Yaw control method and system for reducing wind turbine generator set offset aviation open trip fault

Abstract

The yaw control method comprises the steps that whether the angle between the current wind direction and a cabin exceeds a limiting value or not is judged, if yes, the unit starts yaw wind alignment, and the step 2) or the step 3) is executed; (2) whether the average yaw speed of the engine room is located at a corresponding gear or not within each different time ti after yaw starting is judged, and if the average yaw speed within a certain time ti is located at the corresponding gear and lasts for the time ti, the unit stops yawing; and 3) judging whether the outdoor temperature is lower than a preset value or not, if not, executing the step 2), if so, judging whether the unit is in a wind waiting standby mode or not, if not, executing the step 2), if so, performing yawing according to the step 2), and if the yawing is continuously performed for a long time, adopting a strategy of yawing for a period of time, then stopping yawing for a period of time and then continuing yawing. According to the invention, the unit can be prevented from triggering the tripping fault of the yaw air switch in the yaw process.

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, storage medium and computing device for reducing yaw switch tripping failures of wind turbines. Background Art

[0002] With the rapid development of the wind power industry, there are more and more wind turbines in mountainous areas, deserts, plateaus, and deep seas. Wind conditions are becoming increasingly complex, and turbines are becoming larger and larger. As a result, the yaw system load is also increasing. To further reduce costs, large-megawatt turbines generally use sliding bearings in the yaw systems. The damping load of the yaw system is also increasing, especially in low-temperature conditions. The lower the temperature, the greater the viscosity of the yaw reducer lubricant, and the lubricating performance of the grease in the sliding bearings decreases, resulting in greater yaw damping. The yaw tripping mechanism is easily triggered during yaw, especially when the unit is in low-temperature conditions, yawed into the wind for a long time after waiting for wind, or when the cable is unwound for a long time. A yaw tripping mechanism affects the unit's yaw into the wind, resulting in a loss of power generation. It also means that the yaw system load is heavy, approaching the maximum output torque of the yaw drive, which can easily damage the yaw drive. At present, there is little in-depth research in the industry on yaw control methods for wind turbines to avoid yaw tripping. It can be said that some existing technologies are helpless against yaw tripping, and some are even used as a method to keep the unit running and disconnected from the grid. Some are to optimize the control strategy at the beginning of yaw or to adopt a strategy of longer time intervals for higher yaw frequencies of the unit. However, there is no suitable control strategy to avoid yaw tripping during the yaw process of the unit or when the unit starts to yaw into the wind or unwind after a long period of waiting in the wind under low temperature conditions. This needs to be solved urgently. Summary of the Invention

[0003] The first purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and provide a yaw control method that can effectively reduce the yaw switch tripping failure of the wind turbine set. On the one hand, it avoids the yaw switch tripping during the yaw process of the set, and on the other hand, it avoids the yaw tripping caused by the set yawing towards the wind for a long time or long-term untying after a long time of waiting for wind in low temperature conditions, thereby avoiding the set being unable to yaw towards the wind after a failure. At the same time, it is also used to protect the yaw drive to avoid the yaw damping exceeding the maximum yaw driving force during the yaw process, causing damage to the yaw system.

[0004] A second object of the present invention is to provide a yaw control system that can effectively reduce yaw switch tripping failures of wind turbines.

[0005] A third object of the present invention is to provide a storage medium.

[0006] A fourth object of the present invention is to provide a computing device.

[0007] The first object of the present invention is achieved by the following technical solution: a yaw control method for reducing yaw switch tripping failure of a wind turbine generator system, comprising the following steps:

[0008] 1) Determine whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind and executes step 2) or step 3). If not, the unit continues to maintain the non-yaw state;

[0009] 2) During the yaw process, set n>1 gears, each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3; after the yaw is started, the average yaw speed V of the cabin within each different time ti is determined. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实 Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? Similarly, if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally.

[0010] 3) Determine whether the outdoor temperature is lower than the preset value. If not, execute step 2). If so, determine whether the unit is in the wind-waiting standby mode. If not, execute step 2). If so, first yaw according to step 2). If yaw is continuously directed to the wind or the cable is untied for a long time, adopt a strategy of yaw for a period of time T1, then stop yaw for a period of time T2, and then continue yaw.

[0011] Furthermore, in step 1), the currently recorded wind direction value is transmitted to the PLC controller of the unit through the anemometer, and the PLC controller determines whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to the wind, that is, the PLC controller controls the start of the yaw motor to run, and then the unit is yawed through the yaw drive action. If not, the unit continues to maintain a non-yaw state.

[0012] Furthermore, in step 2), four gears are set up, corresponding to time t1, t2, t3, and t4, respectively, where t1 < t2 < t3 < t4. After the yaw start preset time, the average yaw speed V in each time t1, t2, t3, and t4 is 实 The requirements for the corresponding gear are as follows: In the first gear, 0≤V 实 <α1V 额 ; In the second gear, α1V 额 ≤V 实 <α2V额 ; In the third gear, α2V 额 ≤V 实 <α3V 额 ; In the 4th gear, α3V 额 ≤V 实 <α4V 额 ; Among them, α1, α2, α3, α4 are proportional coefficients, α1<α2<α3<α4, V 额 is the rated yaw speed of the unit.

[0013] Furthermore, 1 second ≤ t1 < t2 < t3 < t4 ≤ 8 seconds.

[0014] Furthermore, 0.1≤α1<α2<α3<α4≤0.9.

[0015] Furthermore, the preset time for yaw start is 2 seconds.

[0016] Furthermore, in step 2), during the yaw process, the PLC controller of the unit determines in real time the average yaw speed V within each different time ti after the yaw preset time according to the cabin angle within the preset time detected by the yaw position encoder. 实 Is it in the corresponding gear?

[0017] Furthermore, in step 3), it is determined whether the outdoor temperature is below 0 degrees.

[0018] Further, in step 3), 2min≤T1≤4min, 1min≤T2≤2min.

[0019] The second object of the present invention is achieved by the following technical solution: a yaw control system for reducing the yaw switch tripping fault of a wind turbine generator set, which is used to implement the above-mentioned yaw control method for reducing the yaw switch tripping fault of a wind turbine generator set, comprising:

[0020] The over-limit judgment module is used to judge whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind and executes the gear judgment module or the low temperature judgment module. If not, the unit continues to maintain the non-yaw state;

[0021] The gear judgment module is used to set n>1 gears during the yaw process, and each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3; after the yaw is started, the average yaw speed V of the cabin within each different time ti is judged. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? Similarly, if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally.

[0022] The low temperature judgment module is used to judge whether the outdoor temperature is lower than the preset value. If not, the gear judgment module is executed. If so, it is judged whether the unit is in the wind-waiting standby mode. If not, the gear judgment module is executed. If so, the unit will first yaw according to the gear judgment module. If it yaws towards the wind or unravels for a long time, the strategy of yaw for a period of time T1, then stops yaw for a period of time T2, and then continues yaw is adopted.

[0023] The third object of the present invention is achieved through the following technical solution: a storage medium stores a program, and when the program is executed by a processor, the above-mentioned yaw control method for reducing the yaw switch tripping failure of the wind turbine is implemented.

[0024] The fourth purpose of the present invention is achieved through the following technical solution: a computing device, comprising a processor and a memory for storing a program executable by the processor, wherein when the processor executes the program stored in the memory, the above-mentioned yaw control method for reducing the yaw switch tripping fault of the wind turbine is implemented.

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] The present invention can avoid the large yaw damping and low yaw speed during the yaw process, which lead to large yaw motor current and large heat accumulation of the yaw air switch, causing it to trip. In low-temperature conditions, when the unit yaws towards the wind or unleashes the cable for a long time after a long period of waiting in light wind, a strategy of yawing for a period of time, then stopping yaw for a period of time, and then continuing yaw is adopted, so as to dissipate the heat of the yaw air switch and avoid tripping of the air switch. In short, the present invention can effectively prevent the unit from triggering the yaw air switch tripping fault during the yaw process, especially in low-temperature conditions, avoiding power generation loss, reducing the unit failure rate, and better protecting the yaw system, and is worthy of promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flow chart of the gear position determination method of the present invention.

[0028] Figure 2 The temperature determination flow chart of the method of the present invention (flow 1 in the figure is Figure 1 gear judgment process).

[0029] Figure 3 This is an architecture diagram of the system of the present invention. DETAILED DESCRIPTION

[0030] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0031] Example 1

[0032] See also Figure 1 and Figure 2 As shown, this embodiment discloses a yaw control method for reducing the yaw switch tripping fault of a wind turbine, and the specific situation is as follows:

[0033] 1) The currently recorded wind direction value is transmitted to the PLC controller of the unit through the anemometer. The PLC controller determines whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to the wind (that is, the PLC controller controls the start of the yaw motor to yaw the unit through the yaw drive action) and executes step 2) or step 3). If not, the unit continues to maintain the non-yaw state.

[0034] Determine whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind; if not, the unit continues to maintain the non-yaw state;

[0035] 2) During the yaw process, n>1 gears are set, and each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3. In this embodiment, four gears are set, corresponding to time t1, t2, t3, and t4, respectively, where 1 second ≤ t1 < t2 < t3 < t4 ≤ 8 seconds; the PLC controller of the unit determines in real time the average yaw speed V of the cabin within each time t1, t2, t3, and t4 2 seconds after the yaw is started based on the cabin angle within a certain time detected by the yaw position encoder. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实 Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? The average yaw speed V in t4 实 Is it in the third gear? The average yaw speed V in each time t1, t2, t3, and t4 实 The requirements for the corresponding gear are as follows: In the first gear, 0≤V 实 <α1V 额 ; In the second gear, α1V 额 ≤V 实 <α2V 额 ; In the third gear, α2V 额 ≤V 实 <α3V额 ; In the 4th gear, α3V 额 ≤V 实 <α4V 额 ; Among them, α1, α2, α3, α4 are proportional coefficients, 0.1≤α1<α2<α3<α4≤0.9, V 额 is the rated yaw speed of the unit; if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally. During the yaw process, the PLC controller continuously determines the average yaw speed V of the cabin within each different time ti. 实 Whether the above actions are performed when the vehicle is in the corresponding gear position can avoid large yaw damping and low yaw speed during yaw, which will lead to large motor current and large heat accumulation of the yaw air switch, causing it to trip.

[0036] 3) Determine whether the outdoor temperature is below 0 degrees. If not, execute step 2). If so, determine whether the unit is in the wind-waiting standby mode. If not, execute step 2). If so, first perform yaw according to step 2). If yaw is continuously performed for a long time, facing the wind or untying the cable, adopt a strategy of yaw for a period of time T1, then stop yaw for a period of time T2, and then continue yaw, so as to facilitate the heat dissipation of the yaw air switch and avoid circuit breaker tripping. Among them, 2min≤T1≤4min, 1min≤T2≤2min.

[0037] Remark:

[0038] PLC controller: used to program, store and execute the entire yaw control program;

[0039] Anemometer: used to detect and record the current wind direction. The wind direction information is transmitted to the PLC controller to facilitate the judgment of whether the unit needs to yaw to the wind;

[0040] Yaw motor and yaw drive: The PLC controller controls the start and stop of the yaw motor to make the yaw drive run or stop, thereby starting or stopping the yaw of the unit;

[0041] Yaw position encoder: used to record the yaw angle of the cabin and transmit it to the PLC controller to facilitate the judgment of whether the yaw process can be moved.

[0042] Example 2

[0043] This embodiment discloses a yaw control system for reducing the yaw tripping fault of a wind turbine generator set, which is used to implement the yaw control method for reducing the yaw tripping fault of a wind turbine generator set described in Example 1, such as Figure 3 As shown, it includes the following functional modules:

[0044] The over-limit judgment module is used to judge whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind and executes the gear judgment module or the low temperature judgment module. If not, the unit continues to maintain the non-yaw state;

[0045] The gear judgment module is used to set n>1 gears during the yaw process, and each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3; after the yaw is started, the average yaw speed V of the cabin within each different time ti is judged. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实 Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? Similarly, if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally.

[0046] The low temperature judgment module is used to judge whether the outdoor temperature is lower than the preset value. If not, the gear judgment module is executed. If so, it is judged whether the unit is in the wind-waiting standby mode. If not, the gear judgment module is executed. If so, the unit will first yaw according to the gear judgment module. If it yaws towards the wind or unravels for a long time, the strategy of yaw for a period of time T1, then stops yaw for a period of time T2, and then continues yaw is adopted.

[0047] Example 3

[0048] This embodiment discloses a storage medium storing a program. When the program is executed by a processor, the yaw control method for reducing the yaw switch tripping fault of a wind turbine generator set as described in Example 1 is implemented.

[0049] The storage medium in this embodiment can be a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a USB flash drive, a mobile hard disk, or the like.

[0050] Example 4

[0051] This embodiment discloses a computing device, including a processor and a memory for storing a program executable by the processor. When the processor executes the program stored in the memory, the yaw control method for reducing the yaw switch trip fault of the wind turbine generator set described in Example 1 is implemented.

[0052] The computing device described in this embodiment may be a desktop computer, a laptop computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal devices with a processor function.

[0053] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A yaw control method for reducing yaw switch tripping failure of a wind turbine, characterized in that: The following steps are involved: 1) Determine whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind and executes step 2) or step 3). If not, the unit continues to maintain the non-yaw state; 2) During the yaw process, set n>1 gears, each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3; after the yaw is started, the average yaw speed V of the cabin within each different time ti is determined. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实 Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? Similarly, if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally. 3) Determine whether the outdoor temperature is lower than the preset value. If not, execute step 2). If so, determine whether the unit is in the wind-waiting standby mode. If not, execute step 2). If so, first yaw according to step 2). If yaw is continuously directed to the wind or the cable is untied for a long time, adopt a strategy of yaw for a period of time T1, then stop yaw for a period of time T2, and then continue yaw.

2. A yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 1, characterized in that: In step 1), the currently recorded wind direction value is transmitted to the PLC controller of the unit through the anemometer. The PLC controller determines whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to the wind, that is, the PLC controller controls the start of the yaw motor to run, and then the unit is yawed through the yaw drive action. If not, the unit continues to maintain a non-yaw state.

3. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 1, characterized in that: In step 2), four gears are set up, corresponding to time t1, t2, t3, and t4, where t1 < t2 < t3 < t4. After the yaw start preset time, the average yaw speed V in each time t1, t2, t3, and t4 is 实 The requirements for the corresponding gear are as follows: In the first gear, 0≤V 实 <α1V 额 ; In the second gear, α1V 额 ≤V 实 <α2V 额 ; In the third gear, α2V 额 ≤V 实 <α3V 额 ; In the 4th gear, α3V 额 ≤V 实 <α4V 额 ; Among them, α1, α2, α3, α4 are proportional coefficients, α1<α2<α3<α4, V 额 is the rated yaw speed of the unit.

4. A yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 3, characterized in that: 1 second ≤ t1 < t2 < t3 < t4 ≤ 8 seconds.

5. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 3, characterized in that: 0.1≤α1＜α2＜α3＜α4≤0.9。 6. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 1, characterized in that: The preset time for yaw start is 2 seconds.

7. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 3, characterized in that: In step 2), during the yaw process, the PLC controller of the unit determines the average yaw speed V within each different time ti in real time after the yaw preset time according to the cabin angle within the preset time detected by the yaw position encoder. 实 Is it in the corresponding gear? 8. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 1, characterized in that: In step 3), it is determined whether the outdoor temperature is below 0 degrees.

9. The yaw control method for reducing yaw switch tripping failure of a wind turbine according to claim 1, characterized in that: In step 3), 2min≤T1≤4min, 1min≤T2≤2min.

10. A yaw control system for reducing yaw tripping failure of a wind turbine, characterized in that: A yaw control method for reducing a yaw switch trip fault of a wind turbine generator system according to any one of claims 1 to 9, comprising: The over-limit judgment module is used to judge whether the angle between the current wind direction and the cabin of the unit exceeds the limit. If so, the unit starts yaw to face the wind and executes the gear judgment module or the low temperature judgment module. If not, the unit continues to maintain the non-yaw state; The gear judgment module is used to set n>1 gears during the yaw process, and each gear corresponds to a different time ti, where the first gear corresponds to time t1, the second gear corresponds to time t2, the third gear corresponds to time t3, and so on, and t1<t2<t3; after the yaw is started, the average yaw speed V of the cabin within each different time ti is judged. 实 Is it in the corresponding gear, that is, the average yaw speed V within t1 实 Is it in the first gear? The average yaw speed V in t2 实 Is it in the second gear? The average yaw speed V in t3 实 Is it in the third gear? Similarly, if the average yaw speed V within a certain time ti 实 If the gear is in the corresponding position and lasts for time ti, the unit stops yaw. If it is not in the corresponding position, the unit yaws normally. The low temperature judgment module is used to judge whether the outdoor temperature is lower than the preset value. If not, the gear judgment module is executed. If so, it is judged whether the unit is in the wind-waiting standby mode. If not, the gear judgment module is executed. If so, the unit will first yaw according to the gear judgment module. If it yaws towards the wind or unravels for a long time, the strategy of yaw for a period of time T1, then stops yaw for a period of time T2, and then continues yaw is adopted.

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