CN112253389B - Start-stop control method for yaw control system of wind generating set - Google Patents
Start-stop control method for yaw control system of wind generating set Download PDFInfo
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- CN112253389B CN112253389B CN202011135940.3A CN202011135940A CN112253389B CN 112253389 B CN112253389 B CN 112253389B CN 202011135940 A CN202011135940 A CN 202011135940A CN 112253389 B CN112253389 B CN 112253389B
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- yaw
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- control method
- electromagnetic
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000008030 elimination Effects 0.000 claims abstract description 4
- 238000003379 elimination reaction Methods 0.000 claims abstract description 4
- 238000010248 power generation Methods 0.000 abstract description 4
- 238000013016 damping Methods 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000001012 protector Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
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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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- 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)
- 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 start-stop control method of a yaw control system of a wind generating set, which comprises a start-up control method and a stop control method, wherein S1, an electromagnetic brake of a yaw motor is released firstly; s2, a yaw frequency converter controls a yaw motor to start at a lower rotating speed; s3, after the gap elimination is completed, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state and continuously provides electromagnetic maintaining force; s4, fully releasing hydraulic brake of the yaw system; s5, all yaw motors are started in an accelerating mode according to a set accelerating curve; t1, all yaw motors are decelerated and stopped according to a set deceleration curve; after the speed is reduced to zero, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state and continuously provides electromagnetic maintaining force; t3, throwing a yaw system hydraulic brake; and T4, throwing the yaw motor into the yaw motor for electromagnetic braking. The invention can reduce the mechanical impact to the gear teeth and the vibration of the machine set.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a start-stop control method of a yaw control system of a wind generating set.
Background
In the prior art, the yaw start-stop control method comprises the steps of directly releasing and inputting a traditional hydraulic brake, optimizing a motor start-stop curve and applying a damping holding moment, wherein the system cannot adapt to strong wind disturbance when being started and stopped, and has the problems of large impact on a mechanical structure, abrasion of a hydraulic brake pad, large yaw noise and the like, and patent application number CN201910423933.4 discloses a yaw start-stop control method of a wind generating set, which comprises the following steps: acquiring information of yaw start or yaw stop; the speed-time image of the yaw motor is accelerated to the rated speed according to an acceleration S-shaped curve or is decelerated to zero according to a deceleration S-shaped curve, and the yaw hydraulic resistance is controlled at the same time. According to the yaw motor provided by the invention, acceleration or deceleration is carried out according to the S-shaped curve, yaw hydraulic resistance is controlled, so that the acceleration is in a continuous change state in the change process of the rotation speed of the yaw motor, impact caused by rapid change of the rotation speed is avoided, the change of the rotation speed of the yaw motor is softer, the yaw start-stop process of accelerating to the rated rotation speed and decelerating to zero is smoother, the impact in the acceleration and deceleration process of the rotation speed of the yaw motor is reduced, the vibration of a cabin is reduced, the start-stop curve of the motor is optimally controlled, the mechanical impact and vibration of the motor during start-stop can be reduced to a certain extent, and the matching aspect of the motor and the hydraulic brake is not studied to realize more optimization; the application number CN201510065193.3 discloses a yaw control system and a yaw control method based on effective damping of frequency converters, and belongs to the technical field of wind power generation, wherein the yaw control system comprises a main control controller, at least one group of yaw motors, frequency converters, a brake system, position encoders and a cable-releasing protector, wherein the frequency converters are respectively connected with the yaw motors, the number of the group of yaw motors is 4, 3 yaw driving motors are adopted, 1 yaw damping motor is adopted in the starting and stopping process, each frequency converter respectively independently drives each yaw motor, 1 position encoder and 1 cable-releasing protector are respectively arranged on the yaw gear ring, and each frequency converter, the cable-releasing protector and the position encoder are respectively connected with the main controller. In the stage of starting the yaw system, the torque of the yaw driving motor is gradually increased from zero, the torque of the yaw damping motor is gradually increased from zero, the torque applied to the yaw damping motor in the clockwise direction is basically consistent with the torque applied to the yaw damping motor in the anticlockwise direction, the nacelle of the fan is kept stationary, at the moment, the yaw hydraulic brake is released, the damping motor is driven to rotate in the opposite direction to be in a power generation state in the yaw process, and after the torque of the driving motor is increased to a constant value, the torque of the yaw damping motor is gradually reduced to zero; when the moment values of the damping motor and the driving motor are basically consistent, the fan cabin is kept static; the yaw hydraulic brake is started, the torque of the damping motor and the torque of the driving motor are gradually reduced to zero, and the yaw process is finished.
Disclosure of Invention
According to the method for controlling the yaw control system of the wind generating set, the motor braking is adopted to cooperate, so that the problems of large impact on a mechanical structure, abrasion of a hydraulic brake pad, large yaw noise and the like when the traditional yaw control system is started and stopped can be solved, and the problem of a vacuum period in the starting and stopping process of the novel electromagnetic damping yaw control system can be solved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the start-stop control method of the yaw control system of the wind generating set is applicable to the yaw system of at least one yaw frequency converter and at least two yaw motors, and comprises a start-up control method and a stop control method, wherein the start-up control method comprises the following steps:
s1, when the yaw system receives a starting command of the main controller, the yaw motor electromagnetic brake is released first,
s2, a yaw frequency converter controls a yaw motor to start at a lower rotating speed, and the yaw motor runs in a required yaw direction;
s3, after the gap elimination is completed, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state and continuously provides electromagnetic maintaining force;
s4, fully releasing hydraulic brake of the yaw system;
s5, all yaw motors are started in an accelerating mode according to a set accelerating curve;
the shutdown control mode comprises the following steps:
t1, after a yaw system receives a main control shutdown command, all yaw motors are decelerated and shut down according to a set deceleration curve;
after the speed is reduced to zero, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state, continuously provides electromagnetic maintaining force, and prepares to provide self-adaptive electromagnetic torque at any time;
t3, throwing a yaw system hydraulic brake;
and T4, after the hydraulic brake is completely braked, throwing the yaw motor into the yaw motor for electromagnetic braking, and stopping the yaw motor.
As an optimization, before step S1, that is, before starting, the hydraulic brake of the yaw system and the electromagnetic brake of the yaw motor are both in a braking state.
As an optimization, before the step T1, that is, before the shutdown, the hydraulic brake of the yaw system and the electromagnetic brake of the yaw motor are in a fully released state.
Compared with the prior art, the wind generating set yaw control system start-stop control method has the following technical effects:
1. the yaw motor is guaranteed to have no rotating speed when the hydraulic brake and the motor brake are released and put into operation, abrasion of the hydraulic brake pad and the electromagnetic brake pad is avoided, impact on a mechanical structure is small, yaw noise is small, and unit vibration when a yaw system is started and stopped can be effectively reduced;
2. when the yaw motor is started, the motor releases electromagnetic brake and eliminates backlash at low rotation speed, so that mechanical impact on gear teeth and unit vibration can be effectively reduced;
3. the yaw start-stop process provides a maintenance moment for keeping the cabin stable in the whole course, so that the situation that the hydraulic brake and the motor brake are released, the yaw motor torque is not established in time, and the hydraulic brake and the motor brake are not put into a vacuum period when the maintenance torque disappears after the yaw motor is stopped is avoided, and the start-stop process has strong capability of resisting the disturbance of the strong wind moment.
Drawings
FIG. 1 is a yaw system start control flow of a yaw control system start-stop control method of a wind turbine generator system according to the present invention;
FIG. 2 is a shutdown control flow of a yaw system of a wind turbine generator system yaw control system start-stop control method of 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 should be understood that the azimuth or positional relationship indicated by the azimuth words such as "upper, lower, front, rear, left, right" and "top, bottom", etc. are generally based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and these azimuth words do not indicate or imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention; the orientation word "inner and outer" refers to inner and outer relative to the contour 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 start control flow of a start-stop control method of a yaw control system of a wind generating set is shown, before starting, a hydraulic brake of the yaw system and an electromagnetic brake of a yaw motor are in a braking state, and after the yaw system receives a main control start command, the following start control flow of the yaw system is executed:
starting step one: firstly, releasing electromagnetic brakes of all yaw motors;
starting step two: the yaw frequency converter controls the yaw motor to start to run in the required yaw direction at a low rotation speed, limits torque and prevents overcurrent, and gear engagement is ensured through the step, so that tooth gaps are eliminated; the low rotational speed here means that the rotational speed of the yaw motor does not exceed 200rpm.
Starting step three: after the clearance elimination is completed, the yaw frequency converter controls the motor to be in a zero-speed maintaining state, continuously provides electromagnetic maintaining force, and prepares to provide self-adaptive electromagnetic torque at any time;
and a starting step four: the hydraulic brake of the yaw system is fully released;
starting step five: and the yaw frequency converter controls the motor to start up according to the set acceleration curve, and the starting is completed.
As shown in fig. 2, a shutdown control flow of a start-stop control method of a yaw control system of a wind generating set is shown, before shutdown, hydraulic brakes of the yaw system and electromagnetic brakes of a yaw motor are in a completely released state, and after the yaw system receives a main control shutdown command, the following shutdown control flow of the yaw system is executed:
stopping the machine: the yaw frequency converter controls the motor to stop according to a set deceleration curve;
stopping the machine: after the speed is reduced to zero, the yaw frequency converter controls the motor to be in a zero-speed maintaining state, continuously provides electromagnetic maintaining force, and prepares to provide self-adaptive electromagnetic torque at any time;
and (3) stopping the machine: putting a hydraulic brake of a yaw system into the device, and completely braking the hydraulic brake of the yaw system;
and (3) stopping: and (5) throwing an electromagnetic brake of a yaw motor, braking the motor, and stopping the machine.
In the technical scheme, the yaw motor drives the fan cabin to operate through gear transmission, and the hydraulic brake acts on a large gear disc of the fan cabin.
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 modifications can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
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 also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. A start-stop control method of a yaw control system of a wind generating set is applicable to a yaw system of at least one yaw frequency converter and at least two yaw motors, and comprises a start-up control method and a stop control method, and is characterized in that,
the starting control method comprises the following steps:
s1, when the yaw system receives a starting command of the main controller, the yaw motor electromagnetic brake is released first,
s2, a yaw frequency converter controls a yaw motor to start at a lower rotating speed, and the yaw motor runs in a required yaw direction;
s3, the yaw frequency converter controls the yaw motor to start to run in the required yaw direction at a low rotation speed, torque limiting is carried out, overcurrent is prevented, gear engagement is ensured through the step, and tooth gaps are eliminated;
after the clearance elimination is completed, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state and continuously provides electromagnetic maintaining force;
s4, fully releasing hydraulic brake of the yaw system;
s5, all yaw motors are started in an accelerating mode according to a set accelerating curve;
the shutdown control mode comprises the following steps:
t1, after a yaw system receives a main control shutdown command, all yaw motors are decelerated and shut down according to a set deceleration curve;
after the speed is reduced to zero, the yaw frequency converter controls the yaw motor to be in a zero-speed maintaining state and continuously provides electromagnetic maintaining force;
t3, throwing a yaw system hydraulic brake;
and T4, after the hydraulic brake is completely braked, throwing the yaw motor into the yaw motor for electromagnetic braking, and stopping the yaw motor.
2. The method for controlling start-stop of yaw control system of wind generating set according to claim 1, wherein before step S1, both hydraulic brake of yaw system and electromagnetic brake of yaw motor are in braking state.
3. The method for controlling the start and stop of a yaw control system of a wind generating set according to claim 1, wherein before the step T1, the hydraulic brake of the yaw system and the electromagnetic brake of the yaw motor are in a fully released state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011135940.3A CN112253389B (en) | 2020-10-22 | 2020-10-22 | Start-stop control method for yaw control system of wind generating set |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011135940.3A CN112253389B (en) | 2020-10-22 | 2020-10-22 | Start-stop control method for yaw control system of wind generating set |
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| Publication Number | Publication Date |
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| CN112253389A CN112253389A (en) | 2021-01-22 |
| CN112253389B true CN112253389B (en) | 2024-03-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113931796B (en) * | 2021-09-28 | 2024-02-09 | 许昌许继风电科技有限公司 | Yaw shutdown control method and system for wind turbine generator |
| CN114151279B (en) * | 2021-11-08 | 2024-01-05 | 明阳智慧能源集团股份公司 | Yaw starting control method and system for wind generating set |
| CN114396356A (en) * | 2022-01-05 | 2022-04-26 | 中国大唐集团有限公司内蒙古分公司 | Impact-resistant electromagnetic speed change mechanism for yaw motor of wind turbine generator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005015011A1 (en) * | 2003-08-12 | 2005-02-17 | Nabtesco Corporation | Speed reducer for use in yaw drive apparatus for wind power generation apparatus, and yaw drive method and apparatus for wind power generation apparatus using the speed reducer |
| CN102777319A (en) * | 2011-05-12 | 2012-11-14 | 苏州特谱风能技术有限公司 | Yaw control system for wind power generation and control method thereof |
| CN106762412A (en) * | 2016-12-30 | 2017-05-31 | 科诺伟业风能设备（北京）有限公司 | A kind of wind generating set yaw brake clip clamping control method based on frequency converter |
| 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 |
-
2020
- 2020-10-22 CN CN202011135940.3A patent/CN112253389B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005015011A1 (en) * | 2003-08-12 | 2005-02-17 | Nabtesco Corporation | Speed reducer for use in yaw drive apparatus for wind power generation apparatus, and yaw drive method and apparatus for wind power generation apparatus using the speed reducer |
| CN102777319A (en) * | 2011-05-12 | 2012-11-14 | 苏州特谱风能技术有限公司 | Yaw control system for wind power generation and control method thereof |
| CN106762412A (en) * | 2016-12-30 | 2017-05-31 | 科诺伟业风能设备（北京）有限公司 | A kind of wind generating set yaw brake clip clamping control method based on frequency converter |
| 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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Effective date of registration: 20240618 Address after: 401133 No. 31 Changhe Road, Yuzui Town, Jiangbei District, Chongqing Patentee after: CHONGQING HUAYU HEAVY INDUSTRY ELECTROMECHANICAL Co.,Ltd. Country or region after: China Address before: 401133 No. 31 Changhe Road, Yuzui Town, Jiangbei District, Chongqing Patentee before: CHONGQING HUAZHAO ELECTRIC EQUIPMENT Co.,Ltd. Country or region before: China |