CN106150898A - A kind of Yaw control method - Google Patents

A kind of Yaw control method Download PDF

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Publication number
CN106150898A
CN106150898A CN201510133573.6A CN201510133573A CN106150898A CN 106150898 A CN106150898 A CN 106150898A CN 201510133573 A CN201510133573 A CN 201510133573A CN 106150898 A CN106150898 A CN 106150898A
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China
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wind
dynamic gene
threshold value
wind error
error
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CN201510133573.6A
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Chinese (zh)
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CN106150898B (en
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房文伟
潘东浩
娄尧林
廖赖明
黄佳佳
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浙江运达风电股份有限公司
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a kind of Yaw control method, comprising: during using driftage to carry out going off course to wind control to Wind turbines to wind error angle threshold value to wind error angle and driftage, gather the channel data under Wind turbines generating state;Carry out process to channel data and obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2;According to the first Dynamic gene Δ 1, wind error angle is adjusted by driftage;According to the second Dynamic gene Δ 2, wind error angle threshold value is adjusted by driftage, Yaw control method disclosed by the invention, overcome Wind turbines driftage and not in time or to wind performance, power generation performance left-right asymmetry problem is occurred to wind, improve Wind turbines driftage to the promptness of wind and accuracy, and then improve the generated energy of Wind turbines.

Description

A kind of Yaw control method
Technical field
The present invention relates to driftage control technical field, particularly relate to a kind of Yaw control method.
Background technology
Yaw system is one of important composition parts of wind power generating set, and major function is at available wind speed model Making Wind turbines be in direction just windward in enclosing, maximum capacity captures wind energy.Large-scale grid-connected wind power is inclined The control mode of boat system is active yawing control.In order to enable effectively to control yaw system, occur in that in recent years Such as the PI controller of Kalman filtering, fuzzy controller, optimal controller, these controllers are all to coming From anemoscope signal transacting and carry out active yawing, main process instant wind direction signals, actively to wind, and right Operational effect after wind is not fed back, is i.e. formed without the closed-loop control of Yaw control method.
Therefore, this driftage on Wind turbines also result in certain impact to wind control, through to a large amount of wind The analysis of group of motors driftage related data, the driftage of Wind turbines real work is to wind position not always in advance Preferably to wind position, i.e. mathematic expectaion is the normal distribution form of 0 degree, it will usually three kinds of situations occur: (1) significant portion energy is had to produce bigger to wind error position;(2) wind error cumulative points is occurred by driftage Left-right asymmetry;(3) the optimum performance power curve of Wind turbines occurs in non-zero to wind error Angle Position.
Therefore, how to provide one can overcome Wind turbines to wind not in time or to wind performance, generating property Can occur that method that is left-right asymmetry thus that cause generated energy to lose is that those skilled in the art are presently required solution Problem certainly.
Content of the invention
It is an object of the invention to provide a kind of Yaw control method, overcome Wind turbines and go off course to wind not in time Or left-right asymmetry problem is occurred to wind performance, power generation performance, improves Wind turbines and go off course to wind Promptness and accuracy, and then improve the generated energy of Wind turbines.
For solving above-mentioned technical problem, the invention provides a kind of Yaw control method, comprising:
Carry out going off course to wind to Wind turbines to wind error angle threshold value to wind error angle and driftage using driftage During control, gather the channel data under described Wind turbines generating state;
Carry out process to described channel data and obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2;
According to described first Dynamic gene Δ 1, wind error angle is adjusted by described driftage;According to described Wind error angle threshold value is adjusted by two Dynamic gene Δs 2 by described driftage.
Preferably, described carry out process to described channel data and obtain the first Dynamic gene Δ 1 and second and adjust The process of factor Δ 2 particularly as follows:
Described channel data is calculated, obtains under different conditions each to the cumulative points of wind error section Second expectation μ 2 of the normal distribution of the first expectation μ 1 of normal distribution and the first standard deviation sigma the 1st, integral power Deviation angle θ relative to 0 degree with the second standard deviation sigma 2 and power-performance maximum;
Restriction process is worth most to described first expectation μ the 1st, described second expectation μ 2 and described deviation angle θ, Obtain the first Dynamic gene Δ 1;To described first standard deviation sigma the 1st, the first desired standard, described second standard Difference σ the 2nd, the second expectation standard deviation is processed, and obtains the second Dynamic gene Δ 2.
Preferably, described to described first expectation μ the 1st, described second expectation μ 2 and described deviation angle θ carry out Value restriction process, obtain the process of the first Dynamic gene Δ 1 particularly as follows:
Summation process is carried out to described first expectation μ the 1st, described second expectation μ 2 and described deviation angle θ;
Take above-mentioned that try to achieve and and default smallest offset angle in maximum;
Taking the minimum of a value in described maximum and default peak excursion angle, described minimum of a value is Δ 1.
Preferably, described to described first standard deviation sigma the 1st, the first desired standard, described second standard deviation sigma the 2nd, Second expectation standard deviation process, obtain the second Dynamic gene Δ 2 process particularly as follows:
Difference process is carried out to described first standard deviation sigma 1 and described first expectation standard deviation, obtains the first mark Quasi-difference DELTA σ 1;
Difference process is carried out to described second standard deviation sigma 2 and described second expectation standard deviation, obtains the second mark Quasi-difference DELTA σ 2;
Summation process is carried out to described first standard deviation Δ σ 1 and described second standard deviation Δ σ 2, obtains Two Dynamic gene Δs 2.
Preferably, described according to described first Dynamic gene Δ 1 to described driftage wind error angle is adjusted Process particularly as follows:
To wind error angle and described first Dynamic gene Δ 1, summation process is carried out to described driftage.
Preferably, described driftage includes that to wind error angle threshold value left drift is right to wind error angle threshold value and right avertence boat Wind error angle threshold value;
Then described according to described second Dynamic gene Δ 2, wind error angle threshold value is adjusted by described driftage Process particularly as follows:
Respectively wind error threshold value and described right avertence are navigated by described left drift according to described second Dynamic gene Δ 2 Wind error threshold value is adjusted.
Preferably, described according to described second Dynamic gene Δ 2 respectively to described left drift to wind error threshold value With described right avertence boat process that wind error threshold value is adjusted particularly as follows:
Respectively threshold value and right avertence boat are started to wind to wind error to left drift according to described second Dynamic gene Δ 2 Error starts threshold value and is adjusted.
Preferably, described according to described second Dynamic gene Δ 2 respectively to left drift to wind error start threshold value With right avertence boat, the process that is adjusted of threshold value is started to wind error particularly as follows:
To wind error startup threshold value and described second Dynamic gene Δ 2, difference process is carried out to described left drift;
To wind error startup threshold value and described second Dynamic gene Δ 2, difference process is carried out to described right avertence boat.
Preferably, described according to described second Dynamic gene Δ 2 respectively to described left drift to wind error threshold value With described right avertence boat process that wind error threshold value is adjusted particularly as follows:
Respectively according to described second Dynamic gene Δ 2 wind error is started, stops threshold by yaw system left drift Wind error startup, outage threshold are adjusted by value and right avertence boat.
Preferably, described according to described second Dynamic gene Δ 2 respectively to yaw system left drift to wind error Start, outage threshold and wind error is started by right avertence boat, the process that is adjusted of outage threshold particularly as follows:
Poor to the described second Dynamic gene Δ 2 of wind error startup threshold value and 0.5 times to described left drift Value process;
Poor to the described second Dynamic gene Δ 2 of wind error startup threshold value and 0.5 times to described right avertence boat Value process;
Poor to the described second Dynamic gene Δ 2 of wind error outage threshold and 0.5 times to described left drift Value process;
Poor to the described second Dynamic gene Δ 2 of wind error outage threshold and 0.5 times to described right avertence boat Value process.
Unlike the prior art, a kind of Yaw control method that the present invention provides, by going off course To wind control Wind turbines generating state under channel data be acquired and calculate, obtain the first adjustment because of Sub-Δ 1 and the second Dynamic gene Δ 2, then carry out reality to driftage to wind error angle according to the first Dynamic gene Δ 1 When adjust;According to the second Dynamic gene Δ 2, wind error angle threshold value is adjusted by driftage in real time, define The closed-loop control of Yaw control method, overcome Wind turbines driftage to wind not in time or to wind performance, send out There is left-right asymmetry problem in electrical property, improves Wind turbines driftage to the promptness of wind and accuracy, And then improve the generated energy of Wind turbines.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to prior art and enforcement In example, the accompanying drawing of required use is briefly described, it should be apparent that, the accompanying drawing in describing below is only Some embodiments of the present invention, for those of ordinary skill in the art, are not paying creative work Under the premise of, other accompanying drawing can also be obtained according to these accompanying drawings.
The flow chart of the process of a kind of Yaw control method that Fig. 1 provides for the present invention;
The flow chart of the process of the another kind of Yaw control method that Fig. 2 provides for the present invention;
The flow chart of the process of a kind of Yaw Control Strategy that Fig. 3 provides for the present invention.
Detailed description of the invention
The core of the present invention is to provide a kind of Yaw control method, overcomes Wind turbines and goes off course to wind not in time Or left-right asymmetry problem is occurred to wind performance, power generation performance, improves Wind turbines and go off course to wind Promptness and accuracy, and then improve the generated energy of Wind turbines.
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the present invention Accompanying drawing in embodiment, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that Described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based in the present invention Embodiment, those of ordinary skill in the art obtained under the premise of not making creative work all its His embodiment, broadly falls into the scope of protection of the invention.
Embodiment one
Refer to Fig. 1, the flow chart of the process of a kind of Yaw control method that Fig. 1 provides for the present invention, should Method includes:
Step s101: Wind turbines is entered by wind error angle and driftage by wind error angle threshold value using driftage During row driftage is to wind control, gather the channel data under Wind turbines generating state;
Wind turbines initial operation stage, master control system to wind error angle and presets driftage according to initial driftage Carrying out going off course Wind turbines to wind control to wind error angle threshold value, wind error angle is by initial driftage here When referring to that Wind turbines brings into operation, the driftage in the collection period that the sensor that master control system reads collects To wind error angle mean value.Here sensor can be wind transducer, it is not limited to this, can be real The sensor of existing the object of the invention is all within protection scope of the present invention.
After running of wind generating set gets up, i.e. driftage is being used to wind error angle and to go off course to wind error angle threshold value pair During Wind turbines carries out going off course to wind control, master control system gathers the passage under Wind turbines generating state Data, wherein, channel data includes driftage to wind error short time average, wind speed short time average, wind-powered electricity generation Go off course about the power of the assembling unit, Wind turbines number of times, driftage time about Wind turbines.
It should be noted that driftage is artificial default in advance to wind error angle threshold value, running of wind generating set rises After Laiing, after wind error angle threshold value is adjusted revising by driftage here by wind error angle threshold value for default driftage Value.
Preferably, master control system gathers Wind turbines generating using very first time interval as the period 1 Channel data under state.
Step s102: carry out process to channel data and obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2;
Master control system is after collection reads channel data, using the second time interval as second round to passage Data are processed, and obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2.
Step s103: wind error angle is adjusted by driftage according to the first Dynamic gene Δ 1;According to second Wind error angle threshold value is adjusted by Dynamic gene Δ 2 by driftage, returns step s101.
After obtaining the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2, respectively according to the first Dynamic gene Δ 1 Wind error angle is adjusted by driftage, according to the second Dynamic gene Δ 2, wind error angle threshold value is entered by driftage Row adjusts, and the driftage after being adjusted is to wind error angle and goes off course to wind error angle threshold value, is brought into step S101, the driftage after will adjusting is to wind error angle and goes off course to wind error angle threshold value again as Wind turbines The input parameter to wind control for the driftage, proceeds driftage to wind control according to Yaw Control Strategy to Wind turbines System.
It should be noted that for Wind turbines during control of entirely going off course, at first can The trigger artificially sending or automatically sending is had to go to trigger the beginning of whole control process of going off course, equally, Also have the trigger artificially sending or automatically sending and go to control the end of whole control process of going off course, this Invention for how artificially to send or automatically send particularly does not limits.
Below in conjunction with specific example, whole driftage control process is described:
Assume first to be manually set a default driftage to wind error angle threshold value, start to carry out Wind turbines When wind is controlled by driftage, the data that wind transducer is transmitted by master control system carry out process and obtain going off course to wind by mistake Declinate, then threshold value control in wind error angle is passed by master control system by wind error angle and default driftage according to driftage Dynamic system, Wind turbines carry out going off course to wind control.Assume that the period 1 mentioned above is 30 seconds, the Two cycles is 30 days, then master control system just gathered the channel data under Wind turbines generating state every 30 seconds, Gather 30 days like this, then acquire altogether 86400 groups of channel datas, because the process week of master control system Phase is 30 days, then master control system starts to process this 86400 groups of channel datas, obtains the first adjustment Factor Δ 1 and the second Dynamic gene Δ 2, then carried out to wind error angle to driftage according to the first Dynamic gene Δ 1 Adjust;According to the second Dynamic gene Δ 2, wind error angle threshold value is adjusted by driftage, respectively obtains adjustment After driftage to wind error angle and driftage to wind error angle threshold value, the driftage after adjusting is to wind error angle and partially Wind turbines is carried out going off course to wind control by boat by wind error angle threshold value again, so repeats, until triggering letter Number control whole driftage control process terminates.
Unlike the prior art, a kind of Yaw control method that the present invention provides, by going off course To wind control Wind turbines generating state under channel data be acquired and calculate, obtain the first adjustment because of Sub-Δ 1 and the second Dynamic gene Δ 2, then carry out reality to driftage to wind error angle according to the first Dynamic gene Δ 1 When adjust;According to the second Dynamic gene Δ 2, wind error angle threshold value is adjusted by driftage in real time, define The closed-loop control of Yaw control method, overcome Wind turbines driftage to wind not in time or to wind performance, send out There is left-right asymmetry problem in electrical property, improves Wind turbines driftage to the promptness of wind and accuracy, And then improve the generated energy of Wind turbines.
Embodiment two
Refer to Fig. 2, the flow chart of the process of the another kind of Yaw control method that Fig. 2 provides for the present invention, The method is based on the method that embodiment one is provided, comprising:
Step s201: using driftage right to wind error angle threshold value and right avertence boat to wind error angle, left drift During Wind turbines is carried out going off course to wind control by wind error angle threshold value, gather under Wind turbines generating state Channel data;
Step s202: calculate channel data, obtains that under different conditions, wind error section is tired out by each The of the normal distribution of the first expectation μ 1 of the normal distribution point counted and the first standard deviation sigma the 1st, integral power Two expectation μ 2 deviation angle θ relative to 0 degree with the second standard deviation sigma 2 and power-performance maximum;To first Expect that μ the 1st, the second expectation μ 2 and deviation angle θ are worth restriction process most, obtain the first Dynamic gene Δ 1; First standard deviation sigma the 1st, the first desired standard, the second standard deviation sigma the 2nd, the second expectation standard deviation is processed, Obtain the second Dynamic gene Δ 2.
Channel data is calculated by master control system, can obtain that under different conditions, wind error section is tired out by each Point counting, (wind is being missed by all driftages being collected in the second round of master control system by wind error angle Number in difference section) and probability density, each to wind error section integral power and probability density, each is to wind Wind frequency (cumulative points of each wind direction each wind speed section) under error band, Wind turbines accumulative left and right driftage number of times And the Wind turbines accumulative left and right driftage time, and according to each to the power curve of wind error section and each pair of wind Go off course to wind error annual electricity generating capacity about the wind frequency meter calculation under error band and further power curve intended Close.
Then can be obtained further by above-mentioned data, under different conditions, each is being to the cumulative points of wind error section just Second expectation μ 2 and of the normal distribution of the first expectation μ 1 of state distribution and the first standard deviation sigma the 1st, integral power Second standard deviation sigma 2 and deviation angle θ relative to 0 degree for the power-performance maximum.
Preferably, here to first expectation μ the 1st, second expectation μ 2 and deviation angle θ be worth most Restriction process, obtain the process of the first Dynamic gene Δ 1 particularly as follows:
Summation process is carried out to the first expectation μ the 1st, the second expectation μ 2 and deviation angle θ;
Take above-mentioned that try to achieve and and default smallest offset angle in maximum;
Taking the minimum of a value in maximum and default peak excursion angle, minimum of a value is Δ 1.
It is understood that Δ 1=MIN (MAX (μ 1+ μ 2+ θ presets smallest offset angle), default maximum inclined Move angle).
It should be noted that in present specification "=" the not equal sign in mathematical meaning, but one Assignment, will "=" numerical value below give "=" before number.
Preferably, to the first standard deviation sigma the 1st, the first desired standard, the second standard deviation sigma the 2nd, second Desired standard difference is processed, obtain the process of the second Dynamic gene Δ 2 particularly as follows:
Difference process is carried out to the first standard deviation sigma 1 and the first expectation standard deviation, obtains the first standard deviation Δσ1;
Difference process is carried out to the second standard deviation sigma 2 and the second expectation standard deviation, obtains the second standard deviation Δσ2;
Summation process is carried out to the first standard deviation Δ σ 1 and the second standard deviation Δ σ 2, obtain the second adjustment because of Sub-Δ 2.
It is understood that Δ σ 1=the first standard deviation sigma 1-first expects standard deviation;
Δ σ 2=the second standard deviation sigma 2-second expects standard deviation;
Then Δ 2=Δ σ 1+ Δ σ 2;
In addition, the first expectation standard deviation here and the second expectation standard deviation are and artificial preset in advance, tool Volume data is determined according to actual conditions.
Step s203: to wind error angle and the first Dynamic gene Δ 1, summation process is carried out to driftage.According to the Wind error threshold value is adjusted by two Dynamic gene Δs 2 by left drift by wind error threshold value and right avertence boat respectively, Return step s201.
After obtaining the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2, utilize the first Dynamic gene Δ 1 to partially Wind error angle is adjusted by boat, and the present embodiment is to enter driftage to wind error angle and the first Dynamic gene Δ 1 Row summation process, then go off course to wind error angle=driftage to wind error angle+Δ 1, will go off course and add wind error angle Going off course to wind error angle with conduct again after upper Δ 1.Utilize the second Dynamic gene Δ 2 respectively to left drift pair Wind error threshold value is adjusted by wind error threshold value and right avertence boat, and returns step s201, after will adjusting Driftage wind error threshold value and right avertence are navigated to wind error threshold value again as wind-powered electricity generation by wind error angle, left drift The input parameter to windage yaw boat control for the unit, proceeds to Wind turbines to windage yaw boat control.
Preferably, according to the second Dynamic gene Δ 2 respectively to left drift to wind error threshold value and right avertence Boat process that wind error threshold value is adjusted particularly as follows:
Respectively threshold value and right avertence boat are started to wind error to wind error to left drift according to the second Dynamic gene Δ 2 Start threshold value to be adjusted.
Preferably, according to the second Dynamic gene Δ 2 respectively to left drift to wind error start threshold value and Right avertence boat the process that is adjusted of threshold value is started to wind error particularly as follows:
To wind error startup threshold value and the second Dynamic gene Δ 2, difference process is carried out to left drift;
To wind error startup threshold value and the second Dynamic gene Δ 2, difference process is carried out to right avertence boat.
It is understood that left drift starts threshold value=Δ 2-left drift to wind error starts threshold value to wind error;
Right avertence boat starts threshold value=right avertence boat and starts threshold value-Δ 2 to wind error to wind error;
I.e. take the second Dynamic gene Δ 2, with left drift, the difference of threshold value is started as new left drift pair to wind error Wind error starts threshold value;The difference taking right avertence boat to wind error startup threshold value and the second Dynamic gene Δ 2 is as newly Right avertence boat to wind error start threshold value.
When foundation the second Dynamic gene Δ 2 starts threshold value and right avertence to yaw system left drift to wind error respectively Wind error is started after threshold value is adjusted by boat, master control system will adjust after driftage to wind error angle, left avertence Boat starts threshold value and right avertence boat and starts threshold value to wind error again as Wind turbines driftage control to wind error Input parameter, Wind turbines carried out to windage yaw boat control according to Yaw Control Strategy.
In addition, preferably, according to the second Dynamic gene Δ 2 respectively to left drift to wind error threshold value With right avertence boat process that wind error threshold value is adjusted particularly as follows:
Respectively wind error outage threshold and right avertence are navigated to wind error by left drift according to the second Dynamic gene Δ 2 Outage threshold is adjusted.
Preferably, according to the second Dynamic gene Δ 2 respectively to left drift to wind error outage threshold and Right avertence boat process that wind error outage threshold is adjusted particularly as follows:
To wind error outage threshold and the second Dynamic gene Δ 2, difference process is carried out to left drift;
To wind error outage threshold and the second Dynamic gene Δ 2, difference process is carried out to right avertence boat.
It is understood that left drift to wind error outage threshold=Δ 2-left drift to wind error outage threshold;
Wind error outage threshold=right avertence is navigated to wind error outage threshold-Δ 2 by right avertence boat;
The difference i.e. taking the second Dynamic gene Δ 2 and left drift to wind error outage threshold is as new left drift pair Wind error outage threshold;The difference taking right avertence boat to wind error outage threshold and the second Dynamic gene Δ 2 is as newly Right avertence navigate to wind error outage threshold.
When according to the second Dynamic gene Δ 2 respectively to yaw system left drift to wind error outage threshold and right avertence Boat wind error outage threshold is adjusted after, master control system will adjust after driftage to wind error angle, left avertence Wind error outage threshold and right avertence are navigated to wind error outage threshold again as Wind turbines driftage control by boat Input parameter, Wind turbines carried out to windage yaw boat control according to Yaw Control Strategy.
Further, preferably, according to the second Dynamic gene Δ 2 respectively to left drift to wind error Threshold value and right avertence boat process that wind error threshold value is adjusted particularly as follows:
According to the second Dynamic gene Δ 2 respectively to yaw system left drift to wind error start, outage threshold and Wind error is started by right avertence boat, outage threshold is adjusted.
Preferably, respectively wind error is opened by yaw system left drift according to the second Dynamic gene Δ 2 Dynamic, outage threshold and right avertence boat to the process that wind error starts, outage threshold is adjusted particularly as follows:
Difference process is carried out to the second Dynamic gene Δ 2 to wind error startup threshold value and 0.5 times for the left drift;
Difference process is carried out to the second Dynamic gene Δ 2 to wind error startup threshold value and 0.5 times for the right avertence boat;
Difference process is carried out to the second Dynamic gene Δ 2 to wind error outage threshold and 0.5 times for the left drift;
Difference process is carried out to the second Dynamic gene Δ 2 to wind error outage threshold and 0.5 times for the right avertence boat.
That is, left drift starts threshold value=0.5* Δ 2-left drift to wind error and starts threshold value to wind error;
Right avertence boat starts threshold value=right avertence boat and starts threshold value-0.5* Δ 2 to wind error to wind error;
Left drift to wind error outage threshold=0.5* Δ 2-left drift to wind error outage threshold;
Wind error outage threshold=right avertence is navigated to wind error outage threshold-0.5* Δ 2 by right avertence boat.
When according to the second Dynamic gene Δ 2 respectively to yaw system left drift to wind error start, outage threshold With right avertence boat, wind error is started, after outage threshold is adjusted, master control system will adjust after driftage to wind Wind error is started by error angle, left drift by wind error startup, outage threshold and right avertence boat, outage threshold weight New work is the input parameter of Wind turbines driftage control, according to Yaw Control Strategy as shown in Figure 3 to wind-powered electricity generation Unit proceeds to windage yaw boat control.
A kind of Yaw control method that the present invention provides, according to the analysis to the history channel data collecting, Find out the asymmetry of the cumulative points of each error band under different conditions, the asymmetry of integral power and The asymmetry to wind power-performance for the left and right driftage, and be quantized into the first Dynamic gene Δ 1 and second adjust because of Sub-Δ 2, then carries out summation process to driftage to wind error angle and the first Dynamic gene Δ 1.Adjust according to second Wind error threshold value is adjusted by integral divisor Δ 2 by left drift by wind error threshold value and right avertence boat respectively, overcomes There is left-right asymmetry problem not in time or to wind performance, power generation performance to wind in Wind turbines driftage, Further increase Wind turbines driftage to the promptness of wind and accuracy, and then improve sending out of Wind turbines Electricity.
Above-mentioned each enforcement is merely to illustrate the Yaw control method of the present invention, data processing method and adaptive Optimization method, concrete data acquisition modes, storage format, data processing function module place physical location are Can be varied from, i.e. data process can be in unit controller side, it is also possible at wind farm level message tube Reason system side.All on the basis of technical solution of the present invention, according to the principle of the invention to individual data passage, Data processing function realizes the change of position, all should not get rid of outside protection scope of the present invention.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is With the difference of other embodiments, between each embodiment, identical similar portion sees mutually.
Also, it should be noted in this manual, the relational terms of such as first and second or the like is only It is used for separating an entity or operation with another entity or operating space, and not necessarily require or secretly Show relation or the order that there is any this reality between these entities or operation.And, term " includes ", "comprising" or its any other variant are intended to comprising of nonexcludability, so that include a series of wanting The process of element, method, article or equipment not only include those key elements, but also include being not expressly set out Other key elements, or also include the key element intrinsic for this process, method, article or equipment. In the case of there is no more restriction, the key element being limited by statement " including ... ", it is not excluded that at bag The process, method, article or the equipment that include key element there is also other identical element.
Professional further appreciates that, each example describing in conjunction with the embodiments described herein Unit and algorithm steps, with electronic hardware, computer software or the two be implemented in combination in can be Clearly demonstrate the interchangeability of hardware and software, retouch in general manner according to function in the above description Composition and the step of each example are stated.These functions perform with hardware or software mode actually, depend on The application-specific of technical scheme and design constraint.Each can specifically should be used for by professional and technical personnel Use different methods to realize described function, but this realization is it is not considered that exceed the model of the present invention Enclose.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this Invention.Multiple modifications to these embodiments will be apparent for those skilled in the art , generic principles defined herein can without departing from the spirit or scope of the present invention, Other embodiments realizes.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and It is to fit to the wide scope consistent with principles disclosed herein and features of novelty.

Claims (10)

1. a Yaw control method, it is characterised in that include:
Carry out going off course to wind to Wind turbines to wind error angle threshold value to wind error angle and driftage using driftage During control, gather the channel data under described Wind turbines generating state;
Carry out process to described channel data and obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2;
According to described first Dynamic gene Δ 1, wind error angle is adjusted by described driftage;According to described Wind error angle threshold value is adjusted by two Dynamic gene Δs 2 by described driftage.
2. Yaw control method as claimed in claim 1, it is characterised in that described to described port number According to carry out processing obtain the first Dynamic gene Δ 1 and the second Dynamic gene Δ 2 process particularly as follows:
Described channel data is calculated, obtains under different conditions each to the cumulative points of wind error section Second expectation μ 2 of the normal distribution of the first expectation μ 1 of normal distribution and the first standard deviation sigma the 1st, integral power Deviation angle θ relative to 0 degree with the second standard deviation sigma 2 and power-performance maximum;
Restriction process is worth most to described first expectation μ the 1st, described second expectation μ 2 and described deviation angle θ, Obtain the first Dynamic gene Δ 1;To described first standard deviation sigma the 1st, the first desired standard, described second standard Difference σ the 2nd, the second expectation standard deviation is processed, and obtains the second Dynamic gene Δ 2.
3. Yaw control method as claimed in claim 2, it is characterised in that described to the described first phase Hope μ the 1st, described second expectation μ 2 and described deviation angle θ be worth restriction process most, obtain the first adjustment because of The process of sub-Δ 1 particularly as follows:
Summation process is carried out to described first expectation μ the 1st, described second expectation μ 2 and described deviation angle θ;
Take above-mentioned that try to achieve and and default smallest offset angle in maximum;
Taking the minimum of a value in described maximum and default peak excursion angle, described minimum of a value is Δ 1.
4. Yaw control method as claimed in claim 2, it is characterised in that described to described first mark Quasi-difference σ the 1st, the first desired standard, described second standard deviation sigma the 2nd, the second expectation standard deviation is processed, To the second Dynamic gene Δ 2 process particularly as follows:
Difference process is carried out to described first standard deviation sigma 1 and described first expectation standard deviation, obtains the first mark Quasi-difference DELTA σ 1;
Difference process is carried out to described second standard deviation sigma 2 and described second expectation standard deviation, obtains the second mark Quasi-difference DELTA σ 2;
Summation process is carried out to described first standard deviation Δ σ 1 and described second standard deviation Δ σ 2, obtains Two Dynamic gene Δs 2.
5. Yaw control method as claimed in claim 1, it is characterised in that described according to described first Dynamic gene Δ 1 to described driftage process that wind error angle is adjusted particularly as follows:
To wind error angle and described first Dynamic gene Δ 1, summation process is carried out to described driftage.
6. Yaw control method as claimed in claim 1, it is characterised in that described driftage is to wind error Angle threshold value includes that wind error angle threshold value and right avertence are navigated to wind error angle threshold value by left drift;
Then described according to described second Dynamic gene Δ 2, wind error angle threshold value is adjusted by described driftage Process particularly as follows:
Respectively wind error threshold value and described right avertence are navigated by described left drift according to described second Dynamic gene Δ 2 Wind error threshold value is adjusted.
7. Yaw control method as claimed in claim 6, it is characterised in that described according to described second Wind error threshold value is carried out by Dynamic gene Δ 2 by described left drift by wind error threshold value and described right avertence boat respectively Adjust process particularly as follows:
Respectively threshold value and right avertence boat are started to wind to wind error to left drift according to described second Dynamic gene Δ 2 Error starts threshold value and is adjusted.
8. Yaw control method as claimed in claim 7, it is characterised in that described according to described second Dynamic gene Δ 2 starts threshold value to wind error startup threshold value and right avertence boat to wind error to left drift respectively and carries out Adjust process particularly as follows:
To wind error startup threshold value and described second Dynamic gene Δ 2, difference process is carried out to described left drift;
To wind error startup threshold value and described second Dynamic gene Δ 2, difference process is carried out to described right avertence boat.
9. Yaw control method as claimed in claim 6, it is characterised in that described according to described second Wind error threshold value is carried out by Dynamic gene Δ 2 by described left drift by wind error threshold value and described right avertence boat respectively Adjust process particularly as follows:
Respectively according to described second Dynamic gene Δ 2 wind error is started, stops threshold by yaw system left drift Wind error startup, outage threshold are adjusted by value and right avertence boat.
10. Yaw control method as claimed in claim 9, it is characterised in that described according to described second Dynamic gene Δ 2 is respectively to yaw system left drift to wind error startup, outage threshold and right avertence boat to wind by mistake Difference starts, the process that is adjusted of outage threshold particularly as follows:
Poor to the described second Dynamic gene Δ 2 of wind error startup threshold value and 0.5 times to described left drift Value process;
Poor to the described second Dynamic gene Δ 2 of wind error startup threshold value and 0.5 times to described right avertence boat Value process;
Poor to the described second Dynamic gene Δ 2 of wind error outage threshold and 0.5 times to described left drift Value process;
Poor to the described second Dynamic gene Δ 2 of wind error outage threshold and 0.5 times to described right avertence boat Value process.
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