CN112443454B - Yaw control method, system and device of wind generating set - Google Patents
Yaw control method, system and device of wind generating set Download PDFInfo
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- CN112443454B CN112443454B CN201910801737.6A CN201910801737A CN112443454B CN 112443454 B CN112443454 B CN 112443454B CN 201910801737 A CN201910801737 A CN 201910801737A CN 112443454 B CN112443454 B CN 112443454B
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- 238000000034 method Methods 0.000 title claims abstract description 53
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- 239000003638 chemical reducing agent Substances 0.000 claims description 24
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- 238000004590 computer program Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000010248 power generation Methods 0.000 description 4
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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
- 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
- F03D7/0296—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/006—Means for protecting the generator by using control
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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 disclosure provides a yaw control method, a system and a device of a wind generating set, wherein the yaw control method comprises the following steps: in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors; judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range or not; when the real-time position of the at least one yaw motor falls into the broken position range, the output torque of the at least one yaw motor is reduced, the output torques of other yaw motors except the at least one yaw motor are adjusted, and the wind generating set is controlled to yaw. According to the method and the device, the fault-tolerant control of yaw can be realized, the maintenance cost and maintenance shutdown loss of the wind generating set are reduced, and the yaw reliability and safety of the wind generating set are improved.
Description
Technical Field
The present disclosure relates generally to the field of wind power generation, and more particularly, to a yaw control method, system and apparatus for a wind turbine generator system.
Background
Wind power is one of the fastest-developing renewable energy sources in the world, and has become an indispensable important energy source for solving the energy problem in the world. Wind power generation equipment (for example, a wind turbine generator system) is generally located in a mountain or a remote area far from the coast, the climate change of the area where the wind power generation equipment is located is unpredictable, and faults of an actuator, a sensor and the like of the wind power generation equipment frequently occur in a severe and complex climate working environment.
The internal structure of the wind generating set is complex and the components are numerous, and the actuating mechanism of the wind generating set is the most complex. The yaw system is an important component of a large-scale wind driven generator set. As wind turbine generator set capacity and wind turbine diameter become larger, turbulence creates greater load fluctuations on the wind turbine generator set blades. The wind conditions of the wind generating set are complex and changeable, the load borne by the yawing system is large, the fault probability is also large, and the influence of the working environment of the wind generating set on the safety and reliability of the system is also large.
The more serious faults of the wind generating set comprise gear box gear ring breakage faults of a yaw system of the wind generating set, and the gear box gear ring breakage faults comprise gear ring tooth breakage faults.
At present, when the driftage ring gear breaks down, need carry out the shut down and handle in order to change the trouble ring gear, and can not continue to drift so that wind generating set breaks away from the environment that influences wind generating set safety, can cause serious loss to the cycle of changing the trouble ring gear is long, needs to carry out the hoist and mount of big part, leads to the maintenance cost height.
Disclosure of Invention
An exemplary embodiment of the disclosure is to provide a yaw control method, a yaw control system and a yaw control device for a wind turbine generator system, so as to solve the problems that a yaw gear ring breaks down to cause shutdown of the wind turbine generator system, so that shutdown loss is caused, the wind turbine generator system cannot be separated from a severe environment, and maintenance cost of large parts is high, and achieve fault-tolerant control.
According to an exemplary embodiment of the present disclosure, there is provided a yaw control method of a wind turbine generator system, wherein the yaw control method includes: in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors; judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; when the real-time position of at least one yaw motor falls into the broken position range of the yaw gear ring, the output torque of at least one yaw motor is reduced, the output torques of other yaw motors except the at least one yaw motor are adjusted, and the yaw of the wind generating set is controlled.
Optionally, the step of reducing the output torque of at least one yaw motor and adjusting the output torque of other yaw motors except for the at least one yaw motor comprises: and reducing the output torque of at least one yaw motor to zero, adjusting the output torque of other yaw motors except for the at least one yaw motor, and controlling the wind generating set to yaw.
Optionally, the step of reducing the output torque of at least one yaw motor and adjusting the output torque of other yaw motors except for the at least one yaw motor comprises: and according to the corresponding relation between the power and the torque, reducing the output torque of at least one yaw motor to a predetermined safe torque through power control, and adjusting the output torques of other yaw motors except for the at least one yaw motor to control the yaw of the wind generating set.
Optionally, the step of adjusting the output torque of the yaw motors other than the at least one yaw motor comprises: limiting the output torque of other yaw motors to the respective maximum output torque; and synchronously controlling other yaw motors.
Optionally, the yaw control method further includes: when the yaw operation is determined, releasing electromagnetic brake devices of the plurality of yaw motors, and delaying starting the plurality of yaw motors to perform backlash compensation for each yaw speed reducer through the set torque of each yaw motor, wherein the backlash compensation is used for reducing yaw starting impact; when backlash compensation is complete, the yaw brake is opened and yaw begins by the plurality of yaw motors.
Optionally, the breaking position range of the yawing ring gear includes a breaking start position and a breaking end position corresponding to each yawing motor, and the step of determining the breaking position range of the yawing ring gear includes: determining a breakage starting position corresponding to each yaw motor according to the angle of the fault starting position of the yaw gear ring relative to the initial position of the engine room and the real-time angle of each yaw motor relative to the initial position of the engine room; and determining a breakage ending position corresponding to each yaw motor according to the angle of the fault ending position of the yaw gear ring relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin.
According to another exemplary embodiment of the present disclosure, a yaw control system of a wind park is provided, wherein the yaw control system comprises: a plurality of yaw motors, the converter and the controller of a plurality of yaw motors of drive, the converter includes inverter and rectifier, and the inverter is connected with each yaw motor, and the rectifier setting is between inverter and controller, and the controller includes: the position determining unit is used for determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors when the yawing gear ring is broken in the yawing process of the wind generating set; the judging unit is used for judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; the yaw control unit is used for reducing the output torque of at least one yaw motor through a frequency converter when the real-time position of the at least one yaw motor falls into the broken position range of the yaw gear ring, adjusting the output torque of other yaw motors except the at least one yaw motor and controlling the wind generating set to yaw, wherein the number of the inverters is one, and one inverter is connected with the plurality of yaw motors respectively; or the number of the inverters is multiple, and the inverters are connected with the yaw motors in a one-to-one correspondence mode respectively.
Optionally, the yaw control unit is further configured to reduce the output torque of at least one yaw motor to zero, and limit the output torques of other yaw motors to respective maximum output torques; and synchronously controlling other yaw motors.
Optionally, the controller further comprises: the magnetic brake control unit is used for loosening the electromagnetic brake equipment of the yaw motors when the yaw operation is determined; the compensation control unit is used for starting the plurality of yaw motors in a delayed mode to perform backlash compensation on each yaw speed reducer through the set torque of each yaw motor, wherein the backlash compensation is used for reducing yaw starting impact; and a brake pad control unit for opening the yaw brake pad and starting yaw by the plurality of yaw motors when backlash compensation is completed.
According to another exemplary embodiment of the present disclosure, a yaw control device of a wind park is provided, wherein the yaw control device comprises or is connected with a computer readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the yaw control method as above.
Optionally, the yaw control device of the wind generating set is a main controller of the wind generating set.
According to another exemplary embodiment of the present disclosure, a computer-readable storage medium storing instructions is provided, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the yaw control method as above.
According to an exemplary embodiment of the present disclosure, the yaw motor may be controlled by controlling the frequency converter such that the yaw motor and the reducer torque output are limited when the yaw motor passes the yaw ring gear break position. Under the condition, fault-tolerant operation can be realized when overload faults occur under the working conditions of strong wind or extreme working conditions such as turbulence and the like, so that the wind generating set can be separated from dangerous working conditions, the vibration of the set is avoided, and the yaw motor with limited output torque can be recovered to the torque before being output under the condition that the transient extreme working conditions are eliminated.
In addition, in the fault-tolerant control process, the accelerated damage of the worn gear ring can be avoided, the output torques of other speed reducers which are not meshed with the fault gear ring and the yaw motor corresponding to the speed reducer are synchronous, and the uniform distribution of the loads is realized.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
The above and other objects and features of the exemplary embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate exemplary embodiments, wherein:
FIG. 1 shows a schematic view of a part of a structure of a yawing system according to an exemplary embodiment of the disclosure;
FIG. 2 shows a flow chart of a yaw control method according to an exemplary embodiment of the present disclosure;
FIG. 3 shows a schematic configuration of a yaw control system according to an exemplary embodiment of the present disclosure;
FIG. 4 shows a yaw start-up flow chart according to an exemplary embodiment of the present disclosure;
FIG. 5 shows a yaw control flow diagram according to an exemplary embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present disclosure by referring to the figures.
A nacelle of a wind power plant according to an exemplary embodiment of the disclosure may be mounted on a slew bearing of a tower, the nacelle being rotatable relative to the tower driven by a yaw drive. The purpose of yawing comprises at least one of: keeping the front side of the wind generating set facing the wind, enabling the wind generating set to deviate from the wind direction, untwisting the cable when the cable is twisted, yawing the crosswind when the cable is over-speed, and ensuring uniform lubrication through yawing when the cable is lubricated.
FIG. 1 shows a schematic view of a part of a yawing system according to an exemplary embodiment of the disclosure.
As shown in fig. 1, a yawing system according to an exemplary embodiment of the present disclosure may include: a yaw bearing 11, a yaw ring gear 7 provided on the yaw bearing 11, a plurality of yaw reducers 12 provided around the yaw ring gear 7 of the yaw bearing 11, and a yaw motor (a yaw motor 1, a yaw motor 2, a yaw motor 3, a yaw motor 4, a yaw motor 5, and a yaw motor 6) mounted on each yaw reducer. The yawing system according to an exemplary embodiment of the present disclosure may further include: a brake pad 8 and/or a position sensor (e.g., nacelle position sensor 10) for sensing the position of the nacelle, a tooth break point, etc.
As an example, the individual yaw motors may be asynchronous motors of the same or different specifications. The yaw speed reducer can reduce the high rotating speed of the yaw motor to the low rotating speed through the planetary speed reducer. Each yaw reducer may be meshed with a yaw ring gear. And the yaw motor drives the yaw gear ring through the yaw speed reducer to drive the yaw bearing, so that the engine room connected with the yaw bearing rotates.
In the exemplary embodiment of the present disclosure, the broken tooth fault is exemplified, but this is only for illustrative purposes and is not intended to limit the scope of protection of the present disclosure. Exemplary embodiments of the present disclosure are also applicable to yaw ring break faults other than broken tooth faults. Reference numeral 9 shows a broken tooth point, and a broken tooth fault may also indicate the presence of a broken tooth within a certain range.
In order to avoid shutdown and maintenance when a tooth breakage fault occurs, fault-tolerant yaw control can be performed, so that the nacelle can continue to yaw without shutdown for maintenance even if the tooth breakage fault occurs. Therefore, a yaw control method is needed, and aims to improve the availability of the wind generating set through a fault-tolerant design when a yaw gear ring is broken, delay the replacement time of large parts and avoid the loss of generated energy; when the yaw system encounters extreme working conditions such as strong turbulence, vortex-induced vibration, yaw drive overload and other faults, the yaw system can be self-recovered, and even if overload exists under the extreme working conditions, the wind generating set can be separated from dangerous working conditions through yaw, so that the reliability and the safety level of the wind generating set are improved. The above object can be achieved based on the yaw control method shown in fig. 2.
FIG. 2 shows a flow chart of a yaw control method according to an exemplary embodiment of the present disclosure.
As shown in fig. 2, a yaw control method according to an exemplary embodiment of the present disclosure may include steps 110 to 130.
In step 110, in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors; in step 120, judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; in step 130, when the real-time position of at least one yaw motor falls into the broken position range of the yaw gear ring, reducing the output torque of at least one yaw motor, adjusting the output torque of other yaw motors except for the at least one yaw motor, and controlling the wind generating set to yaw.
As described above, even if it is detected that the yaw ring gear is broken, the shutdown maintenance is not performed, but the yaw motor falling within the broken position range on the yaw ring gear in the process of the yaw ring gear rotating along with the yaw is determined, and the output torque of the yaw motor falling within the broken position range of the yaw ring gear is reduced, so that the yaw ring gear continues to rotate and smoothly passes through the yaw reducer of the yaw motor. By the method, fault-tolerant yaw control is realized, and the yaw is ensured to be smoothly carried out without being influenced by a broken tooth fault.
As an example, the step of reducing the output torque of at least one yaw motor and adjusting the output torque of other yaw motors except for the at least one yaw motor comprises the following steps: and reducing the output torque of at least one yaw motor to zero, adjusting the output torque of other yaw motors except for the at least one yaw motor, and controlling the wind generating set to yaw. In the actual control process, if the output torque of one yaw motor is reduced to zero and the output torques of other yaw motors are adjusted, the one yaw motor and the passing broken tooth part can not be influenced mutually, so that the smooth operation of yaw is not influenced.
As an example, the output torque of one yaw motor can be reduced, and the output torque of other yaw motors except for at least one yaw motor can be adjusted to control the wind generating set to yaw. The step of reducing the output torque of one yaw motor may comprise: and reducing the output torque of the at least one yaw motor to a predetermined safe torque through power control according to the corresponding relation between the power and the torque. Therefore, the purpose that the yaw motor and the passing broken tooth part are not influenced mutually so as not to influence the smooth operation of yaw is achieved.
For example, the safety torque may be determined according to the current breaking degree of the yaw ring gear in order to ensure that the yaw motor operating under the safety torque does not damage the yaw ring gear. The safe torque which does not damage the yaw gear ring can be determined according to the strength of the broken current yaw gear ring.
As an example, the step of adjusting the output torque of the yaw motors other than the at least one yaw motor comprises: limiting the output torque of other yaw motors to the respective maximum output torque; and synchronously controlling other yaw motors. The synchronous control allows the output torque of the other motor to be limited to the maximum torque.
As an example, the yaw control method further comprises: when the yaw operation is determined, releasing electromagnetic brake devices of a plurality of yaw motors, and delaying to start all the yaw motors to perform backlash compensation for each yaw speed reducer through the set torque of each yaw motor, wherein the backlash compensation is used for reducing yaw starting impact; when backlash compensation is complete, the yaw brake is opened and yaw begins by the plurality of yaw motors.
As an example, the broken position range of the yaw ring gear includes a broken start position and a broken end position corresponding to each yaw motor, and the step of determining the broken position range of the yaw ring gear includes: determining a breakage starting position corresponding to each yaw motor according to the angle of the fault starting position of the yaw gear ring relative to the initial position of the engine room and the real-time angle of each yaw motor relative to the initial position of the engine room; and determining a breaking end position corresponding to each yaw motor according to the angle of the fault end position of the yaw gear ring relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin.
According to the exemplary embodiment of the disclosure, the wind generating set takes the initial position of the wind generating set during hoisting as the zero position of the cabin (initial position of the cabin), the yaw position (angle) increases during counterclockwise yaw from the top view angle of the wind generating set, the yaw position decreases during clockwise yaw, and the yaw position counts for each circle and 360 degrees.
The yaw control method according to an exemplary embodiment of the present disclosure may be implemented by a yaw control system. FIG. 3 shows a schematic configuration of a yaw control system according to an exemplary embodiment of the present disclosure.
As shown in fig. 3, the wind turbine generator set includes a plurality of yaw motors, a frequency converter driving the plurality of yaw motors, and a controller, wherein the frequency converter includes an inverter and a rectifier; the inverter is connected with each yaw motor, and the rectifier setting is between inverter and controller, and the controller includes: the position determining unit is used for determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors when the breaking of the yawing gear ring is detected in the yawing process of the wind generating set; the judging unit is used for judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; the yaw control unit is used for reducing the output torque of at least one yaw motor, adjusting the output torque of other yaw motors except the at least one yaw motor and controlling the wind generating set to yaw when the real-time position of the at least one yaw motor falls into the broken position range of the yaw gear ring, wherein the number of the inverters is one, and one inverter is connected with the plurality of yaw motors respectively; or the number of the inverters is multiple, and the inverters are connected with the yaw motors in a one-to-one correspondence mode respectively.
In particular, a rectifier connected to a main controller (which may simply be referred to as a controller) may power the nacelle (e.g., 400V ac V provided by the nacelle ac ) The direct current is rectified, the rectifier is connected with the inverters through the direct current buses, and the direct current buses can be shared by the inverters. One inverter may be connected to each of the yaw motors, or the plurality of inverters may be connected to each of the yaw motors in a one-to-one correspondence. Fig. 3 shows an embodiment in which a plurality of inverters are connected to a plurality of yaw motors in a one-to-one correspondence, respectively, and the 1# inverter is connected to the 1# yaw motor, the 2# inverter is connected to the 2# yaw motor, the 3# inverter is connected to the 3# yaw motor, the 4# inverter is connected to the 4# yaw motor, the 5# inverter is connected to the 5# yaw motor, and the 6# inverter is connected to the 6# yaw motor. The above connection manner between the inverter and the yaw motor is for illustrative purposes only and is not intended to limit the scope of the present disclosure, and other relationships between the inverter and the yaw motor are possibleIt is feasible. The inverter rotation speed control or the torque control provides a driving power source for the yaw motor.
The 1# yaw motor, the 2# yaw motor, the 3# yaw motor, the 4# yaw motor, the 5# yaw motor and the 6# yaw motor in fig. 3 may be the yaw motor 1, the yaw motor 2, the yaw motor 3, the yaw motor 4, the yaw motor 5 and the yaw motor 6 in fig. 1, respectively.
According to an exemplary embodiment of the present disclosure, backlash compensation is required to reduce yaw start-up shock when starting up a yaw motor. The yaw motor is also provided with a brake device, and the brake device is required to be controlled before the yaw is started and after the yaw is stopped.
FIG. 4 illustrates a yaw start-up flow chart according to an exemplary embodiment of the present disclosure.
As shown in fig. 4, a yaw start-up process according to an exemplary embodiment of the present disclosure may include the steps of:
step 210: determining to perform yaw operation through a main controller (called a main controller for short);
step 220: opening the electromagnetic brake equipment through the main controller;
step 230: controlling an inverter through a main controller to set torque to perform backlash compensation;
step 240: when the backlash compensation is carried out, delaying to wait for the completion of the backlash compensation;
step 250: when the backlash compensation is completed, the yaw brake is controlled to be opened or contracting by the main controller, for example, the yaw brake is controlled to be opened or contracting by the contactor;
step 260: the frequency converter is controlled by the main controller to yaw the nacelle at a constant rotational speed. Backlash compensation can also be called as backlash compensation, backlash elimination and the like, and can be realized in various ways, so that small impact during starting yaw and stable operation of a cabin in the yaw process are ensured.
After yaw is started, if the yaw gear ring is damaged, fault-tolerant control can be performed according to the yaw control method of the exemplary embodiment of the disclosure, and it is ensured that yaw is smoothly performed without stopping maintenance.
The main controller (which may also be simply referred to as a controller) according to an exemplary embodiment of the present disclosure may implement the yaw control method as described above through control of the frequency converter.
Specifically, according to an exemplary embodiment of the present disclosure, a yaw control system includes: the system comprises a plurality of yaw motors, a frequency converter and a controller, wherein the frequency converter drives the yaw motors and comprises an inverter and a rectifier; the inverter is connected with each yaw motor, and the rectifier is between inverter and controller, and the controller includes: the position determining unit is used for determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors when the breaking of the yawing gear ring is detected in the yawing process of the wind generating set; the judging unit is used for judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; the yaw control unit is used for reducing the output torque of at least one yaw motor through a frequency converter when the real-time position of the at least one yaw motor falls into the broken position range of the yaw gear ring, adjusting the output torque of other yaw motors except the at least one yaw motor and controlling the wind generating set to yaw, wherein the number of the inverters is one, and one inverter is connected with the plurality of yaw motors respectively; or the number of the inverters is multiple, and the inverters are connected with the yaw motors in a one-to-one correspondence mode respectively.
As an example, the yaw control unit is further configured to reduce the output torque of at least one yaw motor to zero and limit the output torques of the other yaw motors to respective maximum output torques; and synchronously controlling other yaw motors.
As an example, the controller further comprises: the magnetic brake control unit is used for loosening electromagnetic brake equipment of the yaw motors when the yaw operation is determined; the compensation control unit is used for starting the yaw motors in a delayed mode to set torque and perform backlash compensation on each yaw speed reducer, wherein the backlash compensation is used for reducing yaw starting impact; and a brake pad control unit for opening the yaw brake pad and starting yaw by the plurality of yaw motors when backlash compensation is completed.
As an example, the breaking position range of the yaw ring gear comprises a breaking start position and a breaking end position corresponding to each yaw motor, and the position determining unit determines the breaking start position corresponding to each yaw motor according to the angle of the fault start position of the yaw ring gear relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin; and determining a breakage ending position corresponding to each yaw motor according to the angle of the fault ending position of the yaw gear ring relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin.
As an example, the controller is connected to a rectifier of the frequency converter through a field bus, the controller is a master station, and the rectifier of the frequency converter is a slave station. The rectifier is connected with the inverters through a field bus, and the instructions issued by the controller are sent to the inverters.
According to an exemplary embodiment of the present disclosure, a yaw control device of a wind park is provided, wherein the yaw control device comprises or is connected with a computer readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the yaw control method in the above embodiment.
As an example, the yaw control device of the wind park is a main controller of the wind park.
It should be understood that specific implementations of the yaw control apparatus and the yaw control system of the wind turbine generator system according to the exemplary embodiment of the present disclosure may be implemented with reference to the specific implementations related to the yaw control method described above, and are not described herein again.
FIG. 5 shows a yaw control flow chart according to an exemplary embodiment of the present disclosure. According to the exemplary embodiment of the disclosure, the initial position of the wind generating set during hoisting can be taken as the zero position of the engine room, the yaw position (angle) is increased during counterclockwise yaw from the overlooking view angle above the wind generating set, the position is reduced during clockwise yaw by 360 degrees per circle, and the position is counted to be-360 degrees per circle; it may be assumed that tooth breakage occurs in the yaw ring gear (for example, tooth breakage occurs at a tooth breakage point denoted by reference numeral 9 in fig. 1), and a tooth breakage point start position is set to Sst with respect to the nacelle zero position, a tooth breakage point end position is set to Sed with respect to the nacelle zero position, and a tooth breakage length (angle) is set to Sst-Sed, where Sst > Sed, where S1 is an initial position, S2 is an initial position of the yaw motor 2, S3 is an initial position of the yaw motor 3, S4 is an initial position of the yaw motor 4, S5 is an initial position of the yaw motor 5, and S6 is an initial position of the yaw motor 6. In this case, the nacelle position at which each yaw motor passes the tooth break point may be determined as follows:
step 300: detecting the position S of the engine room by main control;
step 310: judging the cabin position S when the yaw motor 1 is positioned between a broken tooth starting point and a broken tooth ending point, namely judging whether the cabin position S is positioned in an interval from Sst-S1+ Nx 360 to Sed-S1+ Nx 360, wherein N is 0, 1 and 2 according to a twisted cable protection limit value; if the interval is within, go to step 315;
step 315: entering a rotation speed control mode, limiting the torque of the yaw motor 1 to 0 by an inverter 1 (e.g., a # 1 inverter), limiting the torque of the yaw motor 2 to a maximum torque by an inverter 2 (e.g., a # 2 inverter), and synchronously controlling the inverters 2, 3, 4, 5, and 6 (e.g., a # 2 inverter, a # 3 inverter, a # 4 inverter, a # 5 inverter, and a # 6 inverter);
step 320: judging the position of the cabin when the yaw motor 2 is positioned between the broken tooth starting point and the broken tooth ending point, namely judging whether the position S of the cabin is positioned in an interval from Sst-S2+ Nx 360 to Sed-S2+ Nx 360, wherein N is 0, 1 and 2 according to the twisted cable protection limit value; if the interval is within, go to step 325;
step 325: entering a rotation speed control mode, limiting the torque of the yaw motor 2 to 0 by an inverter 2 (e.g., a # 2 inverter), limiting the torque of the yaw motor 1 to a maximum torque by an inverter 1 (e.g., a # 1 inverter), and synchronously controlling the inverters 1, 3, 4, 5, and 6 (e.g., a # 1 inverter, a # 3 inverter, a # 4 inverter, a # 5 inverter, and a # 6 inverter);
step 330: judging the position of the cabin when the yaw motor 3 is positioned between the broken tooth starting point and the broken tooth ending point, namely judging whether the position S of the cabin is positioned in an interval from Sst-S3+ Nx 360 to Sed-S3+ Nx 360, wherein N is 0, 1 and 2 according to the twisted cable protection limit value; if so, go to step 335;
step 335: entering a rotation speed control mode, limiting the torque of the yaw motor 3 to 0 by an inverter 3 (e.g., a # 3 inverter), limiting the torque of the yaw motor 1 to a maximum torque by an inverter 1 (e.g., a # 1 inverter), and synchronously controlling the inverters 1, 2, 4, 5, and 6 (e.g., a # 1 inverter, a # 2 inverter, a # 4 inverter, a # 5 inverter, and a # 6 inverter);
step 340: judging the position of the cabin when the yaw motor 4 is positioned between the broken tooth starting point and the broken tooth ending point, namely judging whether the position S of the cabin is positioned in an interval from Sst-S4+ Nx 360 to Sed-S4+ Nx 360, wherein N is 0, 1 and 2 according to the twisted cable protection limit value; if so, go to step 345;
step 345: entering a rotation speed control mode, limiting the torque of the yaw motor 4 to 0 by an inverter 4 (e.g., a 4# inverter), limiting the torque of the yaw motor 1 to a maximum torque by an inverter 1 (e.g., a 1# inverter), and synchronously controlling the inverters 1, 2, 3, 5, and 6 (e.g., a 1# inverter, a 2# inverter, a 3# inverter, a 5# inverter, and a 6# inverter);
step 350: judging the position of the cabin when the yaw motor 5 is positioned between the broken tooth starting point and the broken tooth ending point, namely judging whether the position S of the cabin is positioned in an interval from Sst-S5+ Nx 360 to Sed-S5+ Nx 360, wherein N is 0, 1 and 2 according to the twisted cable protection limit value; if so, go to step 355;
step 355: entering a rotation speed control mode, limiting the torque of the yaw motor 5 to 0 by an inverter 5 (e.g., 5# inverter), limiting the torque of the yaw motor 1 to a maximum torque by an inverter 1 (e.g., 1# inverter), and synchronously controlling the inverters 1, 2, 3, 4, and 6 (e.g., 1# inverter, 2# inverter, 3# inverter, 4# inverter, and 6# inverter);
step 360: judging the cabin position when the yaw motor 6 is positioned between the broken tooth starting point and the broken tooth ending point, namely judging whether the cabin position S is positioned in an interval from Sst-S6+ Nx 360 to Sed-S6+ Nx 360, wherein N is 0, 1 and 2 according to a twisted cable protection limit value; if the interval is within, go to step 365;
step 365: the rotational speed control mode is entered, the torque of the yaw motor 6 is limited to 0 by the inverter 6 (e.g., 6# inverter), the torque of the yaw motor 1 is limited to the maximum torque by the inverter 1 (e.g., 1# inverter), and the inverters 1, 2, 3, 4, and 5 (e.g., 1# inverter, 2# inverter, 3# inverter, 4# inverter, and 5# inverter) are synchronously controlled.
After determining the nacelle position at which each yaw motor passes the tooth break point, yaw control may be performed according to the process illustrated in FIG. 5.
FIG. 5 shows a yaw control flow chart according to an exemplary embodiment of the present disclosure. The yaw control flow according to an exemplary embodiment of the present disclosure is as follows, wherein each interval may be a closed interval or a half-open and half-closed interval or a half-closed and half-open interval or an open interval, respectively:
when the cabin position S falls within the range of (Sst-S1, set-S1), (Sst-S1 +360, set-S1 + 360), (Sst-S1 +720, and set-S1 + 720) (for example, falls within the interval shown in step 310), the 1# yaw motor and the reducer pass through the failed gear ring, the master control issues a rotation speed control command to the inverter 1, and the torque limit output is 0; meanwhile, the main control selects the 2# inverter as a host, a rotating speed control command is issued to the 2# inverter, the limited torque is the maximum torque value of the yaw motor, the 3#, 4#, 5#, and 6# inverters are selected to be synchronous with the 2# inverter, and the uniform load distribution of the 2#, 3#, 4#, 5#, and 6# yaw motors is realized (for example, step 315);
when the cabin position S falls within the ranges of (Sst-S2, set-S2), (Sst-S2 +360, set-S2 + 360), (Sst-S2 +720, and set-S2 + 720) (for example, falls within the interval shown in step 320), the 2# yaw motor and the reducer pass through a failed gear ring, a main control sends a rotation speed control command to the inverter 2, and the limited torque output is 0; meanwhile, the main control selects the 1# inverter as a host, a rotating speed control command is issued to the 1# inverter, the limited torque is the maximum torque value of the yaw motor, the 3#, 4#, 5#, and 6# inverters are selected to be synchronous with the 1# inverter, and the uniform load distribution of the 1#, 3#, 4#, 5#, and 6# yaw motors is realized (for example, step 325);
when the cabin position S falls within the range of (Sst-S3, set-S3), (Sst-S3 +360, set-S3 + 360), (Sst-S3 +720, and set-S3 + 720) (for example, falls within the interval shown in step 330), the 3# yaw motor and the reducer pass through the failed gear ring, the master control sends a rotation speed control command to the inverter 3, and the limited torque output is 0; meanwhile, the main control selects the 1# inverter as a host, and sends a rotating speed control command to the 1# inverter, the limited torque is the maximum torque value of the yaw motor, and the 2#, 4#, 5#, and 6# inverters are selected to be synchronous with the 1# inverter, so that the uniform load distribution of the 1#, 2#, 4#, 5#, and 6# yaw motors is realized (for example, step 335);
when the cabin position S falls within the range of (Sst-S4, set-S4), (Sst-S4 +360, set-S4 + 360), (Sst-S4 +720, and set-S4 + 720) (for example, falls within the interval shown in step 340), the 4# yaw motor and the reducer pass through the failed gear ring, the master control issues a rotation speed control command to the inverter 4, and the limited torque output is 0; meanwhile, the main control selects the 1# inverter as a host, and sends a rotating speed control command to the 1# inverter, the limited torque is the maximum torque value of the yaw motor, and the 2#, 3#, 5#, and 6# inverters are selected to be synchronous with the 1# inverter, so that the uniform load distribution of the 1#, 2#, 3#, 5#, and 6# yaw motors is realized (for example, step 345);
when the cabin position S falls within the range of (Sst-S5, set-S5), (Sst-S5 +360, set-S5 + 360), (Sst-S5 +720, and set-S5 + 720) (for example, falls within the section shown in step 350), the 5# yaw motor and the reducer pass through the failed gear ring, the main control sends a rotation speed control command to the inverter 5, and the limited torque output is 0; meanwhile, the main control selects the 1# inverter as a host, and sends a rotating speed control command to the 1# inverter, the limited torque is the maximum torque value of the yaw motor, and the 2#, 3#, 4#, and 6# inverters are selected to be synchronous with the 1# inverter, so that the uniform load distribution of the 1#, 2#, 3#, 4#, and 6# yaw motors is realized (for example, step 355);
when the cabin position S falls within the range of (Sst-S6, set-S6), (Sst-S6 +360, set-S6 + 360), (Sst-S6 +720, and set-S6 + 720) (for example, falls within the interval shown in step 360), the 6# yaw motor and the reducer pass through a failed gear ring, the master control sends a rotation speed control command to the inverter 6, and the rotation speed limit output is 0; meanwhile, the main control selects the 1# inverter as a main machine, a rotating speed control command is issued to the 1# inverter, the limited torque is the maximum torque value of the yaw motor, the 2#, 3#, 4#, and 5# inverters are selected to be synchronous with the 1# inverter, and the uniform load distribution of the 1#, 2#, 3#, 4#, and 5# yaw motors is realized (for example, step 365).
According to an exemplary embodiment of the present disclosure, when the yaw ring gear is partially worn, the yaw motor may be controlled by the frequency converter such that the torque output of the yaw motor is limited when the yaw reducer of the yaw motor engages with the failed yaw ring gear. According to the serious condition of the abrasion, the output torque of the yaw motor is limited. For example, the output torque of the yaw motor is decreased as the degree of wear increases, and the output torque of the yaw motor is increased as the degree of wear decreases. When the teeth are broken, the output torque of the yaw motor can be limited to be 0 when the yaw speed reducer is meshed with the broken-tooth yaw gear ring. When the torque output of the yaw motors is limited, other non-limited torque yaw motors can be selected as a main machine by the main controller, and the rest non-limited torque yaw motors are synchronous with the main machine, so that uniform load distribution is realized.
According to another exemplary embodiment of the present disclosure, the torque limitation may be achieved by a servo drive or other drive, and the self-recovery of the yaw drive may also be achieved by a servo drive or other drive.
The yaw control device or system of a wind park according to an exemplary embodiment of the present disclosure may be configured as software, hardware, firmware, or any combination thereof, respectively, performing a specific function. For example, these components may correspond to application specific integrated circuits, to pure software code, or to modules combining software and hardware. Furthermore, one or more functions implemented by these components may also be performed collectively by components in a physical entity device (e.g., a processor, a client, a server, or the like).
It is to be understood that the yaw controlling method according to the exemplary embodiment of the present disclosure may be implemented by a program recorded on a computer readable medium, for example, according to the exemplary embodiment of the present disclosure, there may be provided a computer readable medium for the yaw controlling method, wherein the computer program for executing the following method steps is recorded on the computer readable medium: in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors; judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; when the real-time position of at least one yaw motor falls into the broken position range of the yaw gear ring, the output torque of at least one yaw motor is reduced, the output torques of other yaw motors except the at least one yaw motor are adjusted, and the yaw of the wind generating set is controlled.
The computer program in the computer-readable medium can be executed in an environment deployed in a computer device such as a client, a host, a proxy apparatus, a server, etc., and it should be noted that the computer program can also be used for performing additional steps other than the above steps or performing more specific processing when performing the above steps, and the contents of the additional steps and the further processing are described with reference to the drawings, and will not be described again in order to avoid repetition.
It should be noted that the controller or the yaw control apparatus or the yaw control system according to the exemplary embodiments of the present disclosure may completely rely on the execution of the computer program to realize the respective functions, i.e., each unit corresponds to each step in the functional architecture of the computer program, so that each unit may be called by a dedicated software package (e.g., lib library) to realize the respective functions.
On the other hand, the respective units included in the yaw control system according to the exemplary embodiments of the present disclosure may also be implemented by hardware, software, firmware, middleware, microcode, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the corresponding operations may be stored in a computer-readable medium such as a storage medium so that a processor may perform the corresponding operations by reading and executing the corresponding program code or code segments.
For example, exemplary embodiments of the present disclosure may also be implemented as a computing device including a storage component having a set of computer-executable instructions stored therein that, when executed by a processor, perform a yaw control method.
In particular, computing devices may be deployed in servers or clients as well as on node devices in a distributed network environment. Further, the computing device may be a PC computer, tablet device, personal digital assistant, smart phone, web application, or other device capable of executing the set of instructions.
The computing device need not be a single computing device, but can be any device or collection of circuits capable of executing the instructions (or sets of instructions) described above, individually or in combination. The computing device may also be part of an integrated control system or system manager, or may be configured as a portable electronic device that interfaces with local or remote (e.g., via wireless transmission).
In a computing device, a processor may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a programmable logic device, a special purpose processor system, a microcontroller, or a microprocessor. By way of example, and not limitation, processors may also include analog processors, digital processors, microprocessors, multi-core processors, processor arrays, network processors, and the like.
Certain operations described in the yaw control method according to the exemplary embodiments of the present disclosure may be implemented by software, certain operations may be implemented by hardware, and further, the operations may be implemented by a combination of hardware and software.
The processor may execute instructions or code stored in one of the memory components, which may also store data. The instructions and data may also be transmitted or received over a network via the network interface device, which may employ any known transmission protocol.
The memory components may be integral to the processor, e.g., RAM or flash memory disposed within an integrated circuit microprocessor or the like. Further, the storage component may comprise a stand-alone device, such as an external disk drive, storage array, or any other storage device usable by a database system. The storage component and the processor may be operatively coupled or may communicate with each other, such as through an I/O port, a network connection, etc., so that the processor can read files stored in the storage component.
In addition, the computing device may also include a video display (such as a liquid crystal display) and a user interaction interface (such as a keyboard, mouse, touch input device, etc.). All components of the computing device may be connected to each other via a bus and/or a network.
Operations involved in a yaw control method according to an exemplary embodiment of the present disclosure may be described as various interconnected or coupled functional blocks or functional diagrams. However, these functional blocks or functional diagrams may be equally integrated into a single logic device or operated on by non-exact boundaries.
For example, as mentioned above, the yaw control system or the main controller of the yaw control system according to an exemplary embodiment of the present disclosure may comprise a memory unit and a processor, wherein the memory unit has stored therein a set of computer executable instructions which, when executed by the processor, perform the steps of: in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors; judging whether the real-time position of at least one yaw motor in the yaw motors falls into the broken position range of the yaw gear ring; and when the real-time position of the at least one yaw motor falls into the broken position range of the yaw gear ring, reducing the output torque of the at least one yaw motor, adjusting the output torques of other yaw motors except the at least one yaw motor, and controlling the wind generating set to yaw.
While various exemplary embodiments of the present disclosure have been described above, it should be understood that the above description is exemplary only, and not exhaustive, and that the present disclosure is not limited to the disclosed exemplary embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. Therefore, the protection scope of the present disclosure should be subject to the scope of the claims.
Claims (10)
1. A yaw control method of a wind generating set is characterized by comprising the following steps:
in the yawing process of the wind generating set, when the yawing gear ring is broken, determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors;
judging whether the real-time positions of the yaw motors fall into the broken position range or not;
when the real-time position of at least one yaw motor in the plurality of yaw motors falls into the broken position range, reducing the output torque of the at least one yaw motor, adjusting the output torque of other yaw motors except the at least one yaw motor, and controlling the wind generating set to yaw;
when the yaw operation is determined, releasing the electromagnetic brake devices of the plurality of yaw motors, and delaying the starting of the plurality of yaw motors to perform backlash compensation for each yaw speed reducer by the set torque of each yaw motor, wherein the backlash compensation is used for reducing yaw starting impact;
when backlash compensation is complete, the yaw brake is opened and yaw begins by the plurality of yaw motors.
2. The yaw control method of claim 1, wherein the reducing the output torque of the at least one yaw motor and adjusting the output torque of yaw motors other than the at least one yaw motor, the controlling the wind turbine generator system to yaw comprises:
and reducing the output torque of the at least one yaw motor to zero, adjusting the output torque of other yaw motors except the at least one yaw motor, and controlling the wind generating set to yaw.
3. The yaw control method of claim 1, wherein the step of reducing the output torque of the at least one yaw motor to control the wind turbine generator set to yaw comprises:
and reducing the output torque of the at least one yaw motor to a predetermined safe torque through power control according to the corresponding relation between the power and the torque.
4. The yaw control method of claim 2 or 3, wherein the step of adjusting the output torque of the yaw motors other than the at least one yaw motor comprises:
limiting the output torque of the other yaw motors to respective maximum output torques;
and synchronously controlling the other yaw motors.
5. The yaw control method of claim 1, wherein the broken position range of the yaw ring gear includes a broken start position and a broken end position corresponding to each yaw motor, and the step of determining the broken position range of the yaw ring gear includes:
determining a breakage starting position corresponding to each yaw motor according to the angle of the fault starting position of the yaw gear ring relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin;
and determining a breakage ending position corresponding to each yaw motor according to the angle of the fault ending position of the yaw gear ring relative to the initial position of the cabin and the real-time angle of each yaw motor relative to the initial position of the cabin.
6. A yaw control system of a wind generating set, the yaw control system comprising: the system comprises a plurality of yaw motors, a frequency converter and a controller, wherein the frequency converter drives the yaw motors and comprises an inverter and a rectifier; an inverter is connected to each yaw motor, a rectifier is disposed between the inverter and the controller, and the controller includes:
the position determining unit is used for determining the broken position range of the yawing gear ring and the real-time position of each yawing motor in the plurality of yawing motors when the breaking of the yawing gear ring is detected in the yawing process of the wind generating set;
the judging unit is used for judging whether the real-time positions of the yaw motors fall into the broken position range of the yaw gear ring;
the yaw control unit is used for reducing the output torque of at least one yaw motor through a frequency converter when the real-time position of at least one yaw motor in the plurality of yaw motors falls into the broken position range of a yaw gear ring, adjusting the output torque of other yaw motors except the at least one yaw motor and controlling the wind generating set to yaw;
a magnetic brake control unit for loosening the electromagnetic brake devices of the yaw motors when the yaw operation is determined;
a compensation control unit for delaying the start of the plurality of yaw motors to perform backlash compensation for each yaw reducer by a set torque of each yaw motor, wherein the backlash compensation is used to reduce yaw start shock;
a brake pad control unit for opening the yaw brake pad and starting yaw by the plurality of yaw motors when backlash compensation is completed,
the number of the inverters is one, and one inverter is connected with the yaw motors respectively; or the number of the inverters is multiple, and the inverters are connected with the yaw motors in a one-to-one correspondence mode respectively.
7. The yaw control system of claim 6, wherein the yaw control unit is further configured to reduce the output torque of the at least one yaw motor to zero and limit the output torques of the other yaw motors to respective maximum output torques; and synchronously controlling the other yaw motors.
8. A yaw control apparatus of a wind park, the yaw control apparatus comprising or being connected to a computer readable storage medium storing instructions, wherein the instructions, when executed by at least one computing device, cause the at least one computing device to perform the yaw control method of any one of claims 1-5.
9. The yaw control apparatus of claim 8, wherein the yaw control apparatus of the wind turbine generator set is a main controller of the wind turbine generator set.
10. A computer-readable storage medium storing instructions that, when executed by at least one computing device, cause the at least one computing device to perform the yaw control method of any one of claims 1-5.
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| CN101649816A (en) * | 2009-09-01 | 2010-02-17 | 江苏泰隆减速机股份有限公司 | Wind-power generating yaw speed reducer |
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