Windmill Yaw System Continuous Torque Control
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Solution Overview
Problem
Existing windmill yaw systems face challenges in efficiently adjusting to changing wind directions, leading to energy loss, increased wear and tear, and risk of damage due to unsuitable load distribution and unbalanced turbine conditions, with current solutions failing to reliably minimize these issues.
Innovation Solution
A yaw system with continuous operation of yaw motors providing both positive and negative torque for optimal nacelle positioning, incorporating four-quadrant control, pitch angle adjustment, and unbalance detection to minimize load and maximize energy yield, while avoiding unnecessary stresses and wear.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If brakes are kept applied during yaw motor operation to provide controlled motion, then motion control is improved, but power requirements of the yaw motor increase
Solution Approach 1:
The control system continuously monitors the actual yaw position and compares it with the desired yaw position, then adjusts the yaw motor torque in real-time to minimize yaw error. This closed-loop feedback control enables precise motion control without requiring excessive braking force, as the system can make small incremental adjustments to reach the target position efficiently.
2Stability of the object's composition
If the yaw system keeps the nacelle fixed in position until a large yaw error is detected, then structural stability is maintained, but external loads cause increased wear and potential damage
Solution Approach 1:
The system transitions from a static threshold-based control approach to a dynamic continuous control approach. The yaw motor operates continuously with varying torque levels based on real-time yaw error, allowing the system to adapt to changing wind conditions and gradually correct position deviations before they become large enough to cause structural stress or damage.
Solution Approach 2:
The control system performs preliminary corrective actions by continuously making small adjustments to the nacelle position, preventing large yaw errors from developing in the first place. This proactive approach reduces the cumulative stress on structural components compared to waiting until a large error threshold is reached.
3Strength
If the turbine is not positioned perpendicular to wind direction, then structural loads are reduced, but energy generation decreases significantly
Solution Approach 1:
The control system uses real-time feedback from wind direction sensors and yaw position sensors to continuously adjust the nacelle orientation, ensuring the turbine faces the wind optimally for maximum energy capture while avoiding excessive misalignment that would cause structural damage.
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
The system optimizes windmill operation by continuously adjusting to wind conditions, reducing wear and tear, and increasing energy generation by minimizing yaw errors and load stresses, with the ability to detect and respond to unbalances and alert for potential damage, thereby enhancing reliability and reducing maintenance needs.
Implementation Method 1
determining a size and direction of a torque based at least on the yaw error, and applying the torque to at least one yaw motor of a yaw system for turning the turbine
Data Source
Figure 1~2
Figure 3~4
Figure 5a~5c
AI summary
The present invention relates to a yaw system (5) for a windmill (1), the windmill comprising a tower (2) and a nacelle (3), the tower and the nacelle being joined by the yaw system and the yaw system further comprising a bearing fixed to the tower, on which bearing the nacelle rests and slides in a yawing movement, and at least one yaw motor arranged to allow the nacelle to perform a rotary motion along the bearing, wherein the yaw system (5) further comprises control means (8) for continuously operating the at least one yaw motor in such a way that the yaw motor strives to manoeuvre the nacelle according to a set point. The invention also relates to a method for controlling the yaw of a windmill (1), comprising the steps of determining a set point for the windmill (1), calculating a yaw error based on the set point and a current alignment of the windmill, determining a size and direction of a torque based at least on the yaw error, and applying the torque to at least one yaw motor of a yaw system for turning the turbine, whereby the method also comprises the step of continuously calculating the yaw error and applying the torque in order to strive towards the set point.