Wind Turbine Yaw Control Using Feedforward Torque Compensation
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Solution Overview
Problem
Wind turbines experience continuous movement of the nacelle due to varying external forces, leading to potential damage of the yaw system components, particularly from 3P excitations and aerodynamic forces, which existing control methods fail to adequately address.
Innovation Solution
A method that utilizes feedforward control to determine operating setpoints for the nacelle drives based on position and external torque information, anticipating and counteracting the effects of aerodynamic forces to stabilize the nacelle position, incorporating sensors and controllers to adjust drive operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the yaw system does not use brakes for keeping the nacelle in position, then the system is simpler and more responsive, but the nacelle experiences continuous movement due to external excitations causing backlash and noise
Solution Approach 1:
The control system calculates and applies compensating torque in advance based on predicted aerodynamic forces and external excitations, preventing the nacelle from moving away from the target position before the harmful effects occur. This preliminary action eliminates the need for reactive braking while maintaining position stability.
Solution Approach 2:
The system continuously monitors the actual nacelle position and compares it with the target position, using the error signal to adjust the drive torque in real-time. This feedback mechanism ensures that any continuous movement or oscillation is immediately corrected, eliminating backlash and noise without requiring mechanical brakes.
2Adaptability or versatility
If the yaw system continuously moves to counteract external excitations, then the nacelle can respond to changing wind conditions, but the continuous movement harms the yaw system components and increases wear
Solution Approach 1:
The control system predicts aerodynamic forces based on wind speed and rotor position, then applies compensating torque in advance. This prevents the nacelle from continuously adjusting its position, thereby reducing wear on yaw system components while maintaining adaptability to changing wind conditions.
Solution Approach 2:
The system changes the control parameter from reactive position correction to proactive torque compensation. By adjusting the drive torque based on predicted aerodynamic forces rather than actual position deviations, the system reduces continuous movement and mechanical wear while maintaining responsiveness to wind changes.
3Measurement precision
If feedforward control is used to anticipate aerodynamic forces, then the response time is reduced and positioning accuracy is improved, but the control system complexity increases
Solution Approach 1:
The control system uses pre-calculated aerodynamic force models and predicted external excitations to determine compensating torque in advance. This preliminary calculation based on wind speed and rotor position simplifies the control logic while achieving high positioning accuracy without requiring complex real-time sensing and computation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Reduces continuous movement of the nacelle, minimizing backlash and noise, and extends the lifetime of the yaw system by efficiently managing external torque variations.
Implementation Method 1
an external torque acting on the nacelle due to the aerodynamics of the rotor during rotation caused by wind
Implementation Method 2
the at least one drive brings or keeps the nacelle at the position setpoint by exerting torque
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
The method is for operating a wind turbine (100) having a rotatable nacelle (40), a rotor (10) with at least one rotor blade (b_j), wherein the rotor is mounted on the nacelle, and at least one drive (d_i) for rotating the nacelle by exerting torque. The method comprises a step of providing first information (I1) which is representative of a position setpoint (Pn) of the nacelle and a step of providing second information (I2) which is representative of an external torque (Myaw) acting on the nacelle due to the aerodynamics of the rotor during rotation caused by wind. In a further step, an operating setpoint (OS_i) for the at least one drive is determined depending on the first and the second information. The operating setpoint is determined such that, when the at least one drive is operated according to the operating setpoint, the at least one drive brings or keeps the nacelle at the position setpoint by exerting torque. The second information is used in a feedforward manner for the determination of the operating setpoint.