CN108843497B - Yaw control method and equipment of wind generating set - Google Patents
Yaw control method and equipment of wind generating set Download PDFInfo
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- CN108843497B CN108843497B CN201810698920.3A CN201810698920A CN108843497B CN 108843497 B CN108843497 B CN 108843497B CN 201810698920 A CN201810698920 A CN 201810698920A CN 108843497 B CN108843497 B CN 108843497B
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- 238000000034 method Methods 0.000 title claims abstract description 37
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- 238000010586 diagram Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003909 pattern recognition Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/046—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
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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
- F05B2260/00—Function
- F05B2260/82—Forecasts
-
- 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
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- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Wind Motors (AREA)
Abstract
Provided are a yaw control method and equipment of a wind generating set, wherein the yaw control method of the wind generating set comprises the following steps: when the wind direction is obtained, determining an initial yaw angle value of the wind generating set at the current moment based on the wind direction at the current moment and the engine room direction of the wind generating set at the current moment; obtaining a predicted yaw angle value at the current moment based on the wind resource data at the current moment and the initial yaw angle value at the previous moment; determining a yaw angle value at the current moment based on the initial yaw angle value at the current moment and the predicted yaw angle value at the current moment; and controlling the engine room of the wind generating set to rotate by the yaw angle value. By adopting the yaw control method and the yaw control equipment of the wind generating set, the accuracy of yaw control of the wind generating set can be improved, so that the wind generating set can capture wind energy to the maximum extent.
Description
Technical field
Present invention relates in general to technical field of wind power generation, more particularly, are related to a kind of the inclined of wind power generating set
Control method of navigating and equipment.
Background technique
Currently, limitation and high-altitude due to assembly technology are made in the field-mounted process of Large-scale Wind Turbines
The difficulty of industry, to the initial bit of the initial position and the wind vane being mounted in wind power generating set of the cabin of wind power generating set
The Accurate Calibration set has difficulties in actual operation.Generally wind power plant install wind power generating set when, commissioning staff according to
Experience carries out the mark of the initial position of the cabin of wind power generating set and the initial position of wind vane by way of range estimation
Fixed, this leads to the initial position of the cabin of demarcated wind power generating set and the initial position of wind vane, and there are deviations.
Further, since the wind vane used in wind power plant is mostly mechanical anemoclinograph at present, by for a long time
Operation after can generate mechanical wear, and in cold environments run when can freeze, this, which will lead to, deposits the measurement of wind direction
In error, and then the determination precision to yaw angle is influenced, therefore even if can when wind power generating set is installed in wind power plant
The initial position of the cabin of the initial position and wind power generating set of Accurate Calibration wind vane, identified yaw angle can also be deposited
In deviation.
Due to the presence of above-mentioned deviation, so that the yaw angle of identified wind power generating set is not accurate enough, cause pair
The yaw of wind power generating set controls inaccuracy, and the cabin of wind power generating set is unable to face wind direction, wind is not allowed to will lead to wind
The wind load taken turns in plane is uneven, influences the life and reliability of wind power generating set.In addition, the yaw frequency can excessively be brought partially
The failure of the yaw systems hardware such as avionics machine, yaw gear, friction plate, at the same also can association go out yaw impact, cause wind-force to be sent out
The alarm of the vibration detecting system of motor group and the shutdown of wind power generating set.Further, since causing there are above-mentioned deviation pair
Wind is inaccurate, the utilization rate to wind energy can be also reduced, so that the decrease of power generation of wind power generating set, causes wind power generating set
Output power and generated energy must decline.
Summary of the invention
It a kind of Yaw control method for being designed to provide wind power generating set of exemplary embodiment of the present invention and sets
It is standby, to overcome at least one above-mentioned disadvantage.
In a general aspect, a kind of Yaw control method of wind power generating set is provided, which includes:
Whenever getting wind direction, the cabin direction of wind direction and current time wind power generating set based on current time is determined current
The initial yaw angle angle value of moment wind power generating set；The initial yaw of wind-resources data and last moment based on current time
Angle value obtains the prediction yaw angle angle value at current time；Initial yaw angle angle value and current time based on current time
It predicts yaw angle angle value, determines the yaw angle angle value at current time；The cabin for controlling wind power generating set rotates the yaw angle
Angle value.
Optionally, the cabin direction of the wind direction based on current time and current time wind power generating set, when determining current
The step of carving the initial yaw angle angle value of wind power generating set can include: the cabin for obtaining current time wind power generating set deviates
The first angle value of predetermined direction；Determine that the wind direction at current time deviates the second angle value of the predetermined direction；By described
The difference of one angle value and the second angle value is determined as the initial yaw angle angle value at current time.
Optionally, the Yaw control method can further include: position and the cabin altitude of wind power generating set are obtained,
In, the wind direction at current time can refer at the position, the wind direction at the current time at the cabin altitude.
Optionally, when the wind-resources data at current time may include current at the cabin altitude at the position
The wind speed and direction at quarter.
Optionally, the wind-resources data based on current time and the initial yaw angle angle value of last moment obtain current
The step of prediction yaw angle angle value at moment can include: by by the current time at the position at the cabin altitude
Wind speed and direction, the initial yaw angle angle value of last moment be input to yaw angle prediction model, obtain the pre- of current time
Survey yaw angle angle value.
Optionally, the yaw angle prediction model may be based on the model of BP neural network.
Optionally, the wind power generating set can be obtained by the Satellite Compass instrument being arranged in the wind power generating set
Position, cabin altitude and the cabin at current time deviate the first angle value of predetermined direction.
Optionally, the Satellite Compass instrument may include first antenna, the second antenna and controller, wherein first antenna can
It is arranged in the wheel hub of wind power generating set, the second antenna may be provided in the cabin of wind power generating set, and controller is settable
It is located on the line of first antenna and the second antenna in the cabin of wind power generating set, wherein first antenna and the second antenna
The line first angle value that can deviate the predetermined direction with the center line of wheel hub or the centerline parallel of cabin, cabin can be
The angle of the line and the predetermined direction of first antenna and the second antenna.
Optionally, the predetermined direction can be direct north.
Optionally, the prediction yaw angle angle value of initial yaw angle angle value and current time based on current time, determination are worked as
The yaw angle angle value at preceding moment, control wind power generating set cabin rotate the yaw angle angle value the step of can include: calculate
The difference of the prediction yaw angle angle value of the initial yaw angle angle value and current time at current time；When the difference is less than or equal to
When setting value, using the initial yaw angle angle value at current time as the yaw angle angle value at current time, wind power generating set is controlled
Cabin rotate the yaw angle angle value.
In another general aspect, a kind of yaw control equipment of wind power generating set is provided, the yaw controls equipment packet
It includes: initial yaw angle determining module, whenever getting wind direction, wind direction and current time wind-power electricity generation based on current time
The cabin direction of unit determines the initial yaw angle angle value of current time wind power generating set；Predict yaw angle determining module,
The initial yaw angle angle value of wind-resources data and last moment based on current time, obtains the prediction yaw angle at current time
Value；Yaw angle determining module, the prediction yaw angle angle value of initial yaw angle angle value and current time based on current time, really
Determine the yaw angle angle value at current time；Control module is yawed, the cabin for controlling wind power generating set rotates the yaw angle angle value.
Optionally, initial yaw angle determining module can include: cabin direction determines submodule, obtains current time wind-force
The cabin of generating set deviates the first angle value of predetermined direction；Wind direction determines submodule, determines that the wind direction at current time deviates
The second angle value of the predetermined direction；Initial angle determines submodule, by the first angle value and the second angle value
Difference, be determined as the initial yaw angle angle value at current time.
Optionally, the yaw control equipment can further include: geography information obtains module, obtains the position of wind power generating set
It sets and cabin altitude, wherein the wind direction at current time can refer to the current time at the position at the cabin altitude
Wind direction.
Optionally, when the wind-resources data at current time may include current at the cabin altitude at the position
The wind speed and direction at quarter.
Optionally, prediction yaw angle determining module can be by will be current at the cabin altitude at the position
The wind speed and direction at moment, the initial yaw angle angle value of last moment are input to yaw angle prediction model, obtain current time
Prediction yaw angle angle value.
Optionally, the yaw angle prediction model may be based on the model of BP neural network.
Optionally, cabin direction determines that submodule can be obtained from the Satellite Compass instrument being arranged in the wind power generating set
The cabin at the current time determined by the Satellite Compass instrument deviates the first angle value of predetermined direction, and geography information obtains module
Position and the cabin altitude of the wind power generating set determined by the Satellite Compass instrument can be obtained from the Satellite Compass instrument.
Optionally, the Satellite Compass instrument may include first antenna, the second antenna and controller, wherein first antenna can
It is arranged in the wheel hub of wind power generating set, the second antenna may be provided in the cabin of wind power generating set, and controller is settable
It is located on the line of first antenna and the second antenna in the cabin of wind power generating set, wherein first antenna and the second antenna
The line first angle value that can deviate the predetermined direction with the center line of wheel hub or the centerline parallel of cabin, cabin can be
The angle of the line and the predetermined direction of first antenna and the second antenna.
Optionally, the predetermined direction can be direct north.
Optionally, yaw angle determining module can calculate the prediction of initial the yaw angle angle value and current time at current time
The difference of yaw angle angle value, when the difference be less than or equal to setting value when, using the initial yaw angle angle value at current time as
The yaw angle angle value at current time.
In another general aspect, a kind of computer readable storage medium for being stored with computer program is provided, when the meter
Calculation machine program realizes the Yaw control method of above-mentioned wind power generating set when being executed by processor.
In another general aspect, a kind of computing device is provided, the computing device includes: processor；Memory is stored with
Computer program realizes the yaw controlling party of above-mentioned wind power generating set when the computer program is executed by processor
Method.
Using the Yaw control method and equipment of the wind power generating set of exemplary embodiment of the present, can be improved to wind
The accuracy of the yaw control of power generator group, enables wind power generating set to capture wind energy to the greatest extent.
Detailed description of the invention
Pass through the detailed description carried out below with reference to the attached drawing for being exemplarily illustrated embodiment, exemplary embodiment of the present
Above and other objects, features and advantages will become apparent.
Fig. 1 shows the flow chart of the Yaw control method of wind power generating set according to an exemplary embodiment of the present invention；
The flow chart of the step of yaw angle angle value initial Fig. 2 shows determination according to an exemplary embodiment of the present invention；
Fig. 3 shows installation signal of the Satellite Compass instrument according to an exemplary embodiment of the present invention in wind power generating set
Figure；
Fig. 4 shows the flow chart of the step of determining yaw angle angle value according to an exemplary embodiment of the present invention；
Fig. 5 shows the block diagram of the yaw control equipment of wind power generating set according to an exemplary embodiment of the present invention；
Fig. 6 shows the block diagram of initial yaw angle determining module according to an exemplary embodiment of the present invention；
Fig. 7 shows the schematic diagram of the field group control system in wind power plant according to an exemplary embodiment of the present invention；
Fig. 8 shows the yaw control of any wind power generating set in wind power plant according to an exemplary embodiment of the present invention
Schematic diagram.
Specific embodiment
Now, different example embodiments is more fully described with reference to the accompanying drawings, some exemplary embodiments are in the accompanying drawings
It shows.
Fig. 1 shows the flow chart of the Yaw control method of wind power generating set according to an exemplary embodiment of the present invention.
Referring to Fig.1, in step slo, whenever getting wind direction, wind direction and current time wind-force based on current time
The cabin direction of generating set determines the initial yaw angle angle value of current time wind power generating set.
The step of determining initial yaw angle angle value is introduced referring to Fig. 2.
The flow chart of the step of yaw angle angle value initial Fig. 2 shows determination according to an exemplary embodiment of the present invention.
Referring to Fig. 2, in step s101, the cabin for obtaining current time wind power generating set deviates the first of predetermined direction
Angle value.Here, which can be any direction, as an example, the predetermined direction can be direct north.
For example, in step s101 current time can be obtained by the Satellite Compass instrument being arranged in wind power generating set
The first angle value of cabin deviation predetermined direction.
Fig. 3 shows installation signal of the Satellite Compass instrument according to an exemplary embodiment of the present invention in wind power generating set
Figure.
As shown in figure 3, Satellite Compass instrument may include first antenna Y1, the second antenna Y2 and controller C.
Particularly, first antenna Y1 may be provided in the wheel hub 200 of wind power generating set, and the second antenna Y2 may be provided at
In the cabin 100 of wind power generating set, controller C be may be provided in the cabin 100 of wind power generating set, and be located at first antenna
On the line of Y1 and the second antenna Y2.
As an example, the line of first antenna Y1 and the second antenna Y2 and the center line of wheel hub 200 or the center of cabin 100
Line is parallel, that is to say, that flat where the generator 300 of the line and wind power generating set of first antenna Y1 and the second antenna Y2
Face is vertical (that is, the line is parallel with the main shaft of generator 300).The line and predetermined direction of first antenna Y1 and the second antenna Y2
The angle of (direct north as shown in Figure 3) is the first angle value η that cabin 100 deviates predetermined direction1.It should be understood that
In this example, the angle of the line and direct north of first antenna Y1 and the second antenna Y2 can refer to first antenna Y1 and the second antenna
The line of Y2 deviates the angle value of direct north clockwise, and it is inclined counterclockwise to be also possible to above-mentioned line for however, the present invention is not limited thereto
Angle value from direct north.
In a preferred embodiment, first antenna Y1 may be provided in the wheel hub 200 of wind power generating set close to pod
Side, the second antenna Y2 may be provided in the cabin 100 of wind power generating set close to 100 tail portion of cabin side, first day
Line Y1 and the second antenna Y2 is arranged on the center line of wheel hub 200 or the center line of cabin 100.It should be understood that the center of wheel hub 200
Line is overlapped with the center line of cabin 100.
It should be understood that mounting means of the Satellite Compass instrument shown in Fig. 3 in wind power generating set is merely illustrative, this field skill
The setting position of first antenna Y1, the second antenna Y2, controller C in wind power generating set can be adjusted as required in art personnel
It sets.
Fig. 2 is returned, in step s 102, determines that the wind direction at current time deviates the second angle value of predetermined direction.
For example, the second angle value that wind direction deviates predetermined direction can be obtained from wind-resources database, alternatively, can be from wind-resources
Database obtains wind direction, determines that wind direction deviates the second angle value of predetermined direction further according to the wind direction of acquisition.
Preferably, the Yaw control method of wind power generating set according to an exemplary embodiment of the present invention can further include: obtains
Position and the cabin altitude of wind power generating set are taken, in the case, the wind direction at current time can refer in wind power generating set
The wind direction at the current time at position at cabin altitude.
As an example, the Satellite Compass instrument being arranged in wind power generating set can also detect the position of wind power generating set
(geographical position coordinates) and cabin altitude.At this point, wind-force can be obtained by the Satellite Compass instrument being arranged in wind power generating set
The position of generating set and cabin altitude.
In step s 103, by the difference of first angle value and second angle value, it is determined as the initial yaw at current time
Angle value.
Return to Fig. 1, in step S20, the initial yaw angle of wind-resources data and last moment based on current time
Value, obtains the prediction yaw angle angle value at current time.
The case where for the above-mentioned position for obtaining wind power generating set and cabin altitude, the wind-resources data at current time
It can be the wind-resources data at the current time at the position of wind power generating set at cabin altitude.As an example, wind-resources
Data may include wind speed and direction.
Under complicated landform and complicated wind regime, since landform is interfered, it will lead to the wind turbulence intensity at free incoming flow and become larger,
Wind vector is violent, so that the difficulty of yaw control is further promoted.Further, since the hysteresis quality of yaw control, so that wind-force
Generating set can not be directed at correct wind direction always.For above situation, in exemplary embodiments of the present invention, based on initial inclined
Boat angle value and wind vector is predicted from the wind-resources data that wind-resources database obtains, predict yaw angle angle value to obtain,
To reduce the deviation between cabin and wind direction.
Preferably, the prediction yaw angle angle value at current time can be obtained based on yaw angle prediction model.For example, passing through
By the wind speed and direction at the current time at the position of wind power generating set at cabin altitude, the initial yaw of last moment
Angle value is input to yaw angle prediction model, obtains the prediction yaw angle angle value at current time.
As an example, yaw angle prediction model may be based on the model of neural network.Preferably, which predicts
Model may be based on the model of BP (Back Propagation) neural network.However, the present invention is not limited thereto, the yaw angle are pre-
Model is surveyed also to be based on feedforward neural network (Feed-forward neural network), pattern recognition neural network
(Pattern recognition neural network), Function Fitting neural network (Function fitting neural
Network), the model of radial base neural net (Radial basis neural network).
In step s 30, the prediction yaw angle angle value of initial yaw angle angle value and current time based on current time, really
Determine the yaw angle angle value at current time.
For example, the difference of the initial yaw angle angle value at current time and the prediction yaw angle angle value at current time can be calculated,
When the difference is less than or equal to setting value, using the initial yaw angle angle value at current time as the yaw angle at current time
Value rotates the yaw angle angle value to control the cabin of wind power generating set.When the difference is greater than the set value, it is believed that determine
Initial yaw angle angle value or prediction yaw angle angle value there are large errors, yaw angle prediction model or prompt can be corrected at this time
Staff overhauls Satellite Compass instrument/wind power generating set.
It is introduced referring to Fig. 4 based on initial yaw angle angle value and prediction yaw angle angle value, determines yaw angle angle value
Process.
Fig. 4 shows the flow diagram of determining yaw angle angle value according to an exemplary embodiment of the present invention.
As shown in figure 4, r (k) can indicate the wind-resources data (wind speed and/or wind direction at such as k moment) at k moment, originally showing
In example, the initial yaw angle at k moment is determined using the cabin direction of the models coupling wind power generating set of wind power generating set
The initial yaw angle angle value at the wind speed and direction at k moment, k-1 moment is input to yaw angle prediction model (such as by angle value y (k)
Model based on BP neural network), the prediction yaw angle angle value y ' (k) at k moment is obtained, the initial yaw angle at k moment is calculated
The difference (residual epsilon (k) as shown in the figure) of the prediction yaw angle angle value y ' (k) at value y (k) and k moment, be less than when residual epsilon (k) or
When equal to setting value, yaw angle angle value by the initial yaw angle angle value y (k) at k moment as the k moment, to control wind-power electricity generation
The cabin of unit rotates the yaw angle angle value.
Fig. 1 is returned to, in step s 40, the cabin for controlling wind power generating set rotates the yaw at identified current time
Angle value.
Taking what is shown in fig. 3 as an example, it is η that the wind direction at current time, which deviates the second angle value of predetermined direction,2, wind power generating set
Yaw angle angle value α should be η1-η2.When yaw angle angle value α be timing, then control wind power generating set rotary yaw angle counterclockwise
Angle value α then controls the instantaneous needle rotary yaw angle value α of wind power generating set when yaw angle angle value α is negative.
Fig. 5 shows the block diagram of the yaw control equipment of wind power generating set according to an exemplary embodiment of the present invention.
As shown in figure 5, the yaw control equipment of wind power generating set according to an exemplary embodiment of the present invention includes: initial
Yaw angle determining module 10, prediction yaw angle determining module 20, yaw angle determining module 30 and yaw control module 40.
Particularly, initial yaw angle determining module 10 is used for the wind based on current time whenever getting wind direction
To the cabin direction with current time wind power generating set, the initial yaw angle angle value of current time wind power generating set is determined.
Fig. 6 shows the block diagram of initial yaw angle determining module according to an exemplary embodiment of the present invention.
As shown in fig. 6, initial yaw angle determining module 10 according to an exemplary embodiment of the present invention can include: cabin side
Determine that submodule 102 and initial angle determine submodule 103 to determining submodule 101, wind direction.
Particularly, it is predetermined to determine that the cabin of the acquisition current time wind power generating set of submodule 101 deviates for cabin direction
The first angle value in direction.Here, which can be any direction, as an example, the predetermined direction can be direct north.
For example, cabin direction determine submodule 101 can be obtained from the Satellite Compass instrument that is arranged in wind power generating set by
The cabin at the current time that Satellite Compass instrument determines deviates the first angle value of predetermined direction.
As an example, Satellite Compass instrument may include first antenna, the second antenna and controller.First antenna may be provided at wind
In the wheel hub of power generator group, the second antenna be may be provided in the cabin of wind power generating set, and controller may be provided at wind-force hair
In the cabin of motor group on the line of first antenna and the second antenna.Preferably, the line of first antenna and the second antenna
Can with the center line of wheel hub or the centerline parallel of cabin, cabin deviate predetermined direction first angle value can for first antenna with
The line of second antenna and the angle of predetermined direction.
In a preferred embodiment, first antenna may be provided in the wheel hub of wind power generating set close to the one of pod
Side, the second antenna may be provided at the side in the cabin of wind power generating set close to cabin tail portion, first antenna and the second antenna
It may be provided on the center line of wheel hub or the center line of cabin.Here, the center line of wheel hub is overlapped with the center line of cabin.
Wind direction determines that submodule 102 determines that the wind direction at current time deviates the second angle value of predetermined direction.
Preferably, the yaw control equipment of wind power generating set according to an exemplary embodiment of the present invention can further include: ground
Data obtaining module (not shown) is managed, position and the cabin altitude of wind power generating set are obtained, in the case, when current
The wind direction at quarter can refer to the wind direction at the current time at the position of wind power generating set at cabin altitude.
As an example, the Satellite Compass instrument being arranged in wind power generating set can also detect the position of wind power generating set
And cabin altitude.At this point, geography information, which obtains module, to obtain the wind-power electricity generation determined by Satellite Compass instrument from Satellite Compass instrument
The position of unit and cabin altitude.
Initial angle determines that submodule 103 by the difference of first angle value and second angle value, is determined as current time
Initial yaw angle angle value.
Fig. 5 is returned, predicts the first of wind-resources data and last moment of the yaw angle determining module 20 based on current time
Beginning yaw angle angle value obtains the prediction yaw angle angle value at current time.
The case where module obtains position and the cabin altitude of wind power generating set is obtained for above-mentioned geography information, when current
The wind-resources data at quarter can be the wind-resources data at the current time at the position of wind power generating set at cabin altitude.Make
For example, wind-resources data may include wind speed and direction.
Preferably, prediction yaw angle determining module 20 can obtain the pre- of current time based on yaw angle prediction model
Survey yaw angle angle value.For example, prediction yaw angle determining module 20 can by by the position of wind power generating set in cabin
The wind speed and direction at current time, the initial yaw angle angle value of last moment at height are input to yaw angle prediction model,
Obtain the prediction yaw angle angle value at current time.As an example, the yaw angle prediction model may be based on BP neural network
Model.
Yaw angle determining module 30 is based on the initial yaw angle angle value at current time and the prediction yaw angle at current time
Angle value determines the yaw angle angle value at current time.
For example, the initial yaw angle angle value at the calculating current time of yaw angle determining module 30 and the prediction at current time are inclined
The difference of boat angle value, when the difference is less than or equal to setting value, using the initial yaw angle angle value at current time as current
The yaw angle angle value at moment.
Yaw the yaw angle angle value that control module 40 controls current time determined by the cabin rotation of wind power generating set.
Fig. 7 shows the schematic diagram of the field group control system in wind power plant according to an exemplary embodiment of the present invention.
As shown in fig. 7, the field group control system in wind power plant according to an exemplary embodiment of the present invention may include wind power plant
Server, cloud platform, SCADA (Supervisory Control And Data Acquisition, Supervisory control and data acquisition)
Database and multiple wind power generating sets (e.g., wind power generating set 1, wind power generating set 2, wind power generating set 3 ... wind
Power generator group n).
In this example, it can realize that the yaw control of wind power generating set shown in fig. 6 is set based on wind farm server
Standby, correspondingly, the modules in above-mentioned yaw control equipment can be implemented as being mounted on each mould in wind farm server
Block.That is, the Yaw control method of wind power generating set shown in Fig. 1 can be executed by wind farm server.
In the example depicted in fig. 7, wind farm server can be connected through the internet to cloud platform, to provide from cloud platform
Wind-resources database obtain wind power plant wind-resources data.In addition, wind farm server can will also be obtained by wind power plant looped network
The wind-resources data taken are sent to every wind power generating set, so that each wind power generating set can obtain the real-time of the seat in the plane point
Wind-resources data.
Fig. 8 shows the yaw control of any wind power generating set in wind power plant according to an exemplary embodiment of the present invention
Schematic diagram.
As shown in figure 8, the wind-resources database that wind farm server can be provided from cloud platform obtains wind direction and deviates predetermined party
To second angle value and wind-resources data, being mounted on Satellite Compass instrument in any wind power generating set can be by determining this
The first angle value that position, cabin altitude and the cabin of one wind power generating set deviate predetermined direction is sent to any wind-force hair
The master controller of motor group, wind farm server can obtain any wind-power electricity generation from the master controller of any wind power generating set
Position, cabin altitude and the cabin of unit deviate the first angle value of predetermined direction.In addition, the yaw that wind farm server determines
Angle value can be sent to the yawer of any wind power generating set via the master controller of any wind power generating set,
Yaw maneuver is carried out to control any wind power generating set.
That is, in exemplary embodiments of the present invention, determining wind using the wind-resources database that cloud platform provides
To determining cabin direction using Satellite Compass instrument, can be realized the accurate yaw of wind power generating set, avoid in the prior art
To nacelle position (direction) inaccuracy of wind power generating set, and the defect big using wind vane detection wind direction error.
In addition, wind farm server can obtain the initial yaw angle angle value of historical juncture from SCADA data library.Namely
It says, identified initial yaw angle angle value can be stored in SCADA data library whenever getting wind direction.In addition, can also incite somebody to action
The operation/maintenance data of wind power generating set is also stored into SCADA data library, that is, wind farm server can be obtained from SCADA data library
Take the operation/maintenance data of wind power generating set.The wind-power electricity generation that the master controller of wind power generating set can will be obtained from Satellite Compass instrument
The first angle value that position, cabin altitude and the cabin of unit deviate predetermined direction sends cloud platform and is stored.Wind power plant clothes
Being engaged in device can also be by the wind-resources information obtained from wind-resources database (such as in the position of wind power generating set at cabin altitude
Wind speed/wind direction) it is sent to the master controller of wind power generating set.
In the example depicted in fig. 8, Satellite Compass instrument can pass through the main control of RS485 communication interface and wind power generating set
Device carries out data transmission, so that position, cabin altitude and cabin that wind farm server gets wind power generating set deviate in advance
Determine the first angle value in direction.
An exemplary embodiment of the present invention also provides a kind of computing device.The computing device includes processor and storage
Device.Memory is for storing computer program.The computer program is executed by processor so that processor executes above-mentioned wind
The computer program of the Yaw control method of power generator group.
An exemplary embodiment of the present invention also provides a kind of computer-readable storage medium for being stored with computer program
Matter.The computer-readable recording medium storage has makes processor execute above-mentioned wind power generating set when being executed by a processor
The computer program of Yaw control method.The computer readable recording medium is can to store the data read by computer system
Arbitrary data storage device.The example of computer readable recording medium includes: read-only memory, random access memory, read-only
CD, tape, floppy disk, optical data storage devices and the carrier wave (data for such as passing through internet through wired or wireless transmission path
Transmission).
Using the Yaw control method and equipment of the wind power generating set of exemplary embodiment of the present, determination can be improved
The accuracy of yaw angle improves the generating efficiency and generated energy of wind power generating set.
In addition, using the Yaw control method and equipment of the wind power generating set of exemplary embodiment of the present, due to base
Data in wind-resources database determine wind direction, avoid and are measured by the anemoclinograph being mounted in wind power generating set
Wind direction measurement error caused by wind direction avoids by way of range estimation in addition, determining cabin direction by Satellite Compass instrument
Cabin orientation measurement error caused by cabin direction is determined, so that more accurate to the determination of yaw angle angle value.
In addition, using the Yaw control method and equipment of the wind power generating set of exemplary embodiment of the present, so that right
Wind power generating set yaw control it is more accurate, ensure that wind power generating set always can face wind direction, improve to wind
The utilization rate of energy.
In addition, using the Yaw control method and equipment of the wind power generating set of exemplary embodiment of the present, so that wind
Power generator group, which can be realized more accurately, to yaw to wind, and wind power generating set is enabled to capture wind to the greatest extent
Can, the impeller of wind power generating set farthest keeps state windward, effectively improves wind power generating set to wind performance, mention
High utilization rate of the wind power generating set to wind energy, and the unbalanced load of wind power generating set can be made to reduce, to improve
Wind power generating set reliability of operation.
Although being particularly shown and describing the present invention, those skilled in the art referring to its exemplary embodiment
It should be understood that in the case where not departing from the spirit and scope of the present invention defined by claim form can be carried out to it
With the various changes in details.
Claims (18)
1. a kind of Yaw control method of wind power generating set, which is characterized in that the Yaw control method includes:
Whenever getting wind direction, the cabin direction of wind direction and current time wind power generating set based on current time is determined
The initial yaw angle angle value of current time wind power generating set；
The initial yaw angle angle value of wind-resources data and last moment based on current time obtains the prediction yaw at current time
Angle value；
The prediction yaw angle angle value of initial yaw angle angle value and current time based on current time, determines the yaw at current time
Angle value；
The cabin for controlling wind power generating set rotates the yaw angle angle value,
Wherein, wind-resources data include wind speed and direction, wind-resources data and last moment based on current time it is initial
Yaw angle angle value, the step of obtaining the prediction yaw angle angle value at current time include:
Mould is predicted by the way that the initial yaw angle angle value of the wind speed and direction at current time, last moment is input to yaw angle
Type obtains the prediction yaw angle angle value at current time,
Wherein, the prediction yaw angle angle value of initial yaw angle angle value and current time based on current time, determines current time
Yaw angle angle value the step of include:
Calculate the initial yaw angle angle value at current time and the difference of the prediction yaw angle angle value at current time；
When the difference is less than or equal to setting value, using the initial yaw angle angle value at current time as the yaw at current time
Angle value rotates the yaw angle angle value to control the cabin of wind power generating set.
2. Yaw control method as described in claim 1, which is characterized in that wind direction and current time wind based on current time
The cabin direction of power generator group, the step of determining the initial yaw angle angle value of current time wind power generating set include:
The cabin for obtaining current time wind power generating set deviates the first angle value of predetermined direction；
Determine that the wind direction at current time deviates the second angle value of the predetermined direction；
By the difference of the first angle value and the second angle value, it is determined as the initial yaw angle angle value at current time.
3. Yaw control method as claimed in claim 2, which is characterized in that the Yaw control method further include: obtain wind
The position of power generator group and cabin altitude,
Wherein, the wind direction at current time refers at the position, the wind direction at the current time at the cabin altitude.
4. Yaw control method as claimed in claim 3, which is characterized in that the wind-resources data at current time are included in described
The wind speed and direction at the current time at position at the cabin altitude.
5. Yaw control method as described in claim 1, which is characterized in that the yaw angle prediction model is based on BP mind
Model through network.
6. Yaw control method as claimed in claim 3, which is characterized in that by being arranged in the wind power generating set
Satellite Compass instrument the obtain position of the wind power generating set, cabin altitude and the cabin at current time deviate the of predetermined direction
One angle value.
7. Yaw control method as claimed in claim 6, which is characterized in that the Satellite Compass instrument includes first antenna,
Two antennas and controller,
Wherein, first antenna is arranged in the wheel hub of wind power generating set, and the cabin of wind power generating set is arranged in the second antenna
Interior, controller is arranged on the line for being located at first antenna and the second antenna in the cabin of wind power generating set,
Wherein, the center line of the line and wheel hub of first antenna and the second antenna or the centerline parallel of cabin, cabin deviate institute
The first angle value for stating predetermined direction is the line of first antenna and the second antenna and the angle of the predetermined direction.
8. Yaw control method as claimed in claim 2, which is characterized in that the predetermined direction is direct north.
9. a kind of yaw of wind power generating set controls equipment, which is characterized in that the yaw controls equipment and includes:
Initial yaw angle determining module, whenever getting wind direction, wind direction and current time wind-force hair based on current time
The cabin direction of motor group determines the initial yaw angle angle value of current time wind power generating set；
Prediction yaw angle determining module, the initial yaw angle angle value of wind-resources data and last moment based on current time,
Obtain the prediction yaw angle angle value at current time；
Yaw angle determining module, the prediction yaw angle angle value of initial yaw angle angle value and current time based on current time,
Determine the yaw angle angle value at current time；
Control module is yawed, the cabin for controlling wind power generating set rotates the yaw angle angle value,
Wherein, wind-resources data include wind speed and direction, prediction yaw angle determining module by by the wind speed at current time and
Wind direction, the initial yaw angle angle value of last moment are input to yaw angle prediction model, obtain the prediction yaw angle at current time
Angle value,
Wherein, yaw angle determining module calculates the initial yaw angle angle value and the prediction yaw angle at current time at current time
The difference of value, when the difference is less than or equal to setting value, using the initial yaw angle angle value at current time as current time
Yaw angle angle value.
10. yaw control equipment as claimed in claim 9, which is characterized in that initially yaw angle determining module includes:
Cabin direction determines submodule, and the cabin for obtaining current time wind power generating set deviates the first angle of predetermined direction
Value；
Wind direction determines submodule, determines that the wind direction at current time deviates the second angle value of the predetermined direction；
Initial angle determines submodule, by the difference of the first angle value and the second angle value, is determined as current time
Initial yaw angle angle value.
11. yaw control equipment as claimed in claim 10, which is characterized in that the yaw controls equipment further include: geographical
Data obtaining module obtains position and the cabin altitude of wind power generating set,
Wherein, the wind direction at current time refers to the wind direction at the current time at the position at the cabin altitude.
12. yaw control equipment as claimed in claim 11, which is characterized in that the wind-resources data at current time are included in institute
Rheme sets the wind speed and direction at current time of the place at the cabin altitude.
13. yaw control equipment as claimed in claim 9, which is characterized in that the yaw angle prediction model is based on BP
The model of neural network.
14. yaw control equipment as claimed in claim 11, which is characterized in that cabin direction determines submodule from being arranged in institute
The cabin for stating the current time that the Satellite Compass instrument acquisition in wind power generating set is determined by the Satellite Compass instrument, which deviates, to be made a reservation for
The first angle value in direction,
Geography information obtains module and obtains the wind-driven generator determined by the Satellite Compass instrument from the Satellite Compass instrument
The position of group and cabin altitude.
15. yaw control equipment as claimed in claim 14, which is characterized in that the Satellite Compass instrument include first antenna,
Second antenna and controller,
Wherein, first antenna is arranged in the wheel hub of wind power generating set, and the cabin of wind power generating set is arranged in the second antenna
Interior, controller is arranged on the line for being located at first antenna and the second antenna in the cabin of wind power generating set,
Wherein, the center line of the line and wheel hub of first antenna and the second antenna or the centerline parallel of cabin, cabin deviate institute
The first angle value for stating predetermined direction is the line of first antenna and the second antenna and the angle of the predetermined direction.
16. yaw control equipment as claimed in claim 10, which is characterized in that the predetermined direction is direct north.
17. a kind of computer readable storage medium for being stored with computer program, when the computer program is held by processor
The Yaw control method of the wind power generating set as described in any one in claim 1-8 is realized when row.
18. a kind of computing device, which is characterized in that the computing device includes:
Processor；
Memory is stored with computer program, when the computer program is executed by processor, realizes such as claim 1-8
In any one described in wind power generating set Yaw control method.
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| CN111980855B (en) * | 2019-05-22 | 2022-11-11 | 新疆金风科技股份有限公司 | Yaw control method, device and equipment of wind generating set and storage medium |
| CN111396248A (en) * | 2020-03-16 | 2020-07-10 | 明阳智慧能源集团股份公司 | Wind turbine generator set intelligent yaw control method based on short-term wind direction prediction |
| CN113719410A (en) * | 2021-09-06 | 2021-11-30 | 中国华能集团清洁能源技术研究院有限公司 | Yaw control method and device for offshore floating type double-wind-wheel wind generating set |
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