CN108223272B - Fan driftage correction system - Google Patents
Fan driftage correction system Download PDFInfo
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- CN108223272B CN108223272B CN201711477462.2A CN201711477462A CN108223272B CN 108223272 B CN108223272 B CN 108223272B CN 201711477462 A CN201711477462 A CN 201711477462A CN 108223272 B CN108223272 B CN 108223272B
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- 238000012937 correction Methods 0.000 title claims abstract description 63
- 238000012360 testing method Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000010248 power generation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
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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 embodiment of the invention discloses a fan yaw correction system, relates to the technical field of wind power generation, and is used for solving the problem that a prejudgment mechanism for yaw angle error conditions is lacked in the prior art. The invention relates to a fan yaw correction system, which comprises: the device comprises a controller, a cam counter and an electronic switching value sensor; the electronic switching value sensor is used for testing a real-time yaw angle, and the controller is connected with the electronic switching value sensor and used for acquiring a first test result of the electronic switching value sensor; the cam counter comprises an encoder, the encoder is used for measuring a yaw angle, the controller is connected with the encoder and used for obtaining a second test result of the encoder, calculating a first difference between a first test value and a second test value, and when the first difference exceeds a first preset difference, the cam counter starts to alarm so as to inform workers that the yaw angle error is large.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a fan yaw correction system.
Background
The wind generating set is a device for converting wind energy into electric energy, and a yaw system in the wind generating set is one of important components of the wind generating set and is used for being matched with a control system of the wind generating set, so that the wind generating set is always in a windward state, and wind energy is fully utilized.
The calculation of the yaw angle in the yaw system is a very important part, and the high-precision yaw angle calculation is not only beneficial to yaw control, but also can be used for reducing the failure rate of a yaw safety chain. For example, an accurate yaw angle is favorable for accurately calculating a twisted cable angle, and if the calculation error of the yaw angle is large, the calculation error of the twisted cable angle is easy to cause, so that the service life of the cable is shortened due to the fact that the actual twisted cable angle is too large.
However, due to the lack of a prejudgment mechanism for the yaw angle error condition in the prior art, the yaw safety chain fault caused by the yaw angle error is easy to occur.
Disclosure of Invention
The invention provides a fan yaw correction system, which is used for solving the problem that a prejudgment mechanism for yaw angle error conditions is lacked in the prior art.
The embodiment of the invention provides a fan yaw correction system, which is applied to a fan yaw system and comprises the following components:
the device comprises a controller, a cam counter and an electronic switching value sensor; the electronic switching value sensor is used for testing a real-time yaw angle, and the controller is connected with the electronic switching value sensor and used for acquiring a first test result of the electronic switching value sensor; the cam counter comprises an encoder, the encoder is used for measuring a yaw angle, the controller is connected with the encoder and used for obtaining a second test result of the encoder, calculating and outputting a first difference between a first test value and a second test value, and when the first difference exceeds a first preset difference, an alarm is started to inform a worker that the yaw angle error is large.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the cam counter is a limit cam counter of the fan yaw system, and includes a limit cam and two limit mechanical limit switches.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the cam counter includes two limit cams, and each limit cam is respectively matched with one limit mechanical limit switch to detect whether a cable twisting angle reaches a cable twisting limit angle;
the limit mechanical limit switch is connected with the controller, and when the cable twisting angle reaches the cable twisting limit angle, the controller receives a notification signal that the cable twisting angle reaches the cable twisting limit angle and is sent by the limit mechanical limit switch, and the safety chain of the fan yaw system is triggered to break.
With reference to the first aspect, in a third possible implementation manner of the first aspect, the cam counter is a correction cam counter other than a limit cam counter of the fan yaw system.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the cam counter is configured to determine whether a cable twisting angle reaches a preset angle, where the preset angle is smaller than a cable twisting limit angle, and send an angle arrival signal to the controller when the cable twisting angle reaches the preset angle;
when the controller receives an angle arrival signal sent by the cam counter, determining a first test value of a cable twisting angle according to the first test result, judging whether a second difference between the first test value of the cable twisting angle and the preset angle exceeds a second preset difference, and if the second difference exceeds the second preset difference, starting an alarm to inform a worker that the yaw angle error is large.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the cam counter includes a pinion, a correction cam, and at least one correction mechanical limit switch;
the pinion gear is meshed with external teeth of a yaw large gear ring of the yaw system, the correction cam rotates along with the rotation of the pinion gear, and when the correction cam rotates to a target position, the correction mechanical limit switch is in contact with the correction cam;
the controller is connected with the correction mechanical limit switch, the correction mechanical limit switch sends a detection signal to the controller according to the contact condition of the correction mechanical limit switch and the correction mechanical limit switch, and the controller determines an angle arrival signal according to the detection signal sent by the correction mechanical limit switch.
With reference to the sixth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the preset angle includes a left deviation preset angle and a right deviation preset angle;
the correction cam counter comprises two correction mechanical limit switches which are respectively used for detecting the left deviation preset angle and the right deviation preset angle.
With reference to the first aspect, the first possible implementation manner of the first aspect, the second possible implementation manner of the first aspect, the third possible implementation manner of the first aspect, the fourth possible implementation manner of the first aspect, the fifth possible implementation manner of the first aspect, and any one of the sixth possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, the preset angle is smaller than a cable untwisting angle of the wind turbine yaw system.
According to the technical scheme, the embodiment of the invention has the following advantages:
the invention provides a fan yaw correction system, which comprises a controller, a cam counter and an electronic switching value sensor, wherein the cam counter is connected with the controller; the electronic switching value sensor is used for testing a real-time yaw angle, and the controller is connected with the electronic switching value sensor and used for acquiring a first test result of the electronic switching value sensor; the cam counter comprises an encoder, the encoder is used for measuring a yaw angle, the controller is connected with the encoder and used for obtaining a second test result of the encoder, calculating and outputting a first difference between a first test value and a second test value, and when the first difference exceeds a first preset difference, the cam counter starts to alarm so as to inform workers that the yaw angle error is large. Compared with the prior art, the method has the advantages that a prejudgment mechanism for the yaw angle error condition is added, and the yaw safety chain fault caused by the yaw angle error is reduced.
Drawings
FIG. 1 is a schematic view of one embodiment of a wind turbine yaw correction system of the present invention;
FIG. 2 is a schematic view of one embodiment of a correction cam counter in the fan yaw correction system of the present invention;
FIG. 3 is a schematic diagram of another embodiment of a correction cam counter in the fan yaw correction system of the present invention.
Detailed Description
The embodiment of the invention provides a fan yaw correction system, which is used for prejudging the condition of a large error of a yaw angle so as to reduce the yaw safety chain fault caused by the error of the yaw angle.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For a yaw system, the yaw angle of the wind generating set is an important parameter for the operation of the wind generating set, and the yaw system is mainly used for controlling and untwisting the wind generating set. The yaw angle is used for controlling the engine room of the wind generating set to rotate according to the wind direction, so that the wind generating set is always in the windward state.
The nacelle can be rotated clockwise or counterclockwise, however, during yawing, the nacelle cannot always be rotated in one direction because a plurality of cables are arranged inside a large gear ring at the bottom of the nacelle, the rotating cables of the nacelle are also twisted, and in order to prevent the cables from being excessively twisted and damaged, the twisting angle of the nacelle cannot exceed the twisting limit angle (generally 800 degrees). In order to prevent the cable twisting angle from exceeding the cable twisting limit angle, the yawing system is generally provided with a limit cam counter, the limit cam counter comprises a limit cam and 2 limit mechanical limit switches, namely a left limit mechanical limit switch and a right limit mechanical limit switch, the limit cam counter is connected in series with a safety chain electrical loop, when the limit cam counter detects that the cable twisting angle reaches the cable twisting limit angle, the limit cam counter can act through the left limit mechanical limit switch or the right limit mechanical limit switch to trigger a safety chain breaking fault, and the wind generating set is rapidly stopped.
However, frequent shutdown of the wind generating set easily causes system failure, which affects generating efficiency, and for this reason, the nacelle needs to be controlled to rotate and untwist in advance before the cable twisting angle reaches the cable twisting limit angle (for example, the cable untwisting angle is reached, and the cable untwisting angle is smaller than the cable twisting limit angle, which is generally 650 degrees). Because the limit cam counter is a mechanical switch, it can only detect whether the current angle reaches a certain preset angle, and cannot measure the real-time angle, so the yaw angle usually adopts the yaw angle measured by an electronic switching value sensor capable of measuring the real-time yaw angle to judge whether the cable twisting angle reaches the cable releasing angle, and the electronic switching value sensor is also often called as a proximity switch. For example, the electronic switching value sensor can be an optical proximity switch, works by utilizing different light signals due to different heights of the large yawing ring gear, collects the light signals and counts. Optical proximity switch calculates the driftage angle according to the pulse count, produce calculation error easily at the in-process of left side driftage and right side driftage, when the fan constantly drifts left and right, accumulate this error easily, lead to the error crescent, the error accumulation to a certain extent, the controller has been distorted seriously according to the driftage angle of electronic switching value sensor's test data record, finally lead to measuring driftage angle and actual cable angle inconsistent of turning round, lead to easily can't in time untieing when the cable angle reaches the untieing angle at the actual cable angle of turning round, thereby trigger limit switch and report out the broken fault of safety chain, make wind generating set shut down.
Therefore, the error condition of the yaw angle needs to be pre-judged so as to reduce the yaw safety chain fault caused by the error of the yaw angle. To this end, an embodiment of the present invention provides a fan yaw correction system, which is applied to a fan yaw system, and referring to fig. 1, fig. 2, and fig. 3, an embodiment of the fan yaw correction system according to the embodiment of the present invention includes:
a controller 1, a cam counter 2, and an electronic switching value sensor 3; the electronic switching value sensor 3 is used for testing a real-time yaw angle, and the controller 1 is connected with the electronic switching value sensor 3 and used for acquiring a first test result of the electronic switching value sensor 3; the cam counter 2 comprises an encoder 201, the encoder 201 is used for measuring a yaw angle, the controller 1 is connected with the encoder 201 and used for obtaining a second test result of the encoder 201, calculating and outputting a first difference between a first test value and a second test value, and when the first difference exceeds a first preset difference, an alarm is started to inform a worker that the yaw angle error is large.
The encoder in the embodiment of the invention is a rotary encoder, is a device for converting the rotary position or the rotary angle of the device connected with the encoder into an analog or digital signal, is a device with higher precision, and is a commonly used sensor for measuring the yaw angle.
Optionally, the cam counter 2 is a limit cam counter of the fan yaw system, and includes a limit cam and two limit mechanical limit switches, which are a left limit mechanical limit switch and a right limit mechanical limit switch, respectively. Referring to fig. 2, which is a schematic diagram of a possible structure of the cam counter 2, there may be two limit cams 202, and each limit cam 202 is respectively matched with one limit mechanical limit switch 203 for detecting whether the cable twisting angle reaches the cable twisting limit angle. The limit mechanical limit switch 203 is connected with the controller 1, and when the controller 1 receives a notification signal that the cable twisting angle sent by the limit mechanical limit switch 203 reaches the cable twisting limit angle, a safety chain break fault is triggered, so that the wind generating set is rapidly stopped.
Alternatively, the cam counter 2 is a correction cam counter other than the limit cam counter.
Preferably, when the cam counter 2 is a correction cam counter, the controller 1 is connected with the cam counter 2, the cam counter 2 is used for judging whether a cable twisting angle reaches a preset angle, the preset angle is smaller than a cable twisting limit angle, and when the cable twisting angle reaches the preset angle, an angle reaching signal is sent to the controller 1; when the controller 1 receives an angle arrival signal sent by the cam counter 2, a first test value of the cable twisting angle can be determined according to the first test result, whether a second difference between the first test value of the cable twisting angle and a preset angle exceeds a second preset difference is judged, and if the second difference exceeds the second preset difference, an alarm is started to inform a worker that the yaw angle error is large. And then, the staff can clear the yaw angle to 0 degree along the cable. And a cam counter is added on the basis of the encoder to carry out accuracy prejudgment on the first test result, so that the reliability of a yaw angle error prejudgment mechanism is further improved.
Referring to fig. 3, when the cam counter 2 is a correction cam counter, the cam counter 2 may include a pinion (not shown), a correction cam 204, and at least one correction mechanical limit switch 205, the pinion (not shown) is engaged with external teeth of a yaw ring of the yaw system, the correction cam 204 rotates following the rotation of the pinion (not shown), and when the correction cam 204 rotates to a certain position, the correction mechanical limit switch 205 contacts the correction cam 204; the controller 1 is connected with a correction mechanical limit switch 205, the correction mechanical limit switch 205 sends a detection signal to the controller 1 according to the contact condition with the correction cam 204, and the controller 1 determines an angle arrival signal according to the detection signal sent by the correction mechanical limit switch 205.
When the cam counter 2 is a corrected cam counter, it is preferable that the preset angle includes a left deviation preset angle and a right deviation preset angle, and the cam counter 2 includes two corrected mechanical limit switches 205 for detecting the left deviation preset angle and the right deviation preset angle, respectively.
When the cam counter 2 is a calibration cam counter, preferably, with reference to fig. 3, the cam counter 2 may include two calibration cams 204, one of the calibration cams 204 is engaged with one of the calibration mechanical limit switches 205 to detect whether the twisted cable angle reaches the left deviation preset angle, and the other of the calibration cams 204 is engaged with the other of the calibration mechanical limit switches 205 to detect whether the twisted cable angle reaches the right deviation preset angle.
Preferably, in order to find the yaw angle error condition as early as possible and leave more treatment time for the staff, the preset angle may be smaller than the untwisting angle, for example, may be set to 600 degrees.
Through above-mentioned scheme, can prevent to turn round cable trouble frequent emergence, reduce the damage of driftage reduction gear and yaw motor to and reduce the wearing and tearing of driftage brake lining, reduce the top torque that frequent driftage arouses simultaneously and to the impact of drive chain.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments described, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a fan driftage correction system, is applied to fan driftage system, its characterized in that includes:
the device comprises a controller, a cam counter and an electronic switching value sensor;
the electronic switching value sensor is used for testing a real-time yaw angle, and the controller is connected with the electronic switching value sensor and used for acquiring a first test result of the electronic switching value sensor;
the cam counter comprises an encoder, the encoder is used for measuring a yaw angle, the controller is connected with the encoder and used for obtaining a second test result of the encoder, calculating a first difference between a first test value and a second test value, and when the first difference exceeds a first preset difference, an alarm is started to inform a worker that the yaw angle error is large;
the cam counter is a limit cam counter of the fan yaw system and comprises a limit cam and two limit mechanical limit switches;
the cam counter comprises two limit cams, and each limit cam is matched with one limit mechanical limit switch respectively and used for detecting whether the cable twisting angle reaches the cable twisting limit angle;
the limit mechanical limit switch is connected with the controller, and when the cable twisting angle reaches the cable twisting limit angle, the controller receives a notification signal that the cable twisting angle reaches the cable twisting limit angle and is sent by the limit mechanical limit switch, and the safety chain of the fan yaw system is triggered to break.
2. The fan yaw correction system of claim 1, wherein the cam counter is a correction cam counter other than a limit cam counter of the fan yaw system.
3. The fan yaw correction system of claim 2, wherein the cam counter is configured to determine whether a twisted cable angle reaches a preset angle, the preset angle is smaller than a twisted cable limit angle, and when the twisted cable angle reaches the preset angle, send an angle arrival signal to the controller;
when the controller receives an angle arrival signal sent by the cam counter, determining a first test value of a cable twisting angle according to the first test result, judging whether a second difference between the first test value of the cable twisting angle and the preset angle exceeds a second preset difference, and if the second difference exceeds the second preset difference, starting an alarm to inform a worker that the yaw angle error is large.
4. The fan yaw correction system of claim 3, wherein the cam counter comprises a pinion, a correction cam, and at least one correction mechanical limit switch;
the pinion gear is meshed with external teeth of a yaw large gear ring of the yaw system, the correction cam rotates along with the rotation of the pinion gear, and when the correction cam rotates to a target position, the correction mechanical limit switch is in contact with the correction cam;
the controller is connected with the correction mechanical limit switch, the correction mechanical limit switch sends a detection signal to the controller according to the contact condition of the correction mechanical limit switch and the correction mechanical limit switch, and the controller determines an angle arrival signal according to the detection signal sent by the correction mechanical limit switch.
5. The wind turbine yaw correction system of claim 4, wherein the preset angles comprise a left offset preset angle and a right offset preset angle;
the correction cam counter comprises two correction mechanical limit switches which are respectively used for detecting the left deviation preset angle and the right deviation preset angle.
6. The wind turbine yaw correction system of any of claims 3-5, wherein the preset angle is less than a payout angle of the wind turbine yaw system.
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| CN201711477462.2A CN108223272B (en) | 2017-12-29 | 2017-12-29 | Fan driftage correction system |
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| CN201711477462.2A CN108223272B (en) | 2017-12-29 | 2017-12-29 | Fan driftage correction system |
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| CN201474859U (en) * | 2009-06-10 | 2010-05-19 | 新疆金风科技股份有限公司 | Wind generator set torsional cable protective device of megawatt level |
| KR20150047846A (en) * | 2013-10-25 | 2015-05-06 | 대우조선해양 주식회사 | Method for cable twist controlling in wind power generator |
| CN103967720B (en) * | 2014-04-08 | 2022-08-12 | 大唐国际发电股份有限公司张家口发电厂 | Automatic calibration device for cable twisting sensor of yaw system of wind generating set |
| CN205445897U (en) * | 2015-12-25 | 2016-08-10 | 上海致远绿色能源股份有限公司 | Use automation in aerogenerator device that unties mooring rope |
| JP6363123B2 (en) * | 2016-02-29 | 2018-07-25 | 三菱重工業株式会社 | Windmill, yaw control device and operation control method thereof |
| CN107178469B (en) * | 2017-06-29 | 2019-02-15 | 北京金风科创风电设备有限公司 | The bearing calibration of the yaw angle angle value of wind power generating set and device |
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