CN115822872A - Yaw brake control method, yaw brake system and wind driven generator - Google Patents
Yaw brake control method, yaw brake system and wind driven generator Download PDFInfo
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- CN115822872A CN115822872A CN202211512826.7A CN202211512826A CN115822872A CN 115822872 A CN115822872 A CN 115822872A CN 202211512826 A CN202211512826 A CN 202211512826A CN 115822872 A CN115822872 A CN 115822872A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention relates to the field of wind power generation equipment, in particular to a yaw brake control method, a yaw brake system and a wind driven generator. The yaw brake control method is characterized in that rotating speed closed-loop regulation is established between a yaw motor and a yaw motor controller, and wind power yaw is braked through reverse torque of the yaw motor. According to the invention, the rotating speed closed-loop regulation is established between the yaw motor and the yaw motor controller, and the wind power yaw is braked by the reverse torque of the yaw motor, so that after the yaw motion of the wind turbine generator is stopped, the yaw motor brake is continuously kept in an open state rather than a closed state, and even if the cabin is pushed by external wind to generate displacement, the band-type brake of the yaw motor is not abraded.
Description
Technical Field
The invention relates to the field of wind power generation equipment, in particular to a yaw brake control method, a yaw brake system and a wind driven generator.
Background
The yaw system of a horizontal-axis wind turbine is also called a wind-facing device, and has the function of driving a wind rotor to realign the wind direction so as to obtain maximum wind energy when the wind speed direction changes. The yaw system generally includes an anemorumbometer, a yaw motor (generally, a plurality of three-phase asynchronous motors of the same type), a motor controller, a reducer, a hydraulic braking system, a yaw cam, a large gear of a revolving body, and the like, and each component of the yaw system will be briefly described below.
The wind speed and direction meter is used for converting the change of wind speed and direction into an electric signal and transmitting the electric signal to the main control system of the wind turbine generator, and the yaw cam provides angle and speed information for the whole yaw process and feeds the angle and speed information back to the main control system. The main control system determines whether yawing is needed or not according to the change condition of the wind speed and the wind direction, and determines the current yawing state and determines whether wind facing is finished or not according to the angle and the speed information.
When the yaw is started, the main control system firstly controls the hydraulic braking system to reduce the oil pressure to enter a semi-braking state, then controls all yaw motors to drive respective speed reducers to rotate by sending left and right yaw control signals to the motor controller, and finally drives the same large gear of the revolving body to rotate by all the speed reducer gears so as to finish the left and right wind alignment of the engine room. Because all yaw motors have the same model and the reduction ratios of all reducers are equal, the rotating speeds of all yaw motors at any moment are completely the same.
After the wind is blown out, the main control system firstly controls the yaw motor to stop rotating (meanwhile, the yaw motor brake is closed), then controls the brake system to lift the oil pressure and recover to be in a full-pressure brake state, and the yaw process is finished.
The motor controller of the wind power yaw system usually adopts a soft starter or a frequency converter, and the soft starter and the frequency converter are separately described below.
The soft starter has the advantages of low cost and simple installation wiring. The voltage amplitude of the output side can be adjusted, the voltage amplitude is controlled to gradually rise from 0V to 400V of the voltage of the network side, the yaw motor can be effectively prevented from being burnt out due to overlarge current at the starting moment, and the output frequency of the yaw motor can only be kept to be 50Hz of the frequency of the network side. When the soft starter is used as a yaw motor controller, the synchronous rotating speed of a yaw motor can only be kept constant, and a yaw system cannot actively change the yaw speed of the yaw system. In addition, ideal acceleration and deceleration control cannot be performed on the nacelle during yaw starting or stopping, vibration is large at the moment of starting or stopping during yaw of the nacelle, overall motion control performance is poor, and problems of overspeed of the nacelle, overcurrent of a yaw motor and the like often occur if wind load is large or unstable. When the yaw process stops and the rotating speed of the yaw motor is reduced to 0rpm, the soft starter is disconnected, and the yaw motor loses the power supply.
The frequency converter can control the output voltage amplitude of the frequency converter like a soft starter, and can also control the output frequency of the frequency converter, so that the synchronous rotating speed of the yaw motor can be regulated and controlled, and the yaw motor is controlled to accelerate or decelerate according to certain acceleration or deceleration set values in the yaw starting or stopping process. Compared with a soft starter, the frequency converter can dynamically adjust the output voltage and the output frequency (the control mode is mostly constant voltage frequency ratio control, namely, the ratio of the output voltage to the output frequency is a constant value), so that the acceleration and deceleration processes of the yaw motor are more gentle, and the probability that the problems of overcurrent, vibration and the like occur to the yaw motor is wholly lower than the soft starter. When the yawing process is stopped, the rotating speed of the yawing motor is reduced to 0rpm, the output frequency of the frequency converter is 0Hz, the output voltage is 0V, and the yawing motor loses the power supply.
In the prior art, after yawing is finished, two measures are used for providing braking torque for a nacelle together so as to maintain the current yawing angle of the nacelle and prevent the nacelle from generating angle deviation under the action of external wind force. Firstly, the hydraulic pressure of the hydraulic braking system is lifted to a full pressure state from a half pressure state during the yaw, so that the hydraulic damping torque provided by the hydraulic braking system is maximized; and secondly, a 220V alternating current braking power supply is applied to a band-type brake of the yaw motor, and a motor rotating shaft is locked by the band-type brake torque provided by the band-type brake of the yaw motor to prevent the motor rotating shaft from rotating. However, the band-type brake of the yaw motor can only provide sufficient braking torque when the motor is in a static state, the motor can rotate once the torque applied from the outside of the motor exceeds the maximum static braking torque of the motor brake, and the braking torque provided by the motor brake can greatly reduce the loss of braking effect once the motor rotates, and the motor brake is abraded. With the increase of the time for putting the fan into operation, the times and time for the yaw motor to wear the brake under strong wind must be gradually accumulated, and finally the brake of the yaw motor is scrapped. Therefore, on-site maintenance personnel of the wind turbine must regularly inspect, repair and replace the yaw motor brake, thereby increasing the operation and maintenance cost and time of the wind turbine.
Disclosure of Invention
The invention aims to provide a yaw brake control method to solve the problem that a motor brake is easily worn by wind power yaw brake in the prior art.
Meanwhile, the invention also aims to provide a yaw brake system and a wind driven generator which can be used for implementing the method.
In order to solve the problems, the yaw brake control method adopts the following technical scheme: the yaw brake control method comprises the steps of establishing rotating speed closed-loop regulation between a yaw motor and a yaw motor controller, and braking wind power yaw through the reverse torque of the yaw motor.
Has the advantages that: according to the method, rotating speed closed-loop regulation is established between the yaw motor and the yaw motor controller, and the wind power yaw is braked by using the reverse torque of the yaw motor, so that after the yaw motion of the wind turbine generator stops, as the yaw motor brake is continuously kept in an open state instead of a closed state (the open state of the brake corresponds to the working state that the yaw motor brake does not work and does not exert a braking effect on a motor rotating shaft of the yaw motor, and the closed state of the brake corresponds to the working state of the yaw motor brake and exerts a braking effect on the motor rotating shaft of the yaw motor), even if the cabin is pushed by external wind to generate displacement, the cabin is not abraded on a band-type brake of the yaw motor.
Furthermore, after the wind power yaw is finished, a motor brake carried by the yaw motor is in a normally open state, and when the rotating speed closed loop between the yaw motor and the yaw motor controller is in fault adjustment, the wind power yaw is prevented through the motor brake. The motor brake of the yaw motor is in a normally open state, and the yaw motor is only used as a standby brake, so that the problem of abrasion of the motor brake is further avoided.
Further, the yaw motor controller controls all the yaw motors only according to the rotation states of part of the yaw motors. Because the types and the rotation states of all yaw motors are consistent on wind power, the control precision can be ensured by controlling all the yaw motors according to the rotation states of part of the yaw motors, and meanwhile, the cost is also reduced by only configuring the rotation speed feedback for part of the yaw motors.
Still further, the yaw motor controller is a servo drive. The servo driver is used as a mature motor controller, is reliable to use and is easy to obtain in the market.
The yaw brake system adopts the following technical scheme: the yaw brake system comprises a yaw motor and a yaw motor controller, wherein the yaw motor is connected with the yaw motor controller in a closed-loop control mode, and the yaw motor controller can control the yaw motor to provide reactive torque to brake wind power to yaw.
Has the advantages that: according to the system, rotating speed closed-loop regulation is established between the yaw motor and the yaw motor controller, and the wind power yaw is braked by using the reverse torque of the yaw motor, so that after the yaw movement of the wind turbine generator is stopped, as the yaw motor brake is continuously kept in an open state instead of a closed state (the open state of the brake corresponds to the non-work state of the yaw motor brake and does not produce a braking action on a motor rotating shaft of the yaw motor, and the closed state of the brake corresponds to the work state of the yaw motor brake and produces a braking action on the motor rotating shaft of the yaw motor), even if a cabin is pushed by external wind to produce displacement, the cabin is not abraded on a band-type brake of the yaw motor.
Still further, the yaw motor is provided with a motor brake, which is a normally open brake. The motor brake of the yaw motor is in a normally open state, and can be only used for parking brake after yaw is finished, or the motor brake can be used as a backup brake, so that the problem of abrasion of the motor brake is further avoided.
Further, the motor brake forms a back-up yaw brake with respect to the motor. On the one hand, the overall reliability of the yaw brake system can be improved, and on the other hand, the problem of abrasion of a motor brake can be further avoided.
Still further, a rotational speed feedback path is provided only between part of the yaw motors and the yaw motor controller. Because the models and the rotating states of all the yaw motors are consistent in wind power, the control precision can be ensured by controlling all the yaw motors according to the rotating states of part of the yaw motors, and meanwhile, the rotating speed feedback is only configured for part of the yaw motors, so that the cost is also reduced.
Further, the yaw motor controller is a servo driver. The servo driver is used as a mature motor controller, is reliable to use and is easy to obtain in the market.
The wind driven generator adopts the following technical scheme: the wind driven generator comprises a yaw braking system, the system comprises a yaw motor and a yaw motor controller, the yaw motor is connected with the yaw motor controller in a closed-loop control mode, and the yaw motor can be controlled by the yaw motor controller to provide a reaction torque so as to brake the wind power to yaw.
Has the advantages that: in the wind driven generator, the yaw brake system carries out closed-loop regulation on the rotating speed between the yaw motor and the yaw motor controller, and the wind power yaw is braked by using the reverse torque of the yaw motor, so that after the yaw motion of the wind turbine generator is stopped, as the yaw motor brake is continuously kept in an open state instead of a closed state (the open state of the brake corresponds to the working state that the yaw motor brake does not work and does not produce a braking action on a motor rotating shaft of the yaw motor, and the closed state of the brake corresponds to the working state of the yaw motor brake and produces the braking action on the motor rotating shaft of the yaw motor), even if a cabin is pushed by external wind to produce displacement, the band-type brake of the yaw motor is not abraded.
Still further, the yaw motor is provided with a motor brake, which is a normally open brake. The motor brake of the yaw motor is in a normally open state, and can be only used for parking brake after yaw is finished, or the motor brake can be used as a backup brake, so that the problem of abrasion of the motor brake is further avoided.
Further, the motor brake forms a back-up yaw brake with respect to the motor. On the one hand, the overall reliability of the yaw brake system can be improved, and on the other hand, the problem of abrasion of a motor brake can be further avoided.
Still further, a rotational speed feedback path is provided only between part of the yaw motors and the yaw motor controller. Because the types and the rotation states of all yaw motors are consistent on wind power, the control precision can be ensured by controlling all the yaw motors according to the rotation states of part of the yaw motors, and meanwhile, the cost is also reduced by only configuring the rotation speed feedback for part of the yaw motors.
Still further, the yaw motor controller is a servo drive. The servo driver is used as a mature motor controller, is reliable to use and is easy to obtain in the market.
Drawings
FIG. 1 is a flow chart of an embodiment of a yaw brake control method of the present invention.
Detailed Description
The features and properties of the present invention are described in further detail below with reference to examples.
Embodiment 1 of the wind power yaw brake control method of the present invention:
the wind power yaw brake is realized by establishing rotating speed closed-loop regulation between the yaw motor and the yaw motor controller and through the reverse torque of the yaw motor. And after the wind power yaw ends, a motor brake carried by the yaw motor is in a normally open state, and when the rotating speed closed loop between the yaw motor and the yaw motor controller is adjusted to have a fault, the wind power yaw is prevented through the motor brake. The yaw motor controller may control all of the yaw motors based on the rotational state of only a portion (e.g., one) of the yaw motors.
Specifically, as shown in fig. 1, compared with the existing wind power yaw braking system, the wind power yaw braking system used in the method adopts a servo driver, the servo driver acquires its own U, V, W three-phase output current through a current sensor, accurately acquires the current actual rotating speed of one of the yaw motors (the current actual rotating speeds of all the yaw motors are the same) through a resolver signal (a resolver output signal), and drives the yaw motors to operate by using an asynchronous motor vector control algorithm. Under the control action of the vector control algorithm, when the actual rotating speed of the yaw motor is collected by the servo driver and is inconsistent with the instruction rotating speed (the instruction rotating speed can be non-zero rotating speed or zero rotating speed), the servo driver can quickly regulate and control the output current of the servo driver, so that the magnitude and the direction of the output torque of the yaw motor are regulated and controlled, and the yaw motor reaches the instruction rotating speed again. The principle of the scheme for reducing the abrasion of the yaw motor brake is as follows.
After yawing is finished, the main control system issues a zero rotating speed instruction to the yawing servo driver, and after the servo driver receives the zero rotating speed instruction, the servo driver can regulate and control the electromagnetic torque of the yawing motor in real time to resist the external applied torque, so that the rotating speed of the yawing motor is kept in a relatively static state at all times. Specifically, when the nacelle performs yawing movement and is maintained in a stationary state, if the nacelle is pushed by external wind force to change the yawing angle of the nacelle, relative movement between the yaw motor reducer and the large yawing ring gear is caused, and the yaw motor is dragged accordingly. After the servo driver acquires the rotating speed and the direction of the yaw motor through the rotation change signal, the output electromagnetic torque of the pitch motor can be immediately regulated and controlled by means of a vector control algorithm so as to counterbalance the external torque applied to the rotating shaft of the yaw motor (the torque transmitted to the rotating shaft of the yaw motor by the wind load), and therefore the effect of immediately braking and stopping the yaw motor is achieved. After the yaw motor is braked and stopped, the relative motion between the yaw motor reducer and the yaw large gear ring is immediately stopped, and the engine room stops moving accordingly.
It can be seen that after yaw shutdown, the electromagnetic braking torque output by the yaw motor rotating shaft can be used to replace the braking torque output by the yaw motor band-type brake, and the yaw motor brake can be in an open state (i.e. a non-band-type brake state). When the yaw stops, even if the engine room is pushed by external wind power to generate displacement, the brake of the yaw motor is in an open state, and the rotating shaft of the yaw motor outputs electromagnetic braking torque to replace the braking torque of the brake of the motor, so that the abrasion of the brake of the yaw motor is effectively avoided. The main control system of the fan can control the closing of the brake of the yaw motor only when the servo driver fails and the yaw motor cannot be regulated to normally output electromagnetic torque, so that the total operation time of the brake of the yaw motor in the whole life cycle of the yaw motor is greatly reduced, and the degree of abrasion of the brake of the yaw motor in unit time (such as one year) is greatly reduced.
By adopting the method, after the yawing motion of the wind turbine generator is stopped, because the yawing motor brake is continuously kept in the opening state instead of the closing state (the opening state of the brake corresponds to the working state that the yawing motor brake does not work and does not generate the braking action on the motor rotating shaft, and the closing state of the brake corresponds to the working state that the yawing motor brake works and generates the braking action on the motor rotating shaft), even if the engine room is pushed by external wind to generate displacement, the abrasion effect on the band-type brake of the yawing motor can not be generated. And the servo driver adopting vector control can control the yaw motor to operate at a more stable rotating speed, and the vibration of the cabin in the yaw movement process is reduced. The servo control effect of the vector control algorithm on the yaw motor can reach the optimal state by reasonably adjusting parameters such as a current loop, a rotating speed loop and the like of the servo driver vector control algorithm, and after a main control system issues a rotating speed instruction to the yaw servo driver, compared with the prior simple frequency conversion control, the overshoot ratio of the rotating speed of the yaw motor is lower, the response speed is higher, the control effect is more stable and reliable, the motor speed is out of control, and the probability of various abnormal phenomena such as motor overcurrent and the like can be greatly reduced.
In other embodiments of the wind power yaw brake control method of the present invention, a rotational speed closed-loop control connection may also be established only between a portion of the yaw motors and the yaw motor controller. Or rotating speed feedback is established between the yaw motors and the yaw motor controller, and the yaw motor controller controls all the yaw motors according to the received rotating speed feedback signals.
Embodiments of the yaw brake system of the present invention:
the yaw brake system comprises a yaw motor and a yaw motor controller, wherein the yaw motor is connected with the yaw motor controller in a closed-loop control mode, and the yaw motor controller can control the yaw motor to provide reactive torque to brake wind power to yaw. The yaw motor is provided with a motor brake, which is a normally open brake and forms a back-up yaw brake relative to the motor. In this embodiment, a rotational speed feedback path is provided only between a part (one) of the yaw motors and the yaw motor controller, which employs a servo driver.
An embodiment of the wind power generator of the invention:
the wind power generator is innovative by adopting the yaw brake system of the invention, and the details are not repeated here.
Claims (10)
1. The yaw brake control method is characterized in that rotating speed closed-loop regulation is established between a yaw motor and a yaw motor controller, and wind power yaw brake is carried out through reverse torque of the yaw motor.
2. The yaw brake control method according to claim 1, wherein after the wind power yaw is finished, a motor brake attached to the yaw motor is in a normally open state, and when the closed-loop regulation of the rotating speed between the yaw motor and the yaw motor controller fails, the wind power yaw is prevented through the motor brake.
3. The yaw brake control method of claim 1 or 2, wherein the yaw motor controller controls all the yaw motors according to only a rotation state of a part of the yaw motors.
4. The yaw brake control method of claim 1 or 2, wherein the yaw motor controller is a servo drive.
5. The yaw brake system comprises a yaw motor and a yaw motor controller, and is characterized in that the yaw motor is connected with the yaw motor controller in a closed-loop control mode, and the yaw motor controller can control the yaw motor to provide reactive torque to brake wind power to yaw.
6. The yaw brake system of claim 5, wherein the yaw motor is configured with a motor brake that is a normally open brake.
7. The yaw brake system of claim 6, wherein the motor brake forms a back-up yaw brake with respect to the motor.
8. The yaw brake system of claim 5, 6 or 7, wherein a rotational speed feedback path is provided only between a part of the yaw motors and the yaw motor controller.
9. The yaw brake system of claim 5, 6 or 7, wherein the yaw motor controller is a servo drive.
10. A wind power generator, characterized in that it comprises a yaw brake system according to any of claims 5-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211512826.7A CN115822872A (en) | 2022-11-28 | 2022-11-28 | Yaw brake control method, yaw brake system and wind driven generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211512826.7A CN115822872A (en) | 2022-11-28 | 2022-11-28 | Yaw brake control method, yaw brake system and wind driven generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115822872A true CN115822872A (en) | 2023-03-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211512826.7A Pending CN115822872A (en) | 2022-11-28 | 2022-11-28 | Yaw brake control method, yaw brake system and wind driven generator |
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|---|---|
| CN (1) | CN115822872A (en) |
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2022
- 2022-11-28 CN CN202211512826.7A patent/CN115822872A/en active Pending
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