CN112253388A - Wind turbine generator yaw control system without hydraulic brake and control method - Google Patents
Wind turbine generator yaw control system without hydraulic brake and control method Download PDFInfo
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- CN112253388A CN112253388A CN202011135933.3A CN202011135933A CN112253388A CN 112253388 A CN112253388 A CN 112253388A CN 202011135933 A CN202011135933 A CN 202011135933A CN 112253388 A CN112253388 A CN 112253388A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims description 12
- 230000008030 elimination Effects 0.000 claims description 6
- 238000003379 elimination reaction Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000010009 beating Methods 0.000 abstract description 2
- 238000010248 power generation Methods 0.000 abstract description 2
- 238000013016 damping Methods 0.000 description 12
- 238000004891 communication Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
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- 239000003638 chemical reducing agent Substances 0.000 description 2
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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
- F03D7/022—Adjusting aerodynamic properties of the blades
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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
- F03D7/0244—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
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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
- F03D7/026—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for starting-up
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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
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
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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
- F03D7/0296—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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
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- 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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- 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)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
The invention relates to the technical field of wind power generation, in particular to a wind turbine generator yaw control system without a hydraulic brake, which comprises a main controller, a main frequency conversion driver, a plurality of auxiliary frequency conversion drivers and a plurality of yaw motors, wherein the main controller is connected with the main frequency conversion driver through a CANBUS bus, the main frequency conversion driver and each auxiliary frequency conversion driver are connected through the CANBUS bus in sequence, the main frequency conversion driver and the plurality of auxiliary frequency conversion drivers are respectively and correspondingly connected with one yaw motor through connecting lines, and the main controller is respectively connected with brakes of the yaw motors through control lines. The invention also discloses a control method of the wind turbine yaw control system without the hydraulic brake. The invention has synchronous yaw control, balanced load distribution and more balanced current, and reduces gear damage caused by gear beating.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a wind turbine yaw control system without a hydraulic brake and a control method.
Background
The yaw system is an important component of a wind turbine control system and has the function of quickly and smoothly aligning the wind direction when the direction of a wind speed vector changes, so that a wind wheel can obtain the maximum wind energy to transmit more electric energy to a power grid under the same wind speed state.
In order to avoid uncontrolled rotation of the nacelle due to sudden changes of the load direction and magnitude of the yaw system, and to avoid sudden acceleration or reverse movement of the nacelle due to sudden clockwise or counterclockwise force during the whole yaw process, it is necessary to apply a proper yaw damping (generally called a yaw holding moment) to the nacelle to ensure the safety of the whole yaw process.
A yaw motor in a traditional yaw system is controlled in a one-drag-many rough type mode through a soft starter, a contactor or a common frequency converter, hydraulic damping input by a hydraulic brake part is adopted to provide yaw holding torque (generally 50% of hydraulic brake pad input, namely a semi-damping state) for the yaw system, and large sliding friction exists between a brake pad and a brake disc in the traditional yaw action process. Therefore, the conventional yawing system has the following problems:
1) the mechanical structure has larger impact and unbalanced load;
2) the hydraulic brake pad has high abrasion speed and high later-stage operation and maintenance cost;
3) the noise is great in the yawing process and the like.
Disclosure of Invention
Aiming at the problems, the invention provides a wind turbine yaw control system without a hydraulic brake and a control method thereof, wherein a variable frequency driver is adopted to drive a three-phase synchronous yaw motor to provide electromagnetic damping to replace a hydraulic brake part, so that the problems of large mechanical structure impact, unbalanced load, high abrasion speed of a hydraulic brake pad, high noise in a yaw process and the like of the traditional yaw system can be effectively solved, the yaw performance of the system can be improved, the environmental adaptability of the wind turbine can be improved, and the product cost and the later operation and maintenance cost of the wind turbine can be reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a wind turbine generator system yaw control system of no hydraulic brake, includes main control unit, main frequency conversion driver, a plurality of frequency conversion driver and a plurality of yaw motor from, main control unit pass through CANBUS bus with main frequency conversion driver is connected, main frequency conversion driver loops through the CANBUS bus with each from frequency conversion driver and connects, main frequency conversion driver and a plurality of frequency conversion driver from correspond a yaw motor of connecting wire connection respectively, main control unit pass through the control line respectively with a plurality of yaw motor's stopper is connected.
In the technical scheme, a main controller is a PLC (programmable logic controller), and a main frequency conversion driver is connected with a main control PLC (used for signal transmission of given frequency, control words, master-slave motor selection, motor torque, motor current, motor temperature and the like) through a CANBUS (controller area network bus); signals are transmitted between the master variable-frequency driver and each slave variable-frequency driver in a CANopen communication mode (the master variable-frequency driver and the slave variable-frequency drivers are selected according to parameters and are actually variable-frequency drivers of the same type); meanwhile, a CANBUS bus is additionally arranged among the variable frequency drivers for connection and is specially used for synchronous control of the yaw motors so as to ensure that the output of each yaw motor is uniform; the variable frequency driver and the yaw motor adopt a one-to-one dragging mode, and the motor brake is uniformly controlled by a master control PLC; the technical scheme cancels the traditional hydraulic brake of yaw, and replaces the hydraulic brake function with electromagnetic damping torque generated by a variable-frequency drive control synchronous motor and brake torque carried by the motor. Under the combined action of the master yaw motor and the slave yaw motor, the yaw system only keeps the position of the machine head fixed by the torque of the yaw motor, and completely loosens the hydraulic brake to carry out abrasion-free yaw. The yaw control system controls a yaw motor to be connected with a small gear through a speed reducer, and the lower part of the yaw motor is meshed with a large gear through the small gear to drive yaw. In order to ensure that the wind direction of the fan cannot be passively deviated due to wind load of the blades when the fan stops yawing, the selection of the torque of the yaw motor brake is selected according to the specific load calculation of the wind generating set. Because the torque response speed of the variable frequency driver and the synchronous motor is far faster than that of a hydraulic system, the electromagnetic damping can be flexibly adjusted according to the wind load change condition in the yaw process to replace a hydraulic brake, and the abrasion-free yaw is realized.
And optimally, the master variable-frequency driver and each slave variable-frequency driver are respectively provided with a brake resistor.
In this way, each variable frequency driver is equipped with a brake resistor for consuming the electric energy generated when the yaw motor is in the damping state, and the selection of the power of a single brake resistor is determined according to the power of a single yaw motor (the model selection specification of the power of the brake resistor is generally between 20% and 45% of the rated power of the corresponding yaw motor).
Preferably, the connecting wires comprise power wires, rotary transformer signal wires and motor temperature wires.
Preferably, the yaw motor is provided with a rotary transformer.
Thus, the yaw motor is equipped with a resolver for speed feedback to form a closed loop control, enabling the system to have the capability of holding torque at zero rotational speed.
And optimally, the main variable-frequency driver and the plurality of slave variable-frequency drivers are variable-frequency speed-regulating three-phase synchronous motors.
Therefore, the variable-frequency speed-regulating three-phase synchronous motor is selected as the yaw motor, the performance of the yaw motor is greatly superior to that of the traditional three-phase alternating-current asynchronous yaw motor, and the yaw motor has more stable rotating speed and more stable torque.
Because the hydraulic brake yaw system does not have hydraulic brake damping force when yawing, in order to prevent the skid cabin, even galloping, the following control process is required:
a control method of a wind turbine yaw control system without a hydraulic brake comprises the following steps:
s1, before yaw begins, receiving a yaw command sent by the main controller, establishing electromagnetic maintaining moments for the corresponding yaw motors by the main variable frequency driver and the auxiliary variable frequency driver, and after the moments are established, beginning yaw;
s2, when yawing starts, all the yawing motor band-type brakes are fully released, and the yawing system performs low-speed backlash compensation and soft meshing backlash elimination;
s3, after the backlash elimination is finished, the yawing system performs yawing according to the speed instruction of the main controller, droop control is performed in the yawing process, and dynamic load balance is automatically realized;
and S4, when the yaw system reaches the designated angle of the main controller, the main frequency conversion driver and each slave frequency conversion driver carry out torque control to keep the position of the machine head, and when the yaw motor has zero rotating speed, the corresponding motor brake is fully braked until the yaw is finished.
As an optimization, the specific steps of step S3 are:
s3.1, the main variable frequency driver operates in a speed mode according to the command of a main controller;
s3.2, the main variable frequency driver synchronously controls the start-stop and running frequency of the main variable frequency driver and each auxiliary variable frequency driver in a 5ms period; therefore, the synchronism of all yaw motors can be ensured;
s3.3, the master variable-frequency driver and each slave variable-frequency driver carry out droop control according to self torque and droop rate;
and S3.4, the frequency of the variable frequency driver is lower when the torque of the variable frequency driver is larger, so that the torque is automatically distributed to motor shafts of other yaw motors, and finally, a dynamic balance effect is achieved.
Compared with the prior art, the control method of the wind turbine yaw control system without the hydraulic brake has the following technical effects:
1. yaw synchronous control, load balanced distribution and more balanced current are realized, and gear damage caused by gear beating is reduced;
2. the starting impact current is small, the low speed and the large torque are realized, and the impact on a mechanical structure is small;
3. the yaw system does not need to be provided with a hydraulic brake system, so that the product cost is greatly reduced;
4. the non-abrasion yawing can effectively reduce the vibration and noise of the wind turbine generator.
Drawings
FIG. 1 is a schematic structural diagram of a yaw system of a hydraulic brake-free wind turbine generator yaw control system according to the present invention;
FIG. 2 is a flowchart of a control method of a wind turbine yaw control system without a hydraulic brake according to the present invention;
fig. 3 is an interface schematic diagram of a wind turbine yaw control system without a hydraulic brake according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the directions or positional relationships indicated by the directional terms such as "upper, lower, front, rear, left, right" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, and in the case of not making a contrary explanation, these directional terms do not indicate and imply that the device or element being referred to must have a specific direction or be constructed and operated in a specific direction, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
In order to solve the technical problems, the invention adopts the following technical scheme:
as shown in fig. 1, a wind turbine yaw control system without hydraulic brake comprises a main controller, a main variable frequency driver, a plurality of slave variable frequency drivers and a plurality of yaw motors, wherein the main controller is connected with the main variable frequency driver through a CANBUS, the main variable frequency driver and each slave variable frequency driver are connected through the CANBUS in sequence, the main variable frequency driver and the plurality of slave variable frequency drivers are respectively and correspondingly connected with one yaw motor through connecting lines, and the main controller is respectively connected with the brakes of the yaw motors through control lines.
In the technical scheme, a main controller is a PLC (programmable logic controller), and because the existing yaw system is started by using a large MW fan and four motors, at least 3 slave frequency conversion drivers are connected with a master control PLC (used for signal transmission of given frequency, control words, master-slave motor selection, motor torque, motor current, motor temperature and the like) through a communication CANBUS (computer aided bus); signals are transmitted between the master variable-frequency driver and each slave variable-frequency driver through a CANopen communication mode (communication CANBUS bus) (the master variable-frequency driver and the slave variable-frequency drivers are selected according to parameters and are actually variable-frequency drivers of the same type); meanwhile, a CANBUS bus (synchronous CANBUS bus) is additionally arranged among the variable frequency drivers and is specially used for synchronous control of the yaw motors, so that the uniform output of each yaw motor is ensured; the variable frequency driver and the yaw motor adopt a one-to-one dragging mode, and the motor brake is uniformly controlled by a master control PLC; the technical scheme cancels the traditional hydraulic brake of yaw, and replaces the hydraulic brake function with electromagnetic damping torque generated by a variable-frequency drive control synchronous motor and brake torque carried by the motor. Under the combined action of the master yaw motor and the slave yaw motor, the yaw system only keeps the position of the machine head fixed by the torque of the yaw motor, and completely loosens the hydraulic brake to carry out abrasion-free yaw. The yaw control system controls a yaw motor to be connected with a small gear through a speed reducer, and the lower part of the yaw motor is meshed with a large gear through the small gear to drive yaw. In order to ensure that the wind direction of the fan cannot be passively deviated due to wind load of the blades when the fan stops yawing, the selection of the torque of the yaw motor brake is selected according to the specific load calculation of the wind generating set. Because the torque response speed of the variable frequency driver and the synchronous motor is far faster than that of a hydraulic system, the electromagnetic damping can be flexibly adjusted according to the wind load change condition in the yaw process to replace a hydraulic brake, and the abrasion-free yaw is realized.
In this embodiment, the master variable frequency driver and each slave variable frequency driver are respectively provided with a brake resistor.
In this way, each variable frequency driver is equipped with a brake resistor for consuming the electric energy generated when the yaw motor is in the damping state, and the selection of the power of a single brake resistor is determined according to the power of a single yaw motor (the model selection specification of the power of the brake resistor is generally between 20% and 45% of the rated power of the corresponding yaw motor).
In this embodiment, the connection lines include a power line, a rotation signal line, and a motor temperature line.
In this embodiment, the yaw motor is provided with a resolver.
Therefore, the yaw motor is provided with the rotary transformer for speed feedback to form closed-loop control, the yaw motor can be continuously corrected according to a feedback value through the rotary transformer, so that the system has the capability of keeping the moment at the zero rotating speed, the open-loop control cannot realize the accurate control, and the yaw motor cannot know the deviation from a target value during the open-loop control.
In this embodiment, the master frequency conversion driver and the slave frequency conversion drivers are both frequency conversion speed regulation three-phase synchronous motors.
Therefore, the variable-frequency speed-regulating three-phase synchronous motor is selected as the yaw motor, the performance of the yaw motor is greatly superior to that of the traditional three-phase alternating-current asynchronous yaw motor, and the yaw motor has more stable rotating speed and more stable torque.
Because the hydraulic brake yaw system does not have hydraulic brake damping force when yawing, in order to prevent the skid cabin, even galloping, the following control process is required:
a control method of a wind turbine yaw control system without a hydraulic brake comprises the following steps:
s1, before yaw begins, receiving a yaw command sent by the main controller, establishing electromagnetic maintaining moments for the corresponding yaw motors by the main variable frequency driver and the auxiliary variable frequency driver, and after the moments are established, beginning yaw;
s2, when yawing starts, all the yawing motor band-type brakes are fully released, and the yawing system performs low-speed backlash compensation and soft meshing backlash elimination; here, the low speed means that the frequency of the yaw motor is 7 HZ.
S3, after the backlash elimination is finished, the yawing system performs yawing according to the speed instruction of the main controller, droop control is performed in the yawing process, and dynamic load balance is automatically realized;
and S4, when the yaw system reaches the designated angle of the main controller, the main frequency conversion driver and each slave frequency conversion driver carry out torque control to keep the position of the machine head, and when the yaw motor has zero rotating speed, the corresponding motor brake is fully braked until the yaw is finished.
Because the fan is always the external force of wind, the motor can not be in an uncontrolled state, therefore, the variable frequency driver listens to the angle instruction of the main controller to actively control the motor shaft to stop and keep the zero speed.
In this embodiment, the specific steps of step S3 are as follows:
s3.1, the main variable frequency driver operates in a speed mode according to the command of a main controller;
s3.2, the main variable frequency driver synchronously controls the start-stop and running frequency of the main variable frequency driver and each auxiliary variable frequency driver in a 5ms period; therefore, the synchronism of all yaw motors can be ensured;
s3.3, the master variable-frequency driver and each slave variable-frequency driver carry out droop control according to self torque and droop rate;
and S3.4, the frequency of the variable frequency driver is lower when the torque of the variable frequency driver is larger, so that the torque is automatically distributed to motor shafts of other yaw motors, and finally, a dynamic balance effect is achieved.
The master controller is a PLC controller, for example, a 2.5MW wind generating set is provided with 5 yaw motors, the master PLC can select brands such as Bachman and Beffy, and the master PLC is selected in a mode that more than 5 configurable slave stations are considered, so that the 5 variable frequency drivers can be completely configured; meanwhile, the master control PLC is required to be provided with at least 8 DI (digital interface) and 8 DO (data access) modules so as to ensure that enough input and output interfaces exist during yaw control. The specific interface mode is as shown in fig. 3, the master control PLC has 4 ways of DI (including manual/automatic switch, right yaw, left yaw, and fault reset) and 1 way of DO (fault indication signal) connected to the manual operation panel, has 1 way of DO control for fault reset of all frequency conversion drivers (realized by 2 relays with three pairs of contacts), has 1 way of DI (signal feedback of motor brake) and 2 ways of DO (capable of simultaneously controlling 5 yaw motor brake, heating by a micro contactor and terminal block combination) connected to the yaw motor; the main variable frequency driver is connected with a main control PLC (used for signal transmission of given frequency, control words, active motor selection, motor moment, motor current, motor temperature and the like) through a CANBUS bus, and the variable frequency driver is connected with a yaw motor and comprises a rotary variable signal line, a motor temperature signal line and a motor power cable.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Finally, it should be noted that: various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
Claims (7)
1. The utility model provides a wind turbine generator system yaw control system of no hydraulic brake which characterized in that, includes main control unit, main frequency conversion driver, a plurality of frequency conversion driver and a plurality of yaw motor from, main control unit pass through CANBUS bus with main frequency conversion driver is connected, main frequency conversion driver loops through the CANBUS bus with each frequency conversion driver from and connects, main frequency conversion driver and a plurality of frequency conversion driver from correspond a yaw motor of connecting wire connection respectively, main control unit pass through the control line respectively with a plurality of yaw motor's stopper is connected.
2. The wind turbine yaw control system without the hydraulic brake as claimed in claim 1, wherein the master variable frequency drive and each slave variable frequency drive are provided with a brake resistor.
3. The wind turbine yaw control system without the hydraulic brake as claimed in claim 1, wherein the connecting lines comprise a power line, a rotation signal line and a motor temperature line.
4. The wind turbine yaw control system without the hydraulic brake of claim 1, wherein the yaw motor is provided with a rotary transformer.
5. The wind turbine yaw control system without the hydraulic brake as claimed in claim 1, wherein the master variable frequency drive and the plurality of slave variable frequency drives are variable frequency speed control three-phase synchronous motors.
6. The control method for the wind turbine yaw control system without the hydraulic brake is characterized by comprising the following steps of:
s1, receiving a yaw command sent by the main controller, and establishing electromagnetic maintenance moments for the corresponding yaw motors by the main variable frequency driver and the auxiliary variable frequency driver;
s2, fully loosening the band-type brakes of the yaw motors, and performing low-speed backlash compensation and soft backlash elimination by a yaw system;
s3, after the backlash elimination is finished, the yawing system performs yawing according to the speed instruction of the main controller, droop control is performed in the yawing process, and dynamic load balance is automatically realized;
and S4, when the yaw system reaches the designated angle of the main controller, the main variable frequency driver and each slave variable frequency driver carry out torque control, and when the yaw motor has zero rotating speed, the corresponding motor brake is fully braked until the yaw is finished.
7. The control method of the wind turbine yaw control system without the hydraulic brake as claimed in claim 6, wherein the specific steps of the step S3 are as follows:
s3.1, the main variable frequency driver operates according to the command of the main controller;
s3.2, the main variable frequency driver synchronously controls the start-stop and running frequency of the main variable frequency driver and each auxiliary variable frequency driver in a 5ms period;
s3.3, the master variable-frequency driver and each slave variable-frequency driver carry out droop control according to self torque and droop rate;
and S3.4, the frequency of the variable frequency driver is lower when the torque of the variable frequency driver is larger, so that the torque is automatically distributed to motor shafts of other yaw motors, and finally, a dynamic balance effect is achieved.
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| CN202011135933.3A CN112253388A (en) | 2020-10-22 | 2020-10-22 | Wind turbine generator yaw control system without hydraulic brake and control method |
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| CN202011135933.3A CN112253388A (en) | 2020-10-22 | 2020-10-22 | Wind turbine generator yaw control system without hydraulic brake and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114893349A (en) * | 2022-07-14 | 2022-08-12 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
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2020
- 2020-10-22 CN CN202011135933.3A patent/CN112253388A/en active Pending
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| CN202756175U (en) * | 2012-09-10 | 2013-02-27 | 南车株洲电力机车研究所有限公司 | Yaw control system of wind generating set |
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| CN109653949A (en) * | 2018-11-30 | 2019-04-19 | 中国船舶重工集团海装风电股份有限公司 | The wind generating set yaw method and system of yaw motor offer electromagnetic damping |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114893349A (en) * | 2022-07-14 | 2022-08-12 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
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