Wind turbine yaw limit position protection method and device, electronic equipment and medium
By comparing the actual value and the reference value of the yaw speed in the computer cabin, the yaw counter was calibrated, which solved the problem of inaccurate yaw counter counting and realized the cable and operation safety protection of the wind turbine.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING HUANENG XINRUI CONTROL TECH
- Filing Date
- 2025-07-31
- Publication Date
- 2026-06-26
AI Technical Summary
The existing yaw counter has initialization errors and bearing damage, which can lead to inaccurate yaw angle counting and may cause cable twisting safety hazards. The existing hardware cable unwinding protection method has problems with abnormal triggering or failure to trigger.
By comparing the actual yaw speed value with the reference value in the computer cabin, the yaw counter is calibrated, and the yaw speed is determined to reach the rated speed using the yaw frequency converter or time delay timer to ensure yaw limit position protection.
Without changing the hardware, the accuracy of the yaw counter is improved, cable twisting failures are avoided, and the safety of wind turbine cables and operation is ensured.
Smart Images
Figure CN120845246B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of wind power control technology, and in particular to a method and device for yaw limit position protection of wind turbine generators, electronic equipment, and medium. Background Technology
[0002] Safety is essential for the normal operation of wind turbines. The most common and serious faults in wind turbines include overspeed, vibration, and cable twisting. Cable twisting, in particular, causes significant damage to the wind turbine cables; severe twisting can lead to cable breakage, directly causing serious consequences such as fires during wind turbine operation. Therefore, to effectively prevent cable twisting, reduce cable damage, and protect the turbine's safety, cable protection measures are necessary.
[0003] Currently, yaw limit position protection methods typically involve hardware unmooring protection via a yaw counter (yaw cam) or triggering unmooring protection logic in the main control program when the yaw position angle exceeds a set value. This prevents the engine room from moving in the direction where the yaw angle continues to increase, and simultaneously reports a fault to inform monitoring personnel that the fault has been triggered.
[0004] The methods described above, whether hardware-based cable unwinding protection or yaw angle measurement, rely on a yaw counter. However, yaw counters have several drawbacks, such as human error during initialization and potential bearing damage after prolonged operation, leading to yaw angle inaccuracies and consequently, inaccurate yaw angle readings received by the programmable logic controller (PLC). Hardware-based cable unwinding protection triggering methods can also experience abnormal triggering or failure to trigger. Abnormal yaw counter readings can cause significant deviations in the yaw angle, potentially leading to cable twisting and other safety hazards. Summary of the Invention
[0005] This disclosure aims to address at least one of the problems existing in the prior art by providing a method, device, electronic equipment, and medium for protecting the yaw limit position of a wind turbine.
[0006] One aspect of this disclosure provides a method for protecting the yaw limit position of a wind turbine, the protection method comprising:
[0007] The yaw speed of the wind turbine reaches the rated speed;
[0008] Based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw, calculate the actual value of the cabin yaw speed.
[0009] Reference value for yaw speed in the computer cabin based on the operating parameters of the yaw system;
[0010] The actual value of the cabin yaw speed is compared with the reference value of the cabin yaw speed, and the yaw limit position is protected based on the comparison result.
[0011] Optionally, before the yaw speed of the wind turbine reaches the rated speed, the protection method further includes:
[0012] When the wind turbine is equipped with a yaw inverter, it is determined whether the yaw inverter has fed back a flag indicating that the yaw motor has reached the rated speed. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0013] Optionally, before the yaw speed of the wind turbine reaches the rated speed, the protection method further includes:
[0014] When the wind turbine is not equipped with a yaw inverter, yaw is started to increase the yaw speed. At the same time, the yaw delay timer is started to determine whether the duration of the yaw delay timer has reached the preset delay duration. If so, the yaw speed of the wind turbine is considered to have reached the rated speed.
[0015] Optionally, the step of calculating the corresponding actual cabin yaw speed based on the pulse statistics values of the yaw counter corresponding to the start and stop times of this yaw includes:
[0016] Calculate the actual value of the cabin yaw speed according to Formula 1:
[0017]
[0018] Where V0 represents the actual value of the cabin yaw speed, P stop P represents the pulse statistics value of the yaw counter corresponding to the stopping time of this yaw. start The pulse count of the yaw counter corresponds to the start time of this yaw. Inc0 represents the pulse count of the yaw counter corresponding to one revolution of the nacelle. N1 represents the number of gears in the yaw gear ring. N0 represents the number of gears in the yaw counter gear ring. Δt represents the duration of this yaw.
[0019] Optionally, the reference value for the yaw speed of the computer cabin, based on the operating parameters of the yaw system, includes:
[0020] Calculate the reference value for the cabin yaw speed according to Formula 2:
[0021]
[0022] Wherein, Vref represents the reference value of the yaw speed of the engine room, V1 represents the rated speed of the yaw motor, R1 represents the reduction ratio of the yaw reducer, and N2 represents the number of gears of the yaw reducer.
[0023] Optionally, the step of protecting the yaw limit position based on the comparison result includes:
[0024] If the actual value of the cabin yaw speed is less than a first preset ratio of the cabin yaw speed reference value, or if the actual value of the cabin yaw speed is greater than a second preset ratio of the cabin yaw speed reference value, then the yaw counter is considered to be abnormally fed back, and the yaw counter is calibrated and set to ensure the accuracy of the yaw counter; wherein the first preset ratio is less than the second preset ratio.
[0025] Another aspect of this disclosure provides a yaw limit position protection system for wind turbine generators, the protection system comprising a response module, a first calculation module, a second calculation module, and a protection module;
[0026] The response module is used to trigger the first calculation module, the second calculation module, and the protection module when the yaw speed of the wind turbine reaches the rated speed.
[0027] The first calculation module is used to calculate the actual cabin yaw speed based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw.
[0028] The second calculation module is used to calculate the reference value of the yaw speed in the computer cabin based on the operating parameters of the yaw system.
[0029] The protection module is used to compare the actual value of the cabin yaw speed with the reference value of the cabin yaw speed, and to protect the yaw limit position based on the comparison result.
[0030] Optionally, the protection system further includes:
[0031] The judgment module is used to determine whether the yaw inverter has fed back a flag indicating that the yaw motor has reached the rated speed when the wind turbine is equipped with a yaw inverter. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0032] Optionally, the judgment module is further configured to start yaw to increase yaw speed when the wind turbine is not equipped with a yaw inverter, and at the same time start yaw delay timer to determine whether the duration of the yaw delay timer has reached the preset delay duration. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0033] Another aspect of this disclosure provides an electronic device comprising:
[0034] At least one processor; and,
[0035] A memory that is communicatively connected to at least one processor; wherein,
[0036] The memory stores instructions that can be executed by at least one processor, which enables the at least one processor to perform the wind turbine yaw limit position protection method described above.
[0037] Another aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wind turbine yaw limit position protection method described above.
[0038] Another aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the wind turbine yaw limit position protection method described above.
[0039] Compared with the prior art, this disclosure can protect the yaw limit position without changing the hardware equipment, thus ensuring the safety of the wind turbine's cables and operation. Attached Figure Description
[0040] One or more embodiments are illustrated by way of example with the corresponding pictures in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0041] Figure 1 A flowchart of a wind turbine yaw limit position protection method provided in one embodiment of this disclosure;
[0042] Figure 2 A flowchart illustrating a wind turbine yaw limit position protection method according to another embodiment of this disclosure;
[0043] Figure 3 A schematic diagram of the structure of a wind turbine yaw limit position protection system provided for another embodiment of this disclosure;
[0044] Figure 4 A schematic diagram of the structure of an electronic device provided in another embodiment of this disclosure. Detailed Implementation
[0045] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the various embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and with various variations and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of this disclosure. The various embodiments can be combined with and referenced by each other without contradiction.
[0046] One embodiment of this disclosure relates to a method for protecting the yaw limit position of a wind turbine, the process of which is as follows: Figure 1 As shown, it includes:
[0047] Step S110, in response to the yaw speed of the wind turbine reaching the rated speed.
[0048] Specifically, the wind turbine yaw limit position protection method provided in this embodiment is applied when the yaw speed of the wind turbine reaches the rated speed. At this time, the rotational speed of the yaw motor reaches the rated speed. Therefore, before step S110, it is necessary to determine whether the yaw motor has reached the rated speed.
[0049] Since the yaw system of a wind turbine may be equipped with a yaw inverter, which is used to control the speed of the yaw motor, when the speed of the yaw motor reaches the rated speed, the yaw inverter will feed back a flag bit to the main control PLC. This flag bit is used to indicate that the speed of the yaw motor has reached the rated speed. Therefore, before step S110, the wind turbine yaw limit position protection method also includes: when the wind turbine is equipped with a yaw inverter, determining whether the yaw inverter has fed back a flag bit indicating that the yaw motor has reached the rated speed. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0050] Since the yaw system of the wind turbine may not be equipped with a yaw inverter, before step S110, the wind turbine yaw limit position protection method also includes: when the wind turbine is not equipped with a yaw inverter, starting yaw to increase the yaw speed, and starting the yaw delay timer at the same time, determining whether the duration of the yaw delay timer has reached the preset delay duration, and if so, considering that the yaw speed of the wind turbine has reached the rated speed.
[0051] Specifically, when a wind turbine is not equipped with a yaw inverter, it is impossible to determine whether the yaw motor speed has reached the rated speed through the flag bit fed back by the yaw inverter. In this case, the yaw speed of the wind turbine can be determined by whether the delay time after yaw is started reaches the preset delay time. The preset delay time can be determined based on the actual situation of the wind turbine or historical data.
[0052] Step S120: Calculate the actual cabin yaw speed based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw.
[0053] Specifically, based on the pulse statistics output by the yaw counter, the number of rotations and rotation angle of the nacelle relative to the tower during the yaw process can be determined. Therefore, the actual nacelle yaw speed can be calculated by using the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw.
[0054] For example, step S120 includes: calculating the actual value of the computer cabin yaw speed according to Formula 1:
[0055]
[0056] Where V0 represents the actual cabin yaw speed, in degrees per second. P stop This represents the pulse count of the yaw counter corresponding to the stopping time of this yaw, expressed in pulses. start The value of the yaw counter pulse count is the number of pulses corresponding to the start time of this yaw. Inc0 represents the number of pulses of the yaw counter pulse count corresponding to one revolution of the nacelle. N1 represents the number of gears in the yaw gear ring. N0 represents the number of gears in the yaw counter gear ring. Δt represents the duration of this yaw, in seconds.
[0057] Step S130: Based on the operating parameters of the yaw system, calculate the reference value of the yaw speed in the computer cabin.
[0058] Specifically, step S130 can use the relevant parameters of the yaw motor, yaw reducer, and yaw gear ring to calculate the reference value of the yaw speed of the engine room.
[0059] For example, step S130 includes: determining the reference value for the computer cabin yaw speed according to Formula 2:
[0060]
[0061] Where Vref represents the reference value for nacelle yaw speed, in degrees per second. V1 represents the rated speed of the yaw motor, in revolutions per minute. R1 represents the reduction ratio of the yaw reducer. N2 represents the number of gears in the yaw reducer.
[0062] Step S140: Compare the actual cabin yaw speed with the cabin yaw speed reference value, and protect the yaw limit position based on the comparison result.
[0063] Specifically, step S140 can verify the nacelle position angle output by the yaw counter based on the difference between the actual nacelle yaw speed value and the nacelle yaw speed reference value, so as to ensure the accuracy of the yaw counter, thereby ensuring the safe operation of the wind turbine and avoiding cable twisting failure caused by yaw counter abnormality.
[0064] For example, in step S140, the protection of the yaw limit position is carried out according to the comparison result, including: if the actual value of the cabin yaw speed is less than a first preset ratio of the cabin yaw speed reference value, or the actual value of the cabin yaw speed is greater than a second preset ratio of the cabin yaw speed reference value, then the counting feedback of the yaw counter is considered abnormal, and the yaw counter is calibrated and set to ensure the counting accuracy of the yaw counter; wherein, the first preset ratio is less than the second preset ratio.
[0065] For example, if the first preset ratio is set to 60% and the second preset ratio is set to 120%, then if the actual cabin yaw speed is less than 60% of the cabin yaw speed reference value (V0 < Vref * 60%), or the actual cabin yaw speed is greater than 120% of the cabin yaw speed reference value (V0 > Vref * 120%), then the actual cabin yaw speed value V0 is considered abnormal. This indicates that the yaw counter's feedback count is abnormal. In this case, the yaw counter needs to be calibrated and set to ensure that the yaw counter counts accurately, thereby ensuring the accuracy of the yaw position, especially the yaw limit position.
[0066] In particular, an abnormal nacelle yaw speed value V0 can also trigger a timer. If the timer reaches the preset duration, the nacelle yaw speed value V0 is considered to be continuously abnormal. At this time, the fault flag is triggered, the wind turbine is shut down, and the staff can check the yaw counter to verify it.
[0067] The wind turbine yaw limit position protection method provided in this disclosure can protect the yaw limit position without changing the hardware equipment, thus ensuring the cable safety and operational safety of the wind turbine.
[0068] To enable those skilled in the art to better understand the wind turbine yaw limit position protection method provided by the above embodiments, a specific example is given below.
[0069] Combined Figure 2 A method for protecting the yaw limit position of a wind turbine includes the following steps:
[0070] The protection logic begins by determining if yaw has been initiated. If not, the protection logic ends. If it is, it checks if the system is a frequency converter yaw system, i.e., whether a yaw frequency converter is configured. If it is a frequency converter yaw system, i.e., whether a yaw frequency converter is configured, it checks if the yaw frequency converter has reported that the yaw motor speed has reached the rated speed. Otherwise, it initiates yaw and waits for the yaw speed to increase. Simultaneously, it starts the yaw delay timer TON2. If the TON2 timer expires, i.e., the yaw delay timer reaches the preset delay duration, it records the initial yaw position P. start This refers to the pulse count value of the yaw counter corresponding to the start time of this yaw; otherwise, the protection logic terminates. If the yaw inverter feedback reaches the rated speed, i.e., the yaw motor speed reaches the rated speed, then the initial yaw position P is recorded. start This refers to the pulse count value of the yaw counter corresponding to the start time of this yaw; otherwise, the protection logic terminates. Record the initial yaw position P. start Next, start the yaw timer TON1 and check if the yaw timer has expired (i.e., if the yaw timer has reached 1 second). If not, check again to see if the yaw timer has expired; otherwise, record the current yaw position P. stop This refers to the pulse statistics value of the yaw counter corresponding to the stopping time of this yaw, calculated according to Formula 1 (actual yaw speed V0 in the computer cabin) and Formula 2 (reference yaw speed Vref in the computer cabin). It is determined whether V0 < Vref * 60%. If not, it is determined whether V0 > Vref * 120%. Otherwise, V0 is considered abnormal, and the V0 abnormality statistics timer is started. It is then determined whether the timer limit has expired. If the timer limit has expired, the V0 abnormality fault flag is triggered, the protection logic ends, and personnel can check the yaw counter to verify it. If the timer limit has not expired, the timer continues counting, and the timer limit is re-evaluated. If V0 > Vref * 120%, V0 is considered abnormal, and a V0 abnormality statistics timer is started. The timer's timeout limit is checked. If the timer's timeout limit is met, the V0 abnormality fault flag is triggered, the protection logic ends, and the operator can check the yaw counter to verify it. If the timer's timeout limit is not met, the timer continues counting, and the timer's timeout limit is checked again. If V0 > Vref * 120% is not met, V0 is considered normal, and the protection logic ends.
[0071] Another embodiment of this disclosure relates to a yaw limit position protection system for wind turbines, such as Figure 3 As shown, it includes a response module 310, a first calculation module 320, a second calculation module 330, and a protection module 340.
[0072] The response module 310 is used to trigger the first calculation module 320, the second calculation module 330, and the protection module 340 when the yaw speed of the wind turbine reaches the rated speed.
[0073] The first calculation module 320 is used to calculate the actual cabin yaw speed based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw.
[0074] The second calculation module 330 is used to calculate the reference value of the yaw speed in the computer cabin based on the operating parameters of the yaw system.
[0075] The protection module 340 is used to compare the actual value of the cabin yaw speed with the reference value of the cabin yaw speed, and to protect the yaw limit position based on the comparison result.
[0076] For example, the wind turbine yaw limit position protection system also includes a judgment module.
[0077] The judgment module is used to determine whether the yaw inverter has fed back a flag indicating that the yaw motor has reached the rated speed when the wind turbine is equipped with a yaw inverter. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0078] For example, the judgment module is also used to start yaw to increase yaw speed when the wind turbine is not equipped with a yaw inverter, and at the same time start yaw delay timer to determine whether the duration of yaw delay timer has reached the preset delay duration. If so, it is considered that the yaw speed of the wind turbine has reached the rated speed.
[0079] The specific implementation method of the wind turbine yaw limit position protection system provided in this disclosure can be found in the wind turbine yaw limit position protection method provided in this disclosure, and will not be repeated here.
[0080] The wind turbine yaw limit position protection system provided in this disclosure can protect the yaw limit position without changing the hardware, compared with the prior art, thus ensuring the cable safety and operational safety of the wind turbine.
[0081] Another embodiment of this disclosure relates to an electronic device, such as Figure 4 As shown, it includes:
[0082] At least one processor 410; and,
[0083] Memory 420 is communicatively connected to at least one processor 410; wherein,
[0084] The memory 420 stores instructions that can be executed by at least one processor 410, which enables the at least one processor 410 to perform the wind turbine yaw limit position protection method described in the above embodiments.
[0085] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.
[0086] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.
[0087] Another embodiment of this disclosure relates to a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wind turbine yaw limit position protection method described in the above embodiments.
[0088] That is, those skilled in the art will understand that all or part of the steps in the methods described in the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0089] Another embodiment of this disclosure relates to a computer program product, including a computer program that, when executed by a processor, implements the wind turbine yaw limit position protection method described in the above embodiments.
[0090] Those skilled in the art will understand that the above embodiments are specific implementations of this disclosure, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this disclosure.
Claims
1. A method for protecting the yaw limit position of a wind turbine, characterized in that, The protection method includes: The yaw speed of the wind turbine reaches the rated speed; Based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw, calculate the actual value of the cabin yaw speed. Reference value for yaw speed in the computer cabin based on the operating parameters of the yaw system; The actual value of the cabin yaw speed is compared with the reference value of the cabin yaw speed, and the yaw limit position is protected according to the comparison result. Before the yaw speed of the wind turbine reaches the rated speed, the protection method further includes: when the wind turbine is equipped with a yaw inverter, determining whether the yaw inverter has fed back a flag indicating that the yaw motor has reached the rated speed; if so, then it is considered that the yaw speed of the wind turbine has reached the rated speed. Before the yaw speed of the wind turbine reaches the rated speed, the protection method further includes: when the wind turbine is not equipped with a yaw inverter, starting yaw to increase the yaw speed, and simultaneously starting a yaw delay timer to determine whether the duration of the yaw delay timer reaches the preset delay duration; if so, it is considered that the yaw speed of the wind turbine has reached the rated speed. The step of calculating the actual cabin yaw speed based on the pulse statistics of the yaw counter at the start and end times of this yaw includes: Calculate the actual value of the cabin yaw speed according to Formula 1: Official 1; Where V0 represents the actual value of the cabin yaw speed, P stop P represents the pulse statistics value of the yaw counter corresponding to the stopping time of this yaw. start The pulse count of the yaw counter corresponds to the start time of this yaw. Inc0 represents the pulse count of the yaw counter corresponding to one revolution of the nacelle. N1 represents the number of gears in the yaw gear ring. N0 represents the number of gears in the yaw counter gear ring. Δt represents the duration of this yaw. The reference value for the yaw speed of the computer cabin, based on the operating parameters of the yaw system, includes: Calculate the reference value for the cabin yaw speed according to Formula 2: Official 2; Wherein, Vref represents the reference value of the yaw speed of the cabin, V1 represents the rated speed of the yaw motor, R1 represents the reduction ratio of the yaw reducer, and N2 represents the number of gears of the yaw reducer. The protection of yaw limit positions based on the comparison results includes: If the actual value of the cabin yaw speed is less than a first preset ratio of the cabin yaw speed reference value, or if the actual value of the cabin yaw speed is greater than a second preset ratio of the cabin yaw speed reference value, then the yaw counter is considered to be abnormally fed back, and the yaw counter is calibrated and set to ensure the accuracy of the yaw counter; wherein the first preset ratio is less than the second preset ratio.
2. A yaw limit position protection system for wind turbine generators, characterized in that, This method is used to implement the yaw limit position protection method for wind turbine generators as described in claim 1; the protection system includes a response module, a first calculation module, a second calculation module, and a protection module. The response module is used to trigger the first calculation module, the second calculation module, and the protection module when the yaw speed of the wind turbine reaches the rated speed. The first calculation module is used to calculate the actual cabin yaw speed based on the pulse statistics of the yaw counter corresponding to the start and stop times of this yaw. The second calculation module is used to calculate the reference value of the yaw speed in the computer cabin based on the operating parameters of the yaw system. The protection module is used to compare the actual value of the cabin yaw speed with the reference value of the cabin yaw speed, and to protect the yaw limit position based on the comparison result.
3. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the wind turbine yaw limit position protection method of claim 1.
4. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the wind turbine yaw limit position protection method of claim 1.
5. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the wind turbine yaw limit position protection method of claim 1.