142 results about "Yaw control" patented technology

A coordinated control method and apparatus for the lateral stability of an electric vehicle and a storage medium. The method comprises: acquiring the current yaw velocity, the current sideslip angle, the current longitudinal velocity and a steering angle input by a driver; on the basis of the current yaw velocity, the current sideslip angle, the current longitudinal velocity and the steering angle, using a preset hybrid control rule to determine an additional yaw moment and an additional front wheel steering angle; sending the additional yaw moment to a DYC system, so that the DYC system allocates the additional yaw moment on the basis of a preset allocation rule, so as to obtain respective longitudinal braking forces of four hubs; and sending the additional front wheel steering angle to an AFWS system, so that the AFWS system allocates the additional front wheel steering angle on the basis of a preset steering control rule, so as to obtain respective steering angles of the four hubs. The present application avoids a lack of driving comfort and stability during single-system yaw control, ultimately remarkably improving the lateral control stability of vehicles.

The invention relates to the technical field of new energy, and discloses an optimization method for an intelligent yaw system of a wind generating set, and the method comprises the steps: building the intelligent yaw system, enabling the system to be internally provided with seven modules, and enabling a multi-sensor data collection module to collect wind direction, wind speed and yaw angle data in real time, the data fusion module performs Kalman filtering fusion processing to obtain a high-confidence state estimation value, the intelligent decision output module generates an optimal yaw control instruction by adopting a multi-mode control strategy and a parameter self-adaptive mechanism based on fused data, an execution mechanism is driven to realize accurate wind alignment, and the system integrated hardware-in-the-loop test module is used for realizing accurate wind alignment. Omnibearing verification can be carried out before deployment, after actual operation, operation indexes are continuously monitored through the performance evaluation module, control parameters and fusion algorithm parameters are adjusted online through the optimization module on the basis of methods such as machine learning, closed-loop optimization is formed, finally, yaw precision, response speed and system stability are remarkably improved, and maintenance cost is reduced.

The invention relates to a fan yaw control method, device, system and equipment, a medium and a product. The method comprises the steps that sensor data corresponding to a target time interval are acquired, and the sensor data comprise radar sensing data collected by a laser radar, stress sensing data collected by a stress-strain sensor and fan sensing data collected by other sensors; the other sensors comprise a wind speed sensor, a wind direction sensor, an ultrasonic sensor and an inertial measurement unit; according to the sensor data and a preset wind power prediction model, obtaining corresponding wind power prediction data of the fan at the target moment; and controlling the fan to yaw according to the wind power prediction data. By adopting the method, the control precision can be improved.

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

The embodiment of the invention provides an offshore wind field simulation and wind turbine generator control system and method and a wind turbine generator, and the system comprises a data preprocessing module which is used for carrying out format conversion, projection transformation and quality control on multi-source heterogeneous meteorological data; the data fusion module is used for performing intelligent fusion on the preprocessed multi-source heterogeneous meteorological data to generate three-dimensional fusion field data; the mode adjusting module is used for dynamically optimizing a data fusion strategy based on the sea condition change; the resolution conversion module is used for performing temporal-spatial resolution conversion on the three-dimensional fusion field data to generate refined three-dimensional wind field data; and the zone control module is used for performing zone division on the wind field based on the refined three-dimensional wind field data, generating differential yaw control strategies of the corresponding zones according to related data and zone characteristics of each zone, and driving a unit to execute the yaw control strategies. The wind field simulation precision and the adaptability to complex sea conditions are improved, and wind energy capture and equipment loads are balanced through a differential yaw strategy.

The invention relates to the technical field of wind power generation, particularly provides a multi-target yaw wake flow optimization method for a wind power plant, electronic equipment and a storage medium, and aims to solve the technical problem that the service life of a wind turbine generator is remarkably shortened possibly due to the fact that an existing yaw control strategy considers the whole power generation capacity but does not consider fatigue damage of the generator. In order to achieve the purpose, the wind power plant multi-target yaw wake flow optimization method comprises the steps that unit information, inflow condition information and a fatigue damage agent model of a target wind power plant are acquired; establishing an initial population based on the unit information; starting from the initial population, performing target iteration by using a genetic algorithm to maximize a first optimization target and minimize a second optimization target; when the first optimization target and the second optimization target converge, obtaining a Pareto frontier of multi-target optimization; and obtaining the optimal yaw angle combination of the target wind power plant based on the Pareto front. The fatigue damage of the unit is effectively inhibited while the total generating capacity is improved by bringing the fatigue damage of the unit into a control optimization target.

The invention provides an explicit model prediction control system and method, and the method comprises the steps: obtaining a current yaw angle and a yaw angular velocity of a three-degree-of-freedom helicopter, and generating an error vector of the three-degree-of-freedom helicopter; determining the current yaw motion state of the three-degree-of-freedom helicopter, and determining a control state vector for explicit model prediction control according to the error vector and the yaw motion state; the state space region of the three-degree-of-freedom helicopter is calculated off line based on explicit model predictive control in advance, and a target state space partition corresponding to a state vector is identified and controlled based on the state space region; and retrieving a control law associated with the identified state space partition, and controlling the yaw motion of the three-degree-of-freedom helicopter by using a yaw control signal generated by the retrieved control law. According to the technical scheme provided by the invention, the control signal can be updated in time when the three-degree-of-freedom helicopter is subjected to yaw control.

The invention discloses a yaw variable pitch control method, device and system based on wind regime prediction. The method comprises the steps that an original sensor data stream related to wind regime prediction is pulled from a message queue; pre-processing the original sensor data stream to obtain pre-processed first data; performing data windowing on the preprocessed first data; calculating a fuzzy entropy corresponding to the first data after windowing; selecting a corresponding reference model based on the fuzzy entropy to determine a predicted wind direction and a predicted wind speed; formulating a yaw control strategy according to the predicted wind direction, and formulating a variable pitch control strategy according to the predicted wind speed; and performing yaw control according to the yaw control strategy, and performing variable pitch control according to the variable pitch control strategy. According to the method, the wind direction and the wind speed are determined through wind regime prediction, the yaw control action is assisted, the control hysteresis is reduced, the system response speed is increased, and the accuracy of yaw and variable pitch control is improved.

The invention discloses a yaw control method based on data driving and multi-objective optimization, and the method comprises the steps: dividing a wind speed interval: according to the wind resource characteristics, yaw behavior, wind direction distribution characteristics, wind speed frequency distribution, turbulence intensity in different wind speed intervals, and the influence of a yaw deviation angle on output power in different wind speed intervals of a mountain wind power plant, determining the wind speed interval of the mountain wind power plant; the wind speed range below the rated wind speed is divided into a low-speed stable interval of 3-6 m / s, a medium-speed optimization interval of 6-8 m / s and a high-speed balance interval of 8-11 m / s. A data driving and multi-objective optimization algorithm is adopted, so that the yaw system can flexibly adjust yaw control parameters in real time according to dynamic changes of the wind speed, the wind direction and the turbulence intensity. No matter whether the wind direction changes suddenly or the turbulence intensity fluctuates, the yaw system can make a response rapidly, and it is ensured that the wind turbine generator is in the best windward state all the time.

The present invention discloses a yaw control method for efficiently capturing wind in a wind turbine. The wind turbine is a horizontal-axis wind turbine equipped with a laser radar anemometer at the front of its nacelle and a mechanical wind vane at the rear. The yaw control method yaws the wind turbine in a sequence of first detecting the normal state of the wind measuring equipment and then detecting the faulty state of the wind measuring equipment. This method enables the wind turbine to efficiently capture wind, reduce unnecessary power loss, and maintain safe operation during service, resulting in significant economic benefits.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention relates to the technical field of intelligent driving, and discloses a vehicle drift control method, device and equipment and a medium, and the method comprises the steps: firstly determining a road adhesion coefficient and a drift target parameter based on the current transverse and longitudinal acceleration of a vehicle; and comparing the current drifting parameter with the drifting target parameter, and judging whether the vehicle enters a drifting state or not. And in combination with the road adhesion coefficient and the accelerator pedal opening degree, the initial target slip rate and the initial torque are obtained through table look-up, and the initial target slip rate and the initial drift target yaw velocity are corrected in real time through the dynamic adjustment model. The yaw error between the target yaw velocity and the actual yaw velocity and the slip error between the target slip rate and the actual slip rate are further calculated, and finally the target torque is comprehensively calculated based on the two errors, so that the driving torque is controlled to be transited to the target value from the initial value. According to the technical scheme provided by the invention, the contradiction between slip control and yaw control in the drifting process can be solved.

The invention relates to a distributed propulsion aircraft yaw control method and system.The method comprises the steps that in response to received yaw control instruction information, yaw moment needed for achieving yaw is determined; based on the yaw moment, a control signal used for driving the thrust reverser is generated; based on the control signal and the state information of the aircraft, through a cooperative control strategy, obtaining a global control instruction of a thrust reverser and a propulsion device; and executing the global control instruction, and controlling the thrust reverser and the propulsion device to cooperatively act. The problem of how to improve the yaw control efficiency of the aircraft in the related technology is solved.

This invention relates to the field of medical device technology, and discloses a composite yaw control device and a laparoscopic surgical instrument. The composite yaw control device includes: a first tube; a second tube, the inner peripheral wall of which is radially spaced from the outer peripheral wall of the first tube to form a receiving gap; a yaw control mechanism disposed at the proximal end of the first tube, one end of which is provided with a plurality of first yaw control lines; a flexible motion joint disposed at the distal end of the second tube, one end of which is provided with a plurality of second yaw control lines; and a plurality of transmission rods movably disposed within the receiving gap, each transmission rod having one axial end connected to a first yaw control line and the other end connected to a second yaw control line. This invention not only avoids the yaw control lines from being stretched and / or sag due to their own tension during operation, improving the force application accuracy, but also ensures the directionality and correspondence of the assembly of the transmission rods and the first and second yaw control lines at both ends.

The invention relates to the technical field of yaw control, in particular to a wind power plant robust yaw control method considering wind direction uncertainty. The method comprises the following steps: acquiring historical and real-time wind direction data of each fan in a wind power plant, and preprocessing the wind direction data; extracting wind direction statistical characteristics based on the preprocessed wind direction data, constructing a wind direction uncertainty representation model based on the wind direction statistical characteristics, and representing wind direction uncertainty in a probability form; and establishing a robust wake flow prediction model based on a wind direction uncertainty representation result in combination with terrain and fan layout information so as to predict a change trend of a fan wake flow superimposed effect under a wind direction uncertainty condition. According to the method, the wind direction uncertainty probability representation model based on the circle statistics theory is constructed, the wind direction distribution parameters are updated online in combination with a sliding time window mechanism, and random fluctuation, rapid change and space inconsistency of the wind direction can be accurately described.

Horizontal translation, pendular motion, and or yaw control of a load suspended from a carrier with a suspended load control system comprising a thruster which comprises a fan and a multi-pendant management module, wherein control input to the suspended load control system may be provided through the use of more than one remote pendant.

The invention relates to a tiltable eight-rotor unmanned aerial vehicle and a control method thereof. The tiltable eight-rotor unmanned aerial vehicle comprises a vehicle body, four vehicle arms, two tilting mechanisms, four sets of coaxial motor pairs and a flight controller. The fuselage and the four arms are distributed in an H shape, the tail end of each arm is provided with two coaxial motors with opposite rotating directions, and a large thrust-weight ratio can be provided. Besides, the arms on the two sides of the unmanned aerial vehicle can be driven by the two tilting mechanisms respectively to realize synchronous tilting, so that decoupling of pitch angle and position control is realized, the flexibility of yaw angle control is improved, and the flight speed, efficiency and attitude stability of the unmanned aerial vehicle are improved. The flight controller is electrically connected with the tilting mechanism and the motor and used for controlling the position and attitude of the unmanned aerial vehicle. The control method comprises a position controller, an attitude controller and a control distribution algorithm with a clear analytical solution, and stable flight of the tiltable eight-rotor unmanned aerial vehicle can be achieved.

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

The invention discloses a multi-unmanned ship formation predefined time distributed control method, and relates to the technical field of under-actuated multi-unmanned ship formation control, and the method comprises the following steps: (1), building a horizontal plane motion mathematical model of a three-degree-of-freedom unmanned ship; (2) defining an ideal offset vector and an actual offset vector of the ith unmanned ship relative to the jth unmanned ship; step (3), constructing a communication topology of the unmanned ship formation system, and defining a distributed position error vector; (4) designing a predefined time surging virtual control law and a predefined time yawing virtual control law of the ith unmanned ship; (5) designing a predefined time surging control law and a predefined time yawing control law of the ith unmanned ship; and (6) performing simulation verification. The invention aims to combine the design of the distributed controller with the predefined time control strategy, so that the tracking error can be stably converged within the preset time, thereby improving the transient response performance and the steady state control precision of the system, and achieving the rapidity, robustness and distributed characteristics of the formation control of multiple unmanned ships.

The invention relates to the technical field of fan galloping prevention, in particular to a fan galloping prevention control system and method.The fan galloping prevention control system comprises a fan power source, a fan main control system and a yaw control system, the fan power source is electrically connected with the fan main control system, and the fan main control system is used for receiving electric power provided by the fan power source and controlling the fan galloping prevention control system to yaw. The fan master control system is in communication connection with the yaw control system, the yaw control system responds to an instruction sent by the fan control system, and the system further comprises an external power source and a fan connecting pipe system; a system which is not controlled by a fan master control system and does not use a fan power supply is adopted, the system is composed of a proximity switch, a speed sensor, a controller and a UPS power supply, the sensor and the control system of the fan are not shared, electric power is supplied to the UPS power supply of the system only from an external power supply, the UPS power supply is kept in a combat readiness state, and the system is safe and reliable. Therefore, the crosswind yawing operation of the fan can still be implemented under the condition that various extreme conditions are overlapped.

A yaw control method and apparatus for a wind turbine generator set are provided. The yaw control method includes: identifying the operating condition of the wind turbine generator set; when the wind turbine generator set is in power generation mode, performing yaw control according to a first yaw control rule; when the wind turbine generator set is in non-power generation mode and the current wind speed is within one of multiple preset wind speed ranges, performing yaw control according to a yaw control rule corresponding to the preset wind speed range to which the current wind speed is located; wherein the multiple preset wind speed ranges correspond to multiple yaw control rules, and the multiple yaw control rules are different from the first yaw control rule; wherein the yaw control parameters used by the different yaw control rules are at least partially different.

This invention relates to an optimization method for yaw control of wind turbine generators based on operational data clustering. By filtering massive amounts of operational data from wind turbine generators, key information related to yaw deviation, such as wind speed, power generation, and wind angle, is extracted. The data is then divided into intervals based on wind speed and power generation, and cluster optimization is performed on the power generation and wind angle within each wind speed interval to find the optimal cluster center point for each interval. Finally, with the goal of maximizing wind turbine generator power generation, the comprehensive wind deviation angle is calculated and used as the yaw control compensation angle for the wind turbine generator, thereby improving yaw accuracy and increasing generator power generation efficiency.

The present application proposes a wind turbine yaw control method and system based on turbulence intensity and operating mode. The method includes: obtaining the turbulence intensity at the location of the wind turbine to be controlled and the operating mode of the wind turbine; determining whether to start the yaw system based on the turbulence intensity; shutting down the yaw system when the turbulence intensity is greater than the turbulence intensity threshold; when the turbulence intensity is less than or equal to the turbulence intensity threshold, if the operating mode of the wind turbine is wind turbine start-up mode or grid-connected operation mode, selecting a first yaw control strategy to perform wind turbine yaw control; if the operating mode of the wind turbine is wind-waiting mode, selecting a second yaw control strategy to perform wind turbine yaw control; wherein the operating modes of the wind turbine include wind-waiting mode, wind turbine start-up mode, and grid-connected operation mode. The technical solution proposed in the present application can effectively protect the yaw system structure in areas with high turbulence intensity and rapid wind direction changes.

This invention discloses a jig for assembling the arms of a multi-rotor manned aircraft. The jig uses a locking mechanism to fix the arm components, further completing the assembly of the arm components. This invention utilizes a small number of parts to assemble the arms of a multi-rotor manned aircraft with high quality, reducing assembly errors. Improved assembly precision of individual arms reduces the cumulative assembly error of all arms in the multi-rotor manned aircraft, thereby reducing the difficulty of parameter control. This results in a significant reduction in yaw control throttle, improved yaw angle tracking accuracy, extended flight time, and further enhanced safety of the manned aircraft. The invention is simple to implement, easy to operate, and highly effective.

To provide a wind power generation device and a control method of the wind power generation device capable of preventing an excessive load from acting on a yaw driving device by detecting a load directly acting on the yaw driving device by a simple method without adding a load sensor or the like.SOLUTION: A yaw-controllable wind turbine power generating apparatus includes a rotor 14 and a nacelle 3, and further includes a state quantity acquisition unit configured to acquire a state quantity that varies in accordance with a yaw-direction behavior of the wind turbine power generating apparatus, and a control device 15 configured to determine a yaw high load state of the wind turbine power generating apparatus on the basis of the state quantity.SELECTED DRAWING: Figure 4

The embodiment of the invention provides a yaw control system in a safety chain triggering state of a wind generating set, which comprises a safety chain signal decoupling module used for splitting a main safety chain signal of the set into a main safety chain signal and a yaw enabling signal, the main safety chain signal maintains an original protection function, and the yaw enabling signal is used for enabling the main safety chain signal to be in a yaw state; a yaw enable signal is processed by the logic AND gate and then is input into the yaw control unit; the yaw control instruction generation module is used for generating a dynamic yaw instruction according to the wind direction sensor data and the unit state data and degrading the dynamic yaw instruction into an emergency yaw mode when a safety chain is triggered; the time sequence optimization module is used for controlling the pressure relief, delayed release and starting time sequence of the electromagnetic brake; and the hardware adaptation module is used for selecting an adaptive hardware transformation scheme according to the model of the controller. Through the time sequence optimization module in the scheme, staged yaw control can still be executed when the safety chain is triggered, the protection function is maintained, dynamic response is achieved, and the technical blank of the industry is filled up.

The present invention discloses a yaw error compensation method and system based on wind measurement data, which relates to the field of wind power generation equipment control technology. The method includes: setting wind measurement points to collect original wind field data sets; calculating the incoming flow and the nacelle wind direction angle based on the original wind field data sets; performing deviation calculation to obtain the yaw error angle; triggering a dual-channel compensation module, accumulating errors to build an error queue and performing batch compensation to obtain compensation results; retrieving yaw control parameters, analyzing the nacelle attitude based on the compensation results, updating the yaw control parameters and realizing adaptive compensation of yaw error. The present invention solves the technical problem that during the operation of a wind turbine, due to environmental factors such as wake, terrain, turbulence, and the loss of the equipment itself, the traditional yaw system is unable to accurately detect wind direction and compensate for wind error, resulting in low power generation efficiency and great equipment safety risks. The present invention achieves the technical effect of accurately improving the wind rotor wind accuracy, significantly improving power generation efficiency, and enhancing equipment operation safety.

The invention discloses a surface topography detection probe device and method based on active deflection compensation, and the device comprises an up-down displacement measurement module which is used for carrying out the measurement of the vertical displacement of a contact probe through a split type multi-polar-plate capacitive sensor structure; the up-and-down force balance control module and the up-and-down displacement measurement module form a second closed-loop control system and are used for controlling the contact force between the contact pin and the surface of the sample to be constant; the front and back deflection measurement module is used for detecting the deflection amount of the contact pin in the scanning direction; the front-back deflection control correction module and the front-back deflection measurement module form a first closed-loop control system and are used for calculating required correction torque through a closed-loop control algorithm and applying reverse driving force to counteract deflection caused by shearing force, and the two closed-loop systems work cooperatively to control the probe in the horizontal direction and the vertical direction. The problems that when an existing probe scans a complex shape, a track deviates due to shearing force, and the signal-to-noise ratio of displacement measurement is insufficient are solved.

A system and method reduce vibrations in a blade mounted on a hub of a wind turbine rotor when the rotor is in a limited yaw capacity state with a defined allowable yaw sweep. An allowable yaw sweep is defined for the limited yaw capacity state. A sensor in communication with a controller monitors for vibrations in the blade with the rotor at an initial yaw position. Upon detection of vibrations, the controller determines a yaw sweep sector that is within and less than the allowable yaw sweep and issues a command to a yaw system to yaw the rotor in a continuous back and forth manner in the yaw sweep sector. The controller continues to monitor for vibrations in the blade during or after the continuous yawing of the rotor and stops the continuous yawing of the rotor when the blade vibrations reduce to below the threshold level.

The invention relates to the field of wind power generation, in particular to a wind turbine generator yaw static error correction method and system based on a multi-beam laser radar. The method comprises the following steps: S1, scanning a wind field area in front of an impeller of a generator set through a multi-beam wind measurement laser radar mounted in a cabin of the wind turbine generator set to obtain parameter information of a plurality of spatial points; s2, performing fitting calculation on the parameter information system to obtain a fitting circle representing a horizontal wind vector of the wind field area, and solving the fitting circle to obtain a free flow wind direction; s3, the free flow wind direction is compared with the current cabin orientation, and a real-time static yaw error angle is obtained through calculation; generating a yaw control instruction according to a preset control strategy; s5, solving and calculating the fitting circle to obtain a transverse wind component, and correcting the yaw control instruction; according to the method, the control instruction is generated through the control strategy to drive the yaw system to perform dynamic compensation, so that the wind turbine generator can continuously maintain the optimal windward attitude, and the stability and long-term effectiveness of control are ensured.