Yaw wind angle abnormity monitoring and correcting method

Abstract

The invention provides a yaw wind alignment angle abnormity monitoring and correcting method, which comprises the following steps of: acquiring an included angle alpha 0 between a cabin zero degree and the northern part, the cabin zero degree being a cabin preset initial angle; calculating an absolute position angle beta of the cabin according to the yaw position angle theta of the unit and the zero included angle alpha0 of the cabin; uploading the cabin absolute position angle beta to a station monitoring system, and generating an absolute position reference value beta ref of the station; and monitoring a deviation value beta dif between the absolute position angle beta of the cabin and the absolute position reference value beta ref in real time, and adjusting the position of the cabin by using the absolute position reference value beta ref of the station. The system realizes the unmooring function through a yaw control program, and ensures the continuity and safety of the rotation of the cabin. According to the method, the problem of time delay caused by off-line judgment in the prior art is solved, the response speed and the operation stability of the wind turbine generator are remarkably improved, the equipment failure rate is reduced, the service life of a fan is prolonged, and the overall power generation performance of a wind power plant is further improved.

Description

Technical Field

[0001] This invention relates to the field of wind power control, and in particular to a method for monitoring and correcting abnormal yaw angles. Background Technology

[0002] The yaw system is an important component of wind turbines. Its main function is to enable the nacelle to automatically rotate to face the wind when the angle between the wind direction collected by the wind direction sensor and the nacelle position exceeds a set value. This ensures that the blades' windward side is accurately aligned with the wind direction, thereby maximizing the capture of wind energy.

[0003] The yaw control relies on the wind direction angle provided by the anemometer. Inaccurate wind direction will result in an incorrect yaw angle, preventing the wind turbine from maximizing wind energy capture and leading to poor power generation performance. Anemometers, whether ultrasonic or mechanical, are susceptible to installation errors and inherent equipment malfunctions, all of which affect the yaw angle. Therefore, timely calibration of the yaw angle is essential.

[0004] Currently, many manufacturers use historical data from the power station to make offline judgments on yaw angle correction errors. Online judgments involve a large amount of data that the PLC itself cannot complete. Offline judgments also have a certain time delay. Generally, offline judgments and corrections are only performed after the generator's power generation is found to be abnormally low.

[0005] This invention designs a method for monitoring and correcting abnormal yaw angles, which mainly increases the data interaction between the unit and the SCADA backend regarding the absolute position of the nacelle (the angle between the nacelle and due north). The absolute position is used to determine whether the current yaw angle is abnormal, and an alarm is triggered in time when an abnormality is detected. When the wind speed and direction instrument fails, the nacelle position can be adjusted using the reference value of the yaw absolute position. Summary of the Invention

[0006] The first aspect of this disclosure provides a method for monitoring and correcting anomalies in yaw angle against the wind, comprising the following steps:

[0007] Obtain the angle α0 between zero degree of the cabin and due north. Zero degree of the cabin is the preset initial angle of the cabin.

[0008] The absolute position angle β of the computer cabin is calculated based on the yaw position angle θ of the crew and the zero-degree angle α0 of the cabin.

[0009] Upload the absolute position angle β of the cabin to the airfield monitoring system and generate the absolute position reference value β of the airfield. ref ;

[0010] Real-time monitoring of the cabin's absolute position angle β and absolute position reference value β ref deviation value β difAnd using the station's absolute position reference value β ref Adjust the cabin position.

[0011] In conjunction with the first aspect, the method for obtaining the angle α0 between zero degrees in the cabin and true north includes the following steps:

[0012] Install an electronic compass inside the cabin and manually yaw the cabin to zero degrees.

[0013] The pointer direction of the electronic compass is calibrated to be parallel to the direction of the cabin nose, and the electronic compass output value of the angle between the cabin nose and true north is obtained;

[0014] The value is stored through the PLC analog signal channel, and positive is defined as north-east and negative as north-west. After filtering, the angle α0 between zero degrees of the engine room and true north is determined.

[0015] In conjunction with the first aspect, the method for determining the absolute position angle β of the computer cabin includes the following steps:

[0016] Based on the positive and negative directions of the cabin yaw position angle θ defined in the crew yaw control procedure, the absolute cabin position angle β is calculated using the following formula:

[0017] When -(180+α0)°<θ<(180-α0)°, β=θ+α0;

[0018] When -540°<θ<-(180+α0)°, β=θ+α0+360;

[0019] When (180-α0)°<θ<540°, β=θ+α0-360;

[0020] When θ < -540° or θ > 540°, determine whether the cabin mooring has been undone; if not, it is considered abnormal.

[0021] In conjunction with the first aspect, the absolute position reference value β of the generated station ref The method includes the following steps:

[0022] The absolute position angle β values ​​of the nacelles uploaded by all wind turbine units at the site are summarized;

[0023] Using filtering algorithms and averaging, the absolute position reference value β of the station is generated. ref ;

[0024] If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as β. ref Reference values ​​were then distributed to each generating unit.

[0025] In conjunction with the first aspect, the real-time monitoring deviation value β dif The methods include:

[0026] The absolute position angle β of the computer cabin and the absolute position reference value β ref The difference β dif ;

[0027] If β dif If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded.

[0028] In conjunction with the first aspect, the method further includes correcting the angle α0 between the cabin zero degree and true north, specifically including:

[0029] Each time the cabin position passes zero, the current cabin angle α is detected;

[0030] If the deviation between the current α value and the recorded α0 value exceeds the set threshold, the current α value is assigned to α0 to complete the correction.

[0031] A second aspect of this disclosure provides an electronic device, comprising:

[0032] One or more processors;

[0033] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the method for monitoring and correcting anomalies in wind angle.

[0034] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, can implement the method for monitoring and correcting yaw angle anomalies.

[0035] Beneficial Effects: This invention provides a method for monitoring and correcting abnormal yaw angles against the wind. It can monitor the deviation between the absolute position of the nacelle and the wind direction in real time, promptly detect and correct abnormal yaw angles against the wind, and avoid decreased power generation efficiency due to wind vane failure or data errors. Simultaneously, the system implements a cable unwinding function through a yaw control program, ensuring the continuity and safety of the nacelle rotation. This method overcomes the time delay problem caused by offline judgment in existing technologies, significantly improves the response speed and operational stability of wind turbine units, reduces equipment failure rates, extends the service life of wind turbines, and further enhances the overall power generation performance of wind farms. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating a method for monitoring and correcting abnormal yaw angles according to an embodiment of this disclosure.

[0037] Figure 2 This is a schematic diagram of the cabin yaw angle according to an embodiment of the present disclosure;

[0038] Figure 3An electronic device according to an embodiment of this disclosure. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those disclosed herein.

[0040] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0041] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0042] like Figure 1 The diagram shown is a flowchart illustrating a method for monitoring and correcting yaw angle anomalies according to an embodiment of this disclosure, including:

[0043] S101: Obtain the angle α0 between the cabin zero degree and due north. The cabin zero degree is the preset initial angle of the cabin.

[0044] Specifically, nacelle zero degree is the initial angle of the nacelle and the reference point for calculating all yaw angles. By installing an electronic compass in the nacelle, the nacelle is rotated to a preset zero position (usually in the direction parallel to the blades), and the angle α0 between the nacelle nose direction and true north is recorded.

[0045] Since the installation location and orientation of wind turbine units may vary, the angle α0 of the nacelle relative to true north will also vary depending on site conditions. This needs to be calibrated and recorded during installation.

[0046] Optionally, to improve measurement accuracy, the data from the electronic compass can be sampled multiple times, and short-term fluctuations can be eliminated through filtering algorithms to ensure the stability and accuracy of α0.

[0047] S102: Calculate the absolute position angle β of the cabin based on the yaw position angle θ of the crew and the zero-degree angle α0 of the cabin.

[0048] Specifically, the yaw position angle θ is the offset relative to zero degrees of the cabin. It is converted into the absolute position angle β of the cabin relative to true north using the following formula:

[0049] When -(180+α0)°<θ<(180-α0)°, β=θ+α0;

[0050] When -540°<θ<-(180+α0)°, β=θ+α0+360;

[0051] When (180-α0)°<θ<540°, β=θ+α0-360;

[0052] Different manufacturers may define the positive and negative directions of the yaw control logic differently, so the compatibility of the positive and negative directions needs to be considered in the calculation formula.

[0053] During operation, the yaw angle calculation can be combined with the automatic unmooring logic of the cabin position. When the cumulative yaw angle exceeds the set range (such as ±540°), the automatic unmooring function is triggered to ensure the continuity of angle calculation and the safety of unit operation.

[0054] S103: Upload the absolute position angle β of the cabin to the airfield monitoring system and generate the absolute position reference value β of the airfield. ref .

[0055] Specifically, each generator unit uploads its calculated absolute nacelle position angle β to the Supervisory Control and Data Acquisition (SCADA) system in real time. The SCADA system aggregates, filters, and averages the β values ​​from all generator units to generate a station-level reference value β. ref It serves as a benchmark for the overall wind direction of the wind farm.

[0056] If a wind measurement tower is installed at the site, the wind direction data provided by the tower can be used as a supplementary reference, along with the beta data generated by SCADA. ref By making comparisons, the reliability of the wind direction benchmark can be further improved.

[0057] Station reference value β ref It can also be used for station-level wind direction trend analysis, operational status optimization, and inter-unit coordinated control. For example, in certain special cases (such as partial anemometer failure), β ref It can be sent to the generator unit as alternative data.

[0058] S104: Real-time monitoring of cabin absolute position angle β and absolute position reference value β ref deviation value β difAnd using the station's absolute position reference value β ref Adjust the cabin position.

[0059] Specifically, by calculating the real-time absolute position angle β of the cabin and the station reference value β ref deviation value β dif Determine if the cabin is aligned with the wind direction:

[0060] For example, if β dif If it is within the set range (e.g., ±2°), the cabin's windward position is considered normal.

[0061] For example, if β dif If the setting range is exceeded, an alarm will be triggered or the cabin position will be adjusted directly.

[0062] When the anemometer malfunctions or displays abnormal data, the absolute position reference value β of the station will be used. ref It can replace the original data, guide the yaw operation of the engine room, and avoid the decline in power generation efficiency caused by wind vane problems.

[0063] Optionally, to improve wind accuracy, the station reference value β can be adjusted. ref Based on this, and combined with meteorological forecast data or wind direction data from nearby stations, a dynamic correction model is established to make the yaw system more intelligent. Furthermore, this real-time monitoring logic can be integrated with the wind turbine fault diagnosis system to provide early warnings of potential wind vane malfunctions or abnormal wind turbine operation.

[0064] Beneficial effects: Through the logical connection of the above steps, real-time judgment and correction of abnormal yaw angles can be achieved. The overall process not only improves the operating efficiency of wind turbines but also enhances the intelligence and stability of the system, providing reliable technical support for the operation and management of wind farms.

[0065] Furthermore, the method for obtaining the angle α0 between zero degrees in the cabin and true north includes the following steps:

[0066] Install an electronic compass inside the cabin and manually yaw the cabin to zero degrees.

[0067] The pointer direction of the electronic compass is calibrated to be parallel to the direction of the cabin nose, and the electronic compass output value of the angle between the cabin nose and true north is obtained;

[0068] The value is stored through the PLC analog signal channel, and positive is defined as north-east and negative as north-west. After filtering, the angle α0 between zero degrees of the engine room and true north is determined.

[0069] Specifically, first, an electronic compass is installed inside the cabin. This compass measures the angle between the cabin's nose and true north. Next, the operators manually adjust the cabin to ensure its zero-degree position aligns with a preset reference angle. Manually yawing to the zero-degree position provides a known reference point for subsequent angle calculations.

[0070] Nacelle zero-degree typically refers to the initial position of the nacelle, parallel to the direction of the wind turbine blades. In this step, the nacelle's position is manually adjusted so that the electronic compass measures an accurate reference angle.

[0071] To ensure accurate zero-degree positioning of the cabin, verification can be performed through multiple manual yaw measurements to avoid affecting the accuracy of subsequent data due to errors from a single adjustment. During installation, an electronic compass with high horizontal and vertical accuracy can be selected to ensure the reliability of angle measurement results.

[0072] After the electronic compass is installed, it needs to be calibrated to ensure that its output accurately reflects the angle between the cabin nose and true north. During this process, ensure that the pointer of the electronic compass is parallel to the direction of the cabin nose so that the electronic compass can accurately measure the angle between the cabin nose and true north.

[0073] Calibration of the electronic compass is crucial for subsequent angle measurements. If the compass is not properly calibrated, systematic errors will occur in the measured angles, causing the yaw system to deviate from its intended direction. During calibration, it is essential to ensure that the electronic compass is installed in the same direction as the nose of the aircraft and is free from external magnetic field interference.

[0074] During wind turbine operation, electronic compasses may be subject to magnetic field interference (such as the influence of other electrical equipment within the nacelle). Therefore, calibration should be performed under conditions free from external interference, and the accuracy of the electronic compass should be checked periodically. If deviations occur, recalibration may be necessary.

[0075] The angle value measured by the electronic compass (i.e., the angle between the cabin nose and true north) is stored through the analog channel of the PLC (Programmable Logic Controller). This process ensures that the angle value can be digitized and further used for yaw angle calculation. According to the specifications, north-northeast is defined as positive and north-northwest as negative, thus providing standardized angle values ​​for subsequent yaw angle calculations. The measured raw angle data also needs to be filtered to remove instantaneous fluctuations and noise, ensuring that the obtained cabin zero-degree angle between the cabin nose and true north has high stability and accuracy.

[0076] The PLC is a core component of control and automation systems. In this step, the PLC is responsible for receiving the analog signal output from the electronic compass, converting it into a digital signal, and storing it. Through filtering, data fluctuations caused by factors such as electronic equipment fluctuations and changes in the external environment can be removed.

[0077] Filtering can be performed in various ways, such as moving average and Kalman filtering. These methods can effectively reduce errors and improve the accuracy of angle measurements. Simultaneously, real-time monitoring can be added to the PLC program to check the stored data, ensuring the stability and reliability of data acquisition.

[0078] Beneficial effects: Through the above steps, the system can accurately obtain the angle between the nacelle's zero-degree angle and true north, and digitally store it in the PLC, providing a precise reference for subsequent yaw angle calculations. The calibration and filtering process ensures that the nacelle's zero-degree angle remains highly accurate throughout the entire operation, which helps improve the accuracy of the yaw system and ultimately enhances the wind turbine's power generation efficiency and stability.

[0079] Furthermore, the method for determining the absolute position angle β of the computer cabin includes the following steps:

[0080] Based on the positive and negative directions of the cabin yaw position angle θ defined in the crew yaw control procedure, the absolute cabin position angle β is calculated using the following formula:

[0081] When -(180+α0)°<θ<(180-α0)°, β=θ+α0;

[0082] When -540°<θ<-(180+α0)°, β=θ+α0+360;

[0083] When (180-α0)°<θ<540°, β=θ+α0-360;

[0084] When θ < -540° or θ > 540°, determine whether the cabin mooring has been undone; if not, it is considered abnormal.

[0085] Specifically, the yaw position angle θ of the cabin is the position angle relative to the cabin's zero degree. The sign of the angle is typically defined in the yaw control procedure by clockwise or counterclockwise rotation. To ensure the correct relationship between the yaw angle θ and the cabin's zero degree α0, this step first requires clarifying the definition direction of the cabin yaw angle in the procedure. For example, clockwise rotation is a positive angle, and counterclockwise rotation is a negative angle.

[0086] For wind turbine control systems, the definition of the yaw angle θ is crucial because it directly affects the accuracy of the absolute position angle β in the computer nacelle. A standardized angle definition is fundamental to ensuring system consistency and calculation accuracy.

[0087] In some special circumstances, the yaw angle of the unit may be affected by factors such as wind fluctuations and nacelle structural offsets, requiring regular correction and verification of the defined direction of the yaw angle to prevent long-term error accumulation.

[0088] Based on the yaw position angle θ of the crew and the angle α0 between the cabin zero degrees and true north, the absolute cabin position angle β is calculated using the following formula. The formula considers different ranges of θ and is modified to ensure the correct absolute cabin position angle is obtained.

[0089] When -(180+α0)°<θ<(180-α0)°, β=θ+α0;

[0090] This range represents the area where the yaw angle θ is near zero degrees. The absolute position angle β of the cabin is obtained by adding θ to the zero-degree cabin angle α0. At this point, the change in the cabin position angle is small, and the calculation of the absolute position is relatively straightforward.

[0091] This formula applies to situations where the yaw angle θ is within the normal range, which typically occurs during the normal operating conditions of wind turbines, where the yaw angle does not deviate too much.

[0092] In this formula, α0 represents the angle between zero degrees in the cabin and true north, serving as a reference in the calculation; therefore, its accuracy is crucial to the final result. An error in α0 could lead to inaccurate calculations of the absolute position angles of the entire system.

[0093] When -540°<θ<-(180+α0)°, β=θ+α0+360;

[0094] This range indicates that the cabin yaw angle θ has deviated negatively and exceeded a certain range. During calculation, 360 degrees need to be added to correct for the deviation. Adding 360 degrees ensures that the absolute position angle β remains within the range of -360° to +360°, maintaining its compliance with standard angle ranges.

[0095] This formula applies to cases where the cabin rotates counterclockwise by more than 180 degrees, in which case the yaw angle θ has returned to the negative direction. Adding 360 degrees ensures the calculation results are normalized.

[0096] The formula for converting the yaw angle of a wind turbine needs to be flexible enough to handle different yaw angle ranges, especially when the yaw system changes frequently. If there are errors in the yaw system or the execution is inaccurate, it may lead to deviations in the calculation of such formulas.

[0097] When (180-α0)°<θ<540°, β=θ+α0-360;

[0098] This range indicates that the cabin yaw angle θ has deviated to the positive direction and exceeded a certain range. The deviation needs to be corrected by subtracting 360 degrees during calculation. This is also to ensure that the absolute position angle β is within the standard range.

[0099] This formula applies to cases where the cabin rotates more than 180 degrees clockwise. By subtracting 360 degrees, the calculation result is ensured to conform to the standard angle range.

[0100] This correction method can also be used in other systems, especially when angle transformation and normalization are required. Ensuring the stability and consistency of calculation results is a crucial step in all mechanical control systems.

[0101] When θ < -540° or θ > 540°, determine whether the cabin has been unmoored;

[0102] At this point, the yaw angle θ has exceeded the standard range (-540° to 540°), which usually indicates that the cabin has experienced a significant yaw deviation and may be in an abnormal state. It is necessary to determine whether the mooring lines have been released.

[0103] Unwinding refers to the process by which the connections between the engine room and other parts (such as cables, mechanical connections, etc.) become loose or disconnected. This is usually caused by excessive yaw angles or operational errors. When unwinding occurs in the engine room, it may cause the yaw system to malfunction, and immediate action must be taken.

[0104] The unmooring monitoring system requires high-precision sensors to detect the unmooring status of the nacelle, ensuring that the wind turbine's yaw system does not continue to operate in the event of a serious problem. This type of detection is typically accomplished through sensor signals or visual monitoring to ensure timely alerts.

[0105] Beneficial Effects: Through detailed calculations of the relationship between the nacelle yaw angle θ and the angle α0 between the nacelle at zero degrees and true north, the absolute position angle β of the nacelle was obtained. This method can accurately determine the actual position of the wind turbine, ensuring that the yaw system can correctly adjust the nacelle's direction. Simultaneously, combined with yaw angle correction and unmooring judgment, the system can effectively prevent yaw failures and improve the operational stability and efficiency of the wind turbine.

[0106] Furthermore, the absolute position reference value β of the generated station ref The method includes the following steps:

[0107] The absolute position angle β values ​​of the nacelles uploaded by all wind turbine units at the site are summarized;

[0108] Using filtering algorithms and averaging, the absolute position reference value β of the station is generated. ref ;

[0109] If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as β. ref Reference values ​​were then distributed to each generating unit.

[0110] Specifically, firstly, the absolute nacelle position angle β uploaded by all wind turbines in the wind farm needs to be collected. For each turbine, its absolute position angle relative to true north is calculated based on its real-time yaw position. By summing these angle values, the position status of each turbine within the wind farm can be obtained.

[0111] This aggregation step is necessary because the position and angle of each unit will change in real time during operation, and these changes may be related to wind speed, wind direction, or the unit's yaw status. By aggregating the data from all units, the overall site status can be obtained.

[0112] This step can also improve processing efficiency through certain data compression or optimization algorithms, especially when the site is large. If there are many units in the site, real-time processing and storage of this data can become challenging, thus requiring an efficient data transmission and storage system.

[0113] Once the β values ​​uploaded by the generator units are aggregated, filtering algorithms can be used to process this data. The filtering algorithm removes outliers and noise, ensuring the accuracy and stability of the generated reference values. Then, a mean-based processing method is used to process the remaining valid data to generate the absolute position reference value β for the station. ref .

[0114] Filtering algorithms can effectively remove deviations caused by measurement errors, wind speed fluctuations, and other factors, thereby improving data quality. Mean averaging, on the other hand, generates a more representative reference value by averaging the β values ​​of multiple units, reducing the impact of errors that may occur from a single unit.

[0115] In practical applications, different types of filtering algorithms can be selected based on the needs of the power station. For example, a weighted filtering algorithm can be used, in which more stable or reliable unit data is given higher weight; or a Kalman filtering algorithm can be used to perform dynamic estimation by combining historical data. These techniques can improve the accuracy and real-time performance of reference values.

[0116] If a wind farm has a meteorological tower installed, the wind direction data provided by the tower can serve as a more stable and reliable reference value. Wind direction data is generally more representative of the overall wind direction characteristics of the farm than the yaw angle of a single turbine, and therefore can be used to generate the absolute position reference value β for the farm. ref This wind direction data will be sent to each unit to adjust their yaw angle in real time.

[0117] Wind measurement towers are a common facility in wind farms, used to monitor wind speed and direction in real time. Using wind direction data from wind measurement towers as a reference value avoids inconsistencies across the entire field caused by sensor malfunctions or deviations in individual turbines. Wind direction data is generally quite stable and therefore has high reference value.

[0118] This method can further improve the robustness and stability of the system, especially when the wind farm is large or has many turbines. Wind direction data from the meteorological towers can provide a unified benchmark for each turbine, thereby reducing local yaw errors caused by local climate changes or other factors.

[0119] Beneficial effect: By summarizing and processing the absolute position angle β values ​​of the nacelles uploaded by the wind farm units, an absolute position reference value β for the site can be generated. ref This reference value not only reflects the yaw status of each unit within the station, but its stability and accuracy can also be improved through filtering and averaging. If the station is equipped with a wind measurement tower, the wind direction data from the tower can be used as a reference, thereby further improving the accuracy and robustness of the overall yaw control system. Finally, the generated β... ref The values ​​are distributed to each unit for real-time adjustment and correction of the nacelle position, ensuring that the wind turbines can capture wind energy to the maximum extent.

[0120] Furthermore, the real-time monitoring deviation value β dif The methods include:

[0121] The absolute position angle β of the computer cabin and the absolute position reference value β ref The difference β dif ;

[0122] If β dif If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded.

[0123] Specifically, the absolute position angle β of the current turbine needs to be obtained, which is calculated and uploaded in real time by the wind turbine's position data. Next, the absolute position reference value β of the power station needs to be obtained. ref As mentioned earlier, this can be achieved by aggregating and processing the absolute position angles of the individual unit's nacelles (or using anemometer data). Then, by calculating β and β... ref The difference β dif The magnitude of the deviation is then determined.

[0124] β dif This indicates the error between the current cabin position angle and the station reference value, reflecting whether the crew's yaw control system is functioning correctly. If β dif An excessively large value indicates that the unit may not be correctly aligned with the wind direction, which could be due to a faulty wind direction sensor, a failure of the unit's yaw control, or other reasons.

[0125] Difference β dif It can be calculated using the following formula:

[0126] β dif =β-β ref The absolute value of the deviation is used to ensure that the deviation value is positive, thus avoiding the influence of the direction of the negative deviation on alarm triggering.

[0127] When the calculated deviation value β dif When the pre-set deviation limit is exceeded, the system will trigger an alarm, alerting operators or maintenance personnel that the unit has an abnormal yaw. This deviation limit is set according to the normal operating range of the wind turbine and is usually adjusted by the manufacturer or operator based on the unit's operating characteristics and wind speed conditions. The alarm system can alert operators in various ways, such as through SCADA system displays, email notifications, SMS messages, and audible and visual alarms.

[0128] Setting deviation limits is crucial. Setting limits too low can lead to frequent alarms, disrupting normal operations; while setting limits too high may prevent timely detection of yaw anomalies. Therefore, deviation limits should be precisely set based on the wind turbine's operating environment, the wind farm's climate conditions, and the turbine's performance characteristics.

[0129] When setting deviation limits, the unit's technical specifications and historical data can be referenced, taking into account the wind farm's climate variations. For example, in environments with low wind speeds or significant wind direction changes, the deviation limits should be appropriately increased to avoid triggering alarms due to minor deviations. In extreme wind conditions, the deviation values ​​may be large, but this does not necessarily indicate a problem with the yaw control system. Therefore, deviation limits can be adjusted based on actual operating experience and environmental conditions, and can even be dynamically adjusted according to different seasons or weather conditions.

[0130] When the system triggers an alarm, it is also necessary to record the specific data of the anomaly, such as the absolute position angle β of the cabin and the reference value β. ref Deviation value β dif This data, including alarm times, will provide a basis for subsequent troubleshooting and analysis, and can also serve as a basis for assessing the health status and operating efficiency of wind turbine units.

[0131] Recording abnormal data helps maintenance personnel quickly identify the cause when yaw anomalies occur. The recorded data can be stored in a SCADA system or other data management system and can be compared and analyzed with historical data. Through the long-term accumulation of abnormal records, operators can identify potential problems, optimize yaw control strategies, or provide effective references during maintenance.

[0132] Regarding data recording methods, consider timestampting abnormal data and combining it with historical data for trend analysis to identify potential systemic problems or equipment aging. By incorporating machine learning algorithms, after accumulating large amounts of data, abnormal patterns can be automatically identified, potential failures can be predicted in advance, and the system's intelligence level can be improved.

[0133] Beneficial effects: Real-time monitoring of the absolute position angle β of the cabin and the absolute position reference value β of the airfield. ref deviation value β dif This method can promptly detect yaw anomalies in wind turbines. By setting deviation limits, an alarm is triggered and abnormal data is recorded once the deviation exceeds the set range. This real-time monitoring mechanism helps operators respond promptly, adjust or repair the yaw system, ensure that the wind turbine can effectively capture wind energy, and avoid a decrease in power generation efficiency due to yaw control failure.

[0134] Furthermore, the method also includes correcting the angle α0 between the cabin zero degree and true north, specifically including:

[0135] Each time the cabin position passes zero, the current cabin angle α is detected;

[0136] If the deviation between the current α value and the recorded α0 value exceeds the set threshold, the current α value is assigned to α0 to complete the correction.

[0137] Specifically, during cabin movement, the zero point refers to a reference point where the cabin's position angle is 0° (i.e., the cabin's nose is facing due north). Each time the cabin passes this zero point, the system records the current cabin angle α. This angle is obtained in real-time through an installed electronic compass or other positioning device, and it represents the cabin's current actual orientation.

[0138] This operation typically occurs each time the nacelle rotates to its zero-degree position. Zero degree is the preset initial angle of the nacelle relative to true north, which is the standard position where the nose of the nacelle faces true north when the nacelle is in normal operating condition.

[0139] To improve accuracy, it is recommended that each time the cabin passes through zero, not only the current angle α is recorded, but also the timestamp and environmental parameters (such as wind speed and wind direction) are recorded, so as to further analyze the stability during the calibration process.

[0140] The key to the calibration mechanism is to ensure that the angle α0 between the cabin zero degree and true north is always maintained within a reasonable range. If the deviation between the currently detected angle α and the recorded cabin zero degree angle α0 exceeds a preset threshold, it means that the cabin zero degree position has shifted, which may be due to mechanical errors, sensor drift, or changes in the external environment.

[0141] This correction measure, which addresses deviations exceeding a set threshold, ensures the nacelle's accuracy. Setting a reasonable threshold is crucial. If the threshold is too small, it may lead to frequent corrections, increasing the system load; conversely, if the threshold is too large, deviations may not be corrected in a timely manner, affecting the nacelle's accuracy in responding to wind. Therefore, the threshold selection should be based on the wind turbine's operating environment and user experience, ensuring that the correction process is effective without introducing excessive interference.

[0142] To improve calibration accuracy, more calibration parameters can be incorporated into the system design, such as nacelle vibration data or temperature variations, as these factors can also cause sensor errors or angle shifts. Furthermore, dynamically adjustable thresholds can be designed to automatically optimize the calibration thresholds based on different wind conditions, wind turbine operating status, and historical nacelle data.

[0143] Beneficial effects: By detecting the current angle α each time the nacelle passes zero and comparing it with the recorded zero-degree nacelle angle α0, the accuracy of the angle between the nacelle's zero degree and true north is ensured. If the deviation exceeds a set threshold, the system will automatically assign the current angle α to the nacelle's zero-degree angle α0 to complete the correction. This correction mechanism can effectively avoid nacelle angle deviation, ensure the accuracy of the yaw system during wind turbine operation, improve wind energy capture efficiency, and ensure stable power generation performance of the unit.

[0144] Electronic device 300 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 300 may include, but is not limited to, processor 301 and memory 302. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 300 and does not constitute a limitation on electronic device 300. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device may also include input / output devices, network access devices, buses, etc.

[0145] Processor 301 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0146] The memory 302 can be an internal storage unit of the electronic device 300, such as a hard disk or RAM of the electronic device 300. The memory 302 can also be an external storage device of the electronic device 300, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the electronic device 300. Furthermore, the memory 302 can include both internal and external storage units of the electronic device 300. The memory 302 is used to store the computer program 303 and other programs and data required by the electronic device. The memory 302 can also be used to temporarily store data that has been output or will be output.

[0147] In the embodiments provided in this disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0148] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium may be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0149] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be included within the protection scope of this disclosure.

Claims

1. A method for monitoring and correcting anomalies in yaw angle against wind, characterized in that, Includes the following steps: Obtain the angle α0 between zero degree of the cabin and due north. Zero degree of the cabin is the preset initial angle of the cabin. The absolute position angle β of the computer cabin is calculated based on the yaw position angle θ of the crew and the zero-degree angle α0 of the cabin. Upload the absolute position angle β of the cabin to the airfield monitoring system and generate the absolute position reference value β of the airfield. ref ; Real-time monitoring of the cabin's absolute position angle β and absolute position reference value β ref deviation value β dif And using the station's absolute position reference value β ref Adjust the cabin position.

2. The method according to claim 1, characterized in that, The method for obtaining the angle α0 between zero degrees in the cabin and true north includes the following steps: Install an electronic compass inside the cabin and manually yaw the cabin to zero degrees. The pointer direction of the electronic compass is calibrated to be parallel to the direction of the cabin nose, and the electronic compass output value of the angle between the cabin nose and true north is obtained; The value is stored through the PLC analog signal channel, and positive is defined as north-east and negative as north-west. After filtering, the angle α0 between zero degrees of the engine room and true north is determined.

3. The method according to claim 1, characterized in that, The method for determining the absolute position angle β of the computer cabin includes the following steps: Based on the positive and negative directions of the cabin yaw position angle θ defined in the crew yaw control procedure, the absolute cabin position angle β is calculated using the following formula: When -(180+α0)°<θ<(180-α0)°, β=θ+α0; When -540°<θ<-(180+α0)°, β=θ+α0+360; When (180-α0)°<θ<540°, β=θ+α0-360; When θ < -540° or θ > 540°, determine whether the cabin mooring has been undone; if not, it is considered abnormal.

4. The method according to claim 1, characterized in that, The absolute position reference value β of the generated station ref The method includes the following steps: The absolute position angle β values ​​of the nacelles uploaded by all wind turbine units at the site are summarized; Using filtering algorithms and averaging, the absolute position reference value β of the station is generated. ref ; If the wind farm is equipped with a wind measurement tower, the wind direction data provided by the wind measurement tower will be used as β. ref Reference values ​​were then distributed to each generating unit.

5. The method according to claim 1, characterized in that, The real-time monitoring deviation value β dif The methods include: The absolute position angle β of the computer cabin and the absolute position reference value β ref The difference β dif ; If β dif If the deviation exceeds the set limit, an alarm will be triggered and abnormal data will be recorded.

6. The method according to claim 1, characterized in that, The method also includes correcting the angle α0 between the cabin zero degree and true north, specifically including: Each time the cabin position passes zero, the current cabin angle α is detected; If the deviation between the current α value and the recorded α0 value exceeds the set threshold, the current α value is assigned to α0 to complete the correction.

7. An electronic device, characterized in that, include: One or more processors; A storage unit is used to store one or more programs that, when executed by one or more processors, enable the one or more processors to implement the yaw angle anomaly monitoring and correction method according to any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it can implement the yaw angle anomaly monitoring and correction method according to any one of claims 1 to 6.

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