Wind turbine dynamic yaw error correction method and system based on cabin laser radar

Abstract

The application discloses a wind turbine dynamic yaw error correction method and system based on a cabin type laser radar, and belongs to the field of wind turbine monitoring. The method comprises the following steps: controlling a laser radar on a wind turbine cabin to scan and measure a wind field in a preset distance range in front of a wind turbine impeller, so that real wind direction data not disturbed by the impeller is obtained; a current heading angle of the cabin is acquired in real time, the real wind direction data is compared with the current heading angle of the cabin, and a dynamic yaw error angle is calculated; based on the dynamic yaw error angle, a yaw angle adjustment amount is calculated in real time through a control algorithm, and yaw angle correction is completed based on the yaw angle adjustment amount. The application can solve the problem of yaw error of the wind turbine.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine monitoring, specifically relating to a method and system for correcting dynamic yaw error of wind turbines based on nacelle-type lidar. Background Technology

[0002] In the field of wind power generation, to maximize wind energy capture efficiency, wind turbines generally use a yaw system to adjust the nacelle orientation so that the rotor faces the wind. Currently, the mainstream wind measurement and yaw alignment solutions in the industry rely on meteorological sensors installed at the rear of the nacelle, such as mechanical anemometers or ultrasonic anemometers. These sensors directly measure wind conditions at their installation location and send the measured wind direction data to the turbine's main controller. The controller calculates the yaw error based on the difference between this data and the current position of the nacelle, and then drives the yaw system to perform wind alignment adjustments.

[0003] However, the current problem is that the rotation of the wind turbine rotor significantly obstructs and disturbs the airflow behind it, resulting in a complex turbulent wake region at the tail of the nacelle. The wind direction data collected by traditional anemometers installed here is actually localized flow field information after being disturbed by the rotor, and cannot accurately reflect the undisturbed free-flow wind direction in front of the rotor. Therefore, yaw control based on this locally distorted data will result in a persistent, inherent, and difficult-to-eliminate yaw error in the turbine. This systematic measurement deviation directly leads to wind turbine misalignment, causing not only a significant loss in annual power generation but also additional fatigue loads due to uneven stress on the rotor. Long-term operation will affect the mechanical life of critical components such as blades, drive trains, and towers. Summary of the Invention

[0004] The purpose of this invention is to provide a method and system for dynamic yaw error correction of wind turbines based on nacelle-type lidar, which can solve the problem of yaw error in wind turbines.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, a method for correcting dynamic yaw error of wind turbines based on nacelle-mounted lidar includes the following steps: The lidar on the wind turbine nacelle is controlled to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, so as to obtain the real wind direction data without being disturbed by the rotor; The current orientation angle of the cabin is acquired in real time, and the actual wind direction data is compared with the current orientation angle of the cabin to calculate the dynamic yaw error angle. Based on the dynamic yaw error angle, the yaw angle adjustment amount is calculated in real time through a control algorithm, and the yaw angle correction is completed based on the yaw angle adjustment amount.

[0006] In some embodiments, the step of controlling the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor and obtain the true wind direction data undisturbed by the rotor specifically includes: The continuous wave scanning lidar is controlled to perform three-dimensional scanning measurement of the wind field within a preset distance range in front of the impeller through multi-beam scanning, so as to obtain the true wind direction data that is not disturbed by the impeller.

[0007] In some implementations, the step of comparing the actual wind direction data with the current cabin heading angle to calculate the dynamic yaw error angle specifically includes: The real wind direction data and the current cabin orientation angle are continuously acquired at a preset sampling frequency, and the difference between the real wind direction data and the current cabin orientation angle is processed by time-series filtering to obtain the dynamic yaw error angle. The time-series filtering process employs either a moving average filtering algorithm or a Kalman filtering algorithm.

[0008] In some implementations, the step of calculating the yaw angle adjustment amount in real time based on the dynamic yaw error angle using a control algorithm specifically includes: The proportional, integral, and derivative components of the dynamic yaw error angle are calculated using a PID (Proportional-Integral-Derivative) control algorithm, and then weighted to obtain a preliminary adjustment. This preliminary adjustment is then limited to obtain the yaw angle adjustment.

[0009] In some embodiments, the step of limiting the initial adjustment amount to obtain the yaw angle adjustment amount specifically includes: The initial adjustment amount is compared with the preset maximum yaw speed threshold. When the yaw speed command is greater than the maximum yaw speed threshold, the yaw speed in the initial adjustment amount is changed to the maximum yaw speed threshold. Obtain the yaw speed from the previous moment and, in conjunction with the initial adjustment amount at the current moment, calculate the yaw acceleration. Compare the yaw acceleration with a preset maximum yaw acceleration threshold. If the yaw acceleration is greater than the maximum yaw acceleration threshold, change the yaw acceleration in the initial adjustment amount to the maximum yaw acceleration threshold.

[0010] In some implementations, the following steps are also included: Record the yaw angle adjustment amount to obtain yaw correction status information; The real wind direction data, dynamic yaw error angle, and yaw correction status information are encapsulated in a structured data format and transmitted to the external monitoring system of the wind turbine.

[0011] Secondly, a dynamic yaw error correction system for wind turbines based on nacelle-mounted lidar includes: The real wind direction data acquisition module is used to control the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, and obtain real wind direction data that is not disturbed by the rotor. The yaw error calculation module is used to obtain the current orientation angle of the cabin in real time, compare the actual wind direction data with the current orientation angle of the cabin, and calculate the dynamic yaw error angle. The yaw correction module is used to calculate the yaw angle adjustment amount in real time based on the dynamic yaw error angle through a control algorithm, and to complete the yaw angle correction based on the yaw angle adjustment amount.

[0012] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable in the processor, wherein the processor executes the computer program to implement the steps of the method for dynamic yaw error correction of wind turbines based on nacelle-type lidar.

[0013] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for dynamic yaw error correction of wind turbines based on nacelle-type lidar.

[0014] Fifthly, a computer program product comprising a computer program that, when executed by a processor, implements the steps of the method for dynamic yaw error correction of wind turbines based on nacelle-type lidar.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a dynamic yaw error correction method for wind turbines based on a nacelle-mounted lidar. By controlling the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance in front of the turbine rotor, the measurement position is moved from the rear of the nacelle, which is disturbed by the rotor, to the undisturbed free-flow wind field area in front of the rotor. This avoids the systematic yaw error caused by rotor wake interference in traditional methods. Based on real-time measured wind direction data, the method calculates the dynamic yaw error angle and generates the yaw angle adjustment in real time, enabling the wind turbine to respond quickly to wind direction changes and continuously and accurately track them, significantly improving wind energy capture efficiency. Real-time dynamic yaw correction through a control algorithm ensures the turbine always faces the incoming wind direction, increasing annual power generation and effectively reducing asymmetric loads caused by yaw errors, minimizing fatigue damage to key components, and extending equipment lifespan.

[0016] Furthermore, by controlling a continuous wave scanning lidar and using a multi-beam stereo scanning method, it is possible to perform simultaneous multi-point and multi-dimensional measurements of the wind field, effectively overcoming the random errors of single-point measurements and significantly improving the measurement accuracy and reliability of real wind direction data.

[0017] Furthermore, by performing time-series filtering on the difference between the actual wind direction data and the current yaw angle of the cabin, high-frequency noise and instantaneous disturbances in the wind direction data can be effectively filtered out while ensuring the system response speed, resulting in a smooth and stable dynamic yaw error angle.

[0018] Furthermore, by limiting the initial adjustment amount to obtain the yaw angle adjustment amount, it is ensured that the final yaw angle adjustment amount is within the system's tolerance range, effectively preventing equipment overload or mechanical damage caused by excessive adjustment commands. Attached Figure Description

[0019] Figure 1 A flowchart illustrating the dynamic yaw error correction method for wind turbines based on nacelle-mounted lidar provided in an embodiment of the present invention; Figure 2 This is a structural diagram of a wind turbine dynamic yaw error correction system based on a nacelle-type lidar, provided in an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings. The content described herein is for explanation rather than limitation of the present invention.

[0021] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and claims of this invention are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, systems, products, or devices.

[0022] like Figure 1 As shown in the figure, this embodiment provides a method for correcting the dynamic yaw error of wind turbines based on nacelle-type lidar, characterized by the following steps: S1 controls the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, and obtains the real wind direction data without being disturbed by the rotor; The lidar is mounted on top of the wind turbine nacelle, secured with stainless steel bolts to ensure stability under vibration. The lidar is a continuous-wave scanning type, using a multi-beam scanning method to perform three-dimensional scanning measurements of the wind field within a preset distance in front of the rotor. The continuous-wave scanning lidar uses a fiber laser, and the multi-beam scanning is achieved through a rotating prism. The three-dimensional scanning measurement covers a fan-shaped area of ​​120 degrees horizontally and 30 degrees vertically, with a measurement distance range of 100 to 200 meters to avoid the rotor turbulence zone. The lidar calculates wind speed and direction based on the laser Doppler effect by emitting a laser beam and receiving the echo signal. The actual wind direction data refers to the direction of the free-flowing wind field undisturbed by the rotor. The internal signal processing unit of the lidar uses a DSP chip, suitable for real-time signal processing.

[0023] S2, acquire the current orientation angle of the cabin in real time, compare the actual wind direction data with the current orientation angle of the cabin, and calculate the dynamic yaw error angle; The current nacelle orientation angle is obtained through an encoder built into the wind turbine's main control system. The encoder is installed at the yaw bearing and monitors the nacelle's rotation angle relative to the tower in real time. The encoder communicates with the main control system via a CAN bus, with a sampling frequency set to 10Hz.

[0024] The comparison process is executed by the microprocessor of the main control system, continuously acquiring real wind direction data and the current cabin heading angle at a preset sampling frequency of 5Hz, implemented through a timer interrupt of the main control system. The arithmetic difference between the real wind direction data and the current cabin heading angle is calculated, and this difference is then subjected to time-series filtering to obtain the dynamic yaw error angle. The time-series filtering uses either a moving average filtering algorithm or a Kalman filtering algorithm. When using the moving average filtering algorithm, the window size is set to 10 sampling points, i.e., 2 seconds of data. When using the Kalman filtering algorithm, the state variable is the yaw error angle, the process noise covariance is set to 0.1, and the observation noise covariance is set to 0.5.

[0025] S3, based on the dynamic yaw error angle, the yaw angle adjustment amount is calculated in real time through the control algorithm, and the yaw angle correction is completed based on the yaw angle adjustment amount.

[0026] The control algorithm employs a proportional-integral-derivative (PID) control algorithm. The PID control algorithm calculates the proportional, integral, and derivative components of the dynamic yaw error angle separately, and then performs a weighted calculation to obtain the initial adjustment. The PID control algorithm is implemented through discretization, with a sampling period of 0.2 seconds. The proportional component is the current error multiplied by a proportional coefficient of 0.7, the integral component is the accumulated error multiplied by an integral coefficient of 0.1, and the derivative component is the error change rate multiplied by a derivative coefficient of 0.2. The weighted calculation adds the three components to obtain the initial adjustment. Then, the initial adjustment is limited to obtain the yaw angle adjustment.

[0027] The initial adjustment amount is compared with the preset maximum yaw speed threshold. When the yaw speed command is greater than the maximum yaw speed threshold, the yaw speed in the initial adjustment amount is changed to the maximum yaw speed threshold. The yaw speed at the previous moment is obtained and combined with the initial adjustment amount at the current moment to calculate the yaw acceleration. The yaw acceleration is calculated by the second difference of the speed value. When the yaw acceleration is greater than the maximum yaw acceleration threshold, the yaw acceleration in the initial adjustment amount is changed to the maximum yaw acceleration threshold.

[0028] The yaw angle adjustment is converted into a motor control signal through the yaw driver, which drives the yaw motor to adjust the nacelle orientation. The yaw motor is an AC servo motor.

[0029] The method further includes the following steps: recording the yaw angle adjustment to obtain yaw correction status information, which includes the adjustment amount, adjustment timestamp, and amplitude limit trigger flag; encapsulating the real wind direction data, dynamic yaw error angle, and yaw correction status information in a structured data format and transmitting them to the external monitoring system of the wind turbine. The structured data format adopts JSON format, including a data header, timestamp, device ID, data body, and CRC checksum. The data body contains all measurement and status data. Data transmission is achieved through industrial Ethernet using the Modbus TCP protocol. The external monitoring system is the wind farm SCADA system, and the IP address is preset in the main control system configuration.

[0030] like Figure 2 As shown, this embodiment provides a dynamic yaw error correction system for wind turbines based on nacelle-type lidar, including: The real wind direction data acquisition module is used to control the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, and obtain real wind direction data that is not disturbed by the rotor. The yaw error calculation module is used to obtain the current orientation angle of the cabin in real time, compare the actual wind direction data with the current orientation angle of the cabin, and calculate the dynamic yaw error angle. The yaw correction module is used to calculate the yaw angle adjustment amount in real time based on the dynamic yaw error angle through a control algorithm, and to complete the yaw angle correction based on the yaw angle adjustment amount.

[0031] The module division in this embodiment of the invention is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of the invention can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0032] This embodiment also provides a computer device, which includes a processor and a memory. The memory is used to store a computer program (in this embodiment, the computer program includes a calculation component and an iterative component, capable of model calculation and model updating). The computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a Central Processing Unit (CPU), or it may be 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. It is the computing core and control core of the terminal, and is suitable for implementing one or more instructions. Specifically, it is suitable for loading and executing one or more instructions in the computer storage medium to realize the corresponding method flow or corresponding function. The processor described in this embodiment can be used for the operation of a dynamic yaw error correction method for wind turbines based on nacelle-type lidar.

[0033] This embodiment also provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the terminal's operating system. Furthermore, this storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the dynamic yaw error correction method for wind turbines based on nacelle-type lidar in the above embodiment.

[0034] This embodiment also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the corresponding steps of the dynamic yaw error correction method for wind turbines based on nacelle-type lidar in the above embodiment.

[0035] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0036] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0037] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0038] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for correcting dynamic yaw error of wind turbines based on nacelle-mounted lidar, characterized in that, Includes the following steps: The lidar on the wind turbine nacelle is controlled to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, so as to obtain the real wind direction data without being disturbed by the rotor; The current orientation angle of the cabin is acquired in real time, and the actual wind direction data is compared with the current orientation angle of the cabin to calculate the dynamic yaw error angle. Based on the dynamic yaw error angle, the yaw angle adjustment amount is calculated in real time by the control algorithm, and the yaw angle correction is completed based on the yaw angle adjustment amount. The steps for calculating the dynamic yaw error angle by comparing the actual wind direction data with the current cabin orientation angle include: The real wind direction data and the current cabin orientation angle are continuously acquired at a preset sampling frequency, and the difference between the real wind direction data and the current cabin orientation angle is processed by time-series filtering to obtain the dynamic yaw error angle. The time-series filtering process employs a moving average filtering algorithm or a Kalman filtering algorithm. Based on the dynamic yaw error angle, the steps for calculating the yaw angle adjustment in real time through a control algorithm specifically include: The proportional, integral, and derivative components of the dynamic yaw error angle are calculated using a PID control algorithm and weighted to obtain a preliminary adjustment amount. The preliminary adjustment amount is then limited to obtain the yaw angle adjustment amount. The step of limiting the initial adjustment amount to obtain the yaw angle adjustment amount specifically includes: The initial adjustment amount is compared with the preset maximum yaw speed threshold. When the yaw speed command is greater than the maximum yaw speed threshold, the yaw speed in the initial adjustment amount is changed to the maximum yaw speed threshold. Obtain the yaw speed from the previous moment and, in conjunction with the initial adjustment amount at the current moment, calculate the yaw acceleration. Compare the yaw acceleration with a preset maximum yaw acceleration threshold. If the yaw acceleration is greater than the maximum yaw acceleration threshold, change the yaw acceleration in the initial adjustment amount to the maximum yaw acceleration threshold.

2. The method for dynamic yaw error correction of wind turbines based on nacelle-type lidar according to claim 1, characterized in that, The step of controlling the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, and obtaining the true wind direction data undisturbed by the rotor, specifically includes: The continuous wave scanning lidar is controlled to perform three-dimensional scanning measurement of the wind field within a preset distance range in front of the impeller through multi-beam scanning, so as to obtain the true wind direction data that is not disturbed by the impeller.

3. The method for dynamic yaw error correction of wind turbines based on nacelle-type lidar according to claim 1, characterized in that, It also includes the following steps: Record the yaw angle adjustment amount to obtain yaw correction status information; The real wind direction data, dynamic yaw error angle, and yaw correction status information are encapsulated in a structured data format and transmitted to the external monitoring system of the wind turbine.

4. A dynamic yaw error correction system for wind turbines based on nacelle-mounted lidar, used to implement the dynamic yaw error correction method for wind turbines based on nacelle-mounted lidar as described in any one of claims 1 to 3, characterized in that, include: The real wind direction data acquisition module is used to control the lidar on the wind turbine nacelle to scan and measure the wind field within a preset distance range in front of the wind turbine rotor, and obtain real wind direction data that is not disturbed by the rotor. The yaw error calculation module is used to obtain the current orientation angle of the cabin in real time, compare the actual wind direction data with the current orientation angle of the cabin, and calculate the dynamic yaw error angle. The yaw correction module is used to calculate the yaw angle adjustment amount in real time based on the dynamic yaw error angle through a control algorithm, and to complete the yaw angle correction based on the yaw angle adjustment amount.

5. An electronic device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable in the processor. When the processor executes the computer program, it implements the steps of the dynamic yaw error correction method for wind turbines based on nacelle-type lidar as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the dynamic yaw error correction method for wind turbines based on nacelle-type lidar as described in any one of claims 1 to 3.

7. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic yaw error correction method for wind turbines based on nacelle-type lidar as described in any one of claims 1 to 3.

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