Yaw control method, system and equipment for wind driven generator based on multi-mode hydraulic drive and medium

Abstract

The invention relates to the technical field of wind power generation, in particular to a yaw control method, system and equipment for a wind driven generator based on multi-mode hydraulic drive and a medium. Real-time data of a wind direction sensor and real-time data of a wind speed sensor are obtained, the real-time data are scientifically divided into three sections smaller than 8 m / s, 8-15 m / s and larger than 15 m / s according to the wind speed, and an accurate environment sensing mechanism is established; the number of plunger hydraulic motors needing to be activated is determined based on the wind speed interval, four sets of symmetrically-arranged hydraulic motors are adopted, 1-4 sets of motors are dynamically activated according to different wind conditions, and distribution of driving torque according to needs is achieved; hydraulic oil is subjected to pressure adjustment through a three-stage buffer loop, and the hydraulic oil is processed by an overflow valve, a throttling valve and a spring-hydraulic composite energy accumulator to drive a gear ring-crank linkage mechanism to achieve yawing rotation. Through deep fusion of a hydraulic transmission technology and an intelligent control algorithm, the technical problems that a traditional yaw system is serious in noise pollution, severe in mechanical abrasion, insufficient in dynamic response, complex in structure, low in redundancy and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a yaw control method, system, equipment and medium for a wind turbine generator based on multi-modal hydraulic drive. Background Art

[0002] As a key component of clean energy, wind power plays a critical role in the global energy transition. The yaw system of a wind turbine is a core component that ensures the rotor always faces the wind, directly impacting power generation efficiency and equipment safety. Traditional wind turbine yaw systems typically utilize a combination of gear transmission and mechanical braking. A motor drives a gear set that drives the slewing bearing, rotating the nacelle to face the wind.

[0003] The existing gear-driven yaw system has significant technical defects. First, gear meshing and mechanical braking generate serious noise pollution, with noise levels as high as 105dB, far exceeding the limit of 75dB in residential areas at night. Secondly, the problem of mechanical wear is prominent. Instantaneous braking causes an average annual wear of 3.2mm on the friction plate. Traditional brake discs have a lifespan of only 6 months under typhoon conditions, and maintenance costs account for 35% of the total operation and maintenance costs. In addition, fixed power drive has difficulty adapting to wind speed changes of 4 to 25m / s, resulting in a delayed yaw response, an average response time of 8.7 seconds, and a yaw error of up to ±2.5° when the wind speed changes suddenly.

[0004] The multi-stage gear transmission of traditional yaw systems requires precise coordination and manufacturing tolerances within ±0.02mm, significantly increasing manufacturing costs and installation difficulties. Furthermore, the system has low redundancy, and a single point of failure can easily cause the entire yaw system to fail, impacting the safe operation and power generation efficiency of the wind turbine. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention is proposed.

[0006] Therefore, the present invention aims to address the problems of traditional gear-driven yaw systems, such as severe noise pollution, severe mechanical wear, insufficient dynamic response, complex structure, and low redundancy. The present invention proposes a solution for a wind turbine yaw system based on hydraulic transmission. By replacing traditional gear transmission with hydraulic transmission, noise levels are significantly reduced. A wind speed adaptive algorithm is used to dynamically adjust the hydraulic drive unit, improving response speed and wind accuracy. Furthermore, a three-level buffer circuit and redundant control logic are designed to enhance system reliability and environmental adaptability, thereby comprehensively improving the performance and service life of the wind turbine yaw system.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a yaw control method for a wind turbine based on a multi-modal hydraulic drive, comprising: obtaining real-time data from a wind direction sensor and a wind speed sensor, and dividing the data into three intervals according to the wind speed: less than 8 m / s, 8 to 15 m / s, and greater than 15 m / s;

[0009] Determining the number of plunger hydraulic motors that need to be activated based on the wind speed range, and supplying oil to a corresponding number of hydraulic motors through a hydraulic pump station;

[0010] The hydraulic oil pressure is regulated through a three-stage buffer circuit, and after being processed by a relief valve, a throttle valve and a spring-hydraulic composite accumulator, it drives the ring gear-crank linkage mechanism to achieve yaw rotation.

[0011] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive described in the present invention, the plunger hydraulic motors are arranged symmetrically in four groups, with a single-machine torque of 2000 N〃m. Different numbers of hydraulic motors are activated according to the wind speed range: one group is activated when the wind speed is less than 8 m / s, two groups are activated when the wind speed is 8-15 m / s, and all four groups are activated when the wind speed is greater than 15 m / s.

[0012] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive according to the present invention, the pressure regulation of the three-stage buffer circuit includes:

[0013] The peak pressure of the hydraulic system is limited by the overflow valve; the hydraulic oil flow is adjusted by the throttle valve, and the throttle valve diameter is 6mm; the pressure fluctuation is controlled within the range of ±0.8MPa by a spring-hydraulic composite accumulator with a volume of 5L.

[0014] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive described in the present invention, the module of the ring gear-crank linkage mechanism is 12, the pressure angle is 20°, the transmission efficiency is 92%, and the yaw rotation of the nacelle is achieved by driving the hydraulic motor.

[0015] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive described in the present invention, it also includes a dual brake disc actuator for graded braking with a friction coefficient of 0.08. When the yaw is completed, braking is achieved through hydraulic damping and mechanical locking.

[0016] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive described in the present invention, the method further includes temperature compensation, and the hydraulic oil temperature compensation circuit adapts to ambient temperature changes from -40°C to +50°C.

[0017] As a preferred solution of the wind turbine yaw control method based on multi-modal hydraulic drive of the present invention, the method further includes a cable winding warning, when the yaw angle of the nacelle exceeds ±1080°

[0018] The unwinding process will be started automatically.

[0019] In a second aspect, an embodiment of the present invention provides a wind turbine yaw control system based on a multi-modal hydraulic drive, which includes a wind direction and speed sensor for acquiring real-time wind direction and wind speed data;

[0020] The intelligent control layer determines the number of plunger hydraulic motors that need to be activated based on the wind speed range;

[0021] The hydraulic transmission layer includes four symmetrically arranged plunger hydraulic motors, a three-stage buffer circuit, and redundant oil supply pipelines;

[0022] The drive execution layer includes a ring gear-crank linkage mechanism, a double brake disc actuator and a four-point contact ball slewing bearing.

[0023] In a third aspect, an embodiment of the present invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, the steps of the wind turbine yaw control method based on multi-modal hydraulic drive as described in the first aspect of the present invention are implemented.

[0024] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, the steps of the wind turbine yaw control method based on multi-modal hydraulic drive as described in the first aspect of the present invention are implemented.

[0025] The beneficial effects of the present invention are as follows: by acquiring real-time data from wind direction sensors and wind speed sensors and performing scientific wind speed interval division, the present invention establishes an accurate environmental perception mechanism. Compared with the fixed power output mode of the traditional system, it realizes dynamic identification and prediction of wind condition changes, laying a solid foundation for subsequent intelligent response, thereby avoiding the response lag problem of the traditional system when the wind speed fluctuates frequently. By using a multi-modal drive strategy that determines the number of plunger hydraulic motor activations based on the wind speed interval, the present invention breaks through the limitation of the single drive source of the traditional gear drive system, realizes dynamic matching and on-demand distribution of the drive torque, not only greatly improves the driving ability and response speed of the system, but also significantly reduces energy consumption, achieving the best balance between economy and performance. Through the precise pressure regulation technology of the three-stage buffer circuit, the present invention effectively solves the pressure shock and fluctuation problems of the hydraulic system, and cooperates with the efficient transmission of the ring gear-crank linkage mechanism to realize the smooth conversion from hydraulic energy to mechanical energy, which not only eliminates the high-frequency noise pollution generated by the traditional gear meshing, but also greatly reduces mechanical wear and extends the service life of the system. In summary, the present invention achieves a significant reduction in noise levels, a substantial increase in response speed, effective control of maintenance costs, and comprehensive enhancement of environmental adaptability while maintaining high reliability through the deep integration of hydraulic transmission technology and intelligent control algorithms. It provides the wind power industry with a technologically advanced, economically reasonable, and environmentally friendly yaw control solution with important engineering application value and broad market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 Flowchart of a wind turbine yaw control method based on multi-modal hydraulic drive;

[0028] Figure 2 A computer device diagram of a wind turbine yaw control method based on multi-modal hydraulic drive;

[0029] Figure 3 This is a comparison chart of the indicator data of the traditional system and the present system based on the multi-modal hydraulic drive wind turbine yaw control method. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it constitute a separate or selective embodiment that is mutually exclusive with other embodiments.

[0033] Example 1

[0034] Reference Figures 1 and 2 , which is the first embodiment of the present invention, provides a yaw control method for a wind turbine based on multi-modal hydraulic drive, comprising:

[0035] S100: Acquire real-time data from the wind direction sensor and wind speed sensor, and divide the data into three intervals based on the wind speed: less than 8 m / s, 8 to 15 m / s, and greater than 15 m / s.

[0036] S200: Determining the number of plunger hydraulic motors that need to be activated based on the wind speed range, and supplying oil to a corresponding number of hydraulic motors through a hydraulic pump station;

[0037] S300: The hydraulic oil pressure is regulated through a three-stage buffer circuit. After being processed by the relief valve, throttle valve and spring-hydraulic composite accumulator, it drives the ring gear-crank linkage mechanism to achieve yaw rotation.

[0038] Traditional wind turbine yaw systems face complex technical challenges in practical operation. In step S100, existing wind direction sensors lack sufficient accuracy to accurately identify the transient characteristics of wind speed fluctuations, resulting in a single system response strategy for wind speeds between 4 and 25 m / s. In particular, the traditional fixed-power drive mode cannot dynamically adapt to wind speed fluctuations. In step S200, the traditional gear drive system uses a constant power output and cannot dynamically adjust the drive torque according to actual wind conditions. When encountering gusts of 25 m / s, the 800 N·m torque output by a single drive unit is far insufficient to overcome the significant air resistance torque, resulting in a yaw lag of up to 8.7 seconds and a rotor wind error exceeding ±2.5°. In step S300, the transient braking characteristics of the traditional mechanical brake system produce severe impacts, causing friction plate wear of up to 3.2 mm within six months under typhoon conditions. Furthermore, the 105 dB high-frequency noise generated by the gear meshing far exceeds the environmental limit of 75 dB for residential areas, severely impacting the surrounding environment.

[0039] Claim 1 achieves a fundamental transformation from traditional gear drive to intelligent hydraulic drive through the complete technical path of S100-S300. First, S100 establishes an accurate wind condition perception mechanism, which lays the foundation for subsequent dynamic response by scientifically dividing the wind speed into three intervals: less than 8m / s, 8-15m / s, and greater than 15m / s. S200 has achieved a core breakthrough in the multi-modal drive strategy, intelligently activating 1-4 groups of plunger hydraulic motors according to the wind speed interval, with a total torque of up to 8000N〃m, which is 10 times the driving capacity compared to traditional systems, and the response time is shortened from 8.7 seconds to 5.2 seconds, an increase of 40.2%. The S300 utilizes precise pressure regulation within a three-stage buffer circuit to attenuate hydraulic shock from 32 MPa to 26.5 MPa. Combined with the ring gear-crank linkage's high 92% transmission efficiency, this significantly reduces noise levels from 98 dB to 72 dB. Furthermore, hydraulic damping reduces annual friction plate wear from 3.2 mm to 0.9 mm, lowering lifecycle maintenance costs by 38.1%. This complete technical solution forms a complete closed loop of perception, decision-making, and execution, fundamentally resolving four core issues with traditional systems.

[0040] The key technical parameters involved in the yaw system of a wind turbine based on hydraulic transmission are of great engineering significance. Among them, N〃m (Newton〃meter) is the international standard unit of torque. A single-stage torque of 2000N〃m means that the hydraulic motor can output a torque equivalent to a force of 2000 Newtons on a 1-meter lever arm. MPa (megapascal) is a unit of pressure. The pressure fluctuation control accuracy of ±0.8MPa reflects the adjustment capability of the three-stage buffer circuit. dB (decibel) is a unit of sound intensity level. A reduction from 105dB to 72dB means that the noise intensity is reduced by about 1000 times. ℃ (degrees Celsius) indicates the temperature range. The adaptability of -40℃ to +50℃ covers the extreme climatic conditions of most wind farms in the world. mm (millimeter) is used to describe accuracy. The manufacturing tolerance requirement of ±0.02mm reflects the manufacturing difficulty of traditional gear systems. The precise control of these parameters is the key technical guarantee for achieving high-performance operation of the system.

[0041] Example 2

[0042] Reference Figure 2-Figure 3 , which is the second embodiment of the present invention.

[0043] In the embodiment of the present application, the acquisition of real-time data from the wind direction sensor and the wind speed sensor and the division of wind speed intervals in step S100 include the following steps A1-A3:

[0044] A1: The wind direction sensor uses fiber optic gyroscope technology for data acquisition. It is installed on the top of the nacelle, 15 meters from the center of the rotor, to avoid airflow interference caused by the rotor's rotation. The sensor has an angular resolution of 0.01° and can detect wind direction changes as small as 0.1°. The wind speed sensor uses ultrasonic wind measurement principles to calculate wind speed by measuring the propagation time difference of ultrasonic waves in the air. The measurement range is 2 to 60 m / s and the accuracy is ±0.3 m / s. The sensor sampling frequency is set to 10 Hz, and data is collected every 100 milliseconds to ensure that transient changes in wind conditions are captured. Data is transmitted to the intelligent control layer via the CAN bus with a transmission delay of less than 5 milliseconds.

[0045] A2: The wind speed range division is scientifically set based on the power curve and aerodynamic characteristics of the wind turbine. Less than 8m / s is the low wind speed range, at this time the wind rotor blade attack angle is small, the air resistance torque is about 600~800N〃m, and the impact of wind direction changes on the wind rotor is relatively small. 8~15m / s is the medium wind speed range, the wind rotor reaches the rated speed, the blades begin to enter the stall adjustment state, the air resistance torque increases to 1200~2000N〃m, and the gyroscopic torque effect begins to appear. Greater than 15m / s is the high wind speed range, the wind rotor enters the limited power operation, the blades are fully stalled, the air resistance torque can reach 2500~4000N〃m, the gyroscopic torque and turbulence effect are significantly enhanced, and extremely high requirements are placed on the yaw system.

[0046] Specifically, the wind speed interval judgment algorithm can be expressed as:

[0047] V zone =1×(V<8)+2×(8≤V<15)+3×(V≥15)

[0048] Where V zone is the wind speed interval number, V is the real-time wind speed measurement value (m / s), and the brackets are logical judgment expressions. When the condition is met, the value is 1, otherwise it is 0. This algorithm automatically identifies wind speed intervals through mathematical logic operations, with simple calculations and fast response.

[0049] A3: Data preprocessing uses a sliding window averaging algorithm with a window length of 30 seconds, or 300 sampling points, to filter out high-frequency noise and transient interference. Wind direction data is processed using circular statistics to avoid jump errors between 0° and 360°. Wind speed data is weighted averaged, with recent data given a higher weight and historical data gradually decreasing in weight. The weight decay coefficient is set to 0.95. A data validity verification mechanism is also established. When the data change rate for five consecutive sampling points exceeds a threshold, a data anomaly handling procedure is initiated, replacing the data with the valid data from the previous moment.

[0050] In an optional embodiment, wind direction and speed data acquisition in step S100 can also utilize a multi-point distributed measurement solution. An auxiliary wind speed sensor is installed 50 meters in front of the nacelle to obtain more accurate wind field information through spatial data fusion technology. This auxiliary sensor primarily detects changes in upstream wind conditions, providing the system with a 3-5 second warning period, enabling the yaw system to prepare for a response.

[0051] In another optional embodiment, step S100 can also integrate lidar technology to scan the wind field distribution within a 200-meter radius and obtain three-dimensional wind speed vector information. Lidar can detect complex wind parameters such as wind shear and turbulence intensity, providing richer environmental information for yaw control.

[0052] It should be noted that the wind speed ranges are divided not only into considerations for the wind turbine's operating characteristics, but also for the hydraulic system's response characteristics and energy optimization needs. In the low wind speed range, a single hydraulic motor can meet yaw requirements while minimizing system energy consumption. In the medium wind speed range, dual motor operation balances response speed and energy consumption. In the high wind speed range, full power operation of all four motors ensures system reliability and safety under extreme operating conditions.

[0053] In the embodiment of the present application, determining the number of plunger hydraulic motor activations and performing oil supply control based on the wind speed range in step S200 includes the following steps B1-B4:

[0054] B1: The plunger hydraulic motors are arranged symmetrically in four groups, with a single-unit torque of 2000 N-m. Different numbers of hydraulic motors are activated according to the wind speed range: one group is activated when the wind speed is less than 8 m / s, two groups are activated when the wind speed is 8-15 m / s, and all four groups are activated when the wind speed is greater than 15 m / s.

[0055] The plunger hydraulic motor cluster adopts a radial seven-plunger structure, with four groups of motors distributed symmetrically at 90 degrees on the outside of the yaw gear ring. Each plunger has a diameter of 32mm and a stroke of 40mm, and the displacement is adjusted by swash plate variable control. The motor housing is made of ductile iron QT600-3 material, which has good strength and toughness. The key friction pairs inside the motor are made of bronze alloy and steel materials, and the friction coefficient is controlled within the range of 0.08-0.12 to ensure good starting performance and operating stability. The rated speed of each motor group is 15rpm, the maximum speed is 25rpm, and the single-unit output torque is 2000N〃m at the rated working pressure of 25MPa. The minimum pressure required for motor starting is 8MPa, and the normal working pressure range is 18-25MPa.

[0056] Specifically, the motor output torque calculation formula is:

[0057]

[0058] Where, T is the output torque (N"m); p is the working pressure (MPa); V d is the motor displacement (mL / r); η m is the mechanical efficiency (taken as 0.92).

[0059] B2: The hydraulic pump station utilizes a dual-pump parallel configuration. The main pump is a 90 mL / min axial piston variable displacement pump with a 75 kW drive motor, a rated speed of 1450 rpm, and a maximum output flow of 130 L / min. The backup pump is a 45 mL / min radial piston fixed displacement pump with a 37 kW drive motor, a rated speed of 1450 rpm, and a maximum output flow of 65 L / min. The two pumps automatically switch between them via a solenoid reversing valve and a check valve. Under normal circumstances, the main pump operates while the backup pump is in standby mode. In the event of a main pump failure or insufficient flow, the system automatically activates the backup pump, with a switching time of less than 2 seconds. The pump station is equipped with a 300 L high-level oil tank, which contains a cooling coil and heater to maintain the hydraulic oil temperature within the range of 20-45°C.

[0060] B3: The intelligent control strategy is based on a fuzzy logic control algorithm, using wind speed, wind direction rate, and system load as input variables and the number of hydraulic motor activations as the output variable. The fuzzy controller contains 25 rules covering various wind conditions. When the wind speed is less than 8 m / s and the wind direction rate is less than 2° / min, one hydraulic motor is activated, requiring a system flow of approximately 35 L / min, and the yaw speed is controlled at 0.5° / s. When the wind speed is between 8 and 15 m / s and the wind direction rate is between 2 and 5° / min, two hydraulic motors are activated, requiring a system flow of approximately 70 L / min, and the yaw speed is increased to 1.2° / s. When the wind speed is greater than 15 m / s or the wind direction rate exceeds 5° / min, all four hydraulic motors are activated, requiring a system flow of approximately 140 L / min, and the yaw speed can reach 2.5° / s.

[0061] The output of the fuzzy controller can be expressed as:

[0062]

[0063] Where N motor is the number of activated motors; ω i is the weight of the i-th rule; μ i is the membership function of the i-th rule; V is the wind speed; is the wind direction change rate; L is the system load.

[0064] B4: Hydraulic motor startup control utilizes a soft-start strategy to avoid system shock. The motor startup sequence is numbered 1-2-3-4, with an interval of 150ms between each motor startup. The startup process consists of three phases: pre-pressurization, raising the motor chamber pressure to 8 MPa; slow acceleration, increasing the motor speed from 0 to 50% of the rated speed within 3 seconds; and normal operation, reaching rated speed and torque output within 2 seconds. Shutdown utilizes the reverse sequence: deceleration followed by pressure relief, and finally closing the oil inlet valve. The entire startup and shutdown process is precisely controlled by a proportional solenoid valve, with a valve spool displacement accuracy of ±0.1 mm.

[0065] In an optional embodiment, the hydraulic motor activation strategy in step S200 can also incorporate adaptive learning. The system automatically optimizes the motor activation combination under different wind conditions by analyzing historical operating data. The learning algorithm uses reinforcement learning principles, using navigation accuracy, response time, and energy consumption as evaluation indicators, and continuously optimizes the control strategy through a reward mechanism.

[0066] In another optional embodiment, step S200 can also include a motor health monitoring function, using vibration sensors, temperature sensors, and pressure sensors to monitor the operating status of each motor in real time. If a motor anomaly is detected, the system automatically adjusts load distribution, transferring the load from the faulty motor to other functioning motors to ensure continuous and reliable system operation.

[0067] It should be noted that the symmetrical arrangement of the hydraulic motors not only ensures even distribution of yaw torque but also effectively reduces unbalanced vibration in the system. The total output torque of the four motors reaches 8,000 Nm. Compared to the single-point drive method of traditional gear-driven systems, this significantly improves not only the driving capacity but also the redundancy and reliability of the system. Even if a single motor fails, the remaining three motors can still provide 6,000 Nm of drive torque, meeting yaw requirements under most operating conditions.

[0068] In the embodiment of the present application, step S300 performs pressure adjustment through the three-stage buffer circuit and drives the transmission mechanism to achieve yaw rotation, including the following steps C1-C5:

[0069] C1: Pressure regulation of the three-stage buffer circuit includes:

[0070] The peak pressure of the hydraulic system is limited by the overflow valve; the hydraulic oil flow is adjusted by the throttle valve, and the throttle valve diameter is 6mm; the pressure fluctuation is controlled within the range of ±0.8MPa by a spring-hydraulic composite accumulator with a volume of 5L.

[0071] Specifically, the pressure control of the first-stage relief valve in the three-stage buffer circuit utilizes a pilot-operated proportional relief valve. The valve body is made of 1Cr18Ni9Ti stainless steel, which offers excellent corrosion resistance. The main valve core has a diameter of 25mm, and the pilot valve core has a diameter of 8mm. Precise pressure regulation is achieved through electro-proportional control. The set pressure range is 15-28MPa, with a pressure regulation accuracy of ±0.3MPa and a response time of less than 15ms. When the system pressure exceeds the set value, the relief valve opens, and excess hydraulic oil returns to the tank through an internal leakage channel, with a leakage rate of up to 15L / min. The relief valve is equipped with a pressure sensor to monitor the outlet pressure in real time, forming a closed-loop control system.

[0072] C2: The module of the ring gear-crank linkage is 12, the pressure angle is 20°, the transmission efficiency is 92%, and the nacelle yaw rotation is achieved by driving the hydraulic motor.

[0073] The second-stage throttle valve utilizes a plug-in proportional throttle valve for flow control. The valve core features a tapered design and continuously adjustable diameter within a range of 1 to 8 mm. The throttle valve utilizes force feedback control, with a stepper motor driving the spool displacement with a displacement accuracy of ±0.05 mm. The flow rate is adjustable from 5 to 150 L / min, with a flow control accuracy of ±3%. An internal temperature compensation mechanism automatically compensates for the effects of hydraulic oil viscosity on flow. A bypass circuit is designed into the valve body, which can be manually opened in the event of a throttle valve failure to ensure basic system functionality.

[0074] The flow characteristic equation of the throttle valve is:

[0075]

[0076] Where, Q is the flow rate (L / min); C d is the flow coefficient (take 0.62); A eff is the effective flow area (mm 2 ); Δp is the pressure difference before and after the valve (MPa); ρ is the density of the hydraulic oil (kg / m 3 ).

[0077] C3: Also includes dual brake disc actuators for graded braking with a friction coefficient of 0.08. Braking is achieved through hydraulic damping and mechanical locking when yaw is completed.

[0078] The third-stage spring-hydraulic composite accumulator is mounted vertically, with an overall height of 1200mm, a cylinder diameter of 200mm, and a capacity of 5L. The accumulator is divided into three chambers: the upper chamber is a gas chamber, filled with nitrogen and pre-charged to 18MPa; the middle chamber is a spring chamber, which houses a compression spring with a free length of 400mm and a stiffness coefficient of 50N / mm; and the lower chamber is a liquid chamber, connected to the hydraulic system. The piston has a diameter of 190mm and uses a PTFE seal with a friction coefficient of less than 0.1. The accumulator's operating principle: When system pressure fluctuates, the piston moves up and down, absorbing the pressure shock through spring deformation and gas compression, thereby controlling pressure fluctuations within a range of ±0.8MPa.

[0079] The calculation formula for accumulator pressure stability is:

[0080]

[0081] Where Δp is the pressure change (MPa); k is the spring stiffness (N / mm); Δx is the piston displacement (mm); A is the piston area (mm 2 ); p0 is the pre-charge pressure (MPa); V0 is the initial volume of the gas (L); γ is the gas compressibility index (taken as 1.4).

[0082] The ring gear-crank linkage utilizes an internal gear ring structure with an inner ring diameter of 3200mm, 320 teeth, a module of 10mm, and a pressure angle of 20°. The ring gear is made of 42CrMo alloy steel, which, after quenching and tempering, achieves a surface hardness of HRC 42-46 and a core hardness of HRC 28-32. The tooth surfaces are precision ground to grade 6 accuracy, with a surface roughness of Ra 0.8μm. The crank-connecting rod mechanism consists of four connecting rods, each 600mm long and made of QT450-10 ductile iron. The large ends of the connecting rods are connected to the output shaft of the hydraulic motor, while the small ends mesh with the ring gear. The connecting rod bearings are sliding bearings made of tin bronze ZCuSn5Pb5Zn5 with a friction coefficient of 0.08, offering excellent wear resistance and anti-adhesion properties.

[0083] C4: The method also includes temperature compensation, and the hydraulic oil temperature compensation circuit adapts to ambient temperature changes from -40°C to +50°C.

[0084] The dual-disc actuator utilizes a wet, multi-plate brake structure. The discs are 1000mm in diameter and 20mm thick. They are made of high-quality 45-grade carbon steel, achieving a hardness of HRC 38-42 after heat treatment. The brake pads are made of asbestos-based friction material with a friction coefficient of μ = 0.08 and excellent heat resistance. Primary hydraulic damping braking is achieved using an adjustable damper, with a damping force adjustable between 500 and 2000 N-m, for speed control during yaw. Secondary mechanical friction braking is achieved using a compression spring and hydraulic cylinder, with a maximum braking torque of 5000 N-m, for position locking after yaw completion. The brakes are equipped with a wear detection sensor that automatically alarms when the friction pad thickness decreases below 5mm.

[0085] The braking torque calculation formula is:

[0086] T brake =μ·F N ·R eff ·n

[0087] Where, T brake is the braking torque (N〃m); μ is the friction coefficient; F N is the normal pressing force (N); R eff is the effective friction radius (m); n is the number of friction surfaces.

[0088] C5: The method also includes a cable entanglement warning, which automatically initiates the cable untangling procedure when the cabin yaw angle exceeds ±1080°.

[0089] The four-point contact ball slewing bearing, model 013.60.1800, has an inner diameter of 1800mm, an outer diameter of 2180mm, and a height of 185mm. The bearing features a split-body construction with detachable inner and outer rings for easy installation and maintenance. The rolling elements are 288 precision steel balls with a diameter of 25.4mm, arranged in two rows. The inner and outer rings are made of GCr15 bearing steel, achieving a hardness of HRC 58-62 after heat treatment. The bearing seals utilize a three-stage sealing structure: an inner rubber seal, a middle labyrinth seal, and an outer felt seal, effectively preventing grease leakage and the ingress of external contaminants. The bearing has a rated dynamic load of 2800kN, a rated static load of 4200kN, and a maximum speed of 50rpm, fully meeting the requirements of wind turbine yaw systems.

[0090] C6: The temperature compensation circuit consists of two parts: cooling system and heating system. The cooling system uses an air-cooled heat exchanger with a heat exchange area of ​​12m 2The cooling fan has a power of 2.2kW and automatically activates cooling when the hydraulic oil temperature exceeds 50°C. The heating system uses a 5kW electric heater, divided into two 2.5kW heaters connected in parallel. It automatically activates preheating when the ambient temperature drops below -30°C. A Pt100 temperature sensor with a measurement accuracy of ±0.5°C is installed in the hydraulic oil tank and main pipelines to monitor temperature changes in real time. The temperature controller uses a PID algorithm with a control accuracy of ±2°C, ensuring that the hydraulic oil temperature is always within the optimal operating range.

[0091] C7: The cable entanglement warning system uses absolute encoder technology with an encoder resolution of 18 bits and an angle resolution of 0.001°. It is connected to the yaw axis through a gear reducer with a reduction ratio of 1:100. The encoder output signal is digital and transmitted to the control system through the field bus. The warning algorithm accumulates the yaw angle in real time. When the accumulated angle reaches ±1080° (i.e. 3 turns), the system issues a first-level warning signal and begins preparing to untie the cable. When the accumulated angle reaches ±1260° (i.e. 3.5 turns), the system issues a second-level warning signal and forces the untie procedure to start. The untie process is divided into three stages: deceleration, reversal, and reset, which takes a total of about 12 minutes. During this period, the wind turbine can continue to generate electricity normally.

[0092] In an optional embodiment, the three-stage buffer circuit in step S300 can also be equipped with a pressure prediction function. By analyzing the hydraulic motor's start-stop patterns and load trends, the buffer parameters can be adjusted in advance to further improve system pressure stability. The prediction algorithm uses time series analysis, achieving a prediction accuracy of over 85%.

[0093] In another alternative embodiment, the transmission mechanism in step S300 can also use a cycloid reducer instead of the ring gear-crank linkage mechanism. This can achieve a reduction ratio of up to 100:1 and higher transmission precision, but at a relatively higher cost. Cycloid reducers offer advantages such as compact size, high load capacity, and smooth transmission, making them particularly suitable for large wind turbines.

[0094] It should be noted that the design of the three-stage buffer circuit fully considers the frequency domain characteristics of the hydraulic system. The relief valve primarily suppresses high-frequency pressure pulsations (10Hz), the throttle valve regulates medium-frequency pressure fluctuations (1-10Hz), and the accumulator absorbs low-frequency pressure variations (<1Hz). The synergistic effect of the three-stage buffering improves system pressure stability by 65% ​​compared to a single-stage buffer and extends the service life of hydraulic components by over 30%. The 92% transmission efficiency of the ring gear-crank linkage is a significant improvement over the 85% efficiency of a traditional planetary gear reducer, saving approximately 5000 kWh of electricity annually. The dual-brake system's graded braking strategy not only improves braking smoothness but also significantly reduces friction plate wear, extending maintenance intervals from 6 months to 18 months. A temperature compensation circuit ensures stable operation in extreme environments ranging from -40°C to +50°C, meeting the requirements of wind farms in diverse climates worldwide. A cable entanglement warning function effectively prevents cable breakage caused by excessive torsion, enhancing system safety and reliability.

[0095] In summary, this invention successfully solves the technical challenges of traditional gear-driven yaw systems, such as noise pollution, mechanical wear, response lag, and structural complexity, through multimodal hydraulic drive technology. The system response time is shortened from 8.7 seconds to 5.2 seconds, a 40.2% increase in response speed; the noise level is reduced from 105dB to 72dB, a 26.5% decrease; the average annual wear of the friction plate is reduced from 3.2mm to 0.9mm, reducing maintenance costs by 38.1%; and wind energy capture accuracy is improved by 19%, providing important technical support for technological advancement and industrial upgrading in the wind power industry. The entire technical solution has excellent engineering practicality and broad market application prospects.

[0096] Example 3

[0097] The above is a schematic diagram of a yaw control method for a wind turbine based on a multi-modal hydraulic drive. It should be noted that the technical solution of this wind turbine yaw control system based on a multi-modal hydraulic drive and the technical solution of the wind turbine yaw control method based on a multi-modal hydraulic drive share the same concept. For details not described in detail in the technical solution of the wind turbine yaw control system based on a multi-modal hydraulic drive in this embodiment, please refer to the description of the technical solution of the wind turbine yaw control method based on a multi-modal hydraulic drive.

[0098] This embodiment further provides a wind turbine yaw control system based on multi-modal hydraulic drive, comprising:

[0099] Wind direction and speed sensor, used to obtain real-time wind direction and speed data;

[0100] The intelligent control layer determines the number of plunger hydraulic motors that need to be activated based on the wind speed range;

[0101] The hydraulic transmission layer includes four symmetrically arranged plunger hydraulic motors, a three-stage buffer circuit, and redundant oil supply pipelines;

[0102] The drive execution layer includes a ring gear-crank linkage mechanism, a double brake disc actuator and a four-point contact ball slewing bearing.

[0103] This embodiment also provides an electronic device suitable for yaw control of a wind turbine based on multi-modal hydraulic drive, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute computer-executable instructions to implement the yaw control method of a wind turbine based on multi-modal hydraulic drive proposed in the above embodiment.

[0104] This embodiment further provides a storage medium storing a computer program, which, when executed by a processor, implements the wind turbine yaw control method based on multi-modal hydraulic drive as proposed in the above embodiment.

[0105] The storage medium proposed in this embodiment and the method for implementing yaw control of a wind turbine based on multi-modal hydraulic drive proposed in the above embodiment belong to the same inventive concept. Technical details not fully described in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0106] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general hardware, and of course can also be implemented by hardware. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0107] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A yaw control method for a wind turbine based on multi-modal hydraulic drive, characterized by: This includes obtaining real-time data from wind direction sensors and wind speed sensors, and dividing the data into three intervals: less than 8m / s, 8-15m / s, and greater than 15m / s. Determining the number of plunger hydraulic motors that need to be activated based on the wind speed range, and supplying oil to a corresponding number of hydraulic motors through a hydraulic pump station; The hydraulic oil pressure is regulated through a three-stage buffer circuit, and after being processed by a relief valve, a throttle valve and a spring-hydraulic composite accumulator, it drives the ring gear-crank linkage mechanism to achieve yaw rotation.

2. The wind turbine yaw control method based on multi-modal hydraulic drive according to claim 1, characterized in that: The plunger hydraulic motors are arranged symmetrically in four groups, with a single-unit torque of 2000 Nm. Different numbers of hydraulic motors are activated according to the wind speed range: one group is activated when the wind speed is less than 8m / s, two groups are activated when the wind speed is 8-15m / s, and all four groups are activated when the wind speed is greater than 15m / s.

3. The yaw control method for a wind turbine based on multi-modal hydraulic drive according to claim 2, characterized in that: The pressure regulation of the three-stage buffer circuit includes: The peak pressure of the hydraulic system is limited by the overflow valve; the hydraulic oil flow is adjusted by the throttle valve, and the throttle valve diameter is 6mm; the pressure fluctuation is controlled within the range of ±0.8MPa by a spring-hydraulic composite accumulator with a volume of 5L.

4. The yaw control method for a wind turbine generator based on multi-modal hydraulic drive according to claim 3, characterized in that: The module of the ring gear-crank linkage mechanism is 12, the pressure angle is 20 degrees, the transmission efficiency is 92%, and the yaw rotation of the cabin is achieved by driving the hydraulic motor.

5. The yaw control method for a wind turbine based on multi-modal hydraulic drive according to claim 4, characterized in that: It also includes dual brake disc actuators for graded braking with a friction coefficient of 0.08, and braking is achieved through hydraulic damping and mechanical locking when yaw is completed.

6. The yaw control method for a wind turbine generator based on multi-modal hydraulic drive according to claim 5, characterized in that: The method further includes temperature compensation, wherein the hydraulic oil temperature compensation circuit adapts to ambient temperature changes from -40°C to +50°C.

7. The yaw control method for a wind turbine generator based on multi-modal hydraulic drive according to claim 6, characterized in that: The method also includes a cable entanglement warning, which automatically starts the cable untangling procedure when the cabin yaw angle exceeds ±1080°.

8. A wind turbine yaw control system based on multi-modal hydraulic drive, based on the wind turbine yaw control method based on multi-modal hydraulic drive according to any one of claims 1 to 7, characterized in that: Also included is a wind direction and speed sensor for obtaining real-time wind direction and speed data; The intelligent control layer determines the number of plunger hydraulic motors that need to be activated based on the wind speed range; The hydraulic transmission layer includes four symmetrically arranged plunger hydraulic motors, a three-stage buffer circuit, and redundant oil supply pipelines; The drive execution layer includes a ring gear-crank linkage mechanism, a double brake disc actuator and a four-point contact ball slewing bearing.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the wind turbine yaw control method based on multi-modal hydraulic drive according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the wind turbine yaw control method based on multi-modal hydraulic drive according to any one of claims 1 to 7 are implemented.

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