Wind turbine generator yaw control method, device and equipment and medium

Abstract

The invention discloses a wind turbine generator yaw control method, device and equipment and a medium, is applied to a wind turbine generator yaw system and relates to the field of automation, and the method comprises the steps that whether load reduction yaw is triggered or not is determined according to the running state of a wind turbine generator and environmental wind power data, if yes, a current target time node is recorded, and a corresponding load reduction preparation mark is set; determining whether a preset load shedding yaw condition is met or not based on the operation state of the wind turbine generator, the environmental wind power data, the target time node and the load shedding preparation mark, and setting the current load shedding yaw mark as a first mark or a second mark according to the met condition; if the mark is the first mark, directly executing the load reduction yaw operation, and if the mark is the second mark, adjusting the current rotating speed of the engine, and executing the load reduction yaw operation after the rotating speed is smaller than a preset rotating speed threshold value; and if the load shedding yaw operation is completed, setting the current load shedding yaw mark as a second mark. Therefore, yaw control can be carried out through an intelligent load reduction yaw control means.

Description

Technical Field

[0001] This invention relates to the field of automation, and in particular to a method, apparatus, equipment and medium for yaw control of wind turbine generators. Background Technology

[0002] To meet all operating conditions, including typhoons and strong turbulence, wind turbine yaw systems typically require multiple yaw drives and yaw brakes, leading to cost waste and potentially causing significant malfunctions or accidents. Currently, yaw system control programs usually only issue yaw and stop commands, lacking the ability to assess and identify current wind conditions, thus failing to provide intelligent control based on wind conditions. In extremely severe wind conditions, the yaw drive may stall, causing a rapid rise in motor winding temperature, potentially burning out the motor or tripping it, paralyzing the yaw system. Stalling is often accompanied by uneven drive load; excessive output from individual drives or being dragged by them poses a significant risk of gear breakage. When the nacelle is in a stationary braking state, extremely severe wind conditions can cause it to slip under significant wind loads, losing braking and failing to maintain wind resistance. Furthermore, when the nacelle is blown by the wind... During skidding, both the yaw motor electromagnetic brake and the yaw caliper hydraulic brake are at maximum braking speed. The electromagnetic brake, due to the large transmission ratio of the yaw reduction gearbox, rotates at thousands or even tens of thousands of revolutions per minute, causing instantaneous wear and failure of the electromagnetic brake pads. The hydraulic brake pads, under full pressure, cause severe scratches to the yaw brake disc. Severe wear of the electromagnetic brake can lead to instantaneous failure, and in severe cases, overheating and adhesion, or an increased brake air gap that prevents engagement. When yaw or skidding occurs again, the yaw drive will be reversed and break. During typhoons, the yaw system needs to perform yaw maneuvers to position the nacelle against the wind, minimizing the load on the unit. However, in this situation, the yaw system may fail to yaw, making it impossible to execute the unit's typhoon resistance strategy, posing a significant safety hazard.

[0003] Currently, to overcome the aforementioned problems, as the megawattage of the generating unit increases, the load on the yaw system also increases. The usual solution is to increase the yaw drive radius and braking radius, which is costly. The yaw motor uses thermal relays and circuit breakers for protection; when the motor stalls, the thermal relay or circuit breaker trips, rendering the yaw inoperable, but protecting the drive unit. The program is configured with a nacelle slip alarm strategy; when the nacelle detects a certain amount of slip, the main control executes an alarm shutdown, but by this time a significant slip angle has already occurred, and the shutdown results in power generation loss. To cope with typhoon conditions, based on wind direction forecasts, the yaw system first yaws the unit to a leeward position and then brakes; however, typhoon conditions are often accompanied by changes in wind direction and may result in communication failures, posing a significant risk. Therefore, the existing yaw system control strategy cannot achieve intelligent control based on actual operating conditions. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a yaw control method, device, equipment, and medium for wind turbine generators. This method utilizes intelligent load-reducing yaw control to effectively avoid problems such as yaw stalling, stalling, and insufficient braking capacity of the yaw system under extreme operating conditions like turbulence. The specific solution is as follows: Firstly, this application discloses a yaw control method for wind turbine generators, applied to the yaw system of wind turbine generators, comprising: Based on the current operating status of the wind turbine and the detected environmental wind data, determine whether to trigger load reduction yaw. If load reduction yaw is triggered, record the target time node for the current slow yaw and set the corresponding load reduction preparation flag. Based on the wind turbine's operating status, the ambient wind data, the target time point, and the prepared load reduction flag, determine whether the preset load reduction yaw conditions are met, and set the current load reduction yaw flag to the first flag or the second flag according to the condition. If the load reduction yaw indicator is the first indicator, the load reduction yaw operation is performed directly. If the load reduction yaw indicator is the second indicator, the current engine speed of the wind turbine is adjusted, and the load reduction yaw operation is performed after the engine speed is less than a preset speed threshold. If the load reduction and yaw operation has been completed, then the current load reduction and yaw flag is set to the second flag.

[0005] Optionally, the step of determining whether to trigger load shedding yaw based on the current operating status of the wind turbine and the detected environmental wind data, and if load shedding yaw is triggered, records the target time point of the current slow yaw and sets a corresponding preparation flag for load shedding, including: The system detects the first average wind speed of the external environment of the wind turbine within a preset first time threshold, and determines the current yaw error and operating status of the wind turbine. If the first average wind speed is greater than a preset wind speed threshold, the yaw error is greater than a preset error threshold, and the operating state is power generation state, then load reduction yaw is triggered, the target time node of the current yaw being too slow is recorded, and the current preparation to reduce load flag is set to TRUE.

[0006] Optionally, the step of determining whether the preset load reduction yaw conditions are met based on the wind turbine's operating status, the ambient wind data, the target time point, and the prepared load reduction flag, and setting the current load reduction yaw flag to a first flag or a second flag according to the condition, includes: The second average wind speed of the wind turbine is determined within a preset second time threshold based on the environmental wind data. If the wind turbine operating status, the second average wind speed, the target time node, the preparation to reduce load flag, the preset parameter enable, and the current number of load reduction yaws all meet the preset load reduction yaw conditions, then the current load reduction yaw flag is set to the first flag; otherwise, it is set to the second flag. Wherein, the wind turbine operating state satisfies the preset load reduction yaw condition as the wind turbine operating state is the power generation state; the second average wind speed satisfies the preset load reduction yaw condition as the second average wind speed is greater than the preset wind speed threshold; the target time node satisfies the preset load reduction yaw condition as the time between the target time node and the last historical time node with excessively slow yaw is less than a preset time threshold; the load reduction preparation flag satisfies the preset load reduction yaw condition as the load reduction preparation flag is TRUE; the preset parameter enable satisfies the preset load reduction yaw condition as the preset parameter enable is TRUE; and the current load reduction yaw count satisfies the preset load reduction yaw condition as the current load reduction yaw count is less than the preset load reduction yaw threshold.

[0007] Optionally, before setting the current load reduction yaw flag to the second flag if the load reduction yaw operation has been completed, the method further includes: If a load reduction yaw command corresponding to the load reduction yaw operation is received, the load reduction yaw operation is executed based on the load reduction yaw command; If the load reduction and yaw command is not received, yaw slip detection is performed; if no yaw slip is detected, the load reduction and yaw operation is stopped; if yaw slip is detected, yaw operation is performed in the opposite direction of the current yaw slip. If, during the yaw operation, the yaw duration exceeds the first preset yaw duration threshold or the wind error is less than the first preset error angle, then the load reduction yaw operation is stopped. If the number of yaw slips within the second preset yaw time exceeds the preset slip number threshold or the slip amplitude exceeds the preset amplitude threshold, then the main control alarm shutdown operation for the wind turbine unit will be performed.

[0008] Optionally, before setting the current load reduction yaw flag to the second flag if the load reduction yaw operation has been completed, the method further includes: If a skid is detected in the local cabin, a yaw unloading operation is performed and the motor brakes are applied. The number of yaw skids within the second preset yaw duration is monitored to see if it exceeds the preset skid count threshold. If the number of sliding times exceeds the preset threshold, a main control alarm shutdown operation will be performed on the wind turbine. If the local nacelle slippage is detected to be greater than the preset amplitude threshold or the wind error is greater than the second preset error angle, an alarm shutdown operation will be performed on the wind turbine unit.

[0009] Optionally, before setting the current load reduction yaw flag to the second flag if the load reduction yaw operation has been completed, the method further includes: Real-time monitoring of the current of several individual motors of each local yaw motor; if there is a first target current among the several individual motor currents that is greater than the first preset current over-limit threshold, and the over-limit time is longer than the preset over-limit time threshold, then a yaw current abnormal alarm is triggered, and the abnormal data of the local yaw motor is recorded. If there is a second target current among the several individual motor currents that is greater than the second preset current over-limit threshold, and the over-limit time is greater than the preset over-limit time threshold, then the drive unbalanced load coefficient is calculated based on the several individual motor currents. If the drive load imbalance coefficient is greater than the preset coefficient threshold and the abnormal coefficient time is greater than the preset over-limit time threshold, then stop the current load reduction yaw operation and record the number of current over-limit times. Based on the number of times the current exceeds the limit, load reduction and yaw recovery or wind turbine shutdown operations are performed.

[0010] Optionally, the step of performing load reduction and yaw recovery or wind turbine shutdown operation based on the number of current overruns includes: Determine whether the number of current over-limit occurrences exceeds a preset current over-limit occurrences threshold; If the number of current overruns exceeds the preset current overrun threshold, an abnormal shutdown operation will be performed on the wind turbine. If the number of current overruns is not greater than the preset current overrun threshold, then the load reduction yaw will be performed again.

[0011] Secondly, this application discloses a wind turbine yaw control device, applied to a wind turbine yaw system, comprising: The load shedding yaw trigger determination module is used to determine whether to trigger load shedding yaw based on the current operating status of the wind turbine and the detected environmental wind data. If load shedding yaw is triggered, the target time node of the current yaw is too slow is recorded and the corresponding preparation load shedding flag is set. The first flag setting module is used to determine whether the preset load reduction yaw conditions are met based on the wind turbine's operating status, the ambient wind data, the target time node, and the ready load reduction flag, and set the current load reduction yaw flag as the first flag or the second flag according to the condition. The load reduction yaw execution module is used to directly execute the load reduction yaw operation if the load reduction yaw flag is the first flag, and adjust the current engine speed of the wind turbine if the load reduction yaw flag is the second flag, and execute the load reduction yaw operation after the engine speed is less than a preset speed threshold. The second flag setting module is used to set the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed.

[0012] Thirdly, this application discloses an electronic device, comprising: Memory, used to store computer programs; A processor is used to execute the computer program to implement the wind turbine yaw control method as described above.

[0013] Fourthly, this application discloses a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the wind turbine yaw control method as described above.

[0014] In this application, it can determine whether to trigger load reduction yaw based on the current operating status of the wind turbine and the detected environmental wind data. If load reduction yaw is triggered, the target time node for the current slow yaw is recorded, and a corresponding load reduction preparation flag is set. Based on the wind turbine operating status, the environmental wind data, the target time node, and the load reduction preparation flag, it is determined whether the preset load reduction yaw conditions are met, and the current load reduction yaw flag is set to a first flag or a second flag depending on whether they are met. If the load reduction yaw flag is the first flag, the load reduction yaw operation is directly executed. If the load reduction yaw flag is the second flag, the current engine speed of the wind turbine is adjusted, and the load reduction yaw operation is executed after the engine speed is less than a preset speed threshold. If the load reduction yaw operation has been completed, the current load reduction yaw flag is set to the second flag.

[0015] Therefore, the method described in this application can determine whether to trigger load shedding yaw based on the current operating status of the wind turbine and environmental wind data. It records the time point when the yaw is too slow and sets a corresponding load shedding flag. Then, it judges whether the preset load shedding yaw conditions are met based on the wind turbine's operating status, environmental wind data, target time point, and the load shedding flag. If met, the load shedding yaw flag is set to the first flag; otherwise, it is set to the second flag. When the load shedding yaw flag is the first flag, load shedding yaw is executed directly. When the load shedding yaw flag is the second flag, the current engine speed of the wind turbine is adjusted, and load shedding yaw is executed after the engine speed falls below a preset speed threshold. Finally, if load shedding yaw is completed, the current load shedding yaw flag is set to the second flag. Thus, intelligent load shedding yaw control can be used for yaw control, effectively avoiding problems such as stalling, inability to yaw, and insufficient braking capacity of the yaw system under extreme operating conditions such as turbulence. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a flowchart of a wind turbine yaw control method disclosed in this application; Figure 2 This is a flowchart of a wind turbine yaw control method disclosed in this application; Figure 3 This is a flowchart of a specific wind turbine yaw control method disclosed in this application; Figure 4 This application discloses a flowchart of a yaw and skid processing procedure. Figure 5 This is a flowchart of another specific wind turbine yaw control method disclosed in this application; Figure 6 This is a schematic diagram of a wind turbine motor for a wind turbine generator disclosed in this application; Figure 7 This is a schematic diagram of a wind turbine motor current monitoring and protection system disclosed in this application; Figure 8 This is a schematic diagram of the structure of a wind turbine yaw control device disclosed in this application; Figure 9 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Currently, with the increase in the megawattage of generating units, the load on the yaw system is also increasing. The usual solution is to increase the yaw drive radius and braking radius, which is costly. The yaw motor uses thermal relays and circuit breakers for protection. When the motor stalls, the thermal relay or circuit breaker trips, rendering the yaw inoperable, but protecting the drive unit. The program is configured with a nacelle slip alarm strategy; when the nacelle detects a certain amount of slip, the main controller executes an alarm shutdown. However, by this time, a significant slip angle has already occurred, and the shutdown results in power generation loss. To cope with typhoon conditions, based on wind direction forecasts, the yaw system first yaws the unit to a leeward position and then brakes. However, typhoon conditions are often accompanied by changes in wind direction and can lead to communication failures, posing a significant risk. Therefore, the existing yaw system control strategy cannot provide intelligent control based on actual operating conditions.

[0020] To overcome the aforementioned technical problems, this application discloses a yaw control method, device, equipment, and medium for wind turbine generators. Yaw control can be achieved through intelligent load-reducing yaw control, thereby effectively avoiding problems such as yaw stalling, stalling, and insufficient braking capacity of the yaw system under extreme conditions such as turbulence.

[0021] See Figure 1 As shown, this embodiment of the invention discloses a yaw control method for wind turbines, applied to the yaw system of wind turbines, including: Step S11: Determine whether to trigger load reduction yaw based on the current operating status of the wind turbine and the detected environmental wind data. If load reduction yaw is triggered, record the target time node of the current slow yaw and set the corresponding preparation load reduction flag.

[0022] In this embodiment, under extreme operating conditions such as turbulence, when the unit detects excessive external load on the yaw system, the unit will automatically trigger a load reduction yaw strategy. Specifically, such as... Figure 2As shown, the first step is to detect the first average wind speed within a preset first time threshold of the external environment of the wind turbine, and determine the current yaw error and operating status of the wind turbine. The first time threshold, first average wind speed, and yaw error can be set according to requirements; in this embodiment, the first time threshold is set to 3 seconds. If the first average wind speed is greater than the preset wind speed threshold, the yaw error is greater than the preset error threshold, and the operating status is power generation, then a load reduction yaw is triggered, and the target time point for the current slow yaw is recorded. The current load reduction preparation flag is set to TRUE. That is, in strong winds (3-second average wind speed > P m / s), when the yaw motor's driving force is insufficient to stop yaw (without shutting down), it can be determined that a slow yaw situation has been triggered. The target time point for the current slow yaw needs to be recorded, and the current load reduction preparation flag is set to TRUE. In this way, the yaw action is only executed when the yaw load drops to the set value, reducing the probability of yaw system failure under extreme turbulent gust conditions and protecting the yaw system. Implementing a load reduction and yaw strategy can improve the reliability of unit operation and reduce power loss caused by downtime.

[0023] Step S12: Based on the wind turbine's operating status, the ambient wind data, the target time node, and the preparation to reduce load, determine whether the preset load reduction yaw conditions are met, and set the current load reduction yaw condition to the first or second condition according to the condition.

[0024] In this embodiment, as Figure 2As shown, it is necessary to determine whether the load reduction yaw conditions are met based on the current environmental parameters and the wind turbine's operating parameters, and then set the corresponding load reduction yaw flag. First, it is necessary to determine the second average wind speed of the wind turbine within a preset second time threshold based on the environmental wind data. The preset second time threshold can be set according to specific needs; in this application, it can be set to 3s or 30s, and the second average wind speed is 10m / s. Then, if the wind turbine's operating status, second average wind speed, target time node, load reduction preparation flag, preset parameter enable, and current load reduction yaw count all meet the preset load reduction yaw conditions, the current load reduction yaw flag is set to the first flag; otherwise, it is set to the second flag. It should be noted that the first flag is TRUE, and the second flag is FALSE. Furthermore, the preset load reduction yaw condition is that the average wind speed within 3 seconds or 30 seconds is greater than 10 m / s, the wind turbine is in power generation mode, the interval between the current slow yaw and the previous slow yaw is less than 30 minutes, and if there is no yaw fault prevention, the excessive yaw count will be marked, the enabled parameter will be TRUE, and the load reduction preparation flag will be TRUE. Therefore, the wind turbine operating status meets the preset load reduction yaw condition as the wind turbine operating status is in power generation mode; the second average wind speed meets the preset load reduction yaw condition as the second average wind speed is greater than the preset wind speed threshold; the target time node meets the preset load reduction yaw condition as the time between the target time node and the previous historical time node of excessive yaw is less than the preset time threshold; the load reduction preparation flag meets the preset load reduction yaw condition as the load reduction preparation flag is TRUE; the preset parameter enabled meets the preset load reduction yaw condition as the preset parameter enabled is TRUE; and the current load reduction yaw count meets the preset load reduction yaw condition as the current load reduction yaw count is less than the preset load reduction yaw threshold.

[0025] Step S13: If the load reduction yaw indicator is the first indicator, the load reduction yaw operation is performed directly. If the load reduction yaw indicator is the second indicator, the current engine speed of the wind turbine is adjusted, and the load reduction yaw operation is performed after the engine speed is less than a preset speed threshold.

[0026] In this embodiment, as Figure 2 As shown, if the conditions are met, the load reduction and yaw flag is set to the first flag (TRUE); if the conditions are not met, the load reduction and yaw flag is set to the second flag (FALSE). Subsequent operations can then be performed based on the load reduction and yaw flag. Specifically, as... Figure 2As shown, regardless of whether the load reduction yaw flag is the first or second flag, it can enter either left yaw (TrackStartMoveCcw) or right yaw (TrackStartMoveCw). Entering left or right yaw depends on the wind conditions in the current wind turbine environment, such as wind speed and direction. Regardless of whether the logic for entering left or right yaw is executed, subsequent operations must be performed based on the load reduction yaw flag. If the current load reduction yaw flag is the first flag (TRUE), it indicates that the wind turbine is currently operating and there may be a situation where the generator speed is too high, exceeding 1250 rpm. Directly executing load reduction yaw may cause generator failure, therefore it cannot be executed directly. It is necessary to determine whether the current generator speed is less than 1250 rpm. If it is, the corresponding right yaw load reduction mode or left yaw (determined by the entered yaw logic) can be executed. If it is not less than 1250 rpm, it is necessary to wait for the generator speed to meet the condition, i.e., less than 1250 rpm, before performing load reduction yaw. If the current load reduction yaw indicator is the second indicator FLASE, it means that the corresponding load reduction yaw operation can be executed directly. In this way, by controlling the load reduction yaw, the problems of yaw stalling and inability to yaw under extreme operating conditions of wind turbine generators can be solved, and problems such as motor tripping, motor burnout, and drive failure caused by stalling can be resolved.

[0027] Step S14: If the load reduction and yaw operation has been completed, then set the current load reduction and yaw flag to the second flag.

[0028] In this embodiment, if the load reduction and yaw operation has been completed, then as follows: Figure 2 As shown, the current load reduction yaw flag needs to be set to the second flag FLASE. It should be noted that if the load reduction yaw operation stops due to a fault, it is necessary to enter the HaltEnter pause state and set the load reduction yaw flag to FLASE.

[0029] In this embodiment, the system determines whether to trigger load shedding yaw based on the current operating status of the wind turbine and ambient wind data. It records the time point when the yaw is too slow and sets a corresponding load shedding flag. Then, it assesses whether the preset load shedding yaw conditions are met based on the wind turbine's operating status, ambient wind data, target time point, and the load shedding flag. If met, the load shedding yaw flag is set to the first flag; otherwise, it is set to the second flag. When the load shedding yaw flag is the first flag, load shedding yaw is executed directly. When the flag is the second flag, the current engine speed of the wind turbine is adjusted, and load shedding yaw is executed once the engine speed is below a preset speed threshold. Finally, if load shedding yaw is complete, the current load shedding yaw flag is set to the second flag. Therefore, intelligent load shedding yaw control can be used for yaw control, effectively avoiding problems such as stalling, inability to yaw, and insufficient braking capacity of the yaw system under extreme operating conditions like turbulence.

[0030] As a preferred embodiment, in some cases, wind turbines may experience slippage. The cause of nacelle slippage failure is often excessive wear and failure of the motor brake after a single slippage. Therefore, this embodiment provides a detailed explanation of how to avoid wind turbine slippage. See [link to documentation]. Figure 3 As shown, this embodiment of the invention discloses a yaw control method for wind turbines, applied to the yaw system of wind turbines, including: Step S21: If a load reduction yaw command corresponding to the load reduction yaw operation is received, then the load reduction yaw operation is performed based on the load reduction yaw command.

[0031] Step S22: If the load reduction yaw command is not received, perform yaw slip detection; if no yaw slip is detected, stop the load reduction yaw operation; if yaw slip is detected, perform yaw operation based on the opposite direction of the current yaw slip.

[0032] Step S23: If, during the yaw operation, the yaw duration exceeds the first preset yaw duration threshold or the wind error is less than the first preset error angle, then the load reduction yaw operation is stopped.

[0033] Step S24: If the number of yaw slips within the second preset yaw time exceeds the preset slip number threshold or the slip amplitude exceeds the preset amplitude threshold, then the main control alarm shutdown operation for the wind turbine is performed.

[0034] In this embodiment, as Figure 4As shown, if a load reduction yaw command corresponding to the load reduction yaw operation is received, the load reduction yaw operation is performed based on the command. Otherwise, a slip yaw detection is required. If no slip yaw is detected, it indicates that there is no yaw at present, and the load reduction yaw operation needs to be stopped. If slip yaw is detected, a yaw operation is performed in the opposite direction of the current slip yaw. It should be noted that the purpose of performing the yaw operation in the opposite direction of the current slip yaw is to reduce the wind alignment error. When the yaw duration is greater than the first preset yaw duration threshold of 15 seconds or the wind alignment error is less than the first preset error angle of 4°, the load reduction yaw operation needs to be stopped. Furthermore, if the number of yaw slips within the second preset yaw duration T minutes is greater than the preset slip number threshold A times or the slip amplitude is greater than the preset amplitude threshold B teeth, a main control alarm shutdown operation is performed for the wind turbine. The preset yaw duration T minutes, the preset slip number threshold A times, and the preset amplitude threshold B teeth can all be set according to requirements.

[0035] In another implementation, if local nacelle slippage is detected, a yaw load reduction operation is performed and the motor brakes are engaged. The system monitors whether the number of yaw slippages within a second preset yaw duration exceeds a preset slippage threshold. Specifically, when nacelle slippage is detected, a fault log is recorded, but no alarm is triggered or the system is shut down. The main control unit performs load reduction and simultaneously engages the motor brakes. After T seconds, the motor brakes are engaged. The purpose of load reduction is to lower the overall load on the turbine. It should be noted that after load reduction yaw, nacelle slippage may still occur, requiring a yaw action based on the yaw initiation judgment strategy. If the slippage exceeds a preset threshold A times, a main control alarm shutdown operation is initiated for the wind turbine. If the local nacelle slippage amplitude exceeds a preset amplitude threshold M teeth or the wind alignment error exceeds a second preset error angle D degrees, a turbine alarm shutdown operation is initiated for the wind turbine. The preset amplitude threshold M teeth and the second preset error angle D degrees can be set according to requirements. This avoids brake disc damage caused by slippage during braking.

[0036] As a preferred embodiment, in some cases, wind turbines may experience stalling or significant uneven load during yaw. Therefore, the yaw drive operating status can be monitored and protected to prevent malfunctions caused by yaw drive stalling, uneven load distribution, etc. This embodiment provides a detailed explanation of how to monitor and protect the yaw drive operating status. See [link to documentation]. Figure 5 As shown, this embodiment of the invention discloses a yaw control method for wind turbines, applied to the yaw system of wind turbines, including: Step S31: Monitor the current of several individual motors of each local yaw motor in real time. If there is a first target current among the several individual motor currents that is greater than the first preset current over-limit threshold, and the over-limit time is greater than the preset over-limit time threshold, then trigger the yaw current abnormal alarm and record the abnormal data of the local yaw motor.

[0037] Step S32: If there is a second target current among the several individual motor currents that is greater than the second preset current over-limit threshold, and the over-limit time is greater than the preset over-limit time threshold, then calculate the drive unbalanced load coefficient based on the several individual motor currents.

[0038] Step S33: If the unbalanced load coefficient of the drive is greater than the preset coefficient threshold, and the abnormal coefficient time is greater than the preset over-limit time threshold, then stop the current load reduction yaw operation and record the number of current over-limit times.

[0039] Step S34: Perform load reduction and yaw recovery or wind turbine shutdown operation based on the number of times the current exceeds the limit.

[0040] In this embodiment, as Figure 6 As shown, each wind turbine corresponds to four motors: left front, left rear, right front, and right rear. Current-sensitive monitoring of these four motors is required to implement intelligent control and protection during operation by assessing the output of each motor. For example, Figure 7 As shown, it is necessary to monitor the current of several individual motors of each local yaw motor in real time. If any of the individual motor currents exceeds the first preset current over-limit threshold of 11A and the over-limit time exceeds the preset over-limit time threshold of 300ms, a yaw current abnormality alarm will be triggered, and the abnormal data of the current local yaw motor will be recorded. Specifically, it is necessary to accumulate the number of slow yaw events under the conditions of high wind and large yaw error in power generation mode, and in non-power generation mode or non-high wind and large yaw error mode, based on the wind speed, yaw error, and unit status at that time. If a second target current exceeding the second preset current over-limit threshold of 16A exists among several individual motor currents, and the over-limit duration exceeds the preset over-limit time threshold of 300ms, then the drive uneven load coefficient is calculated based on the currents of several individual motors. The calculation formula is: Drive uneven load coefficient = Average value of a single-path motor / (Sum of average values ​​of N motor currents / N). If the drive uneven load coefficient is greater than the preset coefficient threshold k, and the abnormal coefficient duration exceeds the preset over-limit time threshold, then the current load reduction yaw operation is stopped, and the number of current over-limit occurrences is recorded (condition b). Then, load reduction yaw recovery or wind turbine shutdown operation needs to be performed based on the number of current over-limit occurrences. It is necessary to determine whether the number of current over-limit occurrences exceeds the preset current over-limit occurrences threshold, i.e., the number of current over-limit occurrences is not less than 3 within 24 hours. If the number of current over-limit occurrences exceeds the preset current over-limit occurrences threshold, then an abnormal shutdown operation is performed on the wind turbine, and log data needs to be recorded after the abnormal shutdown, and the wind turbine enters anti-vortex-induced state. If the number of current over-limit occurrences is not greater than the preset current over-limit occurrences threshold, then load reduction yaw is performed again. Furthermore, after the shutdown protection is activated, the main control unit analyzes wind condition data and yaw drive operation data. If the analysis indicates that the shutdown protection was caused by extreme wind conditions, the unit will automatically restart after a period of time. If the analysis indicates an abnormality in the yaw system components, the unit will issue another alarm, highlight the abnormality, and output an analysis report for troubleshooting. In this way, the yaw drive operation status can be monitored and protected, preventing malfunctions caused by yaw drive stalling, uneven load distribution, or other reasons.

[0041] See Figure 8 As shown, this embodiment of the invention discloses a yaw control device for wind turbines, applied to the yaw system of wind turbines, comprising: The load reduction yaw trigger determination module 11 is used to determine whether to trigger load reduction yaw based on the current operating status of the wind turbine and the detected environmental wind force data. If load reduction yaw is triggered, the target time node of the current yaw is too slow is recorded and the corresponding preparation load reduction flag is set. The first flag setting module 12 is used to determine whether the preset load reduction yaw conditions are met based on the wind turbine's operating status, the environmental wind data, the target time node, and the ready load reduction flag, and set the current load reduction yaw flag as the first flag or the second flag according to the condition. The load reduction yaw execution module 13 is used to directly execute the load reduction yaw operation if the load reduction yaw flag is the first flag, and adjust the current engine speed of the wind turbine if the load reduction yaw flag is the second flag, and execute the load reduction yaw operation after the engine speed is less than a preset speed threshold. The second flag setting module 14 is used to set the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed.

[0042] In this embodiment, the system determines whether to trigger load shedding yaw based on the current operating status of the wind turbine and ambient wind data. It records the time point when the yaw is too slow and sets a corresponding load shedding flag. Then, it assesses whether the preset load shedding yaw conditions are met based on the wind turbine's operating status, ambient wind data, target time point, and the load shedding flag. If met, the load shedding yaw flag is set to the first flag; otherwise, it is set to the second flag. When the load shedding yaw flag is the first flag, load shedding yaw is executed directly. When the flag is the second flag, the current engine speed of the wind turbine is adjusted, and load shedding yaw is executed once the engine speed is below a preset speed threshold. Finally, if load shedding yaw is complete, the current load shedding yaw flag is set to the second flag. Therefore, intelligent load shedding yaw control can be used for yaw control, effectively avoiding problems such as stalling, inability to yaw, and insufficient braking capacity of the yaw system under extreme operating conditions like turbulence.

[0043] In some embodiments, the load reduction and yaw trigger determination module 11 may specifically include: The information detection unit is used to detect the first average wind speed of the external environment of the wind turbine within a preset first time threshold, and to determine the current yaw error and operating status of the wind turbine. The trigger determination unit is used to trigger load reduction yaw if the first average wind speed is greater than a preset wind speed threshold, the yaw error is greater than a preset error threshold, and the operating state is the power generation state, and to record the target time node when the current yaw is too slow, and to set the current preparation load reduction flag to TRUE.

[0044] In some embodiments, the first flag setting module 12 may specifically include: An average wind speed determination unit is used to determine the second average wind speed of the wind turbine within a preset second time threshold based on the environmental wind data. The first flag setting unit is used to set the current load reduction yaw flag as the first flag if the wind turbine operating status, the second average wind speed, the target time node, the preparation load reduction flag, the preset parameter enable, and the current load reduction yaw count all meet the preset load reduction yaw conditions; otherwise, it is set as the second flag. Wherein, the wind turbine operating state satisfies the preset load reduction yaw condition as the wind turbine operating state is the power generation state; the second average wind speed satisfies the preset load reduction yaw condition as the second average wind speed is greater than the preset wind speed threshold; the target time node satisfies the preset load reduction yaw condition as the time between the target time node and the last historical time node with excessively slow yaw is less than a preset time threshold; the load reduction preparation flag satisfies the preset load reduction yaw condition as the load reduction preparation flag is TRUE; the preset parameter enable satisfies the preset load reduction yaw condition as the preset parameter enable is TRUE; and the current load reduction yaw count satisfies the preset load reduction yaw condition as the current load reduction yaw count is less than the preset load reduction yaw threshold.

[0045] In some embodiments, the wind turbine yaw control device may further include: The instruction execution unit is configured to execute the load reduction yaw operation based on the load reduction yaw operation if it receives a load reduction yaw instruction corresponding to the load reduction yaw operation. The yaw slip detection unit is used to perform yaw slip detection if the load reduction yaw command is not received; if no yaw slip is detected, the load reduction yaw operation is stopped; if yaw slip is detected, the yaw operation is performed in the opposite direction of the current yaw slip. The load reduction yaw stop unit is used to stop the load reduction yaw operation if the yaw duration is greater than a first preset yaw duration threshold or the wind error is less than a first preset error angle during the yaw operation. The first alarm unit is used to perform a main control alarm shutdown operation on the wind turbine if the number of yaw slips within the second preset yaw time period is greater than a preset slip number threshold or the slip amplitude is greater than a preset amplitude threshold.

[0046] In some embodiments, the wind turbine yaw control device may further include: The slip count determination unit is used to perform yaw unloading operation and apply motor brakes if slip is detected in the local cabin, and to monitor whether the number of yaw slips within the second preset yaw time is greater than the preset slip count threshold. The second alarm unit is used to perform a main control alarm shutdown operation on the wind turbine if the number of sliding times exceeds the preset threshold. The third alarm unit is used to perform a unit alarm shutdown operation for the wind turbine if the local nacelle slip amplitude is detected to be greater than the preset amplitude threshold or the wind error is greater than the second preset error angle.

[0047] In some embodiments, the wind turbine yaw control device may further include: The abnormal data recording submodule is used to monitor the current of several individual motors of each local yaw motor in real time. If there is a first target current among the several individual motor currents that is greater than the first preset current over-limit threshold, and the over-limit time is longer than the preset over-limit time threshold, then the yaw current abnormal alarm is triggered, and the abnormal data of the local yaw motor is recorded. The uneven load factor calculation submodule is used to calculate the drive uneven load factor based on the current of the several individual motors if there is a second target current in the current of the several individual motors that is greater than the second preset current over-limit threshold and the over-limit time is greater than the preset over-limit time threshold. The over-limit number recording submodule is used to stop the current load reduction yaw operation and record the number of current over-limit times if the drive unbalanced load coefficient is greater than a preset coefficient threshold and the coefficient abnormal time is greater than the preset over-limit time threshold. The wind turbine operation submodule is used to perform load reduction and yaw recovery or wind turbine shutdown operations based on the number of times the current exceeds the limit.

[0048] In some embodiments, the wind turbine operation submodule may further include: The over-limit number determination unit is used to determine whether the number of current over-limits is greater than a preset current over-limit number threshold. The unit shutdown unit is used to perform an abnormal shutdown operation on the wind turbine if the number of current over-limit times exceeds a preset current over-limit number threshold. The load reduction yaw restart unit is used to perform load reduction yaw again if the number of current over-limit times is not greater than a preset current over-limit number threshold.

[0049] Furthermore, embodiments of this application also disclose an electronic device, Figure 9 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0050] Figure 9 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the wind turbine yaw control method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0051] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0052] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0053] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the wind turbine yaw control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include computer programs capable of performing other specific tasks.

[0054] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned wind turbine yaw control method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0055] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0056] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0057] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0058] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A yaw control method for a wind turbine generator, characterized in that, Applications include: yaw systems for wind turbines Based on the current operating status of the wind turbine and the detected environmental wind data, determine whether to trigger load reduction yaw. If load reduction yaw is triggered, record the target time node for the current slow yaw and set the corresponding load reduction preparation flag. Based on the wind turbine's operating status, the ambient wind data, the target time point, and the prepared load reduction flag, determine whether the preset load reduction yaw conditions are met, and set the current load reduction yaw flag to the first flag or the second flag according to the condition. If the load reduction yaw indicator is the first indicator, the load reduction yaw operation is performed directly. If the load reduction yaw indicator is the second indicator, the current engine speed of the wind turbine is adjusted, and the load reduction yaw operation is performed after the engine speed is less than a preset speed threshold. If the load reduction and yaw operation has been completed, then the current load reduction and yaw flag is set to the second flag.

2. The wind turbine yaw control method according to claim 1, characterized in that, The process involves determining whether to trigger load shedding yaw based on the current operating status of the wind turbine and detected environmental wind data. If load shedding yaw is triggered, the target time point for the current excessively slow yaw is recorded, and corresponding load shedding preparation flags are set, including: The system detects the first average wind speed of the external environment of the wind turbine within a preset first time threshold, and determines the current yaw error and operating status of the wind turbine. If the first average wind speed is greater than a preset wind speed threshold, the yaw error is greater than a preset error threshold, and the operating state is power generation state, then load reduction yaw is triggered, the target time node of the current yaw being too slow is recorded, and the current preparation to reduce load flag is set to TRUE.

3. The wind turbine yaw control method according to claim 2, characterized in that, The process of determining whether the preset load reduction yaw conditions are met based on the wind turbine's operating status, the ambient wind data, the target time point, and the prepared load reduction flag, and setting the current load reduction yaw flag to a first flag or a second flag according to the condition, includes: Based on the environmental wind data, the second average wind speed of the wind turbine is determined within a preset second time threshold. If the wind turbine operating status, the second average wind speed, the target time node, the preparation to reduce load flag, the preset parameter enable, and the current number of load reduction yaws all meet the preset load reduction yaw conditions, then the current load reduction yaw flag is set to the first flag; otherwise, it is set to the second flag. Wherein, the wind turbine operating state satisfies the preset load reduction yaw condition as the wind turbine operating state is the power generation state; the second average wind speed satisfies the preset load reduction yaw condition as the second average wind speed is greater than the preset wind speed threshold; the target time node satisfies the preset load reduction yaw condition as the time between the target time node and the last historical time node with excessively slow yaw is less than a preset time threshold; the load reduction preparation flag satisfies the preset load reduction yaw condition as the load reduction preparation flag is TRUE; the preset parameter enable satisfies the preset load reduction yaw condition as the preset parameter enable is TRUE; and the current load reduction yaw count satisfies the preset load reduction yaw condition as the current load reduction yaw count is less than the preset load reduction yaw threshold.

4. The wind turbine yaw control method according to claim 1, characterized in that, Before setting the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed, the method further includes: If a load reduction yaw command corresponding to the load reduction yaw operation is received, the load reduction yaw operation is executed based on the load reduction yaw command; If the load reduction and yaw command is not received, yaw slip detection is performed; if no yaw slip is detected, the load reduction and yaw operation is stopped; if yaw slip is detected, yaw operation is performed in the opposite direction of the current yaw slip. If, during the yaw operation, the yaw duration exceeds the first preset yaw duration threshold or the wind error is less than the first preset error angle, then the load reduction yaw operation is stopped. If the number of yaw slips within the second preset yaw time exceeds the preset slip number threshold or the slip amplitude exceeds the preset amplitude threshold, then the main control alarm shutdown operation for the wind turbine unit will be performed.

5. The wind turbine yaw control method according to claim 4, characterized in that, Before setting the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed, the method further includes: If a skid is detected in the local cabin, a yaw unloading operation is performed and the motor brakes are applied. The number of yaw skids within the second preset yaw duration is monitored to see if it exceeds the preset skid count threshold. If the number of sliding times exceeds the preset threshold, a main control alarm shutdown operation will be performed on the wind turbine. If the local nacelle slippage is detected to be greater than the preset amplitude threshold or the wind error is greater than the second preset error angle, an alarm shutdown operation will be performed on the wind turbine unit.

6. The wind turbine yaw control method according to any one of claims 1 to 5, characterized in that, Before setting the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed, the method further includes: Real-time monitoring of the current of several individual motors of each local yaw motor; if there is a first target current among the several individual motor currents that is greater than the first preset current over-limit threshold, and the over-limit time is longer than the preset over-limit time threshold, then a yaw current abnormal alarm is triggered, and the abnormal data of the local yaw motor is recorded. If there is a second target current among the several individual motor currents that is greater than the second preset current over-limit threshold, and the over-limit time is greater than the preset over-limit time threshold, then the drive unbalanced load coefficient is calculated based on the several individual motor currents. If the drive load imbalance coefficient is greater than the preset coefficient threshold and the abnormal coefficient time is greater than the preset over-limit time threshold, then stop the current load reduction yaw operation and record the number of current over-limit times. Based on the number of times the current exceeds the limit, load reduction and yaw recovery or wind turbine shutdown operations are performed.

7. The wind turbine yaw control method according to claim 6, characterized in that, The operation of reducing load and yaw recovery or shutting down the wind turbine based on the number of times the current exceeds the limit includes: Determine whether the number of current over-limit occurrences exceeds a preset current over-limit occurrences threshold; If the number of current overruns exceeds the preset current overrun threshold, an abnormal shutdown operation will be performed on the wind turbine. If the number of current overruns is not greater than the preset current overrun threshold, then the load reduction yaw will be performed again.

8. A yaw control device for a wind turbine, characterized in that, Applications include: yaw systems for wind turbines The load shedding yaw trigger determination module is used to determine whether to trigger load shedding yaw based on the current operating status of the wind turbine and the detected environmental wind data. If load shedding yaw is triggered, the target time node of the current yaw is too slow is recorded and the corresponding preparation load shedding flag is set. The first flag setting module is used to determine whether the preset load reduction yaw conditions are met based on the wind turbine's operating status, the ambient wind data, the target time node, and the ready load reduction flag, and set the current load reduction yaw flag as the first flag or the second flag according to the condition. The load reduction yaw execution module is used to directly execute the load reduction yaw operation if the load reduction yaw flag is the first flag, and adjust the current engine speed of the wind turbine if the load reduction yaw flag is the second flag, and execute the load reduction yaw operation after the engine speed is less than a preset speed threshold. The second flag setting module is used to set the current load reduction and yaw flag to the second flag if the load reduction and yaw operation has been completed.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program 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, Used to store a computer program, wherein the computer program, when executed by a processor, implements the wind turbine yaw control method as described in any one of claims 1 to 7.

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