Yaw control method and device of wind generating set

Abstract

The invention discloses a yaw control method and device of a wind generating set, the yaw control method is applied to the wind generating set in the downwind direction, the wind generating set comprises a cabin and a lattice type tower, and the yaw control method comprises the steps that the wind speed of the environment where the wind generating set is located is obtained; and under the condition that the wind speed is larger than the preset wind speed, the cabin head direction of the cabin is made to be different from the tower column direction of each tower column in the lattice type tower frame by adjusting the yaw angle.

Description

Technical Field

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

[0002] Currently, the minimum blade clearance of an upwind wind turbine generator set generally appears in the power generation condition, while the minimum blade clearance of a downwind wind turbine generator set generally appears in the shutdown condition, especially in the fault shutdown condition. For example, during the emergency blade pitch reduction process, the aerodynamic force on the blade rapidly decreases, causing the blade to move rapidly towards the tower due to the inertial effect of gravity and thus approaching the tower, as Figure 1 and Figure 2 shown, the blade moves from position B1 to position B2, and the minimum blade clearance (the distance from B2 to the surface near the tower column P1) appears. Especially for the special form of a lattice tower, that is, a tower type with a non-circular but square external shape, when the nacelle head is in the same direction as one of the tower columns, the blade is closest to the tower surface.

[0003] Due to the above special circumstances, the blade clearance of the downwind wind turbine generator set is too small, posing a great challenge to the clearance safety surface, easily causing tower sweeping and blade fracture, and even posing a safety risk to the overall load of the machine. Summary of the Invention

[0004] Embodiments of the present disclosure provide a yaw control method and device for a wind turbine generator set, which can effectively solve the problem of too small blade clearance of a downwind wind turbine generator set in the shutdown condition in the prior art.

[0005] In one general aspect, a yaw control method for a wind turbine generator set is provided, which is applied to a downwind wind turbine generator set. The wind turbine generator set includes a nacelle and a lattice tower. The yaw control method includes: obtaining the wind speed of the environment where the wind turbine generator set is located; when the wind speed is greater than a preset wind speed, adjusting the yaw angle so that the nacelle head direction of the nacelle is not the same as the tower column direction of each tower column in the lattice tower.

[0006] Optionally, adjusting the yaw angle so that the nacelle head direction of the nacelle is not the same as each tower column in the lattice tower includes: adjusting the yaw angle so that the nacelle head direction of the nacelle is located in the middle of the tower column directions of any two tower columns in the lattice tower.

[0007] Optionally, adjusting the yaw angle so that the nacelle head direction of the nacelle is not the same as the tower column direction of each tower column in the lattice tower includes: obtaining the average wind direction of the environment where the wind turbine generator set is located and the tower column direction of each tower column in the lattice tower; based on the average wind direction and the tower column direction of each tower column, adjusting the yaw angle control requirement; based on the adjusted yaw angle control requirement, performing yaw control on the wind turbine generator set.

[0008] Optionally, based on the average wind direction and the tower column direction of each tower column, adjust the yaw angle control requirements, including: obtaining the difference between the average wind direction and the tower column direction of each tower column; when all the differences are greater than or equal to a preset angle, adjusting the yaw angle to a first yaw angle, where the first yaw angle is the yaw angle of the yaw system of the wind turbine itself; when any one of all the differences is less than the preset angle, adjusting the yaw angle to a second yaw angle, where the wind alignment deviation corresponding to the second yaw angle is greater than the wind alignment deviation corresponding to the first yaw angle.

[0009] Optionally, the difference between the wind alignment deviation corresponding to the second yaw angle and the wind alignment deviation corresponding to the first yaw angle is greater than 0 degrees and less than 20 degrees.

[0010] Optionally, the preset wind speed is greater than the rated wind speed and less than the cut-out wind speed, where at the rated wind speed, the wind turbine reaches the rated power, and at the cut-out wind speed, the wind turbine shuts down.

[0011] Optionally, before the nacelle head direction of the nacelle is made different from the tower column direction of each tower column in the lattice tower by adjusting the yaw angle, it further includes: obtaining an image including each tower column through an image recognition sensor, and based on the image, recognizing that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column, where the image recognition sensor is arranged in the nacelle and obtains the image including each tower column through an opening on the nacelle, and the installation direction of the image recognition sensor is the same as the nacelle head direction of the nacelle; or, identifying the positions of each tower column through an infrared recognition sensor, and based on the positions of each tower column, determining that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column, where the infrared recognition sensor is arranged in the nacelle and identifies the positions of each tower column through an opening on the nacelle, and the installation direction of the infrared recognition sensor is the same as the nacelle head direction of the nacelle.

[0012] Optionally, the above lattice tower is a full lattice tower.

[0013] In another general aspect, there is provided a computer-readable storage medium storing instructions, where when the instructions are run by at least one computing device, at least one computing device is prompted to execute any one of the above yaw control methods of the wind turbine.

[0014] In another general aspect, there is provided a system including at least one computing device and at least one storage device storing instructions, where when the instructions are run by at least one computing device, at least one computing device is prompted to execute any one of the above yaw control methods of the wind turbine.

[0015] The yaw control method and device for a wind turbine according to an embodiment of the present disclosure. For a downwind wind turbine, in a high wind speed condition (i.e., the wind speed in the environment where the wind turbine is located is greater than a preset wind speed), by controlling the yaw angle, it is possible to prevent the nacelle head from facing the same direction as any of the tower columns, which can avoid the situation where the blade is too close to the tower surface when the wind turbine stops. This is equivalent to increasing the blade clearance during the wind turbine shutdown process, thereby reducing the risk of tower sweeping and blade breakage. Moreover, through the present disclosure, since the blade clearance increases, the blade weight can also be reduced to some extent, further meeting the requirement of blade lightweight. Therefore, through the present disclosure, the problem of too small blade clearance of the downwind wind turbine in the shutdown condition in the prior art can be effectively solved.

[0016] Additional aspects and / or advantages of the general concept of the present disclosure will be partly set forth in the description which follows, and partly will be obvious from the description, or may be learned by practice of the general concept of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Through the following description with reference to the drawings showing embodiments, the above and other objects and features of the embodiments of the present disclosure will become more apparent, wherein:

[0018] Figure 1 is a schematic diagram showing the positional relationship (side view) between the nacelle head of a downwind wind turbine and a lattice tower according to an embodiment of the present disclosure;

[0019] Figure 2 is a schematic diagram showing the positional relationship (front view) between the nacelle head of a downwind wind turbine and a lattice tower according to an embodiment of the present disclosure;

[0020] Figure 3 is a flowchart showing the yaw control method of a wind turbine according to an embodiment of the present disclosure;

[0021] Figure 4 is a schematic diagram showing the wind speed time series of different strategies according to an embodiment of the present disclosure;

[0022] Figure 5 is a schematic diagram showing the yaw alignment control time series according to an embodiment of the present disclosure;

[0023] Figure 6 is a schematic diagram showing the pitch control time series during fault shutdown of a wind turbine according to an embodiment of the present disclosure;

[0024] Figure 7 is a schematic diagram showing the minimum blade clearance time series during fault shutdown according to an embodiment of the present disclosure;

[0025] Figure 8It is a schematic diagram showing the flowchart of the yaw control strategy of the wind turbine in an embodiment of the present disclosure;

[0026] Figure 9 It is a schematic diagram showing another flowchart of the yaw control strategy of the wind turbine in an embodiment of the present disclosure;

[0027] Figure 10 It is a block diagram showing the yaw control device of the wind turbine of the present disclosure. Detailed Embodiments

[0028] The following detailed embodiments 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.

[0029] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Instead, 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.

[0030] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more of them.

[0031] Although terms such as "first", "second", and "third" may be used herein to describe various components, components, regions, layers, or parts, these components, components, regions, layers, or parts should not be limited by these terms. Instead, these terms are only used to distinguish one component, component, region, layer, or part from another component, component, region, layer, or part. Thus, the first component, the first component, the first region, the first layer, or the first part referred to in the examples described herein may also be referred to as the second component, the second component, the second region, the second layer, or the second part without departing from the teachings of the examples.

[0032] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" or "coupled to" another element, the element can be directly "on" the other element, directly "connected to" or "coupled to" the other element, or there can be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" or "directly coupled to" another element, there can be no other elements in between.

[0033] The terms used herein are for describing various examples only 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 recited 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.

[0034] 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 this disclosure. Unless explicitly defined herein, terms (such as those defined in a general dictionary) shall be construed to have a meaning consistent with their meaning in the context of the relevant art and this disclosure, and shall not be construed in an idealized or overly formal manner.

[0035] In addition, in the description of examples, when a detailed description of related structures or functions that are considered well-known would cause an ambiguous interpretation of the disclosure, such detailed description will be omitted.

[0036] The present disclosure provides a yaw control method and device for a wind turbine generator, which can solve the above problems. The yaw control method of the wind turbine generator of the present disclosure can be applied to a server, or to a controller of a single wind turbine generator, or to a total controller of a wind farm. The present disclosure does not limit this. The server, controller and wind turbine generator can be connected wirelessly or by wire, which is not limited here. The above server can be a single server, or a server cluster composed of several servers, or a cloud computing platform or a virtualization center. The following will be described by taking the server as an example.

[0037] It should be noted that the present disclosure is applicable to downwind wind turbine generators and is not applicable to upwind wind turbine generators. Because the minimum blade clearance of downwind wind turbine generators generally appears in the shutdown condition, especially in the fault shutdown condition. For example, during the emergency blade pitch reduction process, the aerodynamic force on the blade rapidly decreases, resulting in the blade being affected by the inertia of gravity and rapidly moving towards the tower direction and thus approaching the tower, such as Figure 1 andFigure 2 As shown, when the blade moves from position B1 to position B2, the minimum blade clearance (the distance from B2 to the surface near tower column P1) occurs. In particular, for a special type of lattice tower, that is, a tower with a non-circular but square external shape. When the nacelle head is in the same direction as one of the tower columns, at this time the blade is closest to the tower surface. If a fault occurs and the turbine shuts down, during the emergency blade feathering process, the aerodynamic force on the blade decreases rapidly. Affected by the inertia of gravity, the blade is even closer to the tower surface, posing a greater risk.

[0038] For a downwind wind turbine, when the wind turbine includes a nacelle and a lattice tower, the server obtains the wind speed of the environment where the wind turbine is located, and when the wind speed is greater than a preset wind speed, by adjusting the yaw angle, the nacelle head direction of the nacelle is made different from the tower column direction of each tower column in the lattice tower, avoiding the nacelle head being in the same direction as any one of the tower columns. This is equivalent to increasing the blade clearance during the shutdown process of the wind turbine and reducing the risks of tower striking and blade breakage.

[0039] The following is a brief introduction to some technical terms:

[0040] Blade clearance, that is, the distance from the blade tip to the tower surface;

[0041] Lattice tower, that is, as shown in Figure 1 and Figure 2 , it is a tower type with a non-circular but square external shape. The tower is composed of components such as struts (also called tower columns, such as P1, P2, and P3 in Figure 1 and Figure 2 ), diagonal braces, and / or cross braces in a truss form;

[0042] Downwind wind turbine, that is, a wind turbine in which the wind energy inflow direction first passes through the tower and then through the wind turbine rotor;

[0043] Tower column direction, that is, assuming there is a plane rectangular coordinate system on the ground, the angle of each tower column determined by looking from the nacelle towards the tower column direction. If the due north direction is 0 degrees, the angle of each tower column seen by rotating clockwise is the tower column direction of each tower column;

[0044] Yaw deviation, that is, the deviation between the nacelle head direction and the wind direction. If the wind blows perpendicularly towards the nacelle head, the yaw deviation is 0.

[0045] The following describes in detail the yaw control method and device of the wind turbine of the present disclosure with reference to the accompanying drawings.

[0046] The present disclosure proposes a yaw control method for a wind turbine, Figure 3 which is a flowchart showing the yaw control method of the wind turbine according to an embodiment of the present disclosure. Refer to Figure 3, the yaw control method of the wind turbine generator set includes the following steps:

[0047] In step S301, obtain the wind speed of the environment where the wind turbine generator set is located.

[0048] As an example, the wind speed of the environment where the wind turbine generator set is located can be obtained through the wind speed sensor (such as an anemometer) of the wind turbine generator set, or the wind speed of the environment where the wind turbine generator set is located can be obtained through weather forecast information, so that the wind speed can be obtained quickly and conveniently. However, the present disclosure does not limit the way of obtaining the wind speed.

[0049] In step S302, when the wind speed is greater than the preset wind speed, adjust the yaw angle so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower.

[0050] This special form of the lattice tower, that is, a tower form with a non-circular external shape but a square shape, is as Figure 2 shown. For a wind turbine generator set with a lattice tower form, when the nacelle head of the wind turbine generator set is in the same direction as any one of the tower columns in the lattice tower, the blade is closest to the surface of the tower. Therefore, for a downwind wind turbine generator set, when the wind speed is greater than the preset wind speed, that is, in the high wind speed condition, if a fault occurs and the emergency stop is performed, during the emergency pitch reduction process of the blade of the wind turbine generator set, due to the rapid decrease in the aerodynamic force, the blade is affected by the inertia of gravity and moves rapidly towards the tower direction, thus approaching the tower. In order to avoid the blade clearance of the wind turbine generator set being too small at this time, that is, the blade clearance is too small, the yaw angle of the yaw system can be adjusted so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower, thereby avoiding the blade being too close to the surface of the tower when the wind turbine generator set stops. It should be noted here that if the nacelle head is not in the same direction as each tower column, it is equivalent to avoiding the situation where the blade is closest to the surface of the tower, which is equivalent to increasing the distance between the blade and the tower when the wind turbine generator set stops, that is, increasing the blade clearance, and further reducing the risk of tower sweeping and blade breakage. Moreover, for downwind wind turbine generator sets, as the whole machine becomes larger, the blade weight generally becomes larger and the weight inertia load also becomes larger. Therefore, in the related art, only relying on pitch control, the restriction of the emergency stop clearance will be greater and cannot meet the requirements of the existing blade lightweight development and safety. By adjusting the yaw angle of the yaw system so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower, the blade clearance of the wind turbine generator set is increased, so that the blade weight can be further reduced, meeting the requirements of the lightweight development and safety of the wind turbine generator set blades.

[0051] The above preset wind speed can be set according to the actual situation, but the above preset wind speed needs to be greater than the rated wind speed of the wind turbine. Because when the power of the wind turbine exceeds the rated power, that is, exceeds the maximum power that the wind turbine can bear, it indicates that there is a net clearance safety risk for the wind turbine. Then, the method of the present disclosure can be applied to avoid too small blade net clearance when stopping the machine under high wind speed conditions. Otherwise, the normal operation of the wind turbine can be maintained. Moreover, the above preset wind speed should also be less than the cut-out wind speed of the wind turbine to avoid that the wind turbine has met the shutdown conditions and is in the shutdown state, so that the method of the present disclosure cannot be implemented.

[0052] According to an embodiment of the present disclosure, the above preset wind speed is greater than the rated wind speed and less than the cut-out wind speed. Among them, at the rated wind speed, the wind turbine reaches the rated power, and at the cut-out wind speed, the wind turbine performs shutdown processing. Through this embodiment, after ensuring the rated power of the wind turbine and before shutdown, the method of the present disclosure can be applied to avoid too small blade net clearance when stopping the machine under high wind speed conditions, and also avoid cumbersome implementation of the present disclosure when the present disclosure is useless for the wind turbine, reducing the operation cost.

[0053] According to an embodiment of the present disclosure, the above lattice tower can be a full lattice tower. At this time, since the entire tower is lattice, the length of the blade can be unrestricted and the present disclosure can be applied. The above lattice tower can also be a semi-lattice tower, that is, the upper part of the tower is a conventional circular tower and the lower part is a lattice tower. At this time, the length of the blade needs to exceed the circular tower part, that is, the tip of the blade is located at the lattice tower part of the lower part, and then the present disclosure can be applied.

[0054] According to an embodiment of the present disclosure, in step S302, making the nacelle head direction of the nacelle different from each tower column in the lattice tower by adjusting the yaw angle may include: making the nacelle head direction of the nacelle located in the middle of the tower column directions of any two tower columns in the lattice tower by adjusting the yaw angle. Through this embodiment, when the nacelle head is located between two tower columns, it can be ensured that when the wind turbine stops, the blade is farthest from the surface of the tower, that is, the blade net clearance increases the most, and the risks of tower sweeping and blade breakage are minimized.

[0055] As an example, according to Figure 1 and Figure 2 it can be seen that when the nacelle head is located between any two tower columns, the blade is farthest from the surface of the tower. Therefore, if it can be ensured that the nacelle head is located between any two tower columns when the wind turbine stops, such as making the nacelle head direction of the nacelle located in the middle of the tower column directions of any two tower columns in the lattice tower by adjusting the yaw angle, it can be ensured that when the wind turbine stops, the blade is farthest from the surface of the tower, that is, the blade net clearance increases the most, and the risks of tower sweeping and blade breakage are minimized.

[0056] According to an embodiment of the present disclosure, making the direction of the nacelle head of the nacelle different from the direction of each tower column in the lattice tower by adjusting the yaw angle may include: obtaining the average wind direction of the environment where the wind turbine is located and the direction of each tower column in the lattice tower; based on the average wind direction and the direction of each tower column, adjusting the yaw angle control requirement; and performing yaw control on the wind turbine based on the adjusted yaw angle control requirement. Through this embodiment, the present disclosure determines a new yaw angle based on the average wind direction and the direction of each tower column of the wind turbine under high wind speed conditions, thereby avoiding the nacelle head being in the same direction as any tower column, increasing the blade clearance of the wind turbine, so as to reduce the risk of tower sweeping and blade breakage. Moreover, through the present disclosure, since the blade clearance of the wind turbine is increased, the blade weight can be further reduced, meeting the requirements for the lightweight development and safety of the wind turbine blades.

[0057] As an example, the average wind direction of the environment where the wind turbine is located can be obtained through the wind direction sensor of the wind turbine, or the average wind direction of the environment where the wind turbine is located can be obtained through weather forecast information, so that the average wind direction can be obtained quickly and conveniently. However, the present disclosure does not limit the way of obtaining the average wind direction.

[0058] As an example, after the tower columns of the wind turbine are installed, the direction of each tower column can be determined manually and marked on the corresponding tower column or a suitable position, and then recorded in the memory. The present disclosure does not limit this.

[0059] As an example, for the two states where the tower column of the tower is in the same direction as the nacelle head and the nacelle head is in the middle of two tower columns, the distance between the blade and the tower is very different. That is, when the tower column of the tower is in the same direction as the nacelle head, the distance between the blade and the tower is the closest, and when the nacelle head is in the middle of two tower columns, the distance between the blade and the tower is the farthest. Therefore, it can be considered to adjust the yaw angle to control the relative direction of the nacelle head and the tower to increase the blade clearance. Specifically, the average wind direction of the environment where the wind turbine is located and the direction of each tower column in the lattice tower can be obtained. According to the obtained average wind direction and the direction of each tower column, the final yaw angle is determined. Based on the determined yaw angle, yaw control is performed on the wind turbine so that the tower column of the tower is not in the same direction as the nacelle head, which is equivalent to increasing the distance between the blade and the tower, that is, increasing the blade clearance.

[0060] According to an embodiment of the present disclosure, adjusting the yaw angle control requirement based on the average wind direction and the tower direction of each tower column may include: obtaining the difference between the average wind direction and the tower direction of each tower column; when all the differences are greater than or equal to a preset angle, adjusting the yaw angle to a first yaw angle, where the first yaw angle is the yaw angle of the yaw system of the wind turbine itself; when any one of all the differences is less than the preset angle, adjusting the yaw angle to a second yaw angle, where the wind alignment deviation corresponding to the second yaw angle is greater than the wind alignment deviation corresponding to the first yaw angle. Through this embodiment, if the difference between the average wind direction and the tower direction of each tower column is large, the original strategy of the yaw system, that is, the yaw angle of the yaw system itself, can be used for yaw control without adjusting the yaw angle of the yaw system. If the difference between the average wind direction and the tower direction of any one tower column is too small, the yaw angle of the yaw system is increased, so that the difference between the direction of the nacelle head and the tower direction is larger, thereby avoiding the nacelle head and any one tower column being in the same direction when the wind turbine stops.

[0061] The above preset angle can be set as needed. For example, it can be 0 degree or 5 degrees. The present disclosure does not limit this. It should be noted that the wind alignment deviation is generally represented by an absolute value. For example, when the nacelle head deviates 5 degrees to the left relative to the wind direction and 5 degrees to the right relative to the wind direction, in both cases, the wind alignment deviation is 5 degrees; the wind alignment deviation corresponding to the first yaw angle, that is, the wind alignment deviation after yaw control according to the first yaw angle; the wind alignment deviation corresponding to the second yaw angle, that is, the wind alignment deviation after yaw control according to the second yaw angle. Furthermore, in order to ensure the maximum power generation, after yaw control according to the original strategy of the yaw system, that is, after yaw control according to the first yaw angle, the obtained wind alignment deviation is generally 0, that is, the wind blows vertically towards the nacelle head. Here, the vertical blowing also includes blowing vertically towards the nacelle head from behind the nacelle.

[0062] As an example, after obtaining the average wind direction and the tower direction of each tower column, the difference between the average wind direction and the tower direction of each tower column can be further calculated. When all the differences are greater than or equal to the preset angle, the yaw angle of the yaw system of the wind turbine itself (i.e., the first yaw angle) can be used for yaw control, that is, the original yaw strategy of the yaw system is used for yaw control. After yaw control, the corresponding first wind alignment deviation can be obtained; when any one of all the differences is less than the preset angle, the yaw angle of the yaw system is adjusted to the second yaw angle, and yaw control is performed according to the second yaw angle. After yaw control, the corresponding second wind alignment deviation can be obtained; among them, the second wind alignment deviation is greater than the first wind alignment deviation, avoiding the tower column of the tower and the nacelle head being in the same direction.

[0063] According to an embodiment of the present disclosure, the difference between the wind alignment deviation corresponding to the second yaw angle and the wind alignment deviation corresponding to the first yaw angle is greater than 0 degrees and less than 20 degrees. Through this embodiment, considering that when the nacelle head is located in the middle of the two tower frames, the blade clearance distance is the largest, but the load of the wind turbine generator is also the largest at this time. Therefore, it is necessary to balance the clearance and the loads of other components, and the wind alignment deviation corresponding to the second yaw angle should not be too large.

[0064] As an example, even when the nacelle head is located in the middle of the two tower frames, the blade clearance distance is the largest, but the load of the wind turbine generator is also the largest at this time. Therefore, considering the clearance and the loads of other components, assuming that the wind alignment deviation corresponding to the first yaw angle is set to 0 degrees, it is more appropriate that the wind alignment deviation corresponding to the second yaw angle is within 20 degrees and should not be too large. Therefore, at this time, the wind alignment deviation of the second yaw angle should not exceed 20 degrees, and it can be set to 16 degrees, 15 degrees, etc.

[0065] According to an embodiment of the present disclosure, before adjusting the yaw angle so that the nacelle head direction of the nacelle is different from the tower column direction of each tower column in the lattice tower, an image including each tower column is acquired by an image recognition sensor, and it is recognized based on the image that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column. Among them, the image recognition sensor is arranged in the nacelle and acquires an image including each tower column through an opening on the nacelle, and the installation direction of the image recognition sensor is the same as the nacelle head direction of the nacelle; alternatively, the position of each tower column is recognized by an infrared recognition sensor, and it is determined based on the position of each tower column that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column. Among them, the infrared recognition sensor is arranged in the nacelle and recognizes the position of each tower column through an opening on the nacelle, and the installation direction of the infrared recognition sensor is the same as the nacelle head direction of the nacelle. Through this embodiment, in the case of strong wind conditions, the relationship between the nacelle head direction of the nacelle and the tower column direction of any one tower column can be obtained through the image recognition sensor or the infrared recognition sensor. If the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column, the yaw angle can be adjusted. In this way, in strong wind conditions, the relationship between the nacelle head direction and the tower column direction of any one tower column can be further determined, avoiding the problem that the sensor for identifying the nacelle head direction inside the nacelle fails, resulting in inaccurate nacelle head direction determined by this sensor, and thus unable to obtain the accurate relationship between the nacelle head direction and the tower column direction of any one tower column. At the same time, the yaw angle can also be adjusted only after reaching the same direction condition, avoiding unnecessary adjustments. Because if the nacelle head direction of the nacelle is different from the tower column direction of any one tower column, there is no need to adjust the yaw angle, that is, there is no need to perform the yaw control of the present disclosure.

[0066] As an example, an image recognition sensor or an infrared recognition sensor can be pre-installed in the nacelle, and an opening is dug under the nacelle. The size of the opening is based on the fact that the image recognition sensor can include the images of each tower column, or, based on the fact that the infrared recognition sensor can identify the positions of each tower column. Thus, in the case of strong wind conditions, the image recognition sensor can be used to obtain the images including each tower column. Since the installation direction of the image recognition sensor is the same as the direction of the nacelle head, the tower column direction of any tower column recognized based on the image is actually equivalent to the angle between the direction of the nacelle head of the nacelle and the tower column direction of any tower column. If the angle is equal to 0 degrees, it means that the direction of the nacelle head of the nacelle is the same as the tower column direction of any tower column. Or, the positions of each tower column are recognized by the infrared recognition sensor, and the tower column direction determined based on the positions of each tower column is actually equivalent to the angle between the direction of the nacelle head of the nacelle and the tower column direction of any tower column. If the angle is equal to 0 degrees, it means that the direction of the nacelle head of the nacelle is the same as the tower column direction of any tower column.

[0067] It should be noted that the present disclosure is not limited to adjusting the yaw angle for yaw control only when the direction of the nacelle head of the nacelle is the same as the tower column direction of any tower column. It can also be that according to the need, when the angle between the direction of the nacelle head of the nacelle and the tower column direction of any tower column is less than a preset angle, such as 3 degrees, 5 degrees, etc., the present disclosure can be adopted, that is, the yaw angle can be adjusted for yaw control.

[0068] To facilitate the understanding of the above embodiments, the following is combined with Figures 4 to 7 for illustration, where Figure 4 shows the wind speed time series of different strategies, Figure 5 shows the yaw alignment control time series, Figure 6 shows the pitch control time series during fault shutdown, Figure 7 shows the minimum blade clearance time series during fault shutdown.

[0069] As Figures 4 to 7 shown, when the wind turbine generator set experiences a fault shutdown under the condition of an average wind speed of 20.7 m / s, the control strategy of the related technology is only to pitch the blades towards the 90-degree direction through pitch control. During the pitching process, due to the inertial influence of the gravity of the blades, they quickly move towards the tower direction and thus approach the tower. The distance between the blade tip and the tower (hereinafter referred to as "blade clearance") has a minimum value of 5.7 m, which is relatively dangerous compared with the requirement of the design specification of 6.5 m. Therefore, in view of the above problems, what is generally thought of in the related technology is to increase the weight of the blades to enhance the blade stiffness and avoid the blades approaching the tower quickly due to the influence of gravity. However, increasing the blade stiffness leads to an increase in gravity, and thus the gravitational inertial force also increases accordingly. Therefore, the effect and cost performance are reduced.

[0070] However, in view of the above problems, the present disclosure utilizes the special shape feature (square) of the lattice tower, and adopts the method of controlling the yaw angle of the yaw system. When the wind speed is high, the average wind direction is deviated from the tower column direction of the tower by a certain angle, so as to avoid the same direction of the nacelle head and the tower column direction. Assuming that the initial wind alignment deviation is 0 degree (that is, the wind alignment deviation after the yaw system performs yaw control according to its own yaw angle is 0 degree), that is, the average wind direction is 0 degree at this time. When the wind speed is high and the average wind direction needs to be deviated from the tower column direction of the tower by a certain angle, if the wind alignment deviation is increased by 16 degrees (that is, the yaw angle of the yaw system is adjusted to the second yaw angle, and the wind alignment deviation after yaw control according to the second yaw angle is 16 degrees), the same direction of the nacelle head and the tower column direction can be well avoided, thereby greatly increasing the safety distance of the blade clearance when the wind turbine generator set fails and shuts down. For example, Figure 5 and Figure 7 As shown, when the wind alignment deviation deviates by 16 degrees, the minimum distance of the blade clearance when the wind turbine generator set fails and shuts down becomes 9.5 m. Compared with the minimum value of 5.7 m in the related art, the safety distance is increased by 3.8 m, and the effect is very obvious. Therefore, while increasing the safety of the whole machine, the present disclosure also avoids the cost increase caused by the increase of the blade weight.

[0071] As an example, the flowchart of the yaw control strategy for dynamically adjusting the yaw angle in the above embodiment can be as shown in Figure 8 When the wind speed in the environment where the wind turbine generator set is located is greater than the preset wind speed V1, that is, when the wind speed is high, the average wind direction A1 in the environment where the wind turbine generator set is located can be obtained through a sensor, and then the difference between the average wind direction A1 and the tower column direction A2 of each tower column can be obtained. Among them, the tower column direction of each tower column can be prestored locally. That is, after the tower column of the wind turbine generator set is installed, the tower column direction of each tower column is determined manually and stored in a suitable position, and the relationship between the difference and the preset angle Ae is judged. If all the differences are greater than or equal to the preset angle Ae, the yaw angle is adjusted to the first yaw angle, where the first yaw angle is the yaw angle of the yaw system of the wind turbine generator set itself, that is, the original strategy of the yaw system is adopted for yaw control; if any one of all the differences is less than the preset angle Ae, the yaw angle is adjusted to the second yaw angle, where the wind alignment deviation corresponding to the second yaw angle is greater than the wind alignment deviation corresponding to the first yaw angle, and then yaw control is performed through the first yaw angle or the second yaw angle.

[0072] As an example, when the wind speed in the environment where the wind turbine generator set is located is greater than the preset wind speed V1, that is, when the wind speed is high, as shown in Figure 9As shown, it is possible to determine that the direction of the nacelle head of the nacelle is the same as the direction of any tower column through an image recognition sensor or an infrared recognition sensor, and then proceed to the next step, that is, to obtain the average wind direction A1 and other steps. Because if the direction of the nacelle head of the nacelle is not the same as the direction of any tower column, there is no need to adjust the yaw angle, that is, there is no need to perform the yaw control of the present disclosure. Specifically, an image containing each tower column can be obtained through an image recognition sensor, and the included angle between the direction of the nacelle head of the nacelle and the direction of any tower column can be recognized based on the image. If the included angle is equal to 0 degrees, it means that the direction of the nacelle head of the nacelle is the same as the direction of any tower column. Or, the position of each tower column can be recognized through an infrared recognition sensor, and the included angle between the direction of the nacelle head of the nacelle and the direction of any tower column can be determined based on the position of each tower column. If the included angle is equal to 0 degrees, it means that the direction of the nacelle head of the nacelle is the same as the direction of any tower column.

[0073] In order to compare the shutdown control strategy in the related art with the yaw control strategy of the present disclosure, the effects are compared as shown in Table 1 below:

[0074] Table 1 Performance Comparison between Related Art and the Present Disclosure

[0075]

[0076]

[0077] In summary, for a downwind lattice-type large wind turbine generator set, during shutdown under fault conditions, in order to avoid the situation where the nacelle head of the wind turbine generator set is in the same direction as any tower column during the process of controlling the blade to feather, resulting in the closest distance between the blade tip and the tower, the present disclosure adds a yaw control strategy to deviate a certain angle from the tower column of the lattice tower. That is, after the wind turbine generator set is fully loaded under strong wind conditions, the direction of the nacelle head and the tower column of the tower are dynamically controlled to avoid operating or shutting down at the same direction as the tower column of the tower, thus causing safety problems of blade clearance and problems that do not meet the requirements of blade lightweight.

[0078] Figure 10 is a block diagram showing the yaw control device of the wind turbine generator set of the present disclosure, as Figure 10 shown, applied to a downwind wind turbine generator set, the wind turbine generator set includes a nacelle and a lattice tower, and the yaw control device includes: an acquisition unit 100 and a control unit 102.

[0079] The acquisition unit 100 is configured to acquire the wind speed of the environment where the wind turbine generator set is located;

[0080] The control unit 102 is configured to, when the wind speed is greater than a preset wind speed, make the direction of the nacelle head of the nacelle different from the direction of each tower column in the lattice tower by adjusting the yaw angle.

[0081] According to an embodiment of the present disclosure, the control unit 102 is further configured to make the nacelle head direction of the nacelle located at the middle of the tower column directions of any two tower columns in the lattice tower by adjusting the yaw angle. Through this embodiment, when the nacelle head is located between two tower columns, it can be ensured that when the wind turbine generator sets are shut down, the blades are farthest from the surface of the tower, that is, the blade clearance is increased the most, so that the risks of tower sweeping and blade breakage are minimized.

[0082] According to an embodiment of the present disclosure, the control unit 102 is further configured to obtain the average wind direction of the environment where the wind turbine generator set is located and the tower column direction of each tower column in the lattice tower; based on the average wind direction and the tower column direction of each tower column, adjust the yaw angle control requirement; and perform yaw control on the wind turbine generator set based on the adjusted yaw angle control requirement. Through this embodiment, in the case of high wind speed conditions, the present disclosure determines a new yaw angle based on the average wind direction and the tower column direction of each tower column of the wind turbine generator set, so as to avoid the nacelle head being in the same direction as any tower column, increase the blade clearance of the wind turbine generator set, so as to reduce the risks of tower sweeping and blade breakage. Moreover, through the present disclosure, since the blade clearance of the wind turbine generator set is increased, the blade weight can be further reduced, so as to meet the requirements of lightweight development and safety of the blades of the wind turbine generator set.

[0083] According to an embodiment of the present disclosure, the control unit 102 is further configured to obtain the difference between the average wind direction and the tower column direction of each tower column; in the case where all the differences are greater than or equal to a preset angle, adjust the yaw angle to a first yaw angle, where the first yaw angle is the yaw angle of the yaw system of the wind turbine generator set itself; in the case where any one of all the differences is less than the preset angle, adjust the yaw angle to a second yaw angle, where the wind alignment deviation corresponding to the second yaw angle is greater than the wind alignment deviation corresponding to the first yaw angle. Through this embodiment, if the difference between the average wind direction and the tower column direction of each tower column is large, at this time, the original strategy of the yaw system, that is, the yaw angle of the yaw system itself, can be used for yaw control without adjusting the yaw angle of the yaw system. If the difference between the average wind direction and the tower column direction of any one tower column is too small, the yaw angle of the yaw system is increased, so that the difference between the nacelle head direction and the tower column direction is larger, thereby avoiding the nacelle head being in the same direction as any tower column when the wind turbine generator set is shut down.

[0084] According to an embodiment of the present disclosure, the difference between the wind alignment deviation corresponding to the second yaw angle and the wind alignment deviation corresponding to the first yaw angle is greater than 0 degrees and less than 20 degrees. Through this embodiment, considering that when the nacelle head is located in the middle of two towers, the blade clearance distance is the largest, but at this time, the load of the wind turbine generator set is also the largest. Therefore, it is necessary to balance the clearance and the loads of other components. It is more appropriate for the second yaw angle to be within 20 degrees and should not be too large.

[0085] According to an embodiment of the present disclosure, the preset wind speed is greater than the rated wind speed and less than the cut-out wind speed. Among them, at the rated wind speed, the wind turbine reaches the rated power, and at the cut-out wind speed, the wind turbine performs a shutdown process. Through this embodiment, after ensuring the rated power of the wind turbine and before shutdown, the method of the present disclosure can be applied to avoid too small blade clearance during shutdown under high wind speed conditions, and also avoid cumbersome implementation of the present disclosure when the present disclosure is useless for the wind turbine, thereby reducing the operation cost.

[0086] According to an embodiment of the present disclosure, the acquisition unit 100 is further configured to obtain the wind speed of the environment where the wind turbine is located through the wind speed sensor of the wind turbine; or obtain the wind speed of the environment where the wind turbine is located through weather forecast information. Through this embodiment, the wind speed of the wind turbine can be obtained quickly and conveniently.

[0087] According to an embodiment of the present disclosure, the control unit 102 is further configured to obtain the average wind direction of the environment where the wind turbine is located through the wind direction sensor of the wind turbine; or obtain the average wind direction of the environment where the wind turbine is located through weather forecast information. Through this embodiment, the average wind direction can be obtained quickly and conveniently.

[0088] According to an embodiment of the present disclosure, the control unit 102 is further configured to, before making the nacelle head direction of the nacelle different from the tower column direction of each tower column in the lattice tower by adjusting the yaw angle, obtain an image including each tower column through an image recognition sensor, and based on the image, recognize that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column. Among them, the image recognition sensor is arranged in the nacelle and obtains an image including each tower column through an opening on the nacelle, and the installation direction of the image recognition sensor is the same as the nacelle head direction of the nacelle; or identify the position of each tower column through an infrared recognition sensor, and based on the position of each tower column, determine that the nacelle head direction of the nacelle is the same as the tower column direction of any one tower column. Among them, the infrared recognition sensor is arranged in the nacelle and identifies the position of each tower column through an opening on the nacelle, and the installation direction of the infrared recognition sensor is the same as the nacelle head direction of the nacelle.

[0089] According to an embodiment of the present disclosure, the above lattice tower is a full lattice tower.

[0090] According to an embodiment of the present disclosure, there is provided a computer-readable storage medium storing instructions, wherein when the instructions are run by at least one computing device, at least one computing device is prompted to execute the yaw control method of the wind turbine as described in any one of the above embodiments.

[0091] According to an embodiment of the present disclosure, a system is provided that includes at least one computing device and at least one storage device storing instructions, wherein when the instructions are run by the at least one computing device, the at least one computing device is caused to execute the yaw control method of the wind turbine generator set according to any of the above embodiments.

[0092] In another general aspect, a wind turbine generator set is provided that includes the yaw control device of the wind turbine generator set as described above.

[0093] Although some embodiments of the present disclosure have been shown and described, those skilled in the art should understand that these embodiments can be modified without departing from the principles and spirit of the present disclosure as defined by the claims and their equivalents.

Claims

1. A yaw control method for a wind turbine generator set, characterized in that, Applied to a downwind wind turbine generator set, the wind turbine generator set includes a lattice tower and a nacelle, and the yaw control method includes: Obtain the wind speed of the environment where the wind turbine generator set is located; When the wind speed is greater than a preset wind speed, adjust the yaw angle so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower.

2. The yaw control method according to claim 1, characterized in that The adjustment of the yaw angle so that the direction of the nacelle head of the nacelle is different from each tower column in the lattice tower includes: Adjust the yaw angle so that the direction of the nacelle head of the nacelle is located in the middle of the directions of any two tower columns in the lattice tower.

3. The yaw control method according to claim 1, characterized in that The adjustment of the yaw angle so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower includes: Obtain the average wind direction of the environment where the wind turbine generator set is located and the direction of each tower column in the lattice tower; Based on the average wind direction and the direction of each tower column, adjust the yaw angle control requirement; Based on the adjusted yaw angle control requirement, perform yaw control on the wind turbine generator set.

4. The yaw control method according to claim 3, characterized in that, The adjustment of the yaw angle control requirement based on the average wind direction and the direction of each tower column includes: Obtain the difference between the average wind direction and the direction of each tower column; When all the differences are greater than or equal to a preset angle, adjust the yaw angle to a first yaw angle, where the first yaw angle is the yaw angle of the yaw system of the wind turbine generator set itself; When any one of all the differences is less than the preset angle, adjust the yaw angle to a second yaw angle, where the wind alignment deviation corresponding to the second yaw angle is greater than the wind alignment deviation corresponding to the first yaw angle.

5. The yaw control method according to claim 4, characterized in that, The difference between the wind alignment deviation corresponding to the second yaw angle and the wind alignment deviation corresponding to the first yaw angle is greater than 0 degrees and less than 20 degrees.

6. The yaw control method according to claim 3, wherein Before adjusting the yaw angle so that the direction of the nacelle head of the nacelle is different from the direction of each tower column in the lattice tower, it further includes: Obtain an image including each tower column through an image recognition sensor, and based on the image, recognize that the direction of the nacelle head of the nacelle is the same as the direction of any one tower column. The image recognition sensor is arranged in the nacelle and obtains the image including each tower column through an opening on the nacelle. The installation direction of the image recognition sensor is the same as the direction of the nacelle head of the nacelle; Alternatively, identify the positions of each tower column through an infrared recognition sensor, and based on the positions of each tower column, determine that the direction of the nacelle head of the nacelle is the same as the direction of any one tower column. The infrared recognition sensor is arranged in the nacelle and identifies the positions of each tower column through an opening on the nacelle. The installation direction of the infrared recognition sensor is the same as the direction of the nacelle head of the nacelle.

7. The yaw control method according to claim 1, characterized in that The preset wind speed is greater than the rated wind speed and less than the cut-out wind speed. Under the rated wind speed, the wind turbine generator set reaches the rated power. Under the cut-out wind speed, the wind turbine generator set performs shutdown processing.

8. The yaw control method according to claim 1, wherein, The lattice tower is a full lattice tower.

9. A computer-readable storage medium for storing instructions, characterized in that, When the instruction is executed by at least one computing device, it causes the at least one computing device to perform the yaw control method of the wind turbine according to any one of claims 1 to 8.

10. A system comprising at least one computing device and at least one storage device storing instructions, characterized in that, When the instruction is executed by the at least one computing device, it causes the at least one computing device to perform the yaw control method of the wind turbine according to any one of claims 1 to 8.

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