CN-122014499-A - Yaw control method, device, equipment and medium for wind turbine generator

CN122014499ACN 122014499 ACN122014499 ACN 122014499ACN-122014499-A

Abstract

The application discloses a yaw control method, a device, equipment and a medium for a wind turbine generator, which are applied to a yaw system of the wind turbine generator and relate to the field of automation, and comprise the steps of determining whether to trigger load shedding yaw according to the running state of the wind turbine generator and environmental wind power data, if so, recording a current target time node, and setting a corresponding load shedding preparation mark; determining whether a preset load-shedding yaw condition is met or not based on the running state of the wind turbine generator, the environmental wind power data, a target time node and a load-shedding preparation mark, setting the current load-shedding yaw mark as a first mark or a second mark according to the met condition, directly executing load-shedding yaw operation if the current load-shedding yaw mark is the first mark, adjusting the current engine rotating speed if the current engine rotating speed is the second mark, executing load-shedding yaw operation after the rotating speed is smaller than a preset rotating speed threshold value, and setting the current load-shedding yaw mark as the second mark if the load-shedding yaw operation is completed. Thus, the yaw control can be performed by an intelligent load-shedding yaw control means.

Inventors

ZHU KAIFANG
YING HUADONG
ZHAO HAIYAN
HUANG DAOJIN
GUO BIN
ZHANG PEICHENG
YIN JIE
SONG JINYU
Zhou Zongkai

Assignees

运达能源科技集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260213

Claims (10)

1. The yaw control method for the wind turbine generator is characterized by being applied to a yaw system of the wind turbine generator and comprising the following steps of: Determining whether to trigger load shedding yaw according to the current running state of the wind turbine generator and the detected environmental wind power data, if the load shedding yaw is triggered, recording a target time node with the current yaw being too slow, and setting a corresponding load shedding preparation mark; determining whether a preset load-reducing yaw condition is met or not based on the running state of the wind turbine generator, the environmental wind power data, the target time node and the load-reducing preparation mark, and setting a current load-reducing yaw mark as a first mark or a second mark according to the met condition; If the load-reducing yaw mark is the first mark, the load-reducing yaw operation is directly executed, and if the load-reducing yaw mark is the second mark, the current engine speed of the wind turbine generator is adjusted, and after the engine speed is smaller than a preset speed threshold, the load-reducing yaw operation is executed; and if the load-reducing yaw operation is completed, setting the current load-reducing yaw mark as the second mark.
2. The method for controlling yaw of a wind turbine according to claim 1, wherein determining whether to trigger the load shedding yaw according to the current running state of the wind turbine and the detected environmental wind data, if the load shedding yaw is triggered, recording a target time node when the current yaw is too slow, and setting a corresponding load shedding preparation flag, includes: Detecting a first average wind speed of the external environment of the current wind turbine generator within a preset first time threshold value, and determining the current yaw error and the running state of the wind turbine generator; And if the first average wind speed is greater than a preset wind speed threshold value, the yaw error is greater than a preset error threshold value, and the running state is a power generation state, triggering load shedding yaw, recording a target time node with the current yaw being too slow, and setting a current load shedding preparation sign as TRUE.
3. The yaw control method of a wind turbine according to claim 2, wherein determining whether a preset load-shedding yaw condition is satisfied based on the wind turbine operation state, the environmental wind data, the target time node, and the load-shedding flag, and setting the current load-shedding yaw flag to a first flag or a second flag according to the satisfaction, includes: Determining a second average wind speed of the wind turbine generator set within a preset second time threshold based on the environmental wind data; If the running state of the wind turbine generator, the second average wind speed, the target time node, the load reduction preparation mark, the preset parameter enabling and the current load reduction yaw frequency all meet the preset load reduction yaw condition, setting the current load reduction yaw mark as a first mark, otherwise setting the current load reduction yaw mark as a second mark; The method comprises the steps that the running state of a wind turbine generator meets the preset load reduction yaw condition, the running state of the wind turbine generator is the power generation state, the second average wind speed meets the preset load reduction yaw condition, the second average wind speed is larger than the preset wind speed threshold value, the time of the target time node meeting the preset load reduction yaw condition, which is the time of the target time node, from a historical time node with last yaw being too slow, is smaller than the preset time threshold value, the load reduction preparation mark meets the preset load reduction yaw condition, which is the load reduction preparation mark, is TRUE, the preset parameter enables the preset load reduction yaw condition to be met, which is the preset parameter enable TRUE, and the current load reduction yaw times meet the preset load reduction yaw condition, which is the current load reduction yaw times are smaller than the preset load reduction yaw threshold value.
4. The method according to claim 1, wherein before setting the current off-load yaw flag to the second flag if the off-load yaw operation is completed, further comprising: if a load-shedding yaw instruction corresponding to the load-shedding yaw operation is received, executing the load-shedding yaw operation based on the load-shedding yaw instruction; if the load-shedding yaw instruction is not received, yaw slip detection is carried out, if the yaw slip is not detected currently, the load-shedding yaw operation is stopped, and if the yaw slip is detected, yaw operation is carried out based on the opposite direction of the current yaw slip; if the yaw time length is greater than a first preset yaw time length threshold value or the opposite wind error is smaller than a first preset error angle in the yaw operation process, stopping executing the load-reducing yaw operation; And if the yaw sliding times in the second preset yaw duration are greater than a preset sliding times threshold or the sliding amplitude is greater than a preset amplitude threshold, performing main control alarm shutdown operation aiming at the wind turbine generator.
5. The method according to claim 4, wherein before setting the current off-load yaw flag to the second flag if the off-load yaw operation is completed, further comprising: If the local cabin is identified to slip, yaw load reduction operation is executed, motor braking is performed, and whether the yaw slip frequency in the second preset yaw duration is larger than the preset slip frequency threshold value is monitored; if the slip frequency threshold value is larger than the preset slip frequency threshold value, main control alarm stopping operation aiming at the wind turbine generator is performed; And if the local cabin slip amplitude is monitored to be larger than the preset amplitude threshold value or the opposite wind error is monitored to be larger than a second preset error angle, performing unit alarm shutdown operation aiming at the wind turbine.
6. A wind turbine yaw control method according to any one of claims 1 to 5, wherein before setting the current off-load yaw flag to the second flag if the off-load yaw operation has been completed, further comprising: Monitoring a plurality of single motor currents of each local yaw motor in real time, triggering yaw current abnormality warning if a first target current larger than a first preset current overrun threshold exists in the plurality of single motor currents and the duration overrun time is larger than a preset overrun time threshold, and recording the abnormality data of the current local yaw motor; If a second target current which is larger than a second preset current overrun threshold exists in the single motor currents and the duration overrun time is larger than the preset overrun time threshold, calculating a driving uneven load coefficient based on the single motor currents; If the driving uneven load coefficient is larger than a preset coefficient threshold value and the coefficient abnormal time is larger than the preset overrun time threshold value, stopping the current load-reducing yaw operation and recording the current overrun times; And carrying out load reduction yaw recovery or wind turbine generator stopping operation based on the current overrun times.
7. The wind turbine yaw control method of claim 6, wherein the performing a load shedding yaw recovery or wind turbine shutdown operation based on the current overrun count comprises: judging whether the current overrun times is larger than a preset current overrun times threshold value or not; if the current overrun times are larger than a preset current overrun times threshold value, performing abnormal shutdown operation on the wind turbine generator; and if the current overrun times is not greater than a preset current overrun times threshold value, carrying out load reduction yaw again.
8. Wind turbine yaw control device, characterized in that is applied to wind turbine yaw system, includes: The load-shedding yaw trigger judging module is used for determining whether to trigger load-shedding yaw according to the current running state of the wind turbine generator and the detected environmental wind power data, if the load-shedding yaw is triggered, recording a target time node with the current yaw being too slow, and setting a corresponding load-shedding preparation mark; The first mark setting module is used for determining whether a preset load-reducing yaw condition is met or not based on the running state of the wind turbine generator, the environmental wind power data, the target time node and the load-reducing mark, and setting the current load-reducing yaw mark as a first mark or a second mark according to the met condition; The load-reducing yaw executing module is used for directly executing load-reducing yaw operation if the load-reducing yaw mark is the first mark, adjusting the current engine speed of the wind turbine generator if the load-reducing yaw mark is the second mark, and executing the load-reducing yaw operation after the engine speed is smaller than a preset speed threshold; And the second mark setting module is used for setting the current load-reducing yaw mark as the second mark if the load-reducing yaw operation is completed.
9. An electronic device, comprising: A memory for storing a computer program; a processor for executing the computer program for implementing a wind turbine yaw control method according to any one of claims 1 to 7.
10. A computer readable storage medium for storing a computer program, wherein the computer program when executed by a processor implements a wind turbine yaw control method according to any one of claims 1 to 7.

Description

Yaw control method, device, equipment and medium for wind turbine generator Technical Field The invention relates to the field of automation, in particular to a yaw control method, a yaw control device, yaw control equipment and yaw control medium for a wind turbine generator. Background In order to meet all working conditions such as typhoons, strong turbulence and the like, a yaw system of the wind generating set is generally additionally provided with a plurality of yaw drivers and yaw brakes, so that cost waste is caused, and otherwise, larger faults or accidents are caused. The yaw system control program at present only has a yaw command and a stop command, lacks judgment and identification of the current wind condition and cannot be intelligently controlled according to the wind condition, when the wind condition is particularly severe, the yaw drive is blocked, the temperature of a motor winding can be rapidly increased to burn out a motor or trip the motor, a yaw system breaks down, the blocking is usually accompanied with uneven driving, when the individual drive is excessively high in output or towed, the risk of larger gear breakage exists, when the nacelle is in a static braking state, if the nacelle is particularly severe, the nacelle can bear larger wind load to slip, the nacelle loses a braking state and cannot maintain the requirement on the wind, when the nacelle is in slip caused by wind blowing, the yaw motor and the yaw clamp hydraulic brake are in a maximum braking state, the electromagnetic brake is subjected to larger transmission ratio of a reduction gearbox, and can rotate thousands of revolutions per minute, the electromagnetic brake pad is instantaneously disabled, the hydraulic brake pad is braked under full pressure and extremely scratched, the electromagnetic brake can instantaneously lose efficacy after being seriously towed, the severe electromagnetic brake is seriously, the nacelle is subjected to larger wind load and can not bear the requirements on the wind turbine generator set, and when the nacelle is in a yaw drive state and yaw system is required to be in a yaw driving state to be in a minimum state, and yaw system is required to be in a yaw driving state to slip state. However, the yaw system is in a moving state, a machine set anti-stage strategy cannot be executed, and a large potential safety hazard exists. In order to overcome the problems, as the megawatt of a machine set increases, the load of a yaw system is increased, the yaw driving radius and the braking radius are usually increased to cope with the problem, the cost is high, a yaw motor adopts protection means such as thermal relay, idle opening and the like, when the motor is not driven to generate locked-rotor, the yaw motor is thermally relay or idle opening to trip, at the moment, the yaw is in an inoperable state, but a driver is protected, a cabin slip alarm strategy is configured on a program, when the cabin monitors certain slip, a main control executes alarm shutdown, at the moment, larger-angle slip occurs, and the shutdown causes power generation loss, and in order to cope with typhoon working conditions, the yaw system firstly yaw the machine set to a leeward state and then brakes according to wind direction prediction, but the typhoon working condition risk is usually accompanied with wind direction change, communication paralysis and the like, and the like are at a high risk. Therefore, the existing yaw system control strategy cannot be intelligently controlled according to the actual working conditions. Disclosure of Invention In view of the above, the invention aims to provide a yaw control method, a device, equipment and a medium for a wind turbine generator, which can perform yaw control through an intelligent load-reducing yaw control means, so as to effectively avoid the problems of insufficient braking capability of a yaw system and the like when the wind turbine generator is in extreme working conditions such as yaw stall, yaw immobility and turbulence. The specific scheme is as follows: In a first aspect, the application discloses a yaw control method for a wind turbine generator, which is applied to a yaw system of the wind turbine generator and comprises the following steps: Determining whether to trigger load shedding yaw according to the current running state of the wind turbine generator and the detected environmental wind power data, if the load shedding yaw is triggered, recording a target time node with the current yaw being too slow, and setting a corresponding load shedding preparation mark; determining whether a preset load-reducing yaw condition is met or not based on the running state of the wind turbine generator, the environmental wind power data, the target time node and the load-reducing preparation mark, and setting a current load-reducing yaw mark as a first mark or a second mark according to the met condition; If the load-reducing yaw mark is the first mark, the lo