CN115853709A - Wind power yaw driving control system, control method and wind driven generator - Google Patents
Wind power yaw driving control system, control method and wind driven generator Download PDFInfo
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Abstract
The invention relates to the field of wind power generation equipment, in particular to a wind power yaw driving control system, a control method and a wind driven generator. The wind power yaw driving control method includes the steps that wind power yaw speed is obtained through calculation according to the rotating speed of a yaw motor, the wind power yaw process is controlled according to the obtained wind power yaw speed, when the wind power yaw speed is larger than a first set value, yaw is stopped, the yaw is restarted after a set time interval, and if the yaw is not successful after the yaw is restarted at least once, a wind power unit is stopped; when the wind power yaw speed is greater than the safety threshold value, the wind power generator set is directly stopped; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value. The method can accurately control the wind power yaw process, can be realized by only setting corresponding threshold values in the whole process, and has extremely simple realization mode, thereby solving the problem that the existing wind power yaw drive control method has complex control on the wind power yaw drive.
Description
Technical Field
The invention relates to the field of wind power generation equipment, in particular to a wind power yaw driving control system, a control method and a wind driven generator.
Background
The yaw system is an important component for promoting the wind driven generator to fully exert the generating efficiency, and mainly comprises a main control PLC module, a yaw frequency converter, a yaw motor, a yaw speed reducer, a yaw gear ring, a yaw sensor (a cam counter) and other components. In the prior art, the yaw drive control usually adopts V/F open loop control to adjust the yaw speed. A yaw sensor (cam counter) is used to detect and calculate the yaw rate (nacelle rotation speed) to adjust the rotational speed of the yaw motor, thereby controlling the yaw rate. The calculated deviation of the rotating speed of the engine room is large due to the transmission ratio of the yaw gear ring and the pulse counting. When yaw control is started or stopped under the condition of strong wind, faults such as overcurrent of a yaw system, violent vibration of a cabin, damage of devices and the like can be caused due to inaccurate calculation of the yaw speed of the cabin, and then the shutdown is caused, so that the generating capacity of the unit is reduced, and even fatigue load of the unit is increased or the performance is reduced in serious conditions, so that the service life of the unit is influenced.
The yaw control method and system patent application scheme of the wind driven generator disclosed in the Chinese patent specification with the right announcement number of CN102011698B and the authorization announcement date of 2013, 9 and 4 are as follows: according to the change of the wind speed or the output power of the wind driven generator, the rotating speed of the yaw motor is correspondingly adjusted, so that when the wind speed is higher, the operating speed is lower, and when the wind speed is lower, the operating speed is higher, and therefore on the premise that the wind direction tracking of the yaw motor is not influenced, the impact and the vibration generated in the yaw process are effectively reduced.
And the method, the equipment and the system patent application scheme for yaw control of the wind generating set disclosed in the Chinese patent specification with the publication number of CN109960144B and the publication date of 2022, 6 months and 28 days adopt the following technical scheme: by obtaining the corresponding relation between the wind direction characteristic value and the corresponding optimal yaw control parameter, the wind generating set can be controlled to yaw by using the corresponding optimal yaw control parameter under different wind conditions, so that the accuracy of wind yaw of the wind generating set is improved, and the generating efficiency of the wind generating set is improved.
According to the scheme for reducing the vibration of the unit and improving the yaw accuracy, the shutdown caused by the violent vibration of the unit can be avoided, but the scheme in the document CN102011698B needs to distinguish different wind speed areas and output power intervals. The solution disclosed in CN109960144B requires acquiring multiple sets of yaw control parameters and establishing a yaw control knowledge base. Both of which are relatively complex to implement.
Disclosure of Invention
The invention aims to provide a wind power yaw driving control method to solve the problem that in the prior art, wind power yaw driving control is complex.
Meanwhile, the invention also aims to provide a wind power yaw driving control system and a wind power generator which can be used for implementing the method.
In order to solve the problems, the wind power yaw driving control method adopts the following technical scheme: the wind power yaw driving control method comprises the steps of calculating and obtaining wind power yaw speed according to the rotating speed of a yaw motor, controlling a wind power yaw process according to the obtained wind power yaw speed, stopping yaw when the wind power yaw speed is larger than a first set value, restarting the yaw after a set time interval, and stopping a wind power generator set if the yaw fails after at least one restart; when the wind power yaw speed is greater than the safety threshold value, the wind power generator set is directly stopped; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value.
Has the advantages that: according to the method, the existing method is improved, the wind power yaw process is controlled according to the rotating speed of the yaw motor, and the rotating speed of the yaw motor can reflect the real yaw speed of the wind power most accurately, so that the wind power yaw process can be accurately controlled, the whole process can be realized only by setting a corresponding threshold value, the implementation mode is extremely simple, and the problem that the existing wind power yaw driving control method is complex in control of the wind power yaw driving is solved.
Further, the rotating speed of the yaw motor is obtained through a speed measuring device configured for part of the yaw motors. Because the rotating speeds of all yaw motors (generally a plurality of yaw motors) in the wind power are the same, the wind power yaw speed can be truly reflected only by acquiring the rotating speed of part (at least one) of the yaw motors, the data processing amount can be reduced only by acquiring the rotating speeds of part of the yaw motors, and the acquisition of the rotating speeds of the yaw motors can be realized at lower cost.
Further, in one yawing process, the yawing restarting times are not more than two. In the process of once yawing, when yawing can not be completed after twice yawing restarting, the condition that yawing operation is not suitable for being carried out under the current condition can be basically proved, the restarting times are set to be not more than two times, wind power can be fully protected, and wind power damage caused by repeated restarting under unsuitable conditions can be avoided.
And further, when the yaw is stopped, the fan yaw gear ring is locked through a hydraulic system. When the yaw is stopped, the yaw gear ring is locked through the hydraulic system, and the effect of fully protecting the wind power can be achieved.
The wind power yaw driving control system adopts the following technical scheme: the wind power yaw driving control system comprises a yaw motor and a yaw controller, wherein the yaw motor is provided with a rotating speed acquisition device, the rotating speed acquisition device is connected with the yaw controller, when the rotating speed acquisition device acquires that the wind power yaw speed is greater than a first set value, the yaw controller controls wind power to stop yawing and restart yawing after a set time interval, and after at least one time of restarting, if the yawing fails, the wind power generator is controlled to stop; when the rotating speed acquisition device acquires that the wind power yaw speed is greater than the safety threshold value, the yaw controller directly stops the wind turbine; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value.
Has the advantages that: according to the system, the prior art is improved, the rotating speed of the yaw motor is acquired through the rotating speed acquisition device, the wind power yaw process is controlled according to the rotating speed of the yaw motor, the rotating speed of the yaw motor can reflect the real yaw speed of wind power most accurately, the wind power yaw process can be accurately controlled, the whole process can be realized only by setting a corresponding threshold value, the implementation mode is extremely simple, and the problem that the existing wind power yaw driving control method is complex in control of wind power yaw driving is solved.
Furthermore, the rotating speed acquisition device is only arranged on part of the yaw motors. Because the rotating speeds of all yaw motors (generally a plurality of yaw motors) in the wind power are the same, the wind power yaw speed can be truly reflected only by acquiring the rotating speed of part (at least one) of the yaw motors, the data processing amount can be reduced only by acquiring the rotating speeds of part of the yaw motors, and the acquisition of the rotating speeds of the yaw motors can be realized at lower cost.
Furthermore, the rotating speed acquisition device is a rotary transformer. The rotary transformer is used as a mature rotating speed acquisition device, and has the advantages of high reliability and easiness in obtaining.
Further, the number of yaw restarts is not more than two during one yaw. In the process of one yaw, when the yaw restarting is carried out twice and the yaw still cannot be finished, the current condition is basically not suitable for yaw operation, the restarting frequency is set to be not more than two times, the wind power can be fully protected, and the wind power damage caused by repeated restarting under the unsuitable condition is avoided.
Furthermore, when the yaw controller controls the wind power to stop yaw, the yaw gear ring of the fan is locked through the hydraulic system. When the yaw is stopped, the yaw gear ring is locked through the hydraulic system, and the effect of fully protecting the wind power can be achieved.
The wind driven generator adopts the following technical scheme: the wind driven generator is characterized by comprising a wind power yaw control system, wherein the system comprises a yaw motor and a yaw controller, the yaw motor is provided with a rotating speed acquisition device, the rotating speed acquisition device is connected with the yaw controller, when the rotating speed acquisition device acquires that the wind power yaw speed is greater than a first set value, the yaw controller controls the wind power to stop yawing and restart yawing after a set time interval, and if the yawing fails after restarting at least once, the wind power generator is controlled to stop; when the rotating speed acquisition device acquires that the wind power yaw speed is greater than the safety threshold value, the yaw controller directly stops the wind turbine; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value.
Has the advantages that: in the wind driven generator, the prior art is improved, the wind power yaw control system acquires the rotating speed of the yaw motor through the rotating speed acquisition device and controls the wind power yaw process according to the rotating speed of the yaw motor, and the rotating speed of the yaw motor can most accurately reflect the real yaw speed of wind power, so that the wind power yaw process can be accurately controlled, the whole process can be realized only by setting a corresponding threshold value, the realization mode is extremely simple, and the problem that the existing wind power yaw driving control method is complex in controlling wind power yaw driving is solved.
Furthermore, the rotating speed acquisition device is only arranged on part of the yaw motors. Because the rotating speeds of all yaw motors (generally a plurality of yaw motors) in the wind power are the same, the wind power yaw speed can be truly reflected only by acquiring the rotating speed of part (at least one) of the yaw motors, the data processing amount can be reduced only by acquiring the rotating speeds of part of the yaw motors, and the acquisition of the rotating speeds of the yaw motors can be realized at lower cost.
Furthermore, the rotating speed acquisition device is a rotary transformer. The rotary transformer is used as a mature rotating speed acquisition device, and has the advantages of high reliability and easiness in obtaining.
Further, the number of times of yaw restart is not more than two during one yaw. In the process of one yaw, when the yaw restarting is carried out twice and the yaw still cannot be finished, the current condition is basically not suitable for yaw operation, the restarting frequency is set to be not more than two times, the wind power can be fully protected, and the wind power damage caused by repeated restarting under the unsuitable condition is avoided.
Furthermore, when the yaw controller controls the wind power to stop yaw, the yaw gear ring of the fan is locked through the hydraulic system. When the yaw is stopped, the yaw gear ring is locked through the hydraulic system, and the effect of fully protecting the wind power can be achieved.
Drawings
FIG. 1 is a schematic diagram illustrating the components of an embodiment of a wind power yaw drive control system according to the present invention;
FIG. 2 is a flowchart illustrating the wind power yaw drive control system of FIG. 1 controlling yaw activation;
FIG. 3 is a flowchart of the wind power yaw drive control system of FIG. 1 controlling yaw shutdown.
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 drive control method of the present invention:
the method comprises the steps of calculating and obtaining wind power yaw speed according to the rotating speed of a yaw motor, controlling the wind power yaw process according to the obtained wind power yaw speed, stopping yaw and restarting the yaw after a set time interval when the wind power yaw speed is larger than a first set value, and stopping the wind power generator if the yaw fails after the wind power yaw is restarted at least once; when the wind power yaw speed is greater than the safety threshold value, the wind power generator set is directly stopped; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value. In the embodiment, only the rotating speed of one yaw motor is collected, and in other embodiments, more or all of the rotating speeds of the yaw motors can be collected; in the embodiment, the first set value is 0.32 °/s, and the safety threshold value is 0.45 °/s, and in other embodiments, the first set value and the safety threshold value can be set by workers according to actual requirements; in this embodiment, during one yaw, the yaw is restarted only twice, and in other embodiments, the number of times of restarting may be only once, or three times or more, but is preferably two times.
Embodiment 1 of the wind power yaw drive control system of the present invention:
the yaw system is used as an important component of the wind generating set and mainly comprises a main control PLC module, a yaw frequency converter, a yaw motor, a yaw speed reducer, a yaw gear ring, a hydraulic system and the like. The function of the device is to realize the wind and cable untwisting of the unit and is used for guaranteeing the operation of the unit.
The following describes an application of a yaw system to which the 3.xmw unit is applied.
The wind power yaw driving control system is shown in figure 1 and comprises a master control PLC module, a wind speed and direction sensor, a yaw frequency converter, a yaw motor, a yaw speed reducer, a yaw gear ring and a hydraulic system. The main control PLC module receives wind speed and direction information through the RS485 communication line, when the wind speed and the wind direction meet yaw conditions, the main control system sends a yaw control starting command and a yaw speed command through CAN communication, after the yaw frequency converter receives the yaw command, the yaw motor is controlled to accelerate according to set acceleration, and the yaw motor drives the yaw reduction box to drive the gear ring of the cabin to operate. Similarly, when the wind speed and the wind direction meet the yaw stopping condition, the main control system issues a yaw stopping control command and a zero rotating speed command through CAN communication, and after the yaw frequency converter receives the yaw stopping command, the yaw motor is controlled to decelerate according to the set deceleration and acceleration until the yaw system stops.
The wind speed and wind direction sensor is used for collecting wind speed and wind direction information in real time;
the main control PLC module controls a hydraulic system, receives wind speed and direction information through an RS485 communication line and calculates whether the wind speed and the wind direction yaw at the same time, and communicates with a yaw frequency converter through CAN communication to issue a control command, a rotating speed and receive the state uploaded by the yaw frequency converter;
the yaw frequency converter performs information interaction with a master control PLC (programmable logic controller), acquires the rotating speed of the motor and controls the operation of the yaw motor;
the yaw frequency converter acquires the motor speed through signal calculation of a rotary transformer of the yaw motor.
As shown in fig. 2, when the wind speed and the wind direction meet the requirement of yaw starting, the main control system firstly releases the hydraulic system, detects whether the hydraulic pressure is in the range of 24bar and 35bar, and if the pressure meets the requirement, sends a yaw starting control instruction (the yaw frequency converter immediately opens a motor brake after receiving the instruction) and a rotating speed instruction (the yaw driver executes the speed instruction sent by the main control after detecting that the brake feedback is normal) to the yaw frequency converter; otherwise, if the pressure does not meet the requirement, the unit reports a fault and stops the machine.
When the wind speed and the wind direction meet the requirement of starting yaw, a main controller issues a zero rotating speed instruction to a yaw frequency converter, the time is delayed for 2.5s (the time can be adjusted according to the ratio of yaw speed to deceleration and acceleration), then a hydraulic braking system is put into the yaw frequency converter, when hydraulic braking is put into the yaw frequency converter, timing is carried out for 7s and 7s, and if the hydraulic pressure is smaller than 145bar or larger than 180bar, a fan reports a fault to stop the yaw frequency converter, and at the moment, an enable command is issued to the yaw frequency converter, and a motor is put into the yaw frequency converter to brake; otherwise, the yaw frequency converter keeps the enabling state to generate braking torque without being put into the motor for braking.
The fault shutdown control logic:
(1) When the yaw speed is detected to be greater than 0.32 degree/s (or the yaw driver reports faults) during yaw, the PLC immediately switches to the full-pressure state and issues a yaw zero-rotation-speed instruction, and the yaw is finished. Starting yaw again after 20s, and if the yaw wind alignment of the current wheel still cannot be finished for 3 times continuously, reporting yaw fault to shut down the unit;
(2) When the yaw speed is detected to be greater than 0.45 degrees/s during yaw, the unit reports yaw overspeed and stops the aircraft.
In embodiment 1 of the wind power yaw drive control system of the present invention, only one yaw motor is configured with a rotational speed acquisition device, and in other embodiments of the wind power yaw drive control system of the present invention, more or all yaw motors may also be configured with rotational speed acquisition devices to acquire the rotational speeds of more or all yaw motors; in embodiment 1 of the wind power yaw drive control system of the present invention, the first set value is 0.32 °/s, and the safety threshold is 0.45 °/s, and in other embodiments, the first set value and the safety threshold may be set by a worker according to actual requirements; in this embodiment, during one yaw, the yaw is restarted only twice, and in other embodiments, the number of times of restarting may be only once, or three times or more, but is preferably two times.
An embodiment of the wind power generator of the invention:
the wind driven generator is innovative in that the wind power yaw driving control system is adopted, and details are not repeated here.
Claims (10)
1. The wind power yaw driving control method is characterized in that wind power yaw speed is obtained through calculation according to the rotating speed of a yaw motor, the wind power yaw process is controlled according to the obtained wind power yaw speed, when the wind power yaw speed is larger than a first set value, yaw is stopped, the yaw is restarted after a set time interval, and if the yaw fails after at least one restart, the wind power generator set is stopped; when the wind power yaw speed is greater than the safety threshold value, the wind power generator set is directly stopped; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value.
2. The wind power yaw drive control method according to claim 1, wherein the rotation speed of the yaw motor is obtained by a speed measuring device configured for a part of the yaw motors.
3. The wind power yaw drive control method according to claim 1 or 2, characterized in that in one yaw process, the number of yaw restarts is not more than two.
4. The wind power yaw drive control method according to claim 1 or 2, characterized in that when yaw stops, the fan yaw gear ring is locked through a hydraulic system.
5. The wind power yaw driving control system comprises a yaw motor and a yaw controller, and is characterized in that the yaw motor is provided with a rotating speed acquisition device, the rotating speed acquisition device is connected with the yaw controller, when the rotating speed acquisition device acquires that the wind power yaw speed is greater than a first set value, the yaw controller controls wind power to stop yawing and restart yawing after a set time interval, and after at least one restarting, if the yawing fails, the wind power generator is controlled to stop; when the rotating speed acquisition device acquires that the wind power yaw speed is greater than the safety threshold, the yaw controller directly stops the wind turbine; the first set value is larger than the maximum value of the wind power normal yaw allowable speed and smaller than the safety threshold value.
6. The wind power yaw drive control system of claim 5, wherein the rotational speed acquisition devices are configured on only a portion of yaw motors.
7. The wind power yaw drive control system of claim 5 or 6, wherein the rotational speed acquisition device is a rotary transformer.
8. The wind power yaw drive control system of claim 5 or 6, characterized in that the number of yaw restarts is not more than two during one yaw.
9. The wind power yaw drive control system according to claim 5 or 6, wherein the yaw controller locks the fan yaw gear ring through a hydraulic system when controlling the wind power to stop yaw.
10. Wind power generator characterized in that it comprises a wind power yaw control system according to any of claims 5-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506510.7A CN115853709A (en) | 2022-11-28 | 2022-11-28 | Wind power yaw driving control system, control method and wind driven generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506510.7A CN115853709A (en) | 2022-11-28 | 2022-11-28 | Wind power yaw driving control system, control method and wind driven generator |
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| Publication Number | Publication Date |
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| CN115853709A true CN115853709A (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211506510.7A Pending CN115853709A (en) | 2022-11-28 | 2022-11-28 | Wind power yaw driving control system, control method and wind driven generator |
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| CN (1) | CN115853709A (en) |
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- 2022-11-28 CN CN202211506510.7A patent/CN115853709A/en active Pending
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