CN107664096B - Yaw wind control method, device and system - Google Patents
Yaw wind control method, device and system Download PDFInfo
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- CN107664096B CN107664096B CN201610601969.3A CN201610601969A CN107664096B CN 107664096 B CN107664096 B CN 107664096B CN 201610601969 A CN201610601969 A CN 201610601969A CN 107664096 B CN107664096 B CN 107664096B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000001360 synchronised effect Effects 0.000 claims description 37
- 238000005259 measurement Methods 0.000 claims description 27
- 230000002459 sustained effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 201000009482 yaws Diseases 0.000 description 6
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000013407 communication difficulty Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/047—Automatic control; Regulation by means of an electrical or electronic controller characterised by the controller architecture, e.g. multiple processors or data communications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/32—Wind speeds
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/804—Optical devices
- F05B2270/8042—Lidar systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a yaw wind control method, a yaw wind control device and a yaw wind control system, wherein the azimuth angle of a cabin measured by a satellite compass is obtained, and wind information measured by a laser radar is obtained, wherein the wind information comprises wind speeds corresponding to different angles, or the wind directions, the azimuth angle and the wind information are measured at the same height; calculating a yaw angle according to the azimuth angle and the wind information; and controlling the yaw wind of the engine room according to the yaw angle. The laser radar is installed at an unobstructed and shelterless position which is dozens of meters away from the wind generating set, the laser radar is used for measuring wind information, the wind information cannot be influenced by the rotor blades, the azimuth angle of the cabin is measured by the satellite compass which is in the same coordinate system with the laser radar, the yaw angle obtained by calculation according to the wind information and the azimuth angle is more accurate, and the wind control performance of the yaw of the wind generating set is further improved.
Description
Technical field
The present invention relates to technical field of wind power, more particularly to a kind of yaw to air control method, apparatus and system.
Background technique
Wind-power electricity generation is the technology that electric energy is converted wind energy by wind power generating set.Wind-power electricity generation is based on no dirt
Dye, it is renewable, it is resourceful the advantages that, become one of main generation technology.Wind power generating set is during power generation, wind
The rotor blade rotation on the head of wind power generating set is blown, rotor blade rotation drives generator to generate electricity.In order to the greatest extent
Wind energy may be utilized to greatest extent, needed the rotor blade in the cabin by wind power generating set to face wind direction, worked as wind direction
When change, wind power generating set is yawed to air control system.
In the prior art, anemoclinograph is mounted in the cabin of wind power generating set.When initial installation, wind-force is sent out
The direction of the cabin installation of motor group is used as reference direction, guarantees the reference direction of anemoclinograph and the reference direction phase of cabin
Together.When the angle of wind direction measured by the reference direction of anemoclinograph and its is θ, cabin is yawed to air control system,
It is also θ that cabin, which is controlled, relative to the deflection angle of reference direction.
Since anemoclinograph is mounted in cabin, the wind for blowing to anemoclinograph first blows over rotor blade in cabin,
Anemoclinograph is blowed to again.Rotor blade, which will affect, blows to the wind speed and direction that anemoclinograph is surveyed, so that anemoclinograph
The wind speed and direction of measurement has error, and then influences wind generating set yaw to the performance of air control.
Summary of the invention
Present invention solves the technical problem that be to provide a kind of method, apparatus and system yawed to air control, so as to
Wind generating set yaw is enough promoted to the performance of air control.
For this purpose, the technical solution that the present invention solves technical problem is：
A kind of yaw to wind control method, the method includes：
The azimuth for the cabin that Satellite Compass is surveyed is obtained, and obtains the information for the wind that laser radar is surveyed, the wind
Information includes wind speed corresponding to different angle or wind direction, and the information of the azimuth and the wind is surveyed under sustained height
?；
Yaw angle is calculated according to the information of the azimuth and the wind；
The cabin is yawed to air control system according to the yaw angle.
Optionally, described to include according to the information of the azimuth and wind calculating yaw angle：
The difference of wind direction in the information of the azimuth and the wind is calculated as yaw angle.
Optionally, described to include according to the information of the azimuth and wind calculating yaw angle：
Obtain preset orientation angle；
Corresponding first wind speed of first angle is obtained from the information of the wind, obtains corresponding second wind of second angle
Speed, the first angle are the differences at the azimuth Yu the orientation angle, the second angle be the azimuth with it is described
The sum of orientation angle；
According to first wind speed, second wind speed and the orientation angle calculate axial wind speed and radial wind speed；
The arc tangent of the quotient of the radial wind speed and the axial wind speed is calculated as yaw angle.
Optionally, the azimuth for obtaining the cabin that Satellite Compass is surveyed, and obtain the letter for the wind that laser radar is surveyed
Breath includes：
Receive the azimuth for the cabin that the Satellite Compass that the first PLC is sent is surveyed, the first PLC and master controller clock
It is synchronous；
Receive the information for the wind that the laser radar that the 2nd PLC is sent is surveyed, the 2nd PLC and the master controller
Clock is synchronous.
Optionally, the azimuth for obtaining the cabin that Satellite Compass is surveyed, and obtain the letter for the wind that laser radar is surveyed
Breath includes：
The azimuth for the cabin that the Satellite Compass that the 3rd PLC is sent is surveyed is received, the azimuth is sent by the 4th PLC
To the 3rd PLC, the 3rd PLC and the 4th PLC are synchronous with master controller clock；
The information for the wind that the laser radar that the 3rd PLC is sent is surveyed is received, the information of the wind is sent out by the 5th PLC
It send to the 3rd PLC, the 5th PLC is synchronous with the master controller clock.
A kind of to yaw to wind control device, described device includes：
Acquiring unit for obtaining the azimuth for the cabin that Satellite Compass is surveyed, and obtains the wind that laser radar is surveyed
Information, the information of the wind include wind speed corresponding to different angle or wind direction, and the information of the azimuth and the wind exists
It is measured under sustained height；
Computing unit, for calculating yaw angle according to the information of the azimuth and the wind；
Control unit, for being yawed the cabin to air control system according to the yaw angle.
Optionally,
The computing unit, the difference for calculating the azimuth with wind direction in the information of the wind is as yaw angle.
Optionally, the computing unit includes：
First obtains subelement, for taking preset orientation angle；
Second obtains subelement, for obtaining corresponding first wind speed of first angle from the information of the wind, obtains the
Corresponding second wind speed of two angles, the first angle are the difference at the azimuth Yu the orientation angle, the second angle
Be the azimuth and the orientation angle and；
First computation subunit, for calculating axis according to first wind speed, second wind speed and the orientation angle
To wind speed and radial wind speed；
Second computation subunit is used as yaw for calculating the arc tangent of quotient of the radial wind speed and the axial wind speed
Angle.
Optionally, the acquiring unit includes：
First receiving subelement, the azimuth of cabin that the Satellite Compass for receiving the first PLC transmission is surveyed, described the
One PLC is synchronous with master controller clock；
Second receiving subelement, the information for the wind that the laser radar for receiving the 2nd PLC transmission is surveyed, described second
PLC is synchronous with the master controller clock.
Optionally, the acquiring unit includes：
Third receiving subelement, the azimuth for the cabin that the Satellite Compass for receiving the 3rd PLC transmission is surveyed, the side
Parallactic angle is that the 3rd PLC is sent to by the 4th PLC, and the 3rd PLC and the 4th PLC are same with master controller clock
Step；
4th receiving subelement, for receiving the information for the wind that the laser radar that the 3rd PLC is sent is surveyed, the wind
Information be that the 3rd PLC is sent to by the 5th PLC, the 5th PLC is synchronous with the master controller clock.
A kind of yaw to wind control system, the system comprises：
Master controller, Satellite Compass and laser radar；
The azimuth of the Satellite Compass measurement cabin；
The information of the lidar measurement wind, the information of the wind include wind speed corresponding to different angle, Huo Zhefeng
To the information of the azimuth and the wind measures under sustained height；
The master controller obtains the information at the azimuth and the wind, according to the azimuth and the letter of the wind
Breath calculates yaw angle, is yawed the cabin to air control system according to the yaw angle.
Optionally, the system also includes：
First PLC and the 2nd PLC, the first PLC and the 2nd PLC are synchronous with the master controller clock；
The azimuth is sent to the first PLC by the Satellite Compass, and azimuth described in the first PLC is sent to
The master controller；
The information of the wind is sent to the 2nd PLC by the laser radar, and azimuth described in the 2nd PLC is sent
To the master controller.
Optionally, the system also includes：
3rd PLC, the 4th PLC and the 5th PLC, the 3rd PLC, the 4th PLC and the 5th PLC all with
The master controller clock is synchronous；
The azimuth is sent to the 4th PLC by the Satellite Compass, and azimuth described in the 4th PLC is sent to
The azimuth is sent to the master controller by the 3rd PLC, the 3rd PLC；
The information of the wind is sent to the 5th PLC, the information hair of wind described in the 5th PLC by the laser radar
It send to the 3rd PLC, the 3rd PLC and the information of the wind is sent to the master controller.
According to the above-mentioned technical solution, above-mentioned technical proposal at least has the advantages that：
The embodiment of the invention provides yaws to the method, apparatus and system of air control, and master controller obtains Satellite Compass
The azimuth for the cabin surveyed, and the information for the wind that laser radar is surveyed is obtained, the information of wind includes corresponding to different angle
The information of wind speed or wind direction, azimuth and wind measures under sustained height；Master controller is according to azimuth and the information of wind
Calculate yaw angle；Master controller yaws to air control system the cabin according to yaw angle.Laser radar be mounted on away from
Tens meters from wind power generating set remote accessible unobstructed places, using the information of lidar measurement wind, the information of the wind will not
It is influenced by rotor blade, the azimuth of the Satellite Compass measurement cabin of use and laser radar in the same coordinate system, root
It is more acurrate according to the resulting yaw angle of information and azimuthal angle calculation of wind, and then wind generating set yaw is promoted to air control
Performance.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is method flow diagram of the yaw provided in an embodiment of the present invention to air control；
Fig. 2 is Satellite Compass mounting structure schematic diagram provided in an embodiment of the present invention；
Fig. 3 is data collection system exemplary construction schematic diagram provided in an embodiment of the present invention；
Fig. 4 is another exemplary construction schematic diagram of data collection system provided in an embodiment of the present invention；
Fig. 5 is yaw angle calculation method schematic diagram provided in an embodiment of the present invention；
Fig. 6 is yaw provided in an embodiment of the present invention to wind controling device structure diagram；
Fig. 7 is yaw provided in an embodiment of the present invention to wind control system architecture schematic diagram；
Fig. 8 is yaw provided in an embodiment of the present invention to another structural schematic diagram of wind control system；
Fig. 9 is yaw provided in an embodiment of the present invention to the another structural schematic diagram of wind control system.
Specific embodiment
Implementation to the precision of air control is yawed to cabin in order to provide to improve, the embodiment of the invention provides
The method and system to air control are yawed, preferred embodiment of the present invention will be described below in conjunction with Figure of description.
Fig. 1 is yaw provided in an embodiment of the present invention to wind control method flow chart, and this method includes：
Step 101：The azimuth for the cabin that Satellite Compass is surveyed is obtained, and obtains the information for the wind that laser radar is surveyed,
The information of the wind includes wind speed corresponding to different angle or wind direction, and the azimuth and the information of the wind are surveyed under sustained height
?.
Satellite Compass is mounted in the cabin of wind power generating set, for measuring the azimuth of cabin.Satellite Compass includes
Preceding antenna, aft antenna and host.Preceding antenna and aft antenna are respectively two GPS satellite signal sensors, for receiving GPS letter
Number.According to the received GPS signal of preceding antenna and the received GPS signal of aft antenna, the position of antenna, the day after tomorrow before being calculated
Angle between the line of centres and geographical north of the position of line and preceding antenna and aft antenna.And then according to the position of preceding antenna, after
Angle between the line of centres and geographical north of the position of antenna and preceding antenna and aft antenna, can obtain the azimuth of cabin
And the height of cabin.
As shown in Fig. 2, preceding antenna is mounted in wheel hub identical as pod center when Satellite Compass is mounted in cabin
Height and position, is mounted on cabin tail portion position of platform for aft antenna, and host is mounted on cabin middle position, preceding antenna, the day after tomorrow
Line and host in same plane and are all located on cabin center line.According to Satellite Compass principle, aft antenna and preceding antenna connection
Direction vector and the angle in geographical north are the azimuth of cabin, and height measured by Satellite Compass is height with respect to the horizontal plane
Degree.What needs to be explained here is that needing to guarantee the longitudinal axis of the host of Satellite Compass not only when Satellite Compass is mounted in cabin
With the central axes of cabin be overlapped perhaps it is parallel also with the line coincident of preceding antenna and aft antenna or parallel.If installation occurs
Large error, the coordinate system that will lead to GPS satellite and the coordinate system of Satellite Compass are not exclusively corresponding, reduce accuracy of measurement.
Laser radar is mounted on apart from tens meters of wind power generating set remote accessible unobstructed places, measures the information of wind, wind
Information include wind speed corresponding to different angle or wind direction.Laser radar used can both measure wind direction, can also measure
The wind speed of 360 degree of ranges.The wind speed of 360 degree of ranges of lidar measurement can obtain different every 1 degree of measurement, one wind speed
The corresponding wind speed of angle；Can also other measurement intervals be set, the corresponding wind speed of different angle is obtained according to actual needs.
Wind direction measured by laser radar is the angle of the opposite vector and due north of practical wind direction, measured by laser radar
Height is height with respect to the horizontal plane, i.e. laser radar and Satellite Compass measures under the same coordinate system.Laser radar
Itself also there is GPS system, the real north pointer of laser radar should be made correctly to refer to north when laser radar is installed, to guarantee
The azimuth for the cabin that wind direction measured by laser radar and Satellite Compass are surveyed is under the same coordinate system system.
What needs to be explained here is that η shown in Fig. 21It is the cabin azimuth that Satellite Compass is surveyed, η2It is wind direction.η1To defend
Star compass aft antenna and the direction vector of preceding antenna connection and the angle in geographical north, η2For wind come to opposite direction and geographical north
Angle.
In order to guarantee to yaw to the accurate of air control, not only to guarantee laser radar and Satellite Compass in the same coordinate system
Under, also to guarantee that the information at azimuth and wind needed for calculating yaw angle is measured under sustained height and synchronization
's.Satellite Compass is mounted in cabin, i.e. azimuthal height of Satellite Compass measurement cabin is the height of wind power generating set
Degree.Utilize the information of wind of the lidar measurement at wind power generating set height.The orientation of Satellite Compass real-time measurement cabin
Measured azimuth is sent to master controller by angle.The laser radar also wind under real-time measurement and Satellite Compass sustained height
Information, the information of measured wind is sent to master controller.
The azimuth of the cabin of real-time measurement can directly be issued master controller by Satellite Compass.Laser radar can also incite somebody to action
Directly issue master controller in the azimuth of the cabin of real-time measurement.When specific implementation, Satellite Compass and laser radar can be with masters
Controller establishes wire communication connection, also can establish wireless communication connection, according to actual needs specific setting.
What needs to be explained here is that the manufacturer due to laser radar is different, used communication modes there is also
Difference increases master control system and laser including MODBUS, RS232/485, CANBUS and PROFIBUS etc. to a certain extent
The communication difficulty of radar can send data letter to master controller using the following two kinds laser radar in order to solve this problem
The mode of breath.
In one example, as shown in figure 3, obtaining the azimuth for the cabin that Satellite Compass is surveyed, and laser radar is obtained
The information for the wind surveyed includes：
Receive the azimuth for the cabin that the Satellite Compass that the first PLC is sent is surveyed, the first PLC and the master controller clock
It is synchronous；
The information for the wind that the laser radar that the 2nd PLC is sent is surveyed is received, the 2nd PLC and the master controller clock are same
Step.
As shown in figure 3, the azimuth of Satellite Compass real-time measurement cabin, is sent to for the azimuth of measured cabin
One PLC, then master controller is sent to by the first PLC.The information of laser radar real-time measurement wind sends out the information of measured wind
It send to the 2nd PLC, then master controller is sent to by the 2nd PLC.Wherein, the first PLC, the 2nd PLC all with the clock of master controller
It is synchronous, guarantee that master controller can obtain the azimuth of the cabin measured under synchronization and the information of wind.Wherein, the first PLC,
2nd PLC is communicated with master controller respectively, the first PLC, and ADS can be used between the 2nd PLC and master controller
(Automation Device specification, automation equipment specification) agreement is communicated, and wire communication can be used
Mode can also use WIFI, the communications such as bluetooth and Zigbee.
As shown in figure 3, when the first PLC and master controller use communication, the wireless routing module of Satellite Compass
The azimuth of real-time measurement cabin is sent to the wireless routing module of master controller.2nd PLC and master controller are using wireless
When communication mode, the information of real-time measurement wind is sent to the wireless routing mould of master controller by the wireless routing module of laser radar
Block.
The communication mode of communication mode used by laser radar and master controller and Satellite Compass and master controller is not
Together.If laser radar and Satellite Compass respectively with master controller direct communication, need to increase newly in master controller two it is different logical
Believe that module, a communication module are communicated with laser radar, another module is communicated with Satellite Compass.But using different
Communication module, laser radar and Satellite Compass are difficult to realize synchronous acquisition.PLC can provide various communication terminals, satellite
Compass is communicated by the first PLC with master controller, and laser radar is communicated by the 2nd PLC with master controller, and master controller only needs
Module with plc communication is provided.Also, the first PLC is synchronous with master controller progress clock with the 2nd PLC, realizes
Laser radar and Satellite Compass synchronous acquisition.
In another example, as shown in figure 4, obtaining the azimuth for the cabin that Satellite Compass is surveyed, and laser thunder is obtained
Information up to the wind surveyed includes：
The azimuth for the cabin that the Satellite Compass that the 3rd PLC is sent is surveyed is received, which be sent to by the 4th PLC
3rd PLC's, the 3rd PLC and the 4th PLC are synchronous with the master controller clock；
The information for the wind that the laser radar that the 3rd PLC is sent is surveyed is received, the information of the wind is sent to by the 5th PLC
3rd PLC's, the 5th PLC is synchronous with the master controller clock.
As shown in figure 4, the azimuth of Satellite Compass real-time measurement cabin, is sent to for the azimuth of measured cabin
Four PLC, then the 3rd PLC is sent to by the 4th PLC, the azimuth of measured cabin is sent to master controller by the 3rd PLC.Swash
The information of measured wind is sent to the 5th PLC, then is sent to third by the 5th PLC by the information of optical radar real-time measurement wind
The information of measured wind is sent to master controller by PLC, the 3rd PLC.Wherein, the 3rd PLC, the 4th PLC, the 5th PLC all with
The clock of master controller is synchronous, guarantees that master controller can obtain the azimuth of the cabin measured under synchronization and the letter of wind
Breath.Wherein, the 4th PLC, the 5th PCL are communicated with the 3rd PLC respectively, can be used wired communication mode, can also be used
The communications such as WIFI, bluetooth and Zigbee.
As shown in figure 4, the wireless routing module of the 4th PLC will when the 4th PLC and the 3rd PLC uses communication
The azimuth of Satellite Compass real-time measurement cabin is sent to the wireless routing module of the 3rd PLC.5th PLC and the 3rd PLC is used
When communication, the azimuth of Satellite Compass real-time measurement cabin is sent to third by the wireless routing module of the 5th PLC
The wireless routing module of PLC.
In Fig. 4, the 3rd PLC is communicated with master controller, and Satellite Compass is communicated by the 4th PLC with the 3rd PLC,
Laser radar all carries out clock with master controller by the 5th PLC and third plc communication, the 3rd PLC, the 4th PLC and the 5th PLC
It is synchronous, realize laser radar and Satellite Compass synchronous acquisition.In addition, when analyzing power curve, the 3rd PLC can also be from
The floor data of master controller synchronous acquisition wind power generating set is deposited together with the data that the 4th PLC and the 5th PLC synchronizes acquisition
Storage, realizes more synchronous data samplings.It is, of course, also possible to increase more PLC according to actual needs, a variety of data are realized
Synchronous acquisition.
Step 102：Yaw angle is calculated according to the information of the azimuth and the wind.
Step 103：The cabin is yawed to air control system according to the yaw angle.
Master controller calculates yaw angle, and at least there are two types of possible implementations, are implemented as follows.
The first possible implementation, the information of wind include wind direction, which includes：
The difference of wind direction in the information of the azimuth and the wind is calculated as yaw angle.
The wind direction that the azimuth for the cabin that Satellite Compass is surveyed and laser radar are surveyed adjusts cabin under the same coordinate system
The azimuth rotor blade that can be realized in cabin consistent with wind direction to wind.Therefore, the yaw angle at a certain moment is to be somebody's turn to do
The difference of wind direction in the information for the wind that the azimuth and the moment that moment is surveyed are surveyed.When the difference of wind direction in the information of azimuth and wind
When being 0, yaw angle 0, at this point, wind power generating set is not necessarily to yaw accurately to wind.When wind direction in the information of azimuth and wind
Difference be timing, wind power generating set is to left drift.When the difference of wind direction in the information of azimuth and wind is negative, wind-driven generator
Group yaws to the right.What needs to be explained here is that being reference with real north, it is left drift that wind power generating set yaws counterclockwise,
Wind power generating set yaws clockwise navigates for right avertence.
What needs to be explained here is that in practical applications, if when yaw angle very little, can according to actual needs without
Yaw is to air control system.Such as：It, can be without yawing to air control system if yaw angle is less than 5 degree.
Second of implementation, the information of wind include wind speed corresponding to different angle, including：
Obtain preset orientation angle；
Corresponding first wind speed of first angle is obtained from the information of the wind, obtains corresponding second wind speed of second angle,
The first angle is the difference at the azimuth Yu direction angle, the second angle be the azimuth and direction angle and；
According to first wind speed, second wind speed and direction angle calculation axial direction wind speed and radial wind speed；
The arc tangent of the radial direction wind speed and the quotient of the axial direction wind speed are calculated as yaw angle.
Preset orientation angle be it is pre-set according to actual needs, can guarantee surveyed wind direction be greater than cabin side
The difference of parallactic angle and orientation angle, and the wind direction surveyed be less than cabin azimuth and orientation angle and.Under normal circumstances, side
It is minimum yaw angle to the minimum value of angle, the maximum value of orientation angle is maximum yaw angle.It illustrates：Generally
In the case of, the value range of orientation angle is any one numerical value between 15 degree to 45 degree.
The first wind speed corresponding to the azimuth of cabin and the difference of orientation angle in the information of wind is then obtained, and obtains cabin
Azimuth and orientation angle and corresponding the second wind speed, as shown in figure 5, the method for calculating yaw angle is as follows：
Axial wind speed is calculated using formula (1)：
Wherein, W is axial wind speed, V1For the first wind speed, V2For the second wind speed, α is orientation angle.
Radial wind speed is calculated using formula (2)：
Wherein, U is radial wind speed.
Then yaw angle is calculated using formula (3)：
Wherein, β is yaw angle.
What needs to be explained here is that without yaw when β is 0；β is timing, to left drift β degree；When β is negative, β is yawed to the right
Degree realizes yaw to air control system.
Further, it is also possible to calculate actual wind speed using formula (4)：
Wherein, V is the actual wind speed of face wind direction.
What needs to be explained here is that in practical applications, technical solution provided by the present invention, one kind is achieved in that,
Step 101, step 102 and step 103 are all executed by the master controller of wind power generating set, i.e., executing subject is master controller；
Another kind is achieved in that the 3rd PLC executes step 101 and yaw angle calculated is sent to by step 102, the 3rd PLC
Master controller executes step 103 by master controller；Another is achieved in that, the 3rd PLC executes step 101, step 102 and
Step 103, i.e., executing subject is the 3rd PLC, and step 103 can be regarded as the 3rd PLC by master controller indirectly to the cabin
It is yawed to air control system.
As shown in the above, the method have the advantages that：
Laser radar is mounted on apart from tens meters of wind power generating set remote accessible unobstructed places, using lidar measurement
The information of wind, the information of the wind not will receive the influence of rotor blade, the satellite of use and laser radar in the same coordinate system
Compass measures the azimuth of cabin, high according to the information of wind and the resulting yaw angle accuracy of azimuthal angle calculation, and then improves
Precision to air control is yawed to cabin.
Fig. 6 is yaw provided in an embodiment of the present invention to wind controling device structure diagram, which includes：
Acquiring unit 601 for obtaining the azimuth for the cabin that Satellite Compass is surveyed, and obtains the wind that laser radar is surveyed
Information, the information of the wind includes wind speed corresponding to different angle or wind direction, and the information of the azimuth and the wind is same
It is measured under height.
In one example, which includes：
First receiving subelement, the azimuth for the cabin that the Satellite Compass for receiving the first PLC transmission is surveyed, this first
PLC is synchronous with master controller clock；
Second receiving subelement, the information for the wind that the laser radar for receiving the 2nd PLC transmission is surveyed, the 2nd PLC
It is synchronous with the master controller clock.
In one example, which includes：
Third receiving subelement, the azimuth for the cabin that the Satellite Compass for receiving the 3rd PLC transmission is surveyed, the orientation
Angle is that the 3rd PLC is sent to by the 4th PLC, and the 3rd PLC and the 4th PLC are synchronous with the master controller clock；
4th receiving subelement, the information for the wind that the laser radar for receiving the 3rd PLC transmission is surveyed, the letter of the wind
Breath is that the 3rd PLC is sent to by the 5th PLC, and the 5th PLC is synchronous with the master controller clock.
Computing unit 602, for calculating yaw angle according to the information at the azimuth and the wind.
In one example, computing unit 602, the difference for calculating the azimuth with wind direction in the information of the wind is as inclined
Boat angle.
In one example, computing unit 602 includes：
First obtains subelement, for taking preset orientation angle；
Second obtains subelement, for obtaining corresponding first wind speed of first angle from the information of the wind, obtains second
Corresponding second wind speed of angle, the first angle are the differences at the azimuth Yu direction angle, which is the azimuth
With direction angle and；
First computation subunit, for according to first wind speed, second wind speed and direction angle calculation axial direction wind speed
With radial wind speed；
Second computation subunit, the arc tangent for calculating the radial direction wind speed with the quotient of the axial direction wind speed is as yaw angle
Degree.
Control unit 603, for being yawed the cabin to air control system according to the yaw angle.
Wherein, yaw provided in an embodiment of the present invention is configured in master controller wind control device, constitutes main control
A part of device；Can interact with master controller to realize yaw to air control outside master controller is set to alternatively, can also be
The autonomous device of system.
Yaw shown in fig. 6 is with yaw shown in FIG. 1 to device corresponding to wind control method, tool to wind control device
Body implementation method is similar with method shown in FIG. 1, and with reference to the description of method shown in FIG. 1, which is not described herein again.
Fig. 7 is yaw provided in an embodiment of the present invention to wind control system architecture schematic diagram, which includes：
Master controller 701, Satellite Compass 702 and laser radar 703.
The azimuth of the Satellite Compass 702 measurement cabin.
The laser radar 703 measures the information of wind, and the information of the wind includes wind speed corresponding to different angle or wind direction,
The information of the azimuth and the wind measures under sustained height.
The master controller 701 obtains the information at the azimuth and the wind, is calculated according to the information of the azimuth and the wind
Yaw angle yaws to air control system the cabin according to the yaw angle.
In one example, as shown in figure 8, the system further includes：
First PLC 801 and the 2nd PLC 802, the first PLC 801 and the 2nd PLC 802 all with the main control
701 clock of device is synchronous.
Azimuth is sent to the first PLC 801 by the Satellite Compass 702, which is sent to master by the first PLC 801
Controller 701.
The information of the wind is sent to the 2nd PLC 802 by the laser radar 703, and the 2nd PLC 802 sends out the azimuth
It send to master controller 701.
In one example, as shown in figure 9, the system further includes：
3rd PLC 901, the 4th PLC 902 and the 5th PLC 903, third to the 5th PLC, all with master controller clock
It is synchronous.
The azimuth is sent to the 4th PLC 902 by the Satellite Compass 702, and the 4th PLC 902 sends the azimuth
To the 3rd PLC 901, which is sent to master controller 701 by the 3rd PLC 901.
The information of the wind is sent to the 5th PLC 903, the information hair of 903 wind of the 5th PLC by the laser radar 703
It send to the 3rd PLC 901, the 3rd PLC 901 and the information of the wind is sent to master controller 701.
Fig. 7 is to be to corresponding to wind control method with yaw shown in FIG. 1 to wind control system to yaw shown in Fig. 9
System, concrete methods of realizing is similar with method shown in FIG. 1, and with reference to the description of method shown in FIG. 1, which is not described herein again.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of yaw is to wind control method, which is characterized in that the method includes：
The azimuth for the cabin that Satellite Compass is surveyed is obtained, and obtains the information for the wind that laser radar is surveyed, the information of the wind
Including wind speed corresponding to different angle, the information of the azimuth and the wind measures under sustained height；
Yaw angle is calculated according to the information of the azimuth and the wind；
The cabin is yawed to air control system according to the yaw angle；
It is described to include according to the information of the azimuth and wind calculating yaw angle：
Obtain preset orientation angle；
Corresponding first wind speed of first angle is obtained from the information of the wind, obtains corresponding second wind speed of second angle, institute
The difference that first angle is the azimuth Yu the orientation angle is stated, the second angle is the azimuth and the deflection
The sum of degree；
According to first wind speed, second wind speed and the orientation angle calculate axial wind speed and radial wind speed；
The arc tangent of the quotient of the radial wind speed and the axial wind speed is calculated as yaw angle.
2. the method according to claim 1, wherein the azimuth of cabin for obtaining Satellite Compass and being surveyed,
And the information for obtaining the wind that laser radar is surveyed includes：
The azimuth for the cabin that the Satellite Compass that the first PLC is sent is surveyed is received, the first PLC and master controller clock are same
Step；
Receive the information for the wind that the laser radar that the 2nd PLC is sent is surveyed, the 2nd PLC and the master controller clock
It is synchronous.
3. the method according to claim 1, wherein the azimuth of cabin for obtaining Satellite Compass and being surveyed,
And the information for obtaining the wind that laser radar is surveyed further includes：
The azimuth for the cabin that the Satellite Compass that the 3rd PLC is sent is surveyed is received, the azimuth is to be sent to institute by the 4th PLC
The 3rd PLC is stated, the 3rd PLC and the 4th PLC are synchronous with master controller clock；
The information for the wind that the laser radar that the 3rd PLC is sent is surveyed is received, the information of the wind is sent to by the 5th PLC
3rd PLC's, the 5th PLC is synchronous with the master controller clock.
4. a kind of yaw is to wind control device, which is characterized in that described device includes：
Acquiring unit for obtaining the azimuth for the cabin that Satellite Compass is surveyed, and obtains the information for the wind that laser radar is surveyed,
The information of the wind includes wind speed corresponding to different angle, and the information of the azimuth and the wind is surveyed under sustained height
?；
Computing unit, for calculating yaw angle according to the information of the azimuth and the wind；
Control unit, for being yawed the cabin to air control system according to the yaw angle；
The computing unit includes：
First obtains subelement, for taking preset orientation angle；
Second obtains subelement, for obtaining corresponding first wind speed of first angle from the information of the wind, obtains second jiao
Corresponding second wind speed is spent, the first angle is the difference at the azimuth Yu the orientation angle, and the second angle is institute
State azimuth and the orientation angle and；
First computation subunit, for calculating axial wind according to first wind speed, second wind speed and the orientation angle
Speed and radial wind speed；
Second computation subunit, for calculate the radial wind speed and the axial wind speed quotient arc tangent as yaw angle
Degree.
5. device according to claim 4, which is characterized in that the acquiring unit includes：
First receiving subelement, the azimuth for the cabin that the Satellite Compass for receiving the first PLC transmission is surveyed, described first
PLC is synchronous with master controller clock；
Second receiving subelement, the information of wind that the laser radar for receiving the 2nd PLC transmission is surveyed, the 2nd PLC with
The master controller clock is synchronous.
6. device according to claim 4, which is characterized in that the acquiring unit further includes：
Third receiving subelement, the azimuth for the cabin that the Satellite Compass for receiving the 3rd PLC transmission is surveyed, the azimuth
It is that the 3rd PLC is sent to by the 4th PLC, the 3rd PLC and the 4th PLC are synchronous with master controller clock；
4th receiving subelement, for receiving the information for the wind that the laser radar that the 3rd PLC is sent is surveyed, the letter of the wind
Breath is that the 3rd PLC is sent to by the 5th PLC, and the 5th PLC is synchronous with the master controller clock.
7. a kind of yaw is to wind control system, which is characterized in that the system comprises：
Master controller, Satellite Compass and laser radar；
The azimuth of the Satellite Compass measurement cabin；
The information of the lidar measurement wind, the information of the wind include wind speed corresponding to different angle, the azimuth
It is measured under sustained height with the information of the wind；
The master controller obtains the information at the azimuth and the wind, according to the azimuth and the information meter of the wind
Yaw angle is calculated, the cabin is yawed to air control system according to the yaw angle；
It is described to include according to the information of the azimuth and wind calculating yaw angle：
Obtain preset orientation angle；
Corresponding first wind speed of first angle is obtained from the information of the wind, obtains corresponding second wind speed of second angle, institute
The difference that first angle is the azimuth Yu the orientation angle is stated, the second angle is the azimuth and the deflection
The sum of degree；
According to first wind speed, second wind speed and the orientation angle calculate axial wind speed and radial wind speed；
The arc tangent of the quotient of the radial wind speed and the axial wind speed is calculated as yaw angle.
8. system according to claim 7, which is characterized in that the system also includes：
First PLC and the 2nd PLC, the first PLC and the 2nd PLC are synchronous with the master controller clock；
The azimuth is sent to the first PLC by the Satellite Compass, and the azimuth is sent to institute by the first PLC
State master controller；
The information of the wind is sent to the 2nd PLC by the laser radar, and the azimuth is sent to by the 2nd PLC
The master controller.
9. system according to claim 7, which is characterized in that the system also includes：
3rd PLC, the 4th PLC and the 5th PLC, the 3rd PLC, the 4th PLC and the 5th PLC all with it is described
Master controller clock is synchronous；
The azimuth is sent to the 4th PLC by the Satellite Compass, and the azimuth is sent to institute by the 4th PLC
The 3rd PLC is stated, the azimuth is sent to the master controller by the 3rd PLC；
The information of the wind is sent to the 5th PLC by the laser radar, and the 5th PLC sends the information of the wind
The information of the wind is sent to the master controller to the 3rd PLC, the 3rd PLC.
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| WO2020061052A1 (en) * | 2018-09-17 | 2020-03-26 | American Superconductor Corporation | Yaw auto-calibration for a wind turbine generator |
| CN110748456B (en) * | 2019-11-29 | 2023-11-21 | 中国华能集团清洁能源技术研究院有限公司 | Yaw control system and method for wind generating set |
| CN111305998A (en) * | 2020-02-25 | 2020-06-19 | 宁波晓风风电技术有限公司 | Variable control method for multi-module wind driven generator |
| CN113187671B (en) * | 2021-04-27 | 2022-05-06 | 南京韦博智控科技有限公司 | Method for determining yaw angle of wind wheel by using unmanned aerial vehicle |
| CN115962091A (en) * | 2022-12-01 | 2023-04-14 | 中国华能集团清洁能源技术研究院有限公司 | Multi-baseline wind turbine generator attitude adjusting system based on satellite |
| CN116292140B (en) * | 2023-03-24 | 2023-10-27 | 华能酒泉风电有限责任公司 | Monitoring control method and monitoring control device for wind driven generator |
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