CN112177849A - Yaw control method and device of wind generating set - Google Patents

Yaw control method and device of wind generating set Download PDF

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Publication number
CN112177849A
CN112177849A CN201910584283.1A CN201910584283A CN112177849A CN 112177849 A CN112177849 A CN 112177849A CN 201910584283 A CN201910584283 A CN 201910584283A CN 112177849 A CN112177849 A CN 112177849A
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wind
yaw
generating set
deviation
static
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CN112177849B (en
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欧发顺
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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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
    • 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
    • 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
    • F05B2270/304—Spool rotational speed
    • 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
    • F05B2270/32—Wind speeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • 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)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a yaw control method and a yaw control device of a wind generating set, wherein the yaw control method comprises the following steps: determining the current running state of the wind generating set; if the current running state of the wind generating set is a power transition section, calculating the current static yaw wind deviation, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind deviation refers to the yaw wind deviation caused by the inherent deviation of a wind direction measuring device or artificial reasons; and controlling the wind generating set to perform yaw action based on the calculated static yaw wind deviation. By adopting the yaw control method and the yaw control device for the wind generating set, the static yaw wind alignment deviation can be effectively reduced, so that the yaw wind alignment precision of the wind generating set is improved.

Description

Yaw control method and device of wind generating set
Technical Field
The present invention relates generally to the field of wind power technology, and more particularly, to a yaw control method and apparatus for a wind turbine generator system.
Background
Modern large-scale wind generating sets are generally provided with an automatic yaw control system, the yaw control system generally comprises hardware such as a yaw motor, a yaw speed reducer, a yaw bearing, a wind vane, a yaw hydraulic system, a cabin position sensor and the like, and the yaw control system is mainly used for enabling the wind generating sets to generate wind and acquiring the wind energy to the maximum extent before the wind generating sets reach rated power. In the operation process of the wind generating set, when the wind generating set is just opposite to wind, the wind direction of free incoming flow is vertical to the plane of the impeller, and when the wind generating set is not accurate to wind (or has wind deviation), the normal line of the plane of the impeller of the wind generating set and the wind direction of the free incoming flow have an included angle (smaller than 90 degrees) in a certain range. According to the wind energy utilization formula, when the wind power generator unit is inaccurate in wind, the wind energy absorbed by the impeller can be reduced, and the output of the wind power generator unit is reduced.
At present, two types of yaw wind deviation exist, one type is dynamic yaw wind deviation, the type of wind deviation is mainly caused by wind direction change, a control system of a wind generating set acquires the change condition of the wind direction through a wind direction sensor, and the control system drives a yaw motor to execute yaw action according to a set yaw control strategy, so that the plane of an impeller of the wind generating set is opposite to the wind direction, and the type of wind deviation is reduced. The other type is static yaw wind deviation, which is mainly caused by inaccurate wind direction measurement of the wind direction sensor due to external factors, for example, inaccurate wind direction measurement due to disturbance when the impeller rotates, inaccurate detection of the position of the nacelle caused by signal drift or fault of an anemometer or a nacelle position sensor, inaccurate wind direction measurement caused by manual adjustment of a base of the wind direction sensor or the wind direction sensor, and the like.
The existing yaw control strategy can effectively eliminate the dynamic yaw wind deviation caused by the change of the wind direction, but the existing yaw control strategy can not eliminate the static yaw wind deviation of the wind generating set. When the wind generating set has larger static yaw wind deviation, the control system of the wind generating set still considers that the wind generating set is always in wind, so that the accuracy of yaw wind is reduced.
In the power generation process of the wind generating set, the randomness and the time variation of the wind speed and the direction bring difficulties for the correction and the compensation of the yaw wind deviation of the wind generating set, and no effective algorithm or technical means for dynamically correcting and compensating the static yaw wind deviation exist at present.
Disclosure of Invention
An object of an exemplary embodiment of the present invention is to provide a yaw control method and apparatus of a wind turbine generator set to overcome at least one of the above-mentioned disadvantages.
In one general aspect, there is provided a yaw control method of a wind turbine generator set, including: determining the current running state of the wind generating set; if the current running state of the wind generating set is a power transition section, calculating the current static yaw wind deviation, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind deviation refers to the yaw wind deviation caused by the inherent deviation of a wind direction measuring device or artificial reasons; and controlling the wind generating set to perform yaw action based on the calculated static yaw wind deviation.
Optionally, the step of determining the current operating state of the wind park may comprise: the actual online power of the wind generating set is compared with the rated power, and the impeller rotating speed of the wind generating set is compared with the impeller maximum rotating speed, wherein if the actual online power of the wind generating set is smaller than the rated power and the impeller rotating speed of the wind generating set is smaller than or equal to the impeller maximum rotating speed, the current operation state of the wind generating set is determined to be a power transition section, and if the actual online power of the wind generating set is larger than or equal to the rated power and/or the impeller rotating speed of the wind generating set is larger than the impeller maximum rotating speed, the current operation state of the wind generating set is determined to be a rated power section.
Optionally, the step of calculating the current static yaw versus wind offset may comprise: determining the current wind speed; determining a wind speed interval where the current wind speed is; and determining the static yaw wind deviation corresponding to the wind speed interval as the static yaw wind deviation corresponding to the current wind speed.
Alternatively, the static yaw versus wind deviation corresponding to the wind speed interval may be determined by: and determining the static yaw wind deviation corresponding to the wind speed intervals based on the corresponding relation between the plurality of predetermined wind speed intervals and the plurality of static yaw wind deviations.
Alternatively, the correspondence of the plurality of wind speed intervals to the plurality of static yaw versus wind deviations may be determined by: acquiring operation data of a wind generating set in a power transition section, wherein the operation data comprises wind speed and wind direction angle; dividing bins according to wind speed to obtain a plurality of wind speed intervals; and aiming at each wind speed interval, dividing bins according to wind direction angles corresponding to the wind speeds in the wind speed interval to obtain a plurality of wind direction angle intervals, respectively calculating the accumulated generated energy of the wind generating set in each wind direction angle interval, and determining the static yaw wind alignment deviation corresponding to the wind speed interval according to the accumulated generated energy of the wind generating set in each wind direction angle interval.
Optionally, the operation data may further include output power of the wind turbine generator system, and the cumulative power generation amount of the wind turbine generator system in any wind direction angle interval may be determined by: acquiring the output power of the wind generating set corresponding to each wind direction angle in any wind direction angle interval; and integrating the output power of the wind generating set in a preset time period to obtain the accumulated generating capacity of the wind generating set in any wind direction angle interval.
Alternatively, the static yaw wind offset corresponding to any wind speed interval may be a wind direction angle corresponding to the maximum value of the accumulated power generation amount of the wind generating set in each wind direction angle interval of the wind speed interval.
Optionally, the yaw control method may further include: if the current operating state of the wind generating set is a rated power section, calculating a static yaw wind deviation corresponding to the current wind speed based on a plurality of predetermined wind speed intervals and a plurality of static yaw wind deviations corresponding to the plurality of wind speed intervals.
Optionally, the step of controlling the wind turbine generator set to perform a yaw action based on the calculated static yaw versus wind deviation may include: obtaining a compensation value of the yaw wind deviation according to the static yaw wind deviation obtained through calculation; correcting the wind direction angle of yaw to wind by using the obtained compensation value of the yaw to wind deviation; and controlling the wind generating set to perform yaw action based on the corrected wind direction angle.
Alternatively, the compensation value for the yaw-to-wind offset may be the inverse of the static yaw-to-wind offset.
Optionally, the yaw control method may further include: and determining whether the wind generating set is in a power generation state, wherein if the wind generating set is in the power generation state, determining the current operation state of the wind generating set.
In another general aspect, there is provided a yaw control apparatus of a wind turbine generator set, including: the operation state determining module is used for determining the current operation state of the wind generating set; the static deviation calculation module is used for calculating the current static yaw wind deviation if the current running state of the wind generating set is a power transition section, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind deviation refers to the inherent deviation of a wind direction measuring device or the yaw wind deviation caused by artificial reasons; and the yaw control module is used for controlling the wind generating set to perform yaw action based on the calculated static yaw wind-to-wind deviation.
In another general aspect, there is provided a controller of a wind turbine generator set, including: a processor; an input/output interface; a memory for storing a computer program which, when executed by the processor, implements the above-mentioned yaw control method of a wind park.
In another general aspect, there is provided a control system of a wind turbine generator set, including: the wind direction sensor is used for measuring the current wind direction angle; the controller determines the current operating state of the wind generating set, calculates the current static yaw wind-to-wind deviation if the current operating state of the wind generating set is a power transition section, corrects a wind direction angle acquired from a wind direction sensor based on the calculated static yaw wind-to-wind deviation, and controls the wind generating set to perform yaw action based on the corrected wind direction angle, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind-to-wind deviation refers to inherent deviation of a wind direction measuring device or yaw wind-to-wind deviation caused by artificial reasons.
In another general aspect, there is provided a computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, is adapted to carry out the above-mentioned yaw control method of a wind park.
By adopting the yaw control method and the yaw control device for the wind generating set, the static yaw wind alignment deviation can be effectively reduced, so that the yaw wind alignment precision of the wind generating set is improved.
Drawings
The above and other objects and features of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:
FIG. 1 shows a flow chart of a yaw control method of a wind park according to an exemplary embodiment of the invention;
FIG. 2 illustrates a schematic diagram of creating a static yaw versus wind bias in accordance with an exemplary embodiment of the present invention;
FIG. 3 shows a flowchart of the steps of determining a correspondence of a plurality of wind speed intervals and a plurality of static yaw versus wind deviations according to an exemplary embodiment of the present invention;
FIG. 4 shows a block diagram of a yaw control arrangement of a wind park according to an exemplary embodiment of the present invention;
FIG. 5 shows a block diagram of a controller of a wind park according to an exemplary embodiment of the present invention;
fig. 6 shows a block diagram of a control system of a wind park according to an exemplary embodiment of the invention.
Detailed Description
Various example embodiments will now be described more fully with reference to the accompanying drawings, in which some example embodiments are shown.
Fig. 1 shows a flow chart of a yaw control method of a wind park according to an exemplary embodiment of the invention.
Referring to fig. 1, in step S10, the current operating state of the wind park is determined.
In a preferred embodiment, the yaw control method of a wind turbine generator set according to an exemplary embodiment of the present invention may further include: and determining whether the wind generating set is in a power generation state.
Generally, when the wind turbine generator system is in the power generation state, the wind turbine generator system needs to yaw to face the wind, and at this time, step S10 may be executed to determine the current operating state of the wind turbine generator system.
If the wind generating set is not in a generating state, yaw wind deviation does not need to be compensated. As an example, the wind park not being in a generating state may include the wind park being in a fault-down state, a maintenance state, a low wind standby state, and the like.
As an example, the operating condition in which the wind park is located may include that the wind park is currently in a power transition segment and that the wind park is currently in a rated power segment. That is, in step S10, it may be determined whether the wind park is currently in the power transition or rated power section.
In an exemplary embodiment of the invention, it may be determined whether the wind park is operating in the rated power section according to the relation of the wind park power and the rotational speed. For example, the step of determining the current operating state of the wind park may comprise: and comparing the actual online power of the wind generating set with the rated power, and comparing the impeller rotating speed of the wind generating set with the maximum rotating speed of the impeller.
And if the actual online power of the wind generating set is smaller than the rated power and the rotating speed of an impeller of the wind generating set is smaller than or equal to the maximum rotating speed of the impeller, determining that the wind generating set is in a power transition section. And if the actual online power of the wind generating set is greater than or equal to the rated power and/or the rotating speed of an impeller of the wind generating set is greater than the maximum rotating speed of the impeller, determining that the wind generating set is in a rated power section.
For example, the operating state of the wind turbine generator system can be determined by the following formula:
Figure BDA0002113916480000051
in the formula (1), p is the actual power of the wind turbine generator system, and here, the average value of the sampling period (e.g. 10min) can be taken, peFor the rated power of the wind generating set, for the power margin, as an example, the value range may be 0 to 20 kilowatts, ω is the impeller rotation speed of the wind generating set, and generally, the average value of the sampling period may be taken, where the sampling period is consistent with the duration of the sampling period for calculating the real-time internet power, γ is the impeller rotation speed coefficient, γ may be 0.9 to 1.0, ω is a value rangemaxIs the maximum impeller speed.
When the two conditions in the above formula (1) are satisfied simultaneously, it can be considered that the wind turbine generator has not reached the rated power section, that is, the wind turbine generator is in the power transition section. If at least one condition in the above equation (1) is not satisfied, the wind park may be considered to reach the rated power section, i.e. the output power of the wind park remains constant.
It should be understood that the above-mentioned manner of determining the operating state of the wind turbine generator set is only an example, and the present invention is not limited thereto, and for example, it may be determined whether the wind turbine generator set enters the rated power section by comparing the actual wind speed with the theoretical rated wind speed according to the design parameters of the wind turbine generator set.
If the current operating state of the wind generating set is the power transition section, executing the step S20: the current static yaw versus wind bias is calculated in a first manner.
Here, the power transition section refers to a stage in which the wind turbine generator does not reach the full output power, in other words, the power transition section may refer to a stage in which the wind turbine generator can increase the output power of the wind by yawing.
Furthermore, it should be understood that during operation of the wind turbine generator system, the direction of the machine head is not coincident with the direction of the free incoming wind in front of the impeller, but has an angular deviation, which may be referred to as yaw misalignment (yaw misalignment).
The yaw-to-wind bias may include a dynamic yaw-to-wind bias, which may refer to a yaw-to-wind bias due to a change in wind direction, and a static yaw-to-wind bias, which may refer to a yaw-to-wind bias due to an inherent bias of a wind direction measurement device or due to human causes.
As an example, the inherent deviation of the wind direction measuring device may refer to a deviation due to a manufacturing process of the wind direction measuring device. The yaw alignment deviation caused by human factors can refer to the alignment deviation introduced by manually adjusting the wind direction measuring device by field operators in the stages of installing and debugging the wind direction measuring device, the later maintenance stage of the wind generating set and the replacement of the wind direction measuring device. Due to the differences between individuals, the yaw vs. wind bias introduced by different field operators may vary.
The static yaw wind deviation of the wind generating set has the following characteristics:
(1) the time-varying property. Under different working conditions, the angle of the static yaw to the wind deviation may be different. Because the anemoscope of the existing wind generating set is mostly arranged at the top of an engine room behind the impeller, the anemoscope cannot be influenced by turbulence generated in the rotating process of the impeller in the running process of the wind generating set, and the turbulence conditions of the impeller are different under different impeller rotating speed conditions. Because the rotating speed of the impeller is closely related to the wind speed, the time-varying property of the turbulent flow effect of the impeller is caused due to the time-varying property of the wind speed, and therefore the static yawing of the wind generating set has time-varying property to wind deviation.
(2) Uncertainty. The design life of a general wind generating set is generally 20 years, and in the whole life cycle of the wind generating set, a yaw system sensor, a mechanical cabin position sensor and a wind vane of the wind generating set can generate signal drift after running for a period of time, so that wind direction measurement is inaccurate, and yaw wind alignment is inaccurate.
(3) Affected by human factors. When the wind generating set is debugged, the wind vane is generally aligned to the wind through manual adjustment, and static yaw alignment deviation introduced by different debugging personnel is possibly different due to differences among individuals. Meanwhile, in the operation process of the wind generating set, operation and maintenance personnel need to maintain or replace the wind vane at variable time, and static yaw wind alignment deviation of the wind generating set can be introduced, so that the wind generating set is not aligned to wind.
FIG. 2 illustrates a schematic diagram of creating a static yaw versus wind bias, according to an exemplary embodiment of the present invention.
The static yaw versus wind deviation of a wind turbine generator set is inherent and varies with the operating conditions of the wind turbine generator set (corresponding to different impeller rotational speeds). When the static yaw alignment deviation exists, the existing yaw control system cannot detect the static yaw alignment deviation, and the yaw control system considers that the wind generating set is in a yaw alignment state. In fact, as shown in fig. 2, a certain static yaw wind alignment deviation β exists between the wind vane 2 and the central axis 3 of the nacelle position, and since the yaw control system considers that the wind turbine generator system is in a yaw wind alignment state at this time, and does not trigger any yaw motion, the incoming wind direction 4 deviates from the central axis 3 of the nacelle position, and the wind turbine generator system is in a state of inaccurate wind alignment.
If the wind generating set is in the power transition section, the misalignment of yaw to wind will affect the blades to absorb wind energy, and the output of the whole machine can be reduced. If the wind generating set is in a rated power section, the load of the whole machine can be increased due to large deviation of yaw to wind, and the long-term safe and stable operation of the wind generating set is not facilitated.
In the exemplary embodiment of the invention, the wind deviation can be compensated and corrected aiming at the static yaw of the wind generating set under different operating states, so that the generating capacity loss and the load of the wind generating set can be reduced to the greatest extent.
For different running states of the wind generating set, different modes can be respectively adopted to calculate the static yaw wind-aligning deviation.
Aiming at the condition that the wind generating set is in the power transition section, the static yaw wind deviation is compensated, so that the wind accuracy of a yaw system is improved, and the integral output of the wind generating set is improved.
In this case, the static yaw versus wind bias may be calculated as follows. It should be understood that the way of calculating the static yaw versus wind deviation of the wind turbine generator set in the power transition section listed below is only a preferred example, and the present invention is not limited thereto, and the static yaw versus wind deviation can be calculated by other ways.
Determining the current wind speed, determining a wind speed interval where the current wind speed is located, and determining the static yaw wind-to-wind deviation corresponding to the wind speed interval where the current wind speed is located as the static yaw wind-to-wind deviation corresponding to the current wind speed.
For example, the static yaw versus wind bias corresponding to the wind speed interval may be determined by: and determining the static yaw wind deviation corresponding to the wind speed interval where the current wind speed is located based on the corresponding relation between the plurality of predetermined wind speed intervals and the plurality of static yaw wind deviations.
FIG. 3 shows a flowchart of the steps of determining a correspondence of a plurality of wind speed intervals and a plurality of static yaw versus wind deviations according to an exemplary embodiment of the present invention.
Referring to fig. 3, in step S201, operation data of the wind turbine generator set in the power transition section, that is, operation data of a stage in which the wind turbine generator set is in the power generation state but does not reach the full output power, is obtained. Here, the operational data may include wind speed and wind direction angle.
In step S202, a plurality of wind speed intervals are obtained by binning according to the wind speed.
As an example, the wind speed ranges V1 to V2 corresponding to the wind turbine generator set in the power generation state and in the power transition section may be classified, that is, the wind speed ranges when the wind turbine generator set does not reach the full output power may be classified to obtain a plurality of wind speed intervals. For example, V1 may refer to a cut-in wind speed, V2 may refer to a rated wind speed, and the rated wind speed may refer to a wind speed that enables the wind turbine to reach full power output.
The wind speed range can be divided into different wind speed intervals according to a certain step length (for example, the step length can be selected to be 0.5 m/s), and each wind speed interval corresponds to a representative wind speed.
In step S203, for each wind speed interval, binning is performed according to wind direction angles corresponding to wind speeds in the wind speed interval to obtain a plurality of wind direction angle intervals, the cumulative power generation amount of the wind turbine generator set in each wind direction angle interval is calculated, and the static yaw wind alignment deviation corresponding to the wind speed interval is determined according to the cumulative power generation amount of the wind turbine generator set in each wind direction angle interval.
In a preferred embodiment, the operational data may further comprise the output power of the wind park. In this case, the cumulative amount of power generation of the wind turbine generator set in any wind direction angle interval can be determined in the following manner.
The method comprises the steps of obtaining the output power of a wind generating set corresponding to each wind direction angle in any wind direction angle interval, and obtaining the accumulated generating capacity of the wind generating set in any wind direction angle interval by integrating the output power of the wind generating set in a preset time period.
For example, the cumulative power generation of the wind generating set in any wind direction angle interval can be calculated by using the following formula:
Figure BDA0002113916480000081
in the formula (2), W (v, α, T) is the cumulative power generation amount of the wind turbine generator system in any wind direction angle interval in any wind speed interval, v is the representative wind speed corresponding to any wind speed interval, and α is the representative wind direction angle corresponding to any wind direction angle interval, so W (v, α, T) can represent the cumulative power generation amount of the wind turbine generator system in a predetermined time period T when the representative wind speed is v and the representative wind direction angle is α, and p (v, α, T) is the output power of the wind turbine generator system at time T in any wind direction angle interval in any wind speed interval, that is, the output power of the wind turbine generator system at time T when the representative wind speed is v and the representative wind direction angle is α.
Preferably, the static yaw wind offset corresponding to any wind speed interval may be a wind direction angle corresponding to a maximum value of the accumulated power generation amount of the wind turbine generator set in each wind direction angle interval of any wind speed interval.
For example, the static yaw versus wind bias corresponding to any wind speed interval may be calculated using the following formula:
β＝arg(max(W(v,α,T))) (3)
in the formula (3), β is the static yaw-to-wind deviation of the wind turbine generator set in any wind speed interval when the wind turbine generator set is in the power transition section.
And searching the maximum value of the accumulated power generation amounts W (v, alpha, t) corresponding to all wind direction angle intervals in any wind speed interval, and determining the wind direction angle alpha corresponding to the maximum value of the accumulated power generation amounts as the static yaw wind alignment deviation corresponding to any wind speed interval. Here, it should be understood that the integrated time in each wind direction angle section should be uniform when calculating the integrated power generation amount in each wind direction angle section.
It should be understood that the above-mentioned manner of determining the static yaw versus wind deviation corresponding to any wind speed interval is only an example, and the present invention is not limited thereto, and the static yaw versus wind deviation corresponding to any wind speed interval may be determined by other manners. For example, for each wind direction angle section in any wind speed section, the average value of the output power of the wind turbine generator set corresponding to each wind direction angle in the wind direction angle section may be calculated, and the representative wind direction angle corresponding to the wind direction angle section in which the average value of the output power is the largest among all the wind direction angle sections may be determined as the static yaw misalignment corresponding to the wind speed section.
Preferably, with the operation of the wind generating set, the static yaw wind misalignment corresponding to each wind speed interval is calculated through the above manner based on the operation data of the wind generating set acquired in real time, so as to continuously perfect and update the corresponding relationship between the plurality of wind speed intervals and the plurality of static yaw wind misalignments.
If the current operating state of the wind generating set is in the rated power range, that is, in the full output power generation stage, step S30 is executed: the current static yaw versus wind bias is calculated in a second manner.
Here, when the wind generating set is in the rated power section, a constant power control mode is generally adopted, and at this time, the static yaw wind offset is corrected or compensated, so that the generated energy of the wind generating set cannot be increased. However, when the wind turbine generator set operates in the rated power section, if the yaw deviation to the wind is too large (for example, about 30 degrees), the load of the whole wind turbine generator set is increased, and the stable and safe operation of the wind turbine generator set is not facilitated. Therefore, when the wind generating set is in a rated power section, the static yaw is used for correcting and compensating the wind deviation, and the load of the whole machine can be effectively reduced.
For the condition that the wind generating set is in the rated power section, the static yaw wind offset corresponding to the current wind speed can be calculated based on a plurality of predetermined wind speed intervals and a plurality of static yaw wind offsets corresponding to the plurality of wind speed intervals. For example, a plurality of wind speed intervals and a plurality of static yaw versus wind deviations corresponding to the plurality of wind speed intervals may be determined by the method illustrated in FIG. 3.
That is, if the current wind speed is in the wind speed range V2-Vout corresponding to the wind generating set being in the rated power section, the static yaw-to-wind deviation is calculated in the above manner. For example, V2 may refer to the rated wind speed and Vout may refer to the cut-out wind speed.
For example, the static yaw versus wind bias may be obtained by calculating a weighted average of a plurality of static yaw versus wind biases corresponding to a plurality of wind speed intervals.
As an example, the static yaw versus wind deviation of a wind park at rated power may be calculated by the following formula:
Figure BDA0002113916480000101
in the formula (4), beta' is the static yaw wind deviation when the wind generating set is in the rated power section, viIs the representative wind speed corresponding to the ith wind speed interval, beta (v)i) And i is more than or equal to 1 and less than or equal to k, and k is the number of the wind speed intervals.
It should be understood that the above-listed manner of calculating the static yaw versus wind deviation when the wind turbine generator set is in the rated power section is only a preferred example, and the present invention is not limited thereto, and the static yaw versus wind deviation may be calculated by other manners.
Returning to fig. 1, in step S40, the wind turbine generator set is controlled to perform a yaw operation based on the calculated static yaw vs. wind deviation.
In the exemplary embodiment of the invention, when the wind generating set is in the power transition section, the output of the wind generating set can be effectively improved by compensating the wind deviation through static yawing, and when the wind generating set is in the rated power section, the load of the whole wind generating set can be reduced while the wind aligning accuracy is improved by compensating the wind deviation through static yawing.
For example, in step S40, a compensation value for the yaw misalignment may be obtained from the calculated static yaw misalignment, the wind direction angle of the yaw misalignment may be corrected using the obtained compensation value for the yaw misalignment, and the wind turbine generator may be controlled to perform the yaw operation based on the corrected wind direction angle. As an example, the compensation value for the yaw versus wind bias may be the inverse of the static yaw versus wind bias.
For example, the compensation value (e.g., - β or- β') of the yaw versus wind deviation may be used to correct the wind direction angle of the yaw versus wind received from the wind direction sensor (e.g., a wind vane), and as an example, the sum of the compensation value of the yaw versus wind deviation and the wind direction angle of the yaw versus wind received from the wind direction sensor may be used as the corrected wind direction angle, so that the wind turbine generator set is controlled to yaw based on the corrected wind direction angle, and the static yaw versus wind deviation of the wind turbine generator set can be effectively reduced or eliminated.
Fig. 4 shows a block diagram of a yaw control arrangement of a wind park according to an exemplary embodiment of the invention.
As shown in fig. 4, a yaw controlling apparatus of a wind turbine according to an exemplary embodiment of the present invention includes: an operational status determination module 10, a static deviation calculation module 20, and a yaw control module 30.
Specifically, the operating state determination module 10 determines the operating state in which the wind park is currently located.
In a preferred embodiment, the operating condition determination module 10 may further determine whether the wind park is in a generating condition.
If the wind generating set is in a generating state, the operation state determination module 10 determines the operation state of the wind generating set at present. If the wind generating set is not in a generating state, yaw wind deviation does not need to be compensated. As an example, the wind park not being in a generating state may include the wind park being in a fault-down state, a maintenance state, a low wind standby state, and the like.
As an example, the operating condition in which the wind park is located may include that the wind park is currently in a power transition segment and that the wind park is currently in a rated power segment. That is, the operating condition determination module 10 may determine whether the wind turbine generator set is currently in a power transition section or a rated power section.
In an exemplary embodiment of the invention, the operating condition determination module 10 may determine whether the wind park is operating in a rated power section based on a relationship between the wind park power and the rotational speed. For example, the operating state determination module 10 may determine whether the wind turbine generator set is in the rated power section by comparing the actual grid power of the wind turbine generator set with the rated power and comparing the impeller rotation speed of the wind turbine generator set with the impeller maximum rotation speed.
If the actual internet power of the wind generating set is smaller than the rated power and the impeller rotating speed of the wind generating set is smaller than or equal to the maximum impeller rotating speed, the operating state determining module 10 determines that the wind generating set is in a power transition section, that is, not in a rated power section.
If the actual internet power of the wind generating set is greater than or equal to the rated power and/or the impeller rotating speed of the wind generating set is greater than the maximum rotating speed of the impeller, the running state determining module 10 determines that the wind generating set is in the rated power section.
If the wind park is currently in a power transition segment, the static deviation calculation module 20 calculates the current static yaw versus wind deviation in a first manner. Here, the power transition section refers to a stage in which the wind turbine generator does not reach the full output power, in other words, the power transition section may refer to a stage in which the wind turbine generator can increase the output power of the wind by yawing.
The yaw-to-wind bias may include a dynamic yaw-to-wind bias, which may refer to a yaw-to-wind bias due to a change in wind direction, and a static yaw-to-wind bias, which may refer to a yaw-to-wind bias due to an inherent bias of the wind direction measurement device or due to human causes.
As an example, the inherent deviation of the wind direction measuring device may refer to a deviation due to a manufacturing process of the wind direction measuring device. The yaw alignment deviation caused by human factors can refer to the alignment deviation introduced by manually adjusting the wind direction measuring device by field operators in the stages of installing and debugging the wind direction measuring device, the later maintenance stage of the wind generating set and the replacement of the wind direction measuring device.
For different operating states of the wind turbine generator system, the static deviation calculation module 20 may calculate the static yaw versus wind deviation in different manners.
For the case where the wind park is in a power transition segment, the static deviation calculation module 20 may calculate the static yaw versus wind deviation as follows.
The static deviation calculation module 20 determines the current wind speed, determines the wind speed interval where the current wind speed is located, and determines the static yaw-to-wind deviation corresponding to the wind speed interval where the current wind speed is located as the static yaw-to-wind deviation corresponding to the current wind speed.
For example, the static deviation calculation module 20 may determine a static yaw versus wind deviation corresponding to a wind speed interval in which the current wind speed is located based on a predetermined correspondence between a plurality of wind speed intervals and a plurality of static yaw versus wind deviations.
In a preferred embodiment, the yaw controlling apparatus of a wind turbine according to an exemplary embodiment of the present invention may further include: and a correspondence determining module (not shown in the figure) for determining correspondence of the plurality of wind speed intervals and the plurality of static yaw versus wind deviations.
For example, the correspondence determination module may determine the correspondence of the plurality of wind speed intervals and the plurality of static yaw versus wind deviations in the following manner.
Acquiring operation data of a wind generating set in a power transition section, wherein the operation data comprises wind speed and wind direction angle; dividing bins according to wind speed to obtain a plurality of wind speed intervals; and aiming at each wind speed interval, dividing bins according to wind direction angles corresponding to the wind speeds in the wind speed interval to obtain a plurality of wind direction angle intervals, respectively calculating the accumulated generated energy of the wind generating set in each wind direction angle interval, and determining the static yaw wind alignment deviation corresponding to the wind speed interval according to the accumulated generated energy of the wind generating set in each wind direction angle interval.
As an example, the operational data may further include an output power of the wind turbine generator set. In this case, the cumulative amount of power generation of the wind turbine generator set in any wind direction angle interval can be determined in the following manner.
Acquiring the output power of the wind generating set corresponding to each wind direction angle in any wind direction angle interval; and integrating the output power of the wind generating set in a preset time period to obtain the accumulated generating capacity of the wind generating set in any wind direction angle interval.
Preferably, the static yaw wind offset corresponding to any wind speed interval may be a wind direction angle corresponding to a maximum value of the accumulated power generation amount of the wind turbine generator set in each wind direction angle interval of any wind speed interval.
If the wind park is currently in the rated power section, the static deviation calculation module 20 calculates the current static yaw versus wind deviation in a second manner.
For the case that the wind generating set is in the rated power section, the static deviation calculating module 20 may calculate the static yaw-to-wind deviation corresponding to the current wind speed based on a plurality of predetermined wind speed intervals and a plurality of static yaw-to-wind deviations corresponding to the plurality of wind speed intervals.
For example, the static deviation calculation module 20 may obtain the static yaw versus wind deviation by calculating a weighted average of a plurality of static yaw versus wind deviations corresponding to a plurality of wind speed intervals.
The yaw control module 30 controls the wind turbine generator system to perform yaw motion based on the calculated static yaw wind-to-wind deviation.
The yaw control module 30 obtains a compensation value of the yaw wind deviation according to the calculated static yaw wind deviation, corrects the wind direction angle of the yaw wind using the obtained compensation value of the yaw wind deviation, and controls the wind turbine generator system to perform the yaw operation based on the corrected wind direction angle. The compensation value of the yaw-wind deviation is the opposite number of the static yaw-wind deviation.
Fig. 5 shows a block diagram of a controller of a wind park according to an exemplary embodiment of the invention.
As shown in fig. 5, the controller of the wind turbine generator set according to the exemplary embodiment of the present invention includes: a processor 100, an input/output interface 200, and a memory 300.
In particular, the memory 300 is used for storing a computer program which, when being executed by the processor 100, implements the above-mentioned yaw control method of a wind park. The input/output interface 200 is used for connecting various input/output devices.
Here, the yaw control method of the wind turbine shown in fig. 1 may be performed in the processor 100 shown in fig. 5. That is, each module shown in fig. 4 may be implemented by a general-purpose hardware processor such as a digital signal processor or a field programmable gate array, may be implemented by a special-purpose hardware processor such as a special chip, or may be implemented completely by a computer program in a software manner, for example, may be implemented as each module in the processor 100 shown in fig. 5.
Fig. 6 shows a block diagram of a control system of a wind park according to an exemplary embodiment of the invention.
As shown in fig. 6, a control system of a wind turbine generator set according to an exemplary embodiment of the present invention includes: a wind direction sensor 1000 and a controller 2000.
The wind direction sensor 1000 is used to measure a current wind direction angle. As an example, the wind direction sensor 1000 may be various devices capable of measuring a wind direction angle, for example, a wind vane.
The controller 2000 determines the current operating state of the wind turbine generator system, calculates the current static yaw wind offset if the wind turbine generator system is currently in the power transition section, corrects the wind direction angle acquired from the wind direction sensor 1000 based on the calculated static yaw wind offset, and controls the wind turbine generator system to perform yaw motion based on the corrected wind direction angle. Here, the power transition section refers to a stage in which the wind generating set does not reach full output power, and the static yaw wind offset refers to a yaw wind offset caused by an inherent offset of a wind direction measuring device or an artificial reason.
That is, the yaw control method of the wind turbine generator shown in fig. 1 is executed in the controller 2000, the wind direction angle obtained from the wind direction sensor is corrected by using the calculated static yaw to wind deviation, and the yaw control is performed based on the correction result, which is not described in detail herein.
There is also provided, in accordance with an exemplary embodiment of the present invention, a computer-readable storage medium storing a computer program. The computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to perform the yaw control method of the wind park described above. The computer readable recording medium is any data storage device that can store data read by a computer system. Examples of the computer-readable recording medium include: read-only memory, random access memory, read-only optical disks, magnetic tapes, floppy disks, optical data storage devices, and carrier waves (such as data transmission through the internet via wired or wireless transmission paths).
The yaw control method and the yaw control device for the wind generating set in the exemplary embodiment of the invention can effectively reduce or eliminate the turbulence effect and the cabin position signal drift of the wind generating set caused by the rotation of the impeller, or the static yaw wind-to-wind deviation caused by manually adjusting/replacing the wind vane, and improve the yaw wind-to-wind accuracy.
In addition, according to the yaw control method and device of the wind generating set in the exemplary embodiment of the invention, the output power of the wind generating set can be effectively improved by compensating and correcting the static yaw wind-to-wind deviation of the wind generating set in the power transition section, and the overall load of the wind generating set can be effectively reduced by compensating and correcting the static yaw wind-to-wind deviation of the wind generating set in the rated power section, so that the wind generating set can be ensured to operate safely and stably.
While the invention has been shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (15)

1. A yaw control method of a wind generating set is characterized by comprising the following steps:
determining the current running state of the wind generating set;
if the current running state of the wind generating set is a power transition section, calculating the current static yaw wind deviation, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind deviation refers to the yaw wind deviation caused by the inherent deviation of a wind direction measuring device or artificial reasons;
and controlling the wind generating set to perform yaw action based on the calculated static yaw wind deviation.
2. The yaw control method of claim 1, wherein the step of determining an operating state in which the wind park is currently located includes: the actual power of the wind generating set on the internet is compared with the rated power, the rotating speed of the impeller of the wind generating set is compared with the maximum rotating speed of the impeller,
wherein, if the actual internet power of the wind generating set is less than the rated power and the rotating speed of the impeller of the wind generating set is less than or equal to the maximum rotating speed of the impeller, the current operating state of the wind generating set is determined as a power transition section,
and if the actual online power of the wind generating set is greater than or equal to the rated power and/or the rotating speed of an impeller of the wind generating set is greater than the maximum rotating speed of the impeller, determining that the current operating state of the wind generating set is a rated power section.
3. The yaw control method of claim 1, wherein the step of calculating a current static yaw versus wind offset includes:
determining the current wind speed;
determining a wind speed interval where the current wind speed is;
and determining the static yaw wind deviation corresponding to the wind speed interval as the static yaw wind deviation corresponding to the current wind speed.
4. The yaw control method of claim 3, wherein a static yaw versus wind bias corresponding to the interval of wind speeds is determined by:
and determining the static yaw wind deviation corresponding to the wind speed intervals based on the corresponding relation between the plurality of predetermined wind speed intervals and the plurality of static yaw wind deviations.
5. The yaw control method of claim 4, wherein the correspondence of the plurality of wind speed intervals to the plurality of static yaw versus wind deviations is determined by:
acquiring operation data of a wind generating set in a power transition section, wherein the operation data comprises wind speed and wind direction angle;
dividing bins according to wind speed to obtain a plurality of wind speed intervals;
and aiming at each wind speed interval, dividing bins according to wind direction angles corresponding to the wind speeds in the wind speed interval to obtain a plurality of wind direction angle intervals, respectively calculating the accumulated generated energy of the wind generating set in each wind direction angle interval, and determining the static yaw wind alignment deviation corresponding to the wind speed interval according to the accumulated generated energy of the wind generating set in each wind direction angle interval.
6. The yaw control method of claim 5, wherein the operational data further includes an output power of the wind turbine generator system, and wherein the cumulative amount of power generated by the wind turbine generator system during any one of the intervals of wind direction angles is determined by:
acquiring the output power of the wind generating set corresponding to each wind direction angle in any wind direction angle interval;
and integrating the output power of the wind generating set in a preset time period to obtain the accumulated generating capacity of the wind generating set in any wind direction angle interval.
7. The yaw control method of claim 6, wherein the static yaw versus wind deviation corresponding to any wind speed interval is a wind direction angle corresponding to a maximum value of the cumulative power generation amount of the wind turbine generator set in each wind direction angle interval of the any wind speed interval.
8. The yaw control method of claim 2, further comprising:
if the current operating state of the wind generating set is a rated power section, calculating a static yaw wind deviation corresponding to the current wind speed based on a plurality of predetermined wind speed intervals and a plurality of static yaw wind deviations corresponding to the plurality of wind speed intervals.
9. The yaw control method of claim 1, wherein the step of controlling the wind turbine generator system to perform a yaw action based on the calculated static yaw versus wind offset comprises:
obtaining a compensation value of the yaw wind deviation according to the static yaw wind deviation obtained through calculation;
correcting the wind direction angle of yaw to wind by using the obtained compensation value of the yaw to wind deviation;
and controlling the wind generating set to perform yaw action based on the corrected wind direction angle.
10. The yaw control method of claim 9, wherein the compensation value for the yaw-to-wind offset is an inverse of a static yaw-to-wind offset.
11. The yaw control method of claim 1, further comprising: determining whether the wind generating set is in a power generating state,
and if the wind generating set is in the power generation state, determining the current operation state of the wind generating set.
12. A yaw control device of a wind generating set is characterized by comprising:
the operation state determining module is used for determining the current operation state of the wind generating set;
the static deviation calculation module is used for calculating the current static yaw wind deviation if the current running state of the wind generating set is a power transition section, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind deviation refers to the inherent deviation of a wind direction measuring device or the yaw wind deviation caused by artificial reasons;
and the yaw control module is used for controlling the wind generating set to perform yaw action based on the calculated static yaw wind-to-wind deviation.
13. A controller for a wind turbine generator system, comprising:
a processor;
an input/output interface;
a memory for storing a computer program which, when executed by the processor, implements a yaw control method of a wind park according to any of claims 1 to 11.
14. A control system for a wind turbine generator system, comprising:
the wind direction sensor is used for measuring the current wind direction angle;
the controller determines the current operating state of the wind generating set, calculates the current static yaw wind-to-wind deviation if the current operating state of the wind generating set is a power transition section, corrects a wind direction angle acquired from a wind direction sensor based on the calculated static yaw wind-to-wind deviation, and controls the wind generating set to perform yaw action based on the corrected wind direction angle, wherein the power transition section refers to a stage that the wind generating set does not reach full output power, and the static yaw wind-to-wind deviation refers to inherent deviation of a wind direction measuring device or yaw wind-to-wind deviation caused by artificial reasons.
15. A computer-readable storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, carries out the yaw control method of a wind park according to any one of claims 1-11.
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