CN105114248A - Wind driven generator yaw control method based on cable twisting prevention - Google Patents
Wind driven generator yaw control method based on cable twisting prevention Download PDFInfo
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Abstract
The invention relates to a wind driven generator yaw control method based on cable twisting prevention. The wind driven generator yaw control method based on cable twisting prevention relates to a shortest angle path yaw direction judgment method. When a wind driven generator normally works, the yaw direction is selected according to the shortest angle path yaw direction judgment method, wind matching can be completed within the time as short as possible, and therefore the working efficiency of a wind driven generator is improved. The wind driven generator yaw control method further relates to a cable twisting prevention yaw direction judgment method; and the possible value of an yaw angle obtained after wind matching is completed through budgeting, the yaw direction is determined, the possibility of cable twisting in a cabin is greatly reduced, halting of the wind driven generator for cable untwisting is avoided, the working time of the wind driven generator is prolonged, and the power generation amount is improved.
Description
Technical field
A kind of wind driven generator yaw controlling method turning round cable based on prevention of the present invention, relates to wind-power electricity generation application.
Background technique
Wind-driven generator is the equipment of electric energy by Wind resource change, and its performance characteristic can directly have influence on generating efficiency and the quality of power supply.Wind energy is very big by such environmental effects, the frequent random fluctuation of wind direction.If in wind-driven generator when wind wheel swept surface and wind direction out of plumb, not only bear very large wind load, and its output power also sharply can reduce.Yaw control system can follow the tracks of the change of wind direction, is to control wind-driven generator to adapt to extraneous wind vector, wind-driven generator performance characteristic is had to a kind of device of material impact.Yaw system can drive the cabin of wind-driven generator to rotate around tower center line, makes rotor swept face and wind direction keep vertical.
But engine rooms of wind power generators is under the control of yaw control system, in the process of travel direction adjustment, likely occur to add up along same direction to have turned many circles, the Cable Twist between causing at the bottom of cabin and tower.Cable Twist gently then causes the adjustment of engine rooms of wind power generators direction to have some setbacks, and heavy then initiation cable reduces until cable breakage lost efficacy working life.In order to ensure that wind-driven generator has good performance characteristic, to provide wind-power electricity generation as much as possible, carrying out timely and effective untying the mooring rope also is the function possessed required for yaw system.
Traditional wind yaw control system controls based on routine driftage mostly, it is incorporated into wind-power generating system, improves its control algorithm, mainly contain intelligent control and fuzzy control.The realization of intelligent control and FUZZY ALGORITHMS FOR CONTROL needs based on a large amount of data samples, but the on-the-spot wind direction faced due to wind-driven generator and the change of wind speed have randomness and wave properties, data acquisition and processing (DAP) simultaneously for wind direction, wind speed is difficult to complete in short-term, although therefore this two classes control algorithm effect on theory controls is better, but be applied in yaw control system of wind driven generator, implement and there is larger difficulty.
Summary of the invention
For above-mentioned deficiency of the prior art; and consider automatically to wind with turn round cable and untie the mooring rope to the Different Effects of wind-driven generator operational efficiency; the present invention proposes a kind of wind driven generator yaw controlling method turning round cable based on prevention; reduce owing to turning round cable and the wind-driven generator shutdown event caused that unties the mooring rope, thus improve wind turbine power generation amount.
The technical solution adopted in the present invention is:
Turn round a wind driven generator yaw controlling method for cable based on prevention, comprise the following steps:
Step 1: blower fan is in normal operation range, and namely the lasting accumulative deflection in cabin is no more than 3 circles, and now θ (difference of wind angle and yaw angle) scope is [-1260 °, 1260 °].Yaw control system is automatically in wind process, and cabin is selected to follow wind vector with the shortest angular path and then can be realized rapidly wind.Yaw control system can follow the differentiation that following two rules implement the shortest angular path direction:
1), in θ and θ ± 360 ° * n (n=0,1,2,3) situation, the process of cabin to wind is identical;
2) cabin can realize wind by the deflection of clockwise or counterclockwise two kinds of directions, and now deflection angle (is designated as φ clockwise
suitable) (be designated as φ with counterclockwise deflection angle
inverse) there is relation:
φ
suitable=360 ° of-φ
inverse(1)
By contrast | φ
suitable| with | φ
inverse| size, select smaller as the shortest angular path direction, the angle namely deflected=min{| φ
suitable|, | φ
inverse|.
Step 2: cabin continues to add up to be deflected over 3 circles in the same direction, likely occurs turning round cable phenomenon.Note wind angle is α, and yaw angle is γ.Cabin deflection angle absolute value is no more than 180 °, therefore works as | γ | ∈ [0,720 °) time, cabin performs and once answers affirmatively can not turn round cable to character and conduct; And work as | γ | ∈ [720 °, 1080 °) time, corresponding | θ | scope be [900 °, 1260 °], and cabin execution is improper turns round cable when doing character and conduct possibly.Due to yaw control system perform character and conduct is done time, α and γ all belongs to known measurements, and its difference θ also can calculate, and therefore can precalculate before to wind after completing wind | γ | the relation with 1080 °, has:
If 1. | γ | be less than 1080 °, then can not turn round cable;
If 2. | γ | be not less than 1080 °, then can turn round cable.
In described step 1, the span according to θ is classified, and obtains the shortest angular path yaw direction differentiation table, as shown in table 1:
Table 1 yaw direction differentiates table
| 0°<θ-360°*n≤180° | Right avertence is navigated | n＝0,1,2,3 |
| -180°≤θ+360°*n<0° | Left drift | n＝0,1,2,3 |
| 180°<θ-360°*n≤360° | Left drift | n＝0,1,2 |
| -360°≤θ+360°*n<-180° | Right avertence is navigated | n＝0,1,2 |
In table 1: n is the number of turns of driftage, is obtained by counting sensor measurement.
In described step 2, condition 1. under still can implement wind by the shortest angular path diagnostic method in table 1; Condition 2. under then to select and shortest path is implemented on the contrary to wind, be equivalent to it and wind performed to untying the mooring rope to a certain degree simultaneously, thus avoid cabin to turn round cable.Though condition 2. under longer than the distance of shortest path to wind path footpath, spended time is relatively some more, and cabin can be avoided to turn round cable, and wind-driven generator total operating time will improve.
A kind of wind driven generator yaw controlling method turning round cable based on prevention of the present invention, technique effect is as follows:
1) the shortest angular path yaw direction diagnostic method.When blower fan generator set normally works, select yaw direction according to the shortest angular path diagnostic method, make it spend the time short as far as possible to complete wind, improve the working efficiency of wind-driven generator.
2) cable yaw direction diagnostic method is turned round in prevention.Having passed budgets may value size to yaw angle after wind, determines yaw direction, and the probability of cable is turned round in less greatly cabin, avoids wind-driven generator to shut down and unties the mooring rope, the raising wind-driven generator operating time, increase its generated energy.
Accompanying drawing explanation
Fig. 1 is yaw system basic block diagram of the present invention.
Fig. 2 is a kind of wind driven generator yaw controlling method flow chart turning round cable based on prevention of the present invention.
Fig. 3 (a) is for adopting the corresponding yaw angle simulation waveform of traditional Yaw Control Strategy in embodiment.
Fig. 3 (b) turns round the corresponding yaw angle simulation waveform of cable Yaw Control Strategy for adopting in embodiment based on prevention.
Embodiment
To achieve these goals, algorithm proposition specific implementation step of the present invention is as follows:
Step 1: the basic functional principle analyzing yaw control system of wind driven generator.
Yaw control system of wind driven generator workflow as shown in Figure 1.
When to arrange wind angle α be 0 °, point to direct north.When wind direction turns clockwise, α value is for just, reach Due South to time be 180 °; When wind direction is rotated counterclockwise, α value is negative, Due South to time be-180 °; Namely the scope of α is [-180 °, 180 °].By the direction of the same manner definition yaw angle γ, γ rotates at most 5 circles respectively in positive negative direction, then the scope of γ is [-1800 °, 1800 °].The difference of α and γ is designated as θ.
During θ=0, the power that impeller absorbs is maximum, and its physical significance is in wind driven generator yaw control procedure, and yaw angle should be made consistent with wind angle all the time.Because wind direction is in the same time not random, so just need yaw control system to follow the change of wind direction all the time to the wind wheel controlling wind-driven generator, namely realize automatically wind.Its implementation procedure for detect when yaw control system cabin depart from wind direction exceed several angle poor time, yaw control system sends tuning instruction according to the differential seat angle detected, control cabin to turn to carry out wind, only have when differential seat angle reenters EE Error Excepted scope, this completes wind automatically.
Simultaneously yaw control system of wind driven generator also needs realization to untie the mooring rope function, it is as follows that it realizes process of untying the mooring rope: systems axiol-ogy continues accumulative deflection 3 circle to cabin to same direction after, if now wind speed is less than wind-driven generator threshold wind velocity (the minimum wind speed that blower fan can generate electricity), now wind-driven generator exports without electric power, then wind-driven generator is shut down, and yaw control system control cabin opposite spin 3 has been enclosed and untied the mooring rope; If now wind-driven generator has electric power to export, then wouldn't untie the mooring rope, until same direction is continued when continuing to accumulate to 4 circle in cabin, then yaw control system controls to shut down, and yaw control system controls cabin opposite spin 4 again and enclosed and untie the mooring rope; If because system failure automatic cable-releasing fails, turn round cable in same direction when continuing to accumulate to 5 circle, turn round cable mechanical switch and wind-driven generator is shut down action, and report and turn round cable fault, need manually to carry out operation of untying the mooring rope.
Known in sum, what traditional yaw control system of wind driven generator adopted is to wind and the control mode worked alone of untying the mooring rope, in this case wind-driven generator is relatively easy to enter and turns round cable state, turn round cable once untie the mooring rope need flower consumption the regular hour, and during this period of time wind-driven generator without exerting oneself.The present invention is a kind of turns round the wind driven generator yaw controlling method of cable based on prevention, makes wind and co-ordination of untying the mooring rope, and greatly reduces wind-driven generator and enters into and turn round cable shape probability of state.
Step 2: the research of Yaw Control Strategy design considerations.
A kind of wind driven generator yaw controlling method turning round cable based on prevention of the present invention, mainly comprises shortest path diagnostic method and cable diagnostic method is turned round in prevention, and specific design process is as follows:
Step 2.1: the formulation of shortest path diagnostic method.
Blower fan is in normal operation range, and namely the lasting accumulative deflection in cabin is no more than 3 circles, and now θ scope is [-1260 °, 1260 °].Yaw control system is automatically in wind process, and cabin is selected to follow wind vector with the shortest angular path and then can be realized rapidly wind.Yaw control system can follow the differentiation that following two rules implement the shortest angular path direction:
1), in θ and θ ± 360 ° * n (n=0,1,2,3) situation, the process of cabin to wind is identical;
2) cabin can realize wind by the deflection of clockwise or counterclockwise two kinds of directions, and now deflection angle (is designated as φ clockwise
suitable) (be designated as φ with counterclockwise deflection angle
inverse) there is relation:
φ
suitable=360 ° of-φ
inverse(1)
By contrast | φ
suitable| with | φ
inverse| size, select smaller as the shortest angular path direction, the angle namely deflected=min{| φ
suitable|, | φ
inverse|.Surface analysis according to θ draws respective yaw direction, as shown in table 1.Wherein: n is the number of turns of driftage, is obtained by counting sensor measurement.
Table 1 yaw direction differentiates table
| 0°<θ-360°*n≤180° | Right avertence is navigated | n＝0,1,2,3 |
| -180°≤θ+360°*n<0° | Left drift | n＝0,1,2,3 |
| 180°<θ-360°*n≤360° | Left drift | n＝0,1,2 |
| -360°≤θ+360°*n<-180° | Right avertence is navigated | n＝0,1,2 |
Step 2.2: the formulation of cable diagnostic method is turned round in prevention.
If wind-driven generator implements shortest path diagnostic method all the time to wind in wind process, cabin continues to add up to be deflected over 3 circles in the same direction, causes the phenomenon turning round cable likely to occur.
When pressing shortest path to wind by Such analysis is known, cabin deflection angle absolute value is no more than 180 °.When | γ | ∈ [0,720 °) time, cabin performs and once answers affirmatively can not turn round cable to character and conduct; And work as | γ | ∈ [720 °, 1080 °) time, corresponding | θ | scope be [900 °, 1260 °], and cabin execution is improper turns round cable when doing character and conduct possibly.Because yaw control system is when execution is done character and conduct, α and γ all belongs to known measurements, its difference θ also can calculate, and therefore can precalculate before to wind after completing wind | γ | with the relation of 1080 °: if 1. | γ | be less than 1080 °, then can not turn round cable; If 2. | γ | be not less than 1080 °, then can turn round cable.Condition 1. under still can by shortest path diagnostic method implement to wind; Condition 2. under then to select and shortest path is implemented on the contrary to wind, be equivalent to it and wind performed to untying the mooring rope to a certain degree simultaneously, thus avoid cabin to turn round cable.Though condition 2. under longer than the distance of shortest path to wind path footpath, spended time is some more, and cabin can be avoided to turn round cable.Comprehensively to wind with turn round cable and untie the mooring rope to the Different Effects of wind-driven generator operational efficiency; in budget to after completing wind; implement when can not turn round cable optimal direction diagnostic method to wind and cable will be turned round time implement prevention and turn round cable to wind; compared to traditional wind yaw control system; owing to can avoid turning round cable and the wind-driven generator shutdown caused of untying the mooring rope, thus all can improve wind turbine power generation amount.
Step 3: a kind of design turning round the wind driven generator yaw controlling method flow chart of cable based on prevention.
From step 2, a kind of wind driven generator yaw controlling method turning round cable based on prevention of the present invention, concrete methods of realizing is: determine whether the possibility turned round cable and occur, if be judged as turning round cable, yaw system prioritizing selection shortest path is implemented automatically to wind, reduces the time automatically to wind as far as possible; If be judged as likely turning round cable, yaw system prioritizing selection avoids wind-driven generator to enter turning round the path of cable state, compare shortest path like this and time automatically to wind added to wind, but save turn round cable after untie the mooring rope required time spend consumption, thus to make comprehensively wind shortest time.A kind of wind driven generator yaw controlling method turning round cable based on prevention of the present invention, its control strategy flow chart as shown in Figure 2.
Adopt configuration software MCGS to establish the simulation model of yaw control system of wind driven generator, and compile script program implement the control of correlation module.
It is constant all the time that wind speed v=6m/s is set, γ=1060 °, α is by 20 ° → 175 ° →-20 ° → 40 ° values successively, and carried out simulation comparison to the yaw control system turning round cable based on prevention that traditional yaw control system and the present invention propose, simulation result as shown in Figure 3.
Meanwhile, the present invention also carries out interpretation of result with following two kinds of contrasts:
(1) one is contrasted: occur with or without turning round cable
Fig. 3 (a) figure, when α=20 °, in wind process, yaw angle is more than 1080 °, and yaw angle is out-of-limit, terminates wind when γ=1100 °, and traditional yaw control system does not perform operation of untying the mooring rope.When α becomes 175 ° ,-20 °, 40 ° more successively, driftage proceeds under controlling to do character and conduct, until γ reaches 1440 °, now blower fan must be shut down and be untied the mooring rope.And Fig. 3 (b) figure adopts the Yaw Control Strategy turning round cable based on prevention, all when α=20 °/175 °/-20 °/40 ° character and conduct to be done, γ more than 1080 °, namely can not avoid cabin and turns round cable phenomenon, does not also just need execution to untie the mooring rope operation.
(2) two are contrasted: yaw control system is automatically to wind actuation time
Had the display window of display calibration curve information by " history curve " control self in MCGS software, can read the start and end time of two kinds of control strategy simulation processes comparatively accurately, statistics is as shown in table 2.
Table 2 time supervision data
| Absolute clock | Elapsed time | End time | Total duration (s) |
| Traditional control strategy | 28:49 | 31:42 | 173 |
| Untie the mooring rope control strategy in advance | 03:51 | 07:08 | 193 |
From table 2 data, tradition driftage is adopted to control to be approximately Δ T cumulative time to wind emulation
1=173s, adopts the Yaw Control Strategy of turning round cable based on prevention to emulate total time to wind and is approximately Δ T
1=193s.Two kinds of driftages control close to the actuation time of wind, but based on preventing the Yaw Control Strategy turning round cable can receive the good result avoiding cabin to turn round cable phenomenon.
The present invention is by emulation, and given Operational Limits, simulation the present invention is a kind of based on preventing the implementation process turning round the wind driven generator yaw controlling method of cable, but above-described embodiment does not limit the present invention in any form, and the present invention is applicable to practical application.
Claims (3)
1. turn round a wind driven generator yaw controlling method for cable based on prevention, it is characterized in that comprising the following steps:
Step 1: blower fan is in normal operation range, namely the lasting accumulative deflection in cabin is no more than 3 circles, the now difference θ of wind angle and yaw angle, scope is [-1260 °, 1260 °], yaw control system is automatically in wind process, and cabin is selected to follow wind vector with the shortest angular path and then can be realized rapidly to wind, and yaw control system can follow the differentiation that following two rules implement the shortest angular path direction:
1), in ° * n (n=0,1,2, the 3) situation of θ and θ ± 360, the process of cabin to wind is identical;
2), cabin can by the deflection realization of clockwise or counterclockwise two kinds of directions to wind, now clockwise deflection angle φ
suitablewith counterclockwise deflection angle φ
inversethere is relation:
φ
suitable=360 ° of-φ
inverse(1)
By contrast | φ
suitable| with | φ
inverse| size, select smaller as the shortest angular path direction, the angle namely deflected=min{| φ
suitable|, | φ
inverse|;
Step 2: cabin continues to add up to be deflected over 3 circles in the same direction, likely occur turning round cable phenomenon, note wind angle is α, yaw angle is γ, cabin deflection angle absolute value is no more than 180 °, therefore work as | γ | ∈ [0,720 °) time, cabin performs and once answers affirmatively can not turn round cable to character and conduct; And work as | γ | ∈ [720 °, 1080 °) time, corresponding | θ | scope is [900 °, 1260 °], cabin performs improperly turns round cable when doing character and conduct possibly, due to yaw control system perform character and conduct is done time, α and γ all belongs to known measurements, its difference θ also can calculate, and therefore can precalculate before to wind after completing wind | γ | have with the relation of 1080 °:
1.: if | γ | be less than 1080 °, then can not turn round cable;
2.: if | γ | be not less than 1080 °, then can turn round cable.
2. a kind ofly according to claim 1 turn round the wind driven generator yaw controlling method of cable based on prevention, it is characterized in that,
In described step 1, the span according to θ is classified, and obtains the shortest angular path yaw direction and differentiates relation, as follows:
0 ° of < θ-360 ° of * n≤180 ° right avertence boat n=0,1,2,3
-180 °≤θ+360 ° of * n<0 ° left drift n=0,1,2,3
180 ° of < θ-360 ° of * n≤360 ° left drift n=0,1,2
-360 °≤θ+360 ° of * n<-180 ° of right avertence boat n=0,1,2
Wherein: n is the number of turns of driftage, is obtained by counting sensor measurement.
3. a kind ofly according to claim 1 turn round the wind driven generator yaw controlling method of cable based on prevention, it is characterized in that,
In described step 2, condition 1. under still can implement wind by the shortest angular path diagnostic method; Condition 2. under then to select and shortest path is implemented on the contrary to wind, be equivalent to it and wind performed to untying the mooring rope to a certain degree simultaneously; Though condition 2. under longer than the distance of shortest path to wind path footpath, spended time is relatively some more, and cabin can be avoided to turn round cable, and wind-driven generator total operating time will improve.
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Cited By (8)
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| CN108533452A (en) * | 2018-04-09 | 2018-09-14 | 北京金风慧能技术有限公司 | Untie the mooring rope control method and the control device that unties the mooring rope of wind power generating set |
| CN110778456A (en) * | 2019-12-11 | 2020-02-11 | 湘电风能有限公司 | Yaw brake system of wind generating set and control method thereof |
| CN112031995A (en) * | 2019-06-03 | 2020-12-04 | 北京金风科创风电设备有限公司 | Yaw control method and device of wind generating set and storage medium |
| CN112145344A (en) * | 2019-06-28 | 2020-12-29 | 北京金风科创风电设备有限公司 | Cable-releasing control method and device for wind generating set |
| CN112177847A (en) * | 2020-09-28 | 2021-01-05 | 温州源铭振跃科技有限公司 | Yaw device of wind driven generator |
| CN112392655A (en) * | 2019-08-14 | 2021-02-23 | 湖南世优电气股份有限公司 | Automatic emergency yawing device, method and equipment for wind driven generator |
| CN112855435A (en) * | 2021-02-04 | 2021-05-28 | 华能国际电力股份有限公司重庆清洁能源分公司 | Wind power plant wind energy optimization method |
| CN113138603A (en) * | 2020-01-19 | 2021-07-20 | 菲力尔无人机系统无限责任公司 | Tether management system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108533452A (en) * | 2018-04-09 | 2018-09-14 | 北京金风慧能技术有限公司 | Untie the mooring rope control method and the control device that unties the mooring rope of wind power generating set |
| CN108533452B (en) * | 2018-04-09 | 2020-06-26 | 北京金风慧能技术有限公司 | Untwisting control method and untwisting control device of wind generating set |
| CN112031995A (en) * | 2019-06-03 | 2020-12-04 | 北京金风科创风电设备有限公司 | Yaw control method and device of wind generating set and storage medium |
| CN112145344A (en) * | 2019-06-28 | 2020-12-29 | 北京金风科创风电设备有限公司 | Cable-releasing control method and device for wind generating set |
| CN112392655A (en) * | 2019-08-14 | 2021-02-23 | 湖南世优电气股份有限公司 | Automatic emergency yawing device, method and equipment for wind driven generator |
| CN110778456A (en) * | 2019-12-11 | 2020-02-11 | 湘电风能有限公司 | Yaw brake system of wind generating set and control method thereof |
| CN110778456B (en) * | 2019-12-11 | 2021-07-02 | 湘电风能有限公司 | Yaw brake system of wind generating set and control method thereof |
| CN113138603A (en) * | 2020-01-19 | 2021-07-20 | 菲力尔无人机系统无限责任公司 | Tether management system and method |
| CN113138603B (en) * | 2020-01-19 | 2024-05-17 | 菲力尔无人机系统无限责任公司 | Tether management system and method |
| CN112177847A (en) * | 2020-09-28 | 2021-01-05 | 温州源铭振跃科技有限公司 | Yaw device of wind driven generator |
| CN112177847B (en) * | 2020-09-28 | 2021-07-27 | 温州源铭振跃科技有限公司 | Yaw device of wind driven generator |
| CN112855435A (en) * | 2021-02-04 | 2021-05-28 | 华能国际电力股份有限公司重庆清洁能源分公司 | Wind power plant wind energy optimization method |
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Application publication date: 20151202 |