Emergency yaw control method and device for wind turbine generator system

Abstract

Disclosed are an emergency yaw control method and device for a wind turbine generator system. The method comprises: a control cabinet collecting operation data of the wind turbine generator system in real time; in response to the operation data indicating that the rotation speed of a main shaft of the wind turbine generator system exceeds a preset rotation speed threshold value within a first preset time length, the nacelle controller of the wind turbine generator system does not send a yaw control signal, and the yaw main power supply circuit is not tripped, the control cabinet controls the wind turbine generator system to perform emergency yaw; and in response to the control cabinet failing to successfully control the wind turbine generator system to perform emergency yaw, the control cabinet outputs first fault information to indicate that a user manually controls the wind turbine generator system to perform emergency yaw.

Description

Technical Field

[0001] This disclosure generally relates to the field of wind power generation technology, and more specifically, to an emergency yaw control method and device for wind turbine generator sets. Background Technology

[0002] The yaw system of a wind turbine is located between the tower and the main frame, ensuring the rotor faces the prevailing wind direction to maximize wind energy capture. It typically consists of a yaw bearing, yaw drive, yaw brake, yaw counter, cable protection device, and yaw hydraulic circuit. Besides controlling the rotor to always face the wind direction during normal operation to improve wind energy capture efficiency, the yaw system also plays a crucial role in strong winds or typhoon conditions by deflecting the nacelle to allow the rotor to be blown across or away from the wind, reducing load, and ensuring the safety of the turbine.

[0003] In actual operation, wind turbine generators face various extreme conditions. When the safety chain of a wind turbine generator is triggered, the main control system will quickly feather the pitch for an emergency shutdown; however, if a pitch system failure prevents the wind turbine generator from feathering in time, the turbine speed will increase further, posing a risk of runaway. To prevent runaway accidents, the industry has introduced an active yaw crosswind function: when the wind turbine generator speed reaches a preset threshold, the nacelle is rotated to a position with an angle of approximately 90° to the wind direction, causing the rotor to avoid the direction of the incoming wind speed and no longer absorb wind energy, thereby effectively reducing the rotor speed.

[0004] However, if the wind turbine generator set experiences overspeed and the following faults occur simultaneously, there will still be a safety hazard even if an active yaw crosswind function is introduced: 1) The programmable logic controller (PLC) in the nacelle fails, making yaw control impossible; 2) The crosswind yaw function fails (e.g., communication between the nacelle and the tower base PLC is interrupted), making yaw impossible at the tower base; 3) The circuit breaker in the yaw main power supply circuit trips, making yaw control impossible. Summary of the Invention

[0005] The embodiments of this disclosure provide an emergency yaw control method and device for wind turbine generator sets, which can effectively solve the problem that there is still a risk of overspeed when wind turbine generator sets exceed the speed limit in the prior art.

[0006] In one general aspect, an emergency yaw control method for a wind turbine generator set is provided, applied to an emergency yaw control device. The emergency yaw control device includes a control cabinet located in the nacelle of the wind turbine generator set. The emergency yaw control method includes: the control cabinet acquiring real-time operating data of the wind turbine generator set; in response to the operating data indicating that the main shaft speed of the wind turbine generator set exceeds a preset speed threshold within a first preset time period, the nacelle controller of the wind turbine generator set does not issue a yaw control signal, and the main power supply circuit for yaw does not trip, the control cabinet controls the wind turbine generator set to perform emergency yaw; in response to the control cabinet failing to successfully control the wind turbine generator set to perform emergency yaw, the control cabinet outputs a first fault message to instruct the user to manually control the wind turbine generator set to perform emergency yaw.

[0007] Optionally, the emergency yaw control device also includes an operating cabinet located at the tower base of the wind turbine generator set, and the emergency yaw control method further includes: in response to the operating data indicating that the rotational speed of the main shaft of the wind turbine generator set exceeds a preset speed threshold and the yaw main power supply circuit breaker trips within a first preset time period, the control cabinet outputs a second fault information to instruct the user to manually control the emergency power supply switch in the operating cabinet to provide emergency power supply.

[0008] Optionally, after the control cabinet outputs the second fault information or the first fault information, the method further includes: in response to the mode selection switch of the operating cabinet switching to manual mode, the control cabinet determines the yaw direction based on the current cabin position signal in the operating data; the control cabinet activates the yaw indicator device corresponding to the yaw direction to instruct the user to manually control the yaw operation switch in the operating cabinet for emergency yaw.

[0009] Optionally, the control cabinet controls the wind turbine generator to perform emergency yaw, including: determining the yaw direction based on the current nacelle position signal in the operating data; and sending a yaw command for the yaw direction to the yaw system of the wind turbine generator to control the wind turbine generator to yaw by a preset number of degrees in the yaw direction.

[0010] Optionally, the yaw direction is determined based on the current cabin position signal in the operating data, including: sending a signal to the control cabinet to indicate the opening of the yaw gate; and in response to receiving the yaw gate feedback signal from the control cabinet, determining the yaw direction based on the current cabin position signal in the operating data, wherein the yaw gate feedback signal is fed back to the controller by the control cabinet after opening the yaw gate control switch based on the signal.

[0011] Optionally, the control cabinet may determine that it has failed to control the wind turbine generator set for emergency yaw in the following ways: if no contactor feedback signal corresponding to the yaw command is received within a second preset time after the yaw command is issued, the control cabinet stops controlling the wind turbine generator set for emergency yaw and determines that it has failed to control the wind turbine generator set for emergency yaw; during the process of the wind turbine generator set yawing a preset number of degrees in the yaw direction, if the operating data indicates that yaw cable twisting has occurred, the control cabinet stops controlling the wind turbine generator set for emergency yaw and determines that it has failed to control the wind turbine generator set for emergency yaw.

[0012] In another general aspect, an emergency yaw control device for a wind turbine generator set is provided. The emergency yaw control device includes a control cabinet located in the nacelle of the wind turbine generator set. The control cabinet collects the operating data of the wind turbine generator set in real time. In response to the operating data indicating that the main shaft speed of the wind turbine generator set exceeds a preset speed threshold within a first preset time period, the nacelle controller of the wind turbine generator set does not issue a yaw control signal, and the main power supply circuit for yaw does not trip, the control cabinet controls the wind turbine generator set to perform an emergency yaw. In response to the control cabinet failing to successfully control the wind turbine generator set to perform an emergency yaw, the control cabinet outputs a first fault information to instruct the user to manually control the wind turbine generator set to perform an emergency yaw.

[0013] Optionally, the emergency yaw control device also includes an operating cabinet located at the tower base of the wind turbine. In response to the operating data indicating that the main shaft speed of the wind turbine exceeds a preset speed threshold and the yaw main power supply circuit circuit trips within a first preset time period, the control cabinet outputs a second fault information to instruct the user to manually control the emergency power supply switch in the operating cabinet to provide emergency power.

[0014] Optionally, in response to the mode selection switch of the control cabinet being switched to manual mode, the control cabinet determines the yaw direction based on the current cabin position signal in the operating data; the control cabinet activates the yaw indicator device corresponding to the yaw direction to instruct the user to manually control the yaw operation switch in the control cabinet for emergency yaw.

[0015] Optionally, the control cabinet determines the yaw direction based on the current nacelle position signal in the operating data; the control cabinet sends a yaw command for the yaw direction to the yaw system of the wind turbine to control the wind turbine to yaw by a preset number of degrees in the yaw direction.

[0016] Optionally, the control cabinet sends a signal to the operator cabinet to instruct the yaw brake to be opened; in response to receiving the yaw brake feedback signal from the operator cabinet, the control cabinet determines the yaw direction based on the current cabin position signal in the operating data, wherein the yaw brake feedback signal is fed back to the controller by the operator cabinet after opening the yaw brake control switch based on the signal.

[0017] Optionally, the control cabinet may determine that it has failed to control the wind turbine generator set for emergency yaw in the following ways: if no contactor feedback signal corresponding to the yaw command is received within a second preset time after the yaw command is issued, the control cabinet stops controlling the wind turbine generator set for emergency yaw and determines that it has failed to control the wind turbine generator set for emergency yaw; during the process of the wind turbine generator set yawing a preset number of degrees in the yaw direction, if the operating data indicates that yaw cable twisting has occurred, the control cabinet stops controlling the wind turbine generator set for emergency yaw and determines that it has failed to control the wind turbine generator set for emergency yaw.

[0018] In another general aspect, a computer-readable storage medium is provided for storing instructions, wherein when the instructions are executed by at least one computing device, they cause at least one computing device to perform an emergency yaw control method for any of the wind turbine generators described above.

[0019] In another general aspect, a system is provided that includes at least one computing device and at least one storage device for storing instructions, wherein the instructions, when executed by the at least one computing device, cause the at least one computing device to perform an emergency yaw control method for any of the wind turbine generators described above.

[0020] In another general aspect, a computer program product is provided, including computer instructions that, when executed by a processor, implement the emergency yaw control method for any of the wind turbine generator sets described above.

[0021] The emergency yaw control method and apparatus for wind turbine generator sets according to embodiments of this disclosure adds an emergency yaw control device, which includes a control cabinet. The control cabinet can automatically collect operating data of the wind turbine generator set (such as main shaft speed signals, yaw contactor feedback signals indicating no control signals from the nacelle controller, yaw brake control signals, etc.). When the operating data indicates that the main shaft speed of the generator set is continuously overspeeding, and the nacelle controller has not issued a yaw control signal and the yaw main power supply circuit has not tripped, the control cabinet can automatically perform emergency yaw control, realizing automatic yaw control of the wind turbine generator set. Furthermore, when the control cabinet fails to successfully control the wind turbine generator set for emergency yaw, it can also output fault information to instruct the user to manually control the wind turbine generator set for emergency yaw. Thus, this disclosure combines manual and automatic control, allowing switching to manual control mode after automatic control failure, to avoid the problem of being unable to perform yaw control after automatic emergency yaw control failure. Therefore, this disclosure effectively solves the problem of runaway safety hazards still existing in the prior art when wind turbine generator sets overspeed.

[0022] Further aspects and / or advantages of the general concept of this disclosure will be set forth in part in the description which follows, and in part will be clear from the description or may be learned by practice of the general concept of this disclosure. Attached Figure Description

[0023] The above and other objects and features of the embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings illustrating the embodiments, wherein: Figure 1 This is a schematic diagram illustrating the main power supply circuit of the yaw system according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram illustrating a control system according to an embodiment of the present disclosure; Figure 3 This is a schematic diagram illustrating a hydraulic system according to an embodiment of the present disclosure; Figure 4 This is a flowchart illustrating an emergency yaw control method for a wind turbine generator set according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram illustrating the spindle speed monitoring circuit of an embodiment of the present disclosure; Figure 6 This is a schematic diagram illustrating the cabin position and wind direction detection circuit of an embodiment of this disclosure; Figure 7 This is a schematic diagram illustrating a yaw torsion cable monitoring circuit according to an embodiment of the present disclosure; Figure 8 This is a schematic diagram illustrating the electrical circuit for yaw motor control according to an embodiment of the present disclosure; Figure 9 This is a schematic diagram illustrating a manual operation control loop according to an embodiment of the present disclosure; Figure 10 This is a schematic diagram illustrating the yaw brake control circuit of an embodiment of the present disclosure; Figure 11 This is a schematic diagram illustrating an emergency yaw control device according to an embodiment of the present disclosure; Figure 12 This is a system flowchart illustrating an embodiment of the emergency yaw control method of this disclosure; Figure 13 This is a block diagram illustrating an emergency yaw control device 130 for a wind turbine generator set according to an embodiment of the present disclosure. Detailed Implementation

[0024] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0025] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein are provided only to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein, which will become clear upon understanding the disclosure of this application.

[0026] As used herein, the term “and / or” includes any one of the associated listed items and any combination of any two or more.

[0027] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts should not be limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Thus, without departing from the teaching of the examples described herein, the first component, first assembly, first region, first layer, or first part referred to as the first component, first assembly, first region, first layer, or first part may also be referred to as the second component, second assembly, second region, second layer, or second part.

[0028] In the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to," or "bonded to" another element, the element may be directly "on" another element, directly "connected to," or "bonded to" the other element, or one or more other elements may be present in between. Conversely, when an element is described as being "directly on" another element, "directly connected to," or "directly bonded to" another element, no other elements may be present in between.

[0029] The terminology used herein is for the purpose of describing various examples only and is not intended to limit disclosure. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. The terms “comprising,” “including,” and “having” indicate the presence of the described features, quantities, operations, components, elements, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0030] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic manner.

[0031] Furthermore, in the description of the examples, detailed descriptions of well-known related structures or functions will be omitted when it is believed that such detailed descriptions would lead to a vague interpretation of this disclosure.

[0032] To better understand this disclosure, the main power supply circuit (i.e., yaw main power supply circuit), control system, and hydraulic system of the yaw system of the wind turbine generator are described below.

[0033] Figure 1 The schematic diagram of the main power supply circuit of the yaw system is shown, such as... Figure 1 As shown, 103K4 is the yaw enable contactor, 103K5 is the right yaw contactor, and 103K6 is the left yaw contactor. When the engine room PLC sends a yaw enable signal, the yaw enable relay activates, allowing yaw operation. When the unit yaws to the right, contactors 103K4 and 103K5 engage, the yaw motor operates, and the unit achieves the right yaw function; when the unit yaws to the left, contactors 103K4 and 103K6 engage, the yaw motor operates, and the unit achieves the left yaw function.

[0034] Figure 2 The schematic diagram of the control system is shown, such as... Figure 2 As shown, 103K2 is the yaw motor over-temperature protection relay; yaw is prohibited when the yaw motor overheats. 114K8 is the yaw enable relay controlled by the engine room PLC, 103K7 is the right yaw control relay, and 103K9 is the left yaw control relay. When the engine room PLC sends a yaw enable signal, the yaw enable relay activates, allowing yaw operation. All yaw operations of the unit are controlled by the engine room PLC. When yaw is needed, power is supplied to the coil of the left or right yaw relay through the engine room PLC output port to achieve unit yaw.

[0035] Figure 3 The schematic diagram of the hydraulic system is shown, such as Figure 3 As shown, 106K6 is a yaw caliper control relay controlled by the engine room PLC. When yaw is required, the 106K6 relay coil is controlled through the engine room PLC output port to supply power to the relay coil and open the yaw caliper. After yaw is completed, the yaw caliper remains in the braking state.

[0036] Based on the current yaw system principle, if the wind turbine generator set experiences overspeed and the following faults occur simultaneously, there may be a risk of overspeeding: nacelle PLC failure, crosswind yaw function failure, and yaw main power supply circuit breaker tripping.

[0037] Therefore, this disclosure adds an emergency yaw control device to upgrade and optimize the wind turbine generator set. Specifically, the emergency yaw control device includes a control cabinet independent of the main control unit. When the wind turbine generator set experiences a continuous overspeed fault, the main power supply circuit for yaw does not trip and the yaw system does not perform crosswind yaw action, the emergency yaw control device can be used to control the yaw of the unit in an emergency.

[0038] Specifically, the emergency yaw control device can collect various operational data in real time, such as yaw cable twisting signals, nacelle position signals, wind direction signals, main shaft speed signals, yaw enable contactor feedback signals, left / right yaw contactor feedback signals, and yaw brake contactor feedback signals. The control cabinet of the emergency yaw control device controls the yaw brake and yaw contactor to achieve yaw operation of the wind turbine generator. During this yaw operation, a combination of manual and automatic control is used, with manual control having the highest priority; this disclosure does not limit this aspect.

[0039] In addition, this disclosure also considers the situation where the main power supply circuit for the yaw system trips due to overload, and adds emergency power supply to the main circuit of the yaw system for the nacelle.

[0040] It should be noted that this emergency yaw control device is a supplementary solution for unit safety protection and is used in emergency situations. The emergency yaw control device can also activate a maintenance mode, in which the emergency yaw function is disabled.

[0041] The emergency yaw control device disclosed herein enables emergency yaw operations in emergency situations, reducing the risk of wind turbine overturning and tower collapse under extreme conditions, improving unit safety, reducing safety accidents, and solving existing safety hazards in wind turbines. Furthermore, it overcomes the problem that existing emergency yaw control systems typically rely solely on generator speed as a single judgment indicator, failing to fully utilize multi-source information such as wind speed, wind direction, and yaw motor current for comprehensive decision-making, which can easily lead to false triggering or untimely triggering. Simultaneously, it also overcomes the problem in existing safety chain designs where the yaw system loses power after the safety chain is broken, rendering the emergency yaw function unusable.

[0042] The emergency yaw control method and device for wind turbine generators disclosed herein will be described in detail below with reference to the accompanying drawings.

[0043] This disclosure proposes an emergency yaw control method for wind turbine generators. Figure 4This is a flowchart illustrating an emergency yaw control method for a wind turbine generator set according to an embodiment of the present disclosure. (Refer to...) Figure 4 The emergency yaw control method for the wind turbine generator set is applied to an emergency yaw control device, which includes a control cabinet located in the nacelle of the wind turbine generator set. The emergency yaw control method includes the following steps: In step S401, the control cabinet collects the operating data of the wind turbine generator set in real time.

[0044] In step S402, in response to the operating data indicating that the main shaft speed of the wind turbine generator set exceeds the preset speed threshold within the first preset time period, the nacelle controller of the wind turbine generator set does not issue a yaw control signal, and the yaw main power supply circuit does not trip, the control cabinet controls the wind turbine generator set to perform emergency yaw.

[0045] In step S403, in response to the control cabinet failing to control the wind turbine generator set to perform emergency yaw, the control cabinet outputs the first fault information to instruct the user to manually control the wind turbine generator set to perform emergency yaw.

[0046] As an example, the aforementioned first preset duration can be set as needed, for example, it can be set to 2 minutes, and this disclosure does not limit this. The aforementioned method of outputting the first fault information can be to activate the fault indicator light or to sound an alarm signal, and this disclosure does not limit this.

[0047] As an example, after the emergency yaw control device is activated, it can first enter automatic mode. In automatic mode, the emergency yaw control device can collect the main shaft speed signal through the control cabinet and determine whether there is an overspeed situation based on the main shaft speed signal. When the wind turbine generator set is overspeeding, the control cabinet performs a logical judgment to determine whether the conditions for emergency yaw are met. If the overspeed lasts for 2 minutes, and the nacelle controller does not issue a yaw control signal and the yaw main power supply circuit does not trip, then it is determined that the conditions for emergency yaw are met. At this time, automatic emergency yaw can be initiated, that is, a yaw control signal is issued through the control cabinet, such as a left yaw / right yaw of 90 degrees. This disclosure does not limit this.

[0048] It should be noted that when the emergency yaw control device is working, it will send a signal to the cabin controller (such as the cabin PLC) to exchange information, so as to avoid logical conflicts caused by the cabin PLC and the control cabinet of the emergency yaw control device sending yaw control signals at the same time.

[0049] If the control cabinet fails to control the wind turbine generator to perform emergency yaw (e.g., no yaw feedback signal is received for an extended period), the fault indicator light can be activated and automatic emergency yaw stopped, instructing the user to manually perform emergency yaw on the wind turbine generator. This enters manual mode. In manual mode, the control cabinet can provide auxiliary display, indicating the yaw direction. Users can operate the switch according to the indicated yaw direction. It should be noted that manual mode can use a one-button operation; upon reaching the yaw position, yaw will automatically stop and the yaw brake will lock. This disclosure does not limit this operation.

[0050] As an example, the control cabinet described above may include electrical circuits such as PLC controllers and relay control circuits, but this disclosure does not limit it.

[0051] As an example, the PLC controller described above may include, but is not limited to, the following modules: CPU module (BC3150), DI module (KL1104), DO module (KL2408), and AI module (KL3404). The DI module is primarily used to acquire, but is not limited to, the following signals: spindle speed signals (spindle speed information acquired from two sensors), yaw brake contactor feedback signal, left / right yaw contactor feedback signal, yaw open / emergency power supply contactor feedback signal, automatic control signal, and cable twist signal. The DO module is primarily used to control left yaw, right yaw, yaw brake, fault indication, yaw system enable, system status, operation indication, emergency power supply indication, left yaw indication, and right yaw indication. The AI ​​module is primarily used to acquire analog signals such as engine room position signal and wind direction signal.

[0052] As an example, the interface definitions of the modules included in the above PLC controller may be, but are not limited to, those shown in Tables 1 to 5 below.

[0053] Table 1 DI Module 1 Port Function Definition

[0054] Table 2 DI Module 2 Port Function Definition

[0055] Table 3 DO Module 1 Port Function Definition

[0056] Table 4 DO Module 2 Port Function Definition

[0057] Table 5 AI Module Port Function Definitions

[0058] As an example, Figure 5 A spindle speed monitoring circuit is shown, such as Figure 5 As shown, the spindle speed signal can enter the port of the DI module of the PLC controller after passing through the isolation module, but this disclosure does not limit this.

[0059] As an example, Figure 6 A cabin position and wind direction detection loop was demonstrated, such as Figure 6 As shown, the nacelle position signal and wind direction signal can enter the port of the AI ​​module of the PLC controller through this loop.

[0060] According to embodiments of this disclosure, it can be determined that the control cabinet has failed to successfully control the wind turbine generator for emergency yaw in the following manner: in response to not receiving a contactor feedback signal corresponding to the yaw command within a second preset time period after the yaw command is issued, the control cabinet stops controlling the wind turbine generator for emergency yaw and determines that the control cabinet has failed to successfully control the wind turbine generator for emergency yaw; during the process of the wind turbine generator yawing a preset degree in the yaw direction, in response to the operation data indicating that yaw cable twisting has occurred, the control cabinet stops controlling the wind turbine generator for emergency yaw and determines that the control cabinet has failed to successfully control the wind turbine generator for emergency yaw.

[0061] In this embodiment, the cable twisting signal is inserted into the control circuit to prevent cable twisting in the wind turbine generator set.

[0062] As an example, the aforementioned second preset duration can be set as needed, and this disclosure does not limit it. The aforementioned contact feedback signals may include, but are not limited to: yaw brake feedback signal, left yaw contactor feedback signal, and right yaw contactor feedback signal.

[0063] As an example, during automatic emergency yaw, the control cabinet automatically detects the yaw cable twisting signal used to indicate whether yaw cable twisting has occurred. If yaw cable twisting is indicated, automatic emergency yaw is stopped and indicated by the fault indicator light so that the wind turbine can be manually controlled to perform emergency yaw.

[0064] As an example, Figure 7 A yaw torsion cable monitoring loop is demonstrated, such as Figure 7 As shown, the yaw cable twist signal can enter the port of the DI module of the PLC controller through this loop.

[0065] According to an embodiment of this disclosure, the emergency yaw control device further includes an operating cabinet located at the tower base of the wind turbine generator set. The emergency yaw control method further includes: in response to an operating data indication that the rotational speed of the main shaft of the wind turbine generator set exceeds a preset speed threshold and the yaw main power supply circuit breaker trips within a first preset time period, the control cabinet outputs a second fault information to instruct the user to manually control the emergency power supply switch in the operating cabinet to provide emergency power.

[0066] This embodiment adds an emergency power supply function to avoid the problem of being unable to perform yaw operation in the event of a yaw trip.

[0067] Specifically, this embodiment adds a control cabinet to the nacelle and an operating cabinet to the tower base to implement the emergency yaw function of the wind turbine generator. Considering the possibility of overload tripping the circuit breaker in the nacelle yaw main power supply circuit, an emergency power supply function for the nacelle yaw system main circuit can also be added, such as a 24V circuit power module with a backup power supply, ensuring normal power supply to the 24V circuit.

[0068] As an example, Figure 8 An electrical circuit for yaw motor control is shown, such as Figure 8 As shown, the emergency power supply switch can provide emergency power through the forced power-on input of this circuit. It should be noted that... Figure 8 The inputs for the left yaw control signal and the right yaw control signal are also shown.

[0069] As an example, an emergency power supply indicator light and an emergency power supply switch can be installed in the aforementioned control cabinet.

[0070] It should be noted that the above-mentioned control cabinet may also be equipped with, but is not limited to, the following switches and indicator lights: mode selection switch (maintenance mode, automatic mode, manual mode), yaw gate control switch, yaw enable switch, yaw operation switch (left yaw / right yaw), fault indicator light, running indicator light, and yaw direction indicator light (left yaw / right yaw).

[0071] As an example, the above-described method of outputting the second fault information can activate the fault indicator light or sound an alarm signal; this disclosure does not limit this method.

[0072] According to an embodiment of this disclosure, after the control cabinet outputs a second fault message or a first fault message, in response to the mode selection switch of the operating cabinet switching to manual mode, the control cabinet determines the yaw direction based on the current cabin position signal in the operating data; the control cabinet activates the yaw indicator device corresponding to the yaw direction to instruct the user to manually control the yaw operation switch in the operating cabinet to perform emergency yaw.

[0073] In this embodiment, the control cabinet can indicate the yaw direction in manual mode, avoiding the situation of blind yaw due to the inability to determine the yaw direction; and in manual mode, the unit can be directly controlled by the yaw operation switch.

[0074] As an example, the aforementioned yaw indicator device may be a yaw direction indicator light, for instance, which may include a left yaw indicator light and a right yaw indicator light. Similarly, the aforementioned yaw operation switch may include a left yaw operation switch and a right yaw operation switch.

[0075] As an example, after the fault indicator light on the control cabinet is activated, the user can switch the model selection switch from automatic mode to manual mode. Then, the control cabinet will determine the yaw direction based on the current cabin position signal in the operating data and activate the corresponding yaw direction indicator light to instruct the user to manually control the yaw operation switch in the control cabinet for emergency yaw. For example, if the left yaw indicator light is on, the user will turn off the left yaw operation switch; if the right yaw indicator light is on, the user will turn off the right yaw operation switch.

[0076] As an example, Figure 9 A manually operated control loop is shown, such as Figure 9 As shown, when switching to manual mode, the manual yaw enable relay K11 and yaw brake relay KT1 are energized, opening the yaw brake. The user performs manual left / right yaw operations according to the left / right yaw indicator lights on the tower base. KT2 and KT3 are manual left / right yaw control relays. KT4 is the yaw stop relay, controlling the yaw time. After the set yaw time is reached, KT4 disconnects, cutting off the power supply to the manual yaw circuit and stopping the yaw. The KT4 set time can be 3 minutes (based on 0.5° yaw per second), but this disclosure does not limit this setting.

[0077] According to an embodiment of this disclosure, the step S102 above, in which the control cabinet controls the wind turbine generator to perform emergency yaw, may include: determining the yaw direction based on the current nacelle position signal in the operating data; and sending a yaw command for the yaw direction to the yaw system of the wind turbine generator to control the wind turbine generator to yaw by a preset degree in the yaw direction.

[0078] This embodiment allows for the rapid determination of the yaw direction based on the current nacelle position signal, thereby controlling the wind turbine generator to yaw by the required degree in the yaw direction.

[0079] As an example, the above yaw command can be used... Figure 8 The left and right yaw control signals are input to the yaw motor control electrical circuit to control the wind turbine generator to yaw by a preset degree in the yaw direction.

[0080] According to embodiments of this disclosure, determining the yaw direction based on the current cabin position signal in the operating data may include: sending a signal to the control cabinet to instruct the opening of the yaw gate; and, in response to receiving the yaw gate feedback signal from the control cabinet, determining the yaw direction based on the current cabin position signal in the operating data, wherein the yaw gate feedback signal is fed back to the controller by the control cabinet after opening the yaw gate control switch based on the signal.

[0081] In this embodiment, the control cabinet sends a signal to the operation cabinet to open the yaw gate, and the yaw direction is calculated only after receiving the yaw gate feedback signal, thus avoiding useless calculations when the yaw gate is not open.

[0082] As an example, if the operating data indicates that the main shaft speed of the wind turbine exceeds the preset speed threshold within a first preset time period, the nacelle controller of the wind turbine does not issue a yaw control signal, and the yaw main power supply circuit does not trip, automatic emergency yaw is initiated. At this time, the control cabinet sends a signal to the operating cabinet to open the yaw brake. The operating cabinet can open the yaw brake control switch and send a yaw brake feedback signal to the control cabinet to indicate that the yaw brake has been opened. Then, the control cabinet determines the yaw direction based on the current nacelle position signal and issues a yaw direction (left or right) control signal to automatically yaw 90 degrees.

[0083] Figure 10 The yaw gate control circuit is shown, such as Figure 10 As shown, the signal to open the yaw gate can enter the yaw gate control circuit through the yaw release inlet, thereby achieving the purpose of opening the yaw gate.

[0084] To better understand the above embodiments of this disclosure, the following will be combined with... Figure 11 and Figure 12 Provide a system description.

[0085] Figure 11 A schematic diagram of an emergency yaw control device is shown, such as Figure 11 As shown, the emergency yaw control device mainly adds an operating cabinet to the tower base and a control cabinet to the engine room. The operating cabinet can realize manual emergency yaw operation, emergency power supply operation, and automatic emergency yaw operation at the tower base. The control cabinet is mainly used for signal acquisition, emergency yaw logic control, and emergency yaw status indication.

[0086] Figure 12 A system flowchart of an emergency yaw control method based on the aforementioned emergency yaw control device is shown, as follows: Figure 12 As shown, the emergency yaw control device has three operating modes: maintenance mode, automatic mode, and manual mode. Generally, the emergency yaw control device is in automatic mode, and it switches to manual or maintenance mode when necessary. The workflow of each mode is as follows: 1. Maintenance Mode In maintenance mode, the operation mode switch is switched to maintenance mode, at which time the emergency yaw function is disabled.

[0087] 2. Automatic mode 1) When the emergency yaw is in automatic mode, the control cabinet (such as a PLC controller) automatically detects the rotational speed signal of the main shaft of the wind turbine generator set. The program judges the current rotational speed signal. If the rotational speed signal of either of the two sensors exceeds the program setting value (i.e., the preset rotational speed threshold in the above embodiment), the wind turbine generator set is determined to be in an overspeed state.

[0088] 2) After determining that the wind turbine generator is in an overspeed state, the DI port of the control cabinet collects the feedback signal of the yaw circuit in real time to detect whether there is a feedback signal in the yaw circuit. The collected feedback signals include, but are not limited to: the feedback signal of the yaw main power supply circuit breaker, the feedback signal of the yaw brake, the feedback signal of the left yaw contactor, and the feedback signal of the right yaw contactor.

[0089] It should be noted that the upper yaw loop may include, but is not limited to, the following: Figures 1-3 The circuit shown; 3) If a feedback signal from the main yaw power supply circuit breaker is detected, it indicates that the main power supply circuit breaker has tripped. In this case, the control cabinet will issue a warning via the emergency power supply indicator light. Manual emergency yaw control is the only option in this situation. It should be noted that a tripped main power supply circuit breaker indicates a potential overload in the yaw circuit. If the controller were to supply power to the yaw circuit via the contactor, it could lead to a serious accident. Therefore, emergency power supply and yaw control must be performed manually.

[0090] 4) If an overspeed situation is detected and continues for 2 minutes, the main yaw circuit power supply is normal (i.e. no feedback signal from the yaw main power supply circuit circuit breaker is detected) and the engine room PLC is not performing crosswind yaw action, the emergency yaw control device will intervene. That is, the yaw enable switch will output a high level, and the controller will know to start automatic emergency yaw and send an emergency yaw start signal to the yaw safety chain.

[0091] It should be noted that if no yaw brake feedback signal, left yaw contactor feedback signal, or right yaw contactor feedback signal is detected at the DI port, it is determined that the engine room PLC is not issuing a yaw control signal, indicating that the engine room PLC is not performing a crosswind yaw action; if the yaw brake feedback signal, left yaw contactor feedback signal, or right yaw contactor feedback signal is detected, it is determined that the engine room PLC is issuing a yaw control signal, indicating that the engine room PLC is performing a crosswind yaw action.

[0092] 5) After automatic emergency yaw is initiated, the control cabinet monitors the current cabin position signal, wind direction signal, and cable twist signal in real time. The control cabinet then sends a signal to open the yaw brake. The operator cabinet can open the yaw brake control switch and send a yaw brake feedback signal back to the control cabinet to indicate that the yaw brake is open. The control cabinet then determines the yaw direction based on the current cabin position signal and sends a control signal for that yaw direction (left or right), automatically yawing 90 degrees to reach the target position.

[0093] 6) During the automatic yaw operation of 90 degrees, the control cabinet will automatically detect the yaw brake feedback signal and the left or right yaw contactor feedback signal.

[0094] If, after a certain period of time, no feedback signal is detected from the left or right yaw contactor after the control cabinet issues a left or right yaw control signal, the control cabinet will stop the automatic yaw operation and report the fault through the fault indicator light.

[0095] If no feedback signal from the yaw brake is detected after a certain period of time after the control cabinet sends a signal to open the yaw brake, the control cabinet will also stop the automatic yaw operation and report the fault through the fault indicator light.

[0096] 7) During the automatic yaw operation of 90 degrees, the control cabinet will automatically detect the yaw cable twisting signal. If the yaw cable twisting signal indicates that the wind turbine generator set has yawed and twisted, the control cabinet will stop the automatic yaw operation and report the fault through the fault indicator light.

[0097] It should be noted that in automatic mode, the automatic emergency yaw operation is performed only once. After completion, the fault indicator light flashes and the operation indicator light goes out. The automatic emergency yaw will only re-enter the system if the control cabinet detects that the conditions for initiating automatic emergency yaw (i.e., the conditions in item 4 above) are met again.

[0098] 3. Manual mode When the emergency yaw control device is in manual mode, left yaw, right yaw, and emergency power supply operations can be performed via the operating switches inside the control cabinet of the emergency yaw control device.

[0099] When switching to manual mode, the emergency power supply indicator light determines whether emergency power is needed. If the emergency power supply indicator light is on, indicating that emergency power is required, the user manually controls the emergency power supply switch in the control cabinet to provide emergency power, and the emergency power supply indicator light turns off.

[0100] In manual mode, the control cabinet provides yaw direction prompts based on the detected current nacelle position signal, indicated by yaw direction indicator lights. For example, if the nacelle position is <0°, the right yaw indicator light illuminates; if the nacelle position is ≥0°, the left yaw indicator light illuminates.

[0101] In manual mode, the control cabinet normally detects the operating status of the system and the yaw system of the unit, and provides status prompts through indicator lights.

[0102] In manual mode, the yaw stop time can be set to 3 minutes via the yaw stop delay relay. After 3 minutes, the relay will disconnect, breaking the yaw circuit. The yaw brake relay will disconnect after a 1-second delay.

[0103] In manual mode, one-button operation is available. For example, after switching to manual mode, you can turn the yaw operation switch to the corresponding yaw direction according to the yaw direction indicator light. After yawing 90 degrees, the yaw will stop automatically and the yaw gate will be locked.

[0104] Before switching to manual mode, you first need to confirm whether the wind turbine is still experiencing continuous overspeed and whether it is performing an emergency yaw maneuver. If you confirm that there is continuous overspeed but no emergency yaw maneuver is being performed, you can switch to manual mode.

[0105] Before performing manual operation, first confirm the yaw direction, then open the yaw brake and manually yaw using the yaw operation switch. During operation, if the wind turbine twists or yawing occurs, the yaw will automatically stop. After yaw stops, close the yaw brake switch and maintain the yaw brake in place.

[0106] It should be noted that manual mode must be entered in the following two situations: 1. The system has performed an automatic emergency yaw once, but the conditions for activating the automatic emergency yaw have not been detected again; 2. The yaw system circuit breaker tripped, requiring emergency power supply.

[0107] In summary, this embodiment provides an emergency yaw control method and strategy for wind turbine generators capable of graded identification, dynamic adjustment, and reliable execution for various extreme operating conditions. This method and strategy are independent of the original emergency yaw control method and strategy of the generator's main control system, solving the problems of existing technologies where wind turbine generators have a single yaw control strategy under emergency conditions, cannot provide differentiated responses to different extreme conditions (such as yaw tripping, control power failure, etc.), and are unable to yaw at all. Specifically, this embodiment achieves the following improvements: 1. Add an emergency yaw control device, using a combination of automatic and manual control to avoid the problem of being unable to control the situation after the automatic emergency yaw fails; 2. In automatic control mode, the control cabinet automatically collects the unit's spindle speed signal, yaw position signal, wind direction signal, cable twist signal, yaw contactor feedback signal, and yaw brake control signal; when the unit experiences continuous overspeed and triggers emergency yaw conditions, the control cabinet automatically performs emergency yaw control.

[0108] 3. In manual control mode, the yaw of the unit can be directly controlled by the yaw operation switch; the cable twisting signal is also inserted into the control circuit to avoid cable twisting.

[0109] 4. Add an emergency power supply function to avoid the problem of being unable to perform yaw operation in the event of a tripped yaw circuit breaker.

[0110] 5. In manual control mode, yaw direction indication is also provided to avoid blind yaw due to inability to determine the yaw direction.

[0111] The modification and installation operation of this embodiment is simple, does not require modification of the main control program, and does not add new fault points.

[0112] Figure 13 This is a block diagram illustrating an emergency yaw control device 130 for a wind turbine generator set according to an embodiment of the present disclosure, as shown below. Figure 13 As shown, the emergency yaw control device 130 includes a control cabinet 1301 located in the nacelle of the wind turbine generator set. The control cabinet 1301 collects the operating data of the wind turbine generator set in real time. In response to the operating data indicating that the main shaft speed of the wind turbine generator set exceeds the preset speed threshold within a first preset time period, the nacelle controller of the wind turbine generator set does not issue a yaw control signal, and the yaw main power supply circuit does not trip, the control cabinet 1301 controls the wind turbine generator set to perform emergency yaw. In response to the control cabinet 1301 failing to successfully control the wind turbine generator set to perform emergency yaw, the control cabinet 1301 outputs the first fault information to instruct the user to manually control the wind turbine generator set to perform emergency yaw.

[0113] According to an embodiment of this disclosure, the emergency yaw control device also includes an operating cabinet located at the tower base of the wind turbine generator set. In response to an operating data indication that the rotational speed of the main shaft of the wind turbine generator set exceeds a preset speed threshold and the yaw main power supply circuit breaker trips within a first preset time period, the control cabinet 1301 outputs a second fault information to instruct the user to manually control the emergency power supply switch in the operating cabinet to provide emergency power.

[0114] Optionally, in response to the mode selection switch of the control cabinet being switched to manual mode, the control cabinet 1301 determines the yaw direction based on the current cabin position signal in the operating data; the control cabinet 1301 activates the yaw indicator device corresponding to the yaw direction to instruct the user to manually control the yaw operation switch in the control cabinet for emergency yaw.

[0115] Optionally, the control cabinet 1301 determines the yaw direction based on the current nacelle position signal in the operating data; the control cabinet 1301 sends a yaw command for the yaw direction to the yaw system of the wind turbine generator set to control the wind turbine generator set to yaw by a preset degree in the yaw direction.

[0116] Optionally, the control cabinet 1301 sends a signal to the operating cabinet to instruct the yaw brake to be opened; in response to receiving the yaw brake feedback signal from the operating cabinet, the control cabinet 1301 determines the yaw direction based on the current cabin position signal in the operating data, wherein the yaw brake feedback signal is fed back to the controller by the operating cabinet after opening the yaw brake control switch based on the signal.

[0117] Optionally, the control cabinet 1301 may determine that it has failed to control the wind turbine generator set for emergency yaw in the following ways: if no contactor feedback signal corresponding to the yaw command is received within a second preset time after the yaw command is issued, the control cabinet 1301 stops controlling the wind turbine generator set for emergency yaw and determines that the control cabinet 1301 has failed to control the wind turbine generator set for emergency yaw; during the process of the wind turbine generator set yawing a preset degree in the yaw direction, if the operating data indicates that yaw cable twisting has occurred, the control cabinet 1301 stops controlling the wind turbine generator set for emergency yaw and determines that the control cabinet 1301 has failed to control the wind turbine generator set for emergency yaw.

[0118] According to embodiments of the present disclosure, a computer-readable storage medium for storing instructions is provided, wherein when the instructions are executed by at least one computing device, they cause at least one computing device to perform an emergency yaw control method for a wind turbine generator as described in any of the above embodiments.

[0119] According to embodiments of the present disclosure, a system is provided that includes at least one computing device and at least one storage device storing instructions, wherein the instructions, when executed by at least one computing device, cause at least one computing device to perform an emergency yaw control method for a wind turbine generator as described in any of the above embodiments.

[0120] According to embodiments of this disclosure, a computer program product is provided, including computer instructions that, when executed by a processor, implement the emergency yaw control method for any of the wind turbine generator sets described above.

[0121] While some embodiments of this disclosure have been shown and described, those skilled in the art will understand that modifications may be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents.

Claims

1. An emergency yaw control method for a wind turbine generator set, characterized in that, An emergency yaw control device is applied to an emergency yaw control system, the emergency yaw control system comprising a control cabinet located in the nacelle of a wind turbine generator, and the emergency yaw control method comprising: The control cabinet collects real-time operating data of the wind turbine generator set; In response to the operation data indicating that the main shaft speed of the wind turbine exceeds the preset speed threshold within a first preset time period, the nacelle controller of the wind turbine does not issue a yaw control signal, and the yaw main power supply circuit does not trip, the control cabinet controls the wind turbine to perform emergency yaw. In response to the control cabinet failing to control the wind turbine generator set to perform an emergency yaw, the control cabinet outputs a first fault message to instruct the user to manually control the wind turbine generator set to perform an emergency yaw.

2. The emergency yaw control method as described in claim 1, characterized in that, The emergency yaw control device also includes an operating cabinet located at the tower base of the wind turbine generator, and the emergency yaw control method further includes: In response to the operation data indicating that the rotational speed of the main shaft of the wind turbine exceeds the preset speed threshold and the yaw main power supply circuit circuit trips within the first preset time period, the control cabinet outputs a second fault message to instruct the user to manually control the emergency power supply switch in the control cabinet to provide emergency power.

3. The emergency yaw control method as described in claim 2, characterized in that, After the control cabinet outputs the second fault information or the first fault information, it also includes: In response to the mode selection switch of the control cabinet being switched to manual mode, the control cabinet determines the yaw direction based on the current cabin position signal in the operating data; The control cabinet activates the yaw indicator device corresponding to the yaw direction to instruct the user to manually control the yaw operation switch in the control cabinet for emergency yaw.

4. The emergency yaw control method as described in claim 2, characterized in that, The control cabinet controls the wind turbine generator set to perform emergency yaw, including: The yaw direction is determined based on the current cabin position signal in the operational data; Send a yaw command for the yaw direction to the yaw system of the wind turbine generator set to control the wind turbine generator set to yaw by a preset number of degrees in the yaw direction.

5. The emergency yaw control method as described in claim 4, characterized in that, Determining the yaw direction based on the current cabin position signal in the operational data includes: Send a signal to the control cabinet to instruct the yaw gate to be opened; In response to receiving the yaw brake feedback signal from the control cabinet, the yaw direction is determined based on the current cabin position signal in the operating data. The yaw brake feedback signal is fed back to the controller by the control cabinet after opening the yaw brake control switch based on the signal.

6. The emergency yaw control method as described in claim 4, characterized in that, The following methods were used to determine that the control cabinet failed to successfully control the wind turbine generator to perform an emergency yaw: If no contactor feedback signal corresponding to the yaw command is received within a second preset time period after the yaw command is issued, the control cabinet stops controlling the wind turbine generator to perform emergency yaw and determines that the control cabinet has failed to successfully control the wind turbine generator to perform emergency yaw. During the process of the wind turbine yawing by a preset degree in the yawing direction, in response to the operation data indication that yawing cable twisting has occurred, the control cabinet stops controlling the wind turbine to perform emergency yawing and determines that the control cabinet has failed to successfully control the wind turbine to perform emergency yawing.

7. An emergency yaw control device for a wind turbine generator set, characterized in that, The emergency yaw control device includes a control cabinet located in the nacelle of the wind turbine generator set. The control cabinet collects real-time operating data of the wind turbine generator set; In response to the operation data indicating that the main shaft speed of the wind turbine exceeds the preset speed threshold within a first preset time period, the nacelle controller of the wind turbine does not issue a yaw control signal, and the yaw main power supply circuit does not trip, the control cabinet controls the wind turbine to perform emergency yaw. In response to the control cabinet failing to control the wind turbine generator set to perform an emergency yaw, the control cabinet outputs a first fault message to instruct the user to manually control the wind turbine generator set to perform an emergency yaw.

8. The emergency yaw control device as described in claim 7, characterized in that, The emergency yaw control device also includes an operating cabinet located at the tower base of the wind turbine generator. In response to the operation data indicating that the rotational speed of the main shaft of the wind turbine exceeds the preset speed threshold and the yaw main power supply circuit circuit trips within the first preset time period, the control cabinet outputs a second fault message to instruct the user to manually control the emergency power supply switch in the control cabinet to provide emergency power.

9. A computer-readable storage medium for storing instructions, characterized in that, When the instruction is executed by at least one computing device, it causes the at least one computing device to perform the emergency yaw control method for wind turbine generators as described in any one of claims 1 to 6.

10. A system comprising at least one computing device and at least one storage device for storing instructions, characterized in that, When the instruction is executed by the at least one computing device, it causes the at least one computing device to perform the emergency yaw control method for wind turbine generators as described in any one of claims 1 to 6.

11. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the emergency yaw control method for wind turbine generator sets as described in any one of claims 1 to 6.

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