CN116335878A - Reverse slip control method and control terminal for wind turbine generator during off-plane operation - Google Patents
Reverse slip control method and control terminal for wind turbine generator during off-plane operation Download PDFInfo
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- CN116335878A CN116335878A CN202310552114.6A CN202310552114A CN116335878A CN 116335878 A CN116335878 A CN 116335878A CN 202310552114 A CN202310552114 A CN 202310552114A CN 116335878 A CN116335878 A CN 116335878A
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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
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
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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
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention provides a reverse slip control method and a control terminal for a wind turbine during off-course operation, which belong to the field of wind turbine operation control and are used for determining the difference value between the maximum driving moment of a yaw system of the wind turbine and the ultimate external wind load; calculating cabin reverse slip moment and slip acceleration generated under the action of limit load when the yaw system operates; calculating an additional impact torque range and a bearing torque range of the yaw drive gear caused by cabin reverse slip; and determining the allowable torque of the yaw driving gear, and performing yaw control according to the reverse slip acceleration and the duration of the nacelle during the off-air operation of the wind turbine generator. The method can realize reasonable design of the driving capability of the yaw system of the wind turbine generator, avoid the problem of overhigh cost of the yaw system caused by the defect of redundant design of the traditional design method, reduce the risk of impact damage of the yaw system caused by reverse sliding of the cabin during operation of the yaw system, and improve the operation reliability of the wind turbine generator.
Description
Technical Field
The invention relates to the field of wind turbine generator operation control, in particular to a reverse slip control method and a control terminal for yaw operation of a wind turbine generator.
Background
The yaw system is used as a main subsystem of the wind turbine generator and is generally positioned between the engine room and the tower, and as shown in fig. 1, the engine room and the wind wheel are driven to be always in a windward state by adopting an active yaw control mode so as to capture more wind energy, and the power generation efficiency is improved. Along with the development of large-scale wind turbine generators, blades are longer and longer, the pneumatic unbalance effect borne by a wind wheel is aggravated, the pneumatic unbalance load of the wind wheel is used as a main source of the load of a yaw system, and the bearing characteristic of the yaw system is more and more complex. Therefore, how to accurately evaluate and optimize the loading condition in the case of partial voyage is one of the research hotspots in the current wind power industry.
The wind turbine generator yaw system generally comprises a yaw bearing, a yaw driving motor (comprising an electromagnetic brake), a yaw gearbox, a yaw brake disc, a yaw soft start and the like, as shown in fig. 2. Two conditions are considered when designing a yaw system: when the unit performs yaw movement, the yaw system needs to overcome external load and drive the cabin to rotate at a constant speed; when the unit yaw is static, the yaw system needs to bear external load and ensure the cabin to be fixed. In order to reduce the cost of the wind turbine generator, the driving capability of the yaw system is generally designed based on the probability distribution of external wind load instead of adopting a limit load envelope design method, as shown in fig. 3, namely, the yaw system has the problem that the wind turbine generator cannot drive the cabin to rotate and reverse slip occurs when in yaw operation.
Thus, the above non-enveloped design also carries a reliability risk during yaw operation while reducing costs. The field operation of a large number of projects discovers that when the yaw system is in the operation process, the impact risk that external wind load exceeds the driving capacity of the yaw system to cause reverse slip of a nacelle is existed, and potential damage to parts of the yaw system is easily caused, such as faults of tooth breaking, shaft breaking, rapid abrasion of a brake disc, protection and shutdown of a nacelle vibration threshold value and the like.
Disclosure of Invention
The invention provides a reverse slip control method for a wind turbine generator during off-plane operation, which can reduce the failure occurrence rate and improve the operation reliability of the wind turbine generator.
The reverse slip control method during yaw operation of the wind turbine generator comprises the following steps:
step one, determining a difference value between the maximum driving moment of a yaw system of the wind turbine generator and a limit external wind load;
calculating cabin reverse slip moment and slip acceleration generated under the action of limit load when the yaw system operates;
step three, calculating an additional impact torque range and a bearing torque range of the yaw drive gear caused by cabin reverse slip;
and fourthly, determining allowable torque of the yaw driving gear, and performing yaw control according to the reverse slip acceleration and duration of the engine room when the wind turbine generator is in off-air operation.
It should be further noted that, the first step further includes: difference value between maximum driving capability of yaw system of wind turbine generator and ultimate external wind load
The following public calculations were used:
assuming that the yaw drive motor is subjected to a stall duration of
Extreme external wind load at duration +.>
The average value in is M m Maximum locked rotor moment of wind turbine yaw system and limit outsideDifference of short-term average of wind load ∈>
The following public calculations were used:
according to formulas (5) and (6), if
and />
If the sliding speed is greater than 0, the cabin cannot slide reversely; m is M m Is the extreme external wind load;
if it is
and />
If the value is less than 0, the nacelle can slip reversely.
It should be further noted that the yaw system reverse slip moment generated in the second step
and />
Calculated from the following formulas:
recombination generated yaw system reverse slip moment
and />
Respectively calculating cabin reverse slip acceleration
and />
The calculation mode is as follows:
in the fourth step, when the yaw system of the wind turbine generator is in normal yaw rotation, whether the yaw motor is in reverse slip or not is judged and real-time reverse slip acceleration of the yaw motor is obtained by measuring whether the yaw motor is in reverse rotation speed or not in real time and deriving a time sequence of the real-time reverse rotation speed.
In the method, the wind turbine generator main control system calculates acceleration in real time according to the measured yaw motor rotation speed and judges whether the wind turbine generator normally operates or not:
determining whether the real-time reverse slip acceleration obtained by the measurement falls within a pre-calculated reverse slip acceleration interval
]If less than the lower limit of the interval +.>
Indicating that no slip smaller than a preset threshold value occurs at the moment or the unit operates normally;
if the real-time reverse slip acceleration falls within the interval [
]And judging the impact moment generated by the reverse slip of the cabin when the external wind load is larger than a preset wind load threshold value.
It is further noted that the additional impact moment of the yaw drive gear caused by the reverse slip of the nacelle is analyzed
The method comprises the following steps:
additional impact moment of yaw drive gear caused by cabin reverse slip
In the range of [>
，/>
], wherein />
；
The yaw drive gear bearing moment caused by cabin reverse slip is as follows:
in the method, the allowable torque of the yaw drive system is selected according to the bearing torque range of the yaw drive gear:
when yaw driving gear permits moment
At the time, the yaw drive gear permits moment +.>
Is determined by the following formula:
wherein ,
and />
For the scaling factor, +>
。
It is further noted that the moment is allowed according to the yaw drive gear
And a short-time average value M of extreme external wind load m Slip acceleration experienced by the thrust yaw system:
will be
As an acceleration threshold value of the reverse slip of the cabin when the yaw system of the wind turbine generator works, if the real-time reverse slip acceleration obtained by measuring the rotation speed of the yaw motor exceeds the threshold value during the off-navigation operation, triggering the main control system to execute a shutdown protection instruction; simultaneously counting the reverse slip duration of the yaw operation time cabin in real time, and when the reverse slip duration exceeds a set time threshold +.>
When the system is in the normal state, triggering the main control system to execute a shutdown protection instruction;
when the reverse slip duration does not exceed the set time threshold
When the method is performed, the following steps are performed:
during the running of the wind turbine generator, monitoring whether the nacelle runs within a set vibration threshold value in real time through a nacelle vibration sensor; if the actual vibration threshold number P is within the vibration threshold and the actual vibration threshold number P does not exceed the threshold number e, the unit normally operates;
if the actual vibration threshold number P exceeds the threshold number e, the allowable slip time threshold is adjusted
Recalculate the limit external wind load at +.>
Average value M over time m And redetermining the acceleration threshold value for the reverse slip of the nacelle during operation of the yaw system>
And after iteration of the continuous period of the preset times of the strong wind condition, the nacelle vibration threshold frequency is reduced to be within the range of the threshold frequency e.
Further, in the method, the sliding time threshold value allowed by different wind field project wind turbine generator sets in off-voyage operation is counted
And iteratively searching a merit value to be used as a reference of design initial values of other wind turbines.
The invention also provides a control terminal which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the step of the reverse slip control method when the wind turbine generator yaw runs.
From the above technical scheme, the invention has the following advantages:
the method for controlling the reverse slip of the wind turbine generator during yaw operation is based on the loaded characteristic of the yaw system, obtains the additional impact moment of the yaw drive gear caused by the reverse slip of the nacelle on the basis of calculating the reverse slip moment and the slip acceleration of the nacelle generated under the action of the limit load during the operation of the yaw system, reasonably determines the allowable moment of the yaw drive gear, optimizes yaw control logic according to the reverse slip acceleration and the duration time of the nacelle of the wind turbine generator, and reduces the failure risk of the yaw system.
The reverse slip control method for the wind turbine generator set during off-course operation provided by the invention avoids the problem of increased cost of the yaw system caused by conservative design by adopting a conventional design method, reduces the failure risk of the yaw system by optimizing the reverse slip control of the cabin during the off-course operation of the wind turbine generator set, effectively reduces the vibration threshold protection shutdown times of the cabin caused by the reverse slip of the yaw system, and improves the operation reliability of the wind turbine generator set.
By the optimization method for the reverse sliding control of the yaw operation time cabin of the wind turbine, reasonable design of the driving capability of the yaw system of the wind turbine can be realized, the problem of excessive cost of the yaw system caused by the defect of redundant design of the traditional design method is avoided, meanwhile, the impact damage risk of the yaw system caused by the reverse sliding of the yaw operation time cabin of the yaw system is reduced, and the operation reliability of the wind turbine is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a yaw system of a wind turbine generator in the prior art;
FIG. 2 is a schematic diagram of a yaw system of a wind turbine generator in the prior art;
FIG. 3 is a schematic diagram of a maximum driving torque design of a yaw system of a wind turbine in the prior art;
FIG. 4 is a flow chart of a reverse slip control method during off-shore operation of a wind turbine;
FIG. 5 is a schematic illustration of the instantaneous external limit wind load experienced by a wind turbine yaw system.
Detailed Description
As shown in fig. 4, the present invention provides a method for controlling reverse slip of a wind turbine during off-air operation, which is provided only by way of illustration, the wind turbine related to the present invention is not drawn according to the shape and size of the wind turbine during actual implementation, the shape, number and proportion of each component in actual implementation may be changed at will, and the wind turbine may be more complex.
The reverse slip control method for the wind turbine generator during the off-shore operation can acquire and process the associated data based on the artificial intelligence technology. And the reverse sliding control of the cabin during yaw operation of the wind turbine generator can be realized by combining machine learning and deep learning. The control process can be based on artificial neural network, confidence network, reinforcement learning, transfer learning, induction learning, teaching learning, etc. Theory, method, technique and application apparatus that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
FIG. 4 is a flow chart of a preferred embodiment of a method of reverse slip control during yaw operation of a wind turbine according to the present invention. The wind turbine generator yaw running reverse slip control method is applied to one or more control terminals, wherein the control terminals are equipment capable of automatically performing numerical calculation and/or information processing according to preset or stored instructions, and hardware of the control terminals comprises, but is not limited to, a microprocessor, an Application-specific integrated circuit (SpecificIntegratedCircuit, ASIC), a programmable gate array (Field-ProgrammableGate Array, FPGA), a digital processor (DigitalSignalProcessor, DSP), embedded equipment and the like.
The control terminal may be any electronic product that can interact with a user, such as a personal computer, tablet computer, smart phone, personal digital assistant (PersonalDigitalAssistant, PDA), interactive web TV (InternetProtocolTelevision, IPTV), smart wearable device, etc.
The control terminal may also comprise a network device and/or a user device. Wherein the network device includes, but is not limited to, a single network server, a server group made up of multiple network servers, or a cloud based on cloud computing (CloudComputing) made up of a large number of hosts or network servers.
The network in which the control terminal is located includes, but is not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VirtualPrivateNetwork, VPN), and the like.
The method for controlling reverse slip in yaw operation of the wind turbine according to the present invention will be described in detail with reference to fig. 4, and may be applied to, for example, currently mainstream three-blade, upwind, horizontal axis wind turbine yaw systems,
the reverse slip control method for the wind turbine generator set during off-course operation solves the problem that when the yaw system is in the operation process, external wind load exceeds the driving capacity of the yaw system, so that wind blows the nacelle to slip reversely, potential damage to parts of the yaw system is avoided, and faults such as tooth breakage, shaft breakage, rapid abrasion of a brake disc, nacelle vibration threshold protection and shutdown of the wind turbine generator set are avoided. Has positive effect on the stable operation of the wind turbine generator.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 4, a flowchart of a reverse slip control method for a stroke motor set during a partial voyage according to an embodiment is shown, the method includes the following steps:
s101, determining a difference value between the maximum driving moment of the yaw system of the wind turbine generator and the ultimate external wind load.
Specifically, the limit load born by the yaw system of the wind turbine generator is calculated according to the load working condition specified by the IEC61400-1 wind turbine generator design standard
And then, calculating the maximum driving moment of the yaw system by using the design parameters of the yaw system, wherein the maximum driving moment of the yaw system is generally designed based on the probability distribution of the external wind loadThe limit load of all working conditions of the wind turbine generator system in the whole life period cannot be enveloped, so that the impact risk of reverse slip of the wind blowing cabin caused by external wind load exceeding the driving capability of a yaw system exists.
Preliminary yaw drive model selection is carried out according to maximum limit load of yaw system, and single yaw drive maximum drive moment is carried out
：
wherein ,
maximum torque peak coefficient of yaw motor, < >>
The yaw motor is rated with a driving torque.
Single yaw drive maximum locked rotor torque
：
wherein ,
and the torque peak value coefficient is locked for the yaw motor.
All yaw drives (assumed
Individual) the maximum drive torque that can be provided is:
all yaw drives (assumed
And a) the maximum locked rotor torque that can be provided is:
difference value between maximum driving capability of yaw system of wind turbine generator and ultimate external wind load
The following general calculations may be employed:
wherein ,
for the number of teeth of yaw bearing, ">
For driving the gear teeth of the yaw gearbox->
For a yaw gearbox speed ratio,
for the total transmission efficiency of the yaw system->
Damping moment provided for yaw brake during yaw operation, +.>
Is yaw bearing friction moment.
As the ultimate external wind load of the wind turbine generator generally appears instantaneously, as shown in fig. 5, the duration is short and the yaw drive motor has short-time stall blocking capability, so that the ultimate external wind load can be averaged in a short time, when the yaw system cannot overcome the ultimate external wind load short-time average value, the yaw drive motor can bear short-time stall blocking and is triggered by the thermal relay protectorOverload protection is stopped. Assuming that the duration of the stall that the yaw drive motor can withstand is
Extreme external wind load at duration +.>
The average value in is M m Difference between maximum locked rotor moment of wind turbine yaw system and short-time average value of extreme external wind load +.>
The following general calculations may be employed:
according to formulas (5) and (6), if
and />
If the flow rate is greater than 0, the cabin cannot slip reversely. If->
and />
If the value is less than 0, the nacelle can slip reversely.M m Is the extreme external wind load;
s102, calculating cabin reverse slip moment and slip acceleration generated under the action of limit load when the yaw system operates.
In the present invention, if
and />
If the wind speed is less than 0, the nacelle can reversely slide, so that the phenomenon of reverse rotation of the nacelle caused by wind blowing can be caused, and the reverse sliding force of a yaw system can be generatedMoment->
and />
Can be calculated from the following formulas:
recombination generated yaw system reverse slip moment
and />
Respectively calculating cabin reverse slip acceleration
and />
The calculation mode is as follows:
wherein ,
the combined moment of inertia at the yaw drive gearbox drive gear is translated for the nacelle, yaw motor and yaw gearbox.
From the above derivation, the reverse slip acceleration interval generated under the action of the limit load when the yaw system is in operation can be obtained
], wherein />
. When the yaw system of the wind turbine generator is in normal yaw rotation, whether the yaw motor has reverse rotation speed or not is measured in real time, and the time sequence of the real-time reverse rotation speed is derivative, so that whether the yaw motor has reverse slip or not can be judged, and real-time reverse slip acceleration of the yaw motor can be obtained. And the wind turbine generator system main control system calculates acceleration in real time according to the measured yaw motor rotation speed and judges whether the wind turbine generator system can normally operate or not:
(1) Determining whether the real-time reverse slip acceleration obtained by the measurement falls within a pre-calculated reverse slip acceleration interval
]If less than the lower limit of the interval +.>
It indicates that no or little slippage occurs at this time and the unit can operate normally.
(2) If the real-time reverse slip acceleration falls within the interval [
]And the fact that a large external wind load occurs at the moment is indicated, and then impact moment generated by cabin reverse slip needs to be further judged.
S103, calculating an additional impact torque range and a bearing torque range of the yaw drive gear caused by cabin reverse slip.
Yaw drive gear added impact moment due to cabin reverse slip
The method comprises the following steps:
wherein ,
and />
Adding impact moment and reverse slip acceleration to the yaw drive gear respectively,/->
The combined moment of inertia at the yaw drive gearbox drive gear is translated for the yaw motor and yaw gearbox. The yaw drive gear additional impact moment due to nacelle reverse slip +.>
In the range of [>
,/>
], wherein />
。
The yaw drive gear bearing moment due to nacelle reverse slip is:
wherein ,
and />
The drive gear moment is generated under the action of the extreme external wind load and the short-time average value of the extreme external wind load respectively. The yaw drive gear receives a torque in the range [ ] due to the nacelle reverse slip>
,/>
], wherein />
。
Unless special mechanical measuring equipment is used, the actual bearing moment at the yaw drive gear cannot be directly measured in general, so that the allowable moment of the yaw drive system needs to be reasonably selected again according to the bearing moment range of the yaw drive gear:
(1) When yaw driving gear permits moment
During the time, the yaw system driving capability is enough to meet the normal safe operation requirement, but the yaw driving design cost is higher at the moment and is not recommended.
(2) When yaw driving gear permits moment
And at the moment, the fact that the driftage system has serious driving capability is insufficient, the failure risk caused by reverse slip exists, and the driftage driving moment selection is needed to be carried out again.
(3) When yaw driving gear permits moment
When, i.e. yaw drive gear allows for a moment +.>
Between the yaw drive gear bearing torque range [ ] due to nacelle reverse slip>
，/>
]Between them, can be determined by the following formula:
wherein ,
and />
For the scaling factor, +>
When->
The greater->
The smaller the risk of failure of the yaw drive gear due to nacelle reverse slip, the lower the risk, according to design and operational experience>
Recommended value 0.6,/o>
A value of 0.4 is recommended.
S104, determining the allowable torque of the yaw drive gear, and performing yaw control according to the reverse slip acceleration and the duration of the nacelle during the off-air operation of the wind turbine generator, so that the failure risk of the yaw system is reduced.
Permitting torque based on yaw drive gear
And a short-time average value M of extreme external wind load m Slip acceleration that the thrust yaw system can withstand:
will be
As an acceleration threshold for the reverse slip of the nacelle during operation of the yaw system, obtained by measuring the rotational speed of the yaw motor if the yaw system is operating in a partial modeAnd if the real-time reverse slip acceleration exceeds the threshold value, triggering the main control system to execute a shutdown protection instruction. Simultaneously counting the reverse slip duration of the yaw operation time cabin in real time, and when the reverse slip duration exceeds a set time threshold +.>
And triggering the main control system to execute the shutdown protection instruction. When the reverse slip duration does not exceed the set time threshold +.>
(less than the allowed stall time of the yaw motor), then:
(1) During the operation of a certain wind turbine, particularly in a continuous period of a high wind condition, whether the nacelle has a vibration threshold value set by a main control system or not is monitored in real time through a nacelle vibration sensor, and if the actual vibration threshold number P does not exceed the threshold number e, the wind turbine is operated normally.
(2) If the actual vibration threshold number P exceeds the threshold number e, the allowable slip time threshold is adjusted
Recalculate the limit external wind load at +.>
Average value M over time m And redetermining the acceleration threshold value for the reverse slip of the nacelle during operation of the yaw system>
And after a few continuous period iterations of the strong wind condition, the nacelle vibration threshold frequency is reduced to be within a threshold frequency e.
(3) Counting the allowed slippage time threshold values of different wind field project wind turbine generator when the wind turbine generator runs in a partial voyage
And iteratively searching a merit value to be used as a reference of design initial values of other wind turbines.
The method can control and optimize forward sliding of the cabin during yaw operation of the wind turbine, and can be expanded to the fields of a one-to-one converter driving scheme, a one-to-many converter driving scheme, a direct starting scheme, a time-sharing starting scheme and the like besides a yaw soft starting scheme. According to the yaw system, on the basis of calculating the cabin reverse slip moment and the slip acceleration generated under the action of the limit load when the yaw system operates, the additional impact moment of the yaw drive gear caused by cabin reverse slip is obtained, the allowable moment of the yaw drive gear is reasonably determined, the yaw control logic is optimized according to the cabin reverse slip acceleration and the duration time of the wind turbine generator, and the failure risk of the yaw system is reduced.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The units and algorithm steps of each example described in the embodiments disclosed in the method for controlling reverse slip of wind turbine generator set during off-shore operation can be implemented in electronic hardware, computer software or a combination of both, and in order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The present invention provides a method flowchart for controlling reverse slip during yaw operation of a wind turbine, according to architecture, functionality, and operation of possible implementations of devices, methods, and computer program products of various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. Two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the method for controlling reverse slip of wind turbine generator during off-shore operation provided by the invention, the computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object oriented programming languages such as Java, smalltalk, C ++, and conventional procedural programming languages such as "C" or similar programming languages.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The reverse slip control method for the wind turbine generator during the off-shore operation is characterized by comprising the following steps:
step one, determining a difference value between the maximum driving moment of a yaw system of the wind turbine generator and a limit external wind load;
calculating cabin reverse slip moment and slip acceleration generated under the action of limit load when the yaw system operates;
step three, calculating an additional impact torque range and a bearing torque range of the yaw drive gear caused by cabin reverse slip;
and fourthly, determining allowable torque of the yaw driving gear, and performing yaw control according to the reverse slip acceleration and duration of the engine room when the wind turbine generator is in off-air operation.
2. The method for controlling reverse slip in yaw operation of a wind turbine according to claim 1,
the first step further comprises: difference value between maximum driving capability of yaw system of wind turbine generator and ultimate external wind load
The following public calculations were used:
assuming that the yaw drive motor is subjected to a stall duration of
Extreme external wind load at duration +.>
The average value in is M m Difference value of maximum locked rotor moment of wind turbine yaw system and short-time average value of extreme external wind load +.>
The following public calculations were used:
according to formulas (5) and (6), if
and />
If the sliding speed is greater than 0, the cabin cannot slide reversely; m is M m Is the extreme external wind load;
if it is
and />
If the value is less than 0, the nacelle can slip reversely.
3. The method for controlling reverse slip in yaw operation of a wind turbine according to claim 1,
yaw system reverse slip moment generated in step two
and />
Calculated from the following formulas:
recombination generated yaw system reverse slip moment
and />
Respectively calculating cabin reverse slip acceleration +.>
And
meter (D)The calculation method is as follows:
4. the method for controlling reverse slip during yaw operation of a wind turbine generator according to claim 1, wherein in the fourth step, when a yaw system of the wind turbine generator is operating normally in yaw rotation, whether reverse slip occurs in the yaw motor is determined and real-time reverse slip acceleration of the yaw motor is obtained by measuring whether reverse rotation speed occurs in real time and deriving a time sequence of real-time reverse rotation speed.
5. The method for controlling reverse slip during yaw operation of a wind turbine according to claim 1, wherein in the method, an acceleration is calculated in real time by a wind turbine main control system according to a measured yaw motor rotation speed and whether the wind turbine is operating normally is judged:
determining whether the real-time reverse slip acceleration obtained by the measurement falls within a pre-calculated reverse slip acceleration interval
]If less than the lower limit of the interval +.>
Indicating that no slip smaller than a preset threshold value occurs at the moment or the unit operates normally;
if the real-time reverse slip acceleration falls within the interval [
]And judging the impact moment generated by the reverse slip of the cabin when the external wind load is larger than a preset wind load threshold value.
6. The method for controlling yaw-run reverse slip of a wind turbine according to claim 1, wherein additional impact torque of a yaw drive gear caused by reverse slip of a nacelle is analyzed
The method comprises the following steps:
additional impact moment of yaw drive gear caused by cabin reverse slip
In the range of [>
，/>
], wherein 
；
The yaw drive gear bearing moment caused by cabin reverse slip is as follows:
7. the method for controlling reverse slip during yaw operation of a wind turbine according to claim 1, wherein the yaw drive system allowable torque is selected according to a yaw drive gear bearing torque range:
when yaw driving gear permits moment
At the time, the yaw drive gear permits moment +.>
Is determined by the following formula:
wherein ,
and />
For the scaling factor, +>
。
8. The method for controlling reverse slip during yaw operation of a wind turbine according to claim 1, wherein torque is allowed according to a yaw drive gear
And a short-time average value M of extreme external wind load m Slip acceleration experienced by the thrust yaw system:
will be
As an acceleration threshold value of the reverse slip of the cabin when the yaw system of the wind turbine generator works, if the real-time reverse slip acceleration obtained by measuring the rotation speed of the yaw motor exceeds the threshold value during the off-navigation operation, triggering the main control system to execute a shutdown protection instruction; at the same time, the reverse slippage of the engine room during the off-air operation is counted in real timeDuration when reverse slip duration exceeds a set time threshold +.>
When the system is in the normal state, triggering the main control system to execute a shutdown protection instruction;
when the reverse slip duration does not exceed the set time threshold
When the method is performed, the following steps are performed:
during the running of the wind turbine generator, monitoring whether the nacelle runs within a set vibration threshold value in real time through a nacelle vibration sensor; if the actual vibration threshold number P is within the vibration threshold and the actual vibration threshold number P does not exceed the threshold number e, the unit normally operates;
if the actual vibration threshold number P exceeds the threshold number e, the allowable slip time threshold is adjusted
Recalculate the limit external wind load at +.>
Average value M over time m And redetermining the acceleration threshold value for the reverse slip of the nacelle during operation of the yaw system>
And after iteration of the continuous period of the preset times of the strong wind condition, the nacelle vibration threshold frequency is reduced to be within the range of the threshold frequency e.
9. The method for controlling reverse slip during yaw operation of a wind turbine according to claim 8,
in the method, the allowable slippage time threshold value when the wind turbine generator set of different wind field projects operates in a partial shipping mode is counted
Iterative optimum value searching as parameter of other wind turbine generator set design initial valueAnd (5) checking.
10. A control terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for controlling yaw run-time reverse slip of a wind turbine according to any one of claims 1 to 9 when executing the program.
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