CN110821752A - Control protection device for braking system of wind turbine generator - Google Patents

Control protection device for braking system of wind turbine generator Download PDF

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Publication number
CN110821752A
CN110821752A CN201911043350.5A CN201911043350A CN110821752A CN 110821752 A CN110821752 A CN 110821752A CN 201911043350 A CN201911043350 A CN 201911043350A CN 110821752 A CN110821752 A CN 110821752A
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CN
China
Prior art keywords
yaw
relay
protection
brake
limiting diode
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911043350.5A
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Chinese (zh)
Inventor
王艳春
郎敏
张扬
薛莹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Datang Jilin Wind Power Ltd By Share Ltd
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Datang Jilin Wind Power Ltd By Share Ltd
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Filing date
Publication date
Application filed by Datang Jilin Wind Power Ltd By Share Ltd filed Critical Datang Jilin Wind Power Ltd By Share Ltd
Priority to CN201911043350.5A priority Critical patent/CN110821752A/en
Publication of CN110821752A publication Critical patent/CN110821752A/en
Pending legal-status Critical Current

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors 
    • F03D7/02Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0244Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D17/00Monitoring or testing of wind motors, e.g. diagnostics
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors 
    • F03D7/02Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors 
    • F03D7/02Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • F03D7/0268Parking or storm protection
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02HEMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H5/00Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal non-electric working conditions with or without subsequent reconnection
    • 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

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a control protection device for a brake system of a wind turbine generator, which relates to the technical field of wind turbines and comprises a temperature switch K arranged on a brake, and a high-speed brake protection loop and a yaw protection loop which are respectively and electrically connected with the temperature switch K, wherein the temperature switch K is used for controlling the connection of the high-speed brake protection loop and the yaw protection loop, the high-speed brake protection loop is used for separating a brake disc from a brake disc when a thermistor damages the brake and performs false braking, and the yaw protection loop is used for controlling a yaw torsion cable to rotate when the brake performs false braking so as to alarm and stop a fan.

Description

Control protection device for braking system of wind turbine generator
Technical Field
The invention relates to the technical field of wind turbines, in particular to a control and protection device for a braking system of a wind turbine generator.
Background
The current braking system protection modes in the wind power industry mainly include two types: one is to arrange a thermistor in a brake block to achieve the purpose of protecting a brake system in a temperature detection mode; the other is to detect the distance between the brake disc and the brake pad by a distance sensor to achieve the purpose of protecting the brake system. However, the two protection modes respectively have the following problems:
1. the thermistor has the defect of easy damage, because the thermistor is arranged in the brake pad, the existing means can not detect whether the thermistor is intact, when the thermistor is damaged, if the fan is in a high-speed running state and the brake pad is in misoperation, the brake disc and the brake pad continuously rub to generate high temperature, and the occurrence of serious accidents such as fan fire and the like is easy to cause;
2. distance sensors are divided into two categories: the inductive distance sensor has the advantages that the accuracy is reduced due to the influence of temperature change, the adjustment difficulty is high, and the inductive distance sensor is easy to damage; the mechanical distance sensor is easy to be stuck, cannot effectively detect the distance between the brake pad and the brake disc, is easy to damage and has higher maintenance cost; when the distance sensor fails in the brake, if the fan overspeed phenomenon occurs, severe safety accidents such as fan runaway and collapse are easily caused.
Disclosure of Invention
The invention aims to: the invention provides a control protection device for a wind turbine braking system, which aims to solve the problems that in the existing wind turbine braking system, a thermistor is arranged in a brake pad, once the thermistor is damaged, if a fan is in a high-speed running state and the brake pad is in misoperation, the brake pad and the brake pad continuously rub to generate high temperature, and serious accidents such as fan fire and the like are easily caused.
The invention specifically adopts the following technical scheme for realizing the purpose:
a control protection device for a brake system of a wind turbine generator comprises a temperature switch K installed on a brake, and a high-speed brake protection loop and a yaw protection loop which are respectively electrically connected with the temperature switch K, wherein the temperature switch K is used for controlling the connection of the high-speed brake protection loop and the yaw protection loop, the high-speed brake protection loop is used for separating a brake disc from a brake disc when a thermistor damages the brake and performs false braking, and the yaw protection loop is used for controlling a yaw torsion cable to rotate when the brake performs false braking, so that a fan alarms and stops.
Further, the high-speed brake protection circuit comprises a protection relay R2, a high-speed brake relay, a high-speed brake pressure switch, a current limiting diode D1 and a current limiting diode D2, and the circuit is specifically connected as follows:
one end of a temperature switch K is connected with the A1 end of a protection relay R2, the A2 end of the protection relay R2 is respectively connected with the A2 ends of a high-speed brake pressure switch and a high-speed brake relay, the other end of the high-speed brake pressure switch is connected with the anode of a current-limiting diode D2, the cathode of a current-limiting diode D2 is connected with the A1 end of the high-speed brake relay and the anode of the current-limiting diode D1, and the cathode of a current-limiting diode D1 is connected with the A1 end of the protection relay R2.
The principle of the protection loop circuit of the high-speed brake is as follows:
when the thermistor is damaged, if the fan is in a high-speed running state and the fan is in misoperation when meeting a brake, the brake disc and the brake pad continuously rub to generate high temperature, the temperature switch K is closed at the high temperature, the high-speed brake protection loop is switched on, the protection relay R2 acts, and the high-speed brake relay acts, so that the pressure switch of the high-speed brake releases brake pressure, and the brake disc is separated from the brake pad.
Further, the yaw protection circuit comprises a protection relay R1, a yaw relay, a yaw contactor, a current limiting diode D3 and a current limiting diode D4, and the circuit is specifically connected as follows:
one end of the temperature switch is connected with the A1 end of a protection relay R1, the A2 end of the protection relay R1 is respectively connected with the A2 end of the yaw relay and the A2 end of the yaw contactor, the A1 end of the yaw contactor is connected with the anode of a current limiting diode D4, the cathode of the current limiting diode D4 is connected with the A1 end of the yaw relay and the anode of the current limiting diode D3, and the cathode of the current limiting diode D3 is connected with the A1 end of the protection relay R1.
The circuit principle of the yaw protection loop is as follows:
when the thermistor is damaged, if the fan is in a high-speed running state and the fan is in misoperation in case of a brake, at the moment, a brake disc and a brake pad continuously rub to generate high temperature, a temperature switch K is closed at the high temperature, a yaw protection loop is switched on, a protection relay R1 acts, a yaw relay acts, a yaw contactor is closed, a yaw torsion cable rotates to enable the fan to be separated from a windward state, and the fan is alarmed to stop.
Further, the yaw contactor is connected with an RC series circuit in parallel.
Furthermore, the control protection device further comprises an overspeed protection circuit, the overspeed protection circuit comprises an impeller rotating speed sensor and an overspeed protection module, the impeller rotating speed sensor is used for monitoring the rotating speed of the impeller, and the overspeed protection module controls the yaw relay and the yaw contactor to act according to the rotating speed of the impeller, so that the yaw cable is controlled to rotate, and the fan is stopped by alarming.
Further, the specific connection of the overspeed protection circuit is as follows:
the impeller speed sensor is connected with the overspeed protection module, a starting switch is arranged in the overspeed protection module, one end of the starting switch is connected with the A1 end of the yaw relay, and the other end of the starting switch is connected with the A2 end of the yaw relay.
The overspeed protection loop circuit principle is as follows:
when the brake fails, if the fan exceeds the speed, the impeller speed sensor monitors the impeller speed and transmits the speed to the overspeed protection module, a starting switch in the overspeed protection module is closed, a yaw relay acts, a yaw contactor is attracted, a yaw torsion cable rotates, the fan is separated from the windward state, and the fan is alarmed to stop.
Further, the control protection device also comprises a 24V direct current power supply.
The invention has the following beneficial effects:
1. the temperature switch is used for monitoring the temperature change of the brake disc, the protection relay, the yaw relay and other electrical elements are used for realizing linkage with the impeller rotating speed sensor, the yaw contactor and the high-speed brake pressure switch, the sensitivity is high, the reliability is high, the cost is low, the installation is easy, the failure state of the brake system can be rapidly detected, safe and effective countermeasures can be timely made, and serious accidents such as fire disasters and the like caused by failure of the brake system are avoided.
Drawings
FIG. 1 is a schematic circuit diagram of an embodiment of the present invention.
FIG. 2 is a flow chart illustrating the operation of the embodiment of the present invention.
Fig. 3 is a schematic view of an installation application of an embodiment of the present invention.
Detailed Description
For a better understanding of the present invention by those skilled in the art, the present invention will be described in further detail below with reference to the accompanying drawings and the following examples.
Example 1
As shown in fig. 1 to fig. 3, the present embodiment provides a control protection device for a braking system of a wind turbine generator, which includes a 24V dc power supply, a temperature switch K installed on a brake, and a high-speed brake protection circuit and a yaw protection circuit electrically connected to the temperature switch K, respectively, where the temperature switch K is used to control the connection of the high-speed brake protection circuit and the yaw protection circuit, the high-speed brake protection circuit is used to separate a brake disc from a brake disc when a thermistor damages the brake and performs a false braking, and the yaw protection circuit is used to control a yaw torsion cable to rotate when the brake performs a false braking, so as to stop a fan with an alarm;
the high-speed brake protection circuit comprises a protection relay R2, a high-speed brake relay with the model of KR921, a high-speed brake pressure switch, a current limiting diode D1 and a current limiting diode D2, and the circuit is specifically connected as follows:
one end of a temperature switch K is connected with the A1 end of a protection relay R2, the A2 end of the protection relay R2 is respectively connected with the A2 ends of a high-speed brake pressure switch and a high-speed brake relay, the other end of the high-speed brake pressure switch is connected with the anode of a current-limiting diode D2, the cathode of a current-limiting diode D2 is connected with the A1 end of the high-speed brake relay and the anode of the current-limiting diode D1, and the cathode of a current-limiting diode D1 is connected with the A1 end of the protection relay R2.
The principle of the protection loop circuit of the high-speed brake is as follows:
when the thermistor is damaged, if the fan is in a high-speed running state and the fan is in misoperation when meeting a brake, the brake disc and the brake pad continuously rub to generate high temperature, the temperature switch K is closed at the high temperature, the high-speed brake protection loop is switched on, the protection relay R2 acts, and the high-speed brake relay acts, so that the pressure switch of the high-speed brake releases brake pressure, and the brake disc is separated from the brake pad.
The yaw protection circuit comprises a protection relay R1, a yaw relay, a yaw contactor, a current limiting diode D3 and a current limiting diode D4, and the circuit is specifically connected as follows:
one end of the temperature switch is connected with an A1 end of a protection relay R1, an A2 end of the protection relay R1 is respectively connected with an A2 end of a yaw relay and an A2 end of the yaw contactor, an A1 end of the yaw contactor is connected with an anode of a current limiting diode D4, a cathode of the current limiting diode D4 is connected with an A1 end of the yaw relay and an anode of the current limiting diode D3, a cathode of the current limiting diode D3 is connected with an A1 end of the protection relay R1, and the yaw contactor is further connected with an RC series circuit in parallel.
The circuit principle of the yaw protection loop is as follows:
when the thermistor is damaged, if the fan is in a high-speed running state and the fan is in misoperation in case of a brake, at the moment, a brake disc and a brake pad continuously rub to generate high temperature, a temperature switch K is closed at the high temperature, a yaw protection loop is switched on, a protection relay R1 acts, a yaw relay acts, a yaw contactor is closed, a yaw torsion cable rotates to enable the fan to be separated from a windward state, and the fan is alarmed to stop.
The control protection device further comprises an overspeed protection circuit, the overspeed protection circuit comprises an impeller rotating speed sensor and an overspeed protection module, the impeller rotating speed sensor is used for monitoring the rotating speed of the impeller, and the overspeed protection module controls the yaw relay and the yaw contactor to act according to the rotating speed of the impeller, so that yaw twisting cables are controlled to rotate, and the fan is enabled to alarm and shut down.
The specific connection of the overspeed protection circuit is as follows:
the impeller speed sensor is connected with the overspeed protection module, a starting switch is arranged in the overspeed protection module, one end of the starting switch is connected with the A1 end of the yaw relay, and the other end of the starting switch is connected with the A2 end of the yaw relay.
The overspeed protection loop circuit principle is as follows:
when the brake fails, if the fan exceeds the speed, the impeller speed sensor monitors the impeller speed and transmits the speed to the overspeed protection module, a starting switch in the overspeed protection module is closed, a yaw relay acts, a yaw contactor is attracted, a yaw torsion cable rotates, the fan is separated from the windward state, and the fan is alarmed to stop.
The temperature switch is used for monitoring the temperature change of the brake disc, the protection relay, the yaw relay and other electrical elements are used for realizing linkage with the impeller rotating speed sensor, the yaw contactor and the high-speed brake pressure switch, the sensitivity is high, the reliability is high, the cost is low, the installation is easy, the failure state of the brake system can be rapidly detected, safe and effective countermeasures can be timely made, and serious accidents such as fire disasters and the like caused by failure of the brake system are avoided.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.

Claims (7)

1. The utility model provides a wind turbine generator system braking system control protection device which characterized in that: the temperature switch K is used for controlling the connection of the high-speed brake protection loop and the yaw protection loop, the high-speed brake protection loop is used for separating a brake disc from a brake disc when the thermistor damages the brake and performs false operation, and the yaw protection loop is used for controlling yaw twisting cable to rotate when the brake performs false operation so as to enable a fan to alarm and stop.
2. The wind turbine generator braking system control protection device according to claim 1, characterized in that: the high-speed brake protection circuit comprises a protection relay R2, a high-speed brake relay, a high-speed brake pressure switch, a current limiting diode D1 and a current limiting diode D2, and the circuit is specifically connected as follows:
one end of a temperature switch K is connected with the A1 end of a protection relay R2, the A2 end of the protection relay R2 is respectively connected with the A2 ends of a high-speed brake pressure switch and a high-speed brake relay, the other end of the high-speed brake pressure switch is connected with the anode of a current-limiting diode D2, the cathode of a current-limiting diode D2 is connected with the A1 end of the high-speed brake relay and the anode of the current-limiting diode D1, and the cathode of a current-limiting diode D1 is connected with the A1 end of the protection relay R2.
3. The wind turbine generator braking system control protection device according to claim 1, characterized in that: the yaw protection circuit comprises a protection relay R1, a yaw relay, a yaw contactor, a current limiting diode D3 and a current limiting diode D4, and the circuit is specifically connected as follows:
one end of the temperature switch is connected with the A1 end of a protection relay R1, the A2 end of the protection relay R1 is respectively connected with the A2 end of the yaw relay and the A2 end of the yaw contactor, the A1 end of the yaw contactor is connected with the anode of a current limiting diode D4, the cathode of the current limiting diode D4 is connected with the A1 end of the yaw relay and the anode of the current limiting diode D3, and the cathode of the current limiting diode D3 is connected with the A1 end of the protection relay R1.
4. The wind turbine generator braking system control protection device according to claim 3, characterized in that: and the yaw contactor is connected with an RC series circuit in parallel.
5. The wind turbine generator braking system control protection device according to claim 3, characterized in that: the control protection device further comprises an overspeed protection circuit, the overspeed protection circuit comprises an impeller rotating speed sensor and an overspeed protection module, the impeller rotating speed sensor is used for monitoring the rotating speed of the impeller, and the overspeed protection module controls the yaw relay and the yaw contactor to act according to the rotating speed of the impeller, so that yaw twisting cables are controlled to rotate, and the fan is enabled to alarm and shut down.
6. The wind turbine generator braking system control protection device according to claim 5, characterized in that: the specific connection of the overspeed protection circuit is as follows:
the impeller speed sensor is connected with the overspeed protection module, a starting switch is arranged in the overspeed protection module, one end of the starting switch is connected with the A1 end of the yaw relay, and the other end of the starting switch is connected with the A2 end of the yaw relay.
7. The wind turbine generator braking system control protection device according to any one of claims 1 to 6, characterized in that: the control protection device also comprises a 24V direct current power supply.
CN201911043350.5A 2019-10-30 2019-10-30 Control protection device for braking system of wind turbine generator Pending CN110821752A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911043350.5A CN110821752A (en) 2019-10-30 2019-10-30 Control protection device for braking system of wind turbine generator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911043350.5A CN110821752A (en) 2019-10-30 2019-10-30 Control protection device for braking system of wind turbine generator

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CN110821752A true CN110821752A (en) 2020-02-21

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021047382A1 (en) * 2019-09-12 2021-03-18 卧龙电气驱动集团股份有限公司 Yaw motor

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Publication number Priority date Publication date Assignee Title
US20070216163A1 (en) * 2006-03-16 2007-09-20 Guang Huang T Over speed control circuit for a wind turbine generator which maximizes the power exported from the generator over time
CN202034936U (en) * 2011-04-29 2011-11-09 福建明业新能源科技有限公司 Antilock braking circuit for wind power generator
CN202056039U (en) * 2011-04-29 2011-11-30 福建明业新能源科技有限公司 Fan controller with functions of electronic speed control and anti-locking braking
CN202274028U (en) * 2011-10-13 2012-06-13 东风汽车有限公司 Brake over-temperature alarm device
CN103148132A (en) * 2013-03-04 2013-06-12 长沙理工大学 Yaw brake hydraulic system for pressure loss prevention of wind turbine generator
CN105508137A (en) * 2015-12-28 2016-04-20 国电南瑞科技股份有限公司 Control system for preventing draught fan from running away
CN106787973A (en) * 2016-12-12 2017-05-31 北京金风科创风电设备有限公司 Drive control device and method for yaw motor of wind generating set
CN208256151U (en) * 2017-11-27 2018-12-18 福建大唐国际新能源有限公司 The electronic yaw variable pitch model of wind-driven generator
CN209228534U (en) * 2018-05-16 2019-08-09 建平石营子风力发电有限公司 A kind of double safety relay safety systems
WO2019174197A1 (en) * 2018-03-13 2019-09-19 南京欧陆电气股份有限公司 Smart fan control system based on self-learning technology, and method thereof
CN110374800A (en) * 2019-06-06 2019-10-25 北京优利康达科技股份有限公司 It is a kind of that blower is prevented to catch fire device and control method with driving
CN211343214U (en) * 2019-10-30 2020-08-25 大唐吉林风力发电股份有限公司 Control protection device for braking system of wind turbine generator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070216163A1 (en) * 2006-03-16 2007-09-20 Guang Huang T Over speed control circuit for a wind turbine generator which maximizes the power exported from the generator over time
CN202034936U (en) * 2011-04-29 2011-11-09 福建明业新能源科技有限公司 Antilock braking circuit for wind power generator
CN202056039U (en) * 2011-04-29 2011-11-30 福建明业新能源科技有限公司 Fan controller with functions of electronic speed control and anti-locking braking
CN202274028U (en) * 2011-10-13 2012-06-13 东风汽车有限公司 Brake over-temperature alarm device
CN103148132A (en) * 2013-03-04 2013-06-12 长沙理工大学 Yaw brake hydraulic system for pressure loss prevention of wind turbine generator
CN105508137A (en) * 2015-12-28 2016-04-20 国电南瑞科技股份有限公司 Control system for preventing draught fan from running away
CN106787973A (en) * 2016-12-12 2017-05-31 北京金风科创风电设备有限公司 Drive control device and method for yaw motor of wind generating set
CN208256151U (en) * 2017-11-27 2018-12-18 福建大唐国际新能源有限公司 The electronic yaw variable pitch model of wind-driven generator
WO2019174197A1 (en) * 2018-03-13 2019-09-19 南京欧陆电气股份有限公司 Smart fan control system based on self-learning technology, and method thereof
CN209228534U (en) * 2018-05-16 2019-08-09 建平石营子风力发电有限公司 A kind of double safety relay safety systems
CN110374800A (en) * 2019-06-06 2019-10-25 北京优利康达科技股份有限公司 It is a kind of that blower is prevented to catch fire device and control method with driving
CN211343214U (en) * 2019-10-30 2020-08-25 大唐吉林风力发电股份有限公司 Control protection device for braking system of wind turbine generator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021047382A1 (en) * 2019-09-12 2021-03-18 卧龙电气驱动集团股份有限公司 Yaw motor

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