CN114810483A - Yaw method of multi-impeller wind power system and multi-impeller wind power system - Google Patents
Yaw method of multi-impeller wind power system and multi-impeller wind power system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0204—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/02—Wind motors with rotation axis substantially parallel to the air flow entering the rotor having a plurality of rotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
- F03D9/20—Wind motors characterised by the driven apparatus
- F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/321—Wind directions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/329—Azimuth or yaw angle
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Abstract
The invention discloses a yaw method of a multi-impeller wind power system and the multi-impeller wind power system. The yawing method comprises the following steps: dividing a yaw revolution plane of the multi-impeller wind power system into at least eight sectors, and acquiring a starting azimuth angle of each sector; in the yaw process, acquiring a wind direction error angle of the multi-impeller wind power system, and acquiring a yaw azimuth angle of the multi-impeller wind power system; calculating an initial angle difference according to the initial azimuth and the yaw azimuth; and controlling the yaw of the multi-impeller wind power system to start according to the wind direction error angle and the yaw azimuth angle, and controlling the yaw of the multi-impeller wind power system to stop according to the initial angle difference. The yaw method provided by the invention can design the tower frame into a non-continuous structure according to the occurrence frequency of the wind direction, thereby not only ensuring the effective transmission of the load of the multi-impeller wind power system, but also reducing the yaw supporting cost of the system and the cost of the tower frame, further reducing the floor area and land acquisition cost of the tower frame, and simultaneously completing the wind yaw.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a yaw method of a multi-impeller wind power system and the multi-impeller wind power system.
Background
The cost is the bottleneck problem of the global wind power development, and the large-scale unit (the single unit capacity is increased) is the most effective way for solving the cost problem. The continuous development of offshore wind power projects makes the unit become a necessary development trend in large-scale. With the increase of the capacity of the unit, the design of the traditional single-impeller wind turbine generator has more and more serious challenges, the load of the unit is increased sharply, and the overlong and overweight blades and the overlarge torque bring a lot of difficulties to the design, the production, the manufacture, the installation and the like of each component (such as a variable pitch actuating mechanism, a bearing, a supporting structure and the like) in the unit.
A multi-impeller wind power generation system is a novel wind power device which is used for realizing conversion from wind energy to electric energy by mounting a plurality of smaller wind power generation units in the same supporting structure. Compared with a conventional single-impeller wind turbine generator, the multi-impeller wind power generation system does not need to use ultra-long and ultra-heavy blades, the occurrence of ultra-large torque is avoided, and a new way is provided for the upsizing of the offshore wind turbine generator and the reduction of the unit cost.
The danish Vestas company provides a cantilever beam support structure, and the specific structure is that a plurality of layers of cantilever beams are added on a conventional cylindrical tower, and each layer of cantilever beam can be provided with two smaller wind power generation units. Each layer of cantilever beam drives the two wind power generation units to yaw, and the yaw of each layer of wind power generation unit is relatively independent. The large disadvantage of the above scheme is that once the number of the wind power generation units is increased, a multi-layer yaw system needs to be configured, and since each layer of yaw system must have components such as a yaw support and a yaw drive, the economy of the whole system is poor.
The fact that a plurality of smaller wind power generation units are arranged on the same supporting structure determines that the space size of the supporting structure is larger. The size of the yaw bearing can be very large if all the wind power units together follow the support structure for yawing. Therefore, if the tower below the yaw support adopts the conventional steel round through tower design, the material consumption of the tower is large, and the cost is high; meanwhile, the occupied area of the tower is huge, land acquisition cost in unit construction is greatly increased, and therefore the tower of the multi-impeller system is in a circumferentially discontinuous structure, such as a lattice steel structure.
The yaw bearing and the tower need to take the weight load of all the wind power units plus the weight load of the entire support structure. According to the conventional yawing method and the structural design, the cost of a yawing system and a tower frame is increased, the advantages of the multi-impeller wind power system are weakened compared with those of a conventional single-impeller wind power unit, and even the economy of the multi-impeller wind power system is poorer than that of the conventional single-impeller wind power unit.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for a wind power system with multiple blades. The yaw azimuth of the multi-impeller system can be arranged at the position with the strongest supporting capability of the tower, so that the timeliness of yaw to wind is guaranteed, meanwhile, the tower can adopt a circumferential discrete structure (such as a lattice structure), and the cost of a yaw bearing and the cost of the tower are reduced.
Another object of the present invention is to provide a wind power system with multiple blades, which can transmit the load from the supporting structure to the tower through a limited number of connection points, and simultaneously ensure the yaw of the system to face the wind, thereby effectively reducing the cost of the tower, and further reducing the floor area and the land acquisition cost of the system.
To achieve the above object, a first aspect provides a yawing method for a multi-bladed wind power system.
The method comprises the following steps of dividing a yaw revolution plane of the multi-impeller wind power system into a plurality of sectors, wherein the number of the sectors is at least eight;
acquiring a starting azimuth angle of each sector;
in the yawing process, acquiring a wind direction error angle of the multi-impeller wind power system;
acquiring a yaw azimuth angle of the multi-impeller wind power system;
calculating an initial angle difference according to the initial azimuth and the yaw azimuth;
starting the yaw of the multi-impeller wind power system according to the wind direction error angle and the yaw azimuth angle;
stopping yawing of the multi-impeller wind power system according to the starting angle difference.
In a further technical scheme, an average error angle of the wind direction error angle within a period of time is calculated according to the obtained wind direction error angle, and the period of time is not less than thirty seconds.
Calculating sector angles of a plurality of sectors according to the starting azimuth angle, and calculating a plurality of yaw starting thresholds through the plurality of sector angles; the number of yaw activation thresholds is equal to the number of sectors, the yaw activation thresholds being no less than half of the corresponding sector angle.
In a further technical scheme, a corresponding yaw starting threshold value is found out according to the average error angle and the yaw azimuth angle, and then the yaw starting of the multi-impeller wind power system is controlled according to the average error angle and the corresponding yaw starting threshold value.
The yaw azimuth angle is obtained by calculating a yaw position measured value of the multi-impeller system, and the value range of the yaw azimuth angle is 0-360 degrees.
In a further technical solution, a target sector is calculated according to a plurality of starting angle differences obtained from a plurality of starting azimuths and a yaw azimuth through the starting angle differences and the wind direction error angle; and controlling the yaw stop of the multi-impeller wind power system through the starting angle difference of the target sector.
In a second aspect, there is provided a multiple bladed wind power system comprising:
the wind direction measuring device is used for acquiring a wind direction error angle of the multi-impeller wind power system;
the yaw azimuth measuring device is used for acquiring a yaw azimuth angle of the multi-impeller wind power system;
the yawing slewing bearing consists of a yawing slewing bearing and an annular yawing track, the installation horizontal plane of the annular yawing track is divided into a plurality of sectors, and the yawing slewing bearing and the annular yawing track can relatively revolve for realizing yawing;
and the controller is used for recording the starting azimuth angles of the sectors, calculating a starting angle difference according to the yaw azimuth angle and the starting azimuth angle, controlling yaw starting according to the wind direction error angle and the yaw azimuth angle, and controlling yaw stopping according to the starting angle difference.
In a further technical solution, a wind power system with multiple impellers further comprises:
the wind power generation unit is oriented to the same yaw azimuth angle of the wind power generation system, and the wind direction measuring device is arranged on the wind power generation unit;
a yaw driving system for driving the yaw slewing bearing to slew relative to the annular yaw track and receiving a command for controlling yaw by the controller, wherein the yaw driving system is arranged on the yaw slewing bearing;
the supporting structure is used for fixing a plurality of wind power generation units, and the bottoms of the supporting structures are connected with the yawing rotary support;
a tower for supporting the annular yaw track, the tower comprising at least four main columns and a plurality of auxiliary columns.
In a further technical solution, the top of the main column is connected to the annular yaw orbit, and the connection is disposed below a connection position of two adjacent sectors.
The controller at least comprises an average value calculating module, a wind direction error angle calculating module and a wind direction error angle calculating module, wherein the average value calculating module is used for calculating the average value of the wind direction error angles; the time delay module is used for controlling yaw starting; and the yaw azimuth angle calculation module is used for calculating the yaw azimuth angle according to the measurement value of the yaw azimuth angle measurement device.
The invention has the beneficial effects that: the yaw slewing plane is divided into a plurality of sectors, and the position where the yaw stops is designed as a fixed sector starting azimuth. By the yaw method, the tower can be designed into a non-continuous structure according to the wind direction generation frequency, so that the load transmission of the multi-impeller wind power system is ensured, the yaw support and the tower cost of the system are reduced, the floor area and land acquisition cost of the tower can be reduced, and the yaw wind alignment is completed.
Drawings
FIG. 1 is a schematic diagram of a basic configuration of a wind power system with multiple impellers according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tower of a wind turbine system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a yaw pivoting support stopping position of a wind power system with multiple impellers according to an embodiment of the invention;
FIG. 4 is a schematic flow chart of a yawing method of a wind turbine system according to an embodiment of the invention;
FIG. 5 is a schematic view of a yaw rotation plane sector division of a wind power system with multiple blades according to an embodiment of the present invention;
FIG. 6 is a schematic view of yaw rotation of a wind power system with multiple blades according to an embodiment of the present invention;
FIG. 7 is a detailed flowchart of an implementation of a yawing method for a wind turbine with multiple blades according to an embodiment of the invention;
FIG. 8 is a comparison graph of wind rose and yaw rotation plane sector divisions for a multiple bladed wind power system according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a relationship between tower arrangement and sector division of a wind turbine system with multiple blades according to an embodiment of the present invention;
fig. 10 is a flowchart illustrating operations of a controller module of a wind turbine generator system according to an embodiment of the present invention.
The reference numbers illustrate: 1. the wind power generation system comprises a wind power generation unit, 2, a supporting structure, 3, a yaw slewing bearing, 3.1, a yaw slewing bearing, 3.11, a current position of the yaw slewing bearing, 3.11, a target position of the yaw slewing bearing, 3.2, an annular yaw track, 4, a tower, 4.1, a main strut, 4.2, an auxiliary strut, 5, a foundation, 6, a sector, 6.1, a sector starting angle, 6.11, a current sector starting angle, 6.12, a target sector starting angle, 6.2, a sector ending angle, 7, an azimuth angle reference direction, 7.1, a wind direction, 7.2, a wind direction error angle, 7.3, a yaw azimuth angle, 8, a wind power system windward side, 8.1, a current windward side, 8.2 and a windward side after yaw.
It is noted that the above-described figures are intended to illustrate the features of the invention and are not intended to show any actual structure or to reflect the dimensional, relative proportions and other details of the various components. In order to more clearly illustrate the principles of the present invention and to avoid obscuring the same in unnecessary detail, the examples in the drawings have been simplified. These illustrations do not pose any inconvenience to a person skilled in the relevant art in understanding the present invention, and an actual embodiment may include more modules/components.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the following describes the embodiments of the present invention completely with reference to the related drawings of the embodiments of the present invention. This patent describes only a few embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a multiple-impeller system is generally composed of a wind power generation unit 1, a support structure 2, a yaw slewing bearing 3, and a tower 4. According to early-stage research and engineering design and accounting at home and abroad, the scheme with the highest economical efficiency and feasibility is as follows:
a plurality of wind power generation units 1 are fixed on a supporting structure 2, the supporting structure 2 adopts a space truss structure, the bottom of the supporting structure 2 is connected with a yaw support 3.1 of a yaw slewing bearing 3, the yaw slewing bearing 3.1 is arranged on an annular yaw track 3.2, the annular yaw track 3.2 is connected with the top of a tower 4, and the tower 4 is formed by connecting a main strut 4.1 and an auxiliary strut 4.2. The bottom of the tower 4 is fixed by a foundation 5. The wind power generation unit 1 captures wind energy while obtaining a load, and the load is finally transmitted to the ground through the support structure 2, the yaw slewing bearing 3, the tower 4, and the foundation 5.
To ensure that the blades of the wind power unit 1 do not interfere with each other, the span of the support structure 2 will be very large, which determines that the size of the annular yaw track 3.1 is also very large. As shown in the left diagram of fig. 2, if the tower of the multi-bladed wind power system is designed by referring to a conventional steel cylindrical tower, the diameter of the tower becomes very large due to the huge size of the annular yaw orbit 3.2, which causes a series of cost problems such as steel consumption, transportation, installation and land acquisition. Therefore, the wind power system with multiple impellers can only adopt a truss type steel structure as shown in the right drawing of fig. 2.
According to the above-described structural features, the multi-bladed wind power system encounters a problem in yawing: and the yaw rotary support 3.1 and the annular yaw track 3.2 rotate relatively to realize yaw of the multi-impeller wind power system. When yawing to the wind according to the conventional yawing method, the situation shown in fig. 3 is encountered, and the yawing pedestal 3.1 is located under a position without a tower 4 (a main tower 4.1 or an auxiliary tower 4.2) for bearing. It is conventional practice to make the annular yaw track 3.2 under the yaw slewing bearing 3.1 very strong, and the load is transferred through the track to the distant main or auxiliary mast 4.1, 4.2. However, this would greatly increase the weight of the annular yaw track 3.2 itself, and would also increase the burden on the tower 4. The cost of the entire yaw slewing bearing 3 and tower 4 will rise substantially.
The invention aims to solve the problems and provides a yawing method suitable for a multi-impeller wind power system, aiming at stopping a yawing rotary support 3.1 at a specified position with the strongest supporting capacity, namely above a main support column 4.1 under the working condition that extreme loads can occur, and quickly transmitting the loads to the main support column 4.1. So that the cost of the entire yaw slewing bearing 3 and the tower 4 is effectively controlled.
As shown in fig. 4 and 5, a yawing method for a wind power system with multiple blades mainly includes the following steps:
s1, dividing the yaw rotation plane of the multi-impeller wind power system into a plurality of sectors 6, wherein the number of the sectors 6 is at least eight. The number of the sectors 6 is too small to reduce the number of the main tower columns 4.1 when at least eight sectors 6 are arranged, but a large yaw error must be considered when the multi-impeller wind power system operates; another situation is an excessive number of sectors 6, which would result in an increased cost of the tower 4.
According to the position of the sector 6, the starting azimuth 6.1 of each sector 6, the ending azimuth 6.2 of each sector 6 and the starting azimuth of the adjacent sector are obtained. Therefore, the angle of each sector 6 can be calculated by only obtaining the initial azimuth angle 6.1 of each sector 6;
and S2, obtaining the yaw azimuth angle 7.3 of the multi-impeller wind power system through the measuring device. Generally, the yaw azimuth 7.3 is the same as the orientation of the multi-bladed wind power system (and at the same time the orientation of the wind power unit 1). The orientation of the multiple-bladed wind power system can be considered to be approximately perpendicular to the windward side 8 of the multiple-bladed wind power system (the windward side 8 of the multiple-bladed wind power system is made up of the blades of the multiple wind power generation units 1).
In the yaw process of the multi-impeller wind power system, the wind direction error angle 7.2 of the multi-impeller wind power system is obtained through the measuring device. The wind direction error angle 7.2 generally refers to an included angle between a wind direction 7.1 and a yaw azimuth angle 7.3 of the multi-impeller wind power system.
In the process of calculating and obtaining the yaw azimuth angle 7.3, a general original measurement value is the yaw position of the multi-impeller system, the value of the yaw position usually includes a direction (such as-459 degrees or +633 degrees), and the value range of the yaw azimuth angle 7.3 is 0-360 degrees. The yaw position original measurement value and the yaw azimuth angle 7.3 need to be equivalently converted.
S3, it must be determined that all angular measurements or calculations are based on the same orientation reference when proceeding to the next data processing. As shown in fig. 5, the present embodiment follows the true north direction as 0 degrees as the azimuth reference direction 7.
And calculating a plurality of initial angle differences according to the initial azimuth angles 6.1 and the yaw azimuth angles 7.3 of all the sectors 6, and obtaining the required rotation angle and the rotation direction of the multi-impeller wind power system after starting yaw through the plurality of initial angle differences and the wind direction error angle 7.2.
S4, in some embodiments, the wind direction error angle 7.2 may directly derive an angle to be yawed by the multi-bladed wind power system, that is, indirectly determine which adjacent sector (i.e., the target sector) needs to be turned back from the current sector.
Determining the current sector of the multi-impeller wind power system according to the yaw azimuth angle 7.3, determining a target sector needing to be rotated according to the wind direction error angle 7.2, determining a starting threshold value according to the current sector of the multi-impeller wind power system and the target sector, and controlling the yaw starting of the multi-impeller wind power system according to the starting threshold value.
When yawing starts, whether the windward side 8 and the initial azimuth angle of the target sector are in the same direction or not is judged according to the plurality of initial angle differences calculated in the step S3, the angle required to rotate and the direction of rotation. And if so, stopping the yaw of the multi-impeller wind power system.
The characteristics and the novelty of the technical scheme are as follows: the method of ' stepless ' rotation adopted by the conventional slewing bearing is abandoned, and a discrete type ' rotation mode is adopted, so that the yaw slewing bearing can stay at the position with the strongest supporting capability of a plurality of specified systems.
The technical scheme has the advantages that: so that the load from the support structure can be transferred directly and quickly from the yaw slewing bearing 3.1 to the tower 4 via the shortest path, reducing the load bearing requirements of the annular yaw track 3.2 and of the tower 4. Meanwhile, the specific characteristic that the wind directions of the land wind power plant are distributed unevenly in the yaw rotation direction is skillfully utilized, larger sectors can be divided for the wind directions with low distribution probability, the arrangement density of the main struts 4.1 is correspondingly reduced, and the cost of a yaw support and a tower is reduced.
The wind direction error angle 7.2 is mostly only changed within a certain range, and in order to avoid excessive yawing motion, the measured wind direction error angle needs to be subjected to an averaging process, and the time constant of the averaging process is generally more than thirty seconds. In some embodiments, the time constant may even take over a hundred seconds.
And calculating sector angles of all the sectors 6 according to the starting azimuth angle 6.1, and calculating a yaw starting threshold corresponding to each sector through all the sector angles. In some embodiments, the angle of each sector is different, and therefore each sector has an independent yaw activation threshold. And the yaw-start threshold is not less than half the corresponding sector angle, this is set for two reasons: 1) the phenomenon that the load of the wind power generation unit 1 is overlarge due to the fact that the wind direction error angle 7.2 before yawing is too large is avoided; 2) because the invention adopts discrete yawing, the invention needs to avoid the invalid yawing caused by the fact that the wind direction error angle 7.2 after yawing is not obviously reduced (for example, the wind direction error angle before yawing is +15 degrees, and the wind direction error angle after yawing is-15 degrees).
The sector where the yaw slewing bearing 3.1 is located and the sector starting angle coincident with the current windward side 8 can be determined through the yaw azimuth angle 7.3; the target yaw sector of the multi-impeller wind power system can be known according to the wind direction error angle 7.2 and the sector distribution condition; then, a corresponding yaw starting threshold value can be found out through the sector starting angle of the current windward side 8 coincidence and the target sector. And controlling the yaw starting of the multi-impeller wind power system according to the average error angle and a corresponding yaw starting threshold value. And controlling the yaw stop of the multi-blade wind power system (namely when the starting angle of the target sector is coincident with the windward side 8) through the starting angle difference of the target sector.
The yawing method proposed by the invention is further illustrated below by a simple example:
as shown in fig. 6, the yaw rotation plane is divided into eight sectors (sector I to sector VIII) according to the wind direction distribution at the position of the multi-bladed wind power system. It is assumed that a true north reference direction 7 is above the yaw rotation plane, and the true north reference direction 7 is used as a reference direction of the azimuth angle amount.
The azimuth angle of the current windward side 8.1 of the multi-impeller wind power system at a certain moment is coincident with the starting angle 6.11 of the sector VII, and the angles are 270 degrees. And now one of the yaw slew bearings 3.11 is located between sector VI and sector VII. At this time, the wind direction 7.1 is currently in sector I, and the included angle between the wind direction 7.1 and the yaw azimuth angle 7.3 of the multi-bladed wind power system, the wind direction error angle 7.2, is about 35 degrees (generally, the north-plus reference direction 7 is plus clockwise). From the sector distribution, it can be known that the next sector in the clockwise direction is sector VIII, the starting angle of sector VIII is 315 degrees, and the difference from the starting angle of sector VII is 270 degrees by 45 degrees. If not, the wind direction error angle 7.2 is 35 degrees, if yawing to sector VIII, the wind direction error angle 7.2 will be reduced to 35-45= -10 degrees. Thus, it can be determined that the target sector is sector VIII, the starting azimuth angle 6.12 of sector VIII is the target starting azimuth angle, 315 degrees, and the yaw slew bearing 3.12 will be the position after yaw.
The starting angle 6.11 of the current sector VII and the starting angle 6.12 of the target sector VIII differ by 315-. If the current wind direction error angle 7.2 is smaller than 23 degrees, after yawing, the wind direction error angle 7.2 is changed into 22.5-45= -22.5 degrees, the wind direction error angle 7.2 is changed into-22.5 degrees from 22.5 degrees, and the wind direction error angle are not different in nature and can cause invalid yawing.
After starting the yawing, the angular difference of the windward side 8.1 and the starting angle 6.12 of the target sector VIII can be continuously calculated. When the angle difference is small enough and is nearly 0, the windward side 8.2 can be considered to reach the specified position, and the yawing is stopped. In some embodiments, the azimuth angle of the current windward side 8.1 or the target windward side 8.2 cannot be directly measured, and can be obtained by calculation through the vertical relation between the yaw azimuth angle 7.3 and the windward side. Therefore, the condition for controlling yaw stop is the difference of the yaw azimuth 7.3 and the angle of the start angle 6.12 of the target sector VIII, i.e., the start angle difference. Fig. 7 gives a detailed flow chart of the implementation of the above described yawing method.
As shown in fig. 8, the left diagram is a wind rose diagram drawn according to measurement data of a wind measuring tower of an actual wind field for two years, and it can be seen that the main wind directions of the wind field are obvious and mainly distributed in the northeast direction, the northeast and the northeast direction. The yawing method provided by the invention can divide the yawing rotary plane into sectors according to the wind rose. As shown in the right view, sectors III-V, and sectors VIII-X, have substantially smaller angles than the other sectors. Aiming at the condition that the main wind direction is distributed in the sector I and the sector II, the windward side of the multi-impeller system can be more frequently rotated in the six sectors, and a better wind effect is achieved.
To implement the yawing method proposed in the present invention, the multi-bladed wind power system comprises at least (with reference to the designations of fig. 1 and 5):
a wind direction measuring device for obtaining a wind direction error angle 7.2, which may be arranged on the wind power unit 1 in some embodiments. (ii) a
A yaw azimuth measuring device for acquiring a yaw azimuth angle 7.3, wherein in some embodiments, the yaw azimuth measuring device can be arranged on a yaw rotating support 3.1;
the yawing slewing bearing consists of a yawing slewing bearing 3.1 and an annular yawing track 3.2, and the yawing slewing bearing 3.1 and the annular yawing track 3.2 can relatively rotate to realize yawing;
and the controller is used for recording the starting azimuth angles 6.1 of the plurality of sectors 6, calculating a starting angle difference according to the yaw azimuth angle 7.3 and the starting azimuth angle 6.1, controlling yaw starting according to the wind direction error angle 7.2 and the yaw azimuth angle 7.3, and also controlling yaw stopping according to the starting angle difference.
Besides, the method also comprises the following steps:
the wind power generation unit 1, the orientation of the wind power generation unit 1 is the same as the yaw azimuth angle 7.3.
And the yaw driving system is used for realizing the relative rotation between the yaw slewing bearing 3.1 and the annular yaw track.
As shown in fig. 9, when the yaw slewing stops, a main support column 4.1 is arranged below the yaw slewing bearing 3.1 to support the yaw slewing bearing. Therefore, near the top of the main tower 4.1 above the connection with the circular yaw-path 3.2, there must be a location where two adjacent sectors are connected, i.e. the azimuth of the sector starting azimuth.
As shown in fig. 10, the implementation of the yaw function in the controller at least includes three modules, 1) an average value calculation module for calculating an average value of the wind direction error angle 7.2; 2) the time delay module is used for time delay control of yaw starting; 3) and the yaw azimuth angle calculation module is used for calculating a yaw azimuth angle 7.3 according to the measured value provided by the yaw azimuth angle measurement device.
In the description of the present invention, it should be noted that the terms "upper and lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only used for simplifying the description of the present invention, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention.
The terms "mounted, connected and connected" in the present invention are to be understood broadly, unless otherwise explicitly specified or limited, for example: can be fixedly connected, detachably connected or integrally connected; they may be mechanically, electrically, or directly connected, or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A yawing method of a multi-impeller wind power system is characterized by comprising the following steps:
dividing a yaw revolution plane of the multi-impeller wind power system into a plurality of sectors, wherein the number of the sectors is at least eight;
acquiring a starting azimuth angle of each sector;
in the yaw process, acquiring a wind direction error angle of the multi-impeller wind power system;
acquiring a yaw azimuth angle of the multi-impeller wind power system;
calculating an initial angle difference according to the initial azimuth and the yaw azimuth;
starting the yaw of the multi-impeller wind power system according to the wind direction error angle and the yaw azimuth angle;
stopping yawing of the multi-impeller wind power system according to the starting angle difference.
2. The yawing method of the wind power system with multiple blades as claimed in claim 1, wherein the yawing method comprises the following steps: and calculating the average error angle of the wind direction error angle within a period of time according to the obtained wind direction error angle, wherein the period of time is not less than thirty seconds.
3. The yawing method of the multi-bladed wind power system according to claim 1, wherein the yawing method comprises the following steps: calculating sector angles of a plurality of sectors according to the initial azimuth angle, and calculating a plurality of yaw starting thresholds through the plurality of sector angles; the number of the yaw activation thresholds is equal to the number of the sectors, and the yaw activation thresholds are not less than half of the corresponding sector angles.
4. A yawing method for a wind power system with multiple blades according to claim 2 or 3, wherein the yawing method comprises the following steps: and finding out a corresponding yaw starting threshold according to the average error angle and the yaw azimuth angle, and then controlling the yaw starting of the multi-impeller wind power system according to the average error angle and the corresponding yaw starting threshold.
5. The yawing method of the wind power system with multiple blades as claimed in claim 1, wherein the yawing method comprises the following steps: the yaw azimuth angle is obtained by calculating a yaw position measured value of the multi-impeller system, and the value range of the yaw azimuth angle is 0-360 degrees.
6. The yawing method for the wind power system with multiple blades as claimed in claim 5, wherein the yawing method comprises the following steps: calculating a target sector according to a plurality of initial angle differences obtained by a plurality of initial azimuth angles and a yaw azimuth angle and the initial angle differences and the wind direction error angle; and controlling the yaw stop of the multi-impeller wind power system through the starting angle difference of the target sector.
7. A multiple bladed wind power system, comprising:
the wind direction measuring device is used for acquiring a wind direction error angle of the multi-impeller wind power system;
the yaw azimuth measuring device is used for acquiring a yaw azimuth angle of the multi-impeller wind power system;
the yawing slewing bearing consists of a yawing slewing bearing and an annular yawing track, the installation horizontal plane of the annular yawing track is divided into a plurality of sectors, and the yawing slewing bearing and the annular yawing track can relatively revolve for realizing yawing;
and the controller is used for recording the starting azimuth angles of the sectors, calculating a starting angle difference according to the yaw azimuth angle and the starting azimuth angle, controlling yaw starting according to the wind direction error angle and the yaw azimuth angle, and controlling yaw stopping according to the starting angle difference.
8. The wind turbine system according to claim 7, further comprising:
the wind power generation unit is oriented to the same yaw azimuth angle of the wind power generation system, and the wind direction measuring device is arranged on the wind power generation unit;
a yaw driving system for driving the yaw support to revolve relative to the annular yaw track and receiving a command for controlling yaw by the controller, wherein the yaw driving system is arranged on the yaw revolving support;
the supporting structure is used for fixing a plurality of wind power generation units, and the bottoms of the supporting structures are connected with the yawing rotary support;
a tower for supporting the annular yaw track, the tower comprising at least four main columns and a plurality of auxiliary columns.
9. The wind power system with multiple impellers of claim 8, wherein: the top of the main strut is connected with the annular yaw track, and the connection is arranged below the connection position of two adjacent sectors.
10. The wind power system with multiple impellers of claim 7, wherein: the controller at least comprises an average value calculating module, a wind direction error angle calculating module and a wind direction error angle calculating module, wherein the average value calculating module is used for calculating the average value of the wind direction error angles; the time delay module is used for controlling yaw starting; and the yaw azimuth angle calculation module is used for calculating the yaw azimuth angle according to the measurement value of the yaw azimuth angle measurement device.
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