CN112576440A - Wind generating set, control method and device thereof and computer readable storage medium - Google Patents
Wind generating set, control method and device thereof and computer readable storage medium Download PDFInfo
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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
- F05B2270/60—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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Abstract
The application provides a wind generating set, a control method and a control device thereof, and a computer readable storage medium, wherein the control method comprises the following steps: controlling at least two yaw motors to yaw, comprising: controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor; determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque; and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output. According to the control method, wind load is introduced as a considered parameter, the type and the numerical value of the target torque of the main yaw motor and the type and the numerical value of the torque to be output of the first slave yaw motor are determined according to the wind load, and the output torque of each yaw motor can be adjusted in time according to the change of the wind load, so that the expected control target is accurately achieved. In addition, zero-pressure yawing in a yawing process can be realized by applying the method.
Description
Technical Field
The application relates to the technical field of wind generating sets, in particular to a wind generating set, a control method and a control device of the wind generating set and a computer readable storage medium.
Background
The yaw system is an important component of the wind generating set, and some wind generating sets generally adopt an active yaw system to adjust the yaw position of the engine room. The active yaw system generally comprises subsystems such as wind direction measurement, yaw driving, yaw damping and yaw position measurement. When the wind generating set is in yaw, due to uncertainty of wind load, in order to make the yaw process stable, certain damping needs to be added, and the damping torque is determined according to the inertia torque of the sum of the mass of the engine room and the mass of the wind wheel.
In a conventional yaw system, the yaw damping subsystem usually employs a hydraulic brake to smooth the yaw process. In the yaw process, the brake pads are accelerated to wear due to the input of the hydraulic brake, the brake pads need to be replaced regularly, the maintenance cost is very high, in the yaw process, harsh noise and strong vibration are generated due to the friction of the brake pads, the environment-friendly type of the unit is poor, the yaw vibration even can cause the unit to stop due to the overlarge vibration, the failure rate of the unit is high, and the availability of the unit is reduced.
In order to solve the problems, the existing wind generating set adopts a yaw motor to provide damping in the yaw process, a hydraulic brake device is not needed to participate in the yaw process, and zero-pressure yaw in the yaw process is realized. However, in the existing yaw system of the wind turbine generator system, when the wind load changes, the main controller often cannot reach the expected control target.
In summary, the conventional wind turbine generator system cannot accurately achieve the desired control target when performing the yaw.
Disclosure of Invention
The application aims at the defects of the existing mode and provides a wind generating set, a control method and a control device of the wind generating set and a computer readable storage medium, and the wind generating set is used for solving the technical problem that the existing wind generating set cannot accurately achieve the expected control target when yaw is executed.
In a first aspect, an embodiment of the present application provides a control method for a wind turbine generator system, including: controlling at least two yaw motors to yaw, comprising:
controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor; determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque; and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
In a second aspect, an embodiment of the present application provides a control apparatus for a wind turbine generator system, including a yaw executing module, configured to control at least two yaw motors to yaw;
the yaw executive module comprises:
the first execution unit is used for controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor;
the calculating unit is used for determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque;
and the second execution unit is used for controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
In a third aspect, an embodiment of the present application provides a wind turbine generator system, where the method for controlling the wind turbine generator system provided by the present application is implemented, and includes: the controller and the at least two yaw motors;
the controller is connected with at least two yaw motors electricity for control at least two yaw motors carry out the driftage, include: controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor; determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque; and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the control method of the wind turbine generator system provided by the present application.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
in the control method of the wind generating set provided by the embodiment of the application, the wind load is introduced as a consideration parameter, the type and the numerical value of the target torque of the main yaw motor and the to-be-output torque of the first slave yaw motor are determined according to the wind load, and the output torque of each yaw motor can be adjusted in time according to the change of the wind load, so that the expected control target is accurately achieved.
In addition, the type of the torque to be output of the first slave yaw motor can be changed, and the first slave yaw motor can output damping torque when needed, namely, the first slave yaw motor can replace the function of the hydraulic brake module in the yaw process, so that zero-pressure yaw in the yaw process is realized, the vibration and noise of residual pressure yaw in the traditional yaw mode are reduced, the maintenance-free hydraulic brake module in the full life cycle of the wind generating set is facilitated, and the environmental friendliness of the wind generating set is improved.
Additional aspects and advantages of the present application 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 present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural view of a portion of a wind turbine generator system provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of the connection of a controller, a yaw drive and a yaw motor provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a process of controlling at least two yaw motors to yaw in a control method of a wind turbine generator system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a process of controlling at least two yaw motors to yaw in one cycle in a control method of a wind turbine generator system according to an embodiment of the present application;
FIG. 5 is a schematic view of another flow of controlling at least two yaw motors to yaw in one cycle in a control method of a wind turbine generator system according to an embodiment of the present application;
FIG. 6 is a schematic flow chart diagram of an extended control method of a wind turbine generator system provided by an embodiment of the application;
FIG. 7 is a graph illustrating a mapping between a rotational speed of a main yaw motor and a target torque provided by an embodiment of the present application;
FIG. 8 is a graph illustrating a time-to-rotation speed relationship of a main yaw motor during yawing according to the embodiment of the present application;
FIG. 9 is a graph of a target torque of a master yaw motor and a torque to be output of a first slave yaw motor as a function of wind load according to an embodiment of the present application;
FIG. 10 is a graphical illustration of total yaw drive torque versus yaw rate for a nacelle provided in an embodiment of the present application;
fig. 11 is a schematic block diagram of a control device of a wind turbine generator system according to an embodiment of the present application.
The reference numerals are explained as follows:
M1-M6 are yaw motors;
1-a controller; 2-yaw drive; 3-a speed measuring device;
4-yaw retarder; 5-brake pad; 6-nacelle position sensor;
100-yaw bearing; 200-a yaw gear ring; 300-power supply module.
Detailed Description
Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. In addition, if a detailed description of the known art is not necessary for illustrating the features of the present application, it is omitted. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The yaw system refers to a system for driving a cabin to rotate relative to a tower in a wind generating set. The functions of the yaw system include: the method comprises the steps of keeping the nacelle at a position facing the wind or deviating from the wind direction according to the wind direction, keeping the nacelle at a crosswind position when the wind speed is over-speed, untwisting when twisting occurs, uniformly distributing a lubricating medium when lubricating a yaw bearing and the like.
The yaw system generally includes a controller, a yaw drive, a yaw motor, a yaw reducer, and the like. The yaw motor can adopt an asynchronous motor with a brake; the yaw speed reducer is used for reducing the higher rotating speed of the yaw motor to the lower rotating speed through the planetary speed reducer, and the rotating speed ratio of the yaw speed reducer can be between 1000 and 2000; the yaw drive can be a frequency converter or a servo drive.
A yaw bearing is arranged between the tower and the engine room. The yaw motor is in transmission connection with the yaw bearing through the yaw speed reducer, and the yaw motor drives the yaw bearing to rotate through the yaw speed reducer, so that the engine room is driven to rotate relative to the tower.
The number of yaw motors may be determined according to the actual design requirements. In the embodiment of the present application, the yaw motor may be functionally divided into a master yaw motor and a first slave yaw motor.
The main yaw motor is used for outputting driving torque when yawing, and driving the cabin to rotate to a desired yawing position; the first slave yaw motor can be used to output a corresponding type of torque depending on the wind load.
The types of torque are classified into driving torque and damping torque. When the first slave yaw motor outputs the driving torque, the direction of the torque output by the first slave yaw motor and the direction of the torque output by the master yaw motor are the same, and the first slave yaw motor and the master yaw motor are used for driving the nacelle to rotate to a desired yaw position; when the first slave yaw motor outputs the damping torque, the directions of the torques output by the first slave yaw motor and the master yaw motor are opposite for providing damping to ensure the smoothness of the nacelle.
In addition to the master yaw motor and the first slave yaw motor, the yaw motors may be functionally divided into a second slave yaw motor for outputting a drive torque to rotate the nacelle to a desired yaw position in conjunction with the master yaw motor during yaw.
In a yaw system, the number of master yaw motors is at least 1, the number of first slave yaw motors is at least 1, and the number of second slave yaw motors may be zero or some other value.
Taking fig. 1 as an example, the yaw system includes 6 yaw motors (labeled as M1 to M6), and among the yaw motors M1 to M6, at least one is selected as a master yaw motor, at least one is selected as a first slave yaw motor, and the rest are selected as second slave yaw motors. For example, the yaw motor M1 is selected as the master yaw motor, the yaw motor M6 is selected as the first slave yaw motor, and the yaw motors M2 to M5 are selected as the second slave yaw motors.
The yawing system further comprises yaw reducers 4, in fig. 1, each yaw motor is in transmission connection with the input end of the corresponding yaw reducer 4, the output end of each yaw reducer 4 is meshed with a yaw gear ring 200, and the yaw gear rings 200 are coaxially connected to the yaw bearing 100.
The yaw system further comprises a hydraulic system, in which the brake pads 5 of the hydraulic brake modules are arranged in predetermined positions on the yaw bearing 100, as shown in fig. 1. In fig. 1, the brake pads 5 may grip or release the inner bearing ring of the yaw bearing 100.
The yaw system further comprises a nacelle position sensor 6, the nacelle position sensor 6 being arranged to detect a yaw position of the nacelle. In a wind park, the yaw position refers to the angle of rotation of the nacelle relative to the tower. In the embodiment of the present application, the position of the nacelle is set to 0 degree when the cable from the nacelle to the bottom of the tower is cabled, and the yaw position of the nacelle increases when the nacelle rotates counterclockwise in the plan view direction of the wind turbine generator system.
As shown in fig. 2, each yaw motor (M1-M6) is electrically connected to a corresponding yaw drive 2; the controller 1 is electrically connected with each yaw drive 2 and is used for controlling a yaw motor through the yaw drive 2; a power module 300 is electrically connected to each yaw drive 2 for supplying power. A speed measuring device 3 is arranged on the yaw motor M1, and the speed measuring device 3 may be an encoder. Of course, other yaw motors may also be provided with the speed measuring device 3.
In fig. 2, the yaw motors are in a one-to-one correspondence with the yaw drives 2. It will be appreciated by a person skilled in the art that the number of yaw drives 2 may also be less than the number of yaw motors, i.e. one yaw drive 2 is used for driving more than two yaw motors. For example, one yaw drive is electrically connected to yaw motors M2 through M4, respectively.
The inventor of the application finds that the yaw system of the existing wind generating set generally passively adjusts the real-time torque of each yaw motor according to the wind load, for the yaw motor capable of outputting the damping torque, the dynamic adjustment of the damping torque output by the yaw motor according to the change of the wind load cannot be realized, and when the wind load changes, the main controller often cannot reach the expected control target.
For the above reasons, an embodiment of the present application provides a control method for a wind turbine generator system, where the control method includes controlling at least two yaw motors to yaw.
One process for controlling at least two yaw motors to yaw is shown in FIG. 3, and includes:
s11: and controlling the main yaw motor to output the target torque according to the load and the rotating speed of the main yaw motor.
Taking fig. 2 as an example, the controller 1 sends a corresponding command to the yaw drive electrically connected to the yaw motor M1 according to the target torque of the yaw motor M1, so that the yaw drive controls the yaw motor M1 to output the target torque
When the load of the main yaw motor is unchanged, the rotating speed of the main yaw motor and the target torque have a determined mapping relation. FIG. 7 is a graph illustrating a mapping relationship between the rotational speed of the main yaw motor and the target torque when the load of the main yaw motor is a predetermined value.
The load of the main yaw motor changes along with the wind load, and when the load of the main yaw motor changes, the mapping relation between the rotating speed of the main yaw motor and the target torque changes. Therefore, the controller 1 needs to determine a corresponding mapping relation curve of the rotating speed and the target torque according to the load of the main yaw motor; and determining a target torque of the main yaw motor according to the determined mapping relation curve and the rotating speed of the main yaw motor, and then controlling the main yaw motor to output the determined target torque.
S12: and determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque.
Taking fig. 2 as an example, the controller 1 determines the type and value of the torque to be output of the yaw motor M6 according to the wind load, the load of the yaw motor M1 and the target torque.
Optionally, there is a correspondence between the type of torque to be output of the first slave yaw motor and the wind load. The type of torque to be output of the first slave yaw motor may be the same as or different from the type of target torque of the master yaw motor. Specifically, the types of the torque to be output of the first slave yaw motor are classified into a driving torque and a damping torque.
Optionally, there is a preset mapping relationship between the value of the torque to be output of the first slave yaw motor, the load of the master yaw motor and the target torque, and the specific mapping relationship will be further described below.
Optionally, step S12 includes:
when the wind load is in a first preset interval, determining that the type of the torque to be output of the first slave yaw motor is damping torque; when the wind load is in a second preset interval, determining the type of the torque to be output of the first slave yaw motor as a driving torque; and determining the numerical value of the torque to be output of the first slave yaw motor according to the load of the master yaw motor and the target torque.
Optionally, step 12 further comprises: when the wind load fluctuates, the type and the value of the torque to be output of each first slave yaw motor are adjusted according to the size and the direction of the wind load.
S13: and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
Taking fig. 2 as an example, the controller 1 sends a corresponding command to the yaw drive electrically connected to the yaw motor M6 according to the type and value of the torque to be output of the yaw motor M6, so that the yaw drive controls the yaw motor M6 to output a corresponding torque.
As will be appreciated by those skilled in the art, the main yaw motor may output torque during yaw, and maintain the corresponding speed at each time according to the time versus rotational speed curve shown in FIG. 8.
In fig. 8, t0, t1, t2, and t3 denote respective times, and t01, t12, and t23 denote curve segments between adjacent times. the t01 curve segment corresponds to the rotating speed data in the starting process, and the main yaw motor is in the accelerating process; the t12 curve segment corresponds to the rotating speed data of the yaw stability process, and the main yaw motor works at the rated rotating speed; the t23 curve segment corresponds to the rotating speed data of the yaw ending process, and the main yaw motor is in the deceleration process.
In the control method of the wind generating set provided by the embodiment of the application, the wind load is introduced as a consideration parameter, the type and the numerical value of the target torque of the main yaw motor and the to-be-output torque of the first slave yaw motor are determined according to the wind load, and the output torque of each yaw motor can be adjusted in time according to the change of the wind load, so that the expected control target is accurately achieved.
In addition, the type of the torque to be output of the first slave yaw motor can be changed, and the first slave yaw motor can output damping torque when needed, namely, the first slave yaw motor can replace the function of the hydraulic brake module in the yaw process, so that zero-pressure yaw in the yaw process is realized, the vibration and noise of residual pressure yaw in the traditional yaw mode are reduced, the maintenance-free hydraulic brake module in the full life cycle of the wind generating set is facilitated, and the environmental friendliness of the wind generating set is improved.
Optionally, before step S11, the method includes: determining the total yaw driving torque of the engine room according to the torques output by the at least two yaw motors; and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin.
Optionally, before step S11, the method includes: and receiving the rotating speed of the main yaw motor detected by the speed measuring device. Optionally, in the control method of the wind turbine generator system provided in the embodiment of the present application, the controlling at least two yaw motors to yaw further includes: and controlling the second slave yaw motor to output the set torque by taking the target torque of the master yaw motor as the set torque of the second slave yaw motor.
In the control method of the wind generating set provided by the embodiment of the application, the output torques of the first slave yaw motor and the second slave yaw motor can be synchronously determined according to the target torque of the master yaw motor, and can be synchronously output, so that the uniform distribution of loads is facilitated, and the safety factor of a yaw system of the wind generating set can be improved.
Optionally, in the control method of the wind turbine generator system provided in the embodiment of the present application, before controlling at least two yaw motors to yaw, the method includes: controlling the electromagnetic brake modules of at least two yaw motors to be kept in an open state, and controlling the hydraulic brake modules of the hydraulic system to be kept in a holding state; controlling at least two yaw motors to perform a backlash compensation process; and after the backlash compensation process is finished, controlling a hydraulic brake module of the hydraulic system to be kept in an opening state.
Optionally, in the control method of the wind turbine generator system provided in the embodiment of the present application, after controlling at least two yaw motors to yaw, the method includes:
controlling at least two yaw motors to stop; controlling at least two yaw motors to perform a backlash compensation process; and after the backlash compensation process is finished, controlling a hydraulic brake module of the hydraulic system and an electromagnetic brake module of each yaw motor to be in a tightly-holding state.
In an embodiment provided by the present application, controlling at least two yaw motors to yaw may be a periodic process, and the above steps S11 to S13 may be part of a period.
After the output torques of the at least two yaw motors in the current period are determined, the total yaw driving torque of the engine room can be determined according to the output torques of the at least two yaw motors; and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin, wherein the rotating speed of the main yaw motor is used for determining the target torque of the main yaw motor in the next period.
Optionally, for a wind generating set only comprising a main yaw motor and a first slave yaw motor, after determining a target torque of the main yaw motor in a current cycle and a torque to be output of the first slave yaw motor in the current cycle, determining a total yaw driving torque of the nacelle according to the target torque of the main yaw motor in the current cycle and the torque to be output of the first slave yaw motor in the current cycle; and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin, wherein the rotating speed of the main yaw motor is used for determining the target torque of the main yaw motor in the next period.
Optionally, for a wind generating set only comprising a master yaw motor, a first slave yaw motor and a second slave yaw motor, after determining the target torque of the master yaw motor in the current cycle, the torque to be output of the first slave yaw motor in the current cycle and the set torque of the second slave yaw motor in the current cycle, the total yaw driving torque of the nacelle can be determined according to the target torque of the master yaw motor in the current cycle, the torque to be output of the first slave yaw motor in the current cycle and the set torque of the second slave yaw motor in the current cycle; and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin, wherein the rotating speed of the main yaw motor is used for determining the target torque of the main yaw motor in the next period.
The embodiment of the present application further provides another process for controlling at least two yaw motors to yaw in one cycle, as shown in fig. 4, including:
s21: and controlling the main yaw motor to output the target torque according to the load and the rotating speed of the main yaw motor determined in the last period, and then executing the step S22.
Specifically, the specific content of S21 is identical to the specific step of S11, and is not described herein again.
S22: when the wind load is in a first preset interval, determining that the type of the torque to be output of the first slave yaw motor is damping torque; and when the wind load is in a second preset interval, determining the type of the torque to be output of the first slave yaw motor as the driving torque. After step S22, step S23 is performed.
Optionally, the wind load of the first preset interval is greater than the wind load of the second preset interval, and the first preset interval and the second preset interval may be determined according to actual design requirements.
FIG. 9 shows a graph of target torque for a master yaw motor and torque to be output for a first slave yaw motor as a function of wind load.
In fig. 9, a curve L1 is a curve of the target torque of the master yaw motor changing with the wind load, and a curve L2 is a curve of the torque to be output of the first slave yaw motor changing with the wind load.
The abscissa represents data of wind load, and the ordinate represents data of target torque of the master yaw motor and torque to be output of the first slave yaw motor.
When the wind load is n 0-n 1, the wind load is in a first preset interval, the type of the torque to be output of the first slave yaw motor is damping torque, namely the target torque of the master yaw motor is opposite to the direction of the torque to be output of the first slave yaw motor; when the wind load is n 1-n 2, the wind load is in a second preset interval, the type of the torque to be output of the first slave yaw motor is the driving torque, namely the target torque of the master yaw motor is the same as the direction of the torque to be output of the first slave yaw motor.
It should be noted that there is no strict execution sequence between the steps S21 and S22, and the steps S22 may be executed first and then the steps S21 may be executed.
S23: and determining the value of the torque to be output of the first slave yaw motor according to the load of the master yaw motor and the target torque, and then executing the step S24 and/or the step S26.
The torque to be output of the first slave yaw motor and the load and the target torque of the master yaw motor have a preset first corresponding relation, and the first corresponding relation can be determined according to actual design requirements.
Optionally, step S23 includes: determining a corresponding torque offset value according to the load of the main yaw motor; and determining the numerical value of the torque to be output of the first slave yaw motor according to the torque offset value and the numerical value of the target torque of the master yaw motor.
Optionally, each wind load corresponds to a torque offset value according to the first correspondence.
Alternatively, the torque offset value may be a difference between a value of a target torque of the master yaw motor and a value of a to-be-output torque of the first slave yaw motor.
Taking fig. 9 as an example, when the wind load is 0, the torque offset value is Nab. If the target torque of the master yaw motor is determined to be Na, the value Nb of the torque to be output of the first slave yaw motor can be obtained by the following formula: and Nb is Na-Nab.
In fig. 9, when the wind load is 0, the load of the master yaw motor is small, the target torque of the master yaw motor is Na, the torque to be output of the first slave yaw motor is Nb, and the first slave yaw motor outputs a damping motor for providing a damping torque to the nacelle to ensure that the nacelle smoothly yaws;
during the wind load is increased from 0 to n1, the target torque of the main yaw motor is increased, and the torque to be output of the first slave yaw motor tracks the target torque of the main yaw motor and simultaneously becomes larger (during the wind load is increased from 0 to n1, the torque to be output of the first slave yaw motor is a negative value, so that the torque to be output is more close to 0, which means that the torque to be output is more large), the output force of the main yaw motor is already close to the maximum value, and at this time, the yaw system may have the problem of insufficient driving capability, so that the torque to be output of the first slave yaw motor becomes 0 when the wind load is n1, that is to say, the first slave yaw motor does not output damping torque any more.
During the wind load is increased from n1 to n2, the torque to be output of the first slave yaw motor is changed into driving torque for increasing the driving capability of the yaw system. When the wind load exceeds n2, the driving capability of the main yaw motor reaches the maximum, the target torque of the main yaw motor does not increase any more, and the torque to be output of the first slave yaw motor continues to increase, so that the sufficient driving capability of the yaw system is ensured.
It should be noted that, if the wind turbine generator set includes the second slave yaw motor, the curve of the set torque of the second slave yaw motor changing with the wind load is the same as the curve of the target torque of the master yaw motor changing with the wind load.
Optionally, in the embodiment of the present application, the target torque of the master yaw motor is set to a positive value, and if the type of the to-be-output torque of the first slave yaw motor is the driving torque, the value of the to-be-output torque of the first slave yaw motor is a positive value; if the type of the torque to be output of the first slave yaw motor is the damping torque, the value of the torque to be output of the first slave yaw motor is a negative value.
S24: and determining the total yaw driving torque of the nacelle according to the target torque of the main yaw motor in the current period and the torque to be output of the first slave yaw motor in the current period, and then executing the step S25.
Alternatively, the controller 1 adds the target torque values of all the master yaw motors and the to-be-output torque value of the first slave yaw system to obtain the total yaw driving torque of the nacelle.
S25: and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin.
Optionally, the controller 1 obtains the yaw rotation speed of the nacelle according to a preset relationship between the total yaw driving torque and the yaw rotation speed of the nacelle. And multiplying the yaw rotating speed of the engine room by the transmission ratio of the yaw system to obtain the rotating speed of the main yaw motor.
Alternatively, the rotation speed of the main yaw motor can also be obtained by the speed measuring device 3 (e.g. an encoder).
Alternatively, fig. 10 shows a graph of the total yaw driving torque of the nacelle versus the yaw rotation speed, and the rotation speed of the main yaw motor can be determined according to the preset relationship of the yaw rotation speed of the nacelle, and compared with the corresponding relationship represented by the graph in fig. 10.
The rotational speed of the main yaw motor determined at step S25 is used to determine the target torque of the main yaw motor in the next cycle.
S26: and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
Specifically, the specific content of S26 is identical to the specific step of S13, and is not described herein again.
The embodiment of the present application further provides another process for controlling at least two yaw motors to yaw in one cycle, as shown in fig. 5, including:
s31: and controlling the main yaw motor to output the target torque according to the load and the rotating speed of the main yaw motor determined in the last period, and then executing the steps S32 and S34.
Specifically, the specific content of S31 is identical to the specific step of S11, and is not described herein again.
S32: when the wind load is in a first preset interval, determining that the type of the torque to be output of the first slave yaw motor is damping torque; and when the wind load is in a second preset interval, determining the type of the torque to be output of the first slave yaw motor as the driving torque.
Specifically, the specific content of S32 is identical to the specific step of S22, and is not described herein again.
It should be noted that there is no strict execution sequence between step S32 in step S31, and step S32 may be executed first, and then step S31 may be executed.
S33: and determining the numerical value of the torque to be output of the first slave yaw motor according to the load of the master yaw motor and the target torque. Step S35 and/or step S37 are/is performed after step S33.
Optionally, step S33 includes: determining a corresponding torque offset value according to the load of the main yaw motor; and determining the numerical value of the torque to be output of the first slave yaw motor according to the torque offset value and the numerical value of the target torque of the master yaw motor.
Specifically, the specific content of S33 is identical to the specific step of S23, and is not described herein again.
S34: the target torque of the master yaw motor is set as the set torque of the second slave yaw motor, and then step S35 and/or step S37 are/is performed.
The curve of the set torque of the second slave yaw motor changing with the wind load is the same as the curve of the target torque of the master yaw motor changing with the wind load.
S35: and determining the total yaw driving torque of the nacelle according to the target torque of the master yaw motor in the current period, the torque to be output of the first slave yaw motor in the current period and the set torque of the second slave yaw motor in the current period, and then executing the step S36.
Alternatively, the controller 1 adds the values of the target torques of all the master yaw systems, the value of the torque to be output of the first slave yaw system and the value of the set torque of the second slave yaw system to obtain the total yaw driving torque of the nacelle.
S36: and determining the rotating speed of the main yaw motor according to the total yaw driving torque of the cabin.
Optionally, the yaw rotation speed of the nacelle is obtained according to a preset relationship between the total yaw driving torque of the nacelle and the yaw rotation speed. And multiplying the yaw rotating speed of the engine room by the transmission ratio of the yaw system to obtain the rotating speed of the main yaw motor.
Alternatively, fig. 10 shows a graph of the total yaw driving torque of the nacelle versus the yaw rotation speed, and the controller 1 may determine the rotation speed of the main yaw motor according to the preset relationship of the yaw rotation speed of the nacelle, in comparison with the corresponding relationship indicated by the graph in fig. 10.
The rotational speed of the main yaw motor determined at step S36 is used to determine the target torque of the main yaw motor in the next cycle.
S37: controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output; and controlling the second slave yaw motor to output the set torque.
Taking fig. 2 as an example, the controller 1 sends corresponding commands to the yaw drives electrically connected to the yaw motors M2 to M5, respectively, according to the setting torques of the yaw motors M2 to M5, so that each yaw drive controls a corresponding yaw motor of the yaw motors M2 to M5 to output the setting torque.
The other details of step S37 are the same as those of step S13, and are not described herein again.
The extended control method of the wind generating set provided by the embodiment of the application comprises three main processes: the method comprises a backlash compensation process before controlling at least two yaw motors to yaw, a yaw control process after controlling at least two yaw motors to yaw and a yaw stop process after controlling at least two yaw motors to yaw. The flow diagram of the method is shown in fig. 6, and includes:
s41: and controlling the electromagnetic brake modules of the at least two yaw motors to be kept in an open state, and controlling the hydraulic brake modules of the hydraulic system to be kept in a holding state.
Alternatively, taking fig. 2 as an example, the controller 1 calculates a yaw deviation according to wind direction data detected by a wind sensor, when it is determined that the yaw deviation satisfies a yaw condition, the controller 1 controls the electromagnetic brake modules of the yaw motors M1 to M6 to be kept in an open state, and the controller 1 controls the brake pads 5 of the hydraulic system to tightly hold the inner bearing ring of the yaw bearing 100.
Optionally, taking fig. 2 as an example, when the controller 1 determines that yaw needs to be performed according to the requirement of a yaw strategy, the controller 1 controls the electromagnetic brake modules of the yaw motors M1 to M6 to remain in an open state, and the controller 1 controls the brake pads 5 of the hydraulic system to hug the inner bearing ring of the yaw bearing 100.
It should be noted that the requirements of the yaw strategy include: the requirements of cable untwisting when cable twisting occurs, maintaining the nacelle at a crosswind position when wind speed is over-accelerated, and uniformly distributing a lubricating medium when a yaw bearing is lubricated, etc.
S42: and controlling at least two yaw motors to perform a backlash compensation process.
Alternatively, taking fig. 2 as an example, the controller 1 controls the yaw motors M1 to M6 to output torques. The direction of the torque output by the yaw motors M2 to M5 is the same as that of the torque output by the yaw motor M1; the direction of the torque output by the yaw motor M6 is opposite to the direction of the torque output by the yaw motor M1.
Optionally, the yaw motors M1 to M6 output corresponding torques according to the torque variation conditions represented by the preset torque curves, so as to eliminate backlash of the mechanical transmission system.
S43: and after the backlash compensation process is finished, controlling a hydraulic brake module of the hydraulic system to be kept in an opening state.
Alternatively, when the controller 1 determines that the value of the torque output by the yaw motor reaches the set value, it is determined that the backlash compensation process is completed. Taking fig. 2 as an example, the controller 1 controls the brake pads 5 of the hydraulic system to release the inner race of the yaw bearing 100.
S44: and controlling at least two yaw motors to yaw.
Optionally, the detailed content of step S44 is consistent with step S11 to step S13, and is not described herein again.
Optionally, the detailed content of step S44 is consistent with step S21 to step S26, and is not described herein again.
Optionally, the detailed content of step S44 is consistent with step S31 to step S37, and is not described herein again.
S45: and controlling at least two yaw motors to stop.
Alternatively, taking fig. 2 as an example, the controller 1 calculates a yaw deviation from wind direction data detected by a wind sensor, and when it is determined that the yaw deviation does not satisfy the yaw condition, the controller 1 controls the stop of the yaw motors M1 to M6.
Alternatively, taking fig. 2 as an example, when the controller 1 determines that the yaw strategy is not required or the yaw strategy is required to be completed, and determines that the yaw is required to be performed, the controller 1 controls the yaw motors M1 to M6 to stop.
It should be noted that the requirements of the yaw strategy include: the requirements of cable untwisting when cable twisting occurs, maintaining the nacelle at a crosswind position when wind speed is over-accelerated, and uniformly distributing a lubricating medium when a yaw bearing is lubricated, etc.
S46: and controlling a hydraulic brake module of the hydraulic system to keep in a holding state.
Alternatively, taking fig. 2 as an example, the controller 1 controls the brake pads 5 of the hydraulic system to hug the inner race of the yaw bearing 100.
S47: and controlling at least two yaw motors to perform a backlash compensation process.
Alternatively, taking fig. 2 as an example, the controller 1 controls the yaw motors M1 to M6 to output torques. The direction of the torque output by the yaw motors M2 to M5 is the same as that of the torque output by the yaw motor M1; the direction of the torque output by the yaw motor M6 is opposite to the direction of the torque output by the yaw motor M1.
Optionally, the yaw motors M1 to M6 output corresponding torques according to the torque variation conditions represented by the preset torque curves, so as to eliminate backlash of the mechanical transmission system.
S48: and after the backlash compensation process is finished, controlling the electromagnetic brake modules of the yaw motors to keep in a holding state.
Alternatively, when the controller 1 determines that the value of the torque output by the yaw motor reaches the set value, it is determined that the backlash compensation process is completed. Taking fig. 2 as an example, the controller 1 controls the electromagnetic brake modules of the yaw motors M1 to M6 to be maintained in a hugging state.
Steps S41 to S43 are backlash compensation processes before controlling at least two yaw motors to yaw. Steps S45 to S48 are a flow of yaw stop after controlling at least two yaw motors to yaw.
Based on the same inventive concept, as shown in fig. 11, an embodiment of the present application further provides a control device 5 of a wind generating set, including a yaw performing module 51, configured to control at least two yaw motors to yaw;
the yaw actuation module 51 comprises a first actuation unit 511, a calculation unit 512 and a second actuation unit 513.
The first execution unit 511 is configured to control the main yaw motor to output the target torque according to the load and the rotational speed of the main yaw motor. The calculating unit 512 is configured to determine a type and a value of a torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor, and the target torque. The second execution unit 513 is configured to control the first slave yaw motor to output a corresponding torque according to the type and the value of the torque to be output.
The control device 5 of the wind turbine generator system provided in the embodiment of the present application has the same inventive concept and the same advantageous effects as those of the foregoing embodiments, and contents not shown in detail in the computer-readable storage medium may refer to the foregoing embodiments, and are not described again here.
Based on the same inventive concept, an embodiment of the present application further provides a wind turbine generator set, which is used for implementing the control method of the wind turbine generator set provided by the above embodiments of the present application, and the method includes: a controller and at least two yaw motors.
The controller is connected with at least two yaw motors electricity for control at least two yaw motors carry out the driftage, include: controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor; determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque; and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
The wind turbine generator set provided by the embodiment of the application has the same inventive concept and the same beneficial effects as the embodiments described above, and the contents not shown in detail in the computer-readable storage medium refer to the embodiments described above, and are not described again here.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the control method of the wind turbine generator system provided by the above-mentioned embodiments of the present application.
The computer readable medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs, RAMs, EPROMs (Erasable Programmable Read-Only Memory), EEPROMs, flash Memory, magnetic cards, or fiber optic cards. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
The computer-readable storage medium provided in the embodiments of the present application has the same inventive concept and the same advantages as the embodiments described above, and contents not shown in detail in the computer-readable storage medium may refer to the embodiments described above, and are not described herein again.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
1. in the control method of the wind generating set provided by the embodiment of the application, the wind load is introduced as a consideration parameter, the type and the numerical value of the target torque of the main yaw motor and the to-be-output torque of the first slave yaw motor are determined according to the wind load, and the output torque of each yaw motor can be adjusted in time according to the change of the wind load, so that the expected control target is accurately achieved.
In addition, the type of the torque to be output of the first slave yaw motor can be changed, and the first slave yaw motor can output damping torque when needed, namely, the first slave yaw motor can replace the function of the hydraulic brake module in the yaw process, so that zero-pressure yaw in the yaw process is realized, the vibration and noise of residual pressure yaw in the traditional yaw mode are reduced, the maintenance-free hydraulic brake module in the full life cycle of the wind generating set is facilitated, and the environmental friendliness of the wind generating set is improved.
2. In the control method of the wind generating set provided by the embodiment of the application, the output torques of the first slave yaw motor and the second slave yaw motor can be synchronously determined according to the target torque of the master yaw motor, and can be synchronously output, so that the uniform distribution of loads is facilitated, and the safety factor of a yaw system of the wind generating set can be improved.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, procedures, and solutions discussed in the present application may be alternated, modified, combined, or eliminated. Further, various operations, methods, procedures, steps, solutions, etc. that have been discussed in this application may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, various operations, methods, steps in processes, measures, solutions disclosed in the prior art may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be understood that, although the steps in the flowchart of the drawing are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the drawings may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (11)
1. A control method of a wind generating set is characterized by comprising the following steps:
controlling at least two yaw motors to yaw, comprising:
controlling a main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor;
determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque;
and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
2. The control method according to claim 1, wherein determining the type and the value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque comprises:
when the wind load is in a first preset interval, determining that the type of the torque to be output of the first slave yaw motor is damping torque;
when the wind load is in a second preset interval, determining that the type of the torque to be output of the first slave yaw motor is a driving torque;
and determining a numerical value of the torque to be output of the first slave yaw motor according to the load of the master yaw motor and the target torque.
3. The control method according to claim 2, wherein determining the value of the torque to be output of the first slave yaw motor according to the load of the master yaw motor and the target torque comprises:
determining a corresponding torque offset value according to the load of the main yaw motor;
and determining the numerical value of the torque to be output of the first slave yaw motor according to the torque offset value and the numerical value of the target torque of the master yaw motor.
4. The control method according to claim 1, wherein determining the type and the value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque comprises:
when the wind load fluctuates, the type and the value of the torque to be output of each first slave yaw motor are adjusted according to the size and the direction of the wind load.
5. The control method of claim 1, wherein controlling at least two yaw motors to yaw further comprises:
and controlling the second slave yaw motor to output the set torque by taking the target torque of the master yaw motor as the set torque of the second slave yaw motor.
6. The control method according to claim 1, before controlling the main yaw motor to output the target torque according to a load and a rotational speed of the main yaw motor, further comprising:
determining the total yaw driving torque of the engine room according to the torques output by the at least two yaw motors; determining the rotating speed of the main yaw motor according to the total yaw driving torque of the engine room;
or receiving the rotating speed of the main yaw motor detected by the speed measuring device.
7. The control method of claim 1, prior to controlling at least two yaw motors to yaw, comprising:
controlling the electromagnetic brake modules of the at least two yaw motors to be kept in an open state, and controlling the hydraulic brake modules of the hydraulic system to be kept in a holding state;
controlling the at least two yaw motors to perform a backlash compensation process;
and after the backlash compensation process is finished, controlling a hydraulic brake module of the hydraulic system to be kept in an opening state.
8. The control method of claim 1, after controlling at least two yaw motors to yaw, comprising:
controlling the at least two yaw motors to stop;
controlling a hydraulic brake module of a hydraulic system to keep in a holding state;
controlling the at least two yaw motors to perform a backlash compensation process;
and after the backlash compensation process is finished, controlling the electromagnetic brake module of each yaw motor to keep a holding state.
9. The control device of the wind generating set is characterized by comprising a yaw execution module, a yaw control module and a yaw control module, wherein the yaw execution module is used for controlling at least two yaw motors to yaw;
the yaw performing module comprises:
the first execution unit is used for controlling the main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor;
the calculating unit is used for determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque;
and the second execution unit is used for controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
10. A wind power plant for implementing the control method of a wind power plant according to any one of claims 1 to 8, characterized by comprising: the controller and the at least two yaw motors;
the controller is electrically connected with the at least two yaw motors and is used for controlling the at least two yaw motors to yaw, and the controller comprises: controlling a main yaw motor to output a target torque according to the load and the rotating speed of the main yaw motor; determining the type and the numerical value of the torque to be output of the first slave yaw motor according to the wind load, the load of the master yaw motor and the target torque; and controlling the first slave yaw motor to output corresponding torque according to the type and the numerical value of the torque to be output.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the method of controlling a wind park according to any one of claims 1-8.
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| CN201910939804.0A CN112576440A (en) | 2019-09-30 | 2019-09-30 | Wind generating set, control method and device thereof and computer readable storage medium |
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