Wind turbine generator yaw control method, system and equipment and medium
By acquiring and fusing wind speed-direction data and thrust-lateral force data from wind turbines, and combining wind load prediction and yaw motor control, the high lag and high energy consumption problems of existing wind turbine yaw control have been solved, achieving a highly efficient and low-energy-consumption yaw-adjustment process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-03-20
AI Technical Summary
Existing wind turbine yaw control technology suffers from high lag, high frequency impact, and high energy consumption, making it difficult to meet the needs of large-capacity units and complex wind conditions.
By acquiring wind speed-direction data measured by lidar and real thrust-lateral force measured by wind pressure sensors, vector fusion is performed to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center. The wind load prediction data is then used to drive the nacelle rotation, and the yaw motor is combined with a partial rated torque to smoothly follow the wind direction to ensure that the nacelle axis is aligned with the wind direction.
It achieves yaw control of wind turbines with low hysteresis, low frequency impact, and low energy consumption, thereby improving wind energy capture efficiency and power output.
Smart Images
Figure CN121701394A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of wind power generation technology, and in particular to a method, system, device and medium for controlling the yaw of a wind turbine. Background Technology
[0002] The yaw system of a wind turbine is a key component that ensures the rotor always faces the wind and maximizes wind energy capture. Traditional yaw control technology mainly relies on wind direction sensors, such as mechanical wind vanes or ultrasonic sensors, to detect wind direction deviations. This is combined with a yaw motor to drive the nacelle to rotate, thus achieving the wind-following function. Specifically, a wind vane on top of the nacelle measures the wind direction in real time. Once the deviation between the wind direction and the nacelle axis exceeds a set threshold, such as ±8° to ±15°, and persists for a certain period of time, such as 30s to 120s, the controller starts the yaw motor, which drives the nacelle to rotate on the tower through a gear reducer until the deviation returns to zero.
[0003] The existing yaw technology, with its "passive measurement, threshold triggering, and hard motor torque" control mode, suffers from drawbacks such as high hysteresis, high-frequency impact, and high energy consumption, making it difficult to meet the needs of large-capacity units and complex wind conditions. Therefore, there are areas for improvement. Summary of the Invention
[0004] This invention provides a method, system, device, and medium for controlling the yaw of wind turbines, in order to improve the technical problems of high hysteresis and high frequency impact in the existing yaw control of wind turbines.
[0005] This invention proposes a yaw control method for wind turbine generators, comprising:
[0006] Acquire wind speed-direction data measured by lidar and actual thrust-lateral force measured by wind pressure sensors;
[0007] Based on the wind speed-wind direction data, the theoretical thrust-lateral force along the nacelle coordinate system is obtained;
[0008] The actual thrust-lateral force and the theoretical thrust-lateral force are vector-fused to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center.
[0009] When the direction of the resultant wind load is consistent with the deviation direction of the current wind direction, and the estimated yaw moment exceeds the preset moment threshold, wind direction prediction data for the next preset time period is obtained:
[0010] When the wind direction prediction data meets the preset conditions, the wind load assist mode is entered, the yaw brake is controlled to release the braking force, and the wind load is the main force, while the yaw motor drives the nacelle to rotate in a compliant manner with part of the rated torque, so that the nacelle axis direction is consistent with the current wind direction.
[0011] The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
[0012] In one embodiment of the present invention, obtaining the theoretical thrust-lateral force along the nacelle coordinate system based on the wind speed-direction data includes:
[0013] Calculate the corresponding flow pressure based on the wind speed-direction data and air density;
[0014] Based on the flow pressure, the swept area of the impeller, the lift-drag coefficient of each section of the impeller, and the wind speed-direction data, the wind load of each section of the impeller is calculated by radial integration and other numerical calculations to obtain the theoretical thrust-lateral force along the nacelle coordinate system.
[0015] In one embodiment of the present invention, the step of vector fusion of the actual thrust-lateral force and the theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center includes:
[0016] The actual thrust-lateral force and the theoretical thrust-lateral force are vector-fused to obtain the resultant force of wind load and its direction;
[0017] Obtain the component of the resultant wind load along the direction perpendicular to the nacelle axis, and calculate the estimated yaw moment based on the lever arm between the component force and the yaw force to the center of the tower.
[0018] In one embodiment of the present invention, in the step of entering the wind load-assisted mode when the wind direction prediction data meets the preset conditions, controlling the yaw brake to release the braking force, and using wind load as the main force, with the yaw motor driving the nacelle to rotate in a compliant manner with a portion of the rated torque, so that the nacelle axis direction is consistent with the current wind direction, the target angle of the nacelle rotation is obtained by the following steps:
[0019] The initial target angle for nacelle rotation is obtained based on the current wind direction and the nacelle axis direction.
[0020] The location of the wind turbine is obtained, and a preset correction value is superimposed on the initial target angle based on the location of the wind turbine to obtain a compensation target angle, so as to reduce the impact of the wake of the current wind turbine on its downstream wind turbine.
[0021] In one embodiment of the present invention, in the step of entering the wind load assist mode when the wind direction prediction data meets the preset conditions, controlling the yaw brake to release the braking force, and using wind load as the main force, with the yaw motor driving the nacelle to rotate in a compliant manner with part of the rated torque, so as to make the nacelle axis direction consistent with the current wind direction:
[0022] Obtain the real-time angle between the cabin axis and the current wind direction;
[0023] When the real-time included angle is less than or equal to the preset included angle threshold, the yaw motor is controlled to smoothly reduce the output torque, and when the output torque is reduced to zero, the yaw motor is controlled to output the reverse torque, and the braking force is applied by the yaw motor.
[0024] In one embodiment of the present invention, the wind direction prediction data is obtained by using a long short-term memory artificial neural network to predict the average wind direction change trend over a preset time period using a sliding window method.
[0025] In one embodiment of the present invention, when the wind direction prediction data does not meet the preset conditions, the motor-dominated mode is entered, the yaw brake is controlled to apply braking force, and the yaw motor is used to drive the nacelle to rotate with rated torque so that the nacelle axis direction is consistent with the current wind direction.
[0026] This invention also proposes a yaw control system for wind turbine generators, comprising:
[0027] The real force acquisition unit is used to acquire wind speed-wind direction data measured by lidar and real thrust-lateral force measured by wind pressure sensor;
[0028] The theoretical force acquisition unit is used to acquire the theoretical thrust-lateral force along the nacelle coordinate system based on the wind speed-direction data.
[0029] The fusion unit is used to vector-fuse the actual thrust-lateral force with the theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center.
[0030] The wind direction acquisition unit is used to acquire wind direction prediction data for a preset time period when the direction of the resultant wind load is consistent with the deviation direction of the current wind direction and the estimated yaw moment exceeds a preset moment threshold.
[0031] The control unit is used to enter the wind load assist mode when the wind direction prediction data meets the preset conditions, control the yaw brake to release the braking force, and use the wind load as the main force, while the yaw motor drives the nacelle to rotate in a way that follows the rated torque in a smooth manner, so that the nacelle axis direction is consistent with the current wind direction.
[0032] The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
[0033] The present invention also proposes an electronic device, the electronic device comprising:
[0034] One or more processors;
[0035] A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to implement the wind turbine yaw control method described in any of the preceding embodiments.
[0036] The present invention also proposes a computer-readable storage medium, characterized in that it stores a computer program thereon, which, when executed by a computer processor, causes the computer to perform the yaw control method of any of the above-described wind turbine generators.
[0037] The beneficial effects of this invention are as follows: This invention proposes a wind turbine yaw control method, system, equipment, and medium. It uses wind speed-direction data measured by lidar to predict the theoretical thrust-lateral force generated by the wind speed-direction data acting on the wind turbine at future moments. The actual thrust-lateral force is vector-fused with the theoretical thrust-lateral force, thereby calculating the direction of the resultant wind load and its estimated yaw moment on the tower center. When the direction of the resultant wind load is consistent with the deviation direction of the current wind direction, and the estimated yaw moment exceeds a preset moment threshold, it indicates that the resultant wind load has the conditions to drive the nacelle to rotate. At this point, it is also necessary to predict whether the wind direction will continue to deviate within a preset time period. If the predicted wind direction continues to deviate within the preset time period, and the deviation shows an increasing trend, a wind load-assisted mode can be entered: the yaw brake is controlled to release braking force, utilizing the wind load as the primary driver, with the yaw motor smoothly following with a portion of its rated torque to drive the nacelle to rotate, so that the nacelle axis is consistent with the current wind direction. This demonstrates that the nacelle can be driven to rotate with lower power consumption and less mechanical impact, ultimately aligning the nacelle axis with the current wind direction, thus completing an efficient and low-consumption yaw-to-wind process. Attached Figure Description
[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.
[0039] In the attached diagram:
[0040] Figure 1 This is a schematic diagram of the wind direction facing the front of the wind turbine, according to an embodiment of the present invention.
[0041] Figure 2 This is a schematic diagram showing the wind direction deflected towards the front of the wind turbine, according to an embodiment of the present invention.
[0042] Figure 3The flowchart illustrates the steps of a wind turbine yaw control method according to an embodiment of the present invention.
[0043] Figure 4 This is a structural block diagram of a wind turbine yaw control system provided in an embodiment of the present invention.
[0044] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation
[0045] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0046] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0047] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.
[0048] Please see Figures 1 to 5 This invention proposes a method, system, equipment, and medium for controlling the yaw of wind turbine generators. It can be applied to the field of wind power generation technology, for example, in wind farms with large-capacity turbines and complex wind conditions. This invention can predict wind direction data within a preset time period and control the yaw direction of the wind turbine generators based on this prediction data, thereby achieving the control advantages of low hysteresis, low-frequency impact, and low energy consumption for the wind turbine generators. Specific embodiments are described in detail below.
[0049] like Figure 1 As shown, from a top-down perspective, the nacelle is essentially aligned with the current ambient wind direction, with the wind direction deviation between them approaching zero. In this state, the rotor can directly meet the incoming wind, achieving optimal wind energy capture efficiency under the current wind conditions, thereby maximizing the generator's power output.
[0050] like Figure 2 As shown, from a top-down perspective, there is a significant angle between the ambient wind direction and the nacelle axis of the wind turbine generator; this angle is the wind direction deviation angle. When this angle exists, it means the wind turbine is not directly facing the wind, significantly reducing wind energy capture efficiency. To maximize wind energy utilization, the wind turbine generator's yaw system needs to operate, driving the nacelle to rotate around the tower axis to reduce or eliminate this deviation angle, ultimately achieving the desired wind energy capture efficiency. Figure 1 The position of the impeller ensures that its sweeping surface faces the direction of the incoming wind. Therefore, it can be seen that... Figure 1 This describes the target situation for the yaw control of the wind turbine in this invention.
[0051] Please see Figure 3 This invention proposes a method for controlling the yaw of a wind turbine, which may include the following steps.
[0052] Step S10: Obtain wind speed-direction data measured by lidar and actual thrust-lateral force measured by wind pressure sensor.
[0053] Specifically, real-time wind field data is collected synchronously by multiple sensors installed on the wind turbine. Specifically, a lidar unit located on top of or in front of the nacelle continuously scans the upstream wind field to acquire high-resolution real-time wind speed and direction data. Simultaneously, wind pressure sensors installed on the nacelle or blade roots measure and output the actual thrust and lateral force acting on the wind turbine rotor. These two sets of data form the basis for subsequent wind load perception and decision-making.
[0054] Step S20: Based on the wind speed-direction data, obtain the theoretical thrust-lateral force along the nacelle coordinate system.
[0055] Specifically, the collected data is processed. Based on the wind speed and direction data acquired by lidar, calculations are performed using a wind turbine aerodynamic theory model. This calculation process involves converting wind speed into wind dynamic pressure and combining the rotor's geometric parameters (such as swept area) and aerodynamic characteristics (such as lift-drag coefficient profile) to estimate the theoretical thrust and theoretical lateral force components along the nacelle coordinate system under the current wind conditions through methods such as numerical integration.
[0056] In one embodiment of the present invention, step S20 may include the following steps.
[0057] Step S210: Calculate the corresponding flow pressure based on the wind speed-direction data and air density.
[0058] Specifically, based on real-time wind speed data acquired by lidar and known air density, the flow pressure of the current wind field is calculated using fluid dynamics formulas. This flow pressure characterizes the kinetic energy density of the wind and is the starting physical quantity for calculating aerodynamic loads.
[0059] Wherein, the flowing pressure P satisfies:
[0060] Where ρ is the air density and v is the upstream wind speed.
[0061] Step S220: Based on the flow pressure, the swept area of the impeller, the lift drag coefficient of each section of the impeller and the wind speed-direction data, perform radial integration and other numerical calculations on the wind load of each section of the impeller to obtain the theoretical thrust-lateral force along the nacelle coordinate system.
[0062] Specifically, the calculated flow pressure is combined with the aerodynamic model of the impeller to obtain the overall theoretical load. By combining the swept area of the impeller, the airfoil lift-drag coefficient characteristics of each section along the radial direction of the blades, and the current wind direction data, the distributed wind load acting on countless impeller micro-element sections is numerically integrated. This radial integration process ultimately synthesizes the total aerodynamic force acting on the entire wind turbine, which is then decomposed and transformed into a unified nacelle coordinate system, thereby obtaining the theoretical thrust along the nacelle axis and the theoretical lateral force perpendicular to that axis.
[0063] Step S30: Perform vector fusion of the actual thrust-lateral force and the theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center.
[0064] Specifically, the actual thrust-lateral force measured by the wind pressure sensor and the theoretical thrust-lateral force calculated in the previous step are vector-synthesized in a unified nacelle coordinate system to obtain a more accurate and robust wind load resultant force vector. Furthermore, the estimated yaw moment generated by this resultant force on the tower center (i.e., the yaw rotation center) is calculated. The estimated yaw moment quantifies the current wind load's ability to drive the turbine to yaw.
[0065] In one embodiment of the present invention, step S30 may include the following.
[0066] Step S310: Perform vector fusion of the actual thrust-lateral force and the theoretical thrust-lateral force to obtain the resultant force of the wind load and its direction.
[0067] Specifically, firstly, within a unified nacelle coordinate system, the actual thrust-lateral force measured by the wind pressure sensor and the theoretical thrust-lateral force calculated based on the aerodynamic model are vector-synthesized to obtain a more accurate wind load resultant force vector, which includes the direction and magnitude of the resultant force.
[0068] Step S320: Obtain the component of the resultant wind load along the direction perpendicular to the nacelle axis, and calculate the estimated yaw moment based on the lever arm between the component and the yaw force to the center of the tower.
[0069] Specifically, the lateral component perpendicular to the nacelle axis is decomposed from the resultant force vector of the wind load. This lateral component is the direct force causing the nacelle to rotate. Figure 1 , 2 As shown, the lateral component of the force is on a horizontal plane and perpendicular to the nacelle axis. Then, by multiplying the magnitude of this lateral component by a predetermined lever arm length, i.e., the horizontal distance from the point of application of this component to the centerline of the tower, the estimated yaw moment generated by the current wind load on the center of the tower can be calculated.
[0070] Step S40: When the direction of the resultant force of the wind load is consistent with the deviation direction of the current wind direction, and the estimated yaw moment exceeds the preset moment threshold, obtain the wind direction prediction data for the future preset time.
[0071] Specifically, the calculated resultant direction of the wind load is compared with the current wind direction measured by the lidar to determine whether the resultant direction of the wind load is consistent with the direction that needs to be corrected for the current nacelle orientation (i.e., the direction of wind direction deviation). Simultaneously, the estimated yaw moment is compared with a preset moment threshold, which represents the minimum wind yaw moment required to effectively drive the nacelle to begin rotating. Only when both conditions are met—that is, the resultant direction of the wind load is consistent with the direction of deviation from the current wind direction, and the estimated yaw moment exceeds the preset moment threshold—is the current state marked as "wind load available," indicating that the wind load possesses the physical conditions to assist in driving yaw.
[0072] In one embodiment of the present invention, the wind direction prediction data is obtained by using a long short-term memory artificial neural network to predict the average wind direction change trend over a preset time period using a sliding window method.
[0073] Specifically, in actual operation, the prediction process is conducted in a rolling manner, continuously acquiring the latest real-time wind direction sequence data measured by sensors such as lidar, and inputting it into a data sliding window of fixed time length. The Long Short-Term Memory (LSTM) network receives the time-series data within this sliding window as input, uses its internal gating mechanism to process temporal dependencies, and finally outputs a prediction result of the average wind direction change trend within a preset time period (e.g., the next 60 seconds). This prediction result is the wind direction prediction data used to determine whether the intelligent prediction condition (continuous deviation and widening of wind direction) is met.
[0074] After each prediction is completed and a control cycle is executed, the sliding window moves forward, incorporating the latest measured data and removing the oldest data, thereby initiating the next round of rolling predictions and achieving continuous and dynamic updates to future wind direction.
[0075] Step S50: When the wind direction prediction data meets the preset conditions, enter the wind load assist mode, control the yaw brake to release the braking force, and use the wind load as the main force, with the yaw motor driving the nacelle to rotate in a compliant manner with part of the rated torque, so that the nacelle axis direction is consistent with the current wind direction.
[0076] The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
[0077] Specifically, after confirming the availability of wind load, a built-in prediction model is invoked, such as a wind direction prediction model based on a long short-term memory network. This model uses historical and current wind direction sequence data to predict the wind direction change trend over a preset period of time, such as the next 60 seconds. This wind direction prediction data is used to assess whether the upcoming wind direction change is continuous and intensifying, or short-lived or gradually leveling off. Then, the acquired wind direction prediction data is examined to determine if it meets preset intelligent triggering conditions. These preset conditions specifically refer to the predicted wind direction continuously deviating from the current cabin orientation within the preset time period, and the angle of this deviation showing an increasing trend. If this condition is met, and combined with the previously determined availability of wind load, a formal decision is made to enter the wind load assist mode.
[0078] In wind load-assisted mode, a command is first sent to the yaw brake to partially release the braking pressure, for example, 50%, thereby reducing the mechanical drag of the nacelle rotation and allowing the yaw torque generated by the wind load to begin driving the nacelle rotation as the primary driving force. Simultaneously, the yaw motor is not driven at full power, but is controlled to output a compliant following torque at a lower ratio, such as 20% of its rated torque. The main function of this following torque is to provide necessary damping to stabilize the rotation process and to provide minor compensation and correction for wind load drive, rather than providing the primary power.
[0079] By employing a coordinated drive method where wind load dominates and the motor follows smoothly, the nacelle is driven to rotate with lower energy consumption and less mechanical impact, ultimately aligning the nacelle axis with the current wind direction and completing an efficient and low-consumption yaw-to-wind process.
[0080] In one embodiment of the present invention, in step S50, when the wind direction prediction data meets the preset conditions, the wind load assist mode is entered, the yaw brake is controlled to release the braking force, and the yaw motor drives the nacelle to rotate in a manner that is dominated by wind load and follows smoothly with a portion of the rated torque, so that the nacelle axis direction is consistent with the current wind direction. In this step, the target angle of the nacelle rotation is obtained by the following steps:
[0081] The initial target angle for nacelle rotation is obtained based on the current wind direction and the nacelle axis direction.
[0082] The location of the wind turbine is obtained, and a preset correction value is superimposed on the initial target angle based on the location of the wind turbine to obtain a compensation target angle, so as to reduce the impact of the wake of the current wind turbine on its downstream wind turbine.
[0083] Specifically, the initial target angle required to eliminate the deviation between the current wind direction and the nacelle axis is calculated, aiming to achieve optimal wind alignment for a single wind turbine. For example, when yaw control is applied to only one wind turbine, the nacelle can be driven to rotate at the initial target angle to align the nacelle axis with the current wind direction.
[0084] Since a wind farm contains numerous wind turbines, if an upstream wind turbine is directly facing the wind, it may cause power generation losses for adjacent downstream wind turbines. Therefore, when considering the overall power generation of the wind farm, it is advisable to offset the upstream wind turbines from being directly facing the wind.
[0085] When the current wind turbine is located upstream along the local wind direction, a preset wake deflection correction value is provided. This correction value is superimposed on the initial target angle to generate a compensation target angle. Finally, the nacelle is controlled to rotate to a position consistent with the compensation target angle, thereby achieving wake deflection by the upstream turbine actively and slightly deviating from the wind direction, reducing shading of downstream turbines and increasing the total power generation of the entire wind farm.
[0086] In one embodiment of the present invention, in step S50, when the wind direction prediction data meets the preset conditions, the wind load assist mode is entered, the yaw brake is controlled to release the braking force, and the yaw motor drives the nacelle to rotate in a compliant manner with a portion of the rated torque, so that the nacelle axis direction is consistent with the current wind direction.
[0087] Obtain the real-time angle between the cabin axis and the current wind direction;
[0088] When the real-time included angle is less than or equal to the preset included angle threshold, the yaw motor is controlled to smoothly reduce the output torque, and when the output torque is reduced to zero, the motor is controlled to output reverse torque to apply braking force using the yaw motor.
[0089] Specifically, when the nacelle rotates under wind load and the real-time angle between its axis and the wind direction approaches the target, braking preparation begins. The real-time angle is continuously monitored. Once the angle decreases to less than or equal to a preset lower threshold, a flexible braking procedure is initiated.
[0090] First, the yaw motor is smoothly reduced in output torque until it reaches zero to disengage the active drive. Then, the yaw motor outputs a reverse torque, transforming it into a braking force source to counteract residual wind force and rotational inertia. This entire process, coordinated with the gradual recovery of yaw brake pressure, achieves stepless stopping of the engine compartment, ensuring a smooth and precise stop and avoiding the mechanical shock caused by traditional brakes.
[0091] In one embodiment of the present invention, when the wind direction prediction data does not meet the preset conditions, the motor-dominated mode is entered, the yaw brake is controlled to apply braking force, and the yaw motor is used to drive the nacelle to rotate with rated torque so that the nacelle axis direction is consistent with the current wind direction.
[0092] Specifically, when wind load is determined to be available, but the wind direction prediction data does not meet the intelligent condition of continuous deviation and widening, the system switches to motor-driven mode. In this mode, the system does not rely on wind load for drive.
[0093] First, the yaw brakes maintain normal braking force to stabilize the nacelle. Then, the yaw motors start directly at rated torque, serving as the sole power source for nacelle rotation, quickly responding to and correcting for wind direction deviations. During control, wind loads are treated as disturbances and compensated for in real time through closed-loop control, ensuring the nacelle can quickly and stably rotate to a position aligned with the current wind direction.
[0094] In one embodiment of the present invention, the rotational speed curve can be optimized online by model predictive control (MPC) to minimize the weighted average of the three objectives of "angle error-energy consumption-mechanical fatigue".
[0095] An objective function can be constructed, wherein the objective function satisfies:
[0096]
[0097] Where ω1, ω2, and ω3 are weighting coefficients; T is the time step, N is the number of steps, T multiplied by N is the future preset time, k is the initial time, and k+i is the time corresponding to the i-th step size after the initial time; θ aim (k+i) represents the minimum value of 0° in the included angle threshold interval, θ a (k+i) is the angle between the nacelle axis direction and the local wind direction at time k+i, P(k+i) is the power of the yaw motor at time k+i, and D is the fatigue damage increment of the yaw bearing.
[0098] The constraints are set as follows: physical constraints include yaw speed ≤ 0.5° / s, motor torque ≤ 100% of rated torque, and compensation target angle ∈ [-5°, +5°]; safety constraints include tower bending moment ≤ 2.5×10 N·m and yaw bearing strain ≤ 1500με.
[0099] Online rolling optimization: MPC collects current angle error, motor power, bearing strain and other state variables in real time, solves the objective function to obtain the optimal speed command for the current cycle, executes it, updates the state variables and enters the next round of optimization, realizing the rolling iteration of "prediction-control-feedback".
[0100] Taking a 1.5MW wind turbine generator set as an example:
[0101] Basic parameters: Rated yaw motor power 15kW, rated torque 500N·m, allowable threshold for yaw angle error ±2°, weighting coefficients ω1=0.5, ω2=0.2, ω3=0.3 (gust condition).
[0102] Before optimization: Angle error 3.6°, motor operating at 80% rated torque (400 N·m), speed 0.4° / s, single-cycle energy consumption = 15 kW × 80% × 0.5 s = 6 kJ, bearing fatigue damage increment D0 = 1.2 × 10 -6 .
[0103] After MPC optimization: By solving the objective function, the optimal speed command is output as 0.3° / s, and the motor torque is adjusted to 65% of the rated torque (325 N·m). The single-cycle angle error converges to 1.8° (meeting the ±2° requirement), energy consumption = 15kW × 65% × 0.5s = 4.875kJ (energy consumption reduced by 18.75%), and bearing fatigue damage increment D1 = 0.7 × 10⁻⁶. -6 (Fatigue damage reduced by 41.7%), achieving synergistic optimization of the three objectives.
[0104] Please see Figure 4 In one embodiment of the present invention, a wind turbine yaw control system 100 is also proposed, including a real force acquisition unit 110, a theoretical force acquisition unit 120, a fusion unit 130, a wind direction acquisition unit 140, and a control unit 150.
[0105] The real force acquisition unit 110 is used to acquire wind speed-wind direction data measured by lidar and real thrust-lateral force measured by wind pressure sensor.
[0106] The theoretical force acquisition unit 210 is used to acquire the theoretical thrust-lateral force along the nacelle coordinate system based on the wind speed-direction data.
[0107] The fusion unit 130 is used to perform vector fusion of the actual thrust-lateral force and the theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center.
[0108] The wind direction acquisition unit 140 is used to acquire wind direction prediction data for a preset time period when the direction of the resultant force of the wind load is consistent with the deviation direction of the current wind direction and the estimated yaw moment exceeds the preset moment threshold.
[0109] When the wind direction prediction data meets the preset conditions, the control unit 150 is used to enter the wind load assist mode, control the yaw brake to release the braking force, and use the wind load as the main force, while the yaw motor drives the nacelle to rotate in a compliant manner with part of the rated torque, so that the nacelle axis direction is consistent with the current wind direction.
[0110] The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
[0111] Please see Figure 5 In one embodiment of the present invention, an electronic device 200 is also proposed. The electronic device 200 may include a memory 210, a processor 220 and a bus, and may also include a computer program stored in the memory 210 and executable on the processor 220, such as a yaw control program for a wind turbine.
[0112] The memory 210 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 210 can be an internal storage unit of the electronic device 200, such as the portable hard drive of the electronic device 200. In other embodiments, the memory 210 can be an external storage device of the electronic device 200, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 200. Furthermore, the memory 210 can include both internal and external storage units of the electronic device 200. The memory 210 can be used not only to store application software and various types of data installed on the electronic device 200, such as the control code for wind turbine yaw, but also to temporarily store data that has been output or will be output.
[0113] In some embodiments, processor 220 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits packaged with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. Processor 220 is the control unit of the electronic device 200, connecting various components of the electronic device 200 via various interfaces and lines. It executes programs or modules stored in the memory 210 (e.g., yaw control programs for wind turbines) and calls data stored in the memory 210 to perform various functions and process data of the electronic device 200.
[0114] The processor 220 executes the operating system of the electronic device 200 and various installed application programs. The processor 220 executes the application programs to implement the steps in the above-described wind turbine yaw control method.
[0115] For example, the computer program may be divided into one or more modules, which are stored in the memory 210 and executed by the processor 220 to complete this application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the electronic device 200. For example, the computer program may be divided into a real force acquisition unit 110, a theoretical force acquisition unit 120, a fusion unit 130, a wind direction acquisition unit 140, and a control unit 150.
[0116] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium, which can be non-volatile or volatile. The software functional module stored in the storage medium includes several instructions to cause a computer device (which may be a personal computer, computer equipment, or network device, etc.) or processor to execute some functions of the wind turbine yaw control method described in the various embodiments of this application.
[0117] In summary, this invention proposes a method, system, device, and medium for controlling the yaw of a wind turbine. It uses wind speed-direction data measured by lidar to predict the theoretical thrust-lateral force generated by the wind speed-direction data acting on the wind turbine at future moments. The actual thrust-lateral force is vector-fused with the theoretical thrust-lateral force, thereby calculating the direction of the resultant wind load and its estimated yaw moment on the tower center. When the direction of the resultant wind load is consistent with the deviation direction of the current wind direction, and the estimated yaw moment exceeds a preset moment threshold, it indicates that the resultant wind load has the conditions to drive the nacelle rotation. At this point, it is also necessary to predict whether the wind direction will continue to deviate within a preset time period. If the predicted wind direction continues to deviate within the preset time period, and the deviation shows an increasing trend, a wind load-assisted mode can be entered: the yaw brake is controlled to release braking force, utilizing the wind load as the primary driver, with the yaw motor smoothly following with a portion of its rated torque to drive the nacelle rotation, so that the nacelle axis is consistent with the current wind direction. This demonstrates that the nacelle can be driven to rotate with lower power consumption and less mechanical impact, ultimately aligning the nacelle axis with the current wind direction, thus completing an efficient and low-consumption yaw-to-wind process.
[0118] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.
Claims
1. A method for controlling the yaw of a wind turbine generator, characterized in that, include: Acquire wind speed-direction data measured by lidar and actual thrust-lateral force measured by wind pressure sensors; Based on the wind speed-wind direction data, the theoretical thrust-lateral force along the nacelle coordinate system is obtained; The actual thrust-lateral force and the theoretical thrust-lateral force are vector-fused to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center. When the direction of the resultant wind load is consistent with the deviation direction of the current wind direction, and the estimated yaw moment exceeds the preset moment threshold, wind direction prediction data for the next preset time period is obtained: When the wind direction prediction data meets the preset conditions, the wind load assist mode is entered, the yaw brake is controlled to release the braking force, and the wind load is the main force, while the yaw motor drives the nacelle to rotate in a compliant manner with part of the rated torque, so that the nacelle axis direction is consistent with the current wind direction. The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
2. The wind turbine yaw control method according to claim 1, characterized in that, The step of obtaining the theoretical thrust-lateral force along the nacelle coordinate system based on the wind speed-direction data includes: Calculate the corresponding flow pressure based on the wind speed-direction data and air density; Based on the flow pressure, the swept area of the impeller, the lift-drag coefficient of each section of the impeller, and the wind speed-direction data, the wind load of each section of the impeller is calculated by radial integration and other numerical calculations to obtain the theoretical thrust-lateral force along the nacelle coordinate system.
3. The wind turbine yaw control method according to claim 1, characterized in that, The vector fusion of actual thrust-lateral force and theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center includes: The actual thrust-lateral force and the theoretical thrust-lateral force are vector-fused to obtain the resultant force of wind load and its direction; Obtain the component of the resultant wind load along the direction perpendicular to the nacelle axis, and calculate the estimated yaw moment based on the lever arm between the component force and the yaw force to the center of the tower.
4. The wind turbine yaw control method according to claim 1, characterized in that, When the wind direction prediction data meets the preset conditions, the wind load assist mode is entered, the yaw brake is controlled to release the braking force, and the nacelle is rotated by the yaw motor in a compliant manner with a portion of the rated torque, so that the nacelle axis is consistent with the current wind direction. The target angle of the nacelle rotation is obtained by the following steps: The initial target angle for nacelle rotation is obtained based on the current wind direction and the nacelle axis direction. The location of the wind turbine is obtained, and a preset correction value is superimposed on the initial target angle based on the location of the wind turbine to obtain a compensation target angle, so as to reduce the impact of the wake of the current wind turbine on its downstream wind turbine.
5. The wind turbine yaw control method according to claim 1, characterized in that, In the step of entering the wind load assist mode when the wind direction prediction data meets the preset conditions, controlling the yaw brake to release the braking force, and using wind load as the main force, with the yaw motor driving the nacelle to rotate in a compliant manner with part of the rated torque, so as to make the nacelle axis direction consistent with the current wind direction: Obtain the real-time angle between the cabin axis and the current wind direction; When the real-time included angle is less than or equal to the preset included angle threshold, the yaw motor is controlled to smoothly reduce the output torque, and when the output torque is reduced to zero, the yaw motor is controlled to output the reverse torque, and the braking force is applied by the yaw motor.
6. The wind turbine yaw control method according to claim 1, characterized in that, The wind direction prediction data is obtained by using a long short-term memory artificial neural network to predict the average wind direction change trend over a preset time period using a sliding window method.
7. The wind turbine yaw control method according to claim 1, characterized in that, When the wind direction prediction data does not meet the preset conditions, the system enters the motor-dominated mode, controls the yaw brake to apply braking force, and uses the yaw motor to drive the nacelle to rotate with rated torque so that the nacelle axis is consistent with the current wind direction.
8. A control system for the yaw of a wind turbine generator, characterized in that, include: The real force acquisition unit is used to acquire wind speed-wind direction data measured by lidar and real thrust-lateral force measured by wind pressure sensor; The theoretical force acquisition unit is used to acquire the theoretical thrust-lateral force along the nacelle coordinate system based on the wind speed-direction data. The fusion unit is used to vector-fuse the actual thrust-lateral force with the theoretical thrust-lateral force to obtain the direction of the resultant wind load and its estimated yaw moment on the tower center. The wind direction acquisition unit is used to acquire wind direction prediction data for a preset time period when the direction of the resultant wind load is consistent with the deviation direction of the current wind direction and the estimated yaw moment exceeds a preset moment threshold. The control unit is used to enter the wind load assist mode when the wind direction prediction data meets the preset conditions, control the yaw brake to release the braking force, and use the wind load as the main force, while the yaw motor drives the nacelle to rotate in a way that follows the rated torque in a smooth manner, so that the nacelle axis direction is consistent with the current wind direction. The preset condition refers to the predicted wind direction continuously deviating within a preset time period, and the deviation showing an increasing trend.
9. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the wind turbine yaw control method as described in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the yaw control method for the wind turbine as described in any one of claims 1 to 7.