CN112392655B - Automatic emergency yawing device, method and equipment for wind driven generator - Google Patents
Automatic emergency yawing device, method and equipment for wind driven generator Download PDFInfo
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- CN112392655B CN112392655B CN201910749214.1A CN201910749214A CN112392655B CN 112392655 B CN112392655 B CN 112392655B CN 201910749214 A CN201910749214 A CN 201910749214A CN 112392655 B CN112392655 B CN 112392655B
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- 239000003638 chemical reducing agent Substances 0.000 claims description 12
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- 230000008569 process Effects 0.000 description 7
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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
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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
- F05B2270/304—Spool rotational speed
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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
- F05B2270/321—Wind directions
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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
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
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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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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The application relates to an automatic emergency yawing device, a method and equipment for a wind driven generator, wherein the device comprises a rotating speed monitor, a wind direction sensor, a yawing control device, a twisting cable sensor and a yawing execution device; the rotating speed monitor is used for acquiring the rotating speed of the impeller of the wind driven generator; the cable twisting sensor is used for acquiring the cable twisting state of a cable in the wind driven generator; the wind direction sensor is used for acquiring angle information of the cabin of the wind driven generator and the wind direction; the yaw control device is used for generating a corresponding yaw route according to the twisting state of a cable in the wind driven generator and the angle information of the engine room and the wind direction; and the yaw executing device controls the wind driven generator cabin to yaw according to the yaw route. Whether the rotating speed of the impeller of the wind driven generator is overspeed or not is judged by adding the yaw control device, so that potential safety hazards caused by incapability of timely yawing when the impeller of the wind driven generator is overspeed are avoided, and the safety of the wind driven generator is improved.
Description
Technical Field
The application relates to the technical field of wind driven generator yawing, in particular to an automatic emergency yawing device, method and equipment of a wind driven generator.
Background
When the wind driven generator works normally, the wind direction may change all the time, and the cabin of the wind driven generator needs to be adjusted to be capable of aligning the wind direction quickly and smoothly so that the impeller can obtain the maximum wind energy, and the main controller of the wind driven generator realizes the capture of wind power by the wind driven generator group through controlling the variable pitch system and the yaw system. However, when the wind power is strong and the absorbed wind power exceeds the rated power of the wind generating set, the wind generating set needs to start the pitch system or the yaw system, and the angle of the blades or the angle between the engine room and the wind direction is changed to ensure the safety of the wind generating set.
The traditional scheme of the yaw system comprises two schemes, wherein one scheme is that a contactor directly controls the starting of a motor, and the yaw of the cabin is realized through the operation of the motor, and the other scheme is that a frequency converter is connected with the motor, and the output of the motor is controlled through the frequency converter to realize the yaw of the cabin. In the two schemes, the contactor and the frequency converter are controlled by the main controller, when the main controller is in an abnormal state, the yaw system cannot work normally, and the pitch system is in an abnormal state, so that sudden strong wind can cause overspeed runaway of an impeller of the wind driven generator and even collapse of the wind driven generator set, and hidden danger is brought to the overall safety of the wind driven generator set.
Disclosure of Invention
In view of the above, there is a need to provide an automatic emergency yawing device, method and apparatus for wind turbine generator, which can improve the safety and reliability of the wind turbine generator, in order to solve the problem of low safety and reliability of the wind turbine generator.
An automatic emergency yawing device for a wind power generator, the device comprising: the device comprises a rotating speed monitor, a wind direction sensor, a yaw control device, a twisted cable sensor and a yaw executing device; the rotating speed monitor is connected with the yaw control device and used for acquiring the rotating speed of the impeller of the wind generating set and sending the rotating speed to the yaw control device; the wind direction sensor is connected with the yaw control device and used for collecting angle information of the cabin of the wind driven generator and the wind direction and sending the angle information to the yaw control device; the cable twisting sensor is connected with the yaw control device and used for acquiring the cable twisting state of a cable in the wind driven generator and sending the cable twisting state to the yaw control device; the yaw control device is connected with the yaw execution device and used for judging whether the rotating speed of the impeller of the wind driven generator is larger than or equal to a preset rotating speed threshold value or not, if yes, a corresponding yaw route is generated according to the twisting state of a cable in the wind driven generator and the angle information of a cabin of the wind driven generator and the wind direction, and the corresponding yaw route is sent to the yaw execution device; and the yaw executing device is used for controlling the wind driven generator cabin to complete yaw according to the yaw route.
According to the device, whether the rotating speed of the wind driven generator impeller is overspeed or not is judged by adding the yaw control device, the cable twisting state of the wind driven generator cable and the wind direction sensor are detected by the cable twisting sensor to obtain the angle information of the engine room and the wind direction, a corresponding yaw route is generated, the yaw execution device is controlled to execute yaw through the yaw route, the safety of the wind driven generator is improved, and potential safety hazards caused by the fact that the wind driven generator impeller cannot yaw timely when overspeed are avoided.
In one embodiment, the emergency yawing device further comprises a main controller, the main controller is connected with the yawing control device in a communication manner, and the yawing control device is further used for receiving a yawing signal sent by the controller when the rotating speed of the wind turbine generator impeller is smaller than a preset rotating speed threshold value and transmitting the yawing signal to the yawing executing device so as to control the wind turbine generator cabin to complete yawing.
In one embodiment, the yaw control apparatus includes a yaw motor drive assembly, and the yaw actuator includes a yaw motor; the yaw motor driving assembly is connected with the yaw motor, the cable twisting sensor, the rotating speed monitor, the wind direction sensor and the main controller, and is used for sending a yaw route to the yaw motor so as to control the yaw motor to rotate forwards or reversely.
In one embodiment, the yaw control device comprises a yaw controller and a contactor, the yaw controller is connected with the main controller, the cable twisting sensor, the rotating speed monitor, the wind direction sensor and the contactor, and the yaw executing device comprises a yaw motor; the yaw motor is connected to a yaw controller via contactors, and the yaw controller and contactors are used to send a yaw path to the yaw motor to control the yaw motor to rotate in forward or reverse directions.
In one embodiment, the yaw executing device further comprises a motor brake, the motor brake is connected with the yaw control device and the yaw motor, and the motor brake is used for receiving a motor brake signal sent by the yaw control device and braking the yaw motor according to the motor brake signal.
In one embodiment, the yaw executing device further comprises a yaw hydraulic brake and a yaw bearing, the yaw hydraulic brake is connected with the yaw control device and the yaw bearing, and the yaw hydraulic brake is used for receiving a bearing braking signal sent by the yaw control device and braking the yaw bearing according to the bearing braking signal.
In one embodiment, the yaw executing device further comprises a yaw speed reducer, a yaw pinion and a yaw gear ring, wherein the yaw speed reducer is connected with the yaw motor, the yaw pinion is respectively connected with the yaw speed reducer and the yaw gear ring, and the yaw gear ring is connected with the yaw bearing.
In one embodiment, the yaw motor drive assembly comprises a yaw controller and a yaw frequency converter, the yaw controller is connected with the yaw frequency converter, the cable twisting sensor, the rotating speed monitor, the wind direction sensor and the main controller, and the yaw frequency converter is connected with the yaw motor.
In one embodiment, an automatic emergency yawing method for a wind turbine includes the following steps:
receiving the rotating speed of the impeller of the wind driven generator acquired by the rotating speed monitor;
receiving a cable twisting state of a cable in the wind driven generator, which is acquired by a cable twisting sensor;
receiving angle information of the engine room and the wind direction acquired by a wind direction sensor;
judging whether the rotating speed is greater than or equal to a preset rotating speed threshold value or not, if not, receiving a yaw signal sent by the main controller, sending the yaw signal to a yaw executing device to control the cabin of the wind driven generator to yaw, and if so, generating a yaw route according to the state of twisting cables and the angle information of the cabin and the wind direction, and sending the yaw route to the yaw executing device; the yaw path is used for controlling the yaw of the wind driven generator cabin by the yaw executing device.
According to the method, the yaw control device is added to judge whether the rotating speed of the wind driven generator impeller is overspeed or not, the cable twisting state of the wind driven generator cable and the wind direction sensor are detected through the cable twisting sensor to obtain the angle information of the engine room and the wind direction, a corresponding yaw route is generated to control the yaw execution device to execute yaw, the potential safety hazard caused by the fact that the wind driven generator impeller cannot yaw timely when overspeed is avoided, and the safety of the wind driven generator is improved.
In one embodiment, the wind driven generator equipment comprises an impeller, a wind driven generator cabin, a tower and the wind driven generator automatic emergency yawing device, wherein the impeller is connected with the wind driven generator cabin, the wind driven generator cabin is rotatably connected with the tower, the wind driven generator automatic emergency yawing device is connected with the wind driven generator cabin, and the wind driven generator automatic emergency yawing device is used for controlling yawing of the wind driven generator cabin.
According to the equipment, whether the rotating speed of the wind driven generator impeller is overspeed or not is judged by adding the yaw control device, the cable twisting state of the wind driven generator cable and the wind direction sensor are detected by the cable twisting sensor to obtain the angle information of the engine room and the wind direction, a corresponding yaw route is generated, the yaw execution device is controlled to execute yaw through the yaw route, the potential safety hazard caused by incapability of timely yaw when the wind driven generator impeller is overspeed is avoided, and the safety of the wind driven generator is improved.
Drawings
FIG. 1 is a schematic view of a system frame of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 2 is a system block diagram of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 3 is a system block diagram of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 4 is a system frame diagram of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 5 is a schematic view of a system frame of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 6 is a system block diagram of an automatic emergency yawing device for a wind turbine according to an embodiment;
FIG. 7 is a schematic flow chart illustrating an automatic emergency yaw method of a wind turbine according to an embodiment;
FIG. 8 is a schematic flow chart illustrating an automatic emergency yaw method of a wind turbine according to an embodiment;
FIG. 9 is a block diagram of an exemplary wind turbine apparatus.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In one embodiment, as shown in fig. 1, there is provided a wind turbine automatic emergency yawing device, the device comprising a twisting cable sensor 100, a rotational speed monitor 200, a yaw controlling device 300, a yaw performing device 400 and a wind direction sensor 500; the rotating speed monitor 200 is connected with the yaw control device 300, and the rotating speed monitor 200 is used for collecting the rotating speed of the wind driven generator impeller and sending the rotating speed to the yaw control device 300; the cable twisting sensor 100 is connected with the yaw control device 300, and the cable twisting sensor 100 is used for collecting the cable twisting state of a cable in the wind driven generator and sending the cable twisting state to the yaw control device 300; the wind direction sensor 500 is connected with the yaw control device 300, and the wind direction sensor 500 is used for collecting angle information of the cabin of the wind driven generator and the wind direction; the yaw control device 300 is connected with the yaw executing device 400, the yaw control device 300 is used for judging whether the rotating speed of the impeller of the wind driven generator is greater than or equal to a preset rotating speed threshold value, if yes, a corresponding yaw route is generated according to the twisting state of a cable in the wind driven generator and the angle information of the cabin and the wind direction, and the corresponding yaw route is sent to the yaw executing device 400; the yaw actuation device 400 is used for controlling the nacelle yaw of the wind turbine according to a yaw path.
The wind driven generator enables the impeller of the wind driven generator to face the incoming direction of natural wind through the yawing engine room, so that the natural wind can drive the impeller to rotate to generate power, in the process, the rotating speed of the impeller can change along with the wind strength of the natural wind, under the normal condition, the fan impeller generally faces the incoming direction of the natural wind to ensure that the wind power is fully utilized to generate the power, the wind power of the natural wind can be very strong sometimes, at this time, in order to prevent the rotating speed of the fan impeller from being too high, the fan impeller can not face the direction of the natural wind any more, the engine room of the wind driven generator set needs to be subjected to yawing, the angle between the engine room and the natural wind is changed, for example, the engine room and the wind direction of the natural wind are in a vertical state, and the situation that the rotating speed of blades exceeds a safe value due to the overlarge wind power of the natural wind is prevented, and the wind driven generator set is damaged. Meanwhile, in the process of rotating the cabin of the wind driven generator, the cable in the wind driven generator is twisted correspondingly, for example, when the cabin of the wind driven generator rotates clockwise all the time, the cable is continuously twisted along with the cabin, in the continuous rotating process, the cable reaches the cable twisting limit, and if the cabin rotates clockwise all the time, the cable of the wind driven generator may be twisted off, so that safety risks are easy to occur. The cable twisting sensor 100 is used for acquiring a cable twisting state of the wind driven generator in real time, the yaw control device 300 can adopt a PLC as a controller, and the yaw control device 300 can receive the cable twisting state acquired by the cable twisting sensor 100 in real time.
The wind direction sensor 500 may adopt a wind vane, and the wind vane obtains the wind direction of the natural wind in real time, and generally uses the north as a reference. When the rotation speed of the impeller is too fast and the main control is in an abnormal working state, automatic emergency yaw needs to be performed, and at this time, when the yaw control device 300 generates a yaw route, in addition to the cable twisting state of the cable of the wind turbine generator, the yaw route needs to be generated by combining angle information of the nacelle and the wind direction, for example, when the nacelle does not cause the cable to reach the cable twisting limit no matter when clockwise yaw or counterclockwise yaw is performed, at this time, the yaw control device 300 needs to combine the wind direction of natural wind to select the yaw route capable of deviating the wind direction of natural wind most quickly, for example, when the nacelle and the natural wind have an included angle of 5 degrees, when wind power is absorbed to generate power, the wind force of sudden natural wind becomes large, the rotation speed of the impeller suddenly reaches a preset rotation speed threshold value, at this time, the nacelle needs to perform emergency yaw, and the yaw can be performed by the yaw control device 300 by detecting both clockwise yaw and counterclockwise yaw through the cable twisting sensor 100, the yaw controlling apparatus 300 determines a yaw course based on the wind direction information of the wind direction sensor 500 so that the nacelle can rapidly assume 90 degrees with the wind direction of the natural wind. By combining the wind direction data collected by the wind direction sensor 500, the yaw control device 300 can generate an optimal yaw route to be provided for the yaw executing mechanism to yaw, so that the rotation angle of the cabin during yaw is reduced, the time required by yaw is shortened, the cabin can rapidly yaw to a preset position, and the safety and reliability of the wind driven generator are improved.
The rotation speed monitor 200 collects the rotation speed of the wind turbine generator system blade in real time, and when the rotation speed of the wind turbine generator system blade reaches a preset rotation speed threshold value, the yaw control device 300 sends a yaw path to the yaw execution device 400 to control the nacelle yaw. The preset rotation speed threshold may be set according to actual conditions, the yaw path includes two types, one type is clockwise rotation, the other type is counterclockwise rotation, what yaw path is adopted by the yaw control apparatus 300 is determined by the cable twisting state of the cable and the angle information of the nacelle and the wind direction, if the nacelle performs clockwise yaw, for example, clockwise yaw by 90 degrees, and in the process, the cable reaches the cable twisting limit, the yaw control apparatus 300 adopts the yaw path of counterclockwise rotation, and if the nacelle performs counterclockwise yaw, for example, counterclockwise yaw by 90 degrees, in the process, the cable reaches the cable twisting limit, the yaw control apparatus 300 adopts the yaw path of clockwise rotation.
It should be understood that, during the automatic emergency yawing process of the nacelle, in order to ensure safety, the nacelle is usually yawing by 90 degrees or 270 degrees so that the nacelle is perpendicular to the wind direction of the natural wind, so as to effectively prevent the natural wind from driving the impeller to rotate, and accordingly, the nacelle may also be turned by other angles, which is not described in detail herein. During yawing, the yaw actuating device 400 comprises a yaw motor 404, the yaw motor 404 may be connected to the nacelle via a gear, a gear ring, etc., and the yaw motor 404 may rotate in forward or reverse direction to achieve clockwise or counterclockwise rotation of the nacelle.
Through the emergency yawing device, whether the rotating speed of the wind driven generator impeller exceeds the speed limit is judged by adding the yawing control device 300, and then the cable twisting state of a wind driven generator cable and the angle information of the cabin and the wind direction are obtained by detecting the cable twisting state of the wind driven generator cable and the wind direction sensor 500 through the cable twisting sensor 100 to generate a corresponding yawing route to control the yawing execution device 400 to execute yawing, so that the potential safety hazard caused by incapability of timely yawing when the wind driven generator impeller exceeds the speed limit is avoided, and the safety of the wind driven generator is improved.
In one embodiment, as shown in fig. 2, the emergency yawing device further comprises: the main controller 600, the main controller 600 is connected with the yaw control device 300 in a communication manner, and when the yaw control device 300 monitors that the rotational speed of the wind turbine blade wheel is less than the preset rotational speed threshold value, the yaw control device may also receive a yaw signal (the yaw signal may be input to the main controller 600 through an interface by an operator) sent by the controller 600, and transmit the yaw signal to the yaw execution device 400 so as to enable the wind turbine nacelle to complete yaw.
By adding the main controller 600, in a normal state of the wind turbine, a yaw signal can be sent to the yaw control device 300 through the main controller 600, so that the yaw executing device 400 executes a yaw action, and the wind turbine nacelle completes the yaw.
In one embodiment, as shown in FIG. 3, the yaw controlling apparatus 300 includes a yaw motor drive assembly 310, the yaw actuating device 400 includes a yaw motor 404; yaw motor drive assembly 310 is coupled to yaw motor 404, twist cable sensor 100, speed monitor 200, wind direction sensor 500, and main controller 600, and yaw motor drive assembly 310 is configured to send a yaw path to yaw motor 404 to control yaw motor 404 to rotate in a forward or reverse direction.
Normally, the main controller 600 can send a yaw signal to the yaw motor driving assembly 310, the yaw motor driving assembly 310 can receive the yaw signal and drive the yaw motor 404 to yaw the wind turbine nacelle, and accordingly, in fig. 3, the yaw executing device 400 further comprises a yaw speed reducer 403, a yaw pinion 405, a yaw ring gear 406, a motor brake 402, a yaw hydraulic brake 407, and a yaw bearing 408. 600 may employ a PLC as a controller, and in a normal state of the wind turbine (i.e. the rotation speed of the impeller is less than the preset rotation threshold), the main controller 600 may send a yaw signal to the yaw motor driving assembly 310, and the yaw motor driving assembly 310 may generate a yaw path according to the received yaw signal and perform yaw by the yaw performing apparatus 400. For example, when the master controller 600 is in a normal operating state, the maintenance personnel may cause the master controller 600 to generate a yaw signal by a corresponding operation. Only when the main controller 600 is in an abnormal state, for example, during installation of equipment and debugging and maintenance of a system, if there is strong natural wind, the wind turbine may rotate too fast under the action of wind, and at this time, the main controller 600 cannot generate a yaw signal to send to the yaw motor driving assembly 310 due to the fact that the main controller 600 is possibly in an abnormal state, and at this time, the yaw motor driving assembly 310 can directly judge whether to yaw according to the rotating speed of the turbine, and does not need to wait for the main controller 600 to send the yaw signal.
The main controller 600 is connected with the yaw control device 300 for data communication, so that maintenance personnel can conveniently control the yaw of the engine room through the main controller 600 under normal conditions, the yaw control input mode of the wind driven generator is increased, and the safety and reliability of the wind driven generator are improved.
It should be noted that, when the rotational speed of the impeller of the wind turbine does not reach the preset rotational speed threshold or the main controller 600 is in the normal state, at this time, the yaw motor driving assembly 310 only serves as a relay device to transmit signals and data between the main controller 600 and the yaw actuating device 400, where the signals and data include a yaw speed, a yaw angle, and the like. For example, when the main controller 600 works normally, in order to ensure that the impeller is always aligned with the direction of the natural wind, the main controller 600 sends a yaw signal to the yaw motor driving assembly 310, the yaw motor driving assembly 310 only serves as a relay device at this time, a yaw path is directly issued to the yaw executing device 400, and then the yaw executing device 400 performs yaw according to the yaw path.
When the yaw motor driving assembly 310 detects that the impeller rotation speed acquired by the rotation speed monitor 200 in real time reaches the preset rotation speed threshold, a corresponding yaw path is automatically generated according to the cable twisting state of the cable and the angle information between the nacelle and the wind direction, so as to control the yaw motor 404 to rotate forward or backward.
In one embodiment, as shown in FIG. 4, the yaw motor drive assembly 310 comprises a yaw controller 311 and a yaw frequency converter 312, the yaw controller 311 is connected to the yaw frequency converter 312, the twisted cable sensor 100, the rotational speed monitor 200, the wind direction sensor 500, and the main controller 600, and the yaw frequency converter 312 is connected to the yaw motor 404.
The yaw frequency converter 312 can perform a frequency conversion function, and can control the yaw motor 404 by outputting signals of different frequencies, and the yaw controller 311 can determine the wind speed of the impeller and generate a yaw route by combining data information transmitted from the cable twisting sensor 100 and the wind direction sensor 500.
By dividing the yaw motor driving assembly 310 into the yaw controller 311 and the yaw frequency converter 312, the subsequent maintenance management can be facilitated, and the maintenance cost can be reduced.
In one embodiment, as shown in FIG. 5, the yaw control apparatus 300 includes a contactor 320 and a yaw controller 311; the yaw controller 311 is connected with the main controller 600, the twisted cable sensor 100, the rotation speed monitor 200, the wind direction sensor 500 and the contactor 320, and the yaw executing device 400 comprises a yaw motor 404; yaw motor 404 is coupled to yaw controller 311 via contactors 320, and yaw controller 311 and contactors 320 are used to send a yaw path to yaw motor 404 to control yaw motor 404 to rotate in either a forward or reverse direction.
The yaw motors 404 can also be controlled by the yaw controller 311 and the contactors 320, for example, when the yaw is needed, the contactors 320 are turned on, the yaw controller 311 can control the yaw motors 404 to rotate in the forward and reverse directions so as to drive the nacelle to yaw, and when the yaw is not needed, the yaw controller 311 controls the corresponding contactors 320 to be turned off, so that the yaw motors 404 lose power supply and stop rotating.
In one embodiment, as shown in fig. 6, the yaw performing device 400 further includes a motor brake 405, the motor brake 405 is connected to the yaw controlling device 300 and the yaw motor 404, respectively, the motor brake 405 is turned on when the yaw motor 404 is driven by the yaw controlling device 300, and after the yaw is completed, the motor brake 405 receives a motor braking signal sent by the yaw controlling device, and directly brakes the yaw motor 404 according to the motor braking signal, so that the nacelle can accurately complete the yaw to reach a predetermined position.
In one embodiment, as shown in fig. 6, the yaw actuating device 400 further comprises a yaw hydraulic brake 407 and a yaw bearing 408, the yaw hydraulic brake 407 is connected to the yaw control device 300 and the yaw bearing 408, respectively, and the yaw hydraulic brake 407 is turned on when the yaw control device 300 drives the yaw motor 404. When the nacelle starts to yaw, the yaw hydraulic brake 407 first opens the brake so that the yaw motor 404 can rotate, and when the yaw is completed and the wind turbine nacelle has yawed to a predetermined position, the yaw hydraulic brake 407 receives a bearing braking signal from the yaw control device 300, and at this time, the yaw hydraulic brake 407 is braked to perform hydraulic braking.
By adopting the yaw hydraulic brake 407, the yaw hydraulic brake 407 can perform hydraulic band-type brake braking, and the yaw motor 404 is prevented from continuously operating after the yaw is finished, so that the nacelle of the wind driven generator is continuously yawed to deviate from a preset yaw position, and the yaw accuracy is ensured.
In one embodiment, as shown in fig. 6, the yaw actuating device 400 further includes a speed reducer 403, a yaw pinion 405, and a yaw ring gear 406, the speed reducer 403 is connected to the yaw motor 404, the yaw pinion 405 is connected to the speed reducer 403 and the yaw ring gear 406, respectively, and the yaw ring gear 406 is connected to the yaw bearing 408. The yaw speed reducer 403 is used for adjusting the nacelle yaw speed of the wind generating set, and the yaw pinion 405 and the yaw gear ring 406 are used for driving during the yaw process.
It should be understood that the above embodiments are only illustrated as partial examples, and in other embodiments, the wind turbine automatic emergency yawing device may include a twisting cable sensor 100, a rotation speed monitor 200, a wind direction sensor 500, a main controller 600, a yawing control device 302, a yawing motor 404, a yawing speed reducer 403, a yawing bearing 405, and a yawing ring 406, wherein the connection between the yawing motor 404 and the yawing control device 300 may be a connection with a yawing motor driver 310 or a connection with a contactor 320 before the connection with a yawing controller 311.
In one embodiment, referring to fig. 7, there is provided an automatic emergency yawing method for a wind turbine, comprising the steps of:
receiving the rotating speed of the impeller of the wind generating set acquired by the rotating speed monitor 200;
receiving a cable twisting state of a cable in the wind driven generator, which is acquired by a cable twisting sensor 100;
receiving angle information of the cabin and the wind direction of the wind driven generator acquired by the wind direction sensor 500;
judging whether the rotating speed of the impeller is greater than or equal to a preset rotating speed threshold value or not, if not, receiving a yaw signal sent by the main controller 600, sending the yaw signal to a yaw executing device to control the yaw of the cabin of the wind driven generator, and if so, generating a yaw route according to the state of twisting cables and the angle information between the cabin and the wind direction and sending the yaw route to the yaw executing device 300; the yaw performing device 300 controls the yaw of the wind turbine nacelle according to the generated yaw path.
The emergency yawing method can be used as a control program and applied to the automatic emergency yawing device of the wind driven generator so as to automatically control the wind driven generator to yaw through the control program.
According to the emergency yaw method, the yaw control device 300 is additionally arranged to judge whether the rotating speed of the wind driven generator impeller is overspeed or not, and the cable twisting state of the wind driven generator cable and the angle information of the cabin and the wind direction, which is acquired by the wind direction sensor 500, are detected through the cable twisting sensor 100 to generate a corresponding yaw route to control the yaw execution device 400 to execute yaw, so that potential safety hazards caused by incapability of timely yaw when the wind driven generator impeller is overspeed are avoided, and the safety of the wind driven generator is improved.
In one embodiment, as shown in fig. 8, fig. 8 provides a flow chart of steps of an automatic emergency yawing method for a wind turbine generator, which first uses a rotor speed monitor 200 to collect the rotational speed of a rotor of the wind turbine generator, then determines whether the rotational speed reaches a dangerous minimum value (i.e. a preset rotational speed threshold value) through a yawing control device 300, if so, the yawing control device 300 ignores other control instructions to a main controller 600 (e.g. a main control PLC), takes a yawing event as the highest priority, executes an automatic yawing emergency yawing procedure, then determines whether a cable twisting limit is triggered when the yawing reaches 90 degrees, if so, the yawing control device 300 generates a yawing path with a counter-clock yawing to enable the nacelle to perform counter-clock yawing so that the rotor keeps 270 degrees with the natural wind direction, i.e. the wind direction angle reaches 270 degrees, and if the yawing reaches 90 degrees, the cable twisting limit is not triggered, then, the yaw control device 300 further determines whether to generate a clockwise yaw path or a counterclockwise yaw path according to the current wind direction angle (the wind direction angle is the included angle between the nacelle and the natural wind direction) acquired by the wind direction sensor 500, and performs clockwise yaw when the absolute value of the current wind direction angle minus 90 degrees is smaller than the absolute value of the current wind direction angle minus 270 degrees, so that the impeller and the natural wind direction keep 90 degrees, that is, the wind direction angle reaches 90 degrees, to complete final yaw.
In one embodiment, referring to fig. 9, a wind turbine generator apparatus is provided, the apparatus includes an impeller 700, a wind turbine generator room 800, a tower 900, and the wind turbine generator automatic emergency yawing device, the impeller 700 is connected to the wind turbine generator room 800, the wind turbine generator room 800 is rotatably connected to the tower 900, the wind turbine generator automatic emergency yawing device is connected to the wind turbine generator room 800, and the wind turbine generator automatic emergency yawing device is used for controlling yawing of the wind turbine generator room 800.
According to the equipment, whether the rotating speed of the impeller of the wind driven generator is overspeed or not is judged by adding the yaw control device, the cable twisting state of the cable of the wind driven generator and the angle information of the engine room and the wind direction obtained by the wind direction sensor are detected by the cable twisting sensor, a corresponding yaw route is generated, the yaw execution device is controlled to execute yaw through the yaw route, the potential safety hazard caused by incapability of timely yaw when the impeller of the wind driven generator is overspeed is avoided, and the safety of the wind driven generator is improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (8)
1. An automatic emergency yawing device of a wind driven generator is characterized by comprising a rotating speed monitor, a wind direction sensor, a yawing control device, a cable twisting sensor, a yawing execution device and a main controller;
the rotating speed monitor is connected with the yaw control device and used for collecting the rotating speed of the impeller of the wind driven generator and sending the rotating speed to the yaw control device;
the wind direction sensor is connected with the yaw control device and used for collecting angle information of a cabin of the wind driven generator and wind direction and sending the angle information to the yaw control device;
the cable twisting sensor is connected with the yaw control device and used for acquiring the cable twisting state of a cable in the wind driven generator and sending the cable twisting state to the yaw control device;
the yaw control device is connected with the yaw executing device; the yaw control device comprises a yaw controller and a contactor, and the yaw controller is connected with the cable twisting sensor, the rotating speed monitor, the wind direction sensor and the contactor; the yaw executing device comprises a yaw motor, and the yaw motor is connected with the yaw controller through the contactor; the yaw executing device is used for controlling the wind driven generator cabin to complete yaw according to a yaw route, wherein the yaw route enables the angle information of the wind driven generator cabin and the wind direction to be 90 degrees;
the yaw controller is used for judging whether the rotating speed of the impeller of the wind driven generator is greater than or equal to a preset rotating speed threshold value, if so, generating a corresponding yaw route according to the cable twisting state of a cable in the wind driven generator and the angle information of the cabin of the wind driven generator and the wind direction, and sending the yaw route to the yaw motor through the contactor so as to control the yaw motor to rotate forwards or reversely;
the main controller is connected with the yaw control device in a communication mode, and the yaw control device is further used for receiving a yaw signal sent by the main controller and driving the yaw execution device to enable the wind driven generator cabin to complete yaw when the rotating speed of the wind driven generator impeller is smaller than the preset rotating speed threshold; the yaw controller is connected with the main controller, and the yaw controller and the contactor are used for receiving the yaw signal sent by the main controller and driving the yaw motor to control the yaw motor to rotate forwards or reversely; the main controller and the yaw controller are both PLC controllers.
2. An apparatus as claimed in claim 1, wherein the yaw controlling apparatus further comprises a yaw motor drive assembly connected to the yaw motor, the cable twisting sensor, the rotational speed monitor, the wind direction sensor and the main controller, the yaw motor drive assembly being configured to send the yaw path to the yaw motor to control the yaw motor to rotate in forward or reverse directions.
3. The apparatus as claimed in claim 2, wherein the yaw actuator further comprises a motor brake, the motor brake is connected to the yaw controller and the yaw motor, and the motor brake is configured to receive a motor brake signal from the yaw controller and brake the yaw motor according to the motor brake signal.
4. The device as claimed in claim 2, wherein the yaw actuator further comprises a yaw hydraulic brake and a yaw bearing, the yaw hydraulic brake is connected to the yaw control device and the yaw bearing, and the yaw hydraulic brake is configured to receive a bearing brake signal from the yaw control device and brake the yaw bearing according to the bearing brake signal.
5. The apparatus of claim 4, wherein the yaw actuating device further comprises a yaw reducer, a yaw pinion, and a yaw ring gear, the yaw reducer being coupled to the yaw motor, the yaw pinion being coupled to the yaw reducer and the yaw ring gear, respectively, and the yaw ring gear being coupled to the yaw bearing.
6. The apparatus of claim 2, wherein the yaw motor drive assembly comprises a yaw controller and a yaw inverter, the yaw controller of the yaw motor drive assembly is coupled to the yaw inverter, the cable twisting sensor, the rotational speed monitor, the wind direction sensor, and the main controller, and the yaw inverter is coupled to the yaw motor.
7. An automatic emergency yawing method for a wind driven generator, the method comprising the steps of:
the yaw control device receives the rotating speed of the impeller of the wind driven generator, which is acquired by the rotating speed monitor;
the yaw control device receives a cable twisting state of a cable in the wind driven generator, which is acquired by a cable twisting sensor;
the yaw control device receives angle information of the cabin and the wind direction of the wind driven generator acquired by the wind direction sensor; the yaw control device is connected with a yaw executing device and comprises a yaw controller and a contactor, and the yaw controller is connected with the cable twisting sensor, the rotating speed monitor, the wind direction sensor and the contactor; the yaw executing device comprises a yaw motor, and the yaw motor is connected with the yaw controller through the contactor; the yaw executing device is used for controlling the wind driven generator cabin to complete yaw according to a yaw route, wherein the yaw route enables the angle information of the wind driven generator cabin and the wind direction to be 90 degrees;
the yaw control device comprises a yaw control device, a yaw motor and a contactor, wherein the yaw control device comprises a yaw motor, a wind power generator, a wind direction sensor, a controller and a controller, wherein the yaw control device in the yaw control device judges whether the rotating speed of an impeller of the wind power generator is greater than or equal to a preset rotating speed threshold value, if yes, a corresponding yaw route is generated according to the twisting state of a cable in the wind power generator and the angle information of a cabin of the wind power generator and the wind direction, and the yaw route is sent to the yaw motor through the contactor so as to control the yaw motor to rotate forwards or reversely;
when the rotating speed of the impeller of the wind driven generator is smaller than the preset rotating speed threshold value, the yaw control device receives a yaw signal sent by the main controller and drives the yaw execution device to enable the cabin of the wind driven generator to complete yaw; wherein the master controller is communicatively connected with the yaw control apparatus; the yaw control device comprises a yaw control device, a main controller, a yaw motor and a contactor, wherein the yaw control device is connected with the main controller, and the yaw control device and the contactor are used for receiving a yaw signal sent by the main controller and driving the yaw motor to control the yaw motor to rotate forwards or backwards; the main controller and the yaw controller are both PLC controllers.
8. Wind turbine installation, comprising an impeller, a wind turbine nacelle, a tower and a wind turbine automatic emergency yawing device according to any of claims 1-6, wherein the impeller is connected with the wind turbine nacelle, the wind turbine nacelle is rotatably connected with the tower, the wind turbine automatic emergency yawing device is connected with the wind turbine nacelle, and the wind turbine automatic emergency yawing device is used for controlling yawing of the wind turbine nacelle.
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| TWI765628B (en) * | 2021-03-29 | 2022-05-21 | 胡龍江 | Yaw speed control system of fan |
| CN113606085A (en) * | 2021-08-23 | 2021-11-05 | 哈电风能有限公司 | Yaw control method, controller and system based on failure condition of variable pitch system |
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