Method for operating a wind turbine and wind turbine

Abstract

According to an embodiment, a method for operating a wind turbine (100) having rotatable components (1 to 4) and N drives (di) for rotating the rotatable components by applying a torque, wherein N > 2. The method comprises a step of providing first information (II) representing at least one operating parameter (P_i) of each drive. In a further step, second information (I2) is determined from the first information. The second information represents an operating parameter average (Pa, Pa_I, Pa_II) averaged over at least two drives. Third information (I3) is determined from the first information and the second information, wherein the third information represents whether the operating parameter of at least one drive differs from the operating parameter average by more than a defined threshold value (T). If this is the case, a first measure (M1) is executed. The first measure is configured to cause a maintenance of the at least one drive. Additionally or alternatively, the first measure is configured to cause a change of the operation of the wind turbine.

Description

[0001] This disclosure relates to methods for operating a wind turbine. Furthermore, this disclosure relates to computer programs, computer-readable data carriers, control systems, and wind turbines.

[0002] Wind turbines are widely known and used to convert wind energy into electrical energy. Some components of a wind turbine, such as the nacelle or rotor blades, need to rotate during operation. Failures in the systems that enable these components to rotate increase downtime and reduce the annual power generation (AEP) of the wind turbine.

[0003] One objective is to provide a method that facilitates the efficient operation of wind turbines, particularly with either low downtime or high AEP (Advanced Operating Process). Other objectives are to provide computer programs, computer-readable data carriers, control systems, and wind turbines for performing this method.

[0004] First, determine the methods for operating the wind turbine.

[0005] According to an embodiment, the method is used to operate a wind turbine having a rotatable component and N drives for rotating the rotatable component by applying torque. N is an integer greater than or equal to 2. The method includes the step of providing first information representing at least one operating parameter of each drive. In a further step, second information is determined based on the first information. The second information represents an average value of the operating parameters taken as an average across at least two drives. Third information is determined based on the first and second information, wherein the third information indicates whether the difference between the operating parameter of at least one drive and the average operating parameter exceeds a defined threshold. If this is the case, i.e., if the third information indicates that the difference between the operating parameter of at least one drive and the average operating parameter exceeds a defined threshold, a first measure is performed. The first measure is configured to cause maintenance on at least one drive. Additionally or alternatively, the first measure is configured to cause a change in the operation of the wind turbine.

[0006] The described method enables early identification of drive damage or initial drive failure. By reacting appropriately, for example by scheduling maintenance or by changing operations, emergency shutdowns of the wind turbine can be avoided, thereby reducing downtime.

[0007] The methods specified in this article are, in particular, computer-implemented methods, i.e., methods executed with the aid of a computer or processor.

[0008] In this document, when information represents a quantity or quantities, it means that the quantity or quantities can be directly extracted from the information, or at least derived from the information. In other words, the quantity is stored in the information, or at least the data is stored in the information, and the quantity / quantities can be derived, determined, or calculated separately from the information. Furthermore, in this and hereinafter, information specifically refers to electronic information, such as electronic data.

[0009] For example, the number N of drives assigned to the rotatable component is 2, 4, or 6. Each drive may include an electric motor. Furthermore, each drive may include a gearbox and a pinion. The electric motor applies an input rotational speed and input torque to the gearbox, thereby converting the input rotational speed and input torque into an output rotational speed and output torque, which are then applied to the pinion. For instance, the transmission ratio between the input rotational speed and the output rotational speed of the gearbox in each drive is at least 100 or at least 1000. That is, the electric motor on one side of the gearbox rotates at least 100 times or at least 1000 times faster than the pinion on the other side of the gearbox.

[0010] The actuator can be attached to a rotatable component, causing the actuator to rotate with the rotatable component. For example, the actuator can then engage with a non-rotatable element and apply torque to the non-rotatable element, which in turn can cause the rotatable component to rotate. Alternatively, the actuator can be fixed in rotation and not rotate with the rotatable component. The actuator can then engage with the rotatable component and apply torque to the rotatable component, which can cause the rotatable component to rotate.

[0011] The operating parameters of a drive are parameters that indicate the operation of the drive. Specifically, the operating parameters indicate physical quantities of the corresponding drive during its operation. Preferably, the operating parameters of the drive indicate the same one or more physical quantities, such that these physical quantities can be compared with each other. Initial information can be determined based on measurements taken during the operation of the wind turbine.

[0012] The average operating parameter is the average of the operating parameters of two or more drives. Therefore, the average operating parameter is taken as the average across operating parameters that indicate the same physical quantity. The average operating parameter can be the average across all drives assigned to the rotatable component, or it can be the average across only some of these drives.

[0013] The third piece of information indicates whether the operating parameters of at least one drive differ from the average operating parameters by more than a defined threshold. This defined threshold can be fixed or variable. For example, the defined threshold may be chosen to be between 1% and 50% of the average operating parameters, or between 5% and 30%. One or more drives to which this applies are also referred to herein as “critical drives” or “multiple critical drives”, because exceeding the threshold can indeed indicate drive failure or initial damage.

[0014] The first, second, and third information can be provided or determined repeatedly, for example, at least once per minute, at least once per hour, or at least once per day.

[0015] When the third information indicates that at least one driver differs from the average value of its operating parameters by more than a defined threshold, the first measure can be automatically executed.

[0016] The first measure may be configured to trigger maintenance on at least one drive. For example, the first measure includes (re)scheduling maintenance on at least one drive. This may occur automatically or may be performed manually in response to the execution of the first measure.

[0017] The first measure can be configured to cause a change in the operation of the wind turbine, such as a change to a more lenient operation of at least one drive. For example, "more lenient" means, for instance, a reduction in the maximum current used by the electric motor operating the drive or the maximum permissible torque applied by the drive, or a permanent disabling of at least one drive, i.e., the drive is no longer enabled / controlled. The first measure can be configured to cause an automatic change in the operation of the wind turbine.

[0018] According to another embodiment, at least one operating parameter is the temperature of the electric motor of the corresponding drive. The temperature can be determined by means of a temperature sensor assigned to the electric motor.

[0019] According to another embodiment, at least one operating parameter is the current used by the electric motor that operates the corresponding driver.

[0020] According to another embodiment, at least one operating parameter is the torque of the corresponding drive, such as the input torque or output torque of the gearbox.

[0021] According to another embodiment, at least one operating parameter is a time-averaged parameter and / or a filtering parameter. For example, the operating parameter is averaged over at least 10 seconds, at least one minute, or at least one hour. The filter can be configured to reduce noise and / or outliers.

[0022] According to another embodiment, the first measure is configured to induce the generation of a warning signal for an operator, allowing the operator to (re)schedule maintenance for at least one drive. For example, the first measure includes generating an electrical signal. When the electrical signal is received by a warning device, the warning device generates a visible warning signal, such as a visual or audible warning signal. The warning device may be a display and / or a speaker. When the operator notices the warning signal, he / she knows which drive is damaged or about to be damaged and should (re)schedule maintenance for that drive.

[0023] According to another embodiment, if the third information indicates that the operating parameters of one driver, particularly only one driver, differ from the average operating parameters by more than a defined threshold, then the first measure is configured to change the operation of the wind turbine from a first operating mode to a second operating mode. In the first operating mode, N drivers are used to control the position of the rotatable component. In the second operating mode, one (critical) driver is permanently disabled and only the remaining N-1 drivers are used to control the position of the rotatable component. In other words, when the first operating mode, such as the nominal operating mode, is executed, the wind turbine includes and uses N drivers for rotating the rotatable component and / or for holding the rotatable component in place. When the second operating mode, such as the auxiliary operating mode, is executed, the wind turbine uses N-1 drivers for rotating the rotatable component and / or for holding the rotatable component in place.

[0024] In cases where the third information indicates that two or more drives are critical drives, for example, only the drive with the largest deviation from the average operating parameter is permanently disabled. Alternatively, in this case, the first measure may be configured to cause the wind turbine to shut down or to cause a change from a first operating mode to a third operating mode, in which two or more of the critical drives are permanently disabled and only the remaining drives are used to control the position of the rotatable parts.

[0025] According to another embodiment, the first measure is configured to cause an automatic change from a first operating mode to a second operating mode. That is, when the wind turbine is actually operated and the first measure is executed, the operation of the wind turbine automatically changes from the first operating mode to the second operating mode, i.e., without human intervention. For example, the first measure includes changing the settings in the wind turbine's control system. The result of changing the settings could be that critical drives are no longer provided with electrical control signals. For example, changing the settings in the control system causes the control system to ignore critical drives. The control system then operates, for example, in a situation where only N-1 drives are available to rotate the rotatable components.

[0026] According to another embodiment, the first measure is configured to disable power to the critical driver. For example, the IGBT used to operate the critical driver is no longer powered. For example, the first measure includes generating an output signal to prevent the IGBT from being powered. The driver brake or motor brake of the critical driver may also be turned off separately, so that the driver brake or motor brake will not damage the driver or motor.

[0027] According to another embodiment, the first measure is configured to instruct the operator that the operation of the wind turbine must be changed, for example, to a gentler operation on critical drives, or, for example, to change from a first operating mode to a second operating mode. For example, performing the first measure includes generating an output signal. When the output signal is received by a warning device such as a display or speaker, the warning device generates a clear warning signal, such as a visual or audible warning signal. When the operator notices the warning signal, he / she knows that one of the drives may be damaged and the operating mode should now be changed (manually).

[0028] According to another embodiment, the first measure includes changing the control parameters of the wind turbine to alter the operation of the wind turbine, particularly to a more moderate operation of at least one drive. The control parameters are, for example, the rotor speed setpoint and / or the generator power setpoint and / or the maximum permissible wind speed and / or the maximum permissible external torque.

[0029] The setpoints in this document define specific targets (values) to be achieved when operating a wind turbine. For example, the rotor speed setpoint is the target value or maximum permissible rotational speed of the wind turbine's rotor. The generator power setpoint can be the target value or the maximum permissible power produced by the wind turbine's generator.

[0030] For example, when the rotor's rotational speed deviates from or exceeds the rotor speed setpoint, the pitch angle of the rotor blades is adjusted to keep the rotor's rotational speed at or below the rotor speed setpoint. When the power generated by the generator deviates from or exceeds the generator power setpoint, the reverse torque on the load side can be adjusted to keep the generated power at or below the generator power setpoint.

[0031] For example, the first measure includes lowering the rotor speed setpoint and / or the generator power setpoint. For instance, the rotor speed setpoint and / or the generator power setpoint may be changed by at least 10%, at least 25%, or at least 50% compared to previously used values.

[0032] According to another embodiment, the first measure includes changing the maximum permissible wind speed, specifically reducing the maximum permissible wind speed. For example, the wind turbine is shut down when the wind speed, which can be measured, exceeds the maximum permissible wind speed. For example, the maximum permissible wind speed is changed by at least 10%, at least 25%, or at least 50% compared to a previously used value.

[0033] According to another embodiment, the first measure includes changing the maximum permissible external torque, specifically reducing the maximum permissible external torque. External torque is torque acting on a rotatable component, such as that caused by wind acting on a wind turbine and / or by vibrations of the rotatable component, such as those caused by the rotation of the wind turbine rotor and / or by changes in wind speed and / or by tower movement. External torque is particularly torque not caused by the drive but which the drive must counteract. For example, the maximum permissible external torque is changed by at least 10%, at least 25%, or at least 50% compared to a previously used value. If the external torque exceeds the maximum permissible external torque, the wind turbine can be shut down or the power mode can be changed. The power mode is a specific combination of the rotor speed setpoint, the generator power setpoint, and optionally, the maximum permissible pitch angle of the rotor blades.

[0034] According to another embodiment, the method further includes the steps of providing fourth information representing a position setpoint of the rotatable component and determining an operation setpoint of the driver based on the fourth information, such that when the driver is operated according to the operation setpoint, the driver applies torque to bring the rotatable component to or hold it at the position setpoint. The position setpoint is a target value for the position of the rotatable component. The operation setpoint defines the target operation of the driver. The operation setpoint of the driver is specifically equivalent to the control information / operation information used for the driver.

[0035] The position setpoint is specifically an angle between 0° and 360°. Bringing a rotatable component to or holding it at the position setpoint means that the drive is operated such that the difference between the actual position of the rotatable component and the position setpoint is minimized (e.g., by means of a negative feedback loop). In other words, the rotatable component is held at the position corresponding to the position setpoint or is brought to that position.

[0036] According to another embodiment, the method includes the step of providing fifth information representing the actual torque difference between actual torques applied by the driver. For example, the actual current used to actually operate the electric motor is determined and then these currents are stored in the fifth information. The actual current can be determined using a motor model based on a PWM signal transmitted to the driver. In practice, current is proportional to torque, such that the difference in currents in the electric motor represents the difference in torques. Alternatively, the torque or torque difference provided by the driver can be directly measured and these measurements stored in the fifth information.

[0037] According to another embodiment, the method further includes the step of providing sixth information representing a torque difference setpoint between torques applied by the drives. The torque difference setpoint is specifically different from zero. The torque difference setpoint is a target value of the absolute value of the torque difference between the torques of the two drives. In the case of more than two drives, the sixth information may represent several torque difference setpoints. For example, the torque difference setpoint for each drive then refers to the torque difference between the drive and the master drive.

[0038] According to another embodiment, the operating setpoint is also determined based on fifth and sixth information, i.e., by using a feedback loop, particularly a negative feedback loop, where the fifth and sixth information are used as input information, so that the difference between the torque difference setpoint and the actual torque difference is minimized. Specifically, the fifth and sixth information are repeatedly or continuously provided and compared. Accordingly, the operating setpoint is repeatedly or continuously determined or adjusted to match the actual torque difference with the torque difference setpoint.

[0039] Providing fourth and / or fifth and / or sixth information, as well as determining the operation setpoint, is preferably done before and after the execution of the first measure.

[0040] According to another embodiment, the wind turbine includes at least four drives. The drives are assigned to at least two different groups, such that each group is equipped with at least two drives.

[0041] According to another embodiment, second information is determined such that the second information represents the average operating parameters for each group. The average operating parameters for a group are the average operating parameters of only those drivers assigned to that group.

[0042] According to another embodiment, an operating setpoint is determined such that when the drive is operated according to the operating setpoint, all drives assigned to the same group always apply the same torque. Drives assigned to different groups apply different torques, preferably applying different torques with a difference in torque difference setpoints that matches the torque difference setpoints as closely as possible.

[0043] According to another embodiment, in order to determine the third information, the operating parameters of each driver are compared only with the average operating parameters of the group to which the driver is assigned. That is, in order to determine the third information, it is determined whether the difference between the operating parameters and the average operating parameters of the group to which the driver is assigned exceeds a predetermined threshold.

[0044] According to another embodiment, at least one drive, i.e., at least one key drive, is the master drive before the first measure is performed. "Master drive" means that the operating setpoint is determined such that when the drive is operated according to the operating setpoint, the value of the torque applied by the master drive is always greater than or at least equal to the value of the torque applied by one or more other drives. Specifically, the operating setpoints of the other drives or the torques applied by the other drives are determined based on the operating setpoint or torque of the master drive.

[0045] The “torque value” in this document can be a numerical (real) or absolute (magnitude) value of torque. The sign of the value is taken into account, such that a torque value of 0 Nm is greater than a torque value of -10 Nm.

[0046] According to another implementation, the first measure includes changing the primary drive. Specifically, a drive other than the critical drive is designated as the primary drive. In this way, at least one drive, i.e., at least one critical drive, is operated more gently. For example, a drive from another set is subsequently designated as the primary drive.

[0047] According to another embodiment, the rotatable component is a part of the yaw system of a wind turbine. For example, the rotatable component is a nacelle of the wind turbine or a support component or yaw bearing for the nacelle.

[0048] According to another embodiment, the rotatable component is a part of the pitch system of a wind turbine. For example, the rotatable component is a rotor blade of a wind turbine, or a carrier or pitch bearing for the rotor blade.

[0049] According to another embodiment, the wind turbine is actually operated, for example, to generate electricity. Operation may be in a first operating mode. Then, a first measure is executed because third information indicates that the operating parameters of at least one drive differ from the average operating parameter by more than a defined threshold. The first measure, for example, results in a change in the operation of the wind turbine as described above. Additionally or alternatively, the first measure results in a (re)schedule of maintenance.

[0050] According to another embodiment, the method further includes performing a second measure in response to the first measure, wherein the second measure is performing maintenance on at least one drive. Maintenance includes, for example, replacing or repairing at least one drive. The second measure is performed, for example, no later than six months or three months after the first measure.

[0051] Next, the computer program, computer-readable data carrier, and control system are determined.

[0052] According to an embodiment, the computer program includes instructions that, when executed by a control system, cause the control system to perform a method for operating a wind turbine according to any of the embodiments described herein.

[0053] According to an implementation, the computer-readable data carrier has a computer program stored on it.

[0054] According to one embodiment, the control system includes means configured to perform a method for operating a wind turbine according to any of the embodiments described herein. Specifically, the method is performed when the aforementioned computer program is executed by the control system.

[0055] The control system may include at least one processor and / or at least one programmable logic controller (PLC). Furthermore, the control system may include one or more drive control modules that convert operating setpoints into actual electrical control signals, such as PWM signals, and then use these electrical control signals to control the drivers. The control system may be part of a wind turbine.

[0056] According to another embodiment, the control system includes a device, such as a sensor, by means of which at least one operating parameter of each actuator can be determined. Specifically, the control system may include a device that can determine the temperature of the electric motor of the actuator and / or determine the current operating the electric motor and / or determine the torque of the actuator. For example, the control system includes a temperature sensor and / or a current sensor for each actuator.

[0057] Next, the wind turbine will be selected.

[0058] According to one embodiment, the wind turbine includes a rotatable component and N drives for rotating the rotatable component by applying torque. N is an integer greater than or equal to 2. Furthermore, the wind turbine includes a control system according to any embodiment described herein. Therefore, the wind turbine is specifically configured to perform a method according to any embodiment described herein. Thus, all features disclosed for the method are also disclosed for the wind turbine, and conversely, all features disclosed for the wind turbine are also disclosed for the method.

[0059] According to another embodiment, the control system is connected to the driver in a signal manner so that the driver can be operated according to the operating setpoint generated by the control system.

[0060] In the following, a method for operating a wind turbine, a control system, and a wind turbine will be explained in more detail based on exemplary embodiments with reference to the accompanying drawings. The accompanying drawings are included to provide further understanding. In the drawings, elements with the same structure and / or function may be represented by the same reference numerals. It should be understood that the embodiments shown in the drawings are illustrative and not necessarily drawn to scale. Descriptions of elements or components in the following drawings will not be repeated for each element or component, provided that the elements or components correspond to each other in function in different drawings. For clarity, elements may not appear with corresponding reference numerals in all drawings.

[0061] Figure 1 An exemplary embodiment of a wind turbine is shown.

[0062] Figure 2 An exemplary implementation of the yaw system is illustrated in a perspective view.

[0063] Figure 3 An exemplary implementation of the yaw system is shown in cross-sectional view.

[0064] Figure 4 and Figure 9 An exemplary implementation of the yaw system is shown in a top view.

[0065] Figure 5 and Figure 8 A flowchart illustrating an exemplary embodiment of a method for operating a wind turbine is shown.

[0066] Figure 6 An exemplary implementation of the control system is shown.

[0067] Figure 7 A graph showing the operating parameters of several drivers is provided.

[0068] Figure 10 An exemplary implementation of the operation of the drive control module is shown.

[0069] Figure 1 A wind turbine 100 including a tower 20 is shown. The tower 20 is fixed to the ground by means of a base 104. A nacelle 40 is rotatably mounted at one end of the tower 20 opposite to the ground. The nacelle 40 includes a generator, for example, connected to a rotor 10 via a gearbox (not shown). The rotor 10 includes three (wind turbine) rotor blades 1, 2, 3 arranged on a rotor hub 112 connected to a rotor shaft (not shown).

[0070] During operation, rotor 10 is configured to rotate by airflow, such as wind. This rotational motion is transmitted to a generator via a drivetrain, which specifically includes a rotor shaft and a gearbox. The generator converts the mechanical energy of rotor 10 into electrical energy.

[0071] To optimize the energy output of the wind turbine 100, the nacelle 40 must rotate upwind. Furthermore, the pitch angles of the rotor blades 1, 2, and 3 must be set according to the wind speed. This is accomplished by a drive (not shown) that rotates the rotor blades 1, 2, and 3 and the nacelle 40 to their respective target positions. To control and operate the drive, the wind turbine includes a control system 30 that determines the operating setpoints used to operate the drive. The control system 30 is located within the nacelle 40.

[0072] Figure 2 A yaw system is shown, for example Figure 1 Detailed views of an exemplary embodiment of the yaw system of a wind turbine. The nacelle 40 itself is not shown here; only the carrier 4 for the nacelle 40 is shown. The carrier 4 is capable of rotating with the nacelle 40. To enable the carrier 4 to rotate, six actuators d1 to d6 are mounted on the carrier 4. These actuators d1 to d6 engage with the yaw bearing 22 of the yaw system. The yaw bearing 22 is fixed, for example, relative to the tower 20. The carrier 4 rotates as the actuators d1 to d6 rotate.

[0073] Figure 3 The yaw system, for example, is shown in cross-sectional view and in more detail. Figure 2 An exemplary embodiment of the yaw system is described. A yaw bearing 22 is mounted on a tower 20. Furthermore, a brake disc 21 is mounted on the tower 20. A brake caliper 14 is fixed to a carrier 4 and can be used to stop rotation of the carrier 4 and / or hold the carrier 4 in place. The brake disc 21 and brake caliper 14 are optional.

[0074] Figure 3 Only one driver, driver d1, is shown. All other drivers can be configured identically. Driver d1 includes an electric motor 11. The electric motor 11 operates according to an operating setpoint OS_1 generated by the control system 30. According to the operating setpoint OS_1, driver d1 rotates and thereby applies a certain torque. The rotational speed and torque of the electric motor 11 are transmitted to the pinion 13 of driver d1 via a gearbox 12. The gear ratio of the gearbox 12 is, for example, at least 100 or at least 500, such that the electric motor 11 rotates much faster than the pinion 13. On the other hand, the torque applied to the yaw bearing 22 by the pinion 13 is much greater than the torque provided by the electric motor 11.

[0075] To determine the actual position of the rotatable support 4, the control system 30 includes an incremental encoder 23. Measurements taken using the incremental encoder 23 are sent to and processed by the control system 30. Additionally, another incremental encoder 24 is provided, which determines the actual rotational speed of the electric motor 11 of drive d1. These measurements are also sent to and processed by the control system 30. Furthermore, a temperature sensor 25 is assigned to the electric motor 11, and the temperature of the electric motor 11 can be determined using this temperature sensor 25. Measurements taken by the temperature sensor 25 are also sent to and processed by the control system 30. Individual incremental encoders 24 and individual temperature sensors 25 can be provided for each drive d1 to d6.

[0076] Figure 4 The yaw system is shown in a top view, for example... Figure 2 and Figure 3 An exemplary implementation of the yaw system is described herein. As can be seen here, all six actuators d1 to d6, abbreviated as di, operate according to corresponding operating setpoints OS_1 to OS_6, abbreviated as OS_i. The operating setpoints OS_i are determined by the control system 30. When actuators di operate according to the operating setpoints OS_i, the carrier 4 is brought to or held at the position setpoint by the torque applied by the actuators di. The position setpoints can be determined by the control system 30 and can depend on different parameters, such as wind direction. Furthermore, the operating setpoints OS_i can be configured such that the different actuators d1 to d6, abbreviated as di, apply different torques.

[0077] operate Figures 2 to 4 One possible configuration for the yaw system is to divide the actuators into two groups. The left group I, or First Group I, includes actuators d1, d3, and d5. The right group II, or Second Group II, includes actuators d2, d4, and d6. Actuator d1 is the master actuator dm. The torque applied by all other actuators can be selected based on the torque applied by master actuator d1. For example, actuators d3 and d5 are operated such that they always apply the same torque as actuator d1. The actuators of the right group II, namely actuators d2, d4, and d6, can be operated such that they always apply the same torque, but at a value lower than or at most the same as the torque of actuator d1. The torques on the left and right sides can differ from each other by, for example, a torque difference setpoint of 10 Nm.

[0078] During operation, the drive unit (di) is subjected to high stress. Therefore, it can be useful to detect damage or impending damage to the drive unit as soon as possible and respond appropriately. This is achieved through methods for operating wind turbines, as described herein.

[0079] Figure 5 It shows a method for operating a wind turbine, such as combining Figures 1 to 4 A flowchart of a first exemplary embodiment of the method for the described wind turbine 100 is provided. In this method, first information I1 is provided, representing at least one operating parameter P_1 to P_6, abbreviated as P_i, for each drive di. Then, second information I2 is determined based on the first information I1, wherein the second information I2 represents the average value Pa of the operating parameters taken as the average across all six drives di. In a further step, third information I3 is determined based on the second information I2, wherein the third information I3 represents whether the difference between the operating parameter P_i of at least one drive di and the average value Pa exceeds a defined threshold T. As an example, this is the case for drive d1, and therefore it is considered critical. Because of this, a first measure M1 is performed, which is configured to cause maintenance on drive d1 and / or to cause a change in the operation of the wind turbine, specifically a change to a more moderate operation of drive d1. For example, the execution of the first measure M1 may include scheduling maintenance operations and may include lowering the rotor speed setpoint and / or lowering the generator power setpoint and / or lowering the maximum permissible wind speed and / or lowering the maximum permissible external torque in order to limit the maximum load that the yaw system must withstand.

[0080] Figure 7 A diagram illustrating the determination of the third information I3 is shown. The y-axis shows the operating parameter P_i, which can be the temperature of each electric motor 11 measured by the aforementioned temperature sensor 25. The operating parameter P_i can also be the current used to operate the electric motor 11. This operating parameter P_i is provided for each driver d1. The average operating parameter Pa, which is the average of the six operating parameters P_i, is represented by the lower horizontal dashed line. The average operating parameter plus a defined threshold T is indicated by the upper horizontal dashed line. As can be seen, the operating parameter P_1 of driver d1 is located above this horizontal dashed line, indicating damage or initial damage to driver d1.

[0081] Figure 8 It shows a method for operating a wind turbine, such as combining Figures 1 to 4A flowchart of another exemplary embodiment of the method for the described wind turbine 100 is provided. Here, fourth information I4 is provided, which represents the position setpoint Pn of the carrier 4. Furthermore, fifth information I5 is provided, which represents the actual torque difference ΔMa between the actual torques applied by the driver di, for example, between the actual torques applied by the drivers of the first group I and the second group II. Sixth information I6 is provided, which represents the torque difference setpoint ΔMN between the torques applied by the drivers, for example, between the torques applied by the drivers of the first group I and the second group II. The torque difference setpoint ΔMn is, for example, 10 Nm. In a further step, an operating setpoint OS_i for the driver di is determined based on the fourth information I4, the fifth information I5, and the sixth information I6, such that the driver di brings the carrier 4 to or holds it at the position setpoint Pn by applying torque. The operating setpoint OS_i is determined using a feedback loop where the fifth information I5 and the sixth information I6 are input information, such that the difference between the torque difference setpoint ΔMn and the actual torque difference ΔMa is minimized.

[0082] During operation according to the operation setpoint OS_i, first information I1 is provided. Then, second information I2 is determined based on the first information I1, wherein the second information I2 is now determined such that the second information I2 individually represents the average operating parameters Pa_I, Pa_II for each of the two groups I and II. Third information I3 is determined based on the first information I1 and the second information I2, indicating whether the difference between the operating parameter P_i of at least one of the drives di and the average operating parameters Pa_I, Pa_II of the assigned group exceeds a defined threshold T. Similarly, as an example, this is the case for drive d1, and a first measure M1 is executed accordingly. For example, the first measure M1 includes automatically generating a warning signal for the operator that drive d1 should be maintained. The operator then schedules maintenance for drive d1. Maintenance is performed as a second measure M2. As described above, the execution of the first measure M1 can also cause a change in the operation of the wind turbine.

[0083] Figure 6 An exemplary implementation of the control system is shown. This control system is capable of operating the drive d1 as described herein. For better illustration, only drives d1 and d2 are shown.

[0084] The control system implements a turbine control module TC and a yaw control module YC. The fourth information I4, representing the position setpoint Pn of the carrier 4, is provided by the turbine control module TC and transmitted to the yaw control module YC. Based on this fourth information I4 and the tenth information I10, the position controller P1 determines the seventh information I7. The seventh information I7 represents the rotational speed setpoints Rn_1 to Rn_6 of the drive di, abbreviated as Rn_i. Based on this seventh information I7, the speed controller P2 determines and generates the operating setpoint OS_i, which, for example, is the torque setpoint. The drive control module C converts the torque setpoint OS_i into an actual electrical signal and uses this signal to operate the drive di, causing the drive di to bring the carrier 4 to or maintain it at the position setpoint Pn. Figure 10 The drive control module C is explained in more detail.

[0085] The tenth piece of information, I10, indicates the actual position Pa of the carrier 4 and can be achieved, for example, by means of a combination... Figure 3 The incremental encoder 23 is described to determine this. The tenth information I10 and the fourth information I4 are used in the negative feedback loop. The position controller P1 determines the seventh information I7 based on the deviation between the actual position Pa and the position setpoint Pn.

[0086] Furthermore, to ensure that the driver di rotates at the setpoint Rn_i, a ninth piece of information I9 is ​​provided, which represents the actual rotational speed Ra_i of the driver di. The ninth piece of information I9 can be achieved by combining... Figure 3 The incremental encoder 24, as explained, determines this. Ninth information I9, together with seventh information I7, is used in the negative feedback loop to minimize the corresponding difference between the rotational speed setpoint Rn_i and the actual rotational speed Ra_i. The speed controller P2 determines the operating setpoint OS_i based on the deviation between the actual rotational speed Ra_i and the rotational speed setpoint Rn_i.

[0087] As mentioned earlier, drivers d1 and d2 can be operated to apply different torques. For this purpose, sixth information I6 is provided, representing the torque difference setpoint ΔMn. The actual torque difference ΔMa between the torque difference setpoint ΔMn and the actual torque Ma_i of the driver is compared. The actual torque difference ΔMa can be derived from the fifth information I5, which represents the actual torque Ma_i of driver di. The actual torque Ma_i of driver di can be extracted from the drive control module C used to operate the driver using the electrical signal actually used to operate the motor.

[0088] Based on the fifth information I5 and the sixth information I6, the eighth information I8 is determined using a negative feedback loop. The eighth information I8 represents the offset rotational speed ΔRn, and is determined by the tension controller P4 based on the deviation between the actual torque difference ΔMa and the torque difference setpoint ΔMn. For example, the offset rotational speed ΔRn is determined such that it increases as the difference between the torque difference setpoint ΔMn and the actual torque difference increases.

[0089] like Figure 6 As can be seen, the offset rotational speed ΔRn is subtracted from the rotational speed setpoint Rn_1 determined for driver d1, and the resulting value is used as the rotational speed setpoint Rn_2 for driver d2. In this way, a torque difference can be achieved between driver d1 and driver d2, where the torque applied by driver d2 is always less than or at most equal to the torque applied by driver d1. This is because driver d1 operates as the master driver dm.

[0090] The driver di generates operating parameters P_i stored in the first information I1 based on the operation of the operating setpoint OS_i. These operating parameters P_i are evaluated by the turbine control module TC. The turbine control module TC, for example, performs a combination... Figure 5 The described steps or for Figure 8 The steps described in the right branch. Specifically, the turbine control module TC then executes the first action M1. Here, the first action M1 specifically includes automatically changing the settings in the yaw control module YC, causing the second drive d2 to become the primary drive (see...). Figure 9 Furthermore, the first measure M1 causes the operation of the wind turbine 100 to automatically change from a first operating mode to a second operating mode, in which all six drives are used to control the position of the carrier 4 (see...). Figure 4 In the second operating mode, only five drives, namely drives d2 to d6, are further used to control the position of the carrier 4, and in the second operating mode, drive d1 is permanently disabled (see...). Figure 9 ).

[0091] Furthermore, performing the first measure M1 includes generating an electrical signal, which is transmitted to a warning device D of the control system. The warning device D may be a display. The electrical signal processed by the warning device D generates a warning signal that can be noticed by the operator. For example, the warning signal may be a visual indication that the display driver d1 on the display is damaged or that the driver d1 is unstable.

[0092] Figure 10The diagram illustrates the operation of the drive control module C. The current converter PC1 determines the current setpoint In_i based on the operating setpoint OS_i, which in this example is the torque setpoint. Another controller PC2 (e.g., a PI controller) determines the absolute voltage value U and phase offset ϕ based on the current setpoint In_i and the actual current Ia_i. The PWM generator PWMG generates a corresponding PWM signal, which powers the IGBT (not shown). The PWM signal outputs three distinct phases u, v, and w, which the driver di then operates with. Furthermore, the motor model MM determines the actual current Ia_i based on the phases u, v, and w. The actual current Ia_i and the current setpoint In_i are used in the negative feedback loop to adjust the voltage value U and the phase offset ϕ. Additionally, the fifth piece of information I5 is determined based on the determined actual current Ia_i.

[0093] The invention described herein is not limited to the description in conjunction with exemplary embodiments. Rather, the invention includes any new features and any combination of features, particularly any combination of features in the patent claims, even if the features or combinations are not explicitly stated in the patent claims or exemplary embodiments.

[0094] List of reference numerals

[0095] 1 First rotor blade

[0096] 2 Second rotor blades

[0097] 3 Third rotor blades

[0098] 4 nacelle load-bearing components

[0099] 10 rotors

[0100] 11 electric motors

[0101] 12 gearbox

[0102] 13 small gears

[0103] 14 brake calipers

[0104] 20 towers

[0105] 21 brake disc

[0106] 22 Yaw Bearing

[0107] 23 Incremental Encoder

[0108] 24 Incremental Encoder

[0109] 25 Temperature Sensor

[0110] 30 control system

[0111] 40 nacelles

[0112] 100 wind turbine

[0113] 104 bases

[0114] 112 rotor hub

[0115] I1 First Information

[0116] I2 Second Information

[0117] I3 Third Information

[0118] I4 Fourth Information

[0119] I5 Fifth Information

[0120] I6 Sixth Information

[0121] I7 Seventh Information

[0122] I8 Eighth Information

[0123] I9 Ninth Information

[0124] I10 Tenth Information

[0125] M1 First Measure

[0126] M2 Second Measures

[0127] P_i operation parameters

[0128] I. First group of drivers

[0129] II Second Group Drive

[0130] Pa operating parameter average value

[0131] Average operating parameters of Pa_I group I

[0132] Average operating parameters of group II, Pa_II

[0133] The threshold defined by T

[0134] TC turbine control module

[0135] YC Yaw Control Module

[0136] D Warning Device

[0137] OS_i Operation Setpoint

[0138] di drive

[0139] dm master drive

[0140] Pn location setting point

[0141] Pa actual position

[0142] ΔMn Torque Difference Setpoint

[0143] ΔMa actual torque difference

[0144] Rn_i rotation speed setpoint

[0145] Ra_i actual rotation speed

[0146] Ma_i Actual Torque

[0147] ΔRn rotational speed offset

[0148] C motor control module

[0149] PC1 Current Converter

[0150] PC2 another controller

[0151] U absolute voltage

[0152] Φ phase offset

[0153] In_i current setpoint

[0154] Ia_i Actual Current

[0155] PWMGPWM generator

[0156] u, v, w phases

[0157] MM motor model

Claims

1. A method for operating a wind turbine (100), the wind turbine (100) having rotatable components (1 to 4) and N drives (di) for rotating the rotatable components (1 to 4) by applying torque, wherein, N≥2, and wherein the method includes: - Provide first information (I1), which represents at least one operating parameter (P_i) for each driver (di). - Determine second information (I2) based on the first information (I1), wherein the second information (I2) represents the average value of operating parameters (Pa, Pa_I, Pa_II) taken on at least two drivers (di). - Based on the first information (I1) and the second information (I2), a third information (I3) is determined, wherein the third information (I3) indicates whether the difference between the operating parameter (P_i) of at least one driver (d1) and the average value of the operating parameters (Pa, Pa_I, Pa_II) exceeds a predetermined threshold (T), and if so, then - Perform a first measure (M1), which is configured to cause maintenance of at least one drive (di) and / or to cause a change in the operation of the wind turbine (100).

2. The method according to claim 1, wherein, - The at least one operation parameter (P_i) is: - The temperature of the electric motor (11) of the corresponding drive (di), and / or - The current used to operate the electric motor of the corresponding driver (di), and / or - The torque of the corresponding drive (di).

3. The method according to claim 1 or 2, wherein, - The at least one operating parameter (P_i) is a time averaging parameter and / or a filtering parameter.

4. The method according to any one of the preceding claims, wherein, - The first measure (M1) is configured to cause the generation of a warning signal for the operator, enabling the operator to schedule maintenance of the at least one drive (d1).

5. The method according to any one of the preceding claims, wherein, - The first measure (M1) is configured to change the operation of the wind turbine (100) from a first operating mode to a second operating mode, in which N drives are used to control the position of the rotatable parts (1 to 4), and in the second operating mode, one drive (d1) is permanently disabled and only the remaining N-1 drives are used to control the position of the rotatable parts (1 to 4).

6. The method according to any one of the preceding claims, wherein, - The first measure (M1) includes changing the control parameters of the wind turbine (100) to change the operation of the wind turbine (100), wherein the control parameters are at least one of the following: - Rotor speed setpoint, - Generator power setpoint - Maximum permissible wind speed, - Maximum permissible external torque.

7. The method according to any one of the preceding claims, wherein, The method further includes: - Provide fourth information (I4), which indicates the position set point (Pn) of the rotatable components (1 to 4). - Determine the operating setpoint (OS_i) for the driver (di) based on the fourth information (I4), such that when the driver (di) is operated according to the operating setpoint (OS_i), - The drive (di) moves or holds the rotatable component (1 to 4) at the position set point (Pn) by applying torque. - Provide fifth information (I5), which represents the actual torque difference (ΔMa) between the actual torques (Ma_i) applied by the driver (di). - Provide sixth information (I6), which represents the torque difference setpoint (ΔMn) between the torques applied by the driver (di), wherein the torque difference setpoint (ΔMn) is not zero, wherein, - The operating setpoint (OS_i) is also determined based on the fifth information (I5) and the sixth information (I6), i.e., by using the feedback loop that uses the fifth information (I5) and the sixth information (I6) as input information, so that the difference between the torque difference setpoint (ΔMn) and the actual torque difference (ΔMa) is minimized.

8. The method according to claim 7, wherein, - The wind turbine (100) includes at least four drives (di). - The driver (di) is assigned to at least two different groups (I, II), such that each group (I, II) is assigned at least two drivers (di). - Determine the second information (I2) such that the second information (I2) represents the average value of the operating parameters (Pa_I, Pa_II) for each group (I, II). - Determine the operating setpoint (OS_i) such that when the driver (di) is operated according to the operating setpoint (OS_i), all drivers assigned to the same group (I, II) always apply the same torque, and drivers (di) assigned to different groups (I, II) apply different torques. - In order to determine the third information (I3), the operating parameters (P_i) of each driver (di) are compared only with the average operating parameters (Pa_I, Pa_II) of the groups (I, II) to which the driver (di) is assigned.

9. The method according to any one of claims 7 or 8, in, - Before performing the first measure (M1), the at least one driver (d1) is a master driver (dm), which means that the operating setpoint (OS_i) is determined such that when the driver (di) is operated according to the operating setpoint (OS_i), the value of the torque applied by the master driver (dm) is always greater than or at least equal to the value of the torque applied by one or more other drivers (di). - The first measure (M1) includes changing the main drive (dm).

10. The method according to any one of the preceding claims, wherein, The rotatable components (1 to 4) are components (4) of the yaw system of the wind turbine (100).

11. The method according to any one of the preceding claims, further comprising: - Operate the wind turbine (100). - Implement the first measure (M1). - In response to the first measure (M1), a second measure (M2) is performed, wherein the second measure (M2) is to perform maintenance on the at least one driver (di).

12. A computer program comprising instructions that, when executed by a control system, cause the control system to perform the method according to any one of claims 1 to 10.

13. A computer-readable data carrier on which a computer program according to claim 12 is stored.

14. A control system (30) comprising means for performing the method according to any one of claims 1 to 10.

15. The control system (30) according to claim 14, wherein, The control system (30) includes a device by means of which, - Able to determine the temperature of the electric motor (11) of the drive (di), and / or - Able to determine the current used to operate the electric motor, and / or - It is able to determine the torque of the drive (di).

16. A wind turbine (100), comprising: - Rotatable parts (1 to 4). - N actuators (di) for rotating the rotatable component (1 to 4) by applying torque, where N ≥ 2. - The control system (30) according to any one of claims 14 or 15.

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