CN113847199B - Yaw optimization control method based on airborne radar online yaw system - Google Patents
Yaw optimization control method based on airborne radar online yaw system Download PDFInfo
- Publication number
- CN113847199B CN113847199B CN202111257227.0A CN202111257227A CN113847199B CN 113847199 B CN113847199 B CN 113847199B CN 202111257227 A CN202111257227 A CN 202111257227A CN 113847199 B CN113847199 B CN 113847199B
- Authority
- CN
- China
- Prior art keywords
- wind
- yaw
- airborne
- laser radar
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005457 optimization Methods 0.000 title claims abstract description 22
- 238000011217 control strategy Methods 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 8
- 238000012216 screening Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 239000000443 aerosol Substances 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000010219 correlation analysis Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/32—Wind speeds
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
-
- 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
- F05B2270/40—Type of control system
- F05B2270/404—Type of control system active, predictive, or anticipative
-
- 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
- F05B2270/50—Control logic embodiment by
- F05B2270/504—Control logic embodiment by electronic means, e.g. electronic tubes, transistors or IC's within an electronic circuit
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following steps of measuring wind condition parameters of wind resources by adopting the airborne laser radar; and calculating according to wind condition parameters measured by the airborne laser radar to obtain a yaw error value, and sending a yaw instruction by a yaw control PLC of the unit according to the yaw error value to perform yaw optimization control. By arranging the airborne laser radar, the wind condition parameters in front of the wind wheel are measured according to laser generated by the laser radar, the upcoming actual wind condition of the wind turbine can be known in advance, whether yaw is carried out or not can be judged in advance, the wind turbine generator can carry out corresponding yaw strategy or other control strategy countermeasures in advance according to the wind condition parameters, and finally the effects of prolonging the running life of the wind turbine generator, improving the safety running coefficient of the wind turbine generator and improving the generating capacity of the wind turbine generator are achieved.
Description
Technical Field
The invention belongs to the field of wind turbine generator control, and particularly relates to a yaw optimization control method based on an on-line yaw system of an airborne radar.
Background
With the increasing number of wind turbines for grid-connected power generation, performance testing of wind turbines becomes more and more important. The yaw system is an important component of the wind turbine generator control system, and the yaw error is also an important performance index of the wind turbine generator, namely, the difference between the measured wind direction and the yaw angle of the wind turbine generator has a large influence on the generated energy, the larger yaw error can cause the reduction of the wind energy utilization rate, the reduction of the generated energy, the increase of the fatigue load of the wind turbine generator and the reduction of the service life of the wind turbine generator.
At present, wind turbines acquire wind energy to the greatest extent by controlling yaw errors, wherein wind direction measurement in a control system is mainly completed through wind vanes, and because the wind turbines run in complex external environments, such as low temperature and icing, the wind vanes are often affected by external complex environmental conditions, wind directions cannot be accurately measured, accuracy is reduced, accurate yaw errors cannot be obtained by the wind turbines, and yaw control is further affected.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a yaw optimization control method based on an on-line yaw system of an airborne laser radar, which is characterized in that the airborne laser radar is arranged on a cabin of a wind turbine generator to replace a wind vane as wind direction measuring equipment, the wind speed and the wind direction in front of the wind turbine generator are measured by the airborne laser radar to be used as control basis for yaw starting, and a yaw control optimization algorithm is provided to optimize the yaw control of the wind turbine generator, so that the generating capacity and the generating efficiency of the wind turbine generator are improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a yaw optimization control method based on an on-line yaw system of an airborne radar comprises the following processes,
measuring wind condition parameters of wind resources by using an airborne laser radar;
and calculating according to wind condition parameters measured by the airborne laser radar to obtain a yaw error value, and sending a yaw instruction by a yaw control PLC of the unit according to the yaw error value to perform yaw optimization control.
Preferably, the method specifically comprises the following steps,
step 1, installing an airborne laser radar, performing shutdown processing on a wind generating set according to different wind directions of an actual environment after the airborne laser radar is installed, calculating transfer functions of meteorological data of the cabin laser radar, the cabin wind speed and the wind directions when different wind directions are obtained, and correcting wind condition parameters measured by the airborne laser radar according to the transfer functions;
step 2, measuring by an airborne laser radar to obtain wind condition parameters, and screening the wind condition parameters by data;
step 3, filtering the screened wind condition parameters;
and 4, establishing a transfer function of the wind speed and the wind direction at the position and the wind speed and the wind direction at the position of the unit according to the distance measured by the selected airborne radar, analyzing and selecting corresponding parameters to perform unit yaw control.
In step 4, dividing the wind direction included angle of the wind turbine generator into a plurality of sections, forming section power curves in each section, comparing the power curves of each section to find out the section with the optimal power curve, and updating the yaw control strategy algorithm in step 4.
Preferably, in step 1, the transfer function formula is
Y i ＝K i ·X i +B i
Wherein: y is Y i The front wind direction or wind speed of the wind wheel corrected in the ith wind direction section;
X i the wind direction or the wind speed measured by the airborne radar in the ith wind direction interval;
K i the slope obtained by fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval and the wind direction of the cabin and the wind speed;
B i and fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval with the wind direction of the cabin to obtain the intercept.
Preferably, in step 2, the formula of wind speed and wind direction of the airborne laser radar is as follows
Wherein: RWS (RWS) 0 or 1 Wind speed component in the laser beam direction;
U + is the axial component of the upwind direction;
V + is the transverse component of the upwind direction;
HWS + according to U + 、V + The resultant upper horizontal wind speed;
Dir + according to U + 、V + The combined horizontal wind direction of the upper horizontal wind speed;
θ + is the zenith angle of the upper beam;
τ is the average pitch angle of the airborne lidar.
Preferably, in step 2, the formula of the wind wheel height is as follows
Wherein: h hub The height of the wind wheel is set; h Lidar The distance from the center of the airborne laser radar to the center height of the wind wheel; d is measurementMeasuring the distance.
Preferably, in step 3, the filtered wind condition parameters are filtered by first-order low-pass filtering.
Preferably, in step 4, the nacelle wind speed is taken as an alternative yaw control when the airborne radar data is distorted.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a yaw optimization control method based on an on-line yaw system of an airborne laser radar, which is characterized in that the airborne laser radar is arranged, wind condition parameters in front of a wind wheel are measured according to laser generated by the laser radar, whether yaw is carried out or not can be judged in advance by knowing the upcoming actual wind condition of a fan, and a wind turbine generator is subjected to corresponding yaw strategies or other control strategies in advance according to the wind condition parameters, so that the functions of prolonging the running life of the wind turbine generator, improving the safety running coefficient of the wind turbine generator and improving the generating capacity of the wind turbine generator are finally achieved.
Furthermore, in order to reduce the difference between the wind condition parameters measured by the airborne laser radar and the wind machine caused by the influence of the terrain and the obstacles as far as possible, after the airborne radar is installed, the wind generating set is shut down according to the difference of the wind directions of the actual environment, and the transfer functions of the meteorological data of the cabin type laser radar, the cabin wind speed and the wind directions in different wind directions are calculated.
Furthermore, the airborne radar data is subjected to low-pass filtering, so that error and harmful control behaviors are avoided.
Further, status screening is performed on the acquired airborne radar data. When the data is distorted in a short time by the airborne radar, the cabin wind speed is taken as an alternative yaw control.
Drawings
FIG. 1 is a yaw optimization control flow chart based on an on-line yaw system of an airborne radar;
Detailed Description
The invention will now be described in further detail with reference to specific examples, which are intended to illustrate, but not to limit, the invention.
The invention aims to provide a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following steps:
due to the influence of the terrain, the wind speed and the wind direction of the airborne laser radar are corrected first.
Calculating the wind speed and the wind direction at the height of the hub at the position according to the scanning mode of the airborne laser radar;
and data screening is carried out according to the laser beam state of the airborne radar, so that effective meteorological data is obtained and transmitted to a yaw control system.
According to different terrains and fan models, the setting of the measured distance of the airborne laser radar is also required to be adjusted in a following way, the wind speed measured by the airborne laser radar and the wind speed at the fan are subjected to correlation analysis, the proper distance is selected to be used as the first choice in yaw control of the unit through combination of the distance and the wind speed correlation analysis, the yaw error obtained by the difference between the wind direction measured by the airborne laser radar and the yaw position coordinates is transmitted to a yaw control system, and the measured wind speed is simultaneously transmitted to the yaw control system to be used as the judgment condition of the maximum limit value of the yaw error. The invention can make the judgment of whether to yaw in advance by obtaining the upcoming actual wind condition of the wind turbine in advance, thereby leading the wind turbine to carry out the corresponding yaw strategy or the response of other control strategies in advance, and finally achieving the effects of prolonging the running life of the wind turbine, improving the safe running coefficient of the wind turbine and improving the generating capacity of the wind turbine.
The invention provides a yaw optimization control method of an on-line yaw system based on an airborne radar. The calibration method comprises the following steps:
firstly, the wind speed and the wind direction of 10-400 m in front of the wind wheel can be measured according to the wind measuring principle of the laser radar.
In order to reduce the difference between the wind condition parameters measured by the airborne laser radar and the wind machine caused by the influence of the terrain and the obstacles as far as possible, after the airborne radar is installed, the wind generating set is shut down according to the difference of the actual environment wind directions, and the transfer functions of the cabin laser radar meteorological data (wind direction and wind speed) and the cabin wind speed and the wind direction when different wind directions (wind direction division is carried out by taking 10 degrees as a unit angle) are calculated.
Then, the wind speed and direction measured at different distances are linearly fitted with the wind speed and direction at the unit, and a determination coefficient R is found as far as possible between 100m and 150m 2 The highest distance serves as a reference value for yaw correction. Determining the coefficient R 2 How many percentages of the fluctuation of Y can be described by the fluctuation of X, i.e., how many percentages of the variation in dependence on the variable Y, can be interpreted by the controlled independent variable X.
And then, screening the acquired data measured by the airborne radar, and removing invalid data. And then, carrying out low-pass filtering processing on the acquired airborne radar data, so as to avoid errors and damage to the control behavior of the unit.
Setting different yaw error critical values allowed by the yaw error according to different wind speeds of the airborne radar, wherein the smaller the wind speed is, the larger the yaw error critical value is; different yaw rotation speed values are set according to different generator powers of the wind turbine generator, and the yaw rotation speed is higher when the generator power is smaller; different yaw delay starting time is set according to different wind speeds measured by the airborne radar, and the smaller the wind speed is, the longer the delay starting time is.
And finally, calculating the power curves of all the intervals, finding out the power curve of the optimal interval, and iteratively updating the yaw control strategy, wherein the yaw control strategy is operated in the power curve of the optimal interval as far as possible. Finally, the on-line yaw correction of the wind turbine generator is realized, the generating capacity of the wind turbine generator is improved, and the fatigue load of the wind turbine generator is reduced.
Examples
The invention provides a yaw optimization control method based on an on-line yaw system of an airborne radar, which comprises the following steps of eliminating the influence of topography on wind direction, determining the wind speed and wind direction of the second-level airborne laser radar, screening data, determining the measured distance of the airborne laser radar and controlling the yaw of a unit.
The influence of the terrain on the wind direction is eliminated;
1) The airborne laser radar measures wind condition parameters of wind resources by using the Doppler frequency shift principle, in the atmosphere, aerosol and wind move in the same direction and speed, the fiber laser emits a single-color laser beam with good coherence, when the beam encounters aerosol particles moving in the atmosphere, the beam generates radiation scattering of light, the component of the scattering in the direction of the beam generates Doppler effect, and the frequency shift quantity is detected on the detector, so that the wind condition parameters are obtained. The measuring range of the laser radar anemometer covers the range of 10-300 m (vertical and transverse), and a plurality of measuring distances can be set.
Because the wind condition parameter measured by the airborne laser radar is the condition before the wind wheel, in order to reduce the difference between the wind condition parameter measured by the airborne laser radar and the wind machine caused by the influence of the terrain and the obstacle as far as possible, the wind generating set needs to be shut down according to the difference of the wind directions of the actual environment after the airborne laser radar is installed, and when different wind directions are calculated (wind direction division is carried out by taking 10 degrees as a unit angle), the transfer function of cabin laser radar meteorological data (wind direction and wind speed) and cabin wind speed and wind direction is calculated, and the transfer function formula is as follows:
Y i ＝K i ·X i +B i
wherein: y is Y i The front wind direction or wind speed of the wind wheel corrected in the ith wind direction section;
X i the wind direction or the wind speed measured by the airborne radar in the ith wind direction interval;
K i the slope obtained by fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval and the wind direction of the cabin and the wind speed;
B i and fitting the wind direction and the wind speed measured by the airborne radar in the ith wind direction interval with the wind direction of the cabin to obtain the intercept.
Second-level airborne laser radar wind speed and direction determination
2) The wind direction and wind speed measured by the airborne laser radar are finally synthesized by four laser beams. And calculating upper wind speed and wind direction data according to the upper two beam wind speeds, and similarly, calculating lower wind speed and wind direction. The formula is as follows:
wherein: RWS (RWS) 0 or 1 Wind speed component in the laser beam direction;
U + is the axial component of the upwind direction;
V + is the transverse component of the upwind direction;
HWS + according to U + 、V + The resultant upper horizontal wind speed;
Dir + according to U + 、V + The resulting horizontal wind direction of the upper horizontal wind speed.
θ + Is the zenith angle of the upper beam;
τ is the average pitch angle of the airborne laser radar;
according to the above formula, the lower horizontal wind speed hws_and horizontal wind direction dir_ can be obtained by the same method.
In addition, the formulas of the upper beam position height measured by the airborne laser radar and the lower beam position height measured by the airborne laser radar are as follows:
wherein: h hub Is the wind wheel height. H Lidar Is the distance from the center of the airborne laser radar to the center height of the wind wheel. d is the measurement distance.
After the horizontal wind speeds at the upper and lower parts are obtained, wind speed shearing and wind direction shearing can be obtained according to the wind speeds and wind directions at the two heights, and the formula is as follows:
from the results obtained above, the wind speed and direction at hub height can be calculated as follows:
Direction hub ＝Dir + +Wveer·(H hub -H + )
data screening
3) Some laser beam measured data may be distorted due to fewer obstructions or aerosols, etc., because when the status of any laser beam is 0 (1 represents valid, 0 represents distorted), this is culled when the group calculation data is invalid. When laser radar data is distorted in a short period due to weather reasons and the like, the cabin wind direction is used as a unit to perform yaw control selection.
4) Only low frequency data can be captured well by the airborne radar, so that filtering processing (first-order low-pass filtering) is needed for the acquired airborne radar data, and error and harmful control behaviors are avoided.
Determining distance measured by airborne laser radar
5) Setting the wind direction measured by the airborne laser radar as a yaw strategy to control the first selection, and simultaneously creating a cabin wind direction transfer function according to the relation between the corrected laser radar wind direction (the wind direction of the laser radar is corrected according to the relation obtained in the first step) and the cabin wind direction. And correcting the cabin wind direction according to the cabin wind direction transfer function, and controlling the second selection by taking the corrected cabin wind direction as a yaw strategy. And meanwhile, an early warning value is set, and when the difference between the cabin wind direction and the wind direction of the airborne radar is large, the abnormal condition is reported to a wind field, and overhaul is performed in time. In this embodiment, the early warning value is set to ±20°.
Determining coefficients R according to transfer functions of wind directions at different distances obtained in the first step 2 And the corrected determination coefficient R2 of the transfer function of the laser radar wind direction and the cabin wind direction, finding out several distances with the best determination coefficients for replacement, and considering that yaw needs to be performed for a certain time, so that yaw optimization effect is reduced when the distances are too close, in the embodiment, the main reference distance is recommended to be best in the range of 100-150m, and the wind direction and the wind speed at the reference distance determined by the airborne laser radar are used as the basis of a yaw control strategy.
Unit yaw control
6) And according to the corrected wind direction and the yaw position of the engine room measured by the airborne laser radar, calculating to obtain a yaw error value, and sending a yaw instruction by the unit yaw control PLC according to the yaw error value. Setting different yaw error critical values allowed by the yaw error according to different wind speeds of the airborne radar, wherein the smaller the wind speed is, the larger the yaw error critical value is; different yaw rotation speed values are set according to different generator powers of the wind turbine generator, and the yaw rotation speed is higher when the generator power is smaller; different yaw delay starting time is set according to different wind speeds measured by the airborne radar, and the smaller the wind speed is, the longer the delay starting time is.
7) Dividing an included angle of wind direction of the wind turbine generator (the difference between the wind direction of the airborne radar and the yaw position), namely 10-10 degrees, into a plurality of sections by taking one degree as a unit. And (3) forming an interval power curve in each interval by referring to a method of a power curve in the IEC 61400-12-1 standard, comparing the power curves of each interval to find out an interval with an optimal power curve, updating a yaw control strategy algorithm in the step (six), and enabling the wind turbine generator to operate in an optimal interval power curve range as much as possible on the premise of ensuring the safety of the wind turbine generator.
Claims (6)
1. A yaw optimization control method based on an on-line yaw system of an airborne radar is characterized by comprising the following steps of,
measuring wind condition parameters of wind resources by using an airborne laser radar;
according to wind condition parameters measured by the airborne laser radar, a yaw error value is calculated, and a yaw control PLC of the unit sends a yaw instruction according to the yaw error value to perform yaw optimization control;
in particular comprising the following steps of the method,
step 1, installing an airborne laser radar, after the airborne laser radar is installed, stopping a wind generating set according to different wind directions of an actual environment, calculating transfer functions of meteorological data of the airborne laser radar, wind speed and wind direction of a cabin when different wind directions are calculated, and correcting wind condition parameters measured by the airborne laser radar according to the transfer functions;
step 2, measuring and correcting the airborne laser radar in the step 1 to obtain corrected wind condition parameters, and screening data of the corrected wind condition parameters;
step 3, filtering the screened wind condition parameters;
step 4, according to the distance measured by the selected airborne laser radar, establishing a transfer function of the wind speed and the wind direction at the position and the wind speed and the wind direction at the position of the unit, analyzing and selecting the corresponding wind speed and the wind direction to perform unit yaw control;
dividing the included angle of the wind direction of the wind turbine into a plurality of sections, forming section power curves in each section, comparing the power curves of each section to find out the section with the optimal power curve, and updating the yaw control strategy algorithm in the step 4 according to the section with the optimal power curve to enable the wind turbine to operate in the range of the optimal section power curve.
2. The yaw optimization control method based on the on-line yaw system of the airborne radar according to claim 1, wherein in step 1, the transfer function formula is
Wherein:
the front wind direction or wind speed of the wind wheel corrected in the ith wind direction section;
3. The yaw optimization control method based on the on-line yaw system of the airborne radar according to claim 1, wherein in the step 2, the wind direction and the wind speed measured by the airborne laser radar are synthesized by the wind speed and the wind direction above and the wind speed and the wind direction below;
the formula of the wind speed and the wind direction above the airborne laser radar is as follows
Wherein:
or->
Wind speed component in the laser beam direction;
4. A yaw optimization control method based on an on-line yaw system of an airborne radar according to claim 3, wherein the formulas of the upper beam position height measured by the airborne laser radar and the lower beam position height measured by the airborne laser radar are as follows:
wherein:
the height of the wind wheel is set; />
The distance from the center of the airborne laser radar to the center height of the wind wheel; d is the measurement distance; />
Is a zenith angle; />
Is azimuth; />
Is the average pitch angle of the airborne laser radar.
5. The yaw optimization control method based on the on-line yaw system of the airborne radar according to claim 1, wherein in the step 3, the filtered wind condition parameters are filtered through first-order low-pass filtering.
6. The yaw optimization control method based on the on-line yaw system of the airborne radar according to claim 1, wherein in the step 4, when the data of the airborne laser radar is distorted, the wind speed of the cabin is taken as an alternative yaw control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257227.0A CN113847199B (en) | 2021-10-27 | 2021-10-27 | Yaw optimization control method based on airborne radar online yaw system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111257227.0A CN113847199B (en) | 2021-10-27 | 2021-10-27 | Yaw optimization control method based on airborne radar online yaw system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113847199A CN113847199A (en) | 2021-12-28 |
| CN113847199B true CN113847199B (en) | 2023-05-09 |
Family
ID=78983384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111257227.0A Active CN113847199B (en) | 2021-10-27 | 2021-10-27 | Yaw optimization control method based on airborne radar online yaw system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113847199B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116292097B (en) * | 2023-05-17 | 2023-08-18 | 安徽省国家电投和新电力技术研究有限公司 | Fan set control method and system based on intelligent perception of laser radar |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003307563A (en) * | 2002-04-16 | 2003-10-31 | Michio Nobeoka | Radar wave height measuring instrument, radar wave height correction coefficient preparing method, and radar wave height correction coefficient preparing device |
| WO2016008500A1 (en) * | 2014-07-17 | 2016-01-21 | Tsp Wind Technologies (Shanghai) Co., Ltd. | Wind turbine generator yaw correction system and method for operating wtg yaw correction system |
| CN106157165A (en) * | 2015-04-09 | 2016-11-23 | 华电电力科学研究院 | A kind of based on laser radar anemometer Wind turbines power curve examination appraisal procedure |
| KR101800217B1 (en) * | 2017-01-06 | 2017-11-23 | 주식회사 로맥스인싸이트코리아 | Correction method for yaw alignment error of wind turbine |
| CN109989884A (en) * | 2019-05-09 | 2019-07-09 | 浙江大学 | A kind of fan yaw control method |
| EP3569859A1 (en) * | 2018-05-14 | 2019-11-20 | Laborelec CVBA | Wind turbine efficiency improvement methods related to wind sensor misalignment |
| CN110761947A (en) * | 2019-11-15 | 2020-02-07 | 华北电力大学 | Yaw calibration method and system for wind turbine generator |
| EP3763939A1 (en) * | 2020-04-29 | 2021-01-13 | S.C. Ovidiu Development S.r.l. | System and method for determining the wind yaw misalignment of a horizontal axis on-shore wind turbine |
| CN112966395A (en) * | 2021-03-31 | 2021-06-15 | 华能国际电力股份有限公司 | Method for calculating static error of wind turbine generator yaw system |
| CN113219478A (en) * | 2021-04-19 | 2021-08-06 | 华能陇东能源有限责任公司 | Method and device for measuring and predicting wind speed and wind direction of fan impeller surface range and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2523375A (en) * | 2014-02-24 | 2015-08-26 | Sgurrenergy Ltd | Method and system for improving energy capture efficiency from an energy capture device |
| US11078884B2 (en) * | 2016-06-30 | 2021-08-03 | Vestas Wind Systems A/S | Determining wind direction offset using yaw events |
| US10539116B2 (en) * | 2016-07-13 | 2020-01-21 | General Electric Company | Systems and methods to correct induction for LIDAR-assisted wind turbine control |
| CN110023619B (en) * | 2016-09-29 | 2020-10-16 | 维斯塔斯风力系统集团公司 | Method for controlling a wind turbine |
| CN112855438B (en) * | 2019-11-28 | 2023-03-28 | 北京国电思达科技有限公司 | Wind dynamic compensation method for wind power generation set yaw |
| US11136966B1 (en) * | 2021-04-23 | 2021-10-05 | Ovidiu Development Sa | System and method for determining the wind yaw misalignment of a horizontal axis on-shore wind turbine |
-
2021
- 2021-10-27 CN CN202111257227.0A patent/CN113847199B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003307563A (en) * | 2002-04-16 | 2003-10-31 | Michio Nobeoka | Radar wave height measuring instrument, radar wave height correction coefficient preparing method, and radar wave height correction coefficient preparing device |
| WO2016008500A1 (en) * | 2014-07-17 | 2016-01-21 | Tsp Wind Technologies (Shanghai) Co., Ltd. | Wind turbine generator yaw correction system and method for operating wtg yaw correction system |
| CN106157165A (en) * | 2015-04-09 | 2016-11-23 | 华电电力科学研究院 | A kind of based on laser radar anemometer Wind turbines power curve examination appraisal procedure |
| KR101800217B1 (en) * | 2017-01-06 | 2017-11-23 | 주식회사 로맥스인싸이트코리아 | Correction method for yaw alignment error of wind turbine |
| EP3569859A1 (en) * | 2018-05-14 | 2019-11-20 | Laborelec CVBA | Wind turbine efficiency improvement methods related to wind sensor misalignment |
| CN109989884A (en) * | 2019-05-09 | 2019-07-09 | 浙江大学 | A kind of fan yaw control method |
| CN110761947A (en) * | 2019-11-15 | 2020-02-07 | 华北电力大学 | Yaw calibration method and system for wind turbine generator |
| EP3763939A1 (en) * | 2020-04-29 | 2021-01-13 | S.C. Ovidiu Development S.r.l. | System and method for determining the wind yaw misalignment of a horizontal axis on-shore wind turbine |
| CN112966395A (en) * | 2021-03-31 | 2021-06-15 | 华能国际电力股份有限公司 | Method for calculating static error of wind turbine generator yaw system |
| CN113219478A (en) * | 2021-04-19 | 2021-08-06 | 华能陇东能源有限责任公司 | Method and device for measuring and predicting wind speed and wind direction of fan impeller surface range and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 基于机舱式激光雷达测风仪的风电机组偏航控制偏差测试方法;杨伟新;宋鹏;白恺;张扬帆;;华北电力技术(第07期);全文 * |
| 激光雷达测风仪在风电机组偏航误差测试中的应用研究;马东;;应用能源技术(第11期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113847199A (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2591366C1 (en) | Wind-driven power plant and control method for wind-driven power plant or wind power plant | |
| CN210396977U (en) | Measurement structure for clearance between blades and tower barrel of wind turbine generator | |
| CA2983208A1 (en) | Method of correcting rotor imbalance and wind turbine thereof | |
| CN103080540A (en) | Control of wind turbines in a wind park | |
| CN111120205B (en) | Wind power plant regionalization control method based on laser radar | |
| EP2581761B1 (en) | Estimation of Wind Properties Using a Light Detection and Ranging Device | |
| CN103061980A (en) | Feed-forward control system and feed-forward control method for wind generating set based on laser wind finding radar | |
| KR101383792B1 (en) | Method for calibration of nacelle anemometer using lidar measurements | |
| WO2018153518A1 (en) | Method for load reduction on wind turbine blade pitch bearings | |
| CN107869420B (en) | Method and system for controlling yaw of wind turbine farm | |
| CN113847199B (en) | Yaw optimization control method based on airborne radar online yaw system | |
| US20230272775A1 (en) | Systems and methods of coordinated yaw control of multiple wind turbines | |
| WO2022015493A1 (en) | Methods and systems of advanced yaw control of a wind turbine | |
| CN113007041A (en) | Wind turbine generator blade icing detection system and detection method | |
| TWI771642B (en) | wind power plant | |
| EP2850317A1 (en) | Method for controlling the pitch angle of at least one wind turbine blade | |
| CN111472930B (en) | Evolvable wind speed calculation method and feedforward unified variable pitch control method based on evolvable wind speed calculation method | |
| CN113219478A (en) | Method and device for measuring and predicting wind speed and wind direction of fan impeller surface range and storage medium | |
| CN113153633A (en) | Static deviation calibration method for wind direction instrument of wind turbine generator | |
| CN116557224A (en) | Wind turbine generator yaw error calculation method based on laser radar anemometer | |
| US20230026286A1 (en) | Method for computer-implemented monitoring of a wind turbine | |
| EP3828408A1 (en) | A method and an apparatus for computer-implemented monitoring of a wind turbine | |
| CN113627097A (en) | Method for correcting wake flow evaluation model by using SCADA data of wind turbine | |
| CN111637010A (en) | Feedforward control method and device for wind turbine generator, wind turbine generator and system | |
| CN111797545A (en) | Wind turbine generator yaw reduction coefficient calculation method based on measured data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |