CN112302871B - Yaw crossing control method for improving availability of wind generating set - Google Patents
Yaw crossing control method for improving availability of wind generating set Download PDFInfo
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- CN112302871B CN112302871B CN202011104564.1A CN202011104564A CN112302871B CN 112302871 B CN112302871 B CN 112302871B CN 202011104564 A CN202011104564 A CN 202011104564A CN 112302871 B CN112302871 B CN 112302871B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000002159 abnormal effect Effects 0.000 claims abstract description 21
- 238000011217 control strategy Methods 0.000 claims abstract description 6
- 238000010248 power generation Methods 0.000 claims description 11
- 238000007405 data analysis Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 abstract description 2
- 230000005856 abnormality Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- 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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- 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
- F03D7/0224—Adjusting blade pitch
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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
- F03D7/0268—Parking or storm protection
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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
- F03D7/028—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
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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
- F03D7/028—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
- F03D7/0288—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power in relation to clearance between the blade and the tower, i.e. preventing tower strike
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a yaw crossing control method for improving the availability of a wind generating set, which combines the current yaw gear ring abnormal position coordinate, and provides 6 sectors according to the current cabin position angle, wind direction, wind speed and different yaw motor coordinate positions, and adopts different yaw control strategies when the wind generating set is positioned at different sector positions. By the strategy, the unit can normally and timely generate electricity for wind in the previous mode when the unit is near a non-dangerous area, and the unit can be protected from safely and quickly passing through the dangerous area and preventing a yaw system from repeatedly crossing by a prediction means when the unit is near the dangerous area. Compared with the modes of manual yawing and wind alignment, the method can effectively avoid the loss of generated energy caused by untimely wind alignment or abnormal long-time shutdown of the yawing system, improve the availability of the unit, and effectively protect and prolong the service life of the yawing system.
Description
Technical Field
The invention relates to the technical field of wind power generation control, in particular to a yaw crossing control method for improving the availability of a wind generating set.
Background
With more and more wind generating sets installed and operated at home and abroad, the condition that a yaw gear ring is locally abnormal in the set under certain specific working conditions is inevitable, so that the set is stopped for a long time. When the condition occurs in most wind power plants at present, a unit shutdown mode is basically adopted, yawing is not allowed, power generation is not allowed, and unit operation is recovered after the problem of local abnormity of yawing gear rings of standby units is solved. The method is the most reliable mode for protecting the unit yawing system from being continuously damaged and ensuring the overall safety of the unit. However, this method generally results in a large loss of power generation during the shutdown period of the unit due to the long recovery period of the unit. Even part of the wind power plant may be continuously stopped for months under the restriction of some external factors, and during the period, no relevant better and more optimal yaw strategy is used for controlling the unit to continuously and stably operate and generate power, so that the unit is relatively more and more lost.
In few known wind fields, in order to solve the above problems, manual processing is mostly adopted, that is, areas with risks are recorded in advance, and wind is aligned in a manual yaw mode. However, in this method, there is a risk of misjudgment due to subjective consciousness of an individual, a yaw error may occur, or yaw wind alignment is not performed at the optimal first time after the wind direction changes, and in addition, in this method, the most efficient power generation cannot be performed in a region where normal yaw wind alignment full load power generation is possible to occur to a great extent.
Therefore, in any of the above cases, there is a possibility that a certain amount of power generation is lost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a yaw crossing control method for improving the availability of a wind generating set, effectively ensures that the set can continue to stably generate power on the premise of safety, improves the availability of the set and prolongs the service life of the whole yaw system.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a yaw crossing control method for improving the availability of a wind generating set comprises the following steps:
1) determining the coordinate positions of the dangerous areas, wherein the number of the dangerous areas to be determined is consistent with the number of yaw motors of the wind generating set, namely N yaw motors of the wind generating set are provided, and N dangerous areas need to be determined;
finding out a first dangerous area Z degrees of the abnormal yaw gear ring through a mode of on-site checking a hardware yaw gear ring or data analysis, and then determining an angle value X degrees of the cabin when a first yaw motor passes through the left boundary of the abnormal area and an angle value (X + Z) degrees of the cabin when the first yaw motor passes through the right boundary of the abnormal area; because the second yaw motor and the third yaw motor are physically determined to be unique relative to a static position coordinate, namely an included angle between the second yaw motor and the first yaw motor, namely an angle a1°，a2°,…,aN-1The degree is a known, determined value, so that using the first risk zone determined, another N-1 risk zones can be calculated, as follows:
a first interval: x DEG to (X + Z) °;
a second interval: (X + a)1)°～(X+a1+Z)°；
The third interval: (X + a)2)°～(X+a2+Z)°；
……
The Nth interval: (X + a)N-1)°～(X+aN-1+Z)°；
2) Yaw ride-through control strategy
Aiming at the yaw wind alignment of the unit, at a certain moment, the wind can only be aligned to the area within the Nth interval or outside the interval;
and carrying out sector division on the Nth interval and the adjacent area, dividing the Nth interval and the adjacent area into 6 sectors in total, and sequentially from left to right: the system comprises a sector I, a sector II, a sector III, a sector IV, a sector V and a sector VI, wherein the three sectors on the left side and the three sectors on the right side are symmetrical to each other, the sector II and the sector V have the same size and are beta degrees, and the sector III and the sector IV have the same angle and are Z degrees/2 degrees;
according to the operation condition of the engine room, if the unit operates in a safe area, the starting position should be in the No. I sector on the left or the No. VI sector on the right, when the starting position of the unit is in the No. I sector, the following conditions are provided:
a. wind direction in sector i: at the moment, the unit is also in the sector I, and the unit performs yaw wind alignment according to a normal yaw strategy;
b. wind direction in sector ii: at the moment, the unit stops yawing immediately after yawing enters a second sector, and a power limiting strategy is carried out to reduce the side extension load of a dangerous area;
c. wind direction in sector iii: stopping yawing after the unit yawing reaches the second sector, and simultaneously starting a power limiting strategy;
d. wind direction in sector iv: at the moment, the unit is shut down when the wind direction changes towards a V-th sector and a VI-th sector is determined by judging the wind speed, the wind direction, the position of an engine room and predicting the wind direction condition, the unit rapidly drifts through the II-th, III-IV sectors after the shutdown feathering, namely the load is minimum, enters the V-th sector to stop the yawing, and the unit starts a power limiting strategy to operate;
e. wind direction in sector v: at the moment, the unit rapidly drifts through the III th and IV th sectors and stops yawing after reaching the V th sector, and meanwhile, the unit keeps a power limiting strategy;
f. wind direction in sector vi: at the moment, determining whether the wind direction leaves a dangerous area and the wind direction has a trend of developing towards the right direction of the VI sector by judging the wind direction condition of the unit, if the trend that the wind direction leaves the dangerous area and the wind direction develops towards the right direction of the VI sector is met, starting the unit to yaw and enter the VI sector, simultaneously releasing the limited power free power generation, and performing yaw wind alignment by a yaw system according to a normal yaw strategy;
similarly, if the position of the engine room is located in the VI sector on the right when the unit starts, the unit carries out reverse yaw by detecting the wind condition under the condition that the yaw condition is met, namely judging and executing according to the sequence of the VI, V, IV, III, II and I sectors.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention combines the current coordinate of the abnormal position of the yaw gear ring, provides 6 sectors according to the current position angle of the engine room, the wind direction, the wind speed and the coordinate positions of different yaw motors, and adopts different yaw control strategies when the unit is positioned at different sectors. By the strategy, the unit can normally and timely generate electricity for wind in the previous mode when the unit is near a non-dangerous area, and the unit can be protected from safely and quickly passing through the dangerous area and preventing a yaw system from repeatedly crossing by a prediction means when the unit is near the dangerous area. Compared with the modes of manual yawing and wind alignment, the method can effectively avoid the loss of generated energy caused by untimely wind alignment or abnormal long-time shutdown of the yawing system, improve the availability of the unit, effectively protect and prolong the service life of the yawing system, has practical application value and is worthy of popularization.
Drawings
FIG. 1 is a schematic view of the positions of 4 yaw motors.
Fig. 2 is a schematic diagram of 6 sectors.
FIG. 3 is a flow chart of yaw ride-through control.
FIG. 4 is a flow chart for yawing from left to right.
Detailed Description
The present invention will be further described with reference to the following specific examples.
The embodiment provides a yaw crossing control method for improving the availability of a wind generating set, and the specific conditions are as follows:
1) determining the coordinate position of the dangerous area, wherein the number of the dangerous areas to be determined is consistent with the number of the yaw motors of the wind generating set, that is, if there are N yaw motors of the wind generating set, N dangerous areas need to be determined, and the following description will take a 4-yaw-motor set as an example, which is shown in fig. 1.
Finding out a first dangerous area Z degree of the abnormal yaw gear ring through a mode of on-site checking a hardware yaw gear ring or data analysis, and then determining an angle value X degree of the cabin position when a first yaw motor 1# passes through the left boundary of the abnormal area (taking the angle of the cabin yaw in the clockwise direction of the unit as an example), and an angle value (X + Z) degree of the cabin when the first yaw motor passes through the right boundary of the abnormal area; because the second yaw motor 2#, the third yaw motor 3#, and the 4 th yaw motor 4# are physically determined to be unique relative to the rest position coordinate, namely the included angle between the second yaw motor and the first yaw motor, namely the angle a1°，a2°,a3The other three risk zones can be calculated using the first risk zone determined, as follows:
a first interval: x ° - (X + Z) °
A second interval: (X + a)1)°～(X+a1+Z)°
The third interval: (X + a)2)°～(X+a2+Z)°
A fourth interval: (X + a)3)°～(X+a3+Z)°
2) Yaw crossing control strategy (control flow is shown in figure 3)
For a unit to yaw to face wind, only one of the four intervals or the area outside the interval can be faced at a certain moment.
Taking the first zone as an example, the first zone and the neighboring area are divided into 6 sectors, and the following are sequentially performed from left to right: the sector I, the sector II, the sector III, the sector IV, the sector V and the sector VI, wherein the three sectors on the left side and the three sectors on the right side are symmetrical, the sector II and the sector V have the same size and are beta degrees, the angles of the sector III and the sector IV are the same and are Z degrees/2 degrees, and the figure 2 shows that the sector III, the sector IV, the sector V and the sector VI are symmetrical.
According to the operation condition of the cabin, if the unit operates in a safe area, the starting position should be in the i-th sector on the left or the vi-th sector on the right, the following description is made with the starting position of the unit in the i-th sector, and the related flow is shown in fig. 4, and there are the following situations:
a. wind direction in sector i: at the moment, the unit is also in the sector I, and the unit performs yaw wind alignment according to a normal yaw strategy;
b. wind direction in sector ii: at the moment, the unit stops yawing immediately after yawing enters a second sector, and a power limiting strategy is carried out to reduce the side extension load of a dangerous area;
c. wind direction in sector iii: stopping yawing after the unit yawing reaches the second sector, and simultaneously starting a power limiting strategy;
d. wind direction in sector iv: at the moment, the unit is shut down when the wind direction changes towards a V-th sector and a VI-th sector is determined by judging the conditions of the wind speed, the wind direction, the position of an engine room, the predicted wind direction and the like of the unit, rapidly drifts through the II-th, III-IV sectors after the shutdown feathering (with the minimum load), enters the V-th sector to stop the drifting, and starts a power limiting strategy to operate;
e. wind direction in sector v: at the moment, the unit rapidly drifts through the III th and IV th sectors and stops yawing after reaching the V th sector, and meanwhile, the unit keeps a power limiting strategy;
f. wind direction in sector vi: at the moment, whether the wind direction leaves a dangerous area or not and the wind direction has a trend of developing towards the right direction of the VI sector is determined by judging the conditions of the wind direction of the unit and the like, if the conditions that the wind direction leaves the dangerous area and the wind direction has a trend of developing towards the right direction of the VI sector are met, the unit starts yawing to enter the VI sector, meanwhile, the power-limiting free power generation is released, and a yawing system also carries out yawing to wind according to a normal yawing strategy.
Similarly, if the position of the engine room is located in the VI sector on the right when the unit starts, the unit carries out reverse yaw by detecting the wind condition under the condition that the yaw condition is met, namely judging and executing according to the sequence of the VI, V, IV, III, II and I sectors.
In summary, the principle of the method of the present invention is that when a partial unit is affected by a special working condition to cause a local abnormality of a yaw gear ring of a single unit, the unit is not affected by a local abnormality of a large component through a designed yaw crossing control strategy to cause the long-time shutdown of the unit and considerable power generation loss, so as to improve the availability of the unit and ensure that the unit can still normally, continuously and stably operate under the condition that the local abnormality does not affect the overall safety.
The yawing system of the wind generating set can judge according to the position coordinates, wind speed, wind direction, engine room position and other real-time data of the abnormal area, and control the set to be located at the optimal generating position according to the condition of predicting the wind direction in advance, so that the abnormal area of the yawing gear ring is protected from being further damaged on the basis of achieving the purpose of generating power stably and continuously by the set, and the availability of the set is indirectly improved.
When the unit operates in the area on the left side of the abnormal position of the yaw gear ring and the wind direction is in the area on the left side, the yaw system maintains the unit to operate in the area on the left side of the left safety boundary; when the unit runs in the area on the left side of the abnormal position of the yaw gear ring but the wind direction is in the area on the right side, the yaw system starts the unit to quickly pass through the area on the abnormal position to reach the right area running of the right safety boundary; and similarly, when the unit runs in the right area, the wind direction change condition is also monitored in real time, and under the appropriate condition, the unit passes through the left area.
When the unit is controlled to cross the abnormal area, a prediction means is fully utilized, and a proper starting crossing condition is adopted to ensure that the unit cannot frequently cross the abnormal position. The stability, the reliability and the sustainable power generation performance of the unit are ensured.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that the changes in the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (1)
1. A yaw crossing control method for improving the availability of a wind generating set is characterized by comprising the following steps:
1) determining the coordinate positions of the dangerous areas, wherein the number of the dangerous areas to be determined is consistent with the number of yaw motors of the wind generating set, namely N yaw motors of the wind generating set are provided, and N dangerous areas need to be determined;
finding out a first dangerous area Z degrees of the abnormal yaw gear ring through a mode of on-site checking a hardware yaw gear ring or data analysis, and then determining an angle value X degrees of the cabin when a first yaw motor passes through the left boundary of the abnormal area and an angle value (X + Z) degrees of the cabin when the first yaw motor passes through the right boundary of the abnormal area; because the second yaw motor and the third yaw motor are physically determined to be unique relative to a static position coordinate, namely an included angle between the second yaw motor and the first yaw motor, namely an angle a1°，a2°,…,aN-1The degree is a known, determined value, so that using the first risk zone determined, another N-1 risk zones can be calculated, as follows:
a first interval: x DEG to (X + Z) °;
a second interval: (X + a)1)°～(X+a1+Z)°；
The third interval: (X + a)2)°～(X+a2+Z)°；
……
The Nth interval: (X + a)N-1)°～(X+aN-1+Z)°；
2) Yaw ride-through control strategy
Aiming at the yaw wind alignment of the unit, at a certain moment, the wind can only be aligned to the area within the Nth interval or outside the interval;
and carrying out sector division on the Nth interval and the adjacent area, dividing the Nth interval and the adjacent area into 6 sectors in total, and sequentially from left to right: the system comprises a sector I, a sector II, a sector III, a sector IV, a sector V and a sector VI, wherein the three sectors on the left side and the three sectors on the right side are symmetrical to each other, the sector II and the sector V have the same size and are beta degrees, and the sector III and the sector IV have the same angle and are Z degrees/2 degrees;
according to the operation condition of the engine room, if the unit operates in a safe area, the starting position should be in the No. I sector on the left or the No. VI sector on the right, when the starting position of the unit is in the No. I sector, the following conditions are provided:
a. wind direction in sector i: at the moment, the unit is also in the sector I, and the unit performs yaw wind alignment according to a normal yaw strategy;
b. wind direction in sector ii: at the moment, the unit stops yawing immediately after yawing enters a second sector, and a power limiting strategy is carried out to reduce the side extension load of a dangerous area;
c. wind direction in sector iii: stopping yawing after the unit yawing reaches the second sector, and simultaneously starting a power limiting strategy;
d. wind direction in sector iv: at the moment, the unit is shut down when the wind direction changes towards a V-th sector and a VI-th sector is determined by judging the wind speed, the wind direction, the position of an engine room and predicting the wind direction condition, the unit rapidly drifts through the II-th, III-IV sectors after the shutdown feathering, namely the load is minimum, enters the V-th sector to stop the yawing, and the unit starts a power limiting strategy to operate;
e. wind direction in sector v: at the moment, the unit rapidly drifts through the III th and IV th sectors and stops yawing after reaching the V th sector, and meanwhile, the unit keeps a power limiting strategy;
f. wind direction in sector vi: at the moment, determining whether the wind direction leaves a dangerous area and the wind direction has a trend of developing towards the right direction of the VI sector by judging the wind direction condition of the unit, if the trend that the wind direction leaves the dangerous area and the wind direction develops towards the right direction of the VI sector is met, starting the unit to yaw and enter the VI sector, simultaneously releasing the limited power free power generation, and performing yaw wind alignment by a yaw system according to a normal yaw strategy;
similarly, if the position of the engine room is located in the VI sector on the right when the unit starts, the unit carries out reverse yaw by detecting the wind condition under the condition that the yaw condition is met, namely judging and executing according to the sequence of the VI, V, IV, III, II and I sectors.
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| CN114810483B (en) * | 2022-05-05 | 2023-10-20 | 苏州新三力风电科技有限公司 | Yaw method of multi-blade wind power system and multi-blade wind power system |
| CN115079626B (en) * | 2022-07-21 | 2022-11-22 | 东方电气风电股份有限公司 | Early warning method and system for potential operation risk of wind generating set component |
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| CN102305179B (en) * | 2011-08-23 | 2013-12-18 | 国电联合动力技术有限公司 | Yawing sector management and optimized control system and method for wind generating set |
| WO2013155277A1 (en) * | 2012-04-11 | 2013-10-17 | Flodesign Wind Turbine Corp. | Shrouded fluid turbine with active and passive yaw control |
| CN102606396B (en) * | 2012-04-11 | 2014-01-08 | 国电联合动力技术有限公司 | Method for managing and optimally controlling yawing sectors among multiple units in wind farm and system of method |
| JP5550756B2 (en) * | 2013-03-08 | 2014-07-16 | 三菱重工業株式会社 | Wind power generator |
| CN104018987B (en) * | 2014-03-26 | 2017-01-04 | 同济大学 | A kind of control method of wind driven generator yaw system |
| CN107061161A (en) * | 2017-05-02 | 2017-08-18 | 上海电气风电集团有限公司 | Wind driven generator yaw system to wind method and to wind system |
| ES2862724T3 (en) * | 2017-06-07 | 2021-10-07 | Sb Patent Holding Aps | Multi-surface skid braking system for a wind turbine |
| CN110094296B (en) * | 2018-01-29 | 2020-06-09 | 江苏金风科技有限公司 | Yaw control method and device of wind generating set under typhoon |
| WO2019229081A1 (en) * | 2018-05-29 | 2019-12-05 | Mhi Vestas Offshore Wind A/S | Geared transmission device and operating method thereof in case of gear damage |
| JP6655663B2 (en) * | 2018-06-26 | 2020-02-26 | 三菱重工業株式会社 | Wind power generation equipment and its maintenance method |
| CN110886681B (en) * | 2019-12-13 | 2021-04-27 | 北京三力新能科技有限公司 | Yaw angle positioning control method based on time partition and yaw sector |
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