CN116412071A - Yaw control method, controller and wind generating set - Google Patents
Yaw control method, controller and wind generating set Download PDFInfo
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- 230000001681 protective effect Effects 0.000 claims abstract description 6
- 238000004590 computer program Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 6
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- 230000002829 reductive effect Effects 0.000 description 11
- 238000012423 maintenance Methods 0.000 description 5
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- 238000010248 power generation Methods 0.000 description 2
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- 238000013500 data storage Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/0264—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
Disclosed are a yaw control method, a controller and a wind generating set, wherein the yaw control method comprises the following steps: responding to a yaw system of the wind generating set to start yaw operation, and continuously collecting a yaw current value of the yaw system; determining whether the collected yaw current value meets a preset condition, wherein the yaw current value meets the preset condition comprises: the heat accumulation value of the yaw current value is larger than a first preset threshold value or the instantaneous value of the yaw current value is always larger than a second preset threshold value; in response to the yaw current value satisfying a preset condition, determining that the yaw current value is abnormal, and performing a protective action on the yaw system. The yaw control method can effectively detect abnormal current data of the yaw system and execute corresponding protection actions so as to reduce tripping probability.
Description
Technical Field
The present disclosure relates generally to the field of wind power generation technology, and more particularly, to a yaw control method, a controller, and a wind turbine generator set.
Background
With the increase of the capacity of the wind generating set, the diameter of the impeller is increased towards the trend of large-scale. For large impeller diameter units, such as 130m, 140m, 150m, 160m and 170m and above impeller diameter units, under the condition that a yaw system continuously yaws in the face of large turbulence, gusts, oblique incidence and large wind direction reversal or complex terrain, the yaw load of the unit frequently occurs exceeding standard, a yaw motor is overloaded and overflows, and the tripping failure frequency of a circuit breaker is increased. In addition, yaw circuit breakers generally adopt two types, one is a motor start protection circuit breaker (motor switch) and the other is a thermal relay. The motor is started to protect the breaker to trip and cannot reset automatically, manual reclosing is needed, normal operation of driving systems such as a unit and yaw is affected, and generating capacity loss is caused; although the thermal relay can reclose, tripping thermal tripping frequently occurs, and the service life of the device is also reduced.
Disclosure of Invention
The yaw control method, the controller and the wind generating set are provided, so that abnormal current data of a yaw system are effectively detected, corresponding protection actions are executed, adaptability of special environments of the set is improved, and tripping probability is reduced.
In one general aspect, there is provided a yaw control method, the yaw control method including: responding to a yaw system of the wind generating set to start yaw operation, and continuously collecting a yaw current value of the yaw system; determining whether the collected yaw current value meets a preset condition, wherein the yaw current value meets the preset condition comprises: the heat accumulation value of the yaw current value is larger than a first preset threshold value or the instantaneous value of the yaw current value is always larger than a second preset threshold value; in response to the yaw current value satisfying a preset condition, determining that the yaw current value is abnormal, and performing a protective action on the yaw system.
In another general aspect, there is provided a computer readable storage medium storing a computer program, characterized in that the yaw control method as described above is implemented when the computer program is executed by a processor.
In another general aspect, there is provided a controller including: a processor; and a memory storing a computer program which, when executed by the processor, implements the yaw control method as described above.
In another general aspect, there is provided a wind power plant comprising a controller as described above.
According to the yaw control method, the controller and the wind generating set, through detecting the current value of the yaw system, abnormal current data are accurately identified, and corresponding protection mechanisms are triggered, so that the influence of complex wind conditions or complex terrains on the load of the whole system is avoided, the safety protection of mechanical parts is enhanced, and the occurrence of frequent tripping conditions of a circuit breaker caused by overlarge yaw current due to the complex wind conditions or the complex terrains is reduced.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
The foregoing and other objects and features of embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings in which the embodiments are shown, in which:
FIG. 1 is a flow chart illustrating a yaw control method according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating step S102 of fig. 1 according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating determining a first preset threshold according to an embodiment of the present disclosure;
fig. 4a is a trip graph illustrating a motor start protection circuit breaker according to an embodiment of the present disclosure;
fig. 4b is a trip graph illustrating a thermal relay according to an embodiment of the present disclosure;
fig. 5 is a block diagram illustrating a controller according to an embodiment of the present disclosure.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of the present application. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the present application, except for operations that must occur in a particular order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.
According to the yaw control method, the controller and the wind generating set, the protection threshold value can be reasonably set according to the current characteristic curve of the yaw system, the preset condition of yaw protection is set on the basis, and then whether the detected current value meets the preset condition is judged in real time by detecting the current value of the yaw system, so that abnormal large current data can be detected in advance before the circuit breaker of the yaw system trips, corresponding protection actions such as stopping yaw or limiting power operation are triggered, the yaw system is effectively prevented from continuously yawing for a long time under the conditions of extreme wind conditions or complex terrains, the probability of occurrence of the conditions such as exceeding of axial load of a yaw bearing, overload overcurrent of a yaw motor and tripping of the circuit breaker is effectively reduced, and the operation and maintenance cost of the wind generating set is reduced.
A yaw control method, a controller, and a wind turbine generator set according to embodiments of the present disclosure will be described in detail with reference to fig. 1 to 5.
FIG. 1 is a flowchart illustrating a yaw control method according to an embodiment of the present disclosure. The method can be operated on a fan master control PLC, or on a yaw controller, or on a controller other than the fan master control PLC and the yaw controller, and is not limited in any way.
Referring to fig. 1, in step S101, yaw current values of a yaw system are continuously acquired in response to the yaw system of a wind turbine generator set starting a yaw operation. Here, the yaw current value may be a sum value of all yaw motor current values of the yaw system, but is not limited thereto, and the yaw current value may be a sum value of partial yaw motor current values of the yaw system, or a constitution of the yaw current value may be determined by one skilled in the art according to an actual configuration of the yaw system.
In general, the current value can be obtained by a current transformer or a hall current sensor, and therefore, the yaw current value of the yaw system can be detected by installing the current transformer or the hall current sensor in any one phase (U-phase, V-phase or W-phase) of the total circuit of the yaw system. The specific arrangement and number are not limited to this, and in the specific implementation, the arrangement is performed by a person skilled in the art according to the actual situation, for example, a current transformer or a hall current sensor is installed in a three-phase loop of the yaw system and in a branch loop of each yaw motor, and the current values of the yaw motors are detected respectively.
After obtaining the yaw current value, calculating a heat accumulation value of the yaw system in a first preset time period according to the yaw current value; and/or, acquiring the instantaneous value of the yaw current value of the yaw system in a second preset time period in real time. Here, the square value of the yaw current value is integrated for a first preset period of time to obtain a heat accumulation value of the yaw current value. Further, in response to the yaw stopping within the first preset time period, suspending the integral calculation of the square value of the yaw current value; second, in response to restarting yaw within a first preset period of time, determining a time interval from stopping yaw to restarting yaw; then, in response to the time interval being less than the first preset time period, continuing to perform integral calculation on the square value of the yaw current value on the basis of the yaw current square value calculated at the last yaw stop time, and obtaining a heat accumulation value of the yaw current value. In addition, in response to the time interval being equal to or exceeding the first preset time period, the integral calculation of the square value of the yaw current value is restarted to obtain a new heat accumulation value of the yaw current value. Here, the first preset time period, the second preset time period, and the first preset time period are all set by those skilled in the art according to actual circumstances.
According to embodiments of the present disclosure, as an example, after a yaw system starts a yaw operation, a square value of a yaw current value may be integrated for a period of T1. And in the time period T1, after the yaw is stopped, if the yaw is restarted in the time period T2, continuously carrying out integral calculation on the square value of the yaw current value on the basis of the square value of the yaw current calculated at the last yaw stopping time to obtain a heat accumulation value of the yaw current value. Meanwhile, at the timing of restarting yaw, the square value of the yaw current value is integrated in parallel for another T1 period. Here, the multiple detection is performed by a plurality of parallel integral calculations, and the occurrence of the missing detection can be prevented. In addition, if yaw is restarted after the T2 period after yaw is stopped, the integral calculation of the square value of the yaw current value is restarted in the next T1 period, and a heat accumulation value of a new yaw current value is obtained.
According to the embodiment of the disclosure, as an example, when the yaw system continuously yaw for more than the T1 period of time does not stop yaw, the integral calculation of the square value of the yaw current value is restarted in the next T1 period of time, and a heat accumulation value of a new yaw current value is obtained, so that the timeliness of the heat accumulation value is ensured.
Next, in step S102, it is determined whether the acquired yaw current value satisfies a preset condition. Here, the yaw current value satisfying the preset condition may include: the heat accumulation value of the yaw current value is greater than the first preset threshold or the instantaneous value of the yaw current value is always greater than the second preset threshold. Step S103 may be performed as long as either one of the two conditions is satisfied. In addition, the preset conditions can be specifically set according to the actual equipment configuration situation of the yaw system by a person skilled in the art, so that abnormal large-current data can be detected in advance before a breaker of the yaw system trips.
Next, in step S103, in response to the yaw current value satisfying a preset condition, it is determined that the yaw current value is abnormal, and a protection action is performed on the yaw system. Here, by performing the combined threshold judgment of the heat accumulation and the instantaneous value of the yaw current value, it is possible to more accurately determine that the yaw current value is abnormal, and to effectively prevent the occurrence of the missing detection. Further, the protective action performed on the yaw system includes at least one of triggering a yaw current anomaly warning, controlling the yaw system to cease performing yaw operations, and powering the wind turbine assembly. Through triggering protection actions such as stopping yaw or limiting power operation, the yaw system can be effectively prevented from continuously yawing under the conditions of extreme wind conditions and the like, the probability of occurrence of the conditions such as exceeding of axial load of a yaw bearing, overload overcurrent of a yaw motor, tripping of a circuit breaker and the like is reduced, and operation and maintenance personnel can be reminded of timely carrying out corresponding follow-up treatment on a wind generating set through abnormal warning.
Step S102 in fig. 1 is described in detail below with reference to fig. 2.
Fig. 2 is a flowchart of step S102 in fig. 1 according to an embodiment shown in the present disclosure.
Referring to fig. 2, in step S201, it is determined whether a heat accumulation value of a yaw current value is greater than a first preset threshold value within a first preset period of time; and/or determining whether the instantaneous value of the yaw current value is greater than a second preset threshold at the end of the second preset period of time. Here, the second preset threshold is set based on the number of yaw motors of the yaw system, the current parameters of the yaw motors, and the preset coefficient. The current parameter of the yaw motor refers to current parameters such as rated current, locked rotor current or maximum torque current of the yaw motor, and the preset coefficient can be determined by a person skilled in the art according to actual conditions. As an example, the second preset threshold value is set as a product of a rated current value of the yaw motor multiplied by the number of yaw motors multiplied by a preset coefficient, and when determining whether the acquired yaw current value satisfies a preset condition, it may be determined by determining whether an instantaneous value of the yaw current value is always greater than the second preset threshold value within a second preset period of time. However, the present disclosure is not limited thereto.
Next, in step S202, in response to the heat accumulation value of the yaw current value being greater than the first preset threshold value for a first preset period of time, and/or the instantaneous value of the yaw current value being greater than the second preset threshold value at the end of a second preset period of time, it is determined that the acquired yaw current value satisfies a preset condition. By respectively carrying out combined threshold judgment on the heat accumulation and the instantaneous value of the yaw current value in the respective set time periods, the yaw current value abnormality can be more accurately determined, the occurrence of false operation is prevented, and the occurrence of missing detection can also be effectively prevented. The manner in which the first preset threshold is determined is described in detail below with reference to fig. 3.
Fig. 3 is a flow chart illustrating determining a first preset threshold according to an embodiment of the present disclosure.
Referring to fig. 3, in step S301, current protection values at a plurality of protection times are set based on a current characteristic curve of a yaw system so that the current protection value at any one of the plurality of protection times is smaller than a value corresponding to the protection time in the current characteristic curve. Here, the current characteristic of the yaw system includes: a motor provided in the yaw system activates a trip curve that protects a circuit breaker or a thermal relay and/or an over-current protection curve of a yaw transducer provided in the yaw system. The motor start protection circuit breaker, the thermal relay and the yaw frequency converter in the yaw system all have switching capacity, the yaw motor can be controlled to cut in or cut out from the wind generating set, and a person skilled in the art can comprehensively select a current characteristic curve of the yaw system to set current protection values at all protection moments according to actual configuration conditions of the wind generating set.
Next, in step S302, a first preset threshold value for each protection time is determined based on the current protection value for each protection time.
As an example, the first preset threshold value for each protection instant is determined by multiplying the square value of the current protection value by the instant value of the protection instant: for example, the first preset threshold value at the 10s guard value time = square value of the current guard value at the 10s guard value time x 10. Here, by appropriately determining the first preset threshold value for each protection timing, a more accurate and effective determination result can be obtained when determining whether or not the heat accumulation value of the yaw current value satisfies the preset condition.
Next, in step S303, a first preset threshold value of continuous distribution is obtained by performing linear interpolation calculation on the first preset threshold values of the plurality of protection moments. Here, since the difference between the first preset thresholds at the respective guard timings is large, the linear value between the first preset thresholds at the respective guard timings is calculated by linear interpolation.
In the background art, in yaw systems of wind generating sets, yaw circuit breakers are generally two types, one is a motor start protection circuit breaker (i.e. a motor switch), and the other is a thermal relay. The motor starting protection circuit breaker is wider in application, but cannot be reset after tripping, and manual reclosing is needed. Although the thermal relay can reclose, tripping thermal tripping frequently occurs, and the service life of the device is also reduced.
Therefore, in order to reduce the operation and maintenance costs of the wind turbine generator system, it is necessary to reduce the trip probability of the yaw circuit breaker.
According to the embodiment of the present disclosure, as an example, a reference value of a single yaw motor protection setting is set based on a rated current of a single yaw motor, and then the reference value of a yaw system total loop protection setting is the reference value of the single yaw motor protection setting multiplied by the number of yaw motors, on the basis of which current protection values at protection moments of 10s, 20s, 30s, 40s, …, ns, etc. are set based on a trip curve of a motor start protection circuit breaker or thermal relay, but the present disclosure is not limited thereto.
Fig. 4a is a trip graph of a motor start protection circuit breaker according to an embodiment of the present disclosure, and fig. 4b is a trip graph of a thermal relay according to an embodiment of the present disclosure.
Referring to fig. 4a and 4b, the abscissa represents current multiple, the ordinate represents trip time, trip curves corresponding to the secondary load and the tertiary load are respectively shown in the figures, and the yaw system of the present disclosure refers to the trip curves of the secondary load. The illustrated trip curve is an inverse time limit curve, i.e., the greater the current, the shorter the trip time to effectively protect the associated circuitry. In fig. 4a, the trip curve of the motor start protection circuit breaker is divided into two sections, thermal trip for overload protection and electromagnetic trip for short-circuit protection, according to the protection purpose. In fig. 4b, the trip curve of the thermal relay has only a thermal trip interval.
As an example, on the basis of the trip graph of the motor start protection circuit breaker shown in fig. 4a and the trip graph of the thermal relay shown in fig. 4b, a person skilled in the art may refer to the values corresponding to the protection moments in the graph to set the current protection values of the protection moments, but the present invention is not limited thereto, and in a specific implementation, the current protection values of the protection moments need to be set according to actual conditions, and the set current protection value setting scheme needs to be optimally adjusted according to the unit operation data and the like.
Here, the reference value means a reference value of a yaw system total loop protection setting, the current means a corresponding current value in a trip curve of a thermal relay or a motor switch or a current value set in a current protection value setting scheme, and the multiple means a current multiple based on the reference value.
Next, according to an embodiment of the present disclosure, in response to the yaw current value satisfying a preset condition, the protection action performed on the yaw system includes: triggering a yaw current anomaly warning and controlling the yaw system to stop performing yaw operations. Then, in response to the time at which the yaw system stops performing the yaw operation reaching a second preset duration, the yaw current anomaly warning is reset to allow the yaw system to perform the yaw operation. Here, the second preset time period is set and adjusted by a person skilled in the art according to the current characteristic curve of the yaw system or the actual conditions of the operation wind conditions of the wind power generation set.
According to another embodiment of the present disclosure, in response to the yaw current value meeting a preset condition, the protection action performed on the yaw system further includes: triggering yaw current anomaly warning, controlling the yaw system to stop performing yaw operation, and enabling the wind driven generator set to operate in a power-limited mode. Then, a duration of the wind turbine generator set power limit operation may be determined in response to the power of the wind turbine generator set reaching a preset target power. Here, the preset target power may be set to the power corresponding to the minimum yaw load value of the unit according to the data such as the historical load measurement and the load simulation evaluation, but is not limited thereto, and in the specific implementation, the worker in the field needs to set according to the actual situation, so as to reduce the possibility of damage to the mechanical components of the yaw system. Then, in response to the duration of the wind turbine generator set power-limited operation reaching a third preset duration, resetting the yaw current anomaly warning to allow the yaw system to perform a yaw operation; and then, responding to the time length of the wind turbine generator system for limiting power to reach a fourth preset time length, and enabling the wind turbine generator system to recover normal operation. Here, the third preset time period and the fourth preset time period are set by a person skilled in the art according to actual conditions, and the fourth preset time period is longer than the third preset time period.
According to an embodiment of the present disclosure, the protection action performed on the yaw system is selected as an example according to the environment of the wind park. For example, when the unit is located in a mountain and hilly area, the wind condition is severe, yaw tripping, mechanical overload failure or load exceeding and the like can occur frequently, and a protection mode for controlling the yaw system to stop executing yaw operation and enabling the wind driven generator to operate in a power-limited mode can be selected; and when the wind condition of the ground where the unit is positioned is stable, overload tripping and other conditions rarely occur, a protection mode for controlling the yaw system to stop executing yaw operation can be selected.
Next, according to an embodiment of the present disclosure, it is determined whether the number of times the yaw current abnormality warning is triggered within the third preset time period exceeds a third preset threshold. Then, in response to the number of times the yaw current abnormality warning is triggered within the third preset time period exceeding a third preset threshold, the yaw system is controlled to stop performing the yaw operation and to trigger a fail-stop process of the wind turbine. Here, the person skilled in the art may set the third preset time period and the third preset threshold according to the actual situation, so that the wind turbine generator set meets the operation requirement of fault tolerance.
According to the yaw control method, by detecting the current value of the yaw system, abnormal current data can be detected in advance before the breaker of the yaw system trips, and corresponding protection actions are triggered, so that the conditions of exceeding of axial load of the yaw bearing, overload and overcurrent of a yaw motor, tripping of the breaker and the like caused by complex wind conditions and the like are effectively reduced, and the operation and maintenance cost of the wind generating set is reduced.
Fig. 5 is a block diagram illustrating a controller 500 of a wind turbine generator system according to an embodiment of the present disclosure.
Referring to fig. 5, a controller 500 according to an embodiment of the present disclosure may include a processor 510 and a memory 520. Processor 510 may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), or the like. The memory 520 stores computer programs to be executed by the processor 510. Memory 520 includes high-speed random access memory and/or non-volatile computer-readable storage media. When the processor 510 executes a computer program stored in the memory 520, the yaw control method as described above may be implemented.
The yaw control method according to embodiments of the present disclosure may be written as computer programs and stored on a computer-readable storage medium. The yaw control method as described above may be implemented when the computer program is executed by a processor. Examples of the computer readable storage medium include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drives (HDD), solid State Disks (SSD), card memory (such as multimedia cards, secure Digital (SD) cards or ultra-fast digital (XD) cards), magnetic tape, floppy disks, magneto-optical data storage, hard disks, solid state disks, and any other means configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and to provide the computer programs and any associated data, data files and data structures to a processor or computer to enable the processor or computer to execute the programs. In one example, the computer program and any associated data, data files, and data structures are distributed across networked computer systems such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner by one or more processors or computers.
According to the yaw control method, the controller and the wind turbine generator system, by detecting the current value of the yaw system, abnormal large current data can be detected in advance before the breaker of the yaw system trips, and corresponding protection actions are triggered, so that the probability of the occurrence of the conditions of exceeding the axial load of the yaw bearing, overload and overcurrent of the yaw motor, tripping of the breaker and the like is effectively reduced, and the operation and maintenance cost of the wind turbine generator system is reduced.
Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.
Claims (14)
1. A yaw control method, the yaw control method comprising:
responding to a yaw system of the wind generating set to start yaw operation, and continuously collecting a yaw current value of the yaw system;
determining whether the collected yaw current value meets a preset condition, wherein the yaw current value meets the preset condition comprises: the heat accumulation value of the yaw current value is larger than a first preset threshold value or the instantaneous value of the yaw current value is always larger than a second preset threshold value;
in response to the yaw current value satisfying a preset condition, determining that the yaw current value is abnormal, and performing a protective action on the yaw system.
2. The yaw control method of claim 1, further comprising:
calculating a heat accumulation value of the yaw system in a first preset time period according to the yaw current value; and/or, acquiring the instantaneous value of the yaw current value of the yaw system in a second preset time period in real time.
3. The yaw control method of claim 2, wherein the step of determining whether the collected yaw current values satisfy a preset condition includes:
determining whether a heat accumulation value of the yaw current value is greater than a first preset threshold value within a first preset time period; and/or determining whether the instantaneous value of the yaw current value is greater than a second preset threshold at the end of the second preset time period;
responsive to the heat accumulation value of the yaw current value being greater than a first preset threshold for a first preset time period and/or the instantaneous value of the yaw current value being greater than a second preset threshold at the end of a second preset time period, determining that the acquired yaw current value meets a preset condition,
the second preset threshold value is determined based on the number of yaw motors of the yaw system, current parameters of the yaw motors and preset coefficients.
4. The yaw control method of claim 1, wherein the yaw current value is a sum of all yaw motor current values of the yaw system.
5. A yaw control method according to claim 3, wherein the step of calculating a heat accumulation value of the yaw system for a first predetermined period of time from the yaw current value comprises:
and integrating and calculating the square value of the yaw current value in a first preset time period to obtain a heat accumulation value of the yaw current value.
6. The yaw control method of claim 5, wherein the step of integrating the square value of the yaw current value over a first preset period of time includes:
suspending integrating the square value of the yaw current value in response to yaw stopping for a first preset period of time;
responsive to restarting yaw within a first preset period of time, determining a time interval from stopping yaw to restarting yaw;
in response to the time interval being less than a first preset time period, continuing to perform integral calculation on the square value of the yaw current value on the basis of the square value of the yaw current calculated at the last yaw stop time so as to obtain a heat accumulation value of the yaw current value;
and in response to the time interval being greater than or equal to a first preset duration, restarting integrating the square value of the yaw current value to obtain a new heat accumulation value of the yaw current value.
7. The yaw control method of claim 1, wherein the first preset threshold is determined by:
setting current protection values at a plurality of protection moments based on a current characteristic curve of a yaw system, so that the current protection value at any one protection moment among the plurality of protection moments is smaller than a value corresponding to the protection moment in the current characteristic curve;
determining a first preset threshold value of each protection moment based on the current protection value of each protection moment;
and obtaining a first preset threshold value of continuous distribution by carrying out linear interpolation calculation on the first preset threshold values of the plurality of protection moments.
8. The yaw control method of claim 7, wherein the current characteristic of the yaw system includes: a motor provided in the yaw system initiates a trip curve that protects a circuit breaker or a thermal relay, and/or an over-current protection curve of a yaw transducer provided in the yaw system.
9. The yaw control method of claim 1, wherein the step of performing a protective action on the yaw system includes: triggering a yaw current anomaly warning, and controlling the yaw system to stop performing a yaw operation,
wherein, the yaw control method further comprises: and resetting the yaw current anomaly warning to allow the yaw system to perform the yaw operation in response to the time at which the yaw system stops performing the yaw operation reaching a second preset duration.
10. The yaw control method of claim 1, wherein the step of performing a protective action on the yaw system includes: triggering yaw current anomaly warning, controlling a yaw system to stop performing yaw operation, and enabling the wind driven generator set to operate under power limit,
wherein, the yaw control method further comprises:
determining the time length of the power-limiting operation of the wind turbine generator system in response to the power of the wind turbine generator system reaching a preset target power;
resetting the yaw current abnormality warning to allow the yaw system to perform a yaw operation in response to the duration of the wind turbine generator set power-limited operation reaching a third preset duration;
and responding to the time length of the wind power generator set in the power-limited operation reaches a fourth preset time length, so that the wind power generator set is recovered to normal operation.
11. The yaw control method of claim 9 or 10, wherein the yaw control method further comprises:
determining whether the number of times of triggering the yaw current abnormality warning within the third preset time period exceeds a third preset threshold;
in response to the number of times that the yaw current abnormality warning is triggered within a third preset time period exceeding a third preset threshold, the yaw system is controlled to stop performing the yaw operation and to trigger a fail-over process of the wind turbine.
12. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the yaw control method of any one of claims 1 to 11.
13. A controller, the controller comprising:
a processor; and
memory storing a computer program which, when executed by a processor, implements the yaw control method according to any one of claims 1 to 11.
14. A wind power plant, characterized in that the wind power plant comprises a controller according to claim 13.
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| CN202111668546.0A CN116412071A (en) | 2021-12-31 | 2021-12-31 | Yaw control method, controller and wind generating set |
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