Wind turbine yaw system and method of controlling the same

Abstract

The application provides a wind power yaw system and a control method thereof. The wind power yaw system comprises a yaw controller, yaw drives and yaw motors. The number of the yaw drives and the yaw motors is multiple, and the yaw drives and the yaw motors are connected one by one. The yaw controller is connected with each yaw drive, controls each yaw drive to drive a yaw motor to work, acquires the torque and the speed of each yaw motor when working, compensates the torque and the speed of each yaw motor when working, and makes each yaw motor in a balanced state. The wind power yaw system and the control method thereof reduce the mechanical wear and failure rate of the unit, and improve the stability and reliability of the unit.

Description

Technical Field

[0001] This invention relates to the field of wind power generation technology, specifically to a wind power yaw system and its control method. Background Technology

[0002] In wind power systems, the yaw system is a crucial component ensuring the efficient and stable operation of wind turbines. Its main function is to adjust the direction of the rotor according to changes in wind direction, ensuring it always aligns with the wind to maximize wind energy capture and improve power generation efficiency. Early yaw motor drives used direct-start control, but due to the high current and strong impact of direct-start motors, later solutions proposed using soft starters as yaw motor controllers. However, soft starters also have drawbacks such as the inability to adjust speed and the inability to stably control motor torque. These control methods often struggle to achieve precise load balancing control of the yaw motors under complex and changing wind conditions, leading to inconsistent yaw motor output and uneven load. Some yaw motors are severely overloaded, while others are underloaded, increasing mechanical wear and failure rates and affecting the stability and reliability of the unit. Summary of the Invention

[0003] The purpose of this invention is to provide a wind power yaw system and its control method, in which each yaw motor is in a balanced state during operation and has good stability.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] This invention provides a wind power yaw system, which includes a yaw controller, a yaw driver, and a yaw motor. Multiple yaw drivers and multiple yaw motors are connected in a one-to-one correspondence. The yaw controller is connected to each of the yaw drivers and controls each yaw driver to drive one of the yaw motors. The yaw controller acquires the torque and speed of each yaw motor during operation and compensates for the torque and speed of each yaw motor to achieve a balanced state among the yaw motors.

[0006] In one embodiment, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and each yaw driver is provided with a torque detection unit and a speed detection unit. Each torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation and feed it back to the yaw controller. Each speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation and feed it back to the yaw controller. Alternatively, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and the yaw controller is provided with a torque detection unit and a speed detection unit. The torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation, and the speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation.

[0007] In one embodiment, the yaw controller compensates for the torque of each yaw motor during operation in the following manner:

[0008] If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size.

[0009] δ L = k L *ΔT n / N L ;

[0010] k L = 2, when ΔT n ≥T0;

[0011] k L = ΔT n / T0, when 0.05 * T0 < ΔT n <T0;

[0012] k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0;

[0013] k L = ΔT n / T0, when -T0 < ΔT n <-0.05* T0;

[0014] k L = -2, when ΔT n ≤- T0;

[0015] T0 = ​​(T1 + T2 + T3 + ... + T) n ) / n;

[0016] ΔT n = T n - T0;

[0017] N L = C2 / C1;

[0018] δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n Different values ​​are taken depending on the relationship between ΔT and T0, used to adjust the magnitude of the torque compensation step size. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Let n be the torque value of each yaw motor, n be the number of yaw motors, NL be a constant greater than 1, C1 be the program execution cycle of the yaw controller, and C2 be the communication cycle between the yaw controller and the yaw driver.

[0019] In one embodiment, the yaw controller compensates for the speed of each yaw motor during operation in the following manner:

[0020] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0021] δ S = (k) S *ΔV n ) / N S ;

[0022] k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0023] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0024] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0025] ΔV n = V n - V0;

[0026] N S = C2 / C1;

[0027] δ S For the speed compensation step size, kS It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0028] The present invention also provides a control method for a wind power yaw system, wherein the wind power yaw system is as described above, and the control method includes: the yaw controller acquiring the torque and speed of each yaw motor during operation, compensating for the torque and speed of each yaw motor during operation, so that the yaw motors are in a balanced state.

[0029] In one embodiment, the yaw controller obtains the torque and speed of each yaw motor during operation from the data of each yaw driver.

[0030] In one embodiment, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and each yaw driver is provided with a torque detection unit and a speed detection unit. Each torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation and feed it back to the yaw controller. Each speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation and feed it back to the yaw controller. Alternatively, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and the yaw controller is provided with a torque detection unit and a speed detection unit. The torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation, and the speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation.

[0031] In one embodiment, the yaw controller compensates for the torque of each yaw motor during operation in the following manner:

[0032] If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size.

[0033] δ L = k L *ΔT n / N L ;

[0034] k L = 2, when ΔT n ≥T0;

[0035] k L = ΔT n / T0, when 0.05 * T0 < ΔT n <T0;

[0036] k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0;

[0037] k L = ΔT n / T0, when -T0 < ΔT n <-0.05* T0;

[0038] k L = -2, when ΔT n ≤- T0;

[0039] T0 = ​​(T1 + T2 + T3 + ... + T) n ) / n;

[0040] ΔT n = T n - T0;

[0041] N L = C2 / C1;

[0042] δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n Different values ​​are taken depending on the relationship between ΔT and T0, used to adjust the magnitude of the torque compensation step size. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Let n be the torque value of each yaw motor, n be the number of yaw motors, NL be a constant greater than 1, C1 be the program execution cycle of the yaw controller, and C2 be the communication cycle between the yaw controller and the yaw driver.

[0043] In one embodiment, the yaw controller compensates for the speed of each yaw motor during operation in the following manner:

[0044] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0045] δ S= (k) S *ΔV n ) / N S ;

[0046] k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0047] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0048] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0049] ΔV n = V n - V0;

[0050] N S = C2 / C1;

[0051] δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0052] In one implementation, when -0.05 * T0 ≤ ΔT n When the speed is ≤0.05*T0, the yaw controller compensates for the speed of each corresponding yaw motor during operation in the following manner:

[0053] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0054] δ S = (k) S *ΔV n ) / N S ;

[0055] kS = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0056] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0057] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0058] ΔV n = V n - V0;

[0059] N S = C2 / C1;

[0060] δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0061] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0062] The wind power yaw system and its control method of the present invention, when the yaw controller controls each yaw driver to drive each yaw motor to work, acquires the torque and speed of each yaw motor in real time, compensates for the torque and speed of each yaw motor, so that the yaw motors are in a balanced state, reducing the mechanical wear and failure rate of the unit, and improving the stability and reliability of the unit. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of a wind power yaw system provided for the first embodiment of the present invention. Detailed Implementation

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of the present invention. Moreover, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0066] Please see Figure 1 As shown, the first embodiment of the present invention provides a wind power yaw system, which includes a yaw controller, a yaw driver, and a yaw motor. There are multiple yaw drivers and yaw motors (e.g., yaw driver 1, yaw driver 2, ..., yaw driver n, and yaw motor 1, yaw motor 2, ..., yaw motor n, etc.), and they are connected in a one-to-one correspondence. The yaw controller is connected to each of the yaw drivers and controls each yaw driver to drive one of the yaw motors to operate. The yaw controller acquires the torque and speed of each yaw motor during operation and compensates for the torque and speed of each yaw motor to achieve a balanced state among the yaw motors.

[0067] Each of the yaw motors is connected to a yaw gear to drive the yaw gear to rotate, which in turn drives the blades to rotate and generate wind power. In this wind power yaw system, the yaw controller acquires the torque and speed of each yaw motor in real time during operation, compensates for the torque and speed of each yaw motor, and maintains a balanced state among the yaw motors. This reduces mechanical wear and failure rate, and improves the stability and reliability of the unit.

[0068] The yaw controller obtains the torque and speed of each yaw motor during operation from the data of each yaw driver in one embodiment. Since each yaw driver drives each yaw motor, it inherently stores the torque and speed required to drive the yaw motors. This method obtains the torque and speed of each yaw motor without adding extra equipment, thus reducing costs. However, sometimes the actual torque and speed of each yaw motor during operation may differ slightly from the torque and speed required by the yaw drivers. Therefore, the torque and speed obtained in this way may not be entirely accurate, and further compensation may not achieve a perfectly balanced result.

[0069] Therefore, in another embodiment, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and each yaw driver is provided with a torque detection unit and a speed detection unit. Each torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor when it is working and feed it back to the yaw controller. Each speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor when it is working and feed it back to the yaw controller. Alternatively, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and the yaw controller is provided with a torque detection unit and a speed detection unit. The torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor when it is working, and the speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor when it is working.

[0070] In this approach, an additional torque feedback unit and speed feedback unit are added to the yaw motor, thereby enabling the yaw controller to accurately obtain the torque and speed of the yaw motor during operation. Whether the torque and speed detection units are set on the yaw driver to obtain the torque and speed of the yaw motor during operation and then fed back to the yaw controller, or whether the torque and speed detection units are set on the yaw controller to directly obtain the torque and speed of the yaw motor during operation, those skilled in the art can make different adaptation choices according to different actual situations.

[0071] The yaw controller compensates for the torque of the yaw motors during operation. In one embodiment, the yaw controller compensates for the torque of each yaw motor during operation in the following manner:

[0072] If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size.

[0073] δ L = k L *ΔTn / N L ;

[0074] k L = 2, when ΔT n ≥T0;

[0075] k L = ΔT n / T0, when 0.05 * T0 < ΔT n <T0;

[0076] k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0;

[0077] k L = ΔT n / T0, when -T0 < ΔT n <-0.05* T0;

[0078] k L = -2, when ΔT n ≤- T0;

[0079] T0 = ​​(T1 + T2 + T3 + ... + T) n ) / n;

[0080] ΔT n = T n - T0;

[0081] N L = C2 / C1;

[0082] δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n Different values ​​are taken depending on the relationship between ΔT and T0, used to adjust the magnitude of the torque compensation step size. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Let n be the torque value of each yaw motor, n be the number of yaw motors, NL be a constant greater than 1, C1 be the program execution cycle of the yaw controller, and C2 be the communication cycle between the yaw controller and the yaw driver.

[0083] Where, N L The constant value is greater than 1 because the torque to be compensated (i.e., ΔT) is... n If all the compensation is provided to the yaw motor at once, it can easily cause system instability. Therefore, ΔT is used instead. nDividing it into multiple step values (divided by a constant greater than 1) and providing them to the yaw motor for compensation can improve the stability of the system. In one embodiment, N L can be a fixed value such as 2, 3, 4, 5, 6, 7, 8, 9, 10, etc., and so on without being limited to the aforementioned values. The inventors of the present invention further studied and found that in different systems, because the working parameters of each yaw controller, yaw driver, and yaw motor often vary, so N L often has different values and requires technicians to debug multiple times to determine; and at the same time, it is noted that the calculation of torque compensation is located in the yaw controller and is performed according to the program execution cycle C1 of the yaw controller. After the calculation result (that is, the value to be compensated) is obtained, it needs to pass through the communication cycle C2 between the yaw controller and the yaw driver to be given to the yaw driver. C2 is generally greater than C1. Therefore, in one embodiment, N L is set to = C2 / C1, which can adapt to various different systems (different models) and improve the efficiency of product design. Of course, on the basis of designing according to N L = C2 / C1, making some further adjustments can further improve the stability of the system.

[0084] And k L is a variable and takes different values according to different relationships between ΔT n and T0 to adjust the size of the torque compensation step value, which can further cooperate to improve the stability of the system. For example: when ΔT n ≥T0, k L = 2; when ΔT n ≤ -T0, k L = -2; when 0.05 * T0 < ΔT n < T0 or -T0 < ΔT n < -0.05 * T0, k L = ΔT n / T0. In this way, when ΔT n is large, a large amount of compensation can be performed, and when ΔT n is small, a small amount of compensation can be performed, which can balance the timeliness and stability of compensation. Otherwise, if k L is a fixed value, it may occur that when ΔT n is large, a small amount of compensation is also performed, so the timeliness of compensation is relatively low, or it may occur that when ΔT n is small, a large amount of compensation is also performed, which will cause instability of the system. Moreover, when -0.05 * T0 ≤ ΔT n ≤ 0.05 * T0, k L = 0, which means that the torque compensation step value δ LIt is also 0, meaning no torque compensation is performed. This is because when -0.05 * T0 ≤ ΔT n When the torque of the yaw motor is ≤0.05*T0, it means that the torque of the yaw motor is almost the same as the average torque of all yaw motors in the entire unit. At this time, the yaw motor can be considered to be in a balanced state relative to the entire unit, so there is no need to compensate for the torque of the yaw motor. Moreover, by analogy, when all yaw motors are in this state, none of the yaw motors need to be compensated for torque. Therefore, all the yaw motors are in a balanced state.

[0085] The yaw controller compensates for the speed of the yaw motors during operation. In one embodiment, the yaw controller compensates for the speed of each yaw motor during operation in the following manner:

[0086] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0087] δ S = (k) S *ΔV n ) / N S ;

[0088] k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0089] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0090] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0091] ΔV n = V n - V0;

[0092] N S = C2 / C1;

[0093] δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. nV0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0094] As can be easily understood by referring to the content mentioned above, N S The constant value is greater than 1 because the velocity to be compensated (i.e., ΔV) n If all the compensation is provided to the yaw motor at once, it can easily cause system instability. Therefore, ΔV is used instead. n Dividing the data into multiple step values ​​(divided by a constant greater than 1) and providing them to the yaw motor for compensation can improve system stability. In one embodiment, N... S It can be a fixed value such as 2, 3, 4, 5, 6, 7, 8, 9, 10, etc., and can be extended in this way without being limited to the aforementioned values. The inventors of this invention further discovered that in different systems, because the operating parameters of each yaw controller, yaw driver, and yaw motor are often different, N... S The values ​​of N often vary and require multiple adjustments by technicians to determine. It should also be noted that the speed compensation calculation is performed within the yaw controller, according to the yaw controller's program execution cycle C1. The calculated result (i.e., the value to be compensated) is then sent to the yaw driver via a communication cycle C2 between the yaw controller and the yaw driver. C2 is generally greater than C1. Therefore, in one embodiment, N is... S Setting it to = C2 / C1 allows for compatibility with various systems (different models), improving product design efficiency. Of course, pressing N... S Based on the design using C2 / C1, further adjustments can be made to improve the system's stability.

[0095] Similarly, k S As a variable, according to ΔV n By taking different values ​​based on the different relationships between V0 and ΔV, the size of the speed compensation step can be adjusted, which can further improve the stability of the system. For example: when -0.05 * V0 ≤ ΔV n When k ≤ 0.05*V0 S = 0 means the speed compensation step size δ L It is also 0, meaning no speed compensation is performed. This is because when -0.05 * V0 ≤ ΔV nWhen ΔV0 is ≤0.05*V0, it indicates that the speed of the yaw motor is almost the same as the average speed of all yaw motors in the entire unit. At this point, the yaw motor can be considered to be in a balanced state relative to the entire unit, so speed compensation for this yaw motor is unnecessary. Furthermore, by analogy, when all yaw motors are in this state, none of them need speed compensation, thus achieving a balanced state among all yaw motors. However, when ΔV0... n >0.05*V0 or ΔV n <-0.05*V0 then k S = ΔV n / V0, no longer based on ΔV n The compensation is adjusted according to the different values ​​of ΔV, with larger or smaller compensations applied. This is because large-scale speed compensation can introduce instability into the system. n By appropriately compensating for the ratio of / V0, the stability of the system can be guaranteed. The yaw controller adds the original given speed to the calculated compensated speed and sends the resulting speed command to the yaw driver, so that the yaw driver drives the yaw motor to operate at the compensated speed.

[0096] The yaw controller of this invention can simultaneously perform torque compensation and speed compensation for the yaw motors, allowing the system to reach an equilibrium state as quickly as possible. In another embodiment, compensation can also be performed when the torques of all yaw motors are in equilibrium, i.e., when -0.05 * T0 ≤ ΔT. n If the speed of the yaw motor is ≤0.05*T0, then the speed of the yaw motor will be compensated; otherwise, the speed of the yaw motor will not be compensated. This can further improve the stability of the system. The method of compensating for the speed of the yaw motor in this case can be the same as the aforementioned method, and will not be repeated here.

[0097] The second embodiment of the present invention provides a control method for a wind power yaw system, wherein the wind power yaw system is as described above, and the control method includes: the yaw controller acquiring the torque and speed of each yaw motor during operation, compensating for the torque and speed of each yaw motor during operation, so that the yaw motors are in a balanced state.

[0098] As can be seen from the foregoing description, in one embodiment, the yaw controller can directly obtain the torque and speed of each yaw motor during operation from the data of each yaw driver.

[0099] In another embodiment, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and each yaw driver is provided with a torque detection unit and a speed detection unit. Each torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation and feed it back to the yaw controller. Each speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation and feed it back to the yaw controller. Alternatively, each yaw motor is provided with a torque feedback unit and a speed feedback unit, and the yaw controller is provided with a torque detection unit and a speed detection unit. The torque detection unit is connected to each torque feedback unit to obtain the torque of each yaw motor during operation, and the speed detection unit is connected to each speed feedback unit to obtain the speed of each yaw motor during operation.

[0100] The yaw controller compensates for the torque of the yaw motors during operation. In one embodiment, the yaw controller compensates for the torque of each yaw motor during operation in the following manner:

[0101] If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size.

[0102] δ L = k L *ΔT n / N L ;

[0103] k L = 2, when ΔT n ≥T0;

[0104] k L = ΔT n / T0, when 0.05 * T0 < ΔT n <T0;

[0105] k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0;

[0106] k L = ΔT n / T0, when -T0 < ΔT n <-0.05* T0;

[0107] k L = -2, when ΔT n ≤- T0;

[0108] T0 = ​​(T1 + T2 + T3 + ... + T) n ) / n;

[0109] ΔT n = T n - T0;

[0110] N L = C2 / C1;

[0111] δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n Different values ​​are taken depending on the relationship between ΔT and T0, used to adjust the magnitude of the torque compensation step size. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Let n be the torque value of each yaw motor, n be the number of yaw motors, NL be a constant greater than 1, C1 be the program execution cycle of the yaw controller, and C2 be the communication cycle between the yaw controller and the yaw driver.

[0112] The yaw controller compensates for the speed of the yaw motors during operation. In one embodiment, the yaw controller compensates for the speed of each yaw motor during operation in the following manner:

[0113] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0114] δ S = (k) S *ΔV n ) / N S ;

[0115] k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0116] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0117] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0118] ΔV n = V n - V0;

[0119] N S = C2 / C1;

[0120] δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0121] Similarly, the yaw controller of this invention can perform torque compensation and speed compensation for the yaw motors simultaneously, allowing the system to reach an equilibrium state as quickly as possible. In another embodiment, speed compensation for a yaw motor can be performed only when the torques of all yaw motors are in equilibrium; otherwise, speed compensation is not performed. That is, when -0.05 * T0 ≤ ΔT n When the speed is ≤0.05*T0, the yaw controller compensates for the speed of each corresponding yaw motor during operation in the following manner:

[0122] If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value.

[0123] δ S = (k) S *ΔV n ) / N S ;

[0124] k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0;

[0125] k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0;

[0126] V0 = (V1 + V2 + V3 + ... + V) n ) / n;

[0127] ΔV n = V n - V0;

[0128] N S = C2 / C1;

[0129] δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

[0130] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0131] The wind power yaw system and its control method of the present invention, when the yaw controller controls each yaw driver to drive each yaw motor to work, acquires the torque and speed of each yaw motor in real time, compensates for the torque and speed of each yaw motor, so that the yaw motors are in a balanced state, reducing the mechanical wear and failure rate of the unit, and improving the stability and reliability of the unit.

[0132] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. Furthermore, specific examples have been used in the specification to illustrate the principles and implementation methods of the present invention. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention, and the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A wind power yaw system, characterized in that, It includes a yaw controller, a yaw driver, and a yaw motor. There are multiple yaw drivers and yaw motors, and they are connected one-to-one. The yaw controller is connected to each yaw driver and controls each yaw driver to drive the corresponding yaw motor to work. The yaw controller obtains the torque and speed of each yaw motor when it is working and compensates for the torque and speed of each yaw motor to make the yaw motors in a balanced state. The yaw controller compensates for the torque of each yaw motor during operation in the following manner: If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size. d L = k L *ΔT n / N L ; k L = 2, when ΔT n ≥T0; k L = ΔT n / T0, when 0.05 * T0 < ΔT n < T0; k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0; k L = ΔT n / T0, when -T0 < ΔT n < -0.05 * T0; k L = -2, when ΔT n ≤- T0; T0 = ​​(T1 + T2 + T3 + …… + T) n ) / n; ΔT n = T n - T0; N L = C2 / C1; δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n ΔT takes different values ​​depending on the different relationships between it and T0. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Here, n is the torque value of each yaw motor, NL is a constant greater than 1, C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver. The yaw controller compensates for the speed of each yaw motor during operation as follows: If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value. d S = (k) S *ΔV n ) / N S ; k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0; k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0; V0 = (V1+ V2+ V3+ ……+ V n ) / n; ΔV n = V n - V0; N S = C2 / C1; δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

2. The wind power yaw system according to claim 1, characterized in that, Each yaw motor is equipped with a torque feedback unit and a speed feedback unit, and each yaw driver is equipped with a torque detection unit and a speed detection unit. Each torque detection unit is connected to its respective torque feedback unit to acquire the torque of each yaw motor during operation and feed it back to the yaw controller. Each speed detection unit is connected to its respective speed feedback unit to acquire the speed of each yaw motor during operation and feed it back to the yaw controller. Alternatively, each yaw motor is equipped with both a torque feedback unit and a speed feedback unit, and the yaw controller is equipped with both a torque detection unit and a speed detection unit. The torque detection unit is connected to its respective torque feedback unit to acquire the torque of each yaw motor during operation, and the speed detection unit is connected to its respective speed feedback unit to acquire the speed of each yaw motor during operation.

3. The wind power yaw system according to claim 1, characterized in that, When -0.05 * T0 ≤ ΔT n When T0 is ≤0.05, the yaw controller compensates for the speed of each corresponding yaw motor as follows: If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value. d S = (k) S *ΔV n ) / N S ; k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0; k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0; V0 = (V1+ V2+ V3+ ……+ V n ) / n; ΔV n = V n - V0; N S = C2 / C1; δ S For the speed compensation step size, k S It is a variable, according to ΔV n ΔV takes different values ​​depending on its relationship with V0. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

4. A control method for a wind power yaw system, wherein the wind power yaw system is the wind power yaw system as described in claim 1, characterized in that, The control method includes: the yaw controller acquires the torque and speed of each yaw motor when it is working, and compensates for the torque and speed of each yaw motor when it is working, so that the yaw motors are in a balanced state. The yaw controller compensates for the torque of each yaw motor during operation in the following manner: If ΔTn>0, the torque of the motor is gradually reduced by the torque compensation step size; if ΔTn<0, the torque of the motor is gradually increased by the step size. d L = k L *ΔT n / N L ; k L = 2, when ΔT n ≥T0; k L = ΔT n / T0, when 0.05 * T0 < ΔT n < T0; k L = 0, when -0.05 * T0 ≤ ΔT n ≤0.05* T0; k L = ΔT n / T0, when -T0 < ΔT n < -0.05 * T0; k L = -2, when ΔT n ≤- T0; T0 = ​​(T1 + T2 + T3 + …… + T) n ) / n; ΔT n = T n - T0; N L = C2 / C1; δ L The torque compensation step size is given by kL, which is a variable determined by ΔT. n ΔT takes different values ​​depending on the different relationships between it and T0. n Let T0 be the difference between the torque of each yaw motor and the average torque of all yaw motors, and T1, T2, T3, ..., T2 be the average torque of all yaw motors. n Here, n is the torque value of each yaw motor, NL is a constant greater than 1, C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver. The yaw controller compensates for the speed of each yaw motor during operation as follows: If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value. d S = (k) S *ΔV n ) / N S ; k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0; k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0; V0 = (V1+ V2+ V3+ ……+ V n ) / n; ΔV n = V n - V0; N S = C2 / C1; δ S For the speed compensation step size, k S It is a variable, according to ΔV n Different values ​​are taken depending on the different relationships between ΔV and V0, used to adjust the magnitude of the speed compensation step size. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

5. The control method according to claim 4, characterized in that, The yaw controller obtains the torque and speed of each yaw motor from the data of each yaw driver.

6. The control method according to claim 4, characterized in that, Each yaw motor is equipped with a torque feedback unit and a speed feedback unit, and each yaw driver is equipped with a torque detection unit and a speed detection unit. Each torque detection unit is connected to its respective torque feedback unit to acquire the torque of each yaw motor during operation and feed it back to the yaw controller. Each speed detection unit is connected to its respective speed feedback unit to acquire the speed of each yaw motor during operation and feed it back to the yaw controller. Alternatively, each yaw motor is equipped with both a torque feedback unit and a speed feedback unit, and the yaw controller is equipped with both a torque detection unit and a speed detection unit. The torque detection unit is connected to its respective torque feedback unit to acquire the torque of each yaw motor during operation, and the speed detection unit is connected to its respective speed feedback unit to acquire the speed of each yaw motor during operation.

7. The control method according to claim 4, characterized in that, When -0.05 * T0 ≤ ΔT n When T0 is ≤0.05, the yaw controller compensates for the speed of each corresponding yaw motor as follows: If ΔVn>0, the speed of the motor is gradually reduced by the speed compensation step value; if ΔVn<0, the speed of the motor is gradually increased by the step value. d S = (k) S *ΔV n ) / N S ; k S = ΔV n / V0, when ΔV n >0.05*V0 or ΔV n <-0.05*V0; k S = 0, when -0.05 * V0 ≤ ΔV n ≤0.05* V0; V0 = (V1+ V2+ V3+ ……+ V n ) / n; ΔV n = V n - V0; N S = C2 / C1; δ S For the speed compensation step size, k S It is a variable, according to ΔV n ΔV takes different values ​​depending on its relationship with V0. n V0 is the difference between the speed of each yaw motor and the average speed of all yaw motors, where V1, V2, V3, ..., V... are the average speeds of all yaw motors. n Here, N represents the speed value of each yaw motor, n is the number of yaw motors, and N is the speed value of each yaw motor. S It is a constant greater than 1. C1 is the program execution cycle of the yaw controller, and C2 is the communication cycle between the yaw controller and the yaw driver.

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