K p represents the pressure sensitivity coefficient of the hydraulic valve, V a represents the motor volume of the hydraulic motor.

[0141] In steps S1010 and S1020, for example, as Figure 13 shown, based on the first motor speed and the reference speed of the hydraulic motor, through PID control, the second target opening of the hydraulic valve can be determined, and the target motor torque can be determined based on the second target opening according to the system gain. In this way, the driving force that the hydraulic motor will exert on the yaw drive system after adjusting the opening of the hydraulic valve can be determined for simulating the yaw process.

[0142] In step S1030, based on the target motor torque and the aerodynamic torque acting on the nacelle of the wind turbine generator, the third motor speed of the hydraulic motor at the second target opening can be determined to simulate the yaw speed of the yaw system.

[0143] In this step, for example, according to the relationship of formula (2) described above, based on the target motor torque and the aerodynamic torque, the third motor speed can be determined:

[0144] J·dω / dt = T yaw3 - T areo

[0145] Wherein, T yaw3 represents the target motor torque, T areo represents the aerodynamic torque. By solving the above formula, the third motor speed can be determined.

[0146] Similarly, when determining the third motor speed, the frictional torque received by the yaw system can also be considered. For example, as Figure 13 shown, based on the target motor torque, the aerodynamic torque T areo and the frictional torque T fric , by establishing a nose dynamics model, the third motor speed ω act can be determined to simulate the motor speed during the actual yaw process.

[0147] For example, the third motor speed can be determined in the following way: obtain the frictional torque received by the yaw drive system; based on the frictional torque, the target motor torque and the aerodynamic torque, determine the third motor speed. Specifically, the third motor speed can be determined by the following formula:

[0148] J·dω / dt = T yaw3 -T L

[0149] wherein, T L represents the difference between the aerodynamic torque T areo and the frictional torque T fric .

[0150] Thus, considering the frictional torque, the rotational speed of the third motor can be determined more accurately, so as to be closer to the actual yaw process and improve the accuracy of the simulation results.

[0151] Through the process shown above Figure 10 the opening adjustment target of the hydraulic valve can be determined by comparing the rotational speed of the first motor and the reference rotational speed, so as to adjust the driving force output by the hydraulic motor, and determine the rotational speed of the motor and the yaw rotational speed after the opening adjustment in combination with the aerodynamic torque, realizing the simulation of the active yaw process, so as to provide guidance for the actual yaw control.

[0152] As described above, the yaw simulation process according to the embodiments of the present disclosure can be carried out before the operation of the unit or executed in parallel with the operation of the unit, so as to be used as a digital twin system for the yaw control of the unit. For example, based on the yaw simulation results, the actual yaw process can be controlled.

[0153] As an example, based on the simulation results of the above active yaw process, the yaw simulation control method according to the embodiments of the present disclosure may further include the following steps:

[0154] As Figure 11 shown, in step S1110, the second actual target opening of the hydraulic valve can be determined based on the first actual motor rotational speed and the reference rotational speed of the hydraulic motor.

[0155] Here, the first actual motor rotational speed can be measured by a measuring device or calculated from the data measured by the measuring device.

[0156] In this step, a process similar to the process described in step S1010 above can be used to determine the target opening of the hydraulic valve. Specifically, the reference rotational speed of the first motor rotational speed can be compared, and the second actual target opening of the hydraulic valve can be determined through PID control.

[0157] In this step, the process described in step S1010 is applicable here, so it will not be elaborated here.

[0158] In step S1120, based on the second actual target opening, the opening of the hydraulic valve can be controlled to control the driving force applied by the hydraulic motor to the yaw drive system.

[0159] When the second actual target opening is determined, the opening of the hydraulic valve can be controlled to the second actual target opening, so as to adjust the rotational speed of the hydraulic motor and control the driving force applied by the hydraulic motor to the yaw drive system. In this way, during the passive yaw process of the unit, the yaw speed can be controlled by adjusting the driving force applied by the hydraulic motor, and active yaw with precise control can be achieved.

[0160] The relationships between the various parameters mentioned in the above yaw simulation control process will be given below for calculating the relevant parameters mentioned above.

[0161] Taking the active yaw simulation control process as an example, the dynamic relationship of the nacelle can be established by the following formula (6):

[0162]

[0163] Among them, N gear represents the reduction ratio, T area represents the aerodynamic torque, T friction represents the frictional torque, p A -p B represents the pressure difference between the inlet and outlet of the hydraulic motor, V a represents the motor volume, η represents the motor efficiency, θ represents the motor rotation angle, J represents the moment of inertia, and b represents the damping coefficient.

[0164] In the active yaw simulation control process, taking the hydraulic valve as a four-edge spool valve as an example, the pressure difference between the inlet and outlet of the hydraulic motor can be expressed by the following formula (7):

[0165]

[0166] Among them, K p represents the pressure sensitivity coefficient of the hydraulic valve, K c represents the pressure-flow coefficient, and these two coefficients can be determined by the following formulas (8), (9), and (10):

[0167]

[0168]

[0169]

[0170] Among them, ω 0 represents the designed rotational speed of the hydraulic motor, P s represents the working pressure of the system, ρ represents the density of the hydraulic medium, C d represents the flow coefficient of the hydraulic valve, and u represents the opening range of the hydraulic valve, for example, the maximum opening.

[0171] Here, the opening can be used to replace the pressure difference, and the above kinetic equation can be expressed as the following equations (11) and (12):

[0172]

[0173]

[0174] where x represents the opening of the hydraulic valve, and k t represents the system stiffness of the transmission system in the yaw system. The transmission system can include, for example, a speed reducer, and the load torque T = -T area +T friction .

[0175] If the controller is designed according to the position (i.e., angle) closed-loop, the opening conforms to the PI control law expressed by the following equation (13), and as shown in equation (14), the kinetic equation can retain only the stiffness:

[0176] x = K e (θ d -θ) + K i ∫(θ d -θ)dt (13)

[0177] k t θ = 2ηV a N gear K p x - T (14)

[0178] where K e and K i respectively represent the control coefficients in the PID control, and θ d represents the required rotation angle.

[0179] In equations (13) and (14), when the angle _ d and the load torque T are set as constants, their differential terms are 0. Thus, after substituting the expression of the opening x, the active yaw system can be expressed as the following equations (15) and (16):

[0180]

[0181]

[0182] If the controller is designed according to the speed closed-loop, the opening conforms to the PI control law expressed by the following equation (17), and as shown in equation (18), the kinetic equation can ignore the stiffness and retain only the damping and inertia:

[0183]

[0184]

[0185] In Equations (17) and (18), when the rotational speed and the load torque T are set to constants, their differential terms are 0. Thus, after substituting into the expression of the opening x, the active yaw system can be expressed as Equation (19) below, where s represents the Laplace transform:

[0186]

[0187] Where:

[0188]

[0189]

[0190] The passive yaw process and the active yaw process of the yaw simulation control method according to the embodiments of the present disclosure are described above. In this method, the active yaw process can be executed in response to receiving an active yaw command; the passive yaw process can be executed in response to not receiving an active yaw command.

[0191] According to the yaw system and the yaw simulation control method of the wind turbine described above, passive yaw damping can be provided both when the unit loses power backup and control backup, preventing yaw overspeed, and having the self-recovery ability after withstanding extreme loads without human intervention. In addition, the above system and method can also be compatible with the working modes of active yaw and passive yaw, and both can achieve rate control, having the passive yaw ability in strong winds and the active yaw ability in light winds, and being able to ensure yaw alignment in all working conditions. Among them, in the passive yaw mode, the actuator (such as a hydraulic system) capacity required for active yaw can be saved, saving costs.

[0192] In addition, the above yaw simulation control method can accurately simulate the action performance of the yaw system during the operation of the unit through the mathematical model of the yaw system, accurately control the yaw rate according to the pressure information, and can accurately evaluate the performance of the yaw system and the load of the whole machine system during the simulation process, avoiding design errors and control errors.

[0193] In addition, based on the above yaw simulation control method, the yaw rate can be controlled more accurately, ensuring that the performance and ability of the yaw system are accurately reflected during the whole machine design and simulation stages, solving the problem that traditional closed-loop control cannot guarantee the response performance when the working point changes, ensuring the correctness of the whole machine design load, and achieving accurate control of resistance and rotational speed, avoiding the problem of increased load and unit cost caused by uncontrollable movement, and having higher robustness and stability.

[0194] According to a third aspect of the present disclosure, there is provided a computer-readable storage medium, which when the instructions in the computer-readable storage medium are run by at least one processor, cause the at least one processor to execute the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0195] The yaw simulation control method of the yaw system of a wind turbine according to an embodiment of the present disclosure can be written as a computer program and stored on a computer-readable storage medium. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disc memory, hard disk drive (HDD), solid state drive (SSD), cartridge memory (such as, multimedia card, secure digital (SD) card or extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, and any other device configured to store a computer program and any associated data, data files, and data structures in a non-transitory manner and provide the computer program and any associated data, data files, and data structures to a processor or computer such that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner by one or more processors or computers.

[0196] The yaw simulation control method according to an embodiment of the present disclosure can be executed by a computer device, which includes: at least one processor; at least one memory storing computer-executable instructions, wherein the computer-executable instructions, when run by the at least one processor, cause the at least one processor to execute the yaw simulation control method of the yaw system of a wind turbine according to an exemplary embodiment of the present disclosure.

[0197] As an example, the computer device can be disposed in a wind turbine, for example, in the control system of the wind turbine.

[0198] As an example, the computer device can be a PC computer, a tablet device, a personal digital assistant, a smart phone, or other devices capable of executing the above instruction set. Here, the computer device does not have to be a single electronic device, but can also be any collection of devices or circuits that can execute the above instructions (or instruction sets) individually or jointly. The computer device can also be a part of an integrated control system or system manager, or can be configured as a portable electronic device that can be interconnected with a local or remote (e.g., via wireless transmission) interface.

[0199] In the computer device, the processor can include a central processing unit (CPU), a graphics processing unit (GPU), a programmable logic device, a dedicated processor system, a microcontroller, or a microprocessor. By way of example and not limitation, the processor can also include an analog processor, a digital processor, a microprocessor, a multi-core processor, a processor array, a network processor, and the like.

[0200] The processor can run the instructions or code stored in the memory, where the memory can also store data. The instructions and data can also be sent and received via the network interface device over the network, where the network interface device can use any known transmission protocol.

[0201] The memory can be integrated with the processor. For example, RAM or flash memory can be arranged within an integrated circuit microprocessor, etc. In addition, the memory can include independent devices, such as external disk drives, storage arrays, or other storage devices that can be used by any database system. The memory and the processor can be operatively coupled, or can communicate with each other, for example, through I / O ports, network connections, etc., so that the processor can read the files stored in the memory.

[0202] In addition, the computer device can also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, a mouse, a touch input device, etc.). All components of the computer device can be connected to each other via a bus and / or a network.

[0203] The above has described in detail the specific embodiments of the present disclosure. Although some embodiments have been shown and described, those skilled in the art should understand that, without departing from the principles and spirit of the present disclosure defined by the claims and their equivalents, these embodiments can be modified and varied, and these modifications and variations should also be within the protection scope of the claims of the present disclosure.

Claims

1. A yaw simulation control method for a yaw system of a wind turbine generator set, characterized in that: The yaw system includes a yaw transmission system, a hydraulic motor and a hydraulic valve, wherein the yaw simulation control method includes: determining a first motor torque applied by the hydraulic motor to the yaw transmission system and an aerodynamic torque acting on the nacelle of the wind turbine generator set at an initial opening of the hydraulic valve; determining a first motor speed of the hydraulic motor based on the first motor torque and the pneumatic torque; determining a first target opening of the hydraulic valve based on the first motor speed and a preset speed; Based on the first target opening, determining a second motor torque of the hydraulic motor at the first target opening to simulate a yaw process of the yaw system; The yaw system is controlled based on the simulation result of the yaw process.

2. The yaw simulation control method according to claim 1, characterized in that: The first target opening of the hydraulic valve is determined by: determining a target flow rate of the hydraulic motor based on the first motor speed and the preset speed; The first target opening degree is determined based on the target flow rate.

3. The yaw simulation control method according to claim 2, characterized in that: The target flow is determined by: In response to the first motor speed being greater than the preset speed, the target flow rate is determined based on a hydraulic pressure difference between a fluid inlet and a fluid outlet of the hydraulic motor and a flow rate corresponding to the preset speed.

4. The yaw simulation control method according to claim 3, characterized in that: The hydraulic pressure difference is determined by: determining a braking torque applied to the yaw transmission system based on the first motor torque and the aerodynamic torque; The hydraulic pressure difference is determined based on the braking torque and a motor capacity of the hydraulic motor.

5. The yaw simulation control method according to claim 1, characterized in that: The step of simulating the yaw process of the yaw system comprises: Based on the second motor torque and the aerodynamic torque, a second motor speed of the hydraulic motor is determined to simulate a yaw speed of the yaw system.

6. The yaw simulation control method according to claim 1, characterized in that: The first motor speed is determined by: Obtaining the friction torque applied to the yaw transmission system; A first motor speed of the hydraulic motor is determined based on the friction torque, the first motor torque, and the pneumatic torque.

7. The yaw simulation control method according to any one of claims 1 to 6, characterized in that: The yaw simulation control method further comprises: determining a second target opening of the hydraulic valve based on the first motor speed and a reference speed of the hydraulic motor; determining a target motor torque applied by the hydraulic motor to the yaw transmission system based on the second target opening; Based on the target motor torque and the aerodynamic torque acting on the nacelle of the wind turbine generator set, a third motor speed of the hydraulic motor at the second target opening is determined to simulate the yaw speed of the yaw system.

8. The yaw simulation control method according to claim 7, characterized in that: The target motor torque is determined by: The target motor torque is determined based on the second target opening, the pressure sensitivity coefficient of the hydraulic valve, and the motor capacity and motor efficiency of the hydraulic motor.

9. The yaw simulation control method according to claim 8, characterized in that: The third motor speed is determined by: Obtaining the friction torque applied to the yaw transmission system; The third motor speed is determined based on the friction torque, the target motor torque, and the aerodynamic torque.

10. The yaw simulation control method according to claim 1, characterized in that: The yaw system is controlled by: determining a first actual motor speed of the hydraulic motor; determining a first actual target opening of the hydraulic valve based on the first actual motor speed and the preset speed; Based on the first actual target opening, the opening of the hydraulic valve is controlled to control the braking force applied to the yaw transmission system by the hydraulic motor.

11. The yaw simulation control method according to claim 10, characterized in that: The first actual target opening of the hydraulic valve is determined by: determining a target flow rate of the hydraulic motor based on the first actual motor speed and the preset speed; Based on the target flow rate, the first actual target opening degree is determined.

12. The yaw simulation control method according to claim 11, characterized in that: The target flow is determined by: In response to the first actual motor speed being greater than the preset speed, the target flow rate is determined based on a hydraulic pressure difference between a fluid inlet and a fluid outlet of the hydraulic motor and a flow rate corresponding to the preset speed.

13. The yaw simulation control method according to any one of claims 10 to 12, characterized in that: The yaw simulation control method further comprises: determining a second actual target opening of the hydraulic valve based on the first actual motor speed and a reference speed of the hydraulic motor; Based on the second actual target opening, the opening of the hydraulic valve is controlled to control the driving force applied by the hydraulic motor to the yaw drive system.

14. A yaw system for a wind turbine generator set, characterized in that: The yaw system comprises: A yaw transmission system, wherein the yaw transmission system receives an aerodynamic torque from a nacelle of the wind turbine generator set; a hydraulic motor connected to the yaw transmission system and capable of providing a braking force and a driving force to the yaw transmission system; A hydraulic valve, the hydraulic valve is used to control the flow of the hydraulic motor; A yaw simulation control system, wherein the yaw simulation control system is used to execute the yaw simulation control method of a yaw system of a wind turbine generator set according to any one of claims 1 to 13.

15. The yaw system according to claim 14, characterized in that: The yaw system further comprises a hydraulic drive device and a fluid storage device, wherein the fluid storage device is used to store hydraulic medium, and the hydraulic drive device can drive the hydraulic medium in the fluid storage device to the hydraulic motor.

16. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by at least one processor, the at least one processor is prompted to execute the yaw simulation control method for a yaw system of a wind turbine generator set according to any one of claims 1 to 13.

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