CN112177850B - 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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CN112177850B
CN112177850B CN201910584371.1A CN201910584371A CN112177850B CN 112177850 B CN112177850 B CN 112177850B CN 201910584371 A CN201910584371 A CN 201910584371A CN 112177850 B CN112177850 B CN 112177850B
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yaw
generating set
wind
wind generating
value
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CN112177850A (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
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • 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
    • 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 
    • F03D7/06—Controlling wind motors  the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
    • 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
    • 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
    • Y02E10/74—Wind turbines with rotation axis perpendicular to the wind direction

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

Abstract

The invention provides a yaw control method and a yaw control device of a wind generating set, wherein the yaw control method comprises the following steps: dividing the design life of the wind generating set into a plurality of operation cycles; determining an assigned value of a yaw action parameter in each operation period, wherein the yaw action parameter comprises a yaw frequency and a yaw duration; controlling the yaw action of the wind generating set in each operation period based on the determined assigned value of the yaw action parameter. By adopting the yaw control method and the yaw control device for the wind generating set in the exemplary embodiment of the invention, the total yaw times and the total yaw duration of the wind generating set in the design life can be ensured to be in a safe range, so that the long-term safe and stable operation of the wind generating set is ensured.

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
The modern large-scale wind generating set is generally provided with a yaw wind-aligning system, and the function of the yaw wind-aligning system is to enable the wind generating set to be over against the free incoming wind direction in front of an impeller, so that wind energy can be absorbed by blades to the maximum extent. The yaw wind alignment system mainly comprises hardware equipment such as a wind vane, a cabin position sensor, a yaw bearing, a yaw hydraulic system, a yaw brake disc, a yaw brake pad, a yaw motor, a yaw speed reducer and the like. When the wind direction changes, the wind vane senses the change of the wind direction in real time, transmits a wind direction signal to a control system of the wind generating set in real time, and determines whether the wind generating set needs to yaw, which direction to yaw and how long the wind generating set needs to yaw according to a yaw control strategy embedded in the control system.
In the yawing process, a control system issues a yawing instruction, a yawing motor is started, and the yawing motor applies low rotating speed and high torque to a yawing bearing through a yawing speed reducer so as to drive the whole cabin-impeller system. To ensure that the yawing process is stable, the yawing hydraulic system typically maintains a certain pressure (e.g. 20 bar) on the yawing brake disc through the yawing brake shoes until the wind turbine generator system is fully aligned with the wind and the wind turbine generator system stops yawing. Generally speaking, the more frequent the wind generating set is yawing, the more accurate the wind generating set is to wind, and correspondingly, the larger the wind generating set is, i.e., the higher the generated energy of the wind generating set is.
However, the following problems occur when the wind generating set frequently yaws:
1) Accelerating the abrasion of the yaw brake pad. Although the yaw brake lining is a loss component, the service life of the yaw brake lining is reduced due to frequent yaw of the wind generating set, the operation and maintenance cost is increased due to replacement of the yaw brake lining, and meanwhile, the wind generating set needs to be stopped when the yaw brake lining is replaced, and certain generating capacity loss is caused.
2) Frequent yawing of the wind generating set may cause noise pollution to the surroundings. The yaw is carried out on a yaw wind-pair system under the condition of keeping a certain yaw residual pressure, so that a yaw motor needs to overcome the yaw residual pressure to drag the whole cabin-impeller system to rotate, and in the yaw process, the friction between a yaw brake disc and a yaw brake pad generates noise pollution and may influence the normal life of surrounding residential areas.
3) Frequent yawing of the wind generating set may cause negative effects on long-term safe and stable operation of the wind generating set, resulting in reduction of the service life of the wind generating set.
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: dividing the design life of the wind generating set into a plurality of operation periods; determining an assigned value of a yaw action parameter in each operation period, wherein the yaw action parameter comprises a yaw frequency and a yaw duration; controlling the yaw action of the wind generating set in each operation period based on the determined assigned value of the yaw action parameter.
Alternatively, the step of determining an assigned value of the yaw motion parameter during each operational cycle may comprise: and determining the distribution value of the yaw duration in each operation cycle according to the total yaw duration of the wind generating set in the design life and the number of the plurality of operation cycles, and determining the distribution value of the yaw times in each operation cycle according to the maximum yaw times of the wind generating set in the design life and the number of the plurality of operation cycles.
Optionally, the step of controlling the yaw action of the wind park during each operational cycle based on the determined assigned value of the yaw action parameter may comprise: counting the actual value of the yaw action parameter of the wind generating set in the current operation period in real time; and adjusting the yaw control parameter of the wind generating set in the current operation period based on the distributed value of the yaw action parameter in the current operation period and the actual value of the yaw action parameter counted in real time, or adjusting the yaw control parameter of the wind generating set in the next operation period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter.
Optionally, the step of adjusting the yaw control parameter of the wind park at the current operation cycle may comprise: and adjusting the yaw control parameters based on the actual value of the yaw action parameter counted in real time in the preset time period of the current operation cycle of the wind generating set, so that the actual value of the total yaw action parameter of the wind generating set in the current operation cycle is close to the distributed value of the yaw action parameter of the current operation cycle, or adjusting the yaw control parameters to limit the yaw action parameter of the wind generating set in the residual time of the current operation cycle if the wind generating set is in the full wind speed section when the actual value of the yaw action parameter counted in real time in the current operation cycle exceeds the distributed value of the yaw action parameter.
Optionally, the step of adjusting the yaw control parameter of the wind park in the next operational cycle may comprise: determining the allowance of the yaw action parameter of the wind generating set in the current operation period based on the actual value of the total yaw action parameter in the current operation period and the distributed value of the yaw action parameter; and adjusting the yaw control parameter of the wind generating set in the next operation period based on the allowance of the yaw action parameter in the current operation period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter in the next operation period.
Alternatively, if the margin of the yaw motion parameter is a positive value, the delay time of the wind direction angle deviation of the wind turbine generator set is reduced, and if the margin of the yaw motion parameter is a negative value, the delay time of the wind direction angle deviation of the wind turbine generator set is increased to adjust the yaw control parameter in the next operation period.
Optionally, the allowance of the yaw times of the wind generating set in the current operation cycle may be a difference value between the assigned value of the yaw times in the current operation cycle and an actual value of the total yaw times in the current operation cycle, and the allowance of the yaw duration of the wind generating set in the current operation cycle may be a difference value between the assigned value of the yaw duration in the current operation cycle and an actual value of the total yaw duration in the current operation cycle.
Optionally, the step of controlling the yaw action of the wind park during each operational cycle based on the determined assigned value of the yaw action parameter may further comprise: and determining whether the wind generating set is in a full-power stage, wherein if the wind generating set is not in the full-power stage, adjusting the yaw control parameter of the wind generating set in the current operation cycle or adjusting the yaw control parameter of the wind generating set in the next operation cycle.
Optionally, the step of controlling the yaw movement of the wind park during each operational cycle based on the determined assigned value of the yaw movement parameter may further comprise: and if the wind generating set is not in the full-load stage, comparing the energy obtained by yawing the wind generating set with the loss of the set, wherein if the energy obtained by yawing the wind generating set is greater than or equal to the loss of the set, adjusting the yawing control parameter of the wind generating set in the current operation period or adjusting the yawing control parameter of the wind generating set in the next operation period.
Optionally, the energy obtained by yawing the wind generating set can be determined according to the design output power and the yawing wind direction angle deviation of the wind generating set, and the loss of the set can be determined according to the number of yawing motors in the wind generating set, the rated power of the yawing motors, the power factor of the yawing motors and the loss margin of the yawing motors.
In another general aspect, there is provided a yaw controlling apparatus of a wind turbine generator set, including: the operation cycle division module divides the design life of the wind generating set into a plurality of operation cycles; the yaw distribution value determining module is used for determining the distribution value of the yaw motion parameters in each operating period, wherein the yaw motion parameters comprise the number of times of yaw and the length of time of yaw; and the yaw control module is used for controlling the yaw action of the wind generating set in each operation cycle based on the determined assigned value of the yaw action parameter.
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: and the controller is used for realizing the yaw control method of the wind generating set.
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 in the exemplary embodiment of the invention, the total yaw times and the total yaw duration of the wind generating set in the design life can be ensured to be in a safe range, so that the long-term safe and stable operation of the wind generating set is ensured.
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 shows a block diagram of a yaw control arrangement of a wind park according to an exemplary embodiment of the present invention;
fig. 3 shows a block diagram of a controller 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, a design life of a wind turbine generator system is divided into a plurality of operation cycles.
Here, the duration of the operation period may be determined according to actual requirements, for example, the duration of the operation period may be one week, half month, thirty days, and the like, which is not limited by the present invention.
As an example, the design life of a wind park may refer to the service life of a wind park as specified in the GL specification (fan design specification).
In step S20, the assigned value of the yaw moment parameter in each operating cycle is determined. Here, the yaw motion parameters include the number of times of yaw and the yaw duration, that is, the assigned values of the number of times of yaw and the assigned values of the yaw duration in each operation cycle are determined in step S20.
Here, a Yaw Control System (Yaw Control System) of the wind turbine generator System drives a Yaw actuator (e.g., a Yaw motor, a Yaw reducer, a Yaw bearing, etc.) to operate according to a wind direction detected by a wind direction measuring device (e.g., a wind vane), and causes the wind turbine generator System to face the wind, thereby increasing the output of the wind turbine generator System.
It should be understood that the number of yawing motions may refer to the number of yawing motions performed by the wind turbine generator set in a certain time. The yaw duration may refer to a time for the wind park to perform a yaw action.
For example, the step of determining an assigned value for the number of yaws in each operating cycle may comprise: and determining the assigned value of the yaw duration in each operation period according to the total yaw duration of the wind generating set in the design life and the number of the plurality of operation periods. For example, the ratio of the total yaw duration of the wind park over the design life to the number of the plurality of operating cycles may be determined as the assigned value of the yaw duration in each operating cycle.
For example, the step of determining an assigned value for the yaw period during each operational cycle may comprise: and determining the distribution value of the yaw times in each operation period according to the maximum yaw times of the wind generating set in the design life and the number of the plurality of operation periods. For example, the ratio of the maximum number of yaws of the wind park over the design life to the number of the plurality of operating cycles may be determined as an assigned value for the number of yaws in each operating cycle.
In a preferred example, the given value of the total yaw times and the given value of the total yaw duration of the wind generating set in the design life can be determined according to the total yaw duration and the maximum yaw times of the wind generating set in the design life, and the assigned value of the yaw times and the assigned value of the yaw duration in each operating cycle can be determined according to the given value of the total yaw times, the given value of the total yaw duration and the number of a plurality of operating cycles.
For example, the total yaw number set point of the wind generating set in the design life can be determined by the following formula:
N 0 ≤γ×N max (1)
in the formula (1), N 0 For total number of drifts given value, N max And gamma is a safety margin coefficient of the yaw frequency, wherein gamma is the maximum yaw frequency of the wind generating set in the design life. As an example, γ may range from 0.8 to 1.0, and the maximum number of drifts may be determined according to GL specifications.
For example, the assigned value of the number of drifts in each operating cycle may be determined by the following formula:
Figure GDA0004079523830000061
in the formula (2), N e To an assigned value of the number of drifts in one operating cycle, C 0 Is a conversion factor. As an example, C 0 May refer to the number of multiple operating cycles.
For example, the given total yaw duration value of the wind generating set within the design life can be determined by the following formula:
T 0 ≤δ×σ×T all (3)
in the formula (3), T 0 Setting a given value of total yaw duration, delta being a safety margin coefficient of the total yaw duration, sigma being a total yaw duration coefficient within a design life of a wind generating set specified in GL specifications, T all The design life of the wind generating set is prolonged. As an example, δ may range from 0.8 to 1.0, and σ may take a value of 0.1.
For example, the assigned value of the yaw duration in each operating cycle may be determined by the following formula:
Figure GDA0004079523830000062
in the formula (4), T e An assigned value for the yaw period within one operating cycle.
In the exemplary embodiment of the invention, according to mechanical design experience, field operation evaluation and GL specification, a total yaw frequency set value and a total yaw duration set value of the wind generating set in the whole design life are determined aiming at a yaw control system of the wind generating set, and a certain safety margin is ensured.
In step S30, the yaw motion of the wind park is controlled in each operating cycle based on the assigned value of the determined yaw motion parameter.
Here, the actual value of the yaw movement parameter of the wind turbine generator system in the current operation cycle, that is, the actual value of the number of times of yaw and the actual value of the yaw duration in the current operation cycle may be counted in real time, and the wind turbine generator system may be controlled to yaw based on the counted actual value of the yaw movement parameter and the assigned value of the yaw movement parameter.
In the first case, the yaw control parameter of the wind generating set in the current operating cycle may be adjusted based on the assigned value of the yaw motion parameter in the current operating cycle and the actual value of the yaw motion parameter counted in real time, so as to control the wind generating set to perform the yaw motion based on the adjusted yaw control parameter in the current operating cycle.
As an example, the yaw control parameter may include, but is not limited to, a delay time of a wind direction angle deviation of the wind park. For example, the yaw sensitivity can be changed by changing the delay time of the wind direction angle deviation of the wind turbine generator system, thereby changing the number of times of yaw and the length of time of yaw. The longer the delay time of the wind direction angle deviation of the wind turbine generator system, the lower the yaw sensitivity, and the shorter the delay time of the wind direction angle deviation of the wind turbine generator system, the higher the yaw sensitivity.
In one example, the yaw control parameters are adjusted based on the actual values of the yaw motion parameters of the wind park counted in real time over a predetermined period of time of the current operating cycle, such that the actual values of the total yaw motion parameters of the wind park during the current operating cycle approach the assigned values of the yaw motion parameters of the current operating cycle.
For example, the actual value of the yaw movement parameter of the wind turbine generator set counted in real time in a predetermined time period may be compared with a first set value, and if the actual value of the yaw movement parameter of the wind turbine generator set counted in real time in the predetermined time period is greater than or equal to the first set value, the yaw control parameter may be adjusted to reduce the number of times of yaw and/or the yaw time of the wind turbine generator set. For example, yaw sensitivity may be reduced, thereby enabling a reduction in the number of yaws and/or the yaw time. And if the actual value of the yaw motion parameter counted in real time in the preset time period is smaller than the first set value, not adjusting the yaw control parameter.
For example, the actual value of the yaw movement parameter of the wind turbine generator system counted in real time in the predetermined time period may be compared with a second set value, and if the actual value of the yaw movement parameter counted in real time in the predetermined time period is less than or equal to the second set value, the yaw control parameter may be adjusted so that the wind turbine generator system performs yaw based on the adjusted yaw control parameter in the remaining time of the current operation cycle, so as to increase the yaw frequency and/or the yaw time of the wind turbine generator system. For example, yaw sensitivity may be increased, thereby enabling an increase in the number of times and/or time of yaw. And if the actual value of the yaw motion parameter counted in real time in the preset time period is greater than the second set value, not adjusting the yaw control parameter. Here, the first set value is larger than the second set value.
By means of the method for adjusting the yaw control parameters, the actual values of the yaw times and the yaw time of the wind generating set in the current operation period can be guaranteed to be consistent with the distribution values as much as possible.
As an example, the predetermined time period may refer to a first predetermined length of the current operating cycle (e.g., a length of time from a start time of the current cycle to a predetermined point in time), preferably, the predetermined time period may refer to a first half of the current operating cycle, the first set point may include, but is not limited to, 80% of the assigned value of the yaw motion parameter for the current operating cycle, and the second set point may include, but is not limited to, 20% of the assigned value of the yaw motion parameter for the current operating cycle. It should be understood that the above-mentioned values are only examples, and the present invention is not limited thereto, and those skilled in the art can adjust the above-mentioned values according to actual needs.
In another example, during the current operation cycle, when the actual value of the yaw motion parameter counted in real time exceeds the assigned value of the yaw motion parameter, if the wind turbine generator system is in the full wind speed section, the yaw control parameter is adjusted to limit the yaw motion parameter of the wind turbine generator system during the remaining time of the current operation cycle.
For example, when the actual value of the yaw movement parameter counted in real time exceeds the assigned value of the yaw movement parameter in the current operation cycle, if the wind turbine generator system is in the full wind speed section, the yaw sensitivity is reduced, so that the yaw times and/or the yaw time of the wind turbine generator system in the remaining time of the current operation cycle are reduced.
In the second case, the yaw control parameter of the wind generating set in the next operating cycle may be adjusted based on the assigned value of the yaw motion parameter in the current operating cycle and the actual value of the yaw motion parameter counted in real time, so as to control the wind generating set to perform the yaw motion based on the adjusted yaw control parameter in the next operating cycle.
For example, the margin of the yaw movement parameter of the wind turbine generator set in the current operation cycle may be determined based on the actual value of the total yaw movement parameter in the current operation cycle and the assigned value of the yaw movement parameter; and adjusting the yaw control parameter of the wind generating set in the next operating period based on the allowance of the yaw action parameter in the current operating period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter in the next operating period.
Here, the margin of the yaw movement parameter of the wind turbine generator set in the current operation period may be a difference value between the assigned value of the yaw movement parameter in the current operation period and the actual value of the total yaw movement parameter in the current operation period.
As an example, the margin of the number of drifts of the wind park in the current operation cycle may be a difference between the assigned value of the number of drifts in the current operation cycle and the actual value of the total number of drifts in the current operation cycle. For example, Δ N = N 1 -N e Δ N is the margin of the number of drifts in the current operating cycle, N 1 Is the actual value of the total number of drifts in the current operating cycle, N e And assigning a value for the number of drifts in the current operation period.
The allowance of the yaw duration of the wind generating set in the current operation period can be the difference between the distributed value of the yaw duration in the current operation period and the actual value of the total yaw duration in the current operation period. For example, Δ T = T 1 -T e Δ T is the margin of the yaw duration in the current operating cycle, T 1 Is the actual value of the total yaw period in the current operating cycle, T e And assigning a value for the yaw duration in the current operation period.
In a preferred example, the remaining amount of the yaw movement parameter in the current operation period may be added to the assigned value of the yaw movement parameter of the wind turbine generator set in the next operation period, and the yaw control parameter of the wind turbine generator set in the next operation period may be determined based on the added yaw movement parameter.
That is, the yaw control parameter at the next operation cycle may be determined based on the sum of the margin of the yaw motion parameter at the current operation cycle and the assigned value of the yaw motion parameter at the next operation cycle.
For example, if the margin of the yaw motion parameter in the current operation cycle is a positive value, the yaw control parameter in the next operation cycle is adjusted, for example, the yaw sensitivity is increased, so as to increase the yaw number and/or the yaw time of the wind turbine generator set in the next operation cycle. If the margin of the yaw action parameter in the current operation period is a negative value, adjusting the yaw control parameter in the next operation period, for example, reducing the yaw sensitivity so as to reduce the yaw times and/or the yaw time of the wind generating set in the next operation period.
By the margin rolling accumulation mode of the yaw action parameters, the yaw frequency and the yaw time of the wind generating set in the life cycle can be ensured to be within a safety range.
That is, in the case where the yaw control parameter is the yaw sensitivity, if the margin of the yaw operation parameter is a positive value, the yaw sensitivity of the wind turbine generator system is increased, for example, the delay time of the wind direction angle deviation is shortened (reduced) to increase the number of times of yaw and the yaw time of the wind turbine generator system, thereby ensuring that the wind turbine generator system is more exposed to the wind.
If the margin of the yaw action parameter is negative, the yaw sensitivity of the wind turbine generator set is reduced, for example, the delay time of the wind direction angle deviation is prolonged (increased) to limit the number of times of yaw and the yaw time.
For example, a linear variation relationship between the margin of the yaw motion parameter and the yaw sensitivity of the wind turbine generator system may be pre-established, such that after the margin of the yaw motion parameter of the wind turbine generator system in the current operation cycle is calculated, the magnitude of the yaw sensitivity is determined based on the pre-established linear variation relationship.
By the aid of the mode, the yawing times and yawing time of the wind generating set can be relatively constant in the whole life cycle, and safe and stable operation of the wind generating set is guaranteed.
In a preferred example, a yaw control parameter of the wind park may be adjusted based on an operational state of the wind park.
For example, it may be determined whether the wind turbine generator set is in a full-blown phase. And if the wind generating set is not in the full-load stage, adjusting the yaw control parameters of the wind generating set in the current operation period, or adjusting the yaw control parameters of the wind generating set in the next operation period.
Preferably, whether the wind generating set is in a power generation state or not can be further determined, and when the wind generating set is in the power generation state and is not in a full power generation stage, the yaw control parameter of the wind generating set in the current operation period is adjusted, or the yaw control parameter of the wind generating set in the next operation period is adjusted, so that the maximum output of the wind generating set is ensured.
If the wind park is in a full-run phase, and/or the wind park is not in a generating state (e.g., a fault state, a shutdown state), yaw control parameters of the wind park are not adjusted. Namely, the current yaw action mode of the wind generating set is not changed.
Preferably, for the case that the wind turbine generator set is not in the full-power stage, the energy obtained by yawing the wind turbine generator set can be compared with the loss of the wind turbine generator set.
And if the energy obtained by the wind generating set through yawing is more than or equal to the loss of the wind generating set, adjusting the yawing control parameter of the wind generating set in the current operation period, or adjusting the yawing control parameter of the wind generating set in the next operation period.
And if the energy obtained by yawing the wind generating set is less than the loss of the wind generating set, not adjusting the yawing control parameters of the wind generating set. Namely, the current yaw action mode of the wind generating set is not changed.
When the wind generating set is in a full-power stage or the energy obtained by yawing the wind generating set is smaller than the loss of the set, the yawing control parameters of the wind generating set are not adjusted, so that the loss of the wind generating set in a low wind speed section can be reduced, and the yawing wind consistency of the wind generating set when the rated power is reached can be ensured.
For example, the energy gained by the wind park by yawing may be determined from the design output power of the wind park and the yaw wind angle deviation.
As an example, the energy gained by the wind park from yaw may be calculated using the following formula:
E 1 ＝p 0 ×(1-cos 2 β 0 ) (5)
in the formula (5), E 1 Energy obtained for yawing of a wind turbine, p 0 Is rated output power of wind generating set, beta 0 Is the set yaw versus wind bias angle.
For example, the loss of the unit can be determined according to the number of yaw motors in the wind generating set, the rated power of the yaw motors, the power factor of the yaw motors and the loss margin of the yaw motors.
E 2 ＝n×p m ×μ+ε (6)
In the formula (6), E 2 N is the number of yaw motors in the wind generating set, p m Mu is the product of the power factor and the time factor of the yaw motor, and epsilon is the power margin. As an example, μ can range from 0 to 0.3.
Here, it should be understood that the above listed ways of determining the energy gained by the wind turbine generator set by yawing and the loss of the wind turbine generator set are only examples, and the present invention is not limited thereto, and may be determined by other ways.
According to the yaw control method of the wind generating set, disclosed by the exemplary embodiment of the invention, the output of the set is improved, and the requirements of safe and stable operation in the life cycle of the set are considered. The method comprises the steps of setting the yaw frequency and the yaw time of a unit in a total operation cycle, distributing a distribution value of the yaw frequency and a distribution value of the yaw time to each operation cycle under the condition of ensuring a certain safety margin, adjusting yaw control parameters based on actual values of the yaw frequency and the yaw time, and ensuring that the yaw frequency and the yaw time of the wind generating set are in a safety range while improving the output of the wind generating set.
Fig. 2 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. 2, a yaw controlling apparatus of a wind turbine according to an exemplary embodiment of the present invention includes: an operating cycle division module 10, a yaw allocation value determination module 20 and a yaw control module 30.
Specifically, the operation cycle division module 10 divides the design life of the wind turbine generator into a plurality of operation cycles.
The yaw allocation value determination module 20 determines an allocation value for the yaw motion parameter during each operational cycle. Here, the yaw motion parameters include the number of times of yaw and the length of time of yaw.
Here, the yaw number may refer to the number of times the wind turbine generator system performs a yaw motion within a certain time. The yaw duration may refer to a time during which the wind turbine generator set performs a yaw action.
For example, the yaw allocation value determination module 20 may determine an allocation value of a yaw duration in each operation cycle based on a total yaw duration of the wind turbine generator set over a design life and a number of the plurality of operation cycles, and determine an allocation value of a yaw number in each operation cycle based on a maximum yaw number of the wind turbine generator set over the design life and the number of the plurality of operation cycles.
In a preferred example, the yaw allocation value determination module 20 may determine the total number of times of yaw and the given value of total length of yaw of the wind turbine generator system over the design life based on the total length of yaw and the maximum number of times of yaw of the wind turbine generator system over the design life, and determine the allocation value of the number of times of yaw and the allocation value of the length of yaw in each operating cycle based on the given value of total number of times of yaw, the given value of total length of yaw, and the number of the plurality of operating cycles.
The yaw control module 30 controls the yaw motion of the wind park during each operational cycle based on the assigned value of the determined yaw motion parameter.
For example, the yaw control module 30 may count an actual value of a number of times the wind turbine generator system is yawing and an actual value of a duration of the yawing in real time during a current operation period, so as to control the wind turbine generator system to yaw based on the counted actual value of the yaw movement parameter and the assigned value of the yaw movement parameter.
In the first case, the yaw control module 30 may adjust the yaw control parameter of the wind turbine generator set in the current operation period based on the assigned value of the yaw motion parameter in the current operation period and the actual value of the yaw motion parameter counted in real time, so as to control the wind turbine generator set to perform the yaw motion based on the adjusted yaw control parameter in the current operation period.
As an example, the yaw control parameter may include, but is not limited to, a delay time of a wind direction angle deviation of the wind park. For example, the yaw sensitivity may be changed by changing the delay time of the wind direction angle deviation of the wind turbine generator set, thereby changing the yaw control parameter. The longer the delay time of the wind direction angle deviation of the wind turbine generator system, the lower the yaw sensitivity, and the shorter the delay time of the wind direction angle deviation of the wind turbine generator system, the higher the yaw sensitivity.
In one example, yaw control module 30 may adjust the yaw control parameters based on the actual values of the yaw motion parameters of the wind park during the predetermined time period of the current operating cycle such that the actual values of the total yaw motion parameters of the wind park during the current operating cycle approximate the assigned values of the yaw motion parameters for the current operating cycle.
For example, the yaw control module 30 may compare the actual value of the yaw motion parameter of the wind park counted in real time over a predetermined time period with a first set value, and adjust the yaw control parameter to reduce the number of times the wind park yaws and/or the yaw time if the actual value of the yaw motion parameter of the wind park counted in real time over the predetermined time period is greater than or equal to the first set value. For example, yaw sensitivity may be reduced, thereby enabling a reduction in the number of yaws and/or the yaw time. And if the actual value of the yaw motion parameter counted in real time in the preset time period is smaller than the first set value, not adjusting the yaw control parameter.
For example, the yaw control module 30 may compare the actual value of the yaw motion parameter of the wind turbine generator system counted in real time during the predetermined time period with a second set value, and adjust the yaw control parameter if the actual value of the yaw motion parameter counted in real time during the predetermined time period is less than or equal to the second set value, so that the wind turbine generator system performs yaw based on the adjusted yaw control parameter during the remaining time of the current operation cycle to increase the number of times the wind turbine generator system is yawed and/or the yaw time. For example, yaw sensitivity may be increased, thereby enabling an increase in the number of yaws and/or the yaw time. And if the actual value of the yaw motion parameter counted in real time in the preset time period is greater than the second set value, not adjusting the yaw control parameter.
In another example, yaw control module 30 may adjust the yaw control parameter to limit the yaw motion parameter of the wind park during the remaining time of the current operating cycle if the wind park is in the full wind speed segment when the actual value of the yaw motion parameter counted in real time exceeds the assigned value of the yaw motion parameter during the current operating cycle.
For example, during the current operating cycle, when the actual value of the yaw motion parameter counted in real time exceeds the assigned value of the yaw motion parameter, if the wind park is in the full wind speed segment, the yaw control module 30 decreases the yaw sensitivity, thereby decreasing the number of times the wind park is yawed and/or the yaw time during the remaining time of the current operating cycle.
In a second case, the yaw controlling module 30 may adjust the yaw controlling parameter of the wind turbine generator system in the next operating cycle based on the assigned value of the yaw controlling parameter in the current operating cycle and the actual value of the yaw controlling parameter counted in real time, so as to control the wind turbine generator system to perform the yaw action in the next operating cycle based on the adjusted yaw controlling parameter.
For example, yaw control module 30 may determine a margin of the yaw motion parameter for the wind park in the current operating cycle based on the actual value of the total yaw motion parameter and the assigned value of the yaw motion parameter in the current operating cycle; and adjusting the yaw control parameter of the wind generating set in the next operation period based on the allowance of the yaw action parameter in the current operation period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter in the next operation period.
Here, the margin of the yaw movement parameter of the wind turbine generator set in the current operation period may be a difference value between the assigned value of the yaw movement parameter in the current operation period and the actual value of the total yaw movement parameter in the current operation period.
As an example, the margin of the yaw number of the wind turbine generator set in the current operation cycle may be a difference value between the assigned value of the yaw number in the current operation cycle and an actual value of the total yaw number in the current operation cycle, and the margin of the yaw duration of the wind turbine generator set in the current operation cycle may be a difference value between the assigned value of the yaw duration in the current operation cycle and an actual value of the total yaw duration in the current operation cycle.
For the case that the yaw control parameter is yaw sensitivity, if the margin of the yaw frequency and the margin of the yaw duration are positive values, the yaw control module 30 increases the yaw sensitivity of the wind turbine generator system, for example, shortens the delay time of the wind direction angle deviation, so as to increase the yaw frequency and the yaw time of the wind turbine generator system and ensure that the wind turbine generator system is more sensitive to wind. If the margin for the number of drifts and the margin for the duration of the drifts are negative, the yaw control module 30 decreases the yaw sensitivity of the wind park, for example, by extending the delay time of the wind direction angle deviation to limit the number of drifts and the yaw time.
In a preferred embodiment, the yaw control module 30 may adjust the yaw control parameter based on an operating condition of the wind turbine generator set.
For example, yaw control module 30 may determine whether the wind park is in a full-blown phase.
If the wind turbine generator set is not in the full-load phase, the yaw control module 30 adjusts the yaw control parameters of the wind turbine generator set in the current operating cycle or adjusts the yaw control parameters of the wind turbine generator set in the next operating cycle.
Preferably, the yaw control module 30 may further determine whether the wind turbine generator set is in a power generation state, and adjust the yaw control parameter of the wind turbine generator set in the current operation cycle or adjust the yaw control parameter of the wind turbine generator set in the next operation cycle when the wind turbine generator set is in the power generation state and is not in the full power generation stage, so as to ensure that the output of the wind turbine generator set is maximum.
If the wind park is in a full-run phase, and/or the wind park is not in a generating state, the yaw control module 30 does not change the yaw control parameters.
Preferably, the yaw control module 30 may also compare the energy gained by the wind park by yawing with the losses of the park itself, for the case where the wind park is not in a full-firing phase.
If the energy obtained by the yawing of the wind generating set is larger than or equal to the loss of the set, the yawing control module 30 adjusts the yawing control parameters of the wind generating set in the current operation period, or adjusts the yawing control parameters of the wind generating set in the next operation period. If the energy obtained by the wind generating set by yawing is less than the loss of the set, the yawing control module 30 does not adjust the yawing control parameters.
As an example, the energy gained by the wind park by yawing may be determined from the design output power of the wind park and the yaw wind angle deviation. The loss of the unit can be determined according to the number of yaw motors in the wind generating set, the rated power of the yaw motors, the power factor of the yaw motors and the loss margin of the yaw motors.
Fig. 3 shows a block diagram of a controller of a wind park according to an exemplary embodiment of the invention.
As shown in fig. 3, 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. 3. That is, each module shown in fig. 2 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, and 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. 3.
According to an exemplary embodiment of the present invention, there is further provided a control system of a wind turbine generator system, where the control system includes a controller, and the yaw control method of the wind turbine generator system shown in fig. 1 is executed in the controller, and details of this part of the present invention are not repeated.
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 enable the total yaw frequency and the total yaw duration of the wind generating set to be within a safe range in the design life, ensure the safe and stable operation of the wind generating set, and simultaneously ensure that the wind generating set generates as much power as possible.
In addition, according to the yaw control method and the yaw control device of the wind generating set, the influence of the yaw times and the yaw time on the service life of the wind generating set when the wind generating set runs for a long time is solved.
In addition, according to the yaw control method and the yaw control device of the wind generating set, the contradiction between the output of the wind generating set and the number of times of yaw and the time of yaw is solved. Generally speaking, the more frequent the wind generating set is yawing, the more accurate the wind generating set is facing the wind, the greater the wind generating set is exerting force, but the too frequent yawing will affect the safe and stable operation of the wind generating set in the design life cycle and the necessary hardware consumption. By the yaw control method, the yaw control parameters are adaptively adjusted under the condition that the total yaw times and the total yaw time of the wind generating set are unchanged, so that the yaw times and the yaw time are scheduled, the maximum output of the wind generating set is realized, and the generated energy of the wind generating set is improved.
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 (12)

1. A yaw control method of a wind generating set is characterized by comprising the following steps:
dividing the design life of the wind generating set into a plurality of operation periods;
determining an assigned value of a yaw action parameter in each operation period, wherein the yaw action parameter comprises a yaw frequency and a yaw duration;
controlling the yaw action of the wind generating set in each operation period based on the determined assigned value of the yaw action parameter,
wherein the step of controlling the yaw movement of the wind park during each operational cycle based on the determined assigned value of the yaw movement parameter comprises:
counting the actual value of the yaw action parameter of the wind generating set in the current operation period in real time;
determining the allowance of the yaw action parameter of the wind generating set in the current operation period based on the actual value of the total yaw action parameter in the current operation period and the distributed value of the yaw action parameter;
adjusting the yaw control parameter of the wind generating set in the next operating period based on the allowance of the yaw action parameter in the current operating period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter in the next operating period,
wherein the step of determining the assigned value of the yaw motion parameter during each operational cycle comprises: determining the distribution value of the yaw duration in each operation period according to the ratio of the total yaw duration of the wind generating set in the design life to the number of the plurality of operation periods, determining the distribution value of the yaw times in each operation period according to the ratio of the maximum yaw times of the wind generating set in the design life to the number of the plurality of operation periods,
wherein the assigned value of the number of drifts in each operating cycle is passed
Figure FDA0004079523820000011
Is determined, wherein N e To assign a value, C, to the number of drifts in each operating cycle 0 Refers to the number of a plurality of operating cycles, N 0 Giving a value for total number of drifts, and N 0 ≤γ×N max Wherein N is max Is the maximum yaw frequency of the wind generating set in the design life, gamma is the safety margin coefficient of the yaw frequency,
wherein the assigned value of the yaw time length in each operation cycle is passed
Figure FDA0004079523820000012
Determining, wherein T e To assign a value, T, to the duration of the yaw in each operating cycle 0 Giving a value for total yaw duration, and satisfying T 0 ≤δ×σ×T all Wherein, delta is the safety margin coefficient of the total yaw duration, sigma is the total yaw duration coefficient within the design life of the wind generating set, and T all In order to design the life of the wind turbine,
wherein the yaw control parameter of the next operating cycle is determined based on the sum of the margin of the yaw motion parameter in the current operating cycle and the assigned value of the yaw motion parameter in the next operating cycle.
2. The yaw control method of claim 1, wherein the step of controlling a yaw motion of the wind park during each operational cycle based on the determined assigned value of the yaw motion parameter further comprises: and adjusting the yaw control parameters of the wind generating set in the current operation period based on the distributed values of the yaw action parameters in the current operation period and the real-time statistical actual values of the yaw action parameters.
3. The yaw control method of claim 2, wherein the step of adjusting the yaw control parameter of the wind turbine generator set during the current operating cycle includes:
adjusting the yaw control parameters based on the real-time statistical yaw motion parameter actual values of the wind generating set in the preset time period of the current operation cycle, so that the total yaw motion parameter actual value of the wind generating set in the current operation cycle is close to the yaw motion parameter distribution value of the current operation cycle,
or in the current operation period, when the actual value of the yaw action parameter counted in real time exceeds the distributed value of the yaw action parameter, if the wind generating set is in the full wind speed section, adjusting the yaw control parameter to limit the yaw action parameter of the wind generating set in the remaining time of the current operation period.
4. The yaw control method of claim 2, wherein if the margin of the yaw motion parameter is a positive value, the delay time of the wind direction angle deviation of the wind turbine generator set is decreased, and if the margin of the yaw motion parameter is a negative value, the delay time of the wind direction angle deviation of the wind turbine generator set is increased to adjust the yaw control parameter at the next operation cycle.
5. The yaw control method of claim 2, wherein a margin for the number of yaw of the wind turbine generator set in the current operating cycle is a difference between an assigned value of the number of yaw in the current operating cycle and an actual value of the total number of yaw in the current operating cycle,
and the allowance of the yaw duration of the wind generating set in the current operation period is the difference between the distributed value of the yaw duration in the current operation period and the actual value of the total yaw duration in the current operation period.
6. The yaw control method of claim 2, wherein the step of controlling the yaw motion of the wind park during each operational cycle based on the determined assigned value of the yaw motion parameter further comprises: determining whether the wind generating set is in a full-blown phase,
and if the wind generating set is not in the full-load stage, adjusting the yaw control parameter of the wind generating set in the current operation cycle, or adjusting the yaw control parameter of the wind generating set in the next operation cycle.
7. The yaw control method of claim 6, wherein the step of controlling a yaw motion of the wind park during each operational cycle based on the determined assigned value of the yaw motion parameter further comprises:
if the wind generating set is not in the full-generating stage, comparing the energy obtained by yawing the wind generating set with the loss of the set,
and if the energy obtained by the yawing of the wind generating set is more than or equal to the loss of the wind generating set, adjusting the yawing control parameter of the wind generating set in the current operation period, or adjusting the yawing control parameter of the wind generating set in the next operation period.
8. The yaw control method of claim 7, wherein the energy gained by the wind park by yaw is determined based on a design output power of the wind park and a yaw wind angle offset,
the loss of the unit is determined according to the number of yaw motors in the wind generating set, the rated power of the yaw motors, the power factor of the yaw motors and the loss margin of the yaw motors.
9. A yaw control device of a wind generating set is characterized by comprising:
the operation cycle division module is used for dividing the design life of the wind generating set into a plurality of operation cycles;
the yaw distribution value determining module is used for determining the distribution value of the yaw action parameters in each running period, wherein the yaw action parameters comprise the yaw times and the yaw duration;
a yaw control module for controlling the yaw action of the wind generating set in each operation period based on the determined assigned value of the yaw action parameter,
wherein, the yaw control module counts the actual value of the yaw action parameter of the wind generating set in the current operation period in real time, determines the allowance of the yaw action parameter of the wind generating set in the current operation period based on the actual value of the total yaw action parameter in the current operation period and the distribution value of the yaw action parameter, adjusts the yaw control parameter of the wind generating set in the next operation period based on the allowance of the yaw action parameter in the current operation period so as to control the wind generating set to carry out yaw action based on the adjusted yaw control parameter in the next operation period,
wherein the yaw distribution value determining module determines the distribution value of the yaw duration in each operating cycle according to the ratio of the total yaw duration of the wind generating set in the design life to the number of the plurality of operating cycles, determines the distribution value of the yaw times in each operating cycle according to the ratio of the maximum yaw times of the wind generating set in the design life to the number of the plurality of operating cycles,
wherein the assigned value of the number of drifts in each operating cycle is passed
Figure FDA0004079523820000031
Is determined, wherein N e To assign a value, C, to the number of drifts in each operating cycle 0 Refers to the number of a plurality of operating cycles, N 0 For total number of driftsGiven value of, and N 0 ≤γ×N max Wherein N is max Is the maximum yaw frequency of the wind generating set in the design life, gamma is the safety margin coefficient of the yaw frequency,
wherein the assigned value of the yaw time length in each operation cycle is passed
Figure FDA0004079523820000032
Determining, wherein T e To assign a value, T, to the duration of the yaw in each operating cycle 0 Giving a value for total yaw duration, and satisfying T 0 ≤δ×σ×T all Wherein, delta is the safety margin coefficient of the total yaw duration, sigma is the total yaw duration coefficient within the design life of the wind generating set, and T all In order to prolong the design life of the wind generating set,
wherein the yaw control parameter of the next operating cycle is determined based on the sum of the margin of the yaw motion parameter in the current operating cycle and the assigned value of the yaw motion parameter in the next operating cycle.
10. 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 8.
11. A control system for a wind turbine generator system, comprising: a controller for implementing a yaw control method of a wind park according to any one of claims 1 to 8.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out a method for yaw control of a wind park according to any one of claims 1 to 8.
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