WO2022166144A1 - Procédé et appareil de contrôle de lacet, dispositif électronique, et support de stockage - Google Patents

Procédé et appareil de contrôle de lacet, dispositif électronique, et support de stockage Download PDF

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Publication number
WO2022166144A1
WO2022166144A1 PCT/CN2021/111713 CN2021111713W WO2022166144A1 WO 2022166144 A1 WO2022166144 A1 WO 2022166144A1 CN 2021111713 W CN2021111713 W CN 2021111713W WO 2022166144 A1 WO2022166144 A1 WO 2022166144A1
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WO
WIPO (PCT)
Prior art keywords
yaw
brake
motor
hydraulic brake
overload protection
Prior art date
Application number
PCT/CN2021/111713
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English (en)
Chinese (zh)
Inventor
曹伟
武文龙
席伟川
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三一重能股份有限公司
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Application filed by 三一重能股份有限公司 filed Critical 三一重能股份有限公司
Priority to ES202290031A priority Critical patent/ES2923409B2/es
Publication of WO2022166144A1 publication Critical patent/WO2022166144A1/fr

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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
    • F03D7/04—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
    • 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
    • F03D7/0244—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
    • 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
    • F05B2270/60—Control system actuates through
    • F05B2270/602—Control system actuates through electrical actuators
    • 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
    • F05B2270/60—Control system actuates through
    • F05B2270/604—Control system actuates through hydraulic actuators
    • 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 present application relates to the technical field of wind power generation, and in particular, to a yaw control method, device, electronic device and storage medium.
  • Wind power refers to converting the kinetic energy of wind into electrical energy.
  • the principle of wind power generation is to use the wind to drive the blades of the windmill to rotate, and then increase the speed of rotation through the speed increaser to promote the generator to generate electricity.
  • Wind turbines include nacelles, rotor blades, shafts, gearboxes, generators, yaw devices, and hydraulic systems.
  • the yaw device is used to turn the nacelle by means of an electric motor to control the rotor to face the wind.
  • the conventional control method is currently used.
  • the hardware relies on the acquisition of common control variables such as wind direction and twist cable switch to control the yaw.
  • the present application provides a yaw control method, device, electronic device and storage medium to solve the defect that the yaw control cannot be accurately performed in the prior art.
  • the present application provides a yaw control method, including:
  • the yaw motor is controlled to start yaw
  • the yaw motor After the yaw motor starts yaw, if the yaw current is greater than the second threshold, the yaw motor is controlled to stop yaw.
  • controlling the yaw motor to start the yaw includes:
  • the electromagnetic brake is controlled to start the brake release
  • the yaw motor is controlled to start yaw.
  • the method further includes:
  • the hydraulic brake is controlled to hold the brake.
  • a yaw control method provided by the present application, after the hydraulic brake is released, if the yaw pressure is not less than a first threshold value, the hydraulic brake is controlled to hold the brake, and after a preset period of time, the brake is controlled. The hydraulic brake is released.
  • a yaw control method provided by the present application, after the yaw motor is turned on for yaw, if the yaw current is not greater than a second threshold value and the wind direction change meets a preset condition for wind direction change, the yaw current is controlled.
  • the avionics stop yaw.
  • controlling the hydraulic brake to release the brake includes:
  • the hydraulic brake is controlled to release the brake .
  • the second threshold is determined based on the rated current of the yaw motor.
  • the application also provides a yaw control device, comprising:
  • a first control unit configured to control the hydraulic brake to release the brake if the yaw overload protection state of the wind turbine meets the preset overload protection condition when a change in the wind direction is detected
  • a second control unit configured to control the yaw motor to start yaw if the yaw pressure is less than the first threshold after the hydraulic brake is released;
  • the third control unit is configured to control the yaw motor to stop yaw if the yaw current is greater than the second threshold after the yaw motor is turned on for yaw.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to achieve any of the above The steps of the yaw control method.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the above yaw control methods.
  • the yaw control method, device, electronic device and storage medium provided by this application can quickly and accurately determine whether the yaw system needs to be relieved based on the yaw pressure, and control the yaw motor to start the yaw; Judging the yaw load condition and controlling the yaw motor to stop the yaw, so as to avoid tripping under special conditions, resulting in the failure of the yaw system and reducing the cost of manual operation and maintenance.
  • FIG. 1 is a schematic flowchart of a yaw control method provided by the present application.
  • FIG. 2 is a schematic flowchart of another yaw control method provided by the present application.
  • FIG. 3 is a schematic diagram of a yaw loop provided by the present application.
  • FIG. 4 is a schematic structural diagram of a yaw control device provided by the present application.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by the present application.
  • the conventional control method is currently used.
  • the hardware relies on the acquisition of common control variables such as wind direction and knob switch to control the yaw.
  • yaw control it is easy to make the yaw load too large to cause yaw failure, which in turn affects the power generation of the wind turbine.
  • the load on the windward side is larger.
  • the yaw can only be turned off by controlling the switch when the yaw overload protection is turned on, so it is impossible to judge whether the yaw load is too large in advance.
  • the cables of the generator set may be excessively twisted and the cables will break and fail, or the system may trip, thereby affecting the normal power generation of the wind turbine.
  • FIG. 1 is a schematic flowchart of a yaw control method provided by the present application. As shown in FIG. 1 , the method includes the following steps:
  • Step 110 When the wind direction change is detected, if the yaw overload protection state of the wind turbine satisfies the preset overload protection condition, control the hydraulic brake to release the brake.
  • a wind turbine is a power device that converts wind energy into mechanical work, which drives the rotor to rotate, and finally outputs alternating current.
  • the wind turbine includes a yaw system, which is used to keep the rotor of the wind turbine always in the windward state.
  • the yaw overload protection is used to prevent the yaw system from malfunctioning due to excessive yaw load.
  • the yaw overload protection status refers to whether the yaw system is in the yaw overload protection. If the hydraulic brake is released, the yaw load will be increased, so the hydraulic brake needs to be in the brake state; if not, it means that the yaw circuit is not under overload protection, and the hydraulic brake can be controlled to release the brake.
  • Step 120 After the hydraulic brake is released, if the yaw pressure is less than the first threshold, control the yaw motor to start yaw.
  • the yaw generator can start to yaw.
  • the first threshold may be specifically set according to the actual situation, which is not specifically limited in this embodiment of the present application.
  • the embodiment of the present application can quickly and accurately determine whether the yaw system needs to be relieved of pressure, and control the yaw motor to start the yaw.
  • the embodiment of the present application can directly determine whether the pressure relief of the system is completed according to the yaw pressure, which not only has higher accuracy, but also avoids the need for traditional methods. Wait for a preset time before judging the problem that causes lower efficiency.
  • Step 130 After the yaw motor is turned on, if the yaw current is greater than the second threshold, the yaw motor is controlled to stop the yaw.
  • the yaw motor runs, and there will be current in the yaw loop. If the yaw current is too large, it indicates that the yaw load is too large, and the yaw motor needs to be stopped at this time. Therefore, when the yaw current is greater than the second threshold, the yaw motor is controlled to stop yaw.
  • the second threshold may be determined according to the rated current of the yaw motor, and may also be specifically set according to the actual situation, which is not specifically limited in this embodiment of the present application.
  • the embodiment of the present application can determine in advance whether the yaw load is too large, and if so, the yaw motor is controlled to stop the yaw, so as to avoid system tripping caused by special conditions such as excessive load on the windward surface, reducing the Labor operation and maintenance costs.
  • the yaw operation can be counted based on the yaw current, so that it is convenient to judge whether the yaw structure is abnormal in advance.
  • the yaw control method provided by the embodiment of the present application can quickly and accurately determine whether the yaw system needs to be relieved based on the yaw pressure, and control the yaw motor to start the yaw; based on the yaw current, the yaw load can be judged in advance, And control the yaw motor to stop the yaw, so as to avoid tripping under special conditions, resulting in the failure of the yaw system and reducing the cost of labor operation and maintenance.
  • the yaw motor is controlled to start the yaw, including:
  • the electromagnetic brake is controlled to start the brake release
  • the yaw motor is controlled to start yaw.
  • the electromagnetic brake starts to release and delay the brake.
  • the second preset time it indicates that the release action of the electromagnetic brake is completed, and the yaw motor can be started to start yaw.
  • the first preset time and the second preset time may be specifically set according to actual conditions, which are not specifically limited in this embodiment of the present application.
  • the embodiment of the present application can quickly and accurately determine whether the yaw system needs to be relieved of pressure, and control the yaw motor to start the yaw.
  • the embodiment of the present application can directly determine whether the pressure relief of the system is completed according to the yaw pressure, which not only has higher accuracy, but also avoids the need for traditional methods. Wait for a preset time before judging the problem that causes lower efficiency.
  • the embodiment of the present application controls the electromagnetic brake to release the brake after a first preset time delay after the hydraulic brake starts to release, and controls the electromagnetic brake after a delay of the second preset time after the electromagnetic brake starts to release the brake.
  • the yaw motor starts to yaw, so as to ensure that the hydraulic brake and the electromagnetic brake can perform the next yaw control after the corresponding release action is completed, ensuring the yaw accuracy.
  • the method further includes:
  • the hydraulic brake is controlled to hold the brake.
  • the yaw system needs to be turned off. Since there is a response time for the yaw motor to stop yaw, after controlling the yaw motor to stop yaw and delaying the third preset time, it indicates that the yaw motor has stopped yaw, and the next step of yaw control can be performed, that is, to control the electromagnetic brake Brake. Similarly, the electromagnetic brake has a response time. After the electromagnetic brake starts to brake and delays the fourth preset time, it indicates that the electromagnetic brake has completed the brake action, and the hydraulic brake can be controlled to close the yaw system.
  • the third preset time and the fourth preset time may be specifically set according to actual conditions, which are not specifically limited in this embodiment of the present application.
  • the hydraulic brake is controlled to hold the brake, and the hydraulic brake is controlled to be released after a preset time period.
  • the hydraulic brake is controlled to release the pressure so that the yaw system can release pressure to the normal pressure range.
  • the hydraulic brake can be controlled to release the brake, and then it is further judged whether the yaw pressure is less than the first threshold, and if so, according to The method of the above embodiment controls the yaw motor to start yaw.
  • the protection logic should continuously protect the fan operation.
  • the yaw motor After the yaw motor starts yaw, if the yaw current is not greater than the second threshold and the wind direction change amount satisfies the wind direction change preset condition, the yaw motor is controlled to stop yaw.
  • the load on the windward side can also represent the yaw load, and the load on the windward side is related to the change in the wind direction.
  • the wind direction change meets the preset requirements, such as
  • controlling the hydraulic brake to release the brake includes:
  • the hydraulic brake is controlled to release the brake.
  • the yaw overload protection status is that the overload protection is not turned on, it indicates that the current yaw load is normal and the yaw can be turned on; if the yaw overload protection status is that the overload protection has been turned on and the delay is greater than
  • the preset protection time indicates that although the yaw load is too large when the overload protection is turned on, after a delay, the yaw load is already in the normal range, so the yaw can continue.
  • the second threshold is determined based on the rated current of the yaw motor.
  • the "yaw load avoidance" trigger threshold (ie, the second threshold) is set according to X times In, and the yaw current transformer monitors the yaw current value of a channel with a larger driving load.
  • an embodiment of the present application also provides a yaw control method, which includes the following steps:
  • the electromagnetic brake is controlled to release the brake, and the yaw motor is started after the electromagnetic brake release delay of 1s.
  • the controller collects the yaw current and the yaw pressure, judges the yaw load in advance, and then formulates relevant strategies to accurately perform the yaw control, so as to avoid the failure of the yaw system and the failure of the wind turbine to generate electricity normally.
  • the problem As shown in FIG. 3 , in the embodiment of the present application, the controller collects the yaw current and the yaw pressure, judges the yaw load in advance, and then formulates relevant strategies to accurately perform the yaw control, so as to avoid the failure of the yaw system and the failure of the wind turbine to generate electricity normally. The problem.
  • the yaw control device provided by the present application will be described below, and the yaw control device described below and the yaw control method described above may refer to each other correspondingly.
  • a yaw control device which includes:
  • the first control unit 410 is configured to control the hydraulic brake to release the brake if the yaw overload protection state of the wind turbine meets the preset overload protection condition when the wind direction change is detected;
  • the second control unit 420 is configured to control the yaw motor to start yaw if the yaw pressure is less than the first threshold after the hydraulic brake is released;
  • the third control unit 430 is configured to control the yaw motor to stop yaw if the yaw current is greater than the second threshold after the yaw motor is turned on for yaw.
  • the second control unit 420 is configured to:
  • the electromagnetic brake is controlled to start the brake release
  • the yaw motor is controlled to start yaw.
  • a shutdown unit is also included for:
  • the hydraulic brake is controlled to hold the brake.
  • the second control unit 420 is further configured to: after the hydraulic brake is released, if the yaw pressure is not less than the first threshold, control the hydraulic brake to hold the brake, and in a pre-release After a set time period, the hydraulic brake is controlled to be released.
  • the third control unit 430 is further configured to, after the yaw motor is turned on for yaw, if the yaw current is not greater than the second threshold value and the wind direction change amount satisfies the wind direction change preset condition, The yaw motor is controlled to stop yaw.
  • the first control unit 410 is configured to:
  • the hydraulic brake is controlled to release the brake .
  • the second threshold is determined based on the rated current of the yaw motor.
  • FIG. 5 is a schematic structural diagram of an electronic device provided by the present application.
  • the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540,
  • the processor 510 , the communication interface 520 , and the memory 530 communicate with each other through the communication bus 540 .
  • the processor 510 can call the logic instruction in the memory 530 to execute the yaw control method, the method includes: when the wind direction change is detected, if the yaw overload protection state of the wind turbine meets the preset overload protection condition, controlling the hydraulic pressure The brake is released; after the hydraulic brake is released, if the yaw pressure is less than the first threshold, the yaw motor is controlled to start the yaw; after the yaw motor is turned on, if the yaw current is greater than the second threshold , the yaw motor is controlled to stop yaw.
  • the above-mentioned logic instructions in the memory 530 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer
  • the computer can execute the yaw control method provided by the above methods, and the method includes: when a change in the wind direction is detected, if the yaw overload protection state of the wind turbine meets the preset overload protection condition, controlling the hydraulic brake to release.
  • the yaw motor After the hydraulic brake is released, if the yaw pressure is less than the first threshold, the yaw motor is controlled to turn on the yaw; after the yaw motor is turned on, if the yaw current is greater than the second threshold, the The yaw motor is controlled to stop yaw.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, the computer program being implemented by a processor to execute the yaw control methods provided above, the method comprising: When the wind direction change is detected, if the yaw overload protection state of the wind turbine meets the preset overload protection conditions, the hydraulic brake is controlled to release the brake; after the hydraulic brake is released, if the yaw pressure is less than the first threshold, the The yaw motor is controlled to start the yaw; after the yaw motor is turned on, if the yaw current is greater than the second threshold, the yaw motor is controlled to stop the yaw.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Wind Motors (AREA)

Abstract

L'invention concerne un procédé et un appareil de contrôle de lacet, un dispositif électronique, et un support de stockage. Le procédé comprend les étapes suivantes consistant à : lors de la détection du fait que la direction du vent change, si l'état de protection contre les surcharges de lacet d'une éolienne satisfait une condition prédéfinie, amener un frein hydraulique à se libérer; une fois que le frein hydraulique est libéré, si la pression de lacet est inférieure à un premier seuil, mettre en marche un moteur de lacet pour un mouvement de lacet; et après que le moteur de lacet est mis en marche pour un mouvement de lacet, si le courant de lacet est supérieur à un second seuil, commander le moteur de lacet à arrêter le mouvement de lacet.
PCT/CN2021/111713 2021-02-03 2021-08-10 Procédé et appareil de contrôle de lacet, dispositif électronique, et support de stockage WO2022166144A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES202290031A ES2923409B2 (es) 2021-02-03 2021-08-10 Metodo de control de guinada, dispositivo de control de guinada, dispositivo electronico y medio de almacenamiento

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110152516.8A CN112879222B (zh) 2021-02-03 2021-02-03 偏航控制方法、装置、电子设备和存储介质
CN202110152516.8 2021-02-03

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WO2022166144A1 true WO2022166144A1 (fr) 2022-08-11

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CN112879222B (zh) * 2021-02-03 2022-04-01 三一重能股份有限公司 偏航控制方法、装置、电子设备和存储介质
CN114382645A (zh) * 2021-12-03 2022-04-22 重庆海装风电工程技术有限公司 风力发电机组侧风偏航电气控制系统、方法及发电机组

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CN102635501A (zh) * 2012-04-27 2012-08-15 中船重工(重庆)海装风电设备有限公司 一种风机偏航控制方法、装置及系统
EP3409940A1 (fr) * 2017-05-30 2018-12-05 General Electric Company Système et procédé permettant de réduire des charges pendant un état de ralenti ou de stationnement d'une éolienne par décalage de lacet
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CN110159483A (zh) * 2019-06-17 2019-08-23 三一重能有限公司 一种风机偏航控制方法、装置及风电机组
CN111749846A (zh) * 2020-06-09 2020-10-09 明阳智慧能源集团股份公司 一种风力发电机组偏航控制方法
CN112879222A (zh) * 2021-02-03 2021-06-01 三一重能股份有限公司 偏航控制方法、装置、电子设备和存储介质

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