CN104018987B - A kind of control method of wind driven generator yaw system - Google Patents
A kind of control method of wind driven generator yaw system Download PDFInfo
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- CN104018987B CN104018987B CN201410116746.9A CN201410116746A CN104018987B CN 104018987 B CN104018987 B CN 104018987B CN 201410116746 A CN201410116746 A CN 201410116746A CN 104018987 B CN104018987 B CN 104018987B
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- 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
Abstract
The invention discloses the control method of a kind of wind driven generator yaw system, based on overall life cycle cost theory by comparing driftage integrated cost and the unit production capacity predicted after going off course, set up startup constraints the yaw maneuver under different operating mode situations is judged, solve the contradiction between Wind turbines production capacity and yaw maneuver loss, extend yaw system working life, it is achieved that the maximization of Wind turbines life cycle management comprehensive benefit.The method considers the factors such as wind speed, wind vector rate, wind vector angle, increase production capacity after being gone off course by prediction, and combine yaw maneuver cost analysis, from life cycle management economic optimum angle, to meeting when threshold value control requires, to yaw maneuver, whether necessity carries out science judgment.
Description
Technical field
The invention belongs to technical field of wind power generation, particularly relate to the control method of a kind of wind driven generator yaw system.
Background technology
Along with energy shortage problem is aggravated, wind energy as novel energy by it is renewable, distribution wide and green non-pollution etc. is excellent
Gesture, is just becoming fastest-rising green energy resource.Yaw system, as the distinctive servosystem of large-scale wind electricity unit, is Wind turbines
Important component part, its runnability quality directly decides the overall performance of Wind turbines, wind field generating efficiency and wind energy profit
Use efficiency.
As the product of nature, wind energy has the feature such as randomness and intermittence, and direction also occurs to change in the moment, at wind
During power generator operation, yaw system needs Fraquent start so that wind wheel is maintained at state windward as far as possible, improves Wind Power Utilization effect
Rate.But, the problems such as gyroscopic couple can be produced during wind generating set yaw, and then cause the parts such as pylon, blade
Vibrate, and then the safety to whole wind generator system constitutes a threat to, and the frequent movement of yaw system also can bring driftage
The problems such as electric energy loss and Yaw assembly abrasion.
The long-term frequent start-stop of yaw system can cause yaw system and other fan parts associated with it to cause damage, not only adds
Weigh staff's hard work amount, and owing to fault generation, trouble shooting need unit to stop for a long time during Failure elimination
Fortune, produces great operation and maintenance cost and power generation loss, and therefore the technique study of yaw system optimal control is from preventive maintenance angle
Can avoid on degree causing the loss that cannot retrieve, be directly connected to generating efficiency and the wind energy utilization of wind power generating set.
Summary of the invention
For the defect of prior art, it is an object of the invention to provide a kind of wind that can reduce Wind turbines yaw system number of starts
The control method of power generator yaw system.
To achieve these goals, the technical solution used in the present invention is as follows:
The invention provides the control method of a kind of wind driven generator yaw system, comprise the following steps:
Step 1: when wind direction changes, it is judged that whether wind vector angle, θ is less than blower fan limits of error angle, θdmax,
If θ is ＜ θdmax, then next step is gone to；Carry out yaw maneuver after otherwise making blower fan orderly closedown again, then make blower fan normally start；
Step 2: judge whether wind vector angle, θ exceeds setting threshold angle θ that wind speed interval is correspondingd, as θ ＞ θdTime, then
Go to next step；Otherwise change without going off course for this wind direction angle；
Step 3: Prediction distance time interval T time wind direction changes next time and distance time wind direction changes next time time
Between be spaced wind speed size V in T, calculate the generated energy W under this predicted conditionOptimize, go off course after generated energy WThreshold valueWith
And CDriftage cost, then judge whether this wind vector goes off course according to result of calculation, if driftage, then go to step 6；Otherwise turn
To next step；
Step 4: when not going off course, it is judged that whether time interval T when the next wind direction of distance changes occurs second time to change,
If there is second time change in time interval T that described distance wind direction next time is when changing, for the change of this wind direction angle without
Go off course；Otherwise go to next step；
Step 5: judge whether wind direction changed within the T+ Δ t time, wherein Δ t is for beyond prediction wind vector spacing movement
The setting time, if wind direction changed within the T+ Δ t time, change without going off course for this wind direction angle；Otherwise go to
Next step；
Step 6: wind speed driftage time delay TdYaw system startup optimization, if having gone off course, the most whole During yaw terminates；Otherwise
Yaw system restarts operation, until completing whole During yaw.
In described step 3, if WOptimize+CDriftage cost-WThreshold value＜ 0, yaw motor carries out During yaw.
Before described step 1, yaw system controls startup and to wind constraints is:
Wherein: ρ is atmospheric density；R is blade radius；VtFor prediction of wind speed；For blower fan transformation efficiency；For fluctuation threshold value；
CVtFor prediction of wind speed VtCorresponding power coefficient；θ is wind vector angle；TsFor driftage time delay；T is distance next time
Time interval when wind direction changes；(A+f (θ)) is driftage cost；F (θ) is part relevant with wind vector angle, θ.
The present invention compared with the existing technology, has the following advantages and beneficial effect:
The present invention considers the factors such as wind speed, wind vector rate, wind vector angle, the increase production capacity after being gone off course by prediction,
And combine yaw maneuver cost analysis, from life cycle management economic optimum angle to meeting when threshold value control requires to yaw maneuver it is
No necessity carries out science judgment, particularly less at wind speed and wind vector is frequent, reciprocal change and driftage in the little scope of wind direction
Under the situations such as system and interconnected system thereof easily break down, it is extreme that yaw system optimal control method can effectively strengthen unit reply
Wind vector ability, it is to avoid unnecessary yaw maneuver, reduces mechanical breakdown and easily consumption parts mill that frequent yaw maneuver is brought
The problems such as damage, extend the associated mechanical assemblies life-span, reduce yaw system operation expense, improve running of wind generating set reliable
Property, solve the contradiction between Wind turbines production capacity and yaw maneuver loss, to realize Wind turbines life cycle management comprehensive benefit
Maximization, its scale application is remarkably improved the whole economic efficiency of wind field；And avoid in preventive maintenance angle causing cannot
The loss retrieved, improves generating efficiency and the wind energy utilization of wind power generating set；Wind turbines macroeconomic can not reduced
In the case of benefit, reduce Wind turbines yaw system number of starts.
Accompanying drawing explanation
The control method flow chart of the wind driven generator yaw system that Fig. 1 provides for the present invention.
Fig. 2 is input wind speed curve figure.
Fig. 3 is the angle variation diagram under driftage threshold value control.
Fig. 4 is the power output figure under driftage threshold value control.
Fig. 5 is the angle variation diagram under driftage optimal control.
Fig. 6 is the power output figure under driftage optimal control.
Detailed description of the invention
The present invention is further detailed explanation for illustrated embodiment below in conjunction with the accompanying drawings.
Embodiment 1
The control method of the wind driven generator yaw system that the present invention proposes is by comparing driftage based on overall life cycle cost theory
Integrated cost and the unit production capacity predicted after going off course, set up and start constraints, enters the yaw maneuver under different operating mode situations
Row judges, solves the contradiction between Wind turbines production capacity and yaw maneuver loss, extends yaw system working life, it is achieved
The maximization of Wind turbines life cycle management comprehensive benefit.
Yaw system controls to start:
In above-mentioned formula: ρ is atmospheric density；R is blade radius；VtFor prediction of wind speed；For blower fan transformation efficiency；For fluctuation
Threshold value；CVtFor wind speed VtCorresponding power coefficient；θ is wind vector angle；TsFor driftage time delay；T is twice wind
Time interval between change；(A+f (θ)) is driftage cost；F (θ) is part relevant with wind vector angle, θ.
For making calculating process easy, and use for reference relevant parameter value, make Vt=7m/s, CVt=0.35, Ts=210s, ρ=1.29kg/m3,
S=π R2=6793m2,θ=20,By calculating, in wind speed size it is
7m/s and set wind vector angle and wait under term restriction at 20 °, when predicting that wind vector time interval T is at 3.5min～16min
Time, driftage cost is higher than the production capacity after driftage, because of without being immediately performed yaw maneuver.
Yaw system optimal control flow process is as it is shown in figure 1, the controlling party of wind driven generator yaw system that provides for the present invention of Fig. 1
Method flow chart.θ in figuredmaxFor blower fan limits of error angle；θdFor the setting threshold angle that wind speed interval is corresponding；TdFor wind
The interval corresponding wind speed driftage time delay of speed；Δ t is for setting the time (if in the T+ Δ t time beyond prediction wind vector spacing movement
Wind direction changes not yet, need to carry out driftage operation).
Step 1: when wind direction changes, yaw system first determines whether that wind vector angle, θ is the most maximum allowable less than blower fan
Error angle θdmaxIf, θ ＜ θdmax, then next step is gone to；Yaw maneuver is carried out again, then after otherwise making blower fan orderly closedown
Blower fan is made normally to start；
Step 2: judge whether wind vector angle, θ exceeds setting threshold angle θ that wind speed interval is correspondingd, as θ ＞ θdTime, then
Go to next step；Otherwise change without going off course for this wind direction angle；
Step 3: Prediction distance time interval T time wind direction changes next time and distance time wind direction changes next time time
Between be spaced wind speed size V in T, calculate the generated energy W under this predicted conditionOptimize, go off course after generated energy WThreshold valueWith
And CDriftage cost, then judge whether this wind vector goes off course according to result of calculation, if driftage, then go to step 6；Otherwise turn
To next step；If WOptimize+CDriftage cost-WThreshold valueDuring ＜ 0, yaw motor carries out During yaw.
Step 4: when not going off course, it is judged that whether time interval T when the next wind direction of distance changes occurs second time to change,
If time interval T when the next wind direction of described distance changes occurs second time change, illustrate when this wind direction changes
The prediction of time interval T accurately, changes without going off course for this wind direction angle；Otherwise go to next step；
Step 5: judge whether wind direction changed within the T+ Δ t time, wherein Δ t is for beyond prediction wind vector spacing movement
The setting time, if wind direction changed within the T+ Δ t time, change without going off course for this wind direction angle；Otherwise go to
Next step；
Step 6: wind speed driftage time delay TdYaw system startup optimization, if having gone off course, the most whole During yaw terminates；Otherwise
Yaw system restarts operation, until completing whole During yaw.
In Matlab emulates one hour, wind direction changes for 8 times, as shown in table 1 ,+change to the right for wind direction ,-change to the left for wind direction；
Set input air speed value to change in ± 30 ° as 7m/s, wind direction angle, comprise unidirectional change and reciprocal change；Error after driftage
Angle is 0, and driftage normal speed is 0.8 °/s, and the driftage time delay under low wind speed district is 210s；Peak power under wind speed V is defeated
Go out and capture wind energy formula according to wind energy conversion systemObtain；When wind speed is constant, wind direction changes, now
Output is Pθ=PVmax·cos(θ)。
Table 1
As in figure 2 it is shown, Fig. 2 is input wind speed curve figure.As can be seen from the figure input wind speed maintains 7m/s.
As it is shown on figure 3, Fig. 3 is the angle variation diagram under driftage threshold value control.As can be seen from the figure under driftage threshold value control,
After wind direction changes and exceeds setting threshold angle, after the driftage time delay of 210s, just start yaw maneuver, partially
Boat normal speed is 0.8 °/s.
As shown in Figure 4, the power output figure under Fig. 4 is driftage threshold value control.WThreshold value=537.8744Kw h；From figure permissible
Find out under yaw system threshold value control, by wind energy conversion system output mechanical power formulaDriftage can be calculated
System thresholds controls lower corresponding power output；And when when wind speed is constant, wind direction deflects, mechanical output work now
Rate is Pθ=PVmaxCos (θ), WThreshold valueFor power P one hour interior integrated value.
As it is shown in figure 5, Fig. 5 is the angle variation diagram under driftage optimal control.As can be seen from the figure under driftage optimal control,
When each wind direction changes, by comparing driftage cost and the production capacity predicted after going off course, it may be judged whether need to go off course,
When being judged as without going off course, angle keeps constant, otherwise starts yaw maneuver, completes to go off course to wind, specified speed of going off course
Degree is 0.8 °/s.
As shown in Figure 6, the power output figure under Fig. 6 is driftage optimal control.WOptimize=538.7169Kw h；From figure permissible
Find out under yaw system optimal control, by wind energy conversion system output mechanical power formulaDriftage can be calculated
System optimization controls lower corresponding power output；And when when wind speed is constant, wind direction deflects, mechanical output work now
Rate is Pθ=PVmaxCos (θ), WOptimizeFor power P at one hour interior integration.
Driftage cost model calculates:
Driftage cost model calculates and includes going off course fixed cost, driftage operation expense, driftage energy consumption and shutting down cost etc.:
Average driftage every day takes 150 times, it is considered to abandoning the factors such as wind, wind energy turbine set annual utilizes hourage to take 2000h, and reference
Relevant parameter value can calculate each variate-value:
Therefore single driftage totle drilling cost is:
Comprehensive driftage cost and prediction production capacity, can calculate optimal control than threshold value control more economy:
C=WOptimize+CDriftage cost-WThreshold value=69.7438Kw h
Wherein:
WThreshold valueProduction capacity is exported for the wind energy conversion system under threshold value control；
WOptimizeProduction capacity is exported for the wind energy conversion system under optimal control；
CDriftage costFor this cost of going off course.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and apply the present invention.It is familiar with
These embodiments obviously easily can be made various amendment by the personnel of art technology, and should General Principle described herein
Use in other embodiments without through performing creative labour.Therefore, the invention is not restricted to embodiment here, this area skill
Art personnel should be at the protection model of the present invention according to the announcement of the present invention, the improvement made without departing from scope and amendment
Within enclosing.
Claims (3)
1. the control method of a wind driven generator yaw system, it is characterised in that: comprise the following steps:
Step 1: when wind direction changes, it is judged that whether wind vector angle, θ is less than blower fan limits of error angle, θdmax,
If θ is ＜ θdmax, then next step is gone to；Carry out yaw maneuver after otherwise making blower fan orderly closedown again, then make blower fan normally start；
Step 2: judge whether wind vector angle, θ exceeds setting threshold angle θ that wind speed interval is correspondingd, as θ ＞ θdTime, then
Go to next step；Otherwise change without going off course for this wind direction angle；
Step 3: Prediction distance time interval T time wind direction changes next time and distance time wind direction changes next time time
Between be spaced wind speed size V in T, calculate the generated energy W under this predicted conditionOptimize, go off course after generated energy WThreshold valueWith
And CDriftage cost, then judge whether this wind vector goes off course according to result of calculation, if driftage, then go to step 6；Otherwise turn
To next step；
Step 4: when not going off course, it is judged that whether time interval T when the next wind direction of distance changes occurs second time to change,
If there is second time change in time interval T that described distance wind direction next time is when changing, for the change of this wind direction angle without
Go off course；Otherwise go to next step；
Step 5: judge whether wind direction changed within the T+ Δ t time, wherein Δ t is for beyond prediction wind vector spacing movement
The setting time, if wind direction changed within the T+ Δ t time, change without going off course for this wind direction angle；Otherwise go to
Next step；
Step 6: wind speed driftage time delay TdYaw system startup optimization, if having gone off course, the most whole During yaw terminates；Otherwise
Yaw system restarts operation, until completing whole During yaw.
The control method of wind driven generator yaw system the most according to claim 1, it is characterised in that: in described step 3,
If WOptimize+CDriftage cost-WThreshold value＜ 0, yaw motor carries out During yaw.
The control method of wind driven generator yaw system the most according to claim 1, it is characterised in that: described step 1 it
Before, yaw system controls startup and to wind constraints is:
Wherein: ρ is atmospheric density；R is blade radius；VtFor prediction of wind speed；For blower fan transformation efficiency；For fluctuation threshold value；
CVtFor prediction of wind speed VtCorresponding power coefficient；θ is wind vector angle；TsFor driftage time delay；T is distance next time
Time interval when wind direction changes；(A+f (θ)) is driftage cost；F (θ) is part relevant with wind vector angle, θ.
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| CN104454348A (en) * | 2014-12-24 | 2015-03-25 | 中船重工(重庆)海装风电设备有限公司 | Yaw control method and device for wind generating set |
| CN104500338B (en) * | 2014-12-31 | 2017-02-22 | 上海致远绿色能源股份有限公司 | Wind power generation active yawing variable-speed stall control system |
| CN106150898B (en) * | 2015-03-25 | 2019-01-29 | 浙江运达风电股份有限公司 | A kind of Yaw control method |
| CN104775986A (en) * | 2015-04-22 | 2015-07-15 | 上海电机学院 | Wind-driven generator yaw control system and wind-driven generator yaw control method |
| US11078884B2 (en) * | 2016-06-30 | 2021-08-03 | Vestas Wind Systems A/S | Determining wind direction offset using yaw events |
| DK179188B1 (en) * | 2016-07-06 | 2018-01-22 | Envision Energy (Jiangsu) Co Ltd | Wind turbine and a method of operating a wind turbine |
| CN106286130B (en) * | 2016-09-05 | 2019-02-05 | 华北电力大学 | Wind turbines based on SCADA data yaw Optimization about control parameter method |
| CN107882679B (en) * | 2016-09-29 | 2019-02-15 | 北京金风科创风电设备有限公司 | The Yaw control method and control device of wind power plant |
| CN106677984B (en) * | 2016-12-29 | 2019-05-03 | 北京金风科创风电设备有限公司 | Method, equipment and system for yaw control of wind generating set |
| CN108223278B (en) * | 2017-12-29 | 2020-04-24 | 华润电力风能（阳江）有限公司 | Yaw control method and related equipment |
| CN110206682B (en) | 2018-02-28 | 2020-06-26 | 北京金风科创风电设备有限公司 | Method and device for dynamically determining yaw control accuracy |
| CN108590959A (en) * | 2018-03-19 | 2018-09-28 | 南京风电科技有限公司 | A kind of optimization method of low wind speed wind power generator group yaw control |
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| CN110017247B (en) * | 2019-04-25 | 2020-05-19 | 天津瑞源电气有限公司 | Yaw wind alignment method based on self-power consumption |
| CN110608135B (en) * | 2019-10-29 | 2020-10-27 | 中国船舶重工集团海装风电股份有限公司 | Yaw control method, device and equipment for wind turbine generator and storage medium |
| CN112302871B (en) * | 2020-10-15 | 2021-11-09 | 明阳智慧能源集团股份公司 | Yaw crossing control method for improving availability of wind generating set |
| CN112502899B (en) * | 2020-11-30 | 2021-11-16 | 东方电气风电有限公司 | Consumption reduction method for wind generating set |
| CN112796940B (en) * | 2021-01-29 | 2022-05-24 | 东方电气风电股份有限公司 | Wind alignment method for wind direction data missing fan |
| CN114183314A (en) * | 2021-11-25 | 2022-03-15 | 吉林省电力科学研究院有限公司 | Wind turbine generator opportunity maintenance method based on reliability |
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