Emergency yaw control method, device and equipment for rotating speed out-of-control of wind turbine generator and medium

Abstract

The invention discloses an emergency yaw control method, device and equipment for the out-of-control rotating speed of a wind turbine generator and a medium. The emergency yaw control method comprises the steps that real-time operation data of the wind turbine generator are obtained; determining a predicted operation state of the wind turbine generator according to the operation data of the wind turbine generator; if the emergency yaw is triggered, acquiring real-time environment data, and determining a target yaw angle according to the real-time environment data; according to the current yaw angle and the brake temperature data, the yaw speed is dynamically adjusted, and an emergency yaw system of the wind turbine generator set is controlled to output a control signal at the dynamically adjusted yaw speed till the target yaw angle is reached. The invention belongs to the field of wind turbine generators. The yaw speed can be adjusted in real time, the energy consumption of a hydraulic system is reduced, and the overall energy utilization efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of wind turbine units, and in particular to an emergency yaw control method, device, equipment and medium for out-of-control rotation speed of a wind turbine unit. Background Art

[0002] A wind turbine unit, also known as a wind power generation unit, is a device that converts wind energy into electrical energy. It mainly consists of an impeller (including blades and a hub), a transmission system, a generator, a control system, and a support structure (such as a tower barrel and a foundation). The wind turbine unit captures wind energy through the blades and converts it into mechanical energy, which is then converted into electrical energy by the generator and finally transmitted to the power grid for users to use.

[0003] The impeller is the core part of the wind turbine unit, including blades, a hub, and a low-speed shaft. The impeller is a key component for converting wind energy into mechanical energy. At present, there are few emergency solutions for the out-of-control rotation speed of the impeller of a wind turbine unit. In view of this, the present invention provides an emergency yaw control method for the out-of-control rotation speed of a wind turbine unit. Summary of the Invention

[0004] By providing an emergency yaw control method, device, equipment and medium for the out-of-control rotation speed of a wind turbine unit, the present invention solves the technical problem in the prior art that the out-of-control state of the impeller rotation speed cannot be disposed of in time, and achieves the technical effect of disposing of the out-of-control state of the impeller rotation speed in time.

[0005] In a first aspect, the present invention provides an emergency yaw control method for the out-of-control rotation speed of a wind turbine unit, and the method includes:

[0006] Obtain the real-time operation data of the wind turbine unit, where the real-time operation data includes impeller rotation speed data, brake temperature data, and hydraulic pump pressure data;

[0007] Determine the predicted operation state of the wind turbine unit according to the operation data of the wind turbine unit, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown;

[0008] If emergency yaw is triggered, obtain the real-time environmental data, and determine the target yaw angle according to the real-time environmental data;

[0009] Dynamically adjust the yaw speed according to the current yaw angle and the brake temperature data, and control the emergency yaw system of the wind turbine unit to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

[0010] Further, determining the predicted operation state of the wind turbine unit according to the operation data of the wind turbine unit includes:

[0011] Determine the impeller rotation speed change rate according to the impeller rotation speed data;

[0012] If the change rate of the impeller speed is greater than the speed change rate threshold, the impeller speed is greater than the rated speed, the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, an emergency shutdown is triggered;

[0013] If the change rate of the impeller speed is greater than the speed change rate threshold, the impeller speed is less than or equal to the rated speed, the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, an emergency yaw is triggered.

[0014] Further, determining the target yaw angle according to the real-time environmental data includes:

[0015] Determining the real-time wind speed according to the real-time environmental data;

[0016] Determining the target yaw angle according to the real-time operation data of the wind turbine, the real-time wind speed, and the impeller radius of the wind turbine.

[0017] Further, determining the target yaw angle according to the real-time environmental data includes:

[0018]

[0019] Where, θ m is the target yaw angle, C p is the wind energy utilization coefficient, f is the inverse function of the wind energy utilization coefficient with respect to the yaw angle, V W is the real-time wind speed, z1 is the real-time impeller speed, z2 is the safe impeller speed, and R is the impeller radius.

[0020] Further, dynamically adjusting the yaw speed according to the current yaw angle and the brake temperature data includes:

[0021] Determining the angle difference rate according to the current yaw angle and the target yaw angle;

[0022] Determining the brake temperature change rate according to the brake temperature data;

[0023] Dynamically adjusting the yaw speed according to the angle difference rate and the brake temperature change rate.

[0024] Further, it also includes:

[0025]

[0026] V P = V S ·(1 - ε)·δ

[0027] Where, δ is the angle difference rate, θ t is the current yaw angle, ε is the brake temperature change rate, △P is the brake temperature change, △T is the unit time, V Sis the preset emergency yaw speed, V P is the yaw speed after dynamic adjustment.

[0028] Furthermore, it further includes:

[0029] If neither the emergency yaw nor the emergency shutdown is triggered, and the brake temperature is less than the preset temperature and the hydraulic pump pressure is greater than the preset pump pressure, the predicted operating state of the wind turbine is normal operation.

[0030] In a second aspect, the present invention provides an emergency yaw control device for a wind turbine with out-of-control rotational speed, and the device includes:

[0031] An acquisition module, configured to acquire the real-time operating data of the wind turbine, where the real-time operating data includes impeller rotational speed data, brake temperature data, and hydraulic pump pressure data;

[0032] A state prediction module, configured to determine the predicted operating state of the wind turbine according to the operating data of the wind turbine, where the predicted operating state includes: triggering emergency yaw and triggering emergency shutdown;

[0033] A yaw angle determination module, configured to, if the emergency yaw is triggered, acquire the real-time environmental data and determine the target yaw angle according to the real-time environmental data;

[0034] An output control module, configured to dynamically adjust the yaw speed according to the current yaw angle and the brake temperature data, and control the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

[0035] In a third aspect, the present invention provides an electronic device, including:

[0036] A processor;

[0037] A memory for storing instructions executable by the processor;

[0038] Wherein, the processor is configured to execute to implement an emergency yaw control method for a wind turbine with out-of-control rotational speed as provided in the first aspect.

[0039] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, enabling the electronic device to execute and implement an emergency yaw control method for a wind turbine with out-of-control rotational speed as provided in the first aspect.

[0040] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0041] The present invention can promptly handle the state of out-of-control impeller rotational speed.

[0042] By monitoring the brake temperature and its rate of change, the present invention can ensure that the yaw movement is appropriately slowed down or paused in case of overheating of the braking system, avoiding further damage or failure caused by excessive use of the brakes.

[0043] Based on the difference rate (i.e., the angle difference rate) between the current yaw angle and the target yaw angle, the present invention can adjust the yaw speed in real time. When approaching the target yaw angle, the yaw speed is automatically reduced to avoid overcorrection, reducing the energy consumption of the hydraulic system and thus improving the overall energy utilization efficiency. Dynamically adjusting the yaw speed can avoid excessive wear caused by fixed high-speed yawing.

[0044] The present invention provides a method for determining the yaw angle. By determining the yaw angle, the rotational speed of the impeller can be accurately reduced to the safe impeller rotational speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for description in the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a schematic flow chart of an emergency yaw control method for out-of-control rotational speed of a wind turbine provided by the present invention;

[0047] Figure 2 It is a schematic flow chart of a predicted operating state of a wind turbine provided by the present invention;

[0048] Figure 3 It is a schematic layout diagram of an emergency yaw control circuit of the present invention;

[0049] Figure 4 It is a schematic diagram of a relay power supply circuit of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] By providing an emergency yaw control method for out-of-control rotational speed of a wind turbine in the embodiments of the present invention, the technical problem in the prior art of being unable to timely handle the out-of-control state of the impeller rotational speed is solved.

[0051] The technical solution of the present invention to solve the above technical problem is generally as follows:

[0052] An emergency yaw control method for out-of-control speed of a wind turbine, the method includes: obtaining real-time operation data of the wind turbine, where the real-time operation data includes impeller speed data, brake temperature data, and hydraulic pump pressure data; determining the predicted operation state of the wind turbine according to the operation data of the wind turbine, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown; if emergency yaw is triggered, obtain real-time environmental data, and determine the target yaw angle according to the real-time environmental data; dynamically adjust the yaw speed according to the current yaw angle and the brake temperature data, and control the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

[0053] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0054] First, it should be noted that the term "and / or" appearing in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0055] The hydraulic pump is one of the core components of the hydraulic system in a wind turbine, responsible for converting mechanical energy into hydraulic energy. By increasing the pressure of the hydraulic oil to provide power for other parts of the system, the hydraulic pump is usually used for yaw control, pitch control, and brake system.

[0056] The brake system includes a brake disc and brake pads. The brake temperature referred to in the present invention is the temperature of the brake pads. The brake system provides the necessary pressure to activate the mechanical brake to ensure the safe shutdown of the unit.

[0057] The yaw control system is responsible for adjusting the direction of the wind turbine according to the change of the wind direction. It can reduce the wind energy capture area by changing the angle of the blades (feathering) to reduce the speed; or increase the wind energy capture area by changing the angle of the blades to increase the speed.

[0058] The impeller is the core part of the wind turbine, including blades, a hub, and a low-speed shaft. The impeller is the key component for converting wind energy into mechanical energy.

[0059] The present invention provides an emergency yaw control method for out-of-control speed of a wind turbine as shown in Figure 1 including steps S11-S14:

[0060] Step S11, obtaining real-time operation data of the wind turbine, where the real-time operation data includes impeller speed data, brake temperature data, and hydraulic pump pressure data.

[0061] The impeller rotational speed refers to the number of revolutions of the wind turbine impeller per unit time, usually measured in revolutions per minute (RPM) or radians per second (rad / s). The impeller rotational speed directly affects the output power of the generator. If the impeller rotational speed exceeds the safe range, it may cause damage to the equipment. Abnormal speed changes may indicate improper blade angle settings, transmission system failures, or other problems. Data can be collected in real time through speed sensors (such as encoders or Hall effect sensors) installed on the impeller shaft.

[0062] The brake temperature data includes the temperature information of the brake disc and brake pads, reflecting the thermal behavior of the braking system during operation.

[0063] It should be emphasized that in the present invention, the thermal behavior of the braking system is mainly reflected by the temperature information of the brake pads.

[0064] The braking system generates a large amount of heat during braking. Excessive temperatures may lead to material fatigue, increased wear, or even failure. Abnormal temperature changes may indicate mechanical failures in the braking system (such as a decrease in the friction coefficient) or poor heat dissipation. Data can be collected in real time through temperature sensors (such as thermocouples or infrared thermometers) installed near the brake disc and brake pads.

[0065] The hydraulic pump pressure data refers to the pressure value output by the hydraulic pump in the hydraulic system, which is used to drive actuators such as the yaw system, pitch system, or braking system.

[0066] Whether the hydraulic pump pressure is normal directly reflects the operating state of the hydraulic system. Insufficient pressure may cause the actuator to malfunction.

[0067] Step S12, determine the predicted operating state of the wind turbine according to the operating data of the wind turbine, where the predicted operating state includes: triggering emergency yaw and triggering emergency shutdown.

[0068] As Figure 2 shown, the present invention provides a predicted operating state of a wind turbine, and determining the predicted operating state of the wind turbine includes:

[0069] Determine the impeller speed change rate according to the impeller speed data;

[0070] If the impeller speed change rate is greater than the speed change rate threshold, the impeller speed is greater than the rated speed, the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, then trigger an emergency shutdown;

[0071] If the impeller speed change rate is greater than the speed change rate threshold, the impeller speed is less than or equal to the rated speed, the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, then trigger an emergency yaw.

[0072] If neither emergency yaw nor emergency shutdown is triggered, and the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, then the predicted operating state of the wind turbine is normal operation.

[0073] The change rate of the impeller speed refers to the change amount of the impeller speed per unit time. When the change rate of the impeller speed is greater than the threshold value of the change rate of the speed, it indicates that the impeller speed has changed abnormally rapidly, which may be caused by a sudden strong wind or other abnormal conditions.

[0074] The impeller speed being greater than the rated speed means that the impeller speed has exceeded the designed safe range, which may cause serious damage to the equipment.

[0075] When the change rate of the impeller speed is greater than the threshold value of the change rate of the speed and the impeller speed is greater than the rated speed, it highly likely indicates that equipment damage may occur. At this time, it is necessary to reduce the impeller speed. If the brake temperature is less than the preset temperature and the hydraulic pump pressure is greater than the preset pump pressure, it means that the brake system and the hydraulic pump system can operate normally and provide braking force for the impeller. Therefore, at this time, an emergency shutdown is triggered to ensure the safety of the wind turbine.

[0076] The impeller speed being less than or equal to the rated speed indicates that the impeller speed has not exceeded the safe range. However, at this time, the change rate of the impeller speed is greater than the threshold value of the change rate of the speed, indicating that the impeller speed changes too fast, which may cause the impeller to malfunction (in this invention, it is assumed that the impeller is perpendicular to the wind direction in the initial state). The speed can be reduced by triggering emergency yaw.

[0077] If neither emergency yaw nor emergency shutdown is triggered, and the brake temperature is less than the preset temperature, and the hydraulic pump pressure is greater than the preset pump pressure, then the predicted operating state of the wind turbine is normal operation.

[0078] For the remaining situations, this invention does not make restrictions, and the predicted operating state of the wind turbine can be determined based on the actual work experience of relevant personnel.

[0079] In step S13, if emergency yaw is triggered, obtain real-time environmental data and determine the target yaw angle based on the real-time environmental data.

[0080] Specifically, it includes:

[0081] Determine the real-time wind speed based on the real-time environmental data;

[0082] Determine the target yaw angle based on the real-time operating data of the wind turbine, the real-time wind speed, and the impeller radius of the wind turbine.

[0083] Determining the target yaw angle based on the real-time environmental data specifically includes:

[0084]

[0085] Among them, θm is the target yaw angle, C p is the wind energy utilization coefficient, f is the inverse function of the wind energy utilization coefficient with respect to the yaw angle, V W is the real-time wind speed, z1 is the real-time impeller speed, z2 is the safe impeller speed, and R is the impeller radius.

[0086] The wind energy utilization coefficient refers to the proportion of energy extracted by the wind turbine from the wind passing through the impeller plane. The inverse function of the wind energy utilization coefficient with respect to the yaw angle can be determined through historical empirical values.

[0087] The present invention provides a method for determining the yaw angle. By determining the yaw angle, the impeller speed can be accurately reduced to the safe impeller speed.

[0088] Step S14: Dynamically adjust the yaw speed according to the current yaw angle and the brake temperature data, and control the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

[0089] Specifically, it includes:

[0090] Determine the angle difference rate according to the current yaw angle (the angle by which the impeller has deflected) and the target yaw angle (the angle to be deflected);

[0091] Determine the brake temperature change rate according to the brake temperature data;

[0092] Dynamically adjust the yaw speed according to the angle difference rate and the brake temperature change rate.

[0093] It includes:

[0094]

[0095] V P = V S ·(1 - ε)·δ

[0096] where δ is the angle difference rate, θ t is the current yaw angle, ε is the brake temperature change rate, △P is the brake temperature change, △T is the unit time, V S is the preset emergency yaw speed, V P is the dynamically adjusted yaw speed.

[0097] Initially, the yaw speed is V P , by monitoring the brake temperature and its change rate, it can ensure that the yaw movement is appropriately slowed down or paused in case of overheating of the brake system, avoiding further damage or failure caused by excessive use of the brake.

[0098] According to the difference rate between the current yaw angle and the target yaw angle (i.e., the angle difference rate), the yaw speed can be adjusted in real time. When approaching the target yaw angle, the yaw speed is automatically reduced to avoid overcorrection, reducing the energy consumption of the hydraulic system and thus improving the overall energy utilization efficiency. Dynamically adjusting the yaw speed can avoid excessive wear caused by fixed high-speed yawing.

[0099] In summary, the present invention provides an emergency yaw control method for a wind turbine with out-of-control rotational speed. The method includes: obtaining real-time operation data of the wind turbine, where the real-time operation data includes impeller rotational speed data, brake temperature data, and hydraulic pump pressure data; determining the predicted operation state of the wind turbine according to the operation data of the wind turbine, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown; if emergency yaw is triggered, obtaining real-time environmental data and determining the target yaw angle according to the real-time environmental data; dynamically adjusting the yaw speed according to the current yaw angle and the brake temperature data, and controlling the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached. By monitoring the brake temperature and its change rate, the present invention can ensure that the yaw action is appropriately slowed down or paused in case of overheating of the brake system, avoiding further damage or failure caused by excessive use of the brake. According to the difference rate between the current yaw angle and the target yaw angle (i.e., the angle difference rate), the present invention can adjust the yaw speed in real time. When approaching the target yaw angle, the yaw speed is automatically reduced to avoid overcorrection, reducing the energy consumption of the hydraulic system and thus improving the overall energy utilization efficiency. Dynamically adjusting the yaw speed can avoid excessive wear caused by fixed high-speed yawing. The present invention provides a method for determining the yaw angle. By determining the yaw angle, the impeller rotational speed can be accurately reduced to the safe impeller rotational speed.

[0100] In addition, the inventor also provides related hardware and software systems, including:

[0101] At present, the safety chain circuit of some wind turbines is composed of a safety module or a safety relay. When the safety chain is disconnected, the 24V control power supply of the relevant DO points controlled by the unit safety chain will be cut off, and at this time, DO output actions such as hydraulic pump pressurization and unit yaw control cannot be executed. When the impeller rotational speed exceeds the limit, the function of automatic emergency yaw sidewind protection cannot be realized.

[0102] Through hardware transformation and main control program upgrade, the inventor can enable the unit to have a manual yaw function when the safety chain is disconnected. At the same time, in order to realize the functions of both remote operation emergency yaw and emergency yaw operation at the tower base in case of control system failure, this function is realized by two parts: "adding an emergency yaw function to the main control program" and "adding an external hardware yaw control circuit".

[0103] Specifically, it includes: finding a spare DO output terminal that is not affected by the safety chain in the schematic diagram of the engine room cabinet for outputting an enabling signal, so that the yaw control system can be powered from the bypass when the safety chain is disconnected.

[0104] The main control program adds an emergency yaw function. The emergency yaw mode can be entered through the interface operation. At this time, even if the safety chain is disconnected, the yaw control system can still be powered from the bypass, and manual clockwise or counterclockwise yaw can be operated. It mainly realizes that when the main control PLC works normally and the upper and lower communications between the tower base cabinet and the engine room cabinet are normal, when the safety chain is disconnected, after the yaw enabling button is triggered on the fan interface, manual yaw can be performed on the panel of the engine room cabinet or the tower base cabinet, remote manual control of yaw can be realized on the small software interface, and automatic emergency yaw side wind protection function can be realized when the impeller speed exceeds the limit.

[0105] As Figure 3 shown, before the rectification, the power supply circuit of the DO point affected by the safety chain passes through the 11th and 14th contacts of the 389K2 relay to the XPDO terminal. The 389K2 relay feedbacks the safety chain status. When the safety chain is disconnected, the 389K2 relay disconnects and the power supply of the XPDO terminal is disconnected.

[0106] After the rectification, in addition to the original power supply circuit, a redundant power supply circuit is added to the XPDO terminal. The redundant circuit takes power from the 2nd pin at the lower port of the 254F1 miniature circuit breaker and passes through the 11th and 14th pins of the 388K4 (enable relay) to the XPDO terminal.

[0107] Corresponding functions are added to the fan control program logic and operation interface, specifically reflected as:

[0108] "Emergency manual yaw enabling" and "Emergency automatic yaw enabling" buttons are added to the "Special Function" interface. It mainly realizes that when the main control PLC works normally and the upper and lower communications between the tower base cabinet and the engine room cabinet are normal, when the unit safety chain is disconnected and the yaw enabling button is triggered on the fan interface, manual yaw can be performed on the panel of the engine room cabinet or the tower base cabinet, remote manual control of yaw can be realized on the small software interface, and automatic emergency yaw side wind protection function can be realized when the impeller speed exceeds the limit.

[0109] Four 230VAC power supplies controlled by switches can be added from the tower base cabinet and led to four relays added to the engine room cabinet. The contacts of the four relays are respectively connected in parallel with the control circuits of the original yaw hydraulic brake, yaw electromagnetic brake, clockwise yaw, and counterclockwise yaw, so as to realize the function of locally operating the unit yaw from the tower base cabinet.

[0110] Figure 4Schematic diagram of the power supply circuit for the added relay (the added circuit is within the red border). The added switches F1, F2, F3, and F4 in the tower base cabinet respectively control the added relays F1, F2, F3, and F4 in the nacelle cabinet, which are respectively used for the control of the semi-release of the hydraulic station, the electromagnetic brake release of the yaw motor, the clockwise yaw, and the counterclockwise yaw.

[0111] The operation process of the yaw start and stop is as follows

[0112] Start: Release the yaw hydraulic brake, wait for 1 second, release the yaw motor brake, wait for 1 second, and start the motor;

[0113] Stop: Stop the motor, wait for 1 second, engage the yaw motor brake, wait for 1 second, and engage the yaw hydraulic brake.

[0114] The operation steps for the yaw to be achieved by the rectification plan are as follows:

[0115] Yaw start: Close F1, wait for 1 second, close F2, wait for 1 second, close F3 (or F4), and start the motor;

[0116] Yaw stop: Disconnect F3, wait for 1 second, disconnect F2, wait for 1 second, disconnect F1, and the yaw stops.

[0117] To avoid misoperations in emergency situations, the logical sequence during the yaw start process is considered in the circuit design. Only when the yaw hydraulic brake is released (closing F1) can the yaw motor brake be released (closing F2). After these two steps are completed, the yaw motor can be started, thereby avoiding misoperations (the logical delay can be achieved by closing the switches sequentially during the actual operation process). At the same time, a twist cable trigger protection is added to prevent the unit from continuously yawing and breaking the power cable in case of mis-triggering the yaw function. The protection measures for the simultaneous start misoperations of the clockwise and counterclockwise yaws already exist in the original circuit schematic diagram and are not added additionally in this circuit modification.

[0118] Based on the same inventive concept, the present invention provides an emergency yaw control device for the out-of-control speed of a wind turbine generator set. The device includes:

[0119] An acquisition module, configured to acquire real-time operation data of the wind turbine generator set, where the real-time operation data includes impeller speed data, brake temperature data, and hydraulic pump pressure data;

[0120] A state prediction module, configured to determine the predicted operation state of the wind turbine generator set according to the operation data of the wind turbine generator set, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown;

[0121] A yaw angle determination module, configured to, if emergency yaw is triggered, acquire real-time environmental data and determine the target yaw angle according to the real-time environmental data;

[0122] An output control module, configured to dynamically adjust the yaw speed according to the current yaw angle and brake temperature data, and control the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

[0123] Based on the same inventive concept, the present invention also provides an electronic device, including:

[0124] A processor;

[0125] A memory for storing instructions executable by the processor;

[0126] Wherein, the processor is configured to execute to implement an emergency yaw control method for out-of-control rotation speed of a wind turbine as provided above.

[0127] Based on the same inventive concept, the present invention also provides a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the electronic device, enabling the electronic device to execute and implement an emergency yaw control method for out-of-control rotation speed of a wind turbine as provided above.

[0128] Since the electronic device introduced in this embodiment is the electronic device adopted for implementing the information processing method in the embodiments of the present invention, based on the information processing method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the electronic device in this embodiment, so the specific implementation of how this electronic device implements the method in the embodiments of the present invention will not be described in detail here. As long as it is the electronic device adopted by those skilled in the art to implement the information processing method in the embodiments of the present invention, it falls within the scope of protection of the present invention.

[0129] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in the flow Figure 1 one or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in the flow Figure 1 one or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more blocks.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow Figure 1 one or more flows and / or blocks Figure 1 or means for implementing the functions specified in one or more blocks.

[0133] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0134] It is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An emergency yaw control method for out-of-control rotational speed of a wind turbine, characterized in that, The method includes: Obtaining real-time operation data of a wind turbine, where the real-time operation data includes impeller rotation speed data, brake temperature data, and hydraulic pump pressure data; Determining a predicted operation state of the wind turbine according to the operation data of the wind turbine, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown; If emergency yaw is triggered, obtaining real-time environmental data and determining a target yaw angle according to the real-time environmental data; Dynamically adjusting the yaw speed according to the current yaw angle and the brake temperature data, and controlling the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

2. The emergency yaw control method for the rotational speed out-of-control of a wind turbine as claimed in claim 1, wherein Determining a predicted operation state of the wind turbine according to the operation data of the wind turbine, including: Determining an impeller rotation speed change rate according to the impeller rotation speed data; If the impeller rotation speed change rate is greater than a rotation speed change rate threshold, the impeller rotation speed is greater than the rated rotation speed, the brake temperature is less than a preset temperature, and the hydraulic pump pressure is greater than a preset pump pressure, triggering emergency shutdown; If the impeller rotation speed change rate is greater than a rotation speed change rate threshold, the impeller rotation speed is less than or equal to the rated rotation speed, the brake temperature is less than a preset temperature, and the hydraulic pump pressure is greater than a preset pump pressure, triggering emergency yaw.

3. The emergency yaw control method for rotational speed runaway of a wind turbine unit according to claim 1, characterized in that, Determining a target yaw angle according to the real-time environmental data, including: Determining a real-time wind speed according to the real-time environmental data; Determining a target yaw angle according to the real-time operation data of the wind turbine, the real-time wind speed, and the impeller radius of the wind turbine.

4. The emergency yaw control method for rotational speed runaway of a wind turbine unit according to claim 3, characterized in that, Determining a target yaw angle according to the real-time environmental data, including: Among them, θ m is the target yaw angle, C p is the wind energy utilization coefficient, f is the inverse function of the wind energy utilization coefficient with respect to the yaw angle, V W is the real-time wind speed, z1 is the real-time impeller speed, z2 is the safe impeller speed, and R is the impeller radius.

5. The emergency yaw control method for rotational speed runaway of a wind turbine unit according to claim 1, characterized in that, Dynamically adjusting the yaw speed according to the current yaw angle and the brake temperature data, including: Determining an angle difference rate according to the current yaw angle and the target yaw angle; Determining a brake temperature change rate according to the brake temperature data; Dynamically adjusting the yaw speed according to the angle difference rate and the brake temperature change rate.

6. The emergency yaw control method for the rotational speed out-of-control of a wind turbine unit according to claim 5, characterized in that Further includes: V P = V S ·(1 - ε)·δ Among them, δ is the angle difference rate, θ t is the current yaw angle, ε is the brake temperature change rate, △P is the brake temperature change, △T is the unit time, V S is the preset emergency yaw speed, V P is the yaw speed after dynamic adjustment.

7. The emergency yaw control method for the rotational speed runaway of a wind turbine unit according to claim 1, characterized in that, Further includes: If neither emergency yaw nor emergency shutdown is triggered, and the brake temperature is less than a preset temperature and the hydraulic pump pressure is greater than a preset pump pressure, the predicted operation state of the wind turbine is normal operation.

8. An emergency yaw control device for rotational speed out-of-control of a wind turbine, characterized in that, The device includes: An acquisition module for acquiring real-time operation data of a wind turbine, where the real-time operation data includes impeller rotation speed data, brake temperature data, and hydraulic pump pressure data; A state prediction module for determining a predicted operation state of the wind turbine according to the operation data of the wind turbine, where the predicted operation state includes: triggering emergency yaw and triggering emergency shutdown; A yaw angle determination module for, if emergency yaw is triggered, acquiring real-time environmental data and determining a target yaw angle according to the real-time environmental data; An output control module for dynamically adjusting the yaw speed according to the current yaw angle and the brake temperature data, and controlling the emergency yaw system of the wind turbine to output a control signal at the dynamically adjusted yaw speed until the target yaw angle is reached.

9. An electronic device, characterized in that, Includes: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute to implement an emergency yaw control method for rotational speed runaway of a wind turbine as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute an emergency yaw control method for rotational speed runaway of a wind turbine unit as described in any one of claims 1 to 7.

Images