CN113719410A

CN113719410A - Yaw control method and device for offshore floating type double-wind-wheel wind generating set

Info

Publication number: CN113719410A
Application number: CN202111040252.3A
Authority: CN
Inventors: 郭小江; 付明志; 李铮; 秦猛; 李春华
Original assignee: Huaneng Clean Energy Research Institute; Huaneng Offshore Wind Power Science and Technology Research Co Ltd
Current assignee: Huaneng Clean Energy Research Institute; Huaneng Offshore Wind Power Science and Technology Research Co Ltd
Priority date: 2021-09-06
Filing date: 2021-09-06
Publication date: 2021-11-30

Abstract

The disclosure provides a yaw control method and device for a marine floating type double-wind-wheel wind generating set, and relates to the technical field of marine wind power generation. Wherein the method comprises the following steps: acquiring a current first angle value of the wind generating set and a second angle value of incoming wind; comparing the first angle value to the second angle value to determine a difference in the first angle value and the second angle value; determining the yaw angle if the difference is greater than a threshold; and controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set. Therefore, each yaw propeller can be controlled in a targeted manner according to the position of the yaw propeller, so that the wind generating set can yaw, the yaw requirement is met, the structure is simple, the operation is easy, and the accuracy and the reliability of yaw control are improved.

Description

Yaw control method and device for offshore floating type double-wind-wheel wind generating set

Technical Field

The disclosure relates to the technical field of offshore wind power generation, in particular to a yaw control method and a yaw control device for an offshore floating type double-wind-wheel wind generating set.

Background

In recent years, due to the serious environmental problems of regional haze, global warming and the like caused by the large consumption of traditional fossil energy, the vigorous development of clean renewable energy sources, such as wind energy, light energy and the like, has become a global consensus. Wind energy is increasingly receiving attention as a renewable new energy source due to its advantages of wide source, large storage capacity, no pollution and the like. The electric energy is used as a special carrier of energy and has the characteristics of cleanness, high efficiency, environmental friendliness and the like, so that the great significance in the rapid development of new energy power generation is achieved.

With the deepening of the understanding of human beings on the offshore wind resources and the progress of wind energy development technology, the development of the wind resources has a trend of developing from a near-shallow sea to a deep-open sea, wherein the offshore floating type wind turbine is an important direction for the development of deep-sea wind energy.

Generally, a floating offshore wind turbine is affected by incoming wind speed, sea waves, and the like, and thus may affect the performance of the floating offshore wind turbine. Therefore, how to control the yaw of the offshore floating type double-wind-wheel wind generating set so as to improve the performance of the offshore floating type double-wind-wheel wind generating set becomes a problem to be solved urgently at present.

Disclosure of Invention

The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.

The embodiment of the first aspect of the disclosure provides a yaw control method for a marine floating type double-wind-wheel wind generating set, which includes:

acquiring a current first angle value of the wind generating set and a second angle value of incoming wind;

comparing the first angle value to the second angle value to determine a difference in the first angle value and the second angle value;

determining the yaw angle if the difference is greater than a threshold;

and controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set.

Optionally, the controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind turbine generator system includes:

determining a total driving numerical value required by the yawing propeller according to the yawing angle;

determining a driving numerical value corresponding to each yaw propeller according to the total driving numerical value and the position of each yaw propeller;

determining the working time length of each yawing propeller according to each driving numerical value and the output power of each yawing propeller;

and controlling the yaw propeller to yaw.

Optionally, after determining a total driving value required by the yawing propeller according to the yawing angle, the method further includes: determining the axial included angle between each yaw propeller and each floating double wind wheel;

determining a driving numerical value corresponding to each yaw propeller according to each included angle;

optionally, after determining a total driving value required by the yawing propeller according to the yawing angle, the method further includes:

under the condition that any yaw propeller and the floating type double wind wheels are axially in the same direction, determining that any yaw propeller is in a working state;

determining the working time length of any yaw propeller according to the total driving numerical value and the output power of any yaw propeller;

and controlling any yaw propeller to yaw.

Optionally, a first driving numerical value corresponding to a first yaw propeller in the same axial direction as the floating dual wind turbine and a second driving numerical value corresponding to a second yaw propeller in the same axial direction as the floating dual wind turbine are in a proportional relationship, and determining a total driving numerical value corresponding to each yaw propeller according to the driving numerical values and positions of the yaw propellers includes:

determining a first driving value corresponding to each first yaw propeller according to the total driving value and the position of the first yaw propeller;

determining a second driving value of each second yaw propeller according to the corresponding driving value of each first propeller;

and controlling each yaw propeller to yaw according to the first driving numerical value and the second driving numerical value.

Optionally, the controlling the yaw propeller to yaw includes:

and controlling a locking device in the wind generating set to be in a release state so as to enable the yawing propeller to yaw.

An embodiment of a second aspect of the present disclosure provides a yaw control system of a marine floating type double-wind-wheel wind turbine generator system, including:

the system comprises a floating double-wind-wheel fan, a floating fan converter, a boosting transformer, a yawing device, an anemorumbometer and a controller;

the yaw device is connected with the controller, and a yaw propeller in the yaw device is arranged on the side surface or the lower surface of a buoy in the floating double-wind-wheel fan;

the generator stator winding of the floating type double-wind-wheel fan is connected with the floating type fan converter, the floating type fan converter is connected with one end of the step-up transformer, and the other end of the step-up transformer is connected with a power grid;

the anemorumbometer is connected with the controller;

and the controller is used for controlling the working state of the yawing device.

Optionally, the anemorumbometer is located at the top of an engine room of the floating type double-wind-wheel fan and used for detecting wind speed and direction in real time, a power supply of the anemorumbometer is provided by the controller, and an output signal of the anemorumbometer is sent to the controller through a cable.

An embodiment of a third aspect of the present disclosure provides a yaw control device of a marine floating type double-wind-wheel wind turbine generator system, including:

the acquisition module is used for acquiring a current first angle value of the wind generating set and a second angle value of incoming wind;

a first determining module to compare the first angle value to the second angle value to determine a difference between the first angle value and the second angle value;

a second determination module for determining the yaw angle if the difference is greater than a threshold;

and the control module is used for controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set.

Optionally, the control module is specifically configured to:

and controlling the yaw propeller to yaw.

Optionally, the first determining module is further configured to:

determining the axial included angle between each yaw propeller and each floating double wind wheel;

optionally, the control module is further configured to:

and controlling any yaw propeller to yaw.

Optionally, a first driving numerical value corresponding to a first yaw propeller in the same direction as the floating double wind wheel in the axial direction and a second driving numerical value corresponding to a second yaw propeller perpendicular to the floating double wind wheel in the axial direction are in a proportional relationship, and the control module is further specifically configured to:

Optionally, the control module is further specifically configured to:

the controlling the yaw propeller to yaw comprises:

An embodiment of a fourth aspect of the present disclosure provides an electronic device, including: the yaw control method for the offshore floating type double-wind-wheel wind generating set comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the yaw control method for the offshore floating type double-wind-wheel wind generating set is realized.

A fifth aspect of the present disclosure provides a non-transitory computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the yaw control method of the offshore floating type dual-wind-wheel wind turbine generator set as set forth in the first aspect of the present disclosure.

A sixth aspect of the present disclosure provides a computer program product, which when being executed by an instruction processor of the computer program product, performs the yaw control method of the offshore floating type double-wind-wheel wind turbine generator set provided in the first aspect of the present disclosure.

The yaw control method, the yaw control device and the electronic equipment of the offshore floating type double-wind-wheel wind generating set can firstly obtain a current first angle value of the wind generating set and a second angle value of incoming wind, then the first angle value is compared with the second angle value to determine a difference value between the first angle value and the second angle value, the yaw angle can be determined under the condition that the difference value is larger than a threshold value, and each yaw propeller is controlled according to the yaw angle and the position of each yaw propeller in the wind generating set. Therefore, each yaw propeller can be controlled in a targeted manner according to the position of the yaw propeller, so that the wind generating set can yaw, the yaw requirement is met, the structure is simple, the operation is easy, and the accuracy and the reliability of yaw control are improved. Additional aspects and advantages of the disclosure 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 disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure 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 diagram of a control system of an offshore floating type double-wind-wheel wind turbine generator system according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a yaw control method of an offshore floating type double-wind-wheel wind turbine generator set according to another embodiment of the present disclosure;

fig. 3 is a schematic flow chart of a yaw control method of an offshore floating type double-wind-wheel wind turbine generator set according to another embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a yaw control method of an offshore floating type double-wind-wheel wind turbine generator set according to another embodiment of the present disclosure;

fig. 4A is a schematic diagram illustrating a positional relationship between a yaw propeller and a floating double wind wheel according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a yaw control device of an offshore floating type double-wind-wheel wind generating set according to another embodiment of the present disclosure;

FIG. 6 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments 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 or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.

The yaw control method of the offshore floating type double-wind-wheel wind generating set and the control system of the offshore floating type double-wind-wheel wind generating set according to the embodiments of the present disclosure are described below with reference to the accompanying drawings.

The embodiment of the disclosure is exemplified by the yaw control method of the offshore floating type double-wind-wheel wind generating set being configured in the yaw control device of the offshore floating type double-wind-wheel wind generating set, and the yaw control device of the offshore floating type double-wind-wheel wind generating set can be applied to any electronic equipment, so that the electronic equipment can execute the yaw control function of the offshore floating type double-wind-wheel wind generating set.

Fig. 1 is a control system of a floating type offshore double-wind-wheel wind generating set provided by the disclosure.

As shown in fig. 1, the control system of the offshore floating type double-wind-wheel wind generating set may include: the wind power generation device comprises a floating type double-wind-wheel fan, a floating type fan converter, a boosting transformer, a yawing device, an anemorumbometer and a controller.

The yaw device is connected with the controller, and a yaw propeller in the yaw device is arranged on the side surface or the lower surface of a buoy in the floating fan; a generator stator winding of the floating type fan is connected with a floating type fan converter, the floating type fan converter is connected with one end of a step-up transformer, and the other end of the step-up transformer is connected with a power grid.

The floating type double-wind-wheel fan can be connected in series, or can also be connected in a Y shape, or can also be connected in other connection modes, and the like, which is not limited in the disclosure.

In addition, the number of the yaw propellers may be one, or may also be multiple, for example, it may be 3, 6, and so on, which is not limited by the present disclosure.

For example, in the schematic diagram shown in fig. 1, the fan is a floating type double-wind-wheel fan, the number of the yaw propellers is 3, and the like, which is not limited in the present disclosure.

Optionally, the directions of each yaw propeller and the floating double wind wheel may be in various situations.

For example, the yaw propeller can be the same as the floating double wind wheels in axial direction; or, it may also be perpendicular to the axial direction of the floating double wind wheel, or may also form a certain angle with the axial direction of the floating double wind wheel, and so on, which is not limited in this disclosure.

It should be noted that, in the actual implementation process, the structure and the like in the control system of the offshore floating type double-wind-wheel wind turbine generator system may be adjusted according to needs, and the above-mentioned fig. 1 is only a schematic illustration, and should not be taken as a limitation to the present disclosure.

Optionally, the anemorumbometer may be located at a top of an engine room of the floating type dual-wind-wheel fan, and is configured to detect wind speed and direction in real time, and a power supply of the anemorumbometer may be provided by the controller, and an output signal of the anemorumbometer may be sent to the controller through a cable.

Therefore, in the embodiment of the present disclosure, the controller may be configured to control an operating state of the yaw device.

For example, the controller determines that the current wind generating set needs to yaw according to the received wind speed and wind direction, and the controller may control the yaw propeller to yaw according to the determined yaw angle, and the like, which is not limited in this disclosure.

In the embodiment of the disclosure, the yaw propeller in the yaw device is driven to yaw, so that the yaw requirement of the wind generating set is met, the yaw propeller is simple in structure, the required driving force is small, and the power consumption is low.

Optionally, the floating wind turbine converter may include a machine side converter, a grid side converter and a dc bus, and the machine side converter and the grid side converter in the floating wind turbine converter may be connected by the dc bus, for example, the machine side converter, the grid side converter and the dc bus may be as shown in fig. 1.

Optionally, the yawing device may further include: the fixed connection ring dish and driftage guide way. Wherein, the fixed connection ring dish can be located the flotation pontoon bottom of floating formula double wind wheel fan, and the guiding gutter of driftage can be located the fixed connection ring dish.

Optionally, a yaw guide ring may be disposed on the fixed connection ring disc, and is used for rotary guiding of the floating type double-wind-wheel fan during yaw.

It can be understood that, in the process that the yaw propeller pushes the wind generating set to yaw, the fixed connecting ring disc and the yaw guide groove in the disclosure can ensure that the floating type double-wind-wheel fan keeps circular motion, thereby reducing the influence on the performance of the floating type double-wind-wheel fan as much as possible.

Optionally, the yawing device may further include: mooring system and locking device.

Wherein the locking device is located between the yaw guide way and the mooring system.

The mooring system can be used for positioning the floating type double-wind-wheel wind generating set within a certain range and controlling the movement of the wind generating set.

It should be noted that the mooring system in the embodiments of the present disclosure may be determined in any desirable manner, and the present disclosure is not limited thereto.

In addition, in the yawing process, the locking device is in a loosening state, so that the mooring system and the yawing guide groove can be kept in a free sliding state to perform yawing, and after the yawing is stopped, the locking device can be in a locking state, so that the mooring system and the wind generating set are locked, and the stability and the reliability of the wind generating set are kept.

It should be noted that, in an actual implementation process, the structure of the control system of the offshore floating type double-wind-wheel wind turbine generator system and the like may be adjusted according to needs, for example, a current sensor, a voltage sensor and the like are added, which is not limited in this disclosure.

According to the control system of the offshore floating type double-wind-wheel wind generating set, the controller can control the working state of the yawing device according to the angle difference between the wind generating set and incoming wind to improve the reliability and stability of the floating type double-wind-wheel wind generating set.

Fig. 2 is a schematic flow chart of a yaw control method of the offshore floating type double-wind-wheel wind turbine generator set provided by the embodiment of the disclosure. As shown in fig. 2, the yaw control method of the offshore floating type double-wind-wheel wind generating set may include the following steps:

step 201, obtaining a current first angle value of the wind generating set and a second angle value of incoming wind.

It can be understood that the yaw control method of the offshore floating type double-wind-wheel wind generating set provided by the disclosure can be applied to any control system of the offshore floating type double-wind-wheel wind generating set provided by the disclosure.

The first angle value may be a current angle value of the wind turbine generator system measured by the wind speed sensor. The second angle value may be determined by anemometry data, or may be obtained according to the obtained data, and the like, which is not limited in this disclosure.

Optionally, in an actual implementation process, a horizontal plane may be determined first, an included angle between the wind generating set and the horizontal plane is determined as a first angle value, an included angle between the future wind and the horizontal plane is determined as a second angle value, and the like, which is not limited by the present disclosure.

It should be noted that, in the embodiment of the present disclosure, the current first angle value of the wind generating set and the second angle value of the incoming wind may be implemented in any desirable manner, and the above example is not intended to limit the present disclosure.

Step 202, comparing the first angle value with the second angle value to determine a difference between the first angle value and the second angle value.

And subtracting the second angle value from the first angle value to obtain a difference value between the first angle value and the second angle value.

Optionally, the appointment may be made in advance, and if the difference is positive, the yaw direction is clockwise; if the difference is negative, the yaw direction is counterclockwise, and the like, which is not limited in this disclosure.

It is understood that, if the first angle value and the second angle value cannot be directly compared, the first angle value and the second angle value may be unified first, and then compared, and the like, which is not limited in this disclosure.

In step 203, in case the difference is larger than the threshold, the yaw angle is determined.

The threshold may be a value set in advance, or may be adjusted as needed. The present disclosure is not limited thereto.

It is understood that the difference is positively correlated with the yaw angle, and the larger the difference, the larger the yaw angle, the smaller the difference, the smaller the stop yaw angle, etc., which is not limited by the present disclosure.

Or, the corresponding relationship between the difference and the yaw angle may be set in advance, so that after the difference is determined, the corresponding yaw angle may be determined by traversing the corresponding relationship.

For example, the difference value and the yaw angle are in a one-to-one correspondence relationship; alternatively, the difference values within a difference range may be set, all corresponding to the same yaw angle, and so on.

It should be noted that the above examples are only illustrative, and should not be taken as a limitation on the manner of determining the yaw angle and the like in the embodiments of the present disclosure.

And 204, controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set.

The total drive numerical value corresponding to the yawing propellers can be determined according to the yawing angle, then the drive numerical value corresponding to each yawing propeller is determined according to the position of each yawing propeller, and then each yawing propeller can be controlled respectively according to the drive numerical value corresponding to each yawing propeller.

In addition, the relationship between each yaw angle and the total drive value corresponding to the yaw propeller may be set in advance. Thus, the total driving value required by the yawing propeller can be determined according to the determined yawing angle, and the like, which is not limited by the disclosure.

It should be noted that the total driving value corresponding to the yaw propeller may be determined according to the yaw angle in any desirable manner, which is not limited by the present disclosure.

It will be appreciated that the drive values for the yaw propellers at different positions may be the same or may be different, and are not limited by this disclosure.

For example, the driving value corresponding to the yawing propellers with the same axial direction of the floating double wind wheels is the largest; and the driving numerical value corresponding to the yawing propeller axially vertical to the floating double wind wheels is minimum. Or, the driving numerical value and the included angle between the axial directions of the floating type double wind wheels are in a correlation relationship, the larger the included angle is, the smaller the driving numerical value is, the smaller the included angle is, the larger the driving numerical value is, and the like, and the disclosure does not limit the included angle.

According to the position of the yawing propellers in the embodiment of the invention, the driving numerical value corresponding to each yawing propeller can be determined, so that different control can be performed on each yawing propeller, and the yawing propeller is more accurate and has pertinence, and further yawing is realized. Therefore, the accuracy of yaw control is improved, the efficiency of wind power generation is also improved, the structure is simple, the operation is easy, the consumed power is lower, the economic cost is greatly reduced, and the overall utilization rate is improved.

According to the embodiment of the disclosure, a current first angle value of the wind generating set and a second angle value of incoming wind can be obtained first, then the first angle value is compared with the second angle value to determine a difference value between the first angle value and the second angle value, a yaw angle can be determined under the condition that the difference value is greater than a threshold value, and each yaw propeller is controlled according to the yaw angle and the position of each yaw propeller in the wind generating set. Therefore, each yaw propeller can be controlled in a targeted manner according to the position of the yaw propeller, so that the wind generating set can yaw, the yaw requirement is met, the structure is simple, the operation is easy, and the accuracy and the reliability of yaw control are improved.

Fig. 3 is a schematic flow chart of a yaw control method of the offshore floating type double-wind-wheel wind turbine generator set according to the embodiment of the disclosure. As shown in fig. 3, the yaw control method of the offshore floating type double-wind-wheel wind generating set may include the following steps:

step 301, obtaining a current first angle value of the wind generating set and a second angle value of incoming wind.

Step 302, the first angle value is compared with the second angle value to determine a difference between the first angle value and the second angle value.

Step 303, determining a yaw angle if the difference is greater than a threshold.

It should be noted that specific contents and implementation manners of steps 301 to 303 may refer to descriptions of other embodiments of the present disclosure, and are not described herein again.

And step 304, determining a total driving value required by the yawing propeller according to the yawing angle.

Wherein, can set for in advance, each driftage angle and the relation among the total drive numerical value that the driftage screw receives. Therefore, the total driving numerical value required by the yawing propeller can be determined through traversing and searching according to the determined yawing angle.

And 305, determining a driving value corresponding to each yaw propeller according to the total driving value and the position of each yaw propeller.

For example, the driving value corresponding to each yaw propeller is related to the included angle between the axial directions of the floating double wind wheels.

Optionally, an axial included angle between each yaw propeller and the floating type double wind wheel may be determined first, and then a driving numerical value corresponding to each yaw propeller is determined according to each included angle.

For example, the larger the angle between each yaw propeller and the floating double wind wheel is, the larger the corresponding driving value is. Or, the smaller the angle between each yaw propeller and the floating double wind wheel is, the smaller the corresponding driving numerical value is.

For example, the total driving value is a, the axial included angle between the yaw propeller 1 and the floating type double wind wheel is 30 degrees, the axial included angle between the yaw propeller 2 and the floating type double wind wheel is 60 degrees, and the axial included angle between the yaw propeller 3 and the floating type double wind wheel is 90 degrees, so that it can be determined that the driving value corresponding to the yaw propeller 1 is: a/6, the corresponding driving values of the yaw propeller 2 are as follows: a/3, the corresponding driving values of the yaw propeller 3 are as follows: and A/3.

It should be noted that the above examples are only illustrative, and should not be taken as limitations on the total drive value, the number of yaw propellers, the corresponding drive values, and the like in the embodiments of the present disclosure.

And step 306, determining the working time length of each yaw propeller according to each driving value and the output power of the yaw propeller.

For example, if the driving value of the yaw propeller 1 is W, the driving value of the yaw propeller 2 is 2W, the driving value of the yaw propeller 3 is W, and the output power of each yaw propeller is P, it can be determined that the operating time period of the yaw propeller 1 is: W/P, the working time length of the yawing propeller 2 is as follows: 2W/P, and the working time length of the yaw propeller 3 is W/P.

It should be noted that the above examples are only illustrative, and should not be taken as limiting the way of determining the operating time of the yaw propeller in the embodiments of the present disclosure.

And 307, controlling the yaw propeller to yaw.

For example, when the current time is time t, the yaw propeller 1 is controlled to start yawing, and if the working duration of the yaw propeller 1 is: W/P, the yaw propeller 1 can be controlled to stop yawing at the time of [ t + W/P ], and the like, which is not limited by the disclosure.

It can be understood that in the embodiment of the present disclosure, through the positions of the yaw propellers, the corresponding drive value of each yaw propeller may be determined, and the yaw propellers may be controlled to automatically yaw according to the corresponding working time length, so that the yaw may be more accurate, and may not exceed the required yaw angle. Meanwhile, the yawing propeller reaching the working time can automatically stop yawing, and the corresponding driving force is not required to be given to enable the yawing propeller to yaw, so that the energy consumption is reduced, and the utilization rate is improved.

In the embodiment of the disclosure, a current first angle value of a wind generating set and a second angle value of incoming wind may be obtained first, then the first angle value is compared with the second angle value to determine a difference value between the first angle value and the second angle value, a yaw angle is determined when the difference value is greater than a threshold value, then a total driving value required by a yaw propeller may be determined according to the yaw angle, then a driving value corresponding to each yaw propeller may be determined according to the total driving value and a position of each yaw propeller, then a working duration of the yaw propeller may be determined according to each driving value and an output power of the yaw propeller, and then the yaw propeller may be controlled to yaw. Therefore, the yawing propellers at different positions can be driven according to corresponding driving values and yawing processes according to corresponding working hours, so that yawing is more accurate, the yawing requirement is met, and the yawing propeller is simple in structure and easy to operate.

In one possible implementation, the yaw propellers may be respectively installed at the same axial direction as the floating double wind wheels, or may be installed at the vertical axial direction of the floating double wind wheels. Accordingly, a first driving value corresponding to a first yaw propeller in the same axial direction as the floating dual wind wheels and a second driving value corresponding to a second yaw propeller in the same axial direction as the floating dual wind wheels can be proportional to each other, which will be further described with reference to fig. 4.

Fig. 4 is a schematic flow chart of a yaw control method of the offshore floating type double-wind-wheel wind turbine generator set according to the embodiment of the disclosure. As shown in fig. 4, the yaw control method of the offshore floating type double-wind-wheel wind generating set may include the following steps:

step 401, obtaining a current first angle value of the wind generating set and a second angle value of incoming wind.

Step 402, the first angle value is compared with the second angle value to determine a difference between the first angle value and the second angle value.

In step 403, in case the difference is larger than the threshold, the yaw angle is determined.

And step 404, determining a total driving value required by the yawing propeller according to the yawing angle.

It should be noted that specific contents and implementation manners of steps 401 to 404 may refer to descriptions of other embodiments of the present disclosure, and are not described herein again.

Step 405, determining a first drive value corresponding to each first yaw propeller according to the total drive value and the position of the first yaw propeller.

And 406, determining a second driving value of each second yaw propeller according to the corresponding driving value of each first propeller.

The number of the first yaw propellers can be one or more; the number of the second yaw propellers may be one, or may be more, and the like, which is not limited by the present disclosure.

It will be appreciated that the first drive value may be proportional to the second drive value. For example, the first driving value is an integer multiple of the second driving value, or the first driving value may be any multiple of the second driving value, such as 1.5 times, and so on, which is not limited in this disclosure.

For example, the first drive value may be set to 2 times the second drive value.

For example, in the positional relationship of the yaw propeller to the floating twin rotor as shown in fig. 4A. The yawing propeller a and the yawing propeller b are first yawing propellers, and the yawing propeller c and the yawing propeller d are second yawing propellers. The total drive numerical value is W, the number of the first yaw propellers is two, the first drive numerical value is W/3, the number of the second yaw propellers is two, and the corresponding second drive numerical value is W/6.

It should be noted that the above examples are only illustrative, and should not be taken as limitations on the first drive value, the second drive value, the position of the yaw propeller, and the like in the embodiments of the present disclosure.

In the embodiment of the disclosure, the first driving numerical value corresponding to the first yaw propeller in the same direction as the floating type double wind wheel is set to be a larger numerical value, and the second driving numerical value corresponding to the second yaw propeller in the direction perpendicular to the floating type double wind wheel is set to be a smaller numerical value, so that the driving numerical value corresponding to each yaw propeller can be determined according to the position of the yaw propeller, thereby enabling the driving numerical value to be more reasonably distributed and saving resources.

And step 407, controlling each yaw propeller to yaw according to the first driving numerical value and the second driving numerical value.

It can be understood that after the first driving value and the second driving value corresponding to each of the first yaw propeller and the second yaw propeller are determined, the working time length of each of the yaw propellers can be determined, and the yaw is performed according to the respective working time lengths.

Optionally, under the condition that any one of the yaw propellers is axially in the same direction as the floating type double wind wheels, it can be determined that any one of the yaw propellers is in a working state, and then the working duration of any one of the yaw propellers can be determined according to the total driving numerical value and the output power of any one of the yaw propellers, and any one of the yaw propellers is controlled to yaw.

For example, 3 yaw propellers are provided, the yaw propeller 1 and the yaw propeller 2 are in the same direction as the floating type double wind wheels, and the yaw propeller 3 is perpendicular to the floating type double wind wheels, so that the yaw propeller 1 and the yaw propeller 2 can be determined to be in a working state. For example, if the total drive value is W, it can be determined that the drive values of the yaw propeller 1 and the yaw propeller 2 are both W/2. If the output power of each yaw propeller is P, the working time length of the

yaw propellers

1 and 2 can be determined as follows: W/2P.

It can be understood that under the condition that a locking device in the wind generating set is in a loosening state, the yaw propeller can perform yaw, and after the yaw stops, the locking device can be in a locking state, so that the stability and the reliability of the wind generating set are guaranteed. Therefore, in the embodiment of the disclosure, before the yawing propeller yaws, the locking device in the wind generating set can be controlled to be in the released state, so that the yawing propeller yaws.

According to the embodiment of the disclosure, a current first angle value of a wind generating set and a second angle value of incoming wind can be obtained first, then the first angle value is compared with the second angle value to determine a difference value between the first angle value and the second angle value, a yaw angle is determined under the condition that the difference value is greater than a threshold value, then a total driving numerical value required by a yaw propeller is determined according to the yaw angle, then a first driving numerical value corresponding to each first yaw propeller is determined according to the total driving numerical value and the position of the first yaw propeller, then a second driving numerical value of each second yaw propeller is determined according to the driving numerical value corresponding to each first propeller, and then each yaw propeller is controlled to yaw according to the first driving numerical value and the second driving numerical value. Therefore, the yawing propellers at different positions can be driven according to corresponding driving values and yawing processes according to corresponding working hours, so that yawing is more accurate, the yawing requirement is met, and the yawing propeller is simple in structure and easy to operate.

In order to realize the embodiment, the disclosure further provides a yaw control device of the offshore floating type double-wind-wheel wind generating set.

Fig. 5 is a schematic structural diagram of a yaw control device of an offshore floating type double-wind-wheel wind turbine generator set according to an embodiment of the disclosure.

As shown in fig. 5, the yaw control apparatus 100 of the offshore floating type dual wind turbine wind generating set may include: an acquisition module 110, a first determination module 120, a second determination module 130, and a control module 140.

The obtaining module 110 is configured to obtain a current first angle value of the wind turbine generator system and a second angle value of incoming wind.

A first determining module 120, configured to compare the first angle value with the second angle value to determine a difference between the first angle value and the second angle value.

A second determining module 130 for determining the yaw angle if the difference is larger than a threshold.

And the control module 140 is used for controlling each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set.

Optionally, the control module 140 is specifically configured to:

and controlling the yaw propeller to yaw.

Optionally, the first determining module 120 is further configured to:

optionally, the control module 140 is further configured to:

and controlling any yaw propeller to yaw.

Optionally, a first driving numerical value corresponding to a first yaw propeller in the same axial direction as the floating dual wind wheels and a second driving numerical value corresponding to a second yaw propeller in the axial direction perpendicular to the floating dual wind wheels are in a proportional relationship, and the control module 140 is further specifically configured to:

Optionally, the control module 140 is further specifically configured to:

the controlling the yaw propeller to yaw comprises:

The functions and specific implementation principles of the modules in the embodiments of the present disclosure may refer to the embodiments of the methods, and are not described herein again.

The yaw control device of the offshore floating type double-wind-wheel wind generating set provided by the embodiment of the disclosure can acquire a current first angle value of the wind generating set and a second angle value of incoming wind, and then compares the first angle value with the second angle value to determine a difference value between the first angle value and the second angle value, and can determine a yaw angle under the condition that the difference value is greater than a threshold value, and control each yaw propeller according to the yaw angle and the position of each yaw propeller in the wind generating set. Therefore, each yaw propeller can be controlled in a targeted manner according to the position of the yaw propeller, so that the wind generating set can yaw, the yaw requirement is met, the structure is simple, the operation is easy, and the accuracy and the reliability of yaw control are improved. In order to implement the above embodiments, the present disclosure also provides an electronic device, including: the processor executes the program to realize the yaw control method of the offshore floating type double-wind-wheel wind generating set according to the embodiment of the disclosure.

In order to achieve the above embodiments, the present disclosure further proposes a non-transitory computer readable storage medium storing a computer program, which when executed by a processor, implements the yaw control method of the offshore floating type dual wind turbine wind generating set as proposed in the foregoing embodiments of the present disclosure.

In order to implement the above embodiments, the present disclosure further provides a computer program product, which when executed by an instruction processor in the computer program product, performs the yaw control method of the offshore floating type dual-wind-wheel wind turbine generator set according to the foregoing embodiments of the present disclosure.

FIG. 6 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure. The electronic device 12 shown in fig. 6 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present disclosure.

As shown in FIG. 6, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.

Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described in this disclosure.

Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via the Network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, 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 at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

According to the technical scheme, the current first angle value of the wind generating set and the second angle value of incoming wind can be obtained firstly, then the first angle value and the second angle value are compared to determine the difference value between the first angle value and the second angle value, the yaw angle can be determined under the condition that the difference value is larger than the threshold value, and each yaw propeller is controlled according to the yaw angle and the position of each yaw propeller in the wind generating set. Therefore, each yaw propeller can be controlled in a targeted manner according to the position of the yaw propeller, so that the wind generating set can yaw, the yaw requirement is met, the structure is simple, the operation is easy, and the accuracy and the reliability of yaw control are improved. It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

Claims

1. A yaw control method of a marine floating type double-wind-wheel wind generating set comprises the following steps:

determining the yaw angle if the difference is greater than a threshold;

2. The method of claim 1, wherein said controlling each of said yaw propellers based on said yaw angle and a position of the respective yaw propeller in said wind park comprises:

and controlling the yaw propeller to yaw.

3. The method of claim 2, further comprising, after said determining a total drive value required for said yaw propeller based on said yaw angle: determining the axial included angle between each yaw propeller and each floating double wind wheel;

and determining a driving numerical value corresponding to each yaw propeller according to each included angle.

4. The method of claim 2, further comprising, after said determining a total drive value required for said yaw propeller based on said yaw angle:

and controlling any yaw propeller to yaw.

5. The method of claim 2, wherein a first drive value corresponding to a first yaw propeller co-axially oriented with the floating dual wind turbine and a second drive value corresponding to a second yaw propeller axially perpendicular to the floating dual wind turbine are proportionally related, and further comprising, after said determining a total drive value required for said yaw propellers based on said yaw angle:

6. The method of any one of claims 2-5, wherein said controlling said yaw propeller to yaw comprises:

7. A control system of a marine floating type double-wind-wheel wind generating set comprises:

the yaw device is connected with the controller, and a yaw propeller in the yaw device is arranged on the side face or the lower face of a buoy in the floating fan;

the anemorumbometer is connected with the controller;

8. The control system of an offshore floating type double wind turbine wind power plant set according to claim 7,

the anemorumbometer is positioned at the top of an engine room of the floating fan and used for detecting wind speed and direction in real time, a power supply of the anemorumbometer is provided by the controller, and an output signal of the anemorumbometer is sent to the controller through a cable.

9. A yaw control device of a marine floating type double-wind-wheel wind generating set comprises:

10. The apparatus of claim 9, wherein the control module is specifically configured to:

and controlling the yaw propeller to yaw.

11. The apparatus of claim 10, wherein the control module is further specifically configured to:

12. The apparatus of claim 10, wherein the control module is further specifically configured to:

and controlling any yaw propeller to yaw.

13. The apparatus of claim 10, wherein a first drive value corresponding to a first yaw propeller co-axially oriented with the floating dual wind turbine and a second drive value corresponding to a second yaw propeller axially perpendicular to the floating dual wind turbine are in proportional relationship, the control module further being configured to:

14. The apparatus of any one of claims 9-13, wherein the control module is further specifically configured to:

15. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method according to any of claims 1-6 when executing the program.