WO2017107693A1 - 计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置 - Google Patents

计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置 Download PDF

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Publication number
WO2017107693A1
WO2017107693A1 PCT/CN2016/105314 CN2016105314W WO2017107693A1 WO 2017107693 A1 WO2017107693 A1 WO 2017107693A1 CN 2016105314 W CN2016105314 W CN 2016105314W WO 2017107693 A1 WO2017107693 A1 WO 2017107693A1
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Prior art keywords
wind
value
coordinate axis
axis component
sum
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PCT/CN2016/105314
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English (en)
French (fr)
Inventor
姜永强
乔志强
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北京金风科创风电设备有限公司
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Application filed by 北京金风科创风电设备有限公司 filed Critical 北京金风科创风电设备有限公司
Priority to US15/575,103 priority Critical patent/US10767626B2/en
Priority to EP16877504.7A priority patent/EP3290689B1/en
Priority to ES16877504T priority patent/ES2788675T3/es
Priority to KR1020177037470A priority patent/KR102076401B1/ko
Priority to AU2016377432A priority patent/AU2016377432A1/en
Publication of WO2017107693A1 publication Critical patent/WO2017107693A1/zh
Priority to AU2020200218A priority patent/AU2020200218B2/en

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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
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • 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
    • 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
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • 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
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/321—Wind directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/329—Azimuth or yaw angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the invention relates to the technical field of wind power, in particular to a computer storage medium, a computer program product, a yaw control method and device for a wind power generator set.
  • the yaw control system is an important part of the wind turbine generator (hereinafter referred to as the unit) control system, which is used to control the wind direction of the unit, achieve positive windward, and increase wind energy absorption efficiency.
  • the goal of yaw control is to operate the unit as far as possible in the wind direction where the wind energy absorption efficiency is high.
  • the existing yaw control methods generally have the following two types, one is yaw by the wind direction feedback by the wind vane, for example, the wind direction deviation of the wind direction detection is 9 degrees for 90 seconds, or the deviation is 15 degrees for 50 seconds, and the deviation is reached. At 25 degrees for 20 seconds, yaw begins.
  • the other is to set a plurality of virtual sections in front of the fan impeller, and then measure the cross-section wind direction and cross-section wind speed of N different sections in front of the impeller at each moment, and cross-sections of different sections corresponding to the moments measured up to the current time t
  • the wind direction and the wind speed are treated equivalently, and the equivalent measurement wind direction ⁇ t corresponding to the current time t is generated and used as the basis for the unit yaw control.
  • the shortcomings of the above two methods are that they are susceptible to wind shear effects, resulting in lower accuracy of the yaw provided to the wind turbine, thereby reducing the accuracy of the yaw of the unit and improving wind energy utilization. rate.
  • a first aspect of the present invention is to provide a yaw control method for a wind power generator, comprising: acquiring wind condition parameters in real time according to a preset time length; performing vector analysis on the acquired wind condition parameters to obtain the preset time Main wind energy direction angle; according to the main wind energy direction angle control The wind turbine is yawed.
  • a second aspect of the present invention is to provide a yaw control device for a wind power generator, comprising: a parameter acquisition module, configured to acquire a wind condition parameter in real time according to a preset time length; and a direction angle generation module, configured to acquire The wind condition parameter is subjected to vector analysis to obtain a main wind energy direction angle within the preset time; and a yaw control module is configured to control the wind turbine yaw according to the main wind energy direction angle.
  • a third aspect of the present invention is to provide a yaw control device for a wind power generator, comprising: an obtaining device configured to acquire wind condition parameters in real time according to a preset time length; and a processor configured to obtain the wind condition parameters Performing vector analysis to obtain a main wind energy direction angle within the preset time; and a controller for controlling the wind turbine yaw according to the main wind energy direction angle.
  • a fourth aspect of the present invention is to provide a computer storage medium storing a computer program for performing the above-described yaw control method.
  • a fifth aspect of the present invention is to provide a computer program product comprising a computer program readable by a computer storage medium, the program causing a computer to execute the yaw control method described above.
  • FIG. 1 is a schematic flow chart of a yaw control method for a wind power generator set according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of step 12 in a yaw control method for a wind power generator set according to an embodiment of the present invention
  • FIG. 3 is an exemplary schematic diagram of a vector decomposition operation in a yaw control method of a wind power generator set according to an embodiment of the present invention
  • FIG. 4 is an exemplary schematic diagram of a vector synthesis operation in a yaw control method of a wind power generator set according to an embodiment of the present invention
  • step 12 is another schematic flowchart of step 12 in the yaw control method of the wind power generator set according to the embodiment of the present invention.
  • step 12 is still another schematic flowchart of step 12 in the yaw control method of the wind power generator set according to the embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a yaw control device for a wind power generator set according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a yaw control device for a wind power generator set according to an embodiment of the present invention.
  • a yaw control method for a wind power generator set includes:
  • Step 11 Obtain the wind condition parameters in real time according to the preset time length.
  • the wind condition parameters may include a wind direction angle and a wind speed.
  • the wind condition parameters are measured in real time by a wind measuring device such as a wind speed wind direction meter and stored, such as the wind direction angle ⁇ i at time t j and the corresponding wind speed v ij .
  • wind speed and direction indicators can reduce the cost of yaw control of wind turbines.
  • other data such as laser radar or ultrasonic can be used for data measurement.
  • Step 12 Perform vector analysis on the acquired wind condition parameters to obtain a main wind energy direction angle within the preset time.
  • the vector analysis is performed according to the wind direction angle and the wind speed at each time point from 0s to t j .
  • Main wind direction angle After real-time acquisition of the wind direction angle ⁇ i and the corresponding wind speed v ij at the time of the wind condition parameter such as t j , the vector analysis is performed according to the wind direction angle and the wind speed at each time point from 0s to t j . Main wind direction angle.
  • Step 13 Control the wind turbine yaw according to the main wind energy direction angle.
  • step 13 includes: obtaining a nacelle azimuth of the wind turbine at the current moment, and calculating a difference between the main wind energy direction angle and the cabin azimuth, according to the main wind energy direction angle and the cabin azimuth angle. The difference controls the yaw of the wind turbine.
  • the difference can be used to determine the yaw system to control the yaw operation, and the specific judgment method and the yaw operation are performed in this embodiment. Not limited.
  • the embodiment provides a specific implementation manner for controlling the yaw of the wind turbine according to the difference between the main wind energy direction angle and the azimuth of the nacelle, as follows: searching and presetting in a preset yaw deviation threshold gain schedule The yaw deviation threshold corresponding to the current wind speed; wherein the yaw deviation threshold gain schedule is pre-stored with a yaw deviation threshold for determining the yaw of the scheduling yaw obtained from the empirical data of the simulation and the actual control yaw. If the above main wind energy If the angular difference between the direction angle and the azimuth of the nacelle is greater than the found yaw deviation threshold, it is determined that the unit is instructed to trigger the yaw operation. The unit can complete the yaw according to the preset yaw operation procedure.
  • the yaw control method of the wind power generator of the invention obtains the wind condition parameter in the environment where the wind power generator is located in the preset time period in real time, further performs vector analysis on the obtained wind condition parameter to determine the main wind energy direction angle, and realizes It provides a more accurate data foundation for yaw of wind turbines, improves the accuracy of yaw of the unit, and improves the utilization of wind energy.
  • step 12 may include:
  • Step 1221 Calculate a cubic value of the wind speed corresponding to each moment in the preset time.
  • Step 1222 Decompose the cube values of the wind speeds corresponding to the respective wind speeds in a geographic coordinate system based on the wind direction angles at each moment to obtain a 90-degree coordinate axis component and a 0-degree coordinate axis component of the wind speed cube value at each moment.
  • the vector decomposition operation is performed on the geographic coordinate system of the v ij 3
  • FIG. 3 is an exemplary schematic diagram of the vector decomposition operation in the yaw control method of the wind power generator set according to the embodiment of the present invention. Referring to FIG. 3 , the 0° direction is assumed. The X positive direction, the opposite is the X negative direction, the 90° direction is the Y positive direction, and the opposite is the Y negative direction.
  • the following equations (1) and (2) are used to decompose all the wind parameters in the aforementioned time period:
  • Step 1223 Calculate the sum of the 90-degree coordinate axis component of the wind speed cube value and the sum of the 0-degree coordinate axis components, respectively.
  • the total amount of data collected in the foregoing time period is
  • Step 1224 Calculate an average value of the 90-degree coordinate axis component of the wind speed cube value and an average value of the 0-degree coordinate axis component respectively based on the sum value.
  • Step 1225 Perform a vector synthesis operation based on the average value of the sum value of the 90-degree coordinate axis component and the average value of the sum value of the 0-degree coordinate axis component to obtain a main wind energy direction angle.
  • FIG. 4 is an exemplary schematic diagram of a vector synthesis operation in a yaw control method of a wind power generator set according to an embodiment of the present invention.
  • the average value of the sum of the two coordinate axis components is subjected to a vector synthesis operation to obtain a synthesized
  • the vector v ij 3 and then the angle ⁇ j corresponding to v ij 3 is calculated, wherein the angle ⁇ j can be calculated by using the following formula (8):
  • the angle difference ⁇ provides a basis for yaw, and the yaw action is performed according to the purpose of achieving accurate wind direction, and finally the wind energy utilization rate is effectively improved.
  • the vector is decomposed into speed, then the cubic and average operations are performed, and finally the vector is synthesized to obtain the direction angle, or the vector is decomposed first, and then The sum of the components of each coordinate axis, after summation, averages and then performs a cubic operation, and finally performs a vector synthesis operation to obtain a direction angle.
  • FIG. 5 is another schematic flowchart of step 12 in the yaw control method of the wind power generator set according to the embodiment of the present invention.
  • step 12 may include: step 1251 : Decomposing the wind speed value corresponding to each time in the geographic coordinate system based on the wind direction angle at each moment in the preset time, and obtaining the 90-degree coordinate axis component and the 0-degree coordinate axis component of the wind speed value at each moment; step 1252 : calculating a cubic value of a 90-degree coordinate axis component of the wind speed value corresponding to each moment and a cubic value of the 0-degree coordinate axis component; Step 1253: respectively calculate a sum of cubic values of the 90-degree coordinate axis component of the wind speed value and a cubic value of the 0-degree coordinate axis component of the wind speed value; Step 1254: Calculate the 90-degree coordinate axis of the wind speed value separately based on the sum value The average of the sum of the cu
  • FIG. 6 is still another schematic flowchart of step 12 in the yaw control method of the wind power generator set according to the embodiment of the present invention.
  • step 12 may include: step 1261: based on the pre- The wind direction angle at each moment in the set time is respectively decomposed and calculated in the geographic coordinate system with the corresponding wind speed value, and the 90-degree coordinate axis component and the 0-degree coordinate axis component of the wind speed value at each moment are obtained; Step 1262: separately calculating The sum value of the 90-degree coordinate axis component of the wind speed value and the sum value of the 0-degree coordinate axis component; Step 1263: calculating the average value of the sum value of the 90-degree coordinate axis component of the wind speed value and the 0-degree coordinate axis component respectively based on the sum value And an average value of the values; step 1264: calculating a cubic value of an average value of the sum value of the sum value of the 90-degree coordinate axis component
  • the order of the steps of vector decomposition, cube value, summation, and averaging can be different.
  • the specific calculation formula of each step is illustrated in detail in FIG. 2, and FIG. 5 and FIG.
  • the calculation formula can refer to the related description for FIG. 2, and will not be described here.
  • one of the above three exemplary data processing procedures may be selected according to the situation on site.
  • the existing velocity vector computing wind measuring device can be used to collect the wind condition parameters, and further use the concept of the embodiment of the present invention to perform data processing and analysis, and finally provide a basis for yaw.
  • the operation mechanism of the vector synthesis can be known to effectively filter out the influence of the instantaneous interference airflow, and achieve the accurate wind direction of the unit; on the other hand, by appropriate selection The data acquisition period and the averaging operation effectively improve the stability of the airflow characteristic test, thereby reducing the error; on the other hand, the embodiment of the present invention is simple and practical, easy to promote, and does not require an increase in equipment costs.
  • FIG. 7 is a schematic structural diagram of a yaw control device for a wind power generator set according to an embodiment of the present invention.
  • a yaw control method step that can be used to perform a wind turbine of an embodiment of the present invention.
  • the yaw control device of the wind power generator includes a parameter acquisition module 710, a direction angle generation module 720, and a yaw control module 730.
  • the parameter obtaining module 710 is configured to acquire wind condition parameters in real time according to a preset time length.
  • the wind condition parameters may include a wind direction angle and a wind speed.
  • the direction angle generating module 720 is configured to perform vector analysis on the acquired wind condition parameters to obtain a main wind energy direction angle within the preset time.
  • the direction angle generating module 720 may specifically include:
  • a cubic operation unit (not shown) is used to calculate a cubic value of the wind speed corresponding to each moment in the preset time;
  • the vector decomposition unit (not shown) is configured to perform a decomposition operation on the cube value of the wind speed corresponding thereto according to the wind direction angle at each moment in a geographic coordinate system to obtain a 90-degree coordinate axis of the wind speed cube value at each moment.
  • a summation unit (not shown) for respectively calculating a sum value of a 90-degree coordinate axis component of the wind speed cube value and a sum value of the 0-degree coordinate axis component;
  • An average value operation unit (not shown) for calculating an average value of the 90-degree coordinate axis component of the wind speed cube value and an average value of the 0-degree coordinate axis component based on the sum value;
  • a vector synthesis unit (not shown) for performing a vector synthesis operation based on an average value of a sum value of the 90-degree coordinate axis component and an average value of a sum value of the 0-degree coordinate axis component, to obtain the main wind energy Direction angle.
  • the yaw control module 730 is configured to control the wind turbine yaw according to the main wind energy direction angle.
  • the yaw control module 730 can include:
  • the azimuth acquisition unit (not shown) is used to acquire the nacelle azimuth of the wind turbine at the current time.
  • a difference calculation unit (not shown) is used to calculate the difference between the main wind energy direction angle and the nacelle azimuth.
  • a yaw control unit (not shown) is used to control the wind turbine yaw based on the difference.
  • the yaw control device of the wind power generator of the invention acquires the wind condition parameters in the environment where the wind power generator is located within a preset time length in real time, and further performs the vector of the acquired wind condition parameters.
  • the quantitative analysis determines the direction of the main wind energy direction, which provides a more accurate data foundation for the yaw of the wind turbine, improves the accuracy of the yaw of the unit, and improves the utilization of wind energy.
  • FIG. 8 is a schematic structural diagram of a yaw control device for a wind power generator set according to an embodiment of the present invention.
  • a yaw control method step that can be used to perform a wind turbine of an embodiment of the present invention.
  • the yaw control device of the wind power generator includes an acquisition device 810 and a processor 820 and a controller 830.
  • the obtaining device 810 is configured to acquire the wind condition parameter in real time according to a preset time length.
  • the acquiring device may be specifically, but not limited to, a wind sensor, a wind speed and direction indicator, or other receiving device for wind condition parameters.
  • the receiving device of the wind condition parameter refers to the wind condition data measured by the wind measuring sensor or the wind speed and wind direction meter after measuring the wind condition parameter from the wind measuring sensor or the wind speed wind direction meter.
  • the processor 820 is configured to perform vector analysis on the acquired wind condition parameters to obtain a main wind energy direction angle within the preset time.
  • the controller 830 controls the wind turbine yaw according to the main wind energy direction angle.
  • the processor 820 in the yaw control device analyzes and calculates the main wind energy direction angle based on the acquired wind condition parameters, and finally the yaw control device itself controls the wind turbine yaw according to the main wind energy direction angle.
  • the yaw control device of the wind turbine may also be a device independent of the main control system of the wind turbine.
  • the wind condition parameter is obtained by the yaw control device of the wind power generator
  • the main wind energy direction angle is obtained by performing vector analysis on the wind condition parameter
  • the final main wind direction angle is sent to the main control system of the wind power generator set by the wind power generation unit.
  • the main control system issues a yaw command to complete the corresponding operation of the yaw.
  • the yaw control device of the wind power generator of the invention obtains the wind condition parameters in the environment where the wind power generator is located within a preset time length in real time, and further performs vector analysis on the obtained wind condition parameters to determine the main wind energy direction angle, and realizes The yaw of the wind turbine provides a more accurate data base, which improves the accuracy of the yaw of the unit and thus improves the utilization of wind energy.
  • the embodiment of the invention further provides a computer storage medium and/or a computer program product, wherein the computer storage medium stores a computer program, the computer program product comprising a computer program readable by a computer storage medium, the computer program
  • the computer performs the yaw control method described in FIG. 1 or 2.
  • embodiments of the present invention may be provided as a method, apparatus, Computer storage media or computer program product. Accordingly, the present invention can take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.

Abstract

一种计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置，所述风力发电机组的偏航控制方法包括：按照预设时间长度实时获取风况参数(11)；对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角(12)；根据所述主风能方向角控制所述风力发电机组偏航(13)。通过计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置，为风力发电机组偏航提供了较为准确的数据基础，提高了机组偏航的准确性，从而提高了风能利用率。

Description

计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置 技术领域
本发明涉及风电技术领域，尤其涉及一种计算机存储介质、计算机程序产品、风力发电机组的偏航控制方法及装置。
背景技术
偏航控制系统是风力发电机组(以下简称机组)控制系统的重要组成部分，用于控制机组的对风方位，实现正面迎风，增大风能吸收效率，
并有效降低由于叶轮没有正对风而造成的不对称载荷。偏航控制的目标是使得机组尽可能地运行在风能吸收效率较高的风向区域内。
通常，现有的偏航控制方式一般有以下两种，一种是通过风向标反馈的风向进行偏航，如风向标检测的风向偏差9度持续90秒，或者偏差15度持续50秒，以及偏差达到25度持续20秒则开始偏航。另一种是通过在风机叶轮前方设置多个虚拟截面，然后测量各时刻位于叶轮前方N个不同截面的截面风向和截面风速，并将截至到当前时刻t测量的各时刻对应的不同截面的截面风向与风速进行等效处理，生成当前时刻t对应的等效测量风向θt并作为机组偏航控制的依据。
然而，上述两种方式的不足之处是，易受风切变效应的作用，导致提供给风力发电机组偏航的依据准确率较低，从而降低了机组偏航的准确性，无法提高风能利用率。
发明内容
本发明的第一个方面是为了提供一种风力发电机组的偏航控制方法，包括：按照预设时间长度实时获取风况参数；对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；根据所述主风能方向角控 制所述风力发电机组偏航。
本发明的第二个方面是为了提供一种风力发电机组的偏航控制装置，包括：参数获取模块，用于按照预设时间长度实时获取风况参数；方向角生成模块，用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；偏航控制模块，用于根据所述主风能方向角控制所述风力发电机组偏航。
本发明的第三个方面是为了提供一种风力发电机组的偏航控制装置，包括：获取装置，用于按照预设时间长度实时获取风况参数；处理器，用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；控制器，用于根据所述主风能方向角控制所述风力发电机组偏航。
本发明的第四个方面是为了提供一种计算机存储介质，其存储有用于执行上述的偏航控制方法的计算机程序。
本发明的第五个方面是为了提供一种计算机程序产品，其包括计算机存储介质可读的计算机程序，所述程序使得计算机执行上述的偏航控制方法。
附图说明
图1为本发明实施例的风力发电机组的偏航控制方法的流程示意图；
图2为本发明实施例的风力发电机组的偏航控制方法中步骤12的流程示意图；
图3为本发明实施例的风力发电机组的偏航控制方法中矢量分解运算的示例性示意图；
图4为本发明实施例的风力发电机组的偏航控制方法中矢量合成运算的示例性示意图；
图5为本发明实施例的风力发电机组的偏航控制方法中步骤12的另一流程示意图；
图6为本发明实施例的风力发电机组的偏航控制方法中步骤12的又一流程示意图；
图7为本发明实施例的风力发电机组的偏航控制装置的结构示意图；
图8为本发明实施例的风力发电机组的偏航控制装置的结构示意图。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本发明实施例的风力发电机组的偏航控制方法的流程示意图，如图1所示，风力发电机组的偏航控制方法包括：
步骤11：按照预设时间长度实时获取风况参数。
需要说明的是，风况参数可包括风向角和风速。例如，通过例如风速风向仪的测风设备实时测量风况参数并存储，如tj时刻的风向角θi和相应的风速vij。
在实际应用中，采用风速风向仪可以降低风力发电机组的偏航控制的成本。除风速风向仪外，还可采用激光雷达或超声波等其它可以获得风况参数的设备进行数据测量。
步骤12：对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角。
在实时获取到上述风况参数如tj时刻的风向角θi和相应的风速vij之后，根据从0s开始到tj时刻这一时间段内各时刻的风向角和风速做矢量分析，计算主风能方向角。
步骤13：根据主风能方向角控制风力发电机组偏航。
根据本发明示例性的实施例，步骤13包括：获取当前时刻风力发电机组的机舱方位角，计算主风能方向角与机舱方位角之间的差值，根据主风能方向角与机舱方位角之间的差值控制风力发电机偏航。
在获取得到主风能方向角与机舱方位角之间的差值后，可通过这一差值进行判断以控制偏航系统采取相应偏航操作，本实施例对具体判断方法以及执行偏航的操作不作限定。
具体地，本实施例提供一种根据主风能方向角与机舱方位角之间的差值控制风力发电机组偏航的具体实现方式，如下：在预设的偏航偏差阈值增益调度表中查找与当前风速相对应的偏航偏差阈值；其中，上述偏航偏差阈值增益调度表中预先存储有根据仿真以及实际控制偏航的经验数据整理获得的用于判断调度偏航的偏航偏差阈值。若上述主风能 方向角与机舱方位角之间的角度差值大于查找到的偏航偏差阈值，则确定指示机组触发偏航操作。机组可以根据预设的偏航操作流程完成偏航。
本发明的风力发电机组的偏航控制方法，通过实时获取预设时间段内风力发电机组所处环境下的风况参数，进一步对获取的风况参数进行矢量分析确定主风能方向角，实现了为风力发电机组偏航提供了较为准确的数据基础，提高了机组偏航的准确性，从而提高了风能利用率。
在上述实施例的基础上，图2为本发明实施例的风力发电机组的偏航控制方法中步骤12的流程示意图，参照图2，根据本发明示例性的实施例，步骤12可包括：
步骤1221：计算预设时间内每个时刻对应的风速的立方值。
步骤1222：基于每个时刻的风向角分别对与其对应的风速的立方值在地理坐标系下进行分解运算，得到每个时刻的风速立方值的90度坐标轴分量和0度坐标轴分量。具体地，对vij 3在地理坐标系下进行矢量分解运算，图3为本发明实施例的风力发电机组的偏航控制方法中矢量分解运算的示例性示意图，参照图3，假设0°方向为X正方向，相反为X负方向，90°方向为Y正方向，相反为Y负方向，采用下式(1)和式(2)对前述时间段内的所有风况参数进行分解运算：
Figure PCTCN2016105314-appb-000001
Figure PCTCN2016105314-appb-000002
步骤1223：分别计算风速立方值的90度坐标轴分量的和值以及0度坐标轴分量的和值。
具体地，在数据采集频率为h，单位为赫兹的前提下，则前述时间段内采集到的数据总量为
N＝h*tj………………………………………………………………式(3)
在将从0s开始到tj时刻这一时间段内风况参数分解到如图2所示的坐标轴上之后，进而采用下式(4)和式(5)计算每个坐标轴的分量的和：
Figure PCTCN2016105314-appb-000003
Figure PCTCN2016105314-appb-000004
步骤1224：基于和值分别计算风速立方值的90度坐标轴分量的平均值以及0度坐标轴分量的平均值。
具体地，采用下式(6)和式(7)计算每个坐标轴分量之和的平均值：
Figure PCTCN2016105314-appb-000005
Figure PCTCN2016105314-appb-000006
步骤1225：基于90度坐标轴分量的和值的平均值和0度坐标轴分量的和值的平均值进行矢量合成运算，得到主风能方向角。
图4为本发明实施例的风力发电机组的偏航控制方法中矢量合成运算的示例性示意图，参照图4，将前述两个坐标轴分量之和的平均值进行矢量合成运算，得到合成后的矢量vij 3，进而计算可得vij 3对应的角度θj，其中角度θj可利用下式(8)计算得到：
Figure PCTCN2016105314-appb-000007
最后，由矢量合成运算的性质可知，合成后的矢量vij 3是风能量最高的方向，即得出主风能方向角θj，并利用下式(9)将得到的主风能方向角θj与当前机舱方位角θ做算术运算：
Δθ＝θj-θ……………………………………………………………式(9)
由此，角度差Δθ为偏航提供依据，通过此依据进行偏航动作实现精确对风的目的，最终有效提高风能利用率。
除上述先对风速的立方值进行矢量分解外，可替代的是，先对速度进行矢量分解，再进行立方及平均运算，最后矢量合成得出方向角，或者先对速度进行矢量分解，然后求各坐标轴分量之和，求和之后求平均值再做立方运算，最后做矢量合成运算得出方向角。
相应地，图5为本发明实施例的风力发电机组的偏航控制方法中步骤12的另一流程示意图，参照图5，根据本发明另一示例性的实施例，步骤12可包括：步骤1251：基于预设时间内每个时刻的风向角分别对与其对应的风速值在地理坐标系下进行分解运算，得到每个时刻的风速值的90度坐标轴分量和0度坐标轴分量；步骤1252：计算每个时刻对应的风速值的90度坐标轴分量的立方值和0度坐标轴分量的立方值； 步骤1253：分别计算风速值的90度坐标轴分量的立方值的和值以及风速值的0度坐标轴分量的立方值的和值；步骤1254：基于和值分别计算风速值的90度坐标轴分量的立方值的和值的平均值以及风速值的0度坐标轴分量的立方值的和值的平均值；步骤1255：基于90度坐标轴分量的立方值的和值的平均值和0度坐标轴分量的立方值的和值的平均值进行矢量合成运算，得到主风能方向角。
图6为本发明实施例的风力发电机组的偏航控制方法中步骤12的又一流程示意图，参照图6，根据本发明另一示例性的实施例，步骤12可包括：步骤1261：基于预设时间内每个时刻的风向角分别对与其对应的风速值在地理坐标系下进行分解运算，得到每个时刻的风速值的90度坐标轴分量和0度坐标轴分量；步骤1262：分别计算风速值的90度坐标轴分量的和值以及0度坐标轴分量的和值；步骤1263：基于和值分别计算风速值的90度坐标轴分量的和值的平均值以及0度坐标轴分量的和值的平均值；步骤1264：基于平均值分别计算风速值的90度坐标轴分量的和值的平均值的立方值以及风速值的0度坐标轴分量的和值的平均值的立方值；步骤1265：基于90度坐标轴分量的和值的平均值的立方值和0度坐标轴分量的和值的平均值的立方值进行矢量合成运算，得到主风能方向角。
可见，矢量分解、求立方值、求和、求平均这几个步骤的顺序可以不同，图2中详细说明了各个步骤的具体计算公式，图5及图6是将步骤顺序进行了调整以适应不同的计算需求，计算公式可参照针对图2的相关说明，在此不做累述。在实际应用中，可根据现场的情况选择上述示例性的三种数据处理过程中的一种。此外，还可采用现有的速度矢量运算测风设备进行风况参数的收集，再进一步利用本发明实施例的构思进行数据的处理分析，最终为偏航提供依据。
在上述实施例的基础之上，还具有如下技术效果：一方面，由矢量合成的运算机理可知，有效地滤除了瞬时干扰气流的影响，实现机组精确对风目的；另一方面，通过适当选取数据采集时间段并做均值运算有效提高了气流特性测试稳定性，进而缩减误差；再一方面，本发明实施例简单实用，易于推广，且无需增加设备费用。
图7为本发明实施例的风力发电机组的偏航控制装置的结构示意图。可用于执行本发明实施例的风力发电机组的偏航控制方法步骤。
参照图7，该风力发电机组的偏航控制装置包括参数获取模块710、方向角生成模块720和偏航控制模块730。
参数获取模块710用于按照预设时间长度实时获取风况参数。
这里，风况参数可包括风向角和风速。
方向角生成模块720用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角。
根据本发明示例性的实施例，方向角生成模块720可具体包括：
立方运算单元(图中未示出)用于计算所述预设时间内每个时刻对应的风速的立方值；
矢量分解单元(图中未示出)用于基于每个时刻的风向角分别对与其对应的风速的立方值在地理坐标系下进行分解运算，得到每个时刻的风速立方值的90度坐标轴分量和0度坐标轴分量；
求和单元(图中未示出)用于分别计算风速立方值的90度坐标轴分量的和值以及0度坐标轴分量的和值；
平均值运算单元(图中未示出)用于基于和值分别计算风速立方值的90度坐标轴分量的平均值以及0度坐标轴分量的平均值；
矢量合成单元(图中未示出)用于基于所述90度坐标轴分量的和值的平均值和所述0度坐标轴分量的和值的平均值进行矢量合成运算，得到所述主风能方向角。
偏航控制模块730用于根据主风能方向角控制风力发电机组偏航。
具体地，偏航控制模块730可以包括：
方位角获取单元(图中未示出)用于获取当前时刻风力发电机组的机舱方位角。
差值计算单元(图中未示出)用于计算主风能方向角与机舱方位角之间的差值。
偏航控制单元(图中未示出)用于根据差值控制风力发电机偏航。
本发明的风力发电机组的偏航控制装置，实时获取预设时间长度内风力发电机组所处环境下的风况参数，进一步对获取的风况参数进行矢 量分析确定主风能方向角，实现了为风力发电机组偏航提供了较为准确的数据基础，提高了机组偏航的准确性，从而提高了风能利用率。图8为本发明实施例的风力发电机组的偏航控制装置的结构示意图。可用于执行本发明实施例的风力发电机组的偏航控制方法步骤。
参照图8，该风力发电机组的偏航控制装置包括获取装置810和处理器820和控制器830。
获取装置810用于按照预设时间长度实时获取风况参数。
需要说明的是，获取装置可具体为，但不限于，测风传感器、风速风向仪，或者其他的风况参数的接收装置。这里，风况参数的接收装置是指从测风传感器，或者风速风向仪测量风况参数后，接收测风传感器，或者风速风向仪测量的风况数据。
处理器820用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角。
控制器830根据主风能方向角控制风力发电机组偏航。
也就是说，由偏航控制装置中的处理器820根据获取的风况参数，分析计算出主风能方向角，最终由偏航控制装置本身根据主风能方向角控制风力发电机组偏航。在具体的实现方式中，该风力发电机组的偏航控制装置还可以是独立于风力发电机组主控制系统的装置。具体地，由风力发电机组的偏航控制装置获取风况参数，并对风况参数进行矢量分析得到主风能方向角，将最后的主风向角发送给风力发电机组主控制系统，由风力发电机组主控制系统发出偏航指令以完成偏航的相应操作。
本发明的风力发电机组的偏航控制装置，实时获取预设时间长度内风力发电机组所处环境下的风况参数，进一步对获取的风况参数进行矢量分析确定主风能方向角，实现了为风力发电机组偏航提供了较为准确的数据基础，提高了机组偏航的准确性，从而提高了风能利用率。
本发明实施例还提供了一种计算机存储介质和/或计算机程序产品，所述计算机存储介质中存储有计算机程序，所述计算机程序产品包括计算机存储介质可读的计算机程序，所述计算机程序使得计算机执行图1或2所述的偏航控制方法。
本领域内的技术人员应明白，本发明的实施例可提供为方法、装置、 计算机存储介质或计算机程序产品。因此，本发明可采用硬件实施例、软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
这些计算机程序也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步驟以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步驟。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (14)

  1. 一种风力发电机组的偏航控制方法，其特征在于，所述方法包括：
    按照预设时间长度实时获取风况参数；
    对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；
    根据所述主风能方向角控制所述风力发电机组偏航。
  2. 根据权利要求1所述的方法，其特征在于，所述风况参数包括风向角和风速。
  3. 根据权利要求2所述的方法，其特征在于，所述对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角具体包括：
    计算所述预设时间内每个时刻对应的风速的立方值；
    基于每个时刻的风向角分别对与其对应的风速的立方值在地理坐标系下进行分解运算，得到每个时刻的风速立方值的90度坐标轴分量和0度坐标轴分量；
    分别计算风速立方值的90度坐标轴分量的和值以及0度坐标轴分量的和值；
    基于和值分别计算风速立方值的90度坐标轴分量的平均值以及0度坐标轴分量的平均值；
    基于所述90度坐标轴分量的和值的平均值和所述0度坐标轴分量的和值的平均值进行矢量合成运算，得到所述主风能方向角。
  4. 根据权利要求2所述的方法，其特征在于，所述对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角具体包括：
    基于所述预设时间内每个时刻的风向角分别对与其对应的风速值在地理坐标系下进行分解运算，得到每个时刻的风速值的90度坐标轴分量和0度坐标轴分量；
    计算每个时刻对应的风速值的90度坐标轴分量的立方值和0度坐标轴分量的立方值；
    分别计算风速值的90度坐标轴分量的立方值的和值以及风速值的0度坐标轴分量的立方值的和值；
    基于和值分别计算风速值的90度坐标轴分量的立方值的和值的平均值 以及风速值的0度坐标轴分量的立方值的和值的平均值；
    基于所述90度坐标轴分量的立方值的和值的平均值和所述0度坐标轴分量的立方值的和值的平均值进行矢量合成运算，得到所述主风能方向角。
  5. 根据权利要求2所述的方法，其特征在于，所述对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角具体包括：
    基于所述预设时间内每个时刻的风向角分别对与其对应的风速值在地理坐标系下进行分解运算，得到每个时刻的风速值的90度坐标轴分量和0度坐标轴分量；
    分别计算风速值的90度坐标轴分量的和值以及0度坐标轴分量的和值；
    基于和值分别计算所述风速值的90度坐标轴分量的和值的平均值以及0度坐标轴分量的和值的平均值；
    基于平均值分别计算风速值的90度坐标轴分量的和值的平均值的立方值以及风速值的0度坐标轴分量的和值的平均值的立方值；
    基于所述90度坐标轴分量的和值的平均值的立方值和所述0度坐标轴分量的和值的平均值的立方值进行矢量合成运算，得到所述主风能方向角。
  6. 根据权利要求1～5中任一项所述的方法，其特征在于，所述根据所述主风能方向角控制所述风力发电机组偏航的处理包括：
    获取当前时刻所述风力发电机组的机舱方位角；
    计算所述主风能方向角与所述机舱方位角之间的差值；
    根据所述差值控制风力发电机偏航。
  7. 一种风力发电机组的偏航控制装置，其特征在于，所述装置包括：
    参数获取模块，用于按照预设时间长度实时获取风况参数；
    方向角生成模块，用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；
    偏航控制模块，用于根据所述主风能方向角控制所述风力发电机组偏航。
  8. 根据权利要求7所述的装置，其特征在于，所述风况参数包括风向角和风速。
  9. 根据权利要求8所述的装置，其特征在于，所述方向角生成模块具体包括：
    立方运算单元，用于计算所述预设时间内每个时刻对应的风速的立方值；
    矢量分解单元，用于基于每个时刻的风向角分别对与其对应的风速的立方值在地理坐标系下进行分解运算，得到每个时刻的风速立方值的90度坐标轴分量和0度坐标轴分量；
    求和单元，用于分别计算风速立方值的90度坐标轴分量的和值以及0度坐标轴分量的和值；
    平均值运算单元，用于基于和值分别计算风速立方值的90度坐标轴分量的平均值以及0度坐标轴分量的平均值；
    矢量合成单元，用于基于所述90度坐标轴分量的和值的平均值和所述0度坐标轴分量的和值的平均值进行矢量合成运算，得到所述主风能方向角。
  10. 根据权利要求7～9中任一项所述的装置，其特征在于，所述偏航控制模块包括：
    方位角获取单元，用于获取当前时刻所述风力发电机组的机舱方位角；
    差值计算单元，用于计算所述主风能方向角与所述机舱方位角之间的差值；
    偏航控制单元，用于根据所述差值控制风力发电机偏航。
  11. 一种风力发电机组的偏航控制装置，其特征在于，所述装置包括：
    获取装置，用于按照预设时间长度实时获取风况参数；
    处理器，用于对获取的风况参数进行矢量分析，得到该预设时间内的主风能方向角；
    控制器，用于根据所述主风能方向角控制所述风力发电机组偏航。
  12. 根据权利要求11所述的装置，其特征在于，所述获取装置具体为：测风传感器或风速风向仪。
  13. 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序，所述计算机程序使得计算机执行权利要求1～6任一项所述的偏航控制方法。
  14. 一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机存储介质可读的计算机程序，所述程序使得计算机执行权利要求1～6任一项所述的偏航控制方法。
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