CN111980855A - Yaw control method, device and equipment of wind generating set and storage medium - Google Patents
Yaw control method, device and equipment of wind generating set and storage medium Download PDFInfo
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- CN111980855A CN111980855A CN201910431429.9A CN201910431429A CN111980855A CN 111980855 A CN111980855 A CN 111980855A CN 201910431429 A CN201910431429 A CN 201910431429A CN 111980855 A CN111980855 A CN 111980855A
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- 238000010248 power generation Methods 0.000 abstract 1
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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
- 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
- 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
- F05B2270/335—Output power or torque
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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 application provides a yaw control method, a yaw control device, equipment and a storage medium of a wind generating set. The yaw control method of the wind generating set comprises the following steps: acquiring a predicted power value and an actual power value of a target wind generating set in real time; comparing the predicted power value with the actual power value, and determining whether the target wind generating set meets a preset yaw condition according to a comparison result; if the target wind generating set meets the yaw condition, controlling the target wind generating set to yaw; and if the target wind generating set does not meet the yaw condition, controlling the target wind generating set to keep the current state. According to the method and the device, yaw control can be performed on the target wind generating set based on the predicted power value and the actual power value of the target wind generating set, so that the safety of the target wind generating set is improved, and the wind energy obtained by the target wind generating set and the generated power generation amount are increased.
Description
Technical Field
The application relates to the technical field of yaw of wind generating sets, in particular to a yaw control method, a yaw control device, yaw control equipment and a yaw control storage medium of a wind generating set.
Background
Currently, countries in the world have agreed on international cooperation for climate change and development of clean energy, and wind power is an energy mode which becomes large-scale application in renewable energy.
A yaw system in the wind generating set is an important component in a fan, and has the function of enabling a wind wheel of the wind generating set to be always in a state of facing the wind so as to fully utilize wind energy.
In the process of yaw control of the wind generating set through the yaw system, if the setting of the reference position of the wind generating set is inaccurate or the real-time position measurement of the wind generating set is inaccurate, the yaw task cannot be normally completed, so that the wind generating set bears unbalanced wind power, the wind generating set bears the unbalanced wind power for a long time, the generated energy of the wind generating set is low due to the fact that the wind generating set cannot obtain the maximum wind power, and even the safe operation of the wind generating set is influenced.
Disclosure of Invention
The yaw control method, the yaw control device, the yaw control equipment and the yaw control storage medium of the wind generating set are provided for overcoming the defect that the generated energy and the safety of the wind generating set are reduced when the measurement at the initial position or the zero position is inaccurate in the prior art.
In a first aspect, an embodiment of the present application provides a yaw control method for a wind turbine generator system, including:
acquiring a predicted power value and an actual power value of a target wind generating set in real time;
comparing the predicted power value with the actual power value, and determining whether the target wind generating set meets a preset yaw condition according to a comparison result;
if the target wind generating set meets the yaw condition, controlling the target wind generating set to yaw;
and if the target wind generating set does not meet the yaw condition, controlling the target wind generating set to keep the current state.
In a second aspect, an embodiment of the present application provides a yaw control apparatus of a wind turbine generator system, including:
the data acquisition module is used for acquiring a predicted power value and an actual power value of the target wind generating set in real time;
the data comparison module is used for comparing the predicted power value with the actual power value and determining whether the target wind generating set meets a preset yaw condition or not according to a comparison result;
and the control module is used for controlling the target wind generating set to yaw when the target wind generating set meets the yaw condition and controlling the target wind generating set to keep the current state when the target wind generating set does not meet the yaw condition.
In a third aspect, an embodiment of the present application provides a yaw control apparatus of a wind turbine generator system, including: the yaw control system comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to realize the yaw control method of the wind generating set provided by the first aspect of the embodiment of the application.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the yaw control method of a wind turbine generator system provided in the first aspect of the embodiment of the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
by adopting the yaw control method of the wind generating set, the yaw control can be carried out on the target wind generating set based on the predicted power value and the actual power value of the target wind generating set, under the condition that the reference position of the target wind generating set is not accurately set or the real-time position measurement of the target wind generating set is not accurate, the yaw task can still be normally completed, the windward state of the target wind generating set is adjusted, the damage caused by unbalanced wind is reduced, the safety of the target wind generating set is improved, and the wind energy obtained by the target wind generating set and the generated energy can be increased.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural frame diagram of a yaw system of a wind turbine generator system according to an embodiment of the present disclosure;
fig. 2 is a schematic model diagram of two windward states of a wind generating set according to an embodiment of the present application;
FIG. 3 is an electrical schematic diagram of a yaw system of another wind turbine generator system according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating an installation position of an electronic guidance apparatus according to an embodiment of the present application;
FIG. 5 is a schematic view of the deflection of a wind generating set relative to a reference position in an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating a yaw control method of a wind turbine generator system according to an embodiment of the present disclosure;
FIG. 7 is a schematic expanded flow chart of an alternative embodiment of a yaw control method of a wind turbine generator system according to an embodiment of the present application;
fig. 8 is a schematic diagram of a non-blind control mode and a schematic diagram of a blind control mode in a yaw control method of a wind turbine generator system according to an embodiment of the present application;
FIG. 9 is a schematic diagram illustrating a blind control manner in a yaw control method of a wind turbine generator system according to an embodiment of the present application;
FIG. 10 is a schematic structural frame diagram of a yaw control apparatus of a wind turbine generator system according to an embodiment of the present disclosure;
fig. 11 is a schematic structural frame diagram of a yaw control device of a wind turbine generator system according to an embodiment of the present application.
In the figure:
110 is a wind measuring system, 120 is a control system, 130 is an execution system, 140 is a detection system, 150 is a wind power prediction system, 160 is a central monitoring system, 170 is an electronic guide device, 180 is a motor controller, and 190 is a cabin;
131 is the yaw motor in the implement system, 132 is the gear of the yaw motor, 133 is the yaw gear disk of the nacelle, 191 is the neutral line of the nacelle.
Detailed Description
Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. In addition, if a detailed description of the known art is not necessary for illustrating the features of the present application, it is omitted. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
Firstly, the yaw system of the wind generating set related to the application is introduced as follows:
as shown in fig. 1, the yaw system on a wind park mainly comprises a wind measuring system 110, a control system 120, an execution system 130 and a detection system 140.
The wind measuring system 110 comprises an anemometer, a wind vane and the like, and can measure an included angle between the direction of a cabin in the wind generating set and the actual wind direction; the control system 120 includes a PLC (Programmable Logic Controller) Controller or other Controller; the executing system 130 comprises a yaw motor 131, a gear 132 of the yaw motor and a yaw gear disc 133 of the nacelle 190, the yaw motor 131 can rotate the nacelle and the impeller of the wind generating set to the same position as the actual wind direction, and the yaw motor 131 drives the gear 132 to act on the yaw gear disc 133 when rotating so as to achieve the purpose of rotation; the detection system 140 includes a cam system that is in mechanical contact with the yaw gear plate 133 and follows the rotation of the yaw gear plate 133, and that can detect the current yaw direction and rotational speed.
The detection system 140 is a key device used for detection, and the control system 120 can determine the current yaw direction of the wind turbine generator system through the detection system 140 to determine whether the wind turbine generator system is in a state of facing the wind and whether the maximum wind thrust is obtained. In one example, the wind turbine generator system is modeled in the windward state as shown in fig. 2, and the wind turbine generator system may be in the non-windward state (i.e., state 1) as shown on the left side of fig. 2 or in the windward state (i.e., state 2) as shown on the right side of fig. 2.
The detection system 140 is provided with a sliding resistor, and after a period of operation, the sliding resistor generates mechanical deviation, so that the wind turbine generator system cannot normally complete a yaw task to obtain maximum wind energy.
In one example, the yaw system of the wind park further comprises a wind power prediction system 150, a central monitoring system 160, an electronic guide device 170 and a motor controller 180 of the wind farm as shown in fig. 3.
The wind power prediction system 150 may be configured to obtain a real-time wind resource state of the wind farm, for example, a predicted wind speed and a predicted power and a predicted wind direction of a corresponding wind turbine generator set at the predicted wind speed; the central monitoring system 160 may be configured to monitor the status of multiple wind turbine generators in the entire wind farm and issue control commands to the wind turbine generators; the electronic guidance device 170 is a device for determining direction information by using an electronic device such as an electronic compass, a hall sensor, and a global positioning system, and may be used to detect an actual position of the wind turbine generator system.
As shown in fig. 4, the electronic guidance apparatus 170 is mounted on the nacelle 190 at the time of factory shipment, and the specific mounting position of the electronic guidance apparatus 170 on the nacelle 190 may be selected according to actual requirements, for example, the electronic guidance apparatus may be mounted at any position of the top, the side and the inside of the nacelle 190, fig. 4 only shows the case of being mounted at the top of the nacelle 190 as an example, and it can be understood by those skilled in the art that it may be necessary to provide devices for assisting the mounting, such as mounting brackets, when mounting the electronic guidance apparatus 170, which is not listed here; as shown in fig. 3, the motor controller 180 is used for controlling the yaw motor 131 to act; when a plurality of wind turbine generators are installed in the wind farm, the configuration of each wind turbine generator may be the same as that of the wind turbine generator 1 (as shown in fig. 3), or may be different from that of the wind turbine generator 1, for example, the configuration of the wind turbine generator 1 is adjusted according to the actual situation (such as the capacity and specification of the wind turbine generator).
The construction and principle of the components of the above described yawing system described in the present application are well known in the art and will not be described herein.
The inventor of the present application has studied and found that, when yaw control is performed on a wind turbine generator system, setting of a reference position (also referred to as a 0 ° position) of a yaw system and a reference position of a anemometry system 110 in the wind turbine generator system is significant, and if the reference position is not accurately set, the following problems occur:
1) the wind generating set can continuously operate in a non-opposite wind state as shown in the left side of fig. 2, the maximum wind energy cannot be obtained, the generating capacity is low, if the wind generating set is subjected to unbalanced wind for a long time, the abrasion of key parts of the impeller is increased, the safe operation coefficient of the wind generating set is reduced, and meanwhile the loss of the detection system 140 can be accelerated.
2) When the wind generating set is debugged at the later stage or a yaw position sensor is replaced, the setting of the cable twisting switch is influenced, so that the setting of the cable twisting switch is deviated, the possibility that an electric energy transmission cable of a generator led out from the generator is excessively twisted in the running process of the wind generating set is further caused (the cable is required to be twisted within a bearing range, and the excessive twisting is determined when the electric energy transmission cable exceeds the bearing range), the cable is damaged due to the excessive twisting, and the safe and stable running of the wind generating set is influenced.
The initial position of the wind generating set after the hoisting connection is finished is usually set as the reference position of the yaw system, the position of the anemometer facing the tail of the nacelle is set as the reference position of the anemometer, and at this time, the reference position of the yaw system coincides with the reference position of the anemometer system 110. For example, in the electronic guidance apparatus 170 shown in fig. 4, the direction from the apparatus to the rear of the nacelle is the true north direction, and the position of the nacelle 190 in fig. 4 is set as the reference position when the bit line 191 in the nacelle coincides with the true north direction.
However, the following situations in field commissioning may result in the inability to accurately determine the reference position: 1) debugging personnel may have misoperation during debugging, for example, forget to mark an initial position after hoisting the unit; 2) the anemometry system 110 deviates from the wind direction measurement. For example, for the position shown in fig. 4, in actual installation, due to site restrictions, crane conditions, etc., the actual position of the nacelle 190 after being wired may not be the position of the tail of the nacelle directly opposite to north, but as shown in fig. 5, a yaw angle a (a is in the range of 0-360 °) exists between the line 191 and the north in the nacelle, and the electronic guidance device 170 may measure the value of the yaw angle a and convert it into an analog signal to be transmitted to the control system 120.
The application provides a yaw control method, a yaw control device, equipment and a storage medium of a wind generating set, and aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The embodiment of the application provides a yaw control method of a wind generating set, which can be applied to the control system 120 or the central monitoring system 160 shown in fig. 3. As shown in fig. 6, the method includes:
s601, obtaining the predicted power value and the actual power value of the target wind generating set in real time.
Alternatively, the predicted power value may be calculated by the wind power prediction system 150, and the actual power value may be collected by the central monitoring system 160.
Optionally, when the yaw control method of the wind generating set provided in the embodiment of the present application is applied to the control system 120 shown in fig. 3, the control system 120 may obtain, in real time, the predicted power value calculated by the wind power prediction system 150 and downloaded to the central monitoring system 160 and the actual power value acquired by the central monitoring system; when the yaw control method of the wind turbine generator system provided by the embodiment of the present application is applied to the central monitoring system 160 shown in fig. 3, the central monitoring system 160 may obtain the predicted power value calculated by the wind power prediction system 150 and the actual power value acquired by the central monitoring system in real time.
S602, comparing the predicted power value with the actual power value, and determining whether the target wind generating set meets a preset yaw condition according to the comparison result; if yes, go to step S603, otherwise go to step S604.
Optionally, if the predicted power value is larger than the actual power value and the power deviation between the predicted power value and the actual power value is larger than or equal to a preset power deviation threshold value, determining that the target wind generating set meets a yaw condition; and if the predicted power value is smaller than or equal to the actual power value or the power deviation between the predicted power value and the actual power value is smaller than the power deviation threshold value, determining that the target wind generating set does not meet the yaw condition. Wherein the power deviation threshold may be determined based on actual demand and empirical values.
Alternatively, when the yaw control method of the wind turbine generator set provided by the embodiment of the present application is applied to the control system 120 as shown in fig. 3, the control system 120 may perform step S603 when determining that the target wind turbine generator set satisfies the yaw condition; when the yaw control method of the wind turbine generator set provided by the embodiment of the present application is applied to the central monitoring system 160 as shown in fig. 3, the central monitoring system 160 may send a yaw instruction to the control system 120 of the target wind turbine generator set when it is determined that the target wind turbine generator set satisfies the yaw condition, and step S603 is executed by the control system 120.
And S603, controlling the target wind generating set to yaw.
Optionally, controlling a cabin of the target wind generating set to perform first yawing along the target yawing direction; if the power deviation between the predicted power value and the actual power value is reduced after the first yawing compared with the power deviation before the first yawing, controlling the engine room of the target wind generating set to continue yawing for at least one time along the target yawing direction until the power deviation is unchanged or begins to increase; if the power deviation between the predicted power value and the actual power value is increased after the first yaw compared with before the first yaw, controlling the engine room of the target wind generating set to perform at least one yaw in the direction opposite to the target yaw direction, and enabling the power deviation to be reduced until the power deviation is unchanged or increased again; and if the power deviation between the predicted power value and the actual power value is not changed after the first yaw compared with before the first yaw, controlling the target wind generating set to keep the current state.
And S604, controlling the target wind generating set to keep the current state.
By adopting the yaw control method of the wind generating set, the yaw control can be carried out on the target wind generating set based on the predicted power value and the actual power value of the target wind generating set, under the condition that the reference position of the target wind generating set is not accurately set or the real-time position measurement of the target wind generating set is not accurate, the yaw task can still be normally completed, the windward state of the target wind generating set is adjusted, the damage caused by unbalanced wind is reduced, the safety of the target wind generating set is improved, and the wind energy obtained by the target wind generating set and the generated energy can be increased.
Referring to fig. 7, an alternative implementation of the yaw control method of the wind turbine generator system according to the embodiment of the present application is described:
s701, acquiring a predicted power value W and an actual power value W1 of the target wind generating set in real time.
S702, detecting whether predicted power value W and actual power value W1 satisfy: w is more than W1 and (W-W1) is more than or equal to W2; if so, perform S703, otherwise, perform S706.
If the conditions are met, the deviation between the predicted power value W and the actual power value W1 is too large, which indicates that the cabin of the target wind generating set is in a non-opposite wind position and deviates from the opposite wind position too much, the obtained wind energy cannot meet the requirement, and the windward state of the cabin needs to be adjusted in a yawing manner, so that the cabin tends to face the wind position; if the condition is not met, the deviation between the predicted power W and the actual power value W1 is small (in a specified range), which indicates that the current position of the engine room of the target wind generating set is in the position facing the wind or the deviation from the position facing the wind is small, and the obtained wind energy can meet the requirement without adjustment.
S703, controlling a cabin of the target wind generating set to perform first yawing along a target yawing direction, and detecting a variation trend of power deviation between a predicted power value W and an actual power value W1 after the first yawing compared with before the first yawing; if the power offset is decreased, S704 is executed, if the power offset is increased, S705 is executed, and if the power offset is not changed, S706 is executed.
Alternatively, before controlling the nacelle of the target wind park to yaw for the first time in the target yaw direction, the target yaw direction may be determined by:
acquiring deflection angles of a machine room in a target wind generating set and a machine room in a reference wind generating set relative to a reference position respectively; when the fact that the deflection angle of the engine room in the target wind generating set is equal to the deflection angle of the engine room in the reference wind generating set is determined, taking any rotation direction of the engine room in the target wind generating set as a target yaw direction; and when the deflection angle of the engine room in the target wind generating set is determined to be unequal to the deflection angle of the engine room in the reference wind generating set, taking one rotation direction which enables the deflection angle of the engine room in the target wind generating set and the deflection angle of the engine room in the reference wind generating set to be equal as a target yaw direction in each rotation direction of the engine room in the target wind generating set.
The reference wind generating set can be selected in advance according to actual requirements, for example, the reference wind generating set can be selected according to the degree of similarity to the working condition of the wind generating set. In a specific example, one wind turbine generator set closest to the target wind turbine generator set may be used as the reference wind turbine generator set, and one wind turbine generator set most consistent with the wind direction in which the target wind turbine generator set is located may be used as the reference wind turbine generator set. If a part of wind generating sets in the wind power plant are arranged in an environment with relatively complex terrain, each wind generating set may have a certain deviation, and at this time, a reference wind generating set with reference may not be determined.
In the method for determining the target yaw direction, when the deflection angle of the nacelle in the target wind generating set relative to the reference position is equal to the deflection angle of the nacelle in the reference wind generating set relative to the wind generating set, the current reference wind generating set does not have reference, and the yaw control is performed by adopting a blind control method; and when the deflection angle of the engine room in the target wind generating set is not equal to the deflection angle of the engine room in the reference wind generating set, the current reference wind generating set has referential property, and the non-blind control mode is adopted to carry out yaw control.
In the application, yaw control is performed in a blind control mode, which means that one default direction (namely, the aforementioned arbitrary rotation direction) is used as a target yaw direction to perform first yaw, and then adjustment is performed according to actual conditions in subsequent yaw control.
Adopt blind accuse mode to carry out yaw control in this application, refer to according to the big or small relation of two deflection angles and can confirm the relative position relation of target wind generating set and reference wind generating set, will move towards the direction of rotation of referring to wind generating set and carry out driftage for the first time as target yaw direction to make yaw control more accurate.
The rotation direction of the nacelle in the embodiment of the present application includes a clockwise direction and a counterclockwise direction of the nacelle, where the clockwise direction and the counterclockwise direction may be determined based on a viewing angle shown in fig. 5 (i.e., a viewing angle viewed from the top of the nacelle to the inside of the nacelle), where the clockwise direction is a direction that continuously decreases the yaw angle a of the nacelle, the counterclockwise direction is a direction that continuously increases the yaw angle a of the nacelle, and may also be determined based on an opposite viewing angle to the viewing angle shown in fig. 5, and the viewing angle shown in fig. 5 is used as an example for the following description; in the embodiment of the present application, the clockwise direction and the counterclockwise direction are opposite to each other.
In one example, if the wind turbine generator set 1 and the wind turbine generator set m shown in fig. 3 are respectively taken as a target wind turbine generator set and a reference wind turbine generator set, a yaw angle of a nacelle in the target wind turbine generator set with respect to a reference position (for example, a due north direction in fig. 5) is represented as a1, and a yaw angle of a nacelle in the reference wind turbine generator set with respect to the reference position is represented as Am, it is first determined whether a1 and Am are equal as shown in fig. 8; when determining that a1 is Am, determining a target yaw direction and performing subsequent yaw control by using a blind control method, specifically, a clockwise direction (a direction in which the yaw angle a1 is constantly decreased) as shown in fig. 5 may be used as the target yaw direction, a counterclockwise direction (a direction in which the yaw angle a1 is constantly increased) as shown in fig. 5 may be used as the target yaw direction, that is, one direction may be arbitrarily determined as the target yaw direction; and when determining that A1 is not equal to Am, determining a target yaw direction and performing subsequent yaw control by adopting a non-blind control mode, specifically, determining the target yaw direction according to the relative position relation between the reference wind generating set and the target wind generating set.
Specifically, in the non-blind control mode, when a1> Am, it may be determined that the reference wind turbine generator set is closer to the reference position than the target wind turbine generator set, that is, the reference wind turbine generator set is located at a position in the clockwise direction of the target wind turbine generator set shown in fig. 5, and in order to make the deflection angle a1 of the nacelle in the target wind turbine generator set and the deflection angle Am of the nacelle in the reference wind turbine generator set tend to coincide, the clockwise direction may be used as the target yaw direction to perform the first yaw; when a1< Am, it is determined that the reference wind turbine generator set is farther from the reference position than the target wind turbine generator set, that is, the reference wind turbine generator set is at a position in the counterclockwise direction of the target wind turbine generator set shown in fig. 5, and the counterclockwise direction is set as the target yaw direction so that the yaw angle a1 of the nacelle in the target wind turbine generator set and the yaw angle Am of the nacelle in the reference wind turbine generator set tend to coincide with each other.
Optionally, before controlling the nacelle of the target wind turbine generator system to perform a first yaw in the target yaw direction, the method further includes: and determining a first yaw angle according to the current to-be-yawed angle B of the target wind generating set and a preset yaw deviation stepping angle B1.
Optionally, after the first yaw angle is determined, the nacelle of the target wind generating set is controlled to perform first yaw at the first yaw angle along the target yaw direction.
Alternatively, the current angle to be yawed of the target wind turbine generator set may be determined by: acquiring the current wind direction of the environment where the target wind generating set is located and the current deflection position of an engine room in the target wind generating set; and determining the current angle B to be yawed according to the current wind direction and the current deflection position.
In the embodiment of the present application, the current yaw position of the nacelle in the target wind turbine generator set may be represented by the current yaw position of the nacelle center line 191 of the target wind turbine generator set, and after acquiring the current wind direction of the environment where the target wind turbine generator set is located and the current yaw position of the nacelle center line 191 of the target wind turbine generator set, an included angle between the nacelle center line 191 of the target wind turbine generator set and the current wind direction is taken as the current to-be-yawed angle B, in one example, the current wind direction may be measured by a wind sensor in the wind measuring system 110, and the current yaw position of the nacelle center line 191 may be measured by a cam system in the detection system 140. Based on the above determination manner, in the multiple yawing related to the embodiment of the present application, the current to-be-yawed angle B is not necessarily a fixed value, and may be a different value that changes in real time.
In the embodiment of the present application, the yaw deviation stepping angle B1 may be set according to actual requirements, and is used for adjusting the yaw angle in the subsequent yaw control, and may be set to a smaller value, so that the adjustment of the yaw angle is finer, for example, the yaw deviation stepping angle B1 may be set to an angle value satisfying the following conditions: | A1-Am | > B1>0 °; in one example, the yaw bias step angle B1 may be set by the central monitoring system 160.
Optionally, determining a first yaw angle according to the current to-be-yawed angle B and a preset yaw deviation stepping angle B1 includes: and taking the difference or the sum of the current to-be-yawed angle B and the yaw deviation stepping angle B1 as a first yaw angle.
In an optional embodiment, in a non-blind control mode, determining a first yaw angle calculation mode according to the size relation between A1 and Am; specifically, as shown in fig. 8, when a1> Am, C1 ═ B-B1 is taken as the first yaw angle, and when a1< Am, C1 ═ B + B1 is taken as the first yaw angle.
In an alternative embodiment, in the blind control mode, the first yaw angle is calculated according to the default target yaw direction; specifically, as shown in fig. 9, when the clockwise direction as shown in fig. 5 is taken as the target yaw direction by default, C1 ═ B-B1 is taken as the first yaw angle, and when the counterclockwise direction as shown in fig. 5 is taken as the target yaw direction by default, C1 ═ B + B1 is taken as the first yaw angle (this case is not shown in fig. 9).
Optionally, after the first yaw angle is determined, controlling the nacelle of the target wind turbine generator set to yaw at the first yaw angle in the target yaw direction.
In an alternative embodiment, in a non-blind control mode, when a1> Am, the control target wind turbine generator set is yawed in a clockwise direction at a first yaw angle C1 ═ B-B1, and when a1< Am, the control target wind turbine generator set is yawed in a counterclockwise direction at a first yaw angle C1 ═ B + B1; in the blind control mode, when the clockwise direction shown in fig. 5 is taken as the default target yaw direction, the control target wind turbine generator set performs yaw in the clockwise direction by the first yaw angle C1 ═ B-B1, and when the counterclockwise direction shown in fig. 5 is taken as the default target yaw direction, the control target wind turbine generator set performs yaw in the counterclockwise direction by the first yaw angle C1 ═ B + B1.
Alternatively, the power deviation between the predicted power value W and the actual power value W1 in the present embodiment may be reflected by the difference between the predicted power value W and the actual power value W1, or may be reflected by the ratio of the predicted power value W and the actual power value W1.
When the power deviation is reflected by the difference between the predicted power value W and the actual power value W1, if the difference between W and W1 is decreased, the power deviation is decreased, which further indicates that the power adjustment of the target wind turbine generator system by the yaw is effective, and the yaw can be continued through step S704; if the difference between W and W1 is increased, it indicates that the power deviation is increasing, and the power adjustment of the target wind turbine generator system by the yaw is invalid, and the yaw direction needs to be changed through step S705 to yaw again; if the difference between W and W1 is not changed, it indicates that the power deviation is not changed, and thus indicates that the power adjustment of the target wind turbine generator system by the yaw is invalid, and the yaw may be stopped S706.
When the power deviation is reflected by the ratio of the predicted power value W and the actual power value W1, if the ratio of W and W1 is closer to 1, it indicates that the power deviation is decreasing, and further indicates that the yaw is effective for power adjustment of the target wind turbine generator system, and the yaw may be continued through step S704; if the ratio of W to W1 deviates from 1, it indicates that the power deviation is increasing, and further indicates that the power adjustment of the target wind turbine generator system by the yaw is invalid, and the yaw direction needs to be changed through step S705 to yaw again; if the ratio of W to W1 is not changed, it indicates that the power deviation is not changed, and further indicates that the power adjustment of the target wind turbine generator system by the yaw is invalid, and the yaw may be stopped to execute step S706.
And S704, controlling the cabin of the target wind generating set to continue yawing at least once along the target yawing direction until the power deviation between the predicted power value W and the actual power value W1 is unchanged or begins to increase.
Optionally, before each yaw, determining the yaw angle according to the current to-be-yawed angle B and the yaw deviation stepping angle B1; and controlling the nacelle of the target wind generating set to perform the yaw at the yaw angle along the target yaw direction at each yaw.
In an alternative embodiment, when the difference between the current to-be-yawed angle B and the yaw bias step angle B1 is taken as the first yaw angle (i.e., C1-B1), determining the second yaw angle from the current to-be-yawed angle B and the yaw bias step angle B1 includes determining the nth yaw angle according to expression (1):
cn is B-B1 Xn, n ≧ 2 expression (1)
In expression (1), Cn represents the nth yaw angle, B represents the current to-be-yawed angle, B1 represents the yaw deviation stepping angle, and n is an integer.
In another alternative embodiment, when the sum of the current to-be-yawed angle B and the yaw bias step angle B1 is taken as the first yaw angle (i.e., C1-B + B1), determining the current yaw angle from the current to-be-yawed angle B and the yaw bias step angle B1 includes determining the nth yaw angle according to the following expression (2):
cn + B1 Xn, n ≧ 2 expression (2)
The meaning of each parameter in the expression (2) is the same as that of the above.
In one example, in a non-blind control mode, the calculation mode of the yaw angle is determined according to the size relation between A1 and Am. Specifically, as shown in fig. 8, when a1> Am, the nth-time yaw angle Cn is determined according to expression (1), and when the nth-time yaw angle Cn is calculated, it is equivalent to decrease by one yaw deviation step angle B1 on the basis of the way of calculating the (n-1) th-time yaw angle; when a1< Am, the nth yaw angle Cn is determined according to expression (2), and when the nth yaw angle Cn is calculated, it is equivalent to adding a yaw deviation stepping angle B1 on the basis of the calculation manner of the (n-1) th yaw angle.
In one example, in the blind steering mode, the calculation mode of the secondary yaw angle is determined according to the default target yaw direction. As shown in fig. 9, when the clockwise direction as shown in fig. 5 is taken as the target yaw direction by default, the nth-time yaw angle Cn is determined according to expression (1), the principle of which is the same as that described above; when the counterclockwise direction as shown in fig. 5 is taken as the target yaw direction by default, the nth-time yaw angle Cn is determined according to expression (2), the principle of which is the same as that described above.
And S705, controlling the cabin of the target wind generating set to perform at least one yaw in the direction opposite to the target yaw direction, so that the power deviation between the predicted power value W and the actual power value W1 is reduced until no change or increase again.
Optionally, before each yaw, determining the yaw angle according to the current to-be-yawed angle B and the yaw deviation stepping angle B1; and controlling the nacelle of the target wind generating set to perform the yaw at the yaw angle along the direction opposite to the target yaw direction during each yaw.
In an alternative embodiment, when the difference between the current to-be-yawed angle B and the yaw bias step angle B1 is taken as the first yaw angle, determining the second yaw angle from the current to-be-yawed angle B and the yaw bias step angle B1 includes determining the nth yaw angle according to the following expression (3):
In another alternative embodiment, when the sum of the current to-be-yawed angle B and the yaw bias step angle B1 is taken as the first yaw angle, determining the second yaw angle from the previous yaw angle and the yaw bias step angle B1 includes determining the nth yaw angle according to the following expression:
the meanings of the parameters in the expressions (3) and (4) are the same as above.
In one example, in a non-blind control mode, the calculation mode of the yaw angle is determined according to the size relation between A1 and Am. Specifically, as shown in fig. 8, when a1> Am, the nth-time yaw angle Cn is determined according to expression (3), and in calculating the second-time yaw angle C2, it is equivalent to adding two yaw deviation step angles B1 on the basis of the calculation manner of the first-time yaw angle C1, and in calculating each of the third-time yaw angles C3 and thereafter, it is equivalent to adding one yaw deviation step angle B1 on the basis of the calculation manner of the previous-time yaw angle; when a1< Am, the nth yaw angle Cn is determined according to expression (4), and in calculating the second yaw angle C2, it is equivalent to decreasing two yaw offset step angles B1 on the basis of the calculation method of the first yaw angle C1, and in calculating the third yaw angle C3 and every subsequent yaw angle, it is equivalent to decreasing one yaw offset step angle B1 on the basis of the calculation method of the previous yaw angle.
In another example, in the blind steering mode, the calculation mode of the secondary yaw angle is determined according to the default target yaw direction. As shown in fig. 9, when the clockwise direction as shown in fig. 5 is taken as the target yaw direction by default, the nth-time yaw angle Cn is determined according to expression (3), the principle of which is the same as that described above; when the counterclockwise direction as shown in fig. 5 is taken as the target yaw direction by default, the nth-time yaw angle Cn is determined according to expression (4), the principle of which is the same as that described above.
Due to manual misoperation and errors of measurement components, the measured deflection angle A1 of the cabin of the target wind generating set relative to the reference position often has a certain deviation from the actual deflection angle, and the deviation is reflected by setting a yaw deviation stepping angle B1; however, since how much deviation is unknown in advance, it cannot be guaranteed that the deviation is accurately reflected by only using the numerical value of one yaw deviation stepping angle B1, it is necessary to continuously increase or decrease more than one yaw deviation stepping angle B1 until the power deviation between the predicted power value W and the actual power value W1 reaches the minimum, so that the increased or decreased total value continuously approaches the actual deviation, and further the yaw control of the embodiment of the present application is more accurate, so that the position line 191 in the nacelle of the target wind turbine generator set after yaw may be as consistent as possible with the current wind direction, and the nacelle approaches the direct wind state.
In one example, after the third yaw is completed with C3 ═ B + B1 × 3, the power deviation between the predicted power value W and the actual power value W1 reaches the minimum, then B1 × 3 is the value closest to the actual deviation, and if further yaw is required on the subsequent execution, the yaw may still be performed with (B + B1 × 3) as the yaw angle.
And S706, controlling the target wind generating set to keep the current state.
By applying the yaw control method of the wind generating set, at least the following beneficial effects can be realized:
1) the method comprises the steps that yaw control is carried out on a target wind generating set on the basis of power data, not position data, of the target wind generating set, under the condition that the reference position of the target wind generating set is not accurately set or the real-time position measurement of the target wind generating set is not accurate, a yaw task can still be normally finished, the windward state of the target wind generating set is adjusted, damage caused by unbalanced wind is reduced, the safety of the target wind generating set is improved, and wind energy obtained by the target wind generating set and generated power can be increased;
2) whether the yaw condition is met can be judged based on power data (predicted power value and actual power value) obtained by different components, so that the accuracy of yaw control can be improved, and invalid yaw is reduced;
3) The reference wind generating set which is close to the working condition of the target wind generating set can be selected in advance, the direction of first yaw is determined according to the relative position relation between the reference wind generating set and the target wind generating set, the power deviation between the predicted power value and the actual power value is monitored, the direction and the frequency of subsequent yaw can be determined, and the adjustment of the windward state of the target wind generating set is gradually completed through multiple yaw, so that the target wind generating set continuously obtains larger wind energy until the requirement is met, the adjustment precision is improved, and excessive adjustment and ineffective adjustment are avoided;
4) for each yaw, on the basis of the actually measured current to-be-yawed angle, the yaw angle can be determined by increasing or decreasing the corresponding number of yaw deviation stepping angles, the yaw is controlled according to the yaw angle, the yaw precision can be improved, the yaw effectiveness can be verified according to the variation trend of the power deviation between the predicted power value and the actual power value, and the state can be adjusted in real time when the verification is invalid, so that the yaw effectiveness is improved.
Based on the same inventive concept, the present application provides a yaw control apparatus of a wind turbine generator system, which can execute the yaw control method of the wind turbine generator system provided in the foregoing method embodiments, as shown in fig. 10, the yaw control apparatus 1000 of the wind turbine generator system includes: a data acquisition module 1001, a data comparison module 1002, and a control module 1003.
The data acquisition module 1001 is used for acquiring a predicted power value and an actual power value of a target wind generating set in real time;
the data comparison module 1002 is configured to compare the predicted power value with the actual power value, and determine whether the target wind turbine generator set meets a preset yaw condition according to a comparison result;
and the control module 1003 is used for controlling the target wind generating set to yaw when the target wind generating set meets the yaw condition, and controlling the target wind generating set to keep the current state when the target wind generating set does not meet the yaw condition.
Optionally, the data comparing module 1002 is specifically configured to: when the predicted power value is larger than the actual power value and the power deviation between the predicted power value and the actual power value is larger than or equal to a preset power deviation threshold value, determining that the target wind generating set meets a yaw condition; and when the predicted power value is smaller than or equal to the actual power value or the power deviation between the predicted power value and the actual power value is smaller than a power deviation threshold value, determining that the target wind generating set does not meet the yaw condition.
Optionally, the control module 1003 is specifically configured to: controlling the target wind generating set to perform first yawing along the target yawing direction; if the power deviation between the predicted power value and the actual power value is reduced after the first yaw compared with before the first yaw, controlling the target wind generating set to continue to perform at least one yaw along the target yaw direction until the power deviation is unchanged or begins to increase; if the power deviation between the predicted power value and the actual power value is increased after the first yaw compared with before the first yaw, controlling the target wind generating set to perform at least one yaw in the direction opposite to the target yaw direction, so that the power deviation is reduced until no change or increase again; and if the power deviation between the predicted power value and the actual power value is not changed after the first yaw compared with before the first yaw, controlling the target wind generating set to keep the current state.
Optionally, the yaw control device is provided in the control system 120 of the target wind park or in the central monitoring system 160 of the wind farm to which the target wind park belongs. The control system 120 may be provided in the target wind park or separately from the target wind park.
The yaw control device 1000 of the wind generating set provided by the embodiment of the present application has the same inventive concept and the same beneficial effects as the foregoing method embodiments, and the contents that are not shown in detail in the yaw control device 1000 of the wind generating set may refer to the foregoing method embodiments, and are not described again here.
Based on the same inventive concept, an embodiment of the present application provides a yaw control apparatus of a wind turbine generator system, as shown in fig. 11, the yaw control apparatus 1100 of the wind turbine generator system includes: a memory 1101 and a processor 1102.
The memory 1101 in the embodiment of the present application stores thereon a computer program, which is executed by the processor 1102 to implement the yaw control method of the wind turbine generator set provided in the embodiment of the present application.
The Memory 1101 in the embodiments of the present application may be a ROM (Read-Only Memory) or other type of static storage device that may store static information and instructions, which may be, but is not limited to, RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The Processor 1102 in this embodiment may be a CPU (Central Processing Unit), a general purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 1102 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.
It will be appreciated by those skilled in the art that the yaw control apparatus 1100 of the wind turbine generator system provided in the embodiments of the present application may be specially designed and manufactured for the required purposes, or may comprise known apparatus in a general purpose computer. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus.
The yaw control device 1100 of the wind turbine generator system provided by the embodiment of the present application has the same inventive concept and the same advantageous effects as the embodiments described above, and the contents not shown in detail in the yaw control device 1100 of the wind turbine generator system may refer to the embodiments described above, and are not described again here.
Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the yaw control method of a wind turbine generator system provided by embodiments of the present application.
The computer readable medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs, RAMs, EPROMs (Erasable Programmable Read-Only Memory), EEPROMs, flash Memory, magnetic cards, or fiber optic cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The computer-readable storage medium provided in the embodiments of the present application has the same inventive concept and the same advantages as the embodiments described above, and contents not shown in detail in the computer-readable storage medium may refer to the embodiments described above, and are not described herein again.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (16)
1. A yaw control method of a wind generating set is characterized by comprising the following steps:
acquiring a predicted power value and an actual power value of a target wind generating set in real time;
comparing the predicted power value with the actual power value, and determining whether the target wind generating set meets a preset yaw condition according to a comparison result;
if the target wind generating set meets the yaw condition, controlling the target wind generating set to yaw;
and if the target wind generating set does not meet the yaw condition, controlling the target wind generating set to keep the current state.
2. The method of claim 1, wherein the determining whether the target wind turbine generator set meets a preset yaw condition according to the comparison result comprises:
if the predicted power value is larger than the actual power value and the power deviation between the predicted power value and the actual power value is larger than or equal to a preset power deviation threshold value, determining that the target wind generating set meets the yaw condition;
And if the predicted power value is smaller than or equal to the actual power value or the power deviation between the predicted power value and the actual power value is smaller than the power deviation threshold value, determining that the target wind generating set does not meet the yaw condition.
3. The method of claim 1, wherein the controlling the target wind park yaw comprises:
controlling a cabin of the target wind generating set to perform first yawing along a target yawing direction;
if the power deviation between the predicted power value and the actual power value is reduced after the first yawing compared with the power deviation before the first yawing, controlling the engine room of the target wind generating set to continue to perform at least one yawing along the target yawing direction until the power deviation is unchanged or begins to increase;
if the power deviation between the predicted power value and the actual power value is increased after the first yaw compared with before the first yaw, controlling the engine room of the target wind generating set to perform at least one yaw along the direction opposite to the target yaw direction, so that the power deviation is reduced until no change or increase again;
And if the power deviation between the predicted power value and the actual power value is not changed after the first yawing compared with the power deviation before the first yawing, controlling the target wind generating set to keep the current state.
4. The method of claim 3, wherein prior to controlling the nacelle of the target wind park for a first yaw in the target yaw direction, further comprising:
acquiring deflection angles of the engine room in the target wind generating set and the engine room in the reference wind generating set relative to a reference position respectively;
when the fact that the deflection angle of the engine room in the target wind generating set is equal to the deflection angle of the engine room in the reference wind generating set is determined, taking any rotation direction of the engine room in the target wind generating set as the target yaw direction;
and when the deflection angle of the engine room in the target wind generating set is determined to be unequal to the deflection angle of the engine room in the reference wind generating set, in each rotation direction of the engine room in the target wind generating set, taking one rotation direction which enables the deflection angle of the engine room in the target wind generating set and the deflection angle of the engine room in the reference wind generating set to be equal as the target yaw direction.
5. The method of claim 3, wherein prior to controlling the nacelle of the target wind park for a first yaw in the target yaw direction, further comprising:
determining a first yaw angle according to the current to-be-yaw angle of the target wind generating set and a preset yaw deviation stepping angle;
and controlling the target wind generating set to yaw for the first time along the target yaw direction, wherein the control method comprises the following steps:
controlling a nacelle of the target wind turbine generator set to perform a first yaw in the target yaw direction at the first yaw angle.
6. The method according to claim 5, wherein the determining a first yaw angle according to the current to-be-yawed angle value and a preset yaw deviation stepping angle comprises:
taking the difference or the sum of the current to-be-yawed angle and the yaw deviation stepping angle as the first-time yaw angle;
and controlling the target wind generating set to continue to perform at least one yaw towards the target yaw direction, wherein the controlling comprises the following steps:
before each yaw, determining the yaw angle according to the current to-be-yawed angle and the yaw deviation stepping angle;
And controlling the nacelle of the target wind generating set to perform the yaw at the yaw angle along the target yaw direction during each yaw.
7. The method of claim 6,
when the difference between the current to-be-yawed angle and the yaw deviation stepping angle is taken as the first-time yaw angle, determining the current-to-be-yawed angle according to the current to-be-yawed angle and the yaw deviation stepping angle, wherein the nth-time yaw angle is determined according to the following expression:
Cn＝B-B1×n，n≥2
when the sum of the current to-be-yawed angle and the yaw deviation stepping angle is used as the first-time yaw angle, determining the current-to-be-yawed angle according to the current to-be-yawed angle and the yaw deviation stepping angle, wherein the nth-time yaw angle is determined according to the following expression:
Cn＝B+B1×n，n≥2
wherein Cn represents the nth yaw angle, B represents the current to-be-yawed angle, B1 represents the yaw deviation stepping angle, and n is an integer.
8. The method according to claim 5, wherein the determining a first yaw angle according to the current to-be-yawed angle value and a preset yaw deviation stepping angle comprises:
taking the difference or the sum of the current to-be-yawed angle and the yaw deviation stepping angle as the first-time yaw angle;
And controlling the nacelle of the target wind generating set to perform at least one yaw in the direction opposite to the target yaw direction, wherein the yaw comprises the following steps:
before each yaw, determining the yaw angle according to the current to-be-yawed angle and the yaw deviation stepping angle;
and controlling the nacelle of the target wind generating set to perform the yaw at the yaw angle along the direction opposite to the target yaw direction during each yaw.
9. The method of claim 8,
when the difference between the current to-be-yawed angle and the yaw deviation stepping angle is taken as the first yaw angle, determining the current yaw angle according to the current yaw angle and the yaw deviation stepping angle, wherein the nth yaw angle is determined according to the following expression:
when the sum of the current to-be-yawed angle and the yaw deviation stepping angle is used as the first-time yaw angle, determining the current-time yaw angle according to the current-time yaw angle and the yaw deviation stepping angle, wherein the nth-time yaw angle is determined according to the following expression:
wherein Cn represents the nth yaw angle, B represents the current to-be-yawed angle, B1 represents the yaw deviation stepping angle, and n is an integer.
10. The method according to any one of claims 5 to 9, characterized in that the current angle to be yawed is determined by:
acquiring the current wind direction of the environment where the target wind generating set is located and the current deflection position of the engine room in the target wind generating set;
and determining the current angle to be yawed according to the current wind direction and the current deflection position.
11. A yaw control device of a wind generating set is characterized by comprising:
the data acquisition module is used for acquiring a predicted power value and an actual power value of the target wind generating set in real time;
the data comparison module is used for comparing the predicted power value with the actual power value and determining whether the target wind generating set meets a preset yaw condition according to a comparison result;
and the control module is used for controlling the target wind generating set to yaw when the target wind generating set meets the yaw condition, and controlling the target wind generating set to keep the current state when the target wind generating set does not meet the yaw condition.
12. The apparatus of claim 11,
the data comparison module is specifically configured to: when the predicted power value is larger than the actual power value and the power deviation between the predicted power value and the actual power value is larger than or equal to a preset power deviation threshold value, determining that the target wind generating set meets the yaw condition; determining that the target wind generating set does not satisfy the yaw condition when the predicted power value is less than or equal to the actual power value or a power deviation of the predicted power value from the actual power value is less than the power deviation threshold.
13. The apparatus of claim 11,
the control module is specifically configured to: controlling a cabin of the target wind generating set to perform first yawing along a target yawing direction; if the power deviation between the predicted power value and the actual power value is reduced after the first yawing compared with the power deviation before the first yawing, controlling the engine room of the target wind generating set to continue to perform at least one yawing along the target yawing direction until the power deviation is unchanged or begins to increase; if the power deviation between the predicted power value and the actual power value is increased after the first yaw compared with before the first yaw, controlling the engine room of the target wind generating set to perform at least one yaw along the direction opposite to the target yaw direction, so that the power deviation is reduced until no change or increase again; and if the power deviation between the predicted power value and the actual power value is not changed after the first yawing compared with the power deviation before the first yawing, controlling the target wind generating set to keep the current state.
14. An arrangement according to any one of claims 11-13, characterized in that the yaw controlling means are arranged in the control system of the target wind park or in a central monitoring system of the wind park to which the target wind park belongs.
15. A yaw control apparatus of a wind turbine generator system, comprising: a memory and a processor, the memory storing a computer program for execution by the processor to implement the yaw control method of a wind park according to any of claims 1 to 10.
16. A computer-readable storage medium, characterized in that a computer program is stored which, when being executed by a processor, carries out the yaw control method of a wind park according to any one of claims 1 to 10.
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