Yaw control method and device

Abstract

The embodiment of the invention provides a yaw control method and device.The yaw control method comprises the steps that the wind facing state of a wind wheel of a wind driven generator and a stress signal set transmitted by at least one sensor set are obtained, each sensor group comprises two stress sensors which are correspondingly arranged on the two sides of the inner wall of a cabin of the wind driven generator, and each stress signal group comprises corresponding stress pressure signals and stress tension signals; calculating a stress difference according to the at least one stress pressure signal and the corresponding stress tension signal; and controlling the wind driven generator to execute yaw action according to the start-stop state of the wind driven generator, the wind facing state and the stress difference. According to the embodiment of the invention, high wind yaw and low wind yaw can not be distinguished, and the sensor is arranged on the inner wall of the cabin, so that the influence of wind wheel sweeping is avoided, and the calculation precision is greatly improved.

Description

Technical Field

[0001] The embodiments of the present specification relate to the technical field of wind turbine control, and particularly to a yaw control method and device. Background Art

[0002] The function of the yaw system of a wind turbine generator set is to ensure that the wind wheel always maintains the best windward state during operation, so that the maximum capture of wind energy can be achieved when the blades are in the pitched state, thereby improving the wind energy utilization rate and power generation efficiency of the wind turbine generator set.

[0003] The existing technical solution is to install one or two sets of mechanical or ultrasonic anemometers and wind vanes on the top of the nacelle, and perform yaw wind alignment control through the wind speed signals and wind direction signals detected by the anemometers and wind vanes. Usually, large wind yaw and small wind yaw are set according to the measured wind speed. Different nacelle deviation angles can be set in the large wind yaw and small wind yaw states respectively. The nacelle deviation angle is the included angle between the direction of the nacelle and the wind direction. When this angle exceeds the starting set value, the yaw system can be started for yaw to ensure that the included angle is within the set range, so as to ensure that the nacelle and the impeller are in the windward state. Usually, the nacelle deviation angle in the large wind yaw can be set slightly larger, and the nacelle deviation angle in the small wind yaw can be set slightly smaller. Data calibration and redundancy can be performed between the two sets of anemometers and wind vanes. When one set is damaged, the other set can be manually or automatically switched for use. However, the above technical solution has the following problems: on the one hand, distinguishing large wind yaw and small wind yaw by setting wind speed parameters cannot well fit the problem of wind energy loss caused by yaw deviation. Second, the wind vane and anemometer are usually installed at the tail of the nacelle. Affected by the wind wheel sweep, the obtained wind speed and wind direction lag behind the wind speed data of the oncoming flow of the wind wheel, and it is impossible to accurately capture the wind direction and wind speed information of the oncoming flow, making it difficult to obtain the optimal yaw wind alignment effect. Summary of the Invention

[0004] In view of this, the embodiments of the present specification provide a yaw control method. One or more embodiments of the present specification simultaneously relate to a yaw control device, a wind turbine, a computer-readable storage medium, and a computer program to solve the technical defects existing in the prior art.

[0005] According to the first aspect of the embodiments of the present specification, a yaw control method is provided, including:

[0006] Obtain the wind alignment state of the wind wheel in the wind turbine and a stress signal group transmitted by at least one sensor group, where each sensor group includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each stress signal group includes a corresponding stress pressure signal and a stress tension signal;

[0007] Calculate a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signals;

[0008] Control the wind turbine to perform a yaw action according to the start-stop state, the wind-facing state, and the stress difference of the wind turbine.

[0009] In some embodiments, controlling the wind turbine to perform a yaw action according to the start-stop state, the wind-facing state, and the stress difference of the wind turbine includes:

[0010] When the wind turbine is in a stopped state, detect the wind-facing state;

[0011] When the wind-facing state indicates a windward state, compare the start-up set value with the stress difference;

[0012] When the stress difference is greater than the start-up set value, use the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0013] In some embodiments, controlling the wind turbine to perform a yaw action according to the start-stop state, the wind-facing state, and the stress difference of the wind turbine further includes:

[0014] When the wind-facing state indicates a leeward state, compare the start-up set value with the stress difference;

[0015] When the stress difference is greater than the start-up set value, after deflecting the deflection direction by 180°, use the setting direction of the sensor corresponding to the strain tension side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0016] In some embodiments, calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signals includes:

[0017] Calculate the absolute value of the difference of each group of stress signal groups;

[0018] Calculate the stress difference according to the set weights of each stress signal group and the absolute value of the difference.

[0019] In some embodiments, before calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signals, it further includes:

[0020] Calculate the absolute value of the difference of each stress signal group;

[0021] According to a preset pressure ratio comparison table and the absolute value of the difference, screen out the faulty sensor groups and output information characterizing an alarm;

[0022] Eliminate the data corresponding to the faulty sensor group, and continue to execute the step of calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signals.

[0023] According to the second aspect of the embodiments of the present specification, a yaw control device is provided, including:

[0024] An acquisition module, configured to acquire the wind-facing state of the wind turbine rotor and a stress signal group transmitted by at least one sensor group, wherein each sensor group includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each stress signal group includes a corresponding stress pressure signal and a stress tension signal;

[0025] A calculation module, configured to calculate a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signals;

[0026] A yaw execution module, configured to control the wind turbine to perform a yaw action according to the start-stop state of the wind turbine, the wind-facing state, and the stress difference.

[0027] In some embodiments, the yaw execution module is further configured to:

[0028] When the wind turbine is in a stopped state, detect the wind-facing state;

[0029] When the wind-facing state indicates a windward state, compare the start-up set value with the stress difference;

[0030] When the stress difference is greater than the start-up set value, use the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0031] In some embodiments, the yaw execution module is further configured to:

[0032] When the wind-facing state indicates a leeward state, compare the start-up set value with the stress difference;

[0033] When the stress difference is greater than the start-up set value, after deflecting the deflection direction by 180°, use the setting direction of the sensor corresponding to the strain tension side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0034] In some embodiments, the calculation module is further configured to:

[0035] Calculate the absolute value of the difference of each stress signal group;

[0036] Calculate the stress difference according to the set weights of each stress signal group and the absolute value of the difference.

[0037] In some embodiments, the yaw control device is further provided with a fault sensor elimination module, configured to calculate the absolute value of the difference of each stress signal group; screen out the fault sensor group according to a preset pressure ratio comparison table and the absolute value of the difference, and output information characterizing an alarm; eliminate the data corresponding to the fault sensor group, and re - execute the calculation module.

[0038] According to the third aspect of the embodiments of the present specification, a wind turbine is provided. The wind turbine includes a main body and a yaw control system. The main body is provided with a nacelle cover. The yaw control system includes a wind vane, at least one group of stress sensors, a data collector, an industrial control computer, a wind turbine PLC, and a yaw mechanism. The data collector is respectively connected to the wind vane, the at least one group of stress sensors, and the industrial control computer. The industrial control computer is connected to the wind turbine PLC, and the wind turbine PLC is connected to the yaw mechanism. Among them,

[0039] The wind vane is used to collect air convection information, determine the windward state of the wind turbine rotor, and transmit a windward signal characterizing the windward state to the data collector;

[0040] The at least one group of stress sensors is arranged on both sides of the inner wall of the nacelle cover, and is used to send at least one group of stress signals detected in real time to the data collector;

[0041] The data collector is used to receive the windward signal and the stress signal, and transmit them to the industrial control computer;

[0042] The industrial control computer is used to calculate the stress difference according to the at least one group of stress signals, and send a control signal to the wind turbine PLC according to the windward state and the stress difference to perform a yaw action;

[0043] The wind turbine PLC is used to control the yaw mechanism to perform a yaw action according to the control signal transmitted by the industrial control computer.

[0044] According to the fourth aspect of the embodiments of the present specification, a computer - readable storage medium is provided, which stores computer - executable instructions. When the instructions are executed by a processor, the steps of the above - mentioned yaw control method are implemented.

[0045] According to the fifth aspect of the embodiments of the present specification, a computer program is provided. When the computer program is executed on a computer, the computer is made to execute the steps of the above - mentioned yaw control method.

[0046] In at least one embodiment of the present specification, the yaw state of the wind turbine rotor and a stress signal group transmitted by at least one sensor group are obtained, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal; a stress difference is calculated according to at least one of the stress pressure signals and the corresponding stress tension signal; according to the start-stop state of the wind turbine, the yaw state and the stress difference, the wind turbine is controlled to perform a yaw action, and it is possible not to distinguish between large-wind yaw and small-wind yaw. Moreover, since the sensors are arranged on the inner wall of the nacelle, the influence of the rotor sweep is avoided, and the calculation accuracy is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flowchart of some embodiments of a yaw control method provided in some embodiments of the present specification;

[0048] Figure 2 is a schematic diagram of the case where the oncoming wind is perpendicular to the wind turbine plane provided in some embodiments of the present specification;

[0049] Figure 3 is a schematic diagram of the case where the oncoming wind is skewed to one side with respect to the wind turbine plane provided in some embodiments of the present specification;

[0050] Figure 4 is a schematic diagram of the case where the oncoming wind is skewed to the other side with respect to the wind turbine plane provided in some embodiments of the present specification;

[0051] Figure 5 is a flowchart of other embodiments of a yaw control method provided in some embodiments of the present specification;

[0052] Figure 6 is a schematic diagram of a simple structure of a yaw control device provided in some embodiments of the present specification;

[0053] Figure 7 is a block diagram of the structure of a computing device provided in some embodiments of the present specification. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] In the following description, many specific details are set forth in order to provide a thorough understanding of the present specification. However, the present specification can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present specification. Therefore, the present specification is not limited by the specific embodiments disclosed below.

[0055] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and encompasses any and all possible combinations of one or more of the associated listed items. The modifiers "a" and "multiple" mentioned in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless clearly specified otherwise in the context, it should be understood as "one or more".

[0056] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0057] First, the noun terms related to one or more embodiments of this specification are explained.

[0058] PLC: Programmable Logic Controller, programmable logic controller.

[0059] See Figure 1 , Figure 1 shows a flowchart of a yaw control method provided according to some embodiments of this specification, specifically including the following steps.

[0060] Step 101: Obtain the wind-facing state of the wind turbine rotor and the stress signal group transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal.

[0061] In some embodiments, the execution subject of the yaw control method (such as a preset computing device) can be connected to the target device through a wired connection or a wireless connection. Then, it acquires the wind-facing state of the wind turbine (or wind turbine generator set, hereinafter the wind turbine can refer to both the wind turbine and the wind turbine generator set) and the stress signal group transmitted by at least one sensor group. Each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each stress signal group includes a corresponding stress pressure signal and a stress tensile signal. The wind turbine is the core component of the wind turbine, consisting of blades, a hub, a pitch system, etc. Its core function is to convert wind energy into mechanical energy to provide power for subsequent power generation. When the plane of the wind turbine is perpendicular to the wind direction, the wind energy can be utilized with the highest efficiency. The function of the yaw system is to drive the nacelle to rotate when the wind direction changes, so that the plane of the impeller is perpendicular to the wind direction to ensure more efficient utilization of the wind energy. Please refer to Figures 2 to 7 which shows the setting situation when there is one sensor group. A group of sensors (sensor 1 and sensor 2) are arranged on both sides of the inner wall of the nacelle. Figure 2 shows the situation when the oncoming wind is perpendicular to the plane of the wind turbine, Figure 3 shows the situation when the oncoming wind is skewed to one side of the plane of the wind turbine, Figure 4 shows the situation when the oncoming wind is skewed to the other side of the plane of the wind turbine. In addition, as shown by the deformation line on the left side in Figure 2 (representing the bending state of the nacelle wall), when the oncoming wind is not perpendicular to the wind turbine, the stress received by the sensor on one side of the nacelle is mainly pressure, and at this time, the stress received by the corresponding sensor on the other side is mainly tensile force. When the relationship between the oncoming wind and the nacelle is as shown in Figure 3 , the nacelle corresponding to sensor 1 is the windward side, the stress received by sensor 1 is mainly tensile force, the nacelle corresponding to sensor 2 is the non-windward side, and the stress received by sensor 2 is mainly pressure. Conversely, when the situation is as shown in Figure 4 , the stress received by sensor 1 is mainly pressure, and the stress received by sensor 2 is mainly tensile force. The wind-facing state can refer to the corresponding relationship between the oncoming wind and the front of the wind turbine. Continuing to refer to Figure 2 , when the front of the wind turbine is in the Figure 2 upper side direction, the wind-facing state is the windward state. Similarly, referring to Figure 3 and Figure 4 , when the front of the wind turbine is in the Figure 2 upper side direction, the wind-facing state is the windward state. Conversely, when the front of the wind turbine is in the Figure 2 lower side direction, the wind-facing state is the leeward state. Similarly, referring to Figure 3 and Figure 4 , when the front of the wind turbine is in the Figure 2When in the upper middle side direction, the wind-facing state is the leeward state. It is obvious that when the oncoming wind forms a certain angle with the front of the wind turbine, the windward side of the nacelle undergoes a pressure deformation due to the wind force, and generates a pressure on the sensors on the inner wall of the nacelle on that side. The non-windward side of the nacelle undergoes a relatively small deformation due to the overall force, and generates a tensile effect on the sensors on the inner wall of the non-windward side of the nacelle. Therefore, the larger the offset angle of the angle between the oncoming wind and the wind turbine from the perpendicular line of the wind turbine, the greater the deformation generated on the windward side, and the greater the stress difference between the windward side and the non-windward side.

[0062] It should be noted that the above wireless connection methods can include, but are not limited to, 3G / 4G / 5G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra wideband) connections, and other wireless connection methods known now or developed in the future.

[0063] Step 102: Calculate the stress difference according to at least one of the stress-pressure signals and the corresponding stress-tensile signals. The stress difference can refer to the difference calculated based on the stress signals of the pressure / tension of each group of stress sensors. Generally, this difference can be an absolute value, or a signed value set according to the direction.

[0064] It should be noted that when the stress difference of each group of stress sensors is within the set range, it indicates that the offset angle between the oncoming wind and the perpendicular line of the front of the wind turbine is small, the oncoming wind and the front of the wind turbine are in an approximately perpendicular state, or the angle between the oncoming wind and the front of the wind turbine is within the allowable range (in some cases, this deflection angle can be allowed to be within 30 degrees). At this time, yawing does not need to be performed. On the contrary, when the stress difference of each group of stress sensors is outside the set range, yawing needs to be performed.

[0065] In addition, there are no special requirements for the specific location of the stress sensor group on the nacelle cover. However, different installation locations will result in different measured stress values, and thus different start set values and stop set values. Since starting yawing consumes energy, in order to save energy, generally the start set value of yawing is greater than the stop set value. A better installation location can be set on the side of the front part of the nacelle close to the hub, while avoiding the connection between the nacelle cover and the nacelle cover plate as much as possible, and choosing a location where the thickness of the nacelle cover is as uniform as possible. The start set value and stop set value of each group of stress sensors can be obtained according to the computational fluid dynamics simulation results of a specific model, or can be adjusted based on the statistical data of wind speed signals, wind direction signals and stress values in combination with experience. As an example, when only one group of stress sensors is set and the stress sensors are set on the front side of the nacelle, the setting of the initial yaw start value can refer to the stress difference at a wind speed of 3 m / s and a wind direction deviation of 30 degrees, and the setting of the initial stop set value can refer to the stress difference at a wind speed of 2 m / s and a wind direction deviation of 5 degrees. The start set value can also be obtained through actual field tests of the prototype or by means of computational mechanics simulation.

[0066] In some alternative implementation manners, according to at least one of the stress pressure signals and the corresponding stress tension signals, calculating a stress difference includes: calculating the absolute value of the difference of each group of stress signal groups; and calculating the stress difference according to the set weight of each stress signal group and the absolute value of the difference. As can be seen from the foregoing, since the stress conditions received by sensors set at different positions are different in the same situation, when multiple groups of sensor groups are installed, the start set value and stop set value of each group of sensors are also different. The weight coefficients of each sensor group can be calculated in advance, and based on this, each time the total stress difference is calculated later, the calculation is performed based on the weight coefficients. Multiple sensor combinations can further increase the detection accuracy and can also reduce the situation where a large deviation occurs in the overall data due to a failure of one group of sensors. As an example, if the stress differences of sensor groups A, B, and C are 15, 10, and 8 respectively, and their corresponding weight coefficients are 0.6, 0.25, and 0.15, then the calculated stress difference is 15 * 0.8 + 10 * 0.25 + 8 * 0.15 = 15.7.

[0067] To further reduce the calculation deviation caused by sensor failures, in some alternative implementations, before calculating the stress difference based on at least one of the stress-pressure signals and the corresponding stress-tension signals, it further includes: calculating the absolute value of the difference of each stress signal group; screening out the faulty sensor groups according to a preset pressure ratio comparison table and the absolute value of the difference, and outputting information indicating an alarm; removing the data corresponding to the faulty sensor groups, and continuing to execute the step of calculating the stress difference based on at least one of the stress-pressure signals and the corresponding stress-tension signals. The pressure ratio comparison table may refer to a comparison table of the ratios of different pressures of each set of sensors at different angles and wind forces. It should be noted that the ratios are based on one set of sensors as a comparison basis. The set of sensors used as the comparison basis often has higher safety protection indicators than other sets of sensors, and this set of sensors can be called the reference sensor group. Other sensors can be called ordinary sensors.

[0068] In some alternative implementations, screening out the faulty sensor groups according to a preset pressure ratio comparison table and the average value includes: obtaining the wind speed and wind direction angle of the oncoming wind, and the reference average value of the reference sensor group; calculating the pressure comparison value of each ordinary sensor group based on the average value of each ordinary sensor group and the reference average value; screening out the faulty sensor groups according to the wind speed, wind direction angle, the pressure comparison value of each ordinary sensor group, and the pressure ratio comparison table.

[0069] Optionally, screening out the faulty sensor groups according to the wind speed, wind direction angle, the pressure comparison value of each ordinary sensor group, and the pressure ratio comparison table includes:

[0070] When the pressure comparison value of any ordinary sensor group does not match the corresponding ratio range in the pressure ratio comparison table, the sensor group that does not match the ratio range is determined as a faulty sensor group.

[0071] Of course, the reference sensor group may also fail. Therefore, in some alternative implementations, screening out the faulty sensor groups according to a preset pressure ratio comparison table and the average value further includes: when the pressure comparison values of more than the failure ratio threshold of ordinary sensor groups do not match the corresponding ratio ranges in the pressure ratio comparison table, determining the reference sensor group as a faulty sensor group. The failure ratio threshold may refer to the ratio of the number of sensor groups that do not match the corresponding ratio range in the pressure wallpaper comparison table to the total number of sensor groups. As an example, this ratio threshold can be greater than 0.8.

[0072] As a detailed example, there are three sets of stress sensor groups D, E, and F. The angle between the oncoming wind and the wind turbine plane is within an angle range, and the wind speed of the oncoming wind corresponds to a wind speed range. Among them, sensor group D is the reference sensor group, and the corresponding ratio ranges of sensor groups D, E, and F are shown in the following table:

[0073]

[0074] According to the above embodiments for processing, the probability that the yaw system cannot operate normally due to a failure of a single sensor group can be greatly reduced, and the probability of troubleshooting is increased to ensure the long-term stable operation of the system.

[0075] Step 103: Control the wind turbine to perform a yaw action according to the start-stop state, the wind alignment state, and the stress difference of the wind turbine.

[0076] In some optional implementation manners, controlling the wind turbine to perform a yaw action according to the start-stop state, the wind alignment state, and the stress difference of the wind turbine includes: when the wind turbine is in a stopped state, detecting the wind alignment state; when the wind alignment state indicates a windward state, comparing the start set value with the stress difference; when the stress difference is greater than the start set value, using the setting direction of the sensor on the strain pressure side as the deflection direction, and controlling the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value. The start set value and the stop set value have been described in detail in step 101 and will not be elaborated here. Controlling the yaw system according to the preset start set value and stop set value can save the system energy loss caused by excessive yaw execution and improve the conversion efficiency of the wind energy generator.

[0077] In other optional implementation manners, when the wind alignment state indicates a leeward state, comparing the start set value with the stress difference; when the stress difference is greater than the start set value, after deflecting the deflection direction by 180°, using the setting direction of the sensor on the strain tension side as the deflection direction, and controlling the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value. In the leeward state, the oncoming wind is in the opposite direction to the front of the wind turbine rotor. At this time, after deflecting by 180°, deflecting the wind turbine can reduce the calculation accuracy and improve the operation efficiency.

[0078] The beneficial effects of one of the embodiments in this specification at least include: obtaining the wind-facing state of the wind turbine rotor and the stress signal groups transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal; calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal; controlling the wind turbine to perform a yaw action according to the start-stop state, the wind-facing state, and the stress difference of the wind turbine, which can distinguish between large-wind yaw and small-wind yaw, and since the sensors are arranged on the inner wall of the nacelle, the influence of the rotor sweep is avoided, greatly improving the calculation accuracy.

[0079] The following combines the attached Figure 5 , and further describes the yaw control method. Among them, Figure 2 shows the processing procedure flowchart of a yaw control method provided by some embodiments of this specification, which specifically includes the following steps.

[0080] Step 501: Obtain the wind-facing state of the wind turbine rotor and the stress signal groups transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal;

[0081] Step 502: Calculate the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal;

[0082] Step 503: When the wind turbine is in the stopped state, detect the wind-facing state;

[0083] Step 504: When the wind-facing state indicates the windward state, compare the start-up set value with the stress difference;

[0084] Step 505: When the stress difference is greater than the start-up set value, use the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0085] Step 506: When the wind-facing state indicates the leeward state, compare the start-up set value with the stress difference;

[0086] Step 507: When the stress difference is greater than the start-up set value, after deflecting the deflection direction by 180°, use the setting direction of the sensor corresponding to the strain tension side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than the stop set value.

[0087] In some embodiments, the specific implementation of the steps corresponding to those in embodiments corresponding to steps 501 - 507 and the technical effects brought thereby may refer to Figure 1 the steps in Figure 1 , and will not be elaborated herein.

[0088] Corresponding to the above - mentioned method embodiments, this specification also provides an embodiment of a yaw control device, Figure 6 showing a schematic structural diagram of a yaw control device provided by some embodiments of this specification. As Figure 6 shown, the device includes:

[0089] An acquisition module 601, configured to acquire the wind - facing state of the wind turbine rotor and a stress signal group transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each stress signal group includes a corresponding stress pressure signal and a stress tension signal;

[0090] A calculation module 602, configured to calculate a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal;

[0091] A yaw execution module 603, configured to control the wind turbine to perform a yaw action according to the start - stop state of the wind turbine, the wind - facing state, and the stress difference.

[0092] In some optional implementation manners, the yaw execution module is further configured to:

[0093] When the wind turbine is in a stopped state, detect the wind - facing state;

[0094] When the wind - facing state indicates a windward state, compare a start - up set value with the stress difference;

[0095] When the stress difference is greater than the start - up set value, use the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than a stop set value.

[0096] In some optional implementation manners, the yaw execution module is further configured to:

[0097] When the wind - facing state indicates a leeward state, compare a start - up set value with the stress difference;

[0098] When the stress difference is greater than the start - up set value, after deflecting the deflection direction by 180°, use the setting direction of the sensor corresponding to the strain tension side as the deflection direction, and control the wind turbine to perform a yaw action until the stress difference is not greater than a stop set value.

[0099] In some alternative implementation manners, the calculation module is further configured to:

[0100] Calculate the absolute value of the difference of each group of stress signal groups;

[0101] Calculate the stress difference according to the set weights of each stress signal group and the absolute value of the difference.

[0102] In some alternative implementation manners, the yaw control device is further provided with a faulty sensor rejection module, which is configured to calculate the absolute value of the difference of each group of stress signal groups; screen out the faulty sensor groups according to a preset pressure ratio comparison table and the absolute value of the difference, and output information indicating an alarm; reject the data corresponding to the faulty sensor groups, and re-execute the calculation module.

[0103] In some alternative implementation manners, screening out the faulty sensor groups according to a preset pressure ratio comparison table and the average value includes: obtaining the wind speed and wind direction angle of the oncoming wind, and the reference average value of the reference sensor group; calculating the pressure comparison value of each ordinary sensor group according to the average value of each ordinary sensor group and the reference average value; screening out the faulty sensor groups according to the wind speed, wind direction angle, the pressure comparison value of each ordinary sensor group, and the pressure ratio comparison table.

[0104] In some alternative implementation manners, screening out the faulty sensor groups according to the wind speed, wind direction angle, the pressure comparison value of each ordinary sensor group, and the pressure ratio comparison table includes:

[0105] When the pressure comparison value of any ordinary sensor group does not match the corresponding ratio range in the pressure ratio comparison table, the sensor group that does not match the ratio range is determined as the faulty sensor group.

[0106] The above is a schematic solution of a yaw control device according to this embodiment. It should be noted that the technical solution of this yaw control device and the technical solution of the above yaw control method belong to the same concept. For the details not described in the technical solution of the yaw control device, reference can be made to the description of the technical solution of the above yaw control method.

[0107] In addition, this specification also provides a wind turbine, which includes a main body and a yaw control system. The main body is provided with a nacelle cover. The yaw control system includes a wind vane, at least one group of stress sensors, a data collector, an industrial computer, a fan PLC, and a yaw mechanism. The data collector is respectively connected to the wind vane, the at least one group of stress sensors, and the industrial computer. The industrial computer is connected to the fan PLC, and the fan PLC is connected to the yaw mechanism. Among them,

[0108] The wind vane is used to collect air convection information, determine the wind-facing state of the wind turbine, and transmit a wind-facing signal characterizing the wind-facing state to the data collector;

[0109] The at least one set of stress sensors is arranged on both sides of the inner wall of the nacelle cover and is used to send at least one set of stress signals detected in real time to the data collector;

[0110] The data collector is used to receive the wind-facing signal and the stress signal and transmit them to the industrial control computer;

[0111] The industrial control computer is used to calculate the stress difference according to the at least one set of stress signals, and send a control signal to the fan PLC according to the wind-facing state and the stress difference to perform a yawing action;

[0112] The fan PLC is used to control the yaw mechanism to perform a yawing action according to the control signal transmitted by the industrial control computer.

[0113] In a specific implementation process, when starting yawing, the yaw control system outputs a high-level signal, the yaw brake is opened, the yaw motor drives the yaw reducer to rotate to achieve the yawing action, and when the absolute value of the stress difference is less than the start setting value, the yawing stops. When stopping yawing, the yaw control system outputs a low-level signal, the yaw motor and the yaw reducer stop, and the yaw brake brakes to achieve stopping yawing.

[0114] The above is a schematic solution of a wind turbine in this embodiment. It should be noted that the technical solution of this wind turbine and the technical solution of the above yaw control method belong to the same concept. For the details not described in the technical solution of the wind turbine, reference can be made to the description of the technical solution of the above yaw control method.

[0115] Figure 7 The structural block diagram of a computing device 700 provided according to some embodiments of this specification is shown. The components of the computing device 700 include but are not limited to a memory 701 and a processor 702. The processor 702 is connected to the memory 701 through a bus 703, and a database 705 is used to store data.

[0116] The computing device 700 also includes an access device 704 that enables the computing device 700 to communicate via one or more networks 706. Examples of such networks include the Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 704 may include one or more of any type of wired or wireless network interface (e.g., network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, Worldwide Interoperability for Microwave Access (Wi-MAX) interface, Ethernet interface, Universal Serial Bus (USB) interface, cellular network interface, Bluetooth interface, Near Field Communication (NFC).

[0117] In one embodiment of the present specification, the above components of the computing device 700, as well as Figure 4 other components not shown, may also be connected to each other, for example, via a bus. It should be understood that Figure 4 the block diagram of the computing device shown is merely for illustrative purposes and is not a limitation on the scope of the present specification. Those skilled in the art can add or replace other components as needed.

[0118] The computing device 700 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 700 can also be a mobile or stationary server.

[0119] Among them, the processor 702 is used to execute the following computer-executable instructions, and when the computer-executable instructions are executed by the processor, the steps of the above yaw control method are implemented. The above is a schematic solution of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the above yaw control method belong to the same concept. For the details not described in detail in the technical solution of the computing device, reference can be made to the description of the technical solution of the above yaw control method.

[0120] An embodiment of this specification also provides a computer-readable storage medium, which stores computer-executable instructions, and when the computer-executable instructions are executed by the processor, the steps of the above yaw control method are implemented.

[0121] The above is a schematic solution of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the above yaw control method belong to the same concept. For the details not described in detail in the technical solution of the storage medium, reference can be made to the description of the technical solution of the above yaw control method.

[0122] An embodiment of this specification also provides a computer program, wherein when the computer program is executed on a computer, the computer is made to execute the steps of the above yaw control method.

[0123] The above is a schematic solution of a computer program according to this embodiment. It should be noted that the technical solution of this computer program and the technical solution of the above yaw control method belong to the same concept. For the details not described in detail in the technical solution of the computer program, reference can be made to the description of the technical solution of the above yaw control method.

[0124] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0125] The computer instructions include computer program code, which may be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0126] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of this specification are not limited by the described action sequence, because according to the embodiments of this specification, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential for the embodiments of this specification.

[0127] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0128] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not elaborate on all the details, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments of this specification, so that those skilled in the art can understand and utilize this specification well. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A yaw control method, characterized in that, The method includes: Obtaining the wind alignment state of the wind turbine rotor and a stress signal group transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal; Calculating a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal; Controlling the wind turbine to perform a yaw action according to the start-stop state of the wind turbine, the wind alignment state, and the stress difference.

2. The method according to claim 1, wherein Controlling the wind turbine to perform a yaw action according to the start-stop state of the wind turbine, the wind alignment state, and the stress difference includes: When the wind turbine is in a stopped state, detecting the wind alignment state; When the wind alignment state indicates a windward state, comparing a start setting value with the stress difference; When the stress difference is greater than the start setting value, using the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and controlling the wind turbine to perform a yaw action until the stress difference is not greater than the stop setting value.

3. The method according to claim 2, wherein It further includes: When the wind alignment state indicates a leeward state, comparing a start setting value with the stress difference; When the stress difference is greater than the start setting value, after deflecting the deflection direction by 180°, using the setting direction of the sensor corresponding to the strain tension side as the deflection direction, and controlling the wind turbine to perform a yaw action until the stress difference is not greater than the stop setting value.

4. The method according to claim 1, wherein Calculating a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal includes: Calculating the absolute value of the difference of each stress signal group; Calculating the stress difference according to the set weight of each stress signal group and the absolute value of the difference.

5. The method according to claim 1, wherein Before calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal, it further includes: Calculating the absolute value of the difference of each stress signal group; Screening out the faulty sensor group according to a preset pressure ratio comparison table and the absolute value of the difference, and outputting information characterizing an alarm; Deleting the data corresponding to the faulty sensor group, and continuing to execute the step of calculating the stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal.

6. A yaw control device, characterized in that, It includes: An acquisition module, configured to acquire the wind alignment state of the wind turbine rotor and a stress signal group transmitted by at least one sensor group, where each of the sensor groups includes two stress sensors correspondingly arranged on both sides of the inner wall of the nacelle of the wind turbine, and each of the stress signal groups includes a corresponding stress pressure signal and a stress tension signal; A calculation module, configured to calculate a stress difference according to at least one of the stress pressure signals and the corresponding stress tension signal; A yaw execution module, configured to control the wind turbine to perform a yaw action according to the start-stop state of the wind turbine, the wind alignment state, and the stress difference.

7. The device according to claim 6, characterized in that, When in a windward state, the yaw execution module is further configured to: When the stress difference is greater than the start setting value, using the setting direction of the sensor corresponding to the strain pressure side as the deflection direction, and controlling the wind turbine to perform a yaw action until the stress difference is not greater than the stop setting value.

8. A wind turbine, characterized in that, The wind turbine includes a main body and a yaw control system. The main body is provided with a nacelle cover. The yaw control system includes a wind vane, at least one set of stress sensors, a data collector, an industrial control computer, a wind turbine PLC, and a yaw mechanism. The data collector is respectively connected to the wind vane, the at least one set of stress sensors, and the industrial control computer. The industrial control computer is connected to the wind turbine PLC. The wind turbine PLC is connected to the yaw mechanism. Among them, the wind vane is used to collect air convection information, determine the wind-facing state of the wind turbine rotor, and transmit a wind-facing signal representing the wind-facing state to the data collector; the at least one set of stress sensors are arranged on both sides of the inner wall of the nacelle cover and are used to send at least one set of stress signals detected in real time to the data collector; the data collector is used to receive the wind-facing signal and the stress signal and transmit them to the industrial control computer; the industrial control computer is used to calculate the stress difference according to the at least one set of stress signals, and send a control signal to the wind turbine PLC according to the wind-facing state and the stress difference to perform a yaw action; the wind turbine PLC is used to control the yaw mechanism to perform a yaw action according to the control signal transmitted by the industrial control computer.

9. A computer-readable storage medium storing computer-executable instructions, characterized in that, When the computer-executable instructions are executed by a processor, the steps of the yaw control method according to any one of claims 1 to 5 are implemented.

10. A computer program product, the computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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