CN115977873A - Yaw control method and system of wind generating set and wind generating set - Google Patents

Abstract

The application provides a yaw control method and system of a wind generating set and the wind generating set. The wind generating set comprises a wind wheel and a generator, and the direction of torque generated by the generator is consistent with the yaw direction of the wind generating set. The yaw control method of the wind generating set comprises the following steps: acquiring a current engine room angle and a current wind direction angle of incoming wind of a wind generating set; when the angle of the engine room exceeds a preset threshold value of a wind direction angle, judging that the wind generating set needs to yaw; determining a yaw angle required by a wind generating set; controlling an imbalance between a rotor torque produced by the rotor and a generator torque produced by the generator based on the desired yaw angle; and controlling unlocking a yaw mechanical brake in the wind turbine generator system to execute yaw of the wind turbine generator system through imbalance between the wind wheel torque and the generator torque. Thereby saving a yaw driving motor and greatly reducing the cost.

Description

Yaw control method and system of wind generating set and wind generating set

Technical Field

The embodiment of the application relates to the technical field of wind power generation, in particular to a yaw control method and system of a wind generating set and the wind generating set.

Background

With the gradual depletion of energy sources such as coal and petroleum, human beings increasingly pay more attention to the utilization of renewable energy sources. Wind energy is increasingly gaining attention as a clean renewable energy source in all countries of the world. With the continuous development of wind power technology, the application of wind generating sets in power systems is increasing day by day. Wind generating sets are large-scale devices that convert wind energy into electrical energy, and are usually installed in areas with abundant wind energy resources.

The wind generating set comprises a yaw system. The driftage system is to wind device promptly, installs in wind generating set's cabin upper portion, and its effect lies in: when the direction of the wind speed changes, the wind direction can be quickly and smoothly aligned, so that the wind wheel can obtain the maximum wind energy. After the wind is aligned, necessary locking torque is provided to ensure that the wind generating set can safely and stably operate after the wind alignment action is completed. Existing yaw systems basically drive the yaw by means of yaw drive motors. However, the cost of the yaw drive motor is expensive.

Disclosure of Invention

An object of the embodiment of the application is to provide a yaw control method and system for a wind generating set and the wind generating set, which can realize the yaw of the wind generating set without an independent yaw driving motor.

An aspect of an embodiment of the present application provides a yaw control method of a wind turbine generator system, wherein the wind turbine generator system includes a wind rotor and a generator, and a direction of torque generated by the generator coincides with a yaw direction of the wind turbine generator system. The yaw control method includes: acquiring a current engine room angle and a current wind direction angle of incoming wind of a wind generating set; when the nacelle angle exceeds the wind direction angle preset threshold value, judging that the wind generating set needs to yaw; determining a required yaw angle of the wind generating set; controlling an imbalance between a rotor torque produced by the rotor and a generator torque produced by the generator based on the desired yaw angle; and controlling unlocking the wind generating set

To perform yaw of the wind park by means of the imbalance between the rotor torque and the generator torque 5.

Another aspect of an embodiment of the present application also provides a yaw control system of a wind turbine generator system, which includes one or more processors for implementing the yaw control method of a wind turbine generator system as described above.

Still another aspect of the embodiments of the present application provides a wind turbine generator system. The wind generating set comprises the yaw control system of the wind generating set.

0 yaw control method and system for a wind generating set and a wind generating set according to one or more embodiments of the present application set the torque generated by the generator to be consistent with the yaw direction of the wind generating set, so that the imbalance between the wind wheel torque generated by the wind wheel and the generator torque generated by the generator can be utilized to push the cabin of the wind generating set to deflect, thereby achieving the yaw of the wind generating set, and therefore, a yaw driving motor can be omitted, and the cost can be greatly reduced.

Description of the drawings 5

Fig. 1 is a schematic perspective view of a wind turbine generator system according to an embodiment of the present application.

Fig. 2 is a schematic cross-sectional view of a wind turbine generator system according to an embodiment of the present application.

Fig. 3 is a top view of the wind turbine shown in fig. 2.

FIG. 4 is a flowchart of a yaw control method of a wind turbine generator system according to an embodiment of the present application.

FIG. 5 shows specific steps for controlling and adjusting generator torque and/or rotor torque to generate yaw torque of a wind turbine generator set based on an imbalance torque difference according to an embodiment of the present application.

FIG. 6 is a block diagram of another embodiment of the present application for controlling the modulation of generator torque and +based on an imbalance torque differential

Or rotor torque to generate yaw torque of the wind turbine.

FIG. 7 is a schematic block diagram of a yaw control system of a wind park according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used in the embodiments of the present application should have the ordinary meaning as understood by those having ordinary skill in the art to which the present application belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "a number" means two or more. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The embodiment of the application provides a wind generating set 100. Fig. 1 discloses a perspective view of a wind park 100 according to an embodiment of the present application. As shown in FIG. 1, wind turbine generator system 100 includes a rotor 110, a nacelle 120, and a tower 130. The wind rotor 110 has a plurality of blades, for example, typically three blades. A nacelle 120 is mounted on top of a tower 130, and a wind turbine 110 is mounted at one end of the nacelle 120.

Fig. 2 discloses a schematic cross-sectional view of a wind park 100 according to an embodiment of the present application. As shown in fig. 2, the wind turbine generator system 100 of the embodiment of the present application further includes a generator 140 and a drive train 150. The generator 140 includes a rotor 141 and a stator, wherein the stator is formed by a portion of the tower 130. In some embodiments, the upper end of the tower 130 forms a stator, and the rotor 141 is rotatably mounted to the upper end of the tower 130. The axis of rotation of the generator 140 coincides with the central axis of the tower 130. The wind rotor 110 may be drivingly connected to the rotor 141 of the generator 140 by a drive train 150. The drive train 150 includes a main shaft 151 and a steering gear. The wind turbine 110 is mounted at one end of the main shaft 151, the rotation axis of the wind turbine 110 forms a certain angle with the central axis of the tower 130, and the steering transmission mechanism can be used to convert the rotation direction of the main shaft 151 to the rotation direction of the rotor 141 of the generator 140.

In some embodiments, the steering gear of the wind turbine generator system 100 of the present application may include a bevel gear pair 152 that intermeshes, wherein the direction of the rotor torque M2 generated by the rotor 110 may be changed to coincide with the direction of the generator torque M1 generated by the generator 140 by the bevel gear pair 152. The bevel gear may be, for example, a spiral bevel gear. The present application may shift the torque direction through the bevel gear pair 152. Bevel gears are commonly used for transmission between two shafts that intersect at an angle of about 90 degrees. In the embodiment of the present application, when the bevel gear pair 152 is applied to the wind turbine generator set 100, the direction of the rotor torque M2 generated by the rotor 110 can be converted to be consistent with the direction of the generator torque M1 generated by the generator 140. Moreover, bevel gears (particularly helical bevel gears) are highly efficient at transmitting torque and are able to accommodate drive train 150 deformation.

In some embodiments, bevel gear pair 152 is disposed between main shaft 151 and rotor 141 of generator 140. The bevel gear pair 152 may provide a certain gear ratio to match the rotational speed of the wind rotor 110 with the rotational speed of the rotor 141 of the generator 140. One of the bevel gear pairs 152 is engaged with the main shaft 151, for example, one of the bevel gear pairs 152 may be installed at the other end of the main shaft 151, and the other of the bevel gear pairs 152 is engaged with the rotation shaft of the rotor 141. Accordingly, the rotation direction of the main shaft 151 can be adjusted to match the rotation direction of the rotor 141 by the bevel gear pair 152.

When the wind wheel 110 rotates, the rotation of the wind wheel 110 may drive the main shaft 151 to rotate, and the rotation of the main shaft 151 may further drive the bevel gear pair 152 to rotate, so as to drive the rotor 141 of the generator 140 to rotate.

In other embodiments, when the bevel gear pair 152 cannot provide a high speed ratio to match the rotational speed of the rotor 110 and the rotational speed of the rotor 141 of the generator 140, the drive train 150 of the wind turbine generator system 100 of the present application may further include a gearbox (not shown) disposed between the main shaft 151 and the steering gear. For example, a gearbox is provided between the main shaft 151 and the bevel gear pair 152. The gear box is provided at the other end of the main shaft 151. One of the bevel gear pairs 152 is engaged with the output shaft of the gearbox and the other bevel gear pair 152 is engaged with the shaft of the rotor 141. In one embodiment, the gearbox is a step-up gearbox, thereby achieving the purpose of speed increase.

When the wind wheel 110 rotates, the rotation of the wind wheel 110 can drive the main shaft 151 to rotate, the rotation of the main shaft 151 further drives the gear box to rotate, and then drives the output shaft to rotate, and the rotation of the output shaft of the gear box further drives the bevel gear pair 152 to rotate, so that the rotor 141 of the generator 140 can be driven to rotate.

With continued reference to FIG. 2, drive train 150 includes a drive train carrier 154, and drive train carrier 154 is rotatably mounted to the top end of tower 130 via a yaw bearing 160. The drive chain 150 further includes a bearing housing 155 provided on the drive chain bracket 154, and a main bearing (not numbered) is provided in the bearing housing 155, and the main shaft 151 may be rotatably installed in the bearing housing 155 through the main bearing.

The wind turbine generator system 100 of the embodiment of the present application further includes a yaw mechanical brake. A yaw mechanical brake is disposed between drive chain bracket 154 and the top end of tower 130. The yaw mechanical brake may include, for example, a brake plate 171 disposed on one of the drive chain bracket 154 and the tower 130 and a yaw brake caliper 172 disposed on the other of the drive chain bracket 154 and the tower 130. Through the matching of the yaw brake caliper 172 and the brake plate 171, the yaw brake of the nacelle 120 of the wind generating set 100 can be locked or unlocked, and the yaw mechanical brake locking or unlocking function of the wind generating set 100 is realized.

The wind turbine generator system 100 of the embodiment of the present application further includes a pitch system (not shown) and a converter (not shown). The pitch system may be used to drive the pitch angle of the blades. The converter may be used to control the generator 140.

In the wind turbine generator set 100 according to the embodiment of the present application, since the torque M1 generated by the generator 140 coincides with the yaw direction of the wind turbine generator set 100, this characteristic can be applied to the yaw control of the wind turbine generator set 100. How this feature is applied to the yaw control process of the wind park 100 will be described in detail below with reference to fig. 3.

Fig. 3 discloses a top view of the wind park 100 shown in fig. 2. As shown in fig. 3, first, taking the windless situation as an example, assuming that the incoming wind direction changes from the solid arrow to the dashed arrow in fig. 3, then clockwise yaw is required. If generator 140 provides an additional torque, the additional torque provided by generator 140 will cause rotor 110 to turn if yaw brake caliper 172 is locked with brake plate 171. However, if the mechanical brake between the yaw brake caliper 172 and the brake plate 171 is released and the pitch angle of the blades can be adjusted by the pitch system to activate the pneumatic brake, i.e. to adjust the attitude of the blades so that the wind turbine 110 cannot rotate at this time, the extra torque provided by the generator 140 is released everywhere and only drives the yaw rotation so that the entire nacelle 120 rotates.

Thus, having understood the process of the no wind condition described above, consider adding wind. Continuing with FIG. 3, similarly, assuming the incoming wind direction changes from the solid arrow to the dashed arrow in FIG. 3, then clockwise yaw is required at this point. Initially, the rotor torque M2 generated by the rotor 110 and the generator torque M1 generated by the generator 140 are balanced with each other, i.e., M1= M2. If the generator 140 provides an additional torque, such as increasing the generator torque, the generator torque may now be increased from M1 to M1_1. If yaw brake caliper 172 and brake plate 171 are also locked together at this time, this increased amount of torque provided by generator 140 will cause rotor 110 to turn faster. Of course, there are many situations where the rotor 110 may rotate faster or slower and whether the torque variation and the rotation direction of the rotor 110 are consistent, which is only illustrated as an example. However, if the mechanical brake between the yaw brake caliper 172 and the brake plate 171 is released and the pitch angle of the blades can be adjusted by the pitch system to activate the pneumatic brake, i.e. adjust the attitude of the blades so that the rotational speed of the wind turbine 110 is constant at this time, the extra torque provided by the generator 140 is released everywhere and only drives the yaw rotation so that the entire nacelle 120 rotates.

Therefore, after understanding the above yaw principle, the yaw control method provided for the wind turbine generator set 100 described above in the present application will be described in detail below with reference to fig. 4. Fig. 4 discloses a flow chart of a yaw control method of a wind turbine generator set according to an embodiment of the application. As shown in fig. 4, a yaw control method of a wind turbine generator system according to an embodiment of the present application may include steps S11 to S16.

In step S11, a current nacelle angle of the wind turbine generator system 100 and a current wind direction angle of incoming wind are acquired.

In step S12, it is determined whether the nacelle angle exceeds a predetermined threshold wind direction angle. In the case where the result of the determination is yes, the process proceeds to step S13. Otherwise, the process continues back to step S11.

In step S13, when the nacelle angle exceeds the predetermined threshold value of the wind direction angle, it is determined that the wind turbine generator system 100 needs to yaw.

In step S14, when it is determined that the wind turbine generator system 100 needs to be yaw-steered, a yaw angle required for the wind turbine generator system 100 is determined. Wherein the required yaw angle of the wind park 100 is equal to the difference between the nacelle angle and the wind direction angle.

In step S15, the generation of an imbalance between the rotor torque M2 generated by the rotor 110 and the generator torque M1 generated by the generator 140 is controlled based on the required yaw angle determined in step S14.

The imbalance torque difference that needs to be generated between the rotor torque M2 and the generator torque M1 may be determined based on the required yaw angle, and then the generator torque M1 and/or the rotor torque M2 may be controlled to be adjusted based on the imbalance torque difference to generate the yaw torque of the wind turbine 100.

For embodiments in which the wind turbine 100 is a direct drive wind turbine, the imbalance torque difference is equal to the torque difference between the rotor torque M2 and the generator torque M1 in embodiments in which the rotor 110 is in direct drive connection with the generator 140.

In the embodiment that the wind generating set 100 is a non-direct drive set, the wind rotor 110 is in transmission connection with the generator 140 through the gearbox, and the unbalanced torque difference is equal to the torque difference between the torque obtained by dividing the wind rotor torque M2 by the gear ratio of the gearbox and the generator torque M1.

In step S16, the control unlocks the yaw mechanical brake in the wind turbine generator set 100, i.e., releases the yaw brake caliper 172 and the brake plate 171 between the drive chain bracket 154 and the tower 130, so that the nacelle 120 of the wind turbine generator set 100 can be pushed to deflect by the imbalance between the rotor torque M2 and the generator torque M1, and the yaw of the wind turbine generator set 100 is performed.

Fig. 5 discloses specific steps of controlling the adjustment of the generator torque M1 and/or the rotor torque M2 to generate the yaw torque of the wind park 100 based on the unbalanced torque difference according to an embodiment of the present application. As shown in fig. 5, controlling the adjustment generator torque M1 and/or the rotor torque M2 to generate the yaw torque of the wind park 100 based on the unbalanced torque difference may include steps S21 and S22.

In step S21, the current rotor torque M2 may be controlled to remain within a predetermined threshold range.

Considering that in actual control, it is difficult to keep the rotor torque completely unchanged at the current rotor torque value due to various factors, the current rotor torque M2 may be controlled to be maintained within a predetermined threshold value. For example, the rotor torque may be controlled within a range of the current rotor torque value plus or minus a predetermined threshold value.

In some embodiments, controlling current rotor torque M2 to remain within a predetermined threshold range may include: and controlling to maintain the current pitch angle of the wind generating set 100 to start the pneumatic brake of the wind rotor 110 so that the rotating speed of the wind rotor 110 is basically constant.

In step S22, the generator torque M1 is controlled to be adjusted based on the unbalanced torque difference to generate a yaw torque.

In some embodiments, the controlling of the adjusting generator torque M1 based on the unbalanced torque difference of step S22 to generate the yaw torque may further include steps S221 to S224.

In step S221, the current generator torque M1 is acquired.

In step S222, the generator torque M1 to be adjusted of the generator 140 is determined based on the imbalance torque difference and the current generator torque M1 obtained in step S221.

In step S223, the control parameters of the converter are controlled based on the generator torque M1 to be adjusted determined in step 222.

In step S224, the generator torque M1 is controlled to be adjusted to generate a yaw torque by adjusting the control parameter of the converter.

Therefore, the yaw of the wind turbine generator system 100 can be performed by using the generator torque M1 without driving the motor by the yaw, and the control method is simple and easy to implement. Moreover, since the yaw driving motor can be omitted, the cost can be greatly reduced.

Fig. 6 discloses specific steps of another embodiment of the present application for controlling the adjustment of the generator torque M1 and/or the rotor torque M2 to generate the yaw torque of the wind park 100 based on the unbalanced torque difference. As shown in fig. 6, controlling the adjustment generator torque M1 and/or the rotor torque M2 to generate the yaw torque of the wind park 100 based on the unbalanced torque difference may include steps S31 and S32.

In step S31, the current generator torque M1 may be controlled to be kept within a predetermined threshold range.

In consideration of the fact that it is difficult to completely keep the generator torque unchanged at the current generator torque value due to various factors that may be affected in actual control, it is possible to maintain the current generator torque M1 control within the predetermined threshold range. For example, the generator torque may be controlled within a range of the current generator torque value plus or minus a predetermined threshold.

In some embodiments, controlling the current generator torque M1 to remain within the predetermined threshold range may include: the control parameters of the holding converter are controlled to maintain the current generator torque M1.

In step S32, the rotor torque M2 is controlled to be adjusted to generate a yaw torque based on the imbalance torque difference.

In some embodiments, controlling the adjustment rotor torque M2 to generate the yaw torque based on the imbalance torque difference in step S32 may further include step S321 to step S324.

In step S321, a current pitch angle of the blades of the wind turbine 110 is acquired.

In step S322, a pitch angle to be adjusted of the blade is determined based on the unbalanced torque difference and the current pitch angle obtained in step S321.

In step S323, pitch adjustment is performed on the blade based on the pitch angle to be adjusted determined in step 322.

In step S324, the adjustment of the rotor torque M2 to generate the yaw torque is controlled by the pitch adjustment of the blades.

Therefore, the yaw torque can be generated in a variable pitch adjustment mode, the yaw of the wind generating set 100 can be performed in a labor-saving mode without a yaw driving motor, and the control method is simple and easy to implement. Moreover, since the yaw driving motor can be omitted, the cost can be greatly reduced.

Referring back to fig. 4, in some embodiments, the yaw control method of the wind turbine generator system of the present application may further include step S17 and step S18.

In step S17, it is determined whether wind turbine generator set 100 is yawing in place. In the case where the result of the determination is yes, the process proceeds to step S18. Otherwise, returning to continue judging.

In step S18, after the wind turbine generator set 100 is yawed to the position, the yaw mechanical brake in the wind turbine generator set 100 is controlled to be locked, that is, the yaw brake caliper 172 and the brake plate 171 are locked together, so that the whole yaw action of the wind turbine generator set is completed.

According to the yaw control method of the wind generating set, the torque generated by the generator 140 is set to be consistent with the yaw direction of the wind generating set 100, so that the imbalance between the wind wheel torque M2 generated by the wind wheel 110 and the generator torque M1 generated by the generator 140 can be utilized to push the cabin 120 of the wind generating set 100 to deflect, and the yaw of the wind generating set 100 is realized, so that a yaw driving motor can be omitted, and the cost can be greatly reduced.

Moreover, the yaw control method of the wind generating set is simple and easy to achieve.

The embodiment of the application also provides a yaw control system 200 of the wind generating set. FIG. 7 discloses a schematic block diagram of a yaw control system 200 of a wind park according to an embodiment of the present application. As shown in fig. 7, the yaw control system 200 of the wind turbine generator system according to an embodiment of the present application may include one or more processors 201 for implementing the yaw control method of the wind turbine generator system according to the above embodiments.

The yaw control system 200 of the wind generating set according to the embodiment of the present application has substantially similar beneficial technical effects to the yaw control method of the wind generating set described above, and therefore, details are not repeated herein.

The yaw control method and the system for the wind generating set and the wind generating set provided by the embodiment of the application are described in detail above. The yaw control method of the wind generating set, the system thereof and the wind generating set according to the embodiments of the present application are described herein by using specific examples, and the above description of the embodiments is only used to help understand the core idea of the present application, and is not intended to limit the present application. It should be noted that, for those skilled in the art, without departing from the spirit and principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall into the protection scope of the appended claims of the present application.

Claims (14)

1. A yaw control method of a wind generating set, the wind generating set comprises a wind wheel and a generator, and the yaw control method is characterized in that: the direction of the torque generated by the generator is consistent with the yaw direction of the wind generating set, and the yaw control method comprises the following steps:

acquiring a current engine room angle and a current wind direction angle of incoming wind of a wind generating set;

when the nacelle angle exceeds the wind direction angle preset threshold value, judging that the wind generating set needs to yaw;

determining a required yaw angle of the wind generating set;

controlling an imbalance between a rotor torque produced by the rotor and a generator torque produced by the generator based on the desired yaw angle; and

controlling unlocking a yaw mechanical brake in the wind park to perform yaw of the wind park by the imbalance between the rotor torque and the generator torque.

2. The yaw control method of claim 1, characterized in that: said controlling an imbalance between rotor torque produced by the rotor and generator torque produced by the generator based on the desired yaw angle comprises:

determining an imbalance torque difference to be generated between the rotor torque and the generator torque based on the required yaw angle; and

controlling adjusting the generator torque and/or the rotor torque to produce a yaw torque of the wind turbine generator set based on the imbalance torque difference.

3. The yaw control method of claim 2, characterized in that: the controlling adjusting the generator torque and/or the rotor torque to produce a yaw torque of the wind turbine generator set based on the imbalance torque difference comprises:

controlling the current wind wheel torque to be kept within a preset threshold value range; and

controlling adjusting the generator torque to produce the yaw torque based on the imbalance torque difference.

4. The yaw control method of claim 3, characterized in that: said controlling the current rotor torque to remain within a predetermined threshold range comprises:

and controlling to maintain the current pitch angle of the wind generating set to start the pneumatic brake of the wind wheel so as to enable the rotating speed of the wind wheel to be basically constant.

5. The yaw control method of claim 3, characterized in that: the wind turbine generator set further includes a converter for controlling the generator, the controlling adjusting the generator torque to produce the yaw torque based on the imbalance torque difference includes:

acquiring the current torque of the generator;

determining a generator torque of the generator to be adjusted based on the imbalance torque difference and the current generator torque;

controlling and adjusting control parameters of the converter based on the generator torque to be adjusted; and

controlling the generator torque to be adjusted to produce the yaw torque by adjusting a control parameter of the converter.

6. The yaw control method of claim 2, characterized in that: the controlling adjusting the generator torque and/or the rotor torque to produce a yaw torque of the wind turbine generator set based on the imbalance torque difference comprises:

controlling the current generator torque to remain within a predetermined threshold range; and

controlling adjusting the rotor torque to produce the yaw torque based on the imbalance torque difference.

7. The yaw control method of claim 6, characterized in that: the wind power plant further comprises a converter for controlling the generator, the controlling the current generator torque to stay within a predetermined threshold range comprising:

controlling maintaining control parameters of the converter to maintain the current generator torque.

8. The yaw control method of claim 6, characterized in that: the controlling adjusting the rotor torque to produce the yaw torque based on the imbalance torque difference comprises:

obtaining a current pitch angle of a blade of the wind wheel;

determining a pitch angle of the blade to be adjusted based on the unbalanced torque difference and the current pitch angle;

carrying out pitch adjustment on the blade based on the pitch angle to be adjusted; and

controlling the adjustment of the rotor torque to produce the yaw torque by pitch adjustment of the blades.

9. The yaw control method of any one of claims 1 to 8, characterized by: the wind generating set is a direct-drive set, the wind wheel is in direct transmission connection with the generator, and the unbalanced torque difference is equal to the torque difference between the wind wheel torque and the generator torque.

10. The yaw control method of any one of claims 1 to 8, characterized by: the 5 wind generating set is a non-direct-drive set and further comprises a gear box, the wind wheel is in transmission connection with the generator through the gear box, and the unbalanced torque difference is equal to a torque difference value between torque obtained by dividing the torque of the wind wheel by the gear ratio of the gear box and the torque of the generator.

11. The yaw control method of claim 1, characterized in that: further comprising:

judging whether the wind generating set is in place by yawing;

and 0, controlling and locking the yaw mechanical brake in the wind generating set after the wind generating set yaws in place.

12. The utility model provides a wind generating set's yaw control system which characterized in that: comprising one or more processors for implementing a method of yaw control of a wind park according to any of claims 1-11.

13. A wind generating set is characterized in that: yaw control system comprising a wind power plant 5 according to claim 12.

14. The wind turbine of claim 13, wherein: and the wind turbine also comprises a bevel gear pair meshed with each other, wherein the direction of the wind wheel torque is changed to be consistent with the direction of the generator torque through the bevel gear pair.

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