CN104912733B - Wind driven generator yaw control method, control module and the control device based on the module - Google Patents
Wind driven generator yaw control method, control module and the control device based on the module Download PDFInfo
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Abstract
Wind driven generator yaw control method, control module and the control device based on the module, are related to wind driven generator yaw control technology.It interferes to driftage control in order to solve instantaneous wind direction and makes yawing unit frequent starting, causes that electric current output is unstable, control is difficult and the problem of cabin service life reduction.If wind speed is beyond the scope or wind direction of setting value and cabin misalignment angle≤16 °, yawing unit hold mode, if misalignment angle in the range of 16 ° 180 °, yaw motor reversion, otherwise yaw motor rotating forward, realizes the driftage control of wind-driven generator.In control device of the wind driven generator yaw control module insertion based on the module.Yawing unit possesses delayed startup function in the present invention, and uses control errors, it is therefore prevented that interference caused by instantaneous wind speed, and the utilization rate of wind energy has been can guarantee that, start situation frequently difficult with control caused by avoiding zero degree alignment, while the cabin life-span can be extended.Controlled suitable for the driftage to wind-driven generator.
Description
Technical field
The present invention relates to wind driven generator yaw control technology.
Background technology
The utilization rate of wind energy and mechanical life are an important indicators of Wind turbines, and the control technology of Wind turbines is always
Widely studied by people, a variety of effective wind generation set control strategies and algorithms are suggested, but be mostly on wind energy conversion system control,
The technology of generator control and cutting-in control, but fail to obtain effective development for the technology of driftage control, therefore, to wind energy conversion system
Dynamic Modeling problem expansion with the process of trimming one's sails of tracking wind direction in comprehensive wind characteristic excursion is studied, to improving
Wind energy utilization has great significance.
Wind direction has randomness, is always constantly changing.In order that wind wheel is in normal work, wind wheel blade face always
The direction of wind, to make full use of the energy of wind, adjusted device is mounted with cabin rotary base.The tune of wind power generating set
It is referred to as yaw system to mechanism, is broadly divided into passive yaw system windward and the active major class of system two windward.The former is used for small
Type independence wind power generating set, is controlled by tail vane, in wind vector passively to wind.The latter is used for large-scale grid-connected wind hair
Group of motors, carried out actively to air control system by the signal sent positioned at the wind vane of lower wind direction.
Due to the ambiguity of wind direction, when doing driftage guiding to wind-power electricity generation using wind vane, using closed-loop control so that wind
To target signal real-time Transmission to master controller, many control methods all use cabin and wind direction using cabin and wind vane
Target difference value of zero alignment function operates, although so wind energy utilization is high, instantaneous wind direction can interfere to driftage control
Make yawing unit frequent starting, cause the consequences such as unstable, the control difficulty of electric current output.
Existing wind driven generator yaw control module all using cabin and the difference value of zero alignment function of wind vane, can so make
Yawing unit frequent starting, cause electric current output shakiness, control difficult.
Yawing unit in existing wind driven generator yaw control device is controlled to wind-driven generator in real time, causes machine
The service life reduction half in cabin.
The content of the invention
The present invention be in order to solve existing control method all using cabin and it is subjectinsured all using cabin with it is subjectinsured
Difference value of zero alignment function, yawing unit frequent starting can be caused, cause electric current output shakiness, control difficult, existing wind-power electricity generation
Machine driftage control module can so make yawing unit frequent starting, lead all using cabin and subjectinsured difference value of zero alignment function
Send a telegraph and flow output shakiness, control difficulty, and the yawing unit in existing wind driven generator yaw control device is in real time to wind-force
Generator is controlled, the problem of causing the service life reduction half of cabin, so as to provide wind driven generator yaw control method, control
Molding block and the control device based on the module.
Wind driven generator yaw control method of the present invention, this method comprise the following steps：
Data collection steps：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judgment step：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and held when judged result is and is
Row state keeps step, performs calculation procedure when judged result is no, upper wind velocity limit and wind speed lower limit are set in advance
Value；
Calculation procedure:The misalignment angle of wind direction and cabin is calculated, and the second judgment step is performed after the step terminates；
Second judgment step：Judgment bias angle whether≤16 °, and judged result for be when perform state keep step
Suddenly, the 3rd judgment step is performed when judged result is no；
3rd judgment step：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1When
Between after actuating motor inversion step, if it is judged that being no, t1Actuating motor is just gone to step after time；
Motor reversal step：Yaw motor reversion is controlled, and the 4th judgment step is performed after the step terminates；
Motor is just gone to step：Control yaw motor to rotate forward, and the 4th judgment step is performed after the step terminates；
4th judgment step：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and in judged result
The step that stops operating is performed during to be, the state that performed when judged result is no keeps step, and the rotating cycle upper limit is to set in advance
Fixed value；
State keeps step：Yaw motor maintains the original state t2Time, and perform first after the step terminates and judge
Step；
Stop operating step：Control yaw motor is stopped operating, and step of untying the mooring rope is performed after the step terminates；
Untie the mooring rope step：Control yaw motor is untied the mooring rope, and the 4th judgment step is performed after the step terminates.
Wind driven generator yaw control module of the present invention, the control module are included with lower unit：
Data acquisition unit：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judging unit：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and opened when judged result is and is
Dynamic state holding elements, start computing unit, upper wind velocity limit and wind speed lower limit are set in advance when judged result is no
Value；
Computing unit:The misalignment angle of wind direction and cabin is calculated, and starts the second judging unit after the unit terminates；
Second judging unit：Judgment bias angle whether≤16 °, and keep single in judged result for starting state when being
Member, start the 3rd judging unit when judged result is no；
3rd judging unit：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1When
Between after start motor reversal unit, if it is judged that being no, t1Start motor after time and rotate forward unit；
Motor reversal unit：Yaw motor reversion is controlled, and starts the 4th judging unit after the unit terminates；
Motor rotates forward unit：Control yaw motor to rotate forward, and start the 4th judging unit after the unit terminates；
4th judging unit：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and in judged result
Start the unit that stops operating during to be, the starting state holding unit when judged result is no, the rotating cycle upper limit is to set in advance
Fixed value；
State holding elements：Yaw motor maintains the original state t2Time, and start first after the unit terminates and judge
Unit；
Stop operating unit：Control yaw motor stops operating, and starts the unit that unties the mooring rope after the unit terminates；
Untie the mooring rope unit：Control yaw motor unties the mooring rope, and starts the 4th judging unit after the unit terminates.
Based on the control device of above-mentioned wind driven generator yaw control module, it includes test the speed unit, direction finding unit, master control
Device processed, stop operating unit and yawing unit；Direction finding unit includes wind vane and wave filter；
Test the speed unit output end connection master controller tachometer signal input, direction finding unit output end connection master control
The direction-finding signal input of device processed, the oil circuit signal input of the oil circuit signal output part connection master controller for the unit that stops operating
End, the control signal output that stops operating of master controller connect the control signal input for the unit that stops operating, yawing unit
Cabin rotational angle absolute value signal output end connection master controller yaw-control signal input, master controller it is inclined
The control signal input of control signal output of navigating connection yawing unit；
Master controller is embedded in the wind driven generator yaw control module of software realization.
The above-mentioned unit that tests the speed is realized using air velocity transducer.
Wave filter in above-mentioned direction finding unit is low pass filter.
The above-mentioned unit that stops operating includes emergency stop device and safety stop gear.
The above-mentioned unit that stops operating includes ratio solenoid directional control valve.
Above-mentioned yawing unit gathers the absolute value of cabin rotational angle using position sensor.
Above-mentioned position sensor selects absolute transducer.
Wind driven generator yaw control device of the present invention, the unit that tests the speed are passed after wind speed is handled with electric signal
Master controller is transported to, master controller draws wind speed after handling electric signal, is exported according to wind speed setting limit value corresponding
Control signal.The wind direction measured is transmitted to master controller, master controller and carries out signal by direction finding unit as electronic signals
The angle of air-out is obtained after processing.The unit that stops operating is used to carry out parking brake to wind-driven generator.Yawing unit is used to receive
The instruction of master controller, and itself working condition is adjusted according to instruction, realize wind driven generator yaw control.It is main in the present invention
Controller constantly adjusts misalignment angle, misalignment angle is no more than 16 degree, ensure that the utilization rate of wind energy, yawing unit, which possesses, to be prolonged
When startup function, yawing unit need not be controlled to wind-driven generator in real time, it is therefore prevented that interference caused by instantaneous wind speed, can make
One times of cabin life.
Wind driven generator yaw control module of the present invention uses control errors and delay start, is set if wind speed exceeds
The upper limit, lower limit or the wind direction and cabin misalignment angle of definite value are less than or equal to 16 °, and yawing unit keeps stop state, if partially
Declinate degree is in the range of 16 ° -180 °, then yaw motor inverts (i.e. t after 1 minute1=1 minute), otherwise retrodeviate avionics within 1 minute
Machine rotates forward.This module constantly adjusts the misalignment angle of wind direction and cabin, misalignment angle control is being ensured wind within 16 degree
While the utilization rate of energy, electric current output is unstable caused by avoiding zero degree alignment, starts the problem of frequent and control is difficult, together
When can extend the cabin life-span；By the way of delay controls, it is therefore prevented that interference caused by instantaneous wind speed.
Research is found, in cabin angle and wind direction difference in 20 degree, wind energy loss about 4.5%.Therefore cabin and wind
It is not necessarily to the alignment of accurately zero degree.Wind direction is easily mutated, and instantaneous wind direction causes very big interference to driftage control, in order to
Yawing unit frequent starting is prevented, yawing unit should delay start.Wind driven generator yaw control method of the present invention
Using control errors and delay start, if wind speed be less than beyond the upper limit, lower limit or the wind direction and cabin misalignment angle of setting value or
Equal to 16 °, yawing unit keep stop state, if misalignment angle in the range of 16 ° -180 °, the yaw motor after 1 minute
Invert (i.e. t1=1 minute), otherwise yaw motor rotates forward after 1 minute.This method constantly adjusts the misalignment angle of wind direction and cabin,
Make misalignment angle control within 16 degree, while the utilization rate of wind energy is ensured, avoid electric current caused by zero degree alignment
Output is unstable, starts frequently and controls the problem of difficult, while can extend the cabin life-span；By the way of delay controls, prevent
Interference caused by instantaneous wind speed.
The present invention can be used for the driftage of wind-driven generator to control.
Brief description of the drawings
Fig. 1 is the structural representation of the wind driven generator yaw control device described in embodiment three.
Fig. 2 is the control flow chart of the wind driven generator yaw control method described in embodiment one.
Embodiment
Embodiment one：Reference picture 2 illustrates present embodiment, and the wind-driven generator described in present embodiment is inclined
Boat control method, this method comprise the following steps：
Data collection steps：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judgment step：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and held when judged result is and is
Row state keeps step, performs calculation procedure when judged result is no, upper wind velocity limit and wind speed lower limit are set in advance
Value；
Calculation procedure:The misalignment angle of wind direction and cabin is calculated, and the second judgment step is performed after the step terminates；
Second judgment step：Judgment bias angle whether≤16 °, and judged result for be when perform state keep step
Suddenly, the 3rd judgment step is performed when judged result is no；
3rd judgment step：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1When
Between after actuating motor inversion step, if it is judged that being no, t1Actuating motor is just gone to step after time；
Motor reversal step：Yaw motor reversion is controlled, and the 4th judgment step is performed after the step terminates；
Motor is just gone to step：Control yaw motor to rotate forward, and the 4th judgment step is performed after the step terminates；
4th judgment step：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and in judged result
The step that stops operating is performed during to be, the state that performed when judged result is no keeps step, and the rotating cycle upper limit is to set in advance
Fixed value；
State keeps step：Yaw motor maintains the original state t2Time, and perform first after the step terminates and judge
Step；
Stop operating step：Control yaw motor is stopped operating, and step of untying the mooring rope is performed after the step terminates；
Untie the mooring rope step：Control yaw motor is untied the mooring rope, and the 4th judgment step is performed after the step terminates.
t1For 1 minute, t2Scope be number of seconds magnitude to the minute order of magnitude.
When by the use of collection wind direction instantaneous value as driftage stop condition basis for estimation, because of the presence of wind direction disturbance fluctuation, machine
Cabin is difficult to stop on current true wind direction, easily causes yaw motor and starts in short-term and frequent starting phenomenon, it is clear that be unreasonable.
Generally, judge the wind direction data after filtering process as driftage stop condition, but wind direction time constant filter is larger, and delay is bright
It is aobvious, it can so cause in During yaw that realistic objective value has reached and filter value differs greatly, mark of looking over so as to check partially can be caused
Phenomenon is put, so the anglec of rotation is that fixed value is more reasonable to yaw system upon actuation.
Wind driven generator yaw control method of the present invention uses control errors and delay start, is set if wind speed exceeds
The upper limit, lower limit or the wind direction and cabin misalignment angle of definite value are less than or equal to 16 °, and yawing unit keeps stop state, if partially
Declinate degree is in the range of 16 ° -180 °, then yaw motor inverts after 1 minute, and otherwise yaw motor rotates forward after 1 minute.This method
Interference caused by preventing instantaneous wind speed, while ensure that the utilization rate of wind energy, avoid startup caused by zero degree alignment
Frequently and difficult situation is controlled, while the cabin life-span can be extended.
Embodiment two：Wind driven generator yaw control module described in present embodiment, the control module include
With lower unit：
Data acquisition unit：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judging unit：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and opened when judged result is and is
Dynamic state holding elements, start computing unit, upper wind velocity limit and wind speed lower limit are set in advance when judged result is no
Value；
Computing unit:The misalignment angle of wind direction and cabin is calculated, and starts the second judging unit after the unit terminates；
Second judging unit：Judgment bias angle whether≤16 °, and keep single in judged result for starting state when being
Member, start the 3rd judging unit when judged result is no；
3rd judging unit：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1When
Between after start motor reversal unit, if it is judged that being no, t1Start motor after time and rotate forward unit；
Motor reversal unit：Yaw motor reversion is controlled, and starts the 4th judging unit after the unit terminates；
Motor rotates forward unit：Control yaw motor to rotate forward, and start the 4th judging unit after the unit terminates；
4th judging unit：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and in judged result
Start the unit that stops operating during to be, the starting state holding unit when judged result is no, the rotating cycle upper limit is to set in advance
Fixed value；
State holding elements：Yaw motor maintains the original state t2Time, and start first after the unit terminates and judge
Unit；
Stop operating unit：Control yaw motor stops operating, and starts the unit that unties the mooring rope after the unit terminates；
Untie the mooring rope unit：Control yaw motor unties the mooring rope, and starts the 4th judging unit after the unit terminates.
Embodiment three：Reference picture 1 illustrates present embodiment, and present embodiment is to be based on embodiment
The control device of wind driven generator yaw control module described in two, it include test the speed unit 1, direction finding unit 2, master controller 3,
Stop operating unit 4 and yawing unit 5；Direction finding unit 2 includes wind vane and wave filter；
Test the speed unit 1 output end connection master controller 3 tachometer signal input, direction finding unit 2 output end connection
The direction-finding signal input of master controller 3, the oil circuit letter of the oil circuit signal output part connection master controller 3 for the unit 4 that stops operating
Number input, the control signal output connection that stops operating of master controller 3 stop operating the control signal input of unit 4,
The yaw-control signal input of the absolute value signal output end connection master controller 3 of the cabin rotational angle of yawing unit 5, it is main
The control signal input of the yaw-control signal output end connection yawing unit 5 of controller 3；
Master controller 3 is embedded in the wind driven generator yaw control module of software realization.
Yawing unit possesses delayed startup function, it is therefore prevented that interference caused by instantaneous wind speed.
Embodiment four：Present embodiment is to control dress to the wind driven generator yaw described in embodiment three
Put and be described further, in present embodiment, the unit 1 that tests the speed is realized using air velocity transducer.
Embodiment five：Present embodiment is to control dress to the wind driven generator yaw described in embodiment three
Put and be described further, in present embodiment, the wave filter in direction finding unit 2 is low pass filter.
Low pass filter can filter disturbance wind direction and obtain prevailing wind direction.Before acquired original wind direction signals enter filtering, set
One specific data skips the judgement section of wave filter.If currently collection signal falls in this section, straight without wave filter
The output signal as next step is connect, because the maximum possible situation that collection wind direction falls into this section is in low wind speed start-up course
In, so gathered data will not fall into this section always, such processing can obviously reduce transmission function lag time, avoid wind
The wind direction obtained after to the actual value and filtering with cabin deflection angle differs greatly with cabin deflection angle angle value.
Embodiment six：Present embodiment is to control dress to the wind driven generator yaw described in embodiment three
Put and be described further, in present embodiment, the unit 4 that stops operating includes emergency stop device and safety stop gear.
Embodiment seven：Present embodiment is to control dress to the wind driven generator yaw described in embodiment three
Put and be described further, in present embodiment, the unit 4 that stops operating includes ratio solenoid directional control valve.
Stop operating unit 4 oil circuit on connect proportional solenoid directional control valve.It is real-time using electric-hydraulic proportion solenoid directional control valve
Oil circuit signal is transmitted to master controller, realizes closed-loop control of the master controller to oil circuit, improves master controller to stopping turning
The response speed and control accuracy of moving cell.
Embodiment eight：Present embodiment is to control dress to the wind driven generator yaw described in embodiment three
Put and be described further, in present embodiment, yawing unit 5 gathers the absolute of cabin rotational angle using position sensor
Value.
Position sensor transmits the absolute value of cabin rotational angle to master controller, and master controller is according to cabin angle of rotation
Degree thoroughly deserves rotating cycle.
Embodiment nine：Present embodiment is to control dress to the wind driven generator yaw described in embodiment eight
Put and be described further, in present embodiment, position sensor selects absolute transducer.
Claims (9)
1. wind driven generator yaw control method, it is characterised in that this method comprises the following steps：
Data collection steps：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judgment step：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and shape is performed when judged result is and is
State keeps step, performs calculation procedure when judged result is no, upper wind velocity limit and wind speed lower limit are value set in advance；
Calculation procedure:The misalignment angle of wind direction and cabin is calculated, and the second judgment step is performed after the step terminates；
Second judgment step：Judgment bias angle whether≤16 °, and judged result for be when perform state keep step,
The 3rd judgment step is performed when judged result is no；
3rd judgment step：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1Held after time
Row motor reversal step, if it is judged that being no, t1Actuating motor is just gone to step after time；
Motor reversal step：Yaw motor reversion is controlled, and the 4th judgment step is performed after the step terminates；
Motor is just gone to step：Control yaw motor to rotate forward, and the 4th judgment step is performed after the step terminates；
4th judgment step：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and be yes in judged result
Shi Zhihang stops operating step, judged result for it is no when perform state and keep step, the rotating cycle upper limit is set in advance
Value；
State keeps step：Yaw motor maintains the original state t2Time, and the first judgment step is performed after the step terminates；
Stop operating step：Control yaw motor is stopped operating, and step of untying the mooring rope is performed after the step terminates；
Untie the mooring rope step：Control yaw motor is untied the mooring rope, and the 4th judgment step is performed after the step terminates.
2. wind driven generator yaw control module, it is characterised in that the control module is included with lower unit：
Data acquisition unit：Constantly gather the absolute value of wind speed, wind direction and cabin rotational angle；
First judging unit：Judge whether wind speed exceeds upper wind velocity limit or wind speed lower limit, and start shape when judged result is and is
State holding unit, start computing unit when judged result is no, upper wind velocity limit and wind speed lower limit are value set in advance；
Computing unit:The misalignment angle of wind direction and cabin is calculated, and starts the second judging unit after the unit terminates；
Second judging unit：Judgment bias angle whether≤16 °, and judged result for be when starting state holding unit,
Start the 3rd judging unit when judged result is no；
3rd judging unit：Whether judgment bias angle is more than 16 ° and less than 180 °, if it is judged that being yes, t1Opened after time
Dynamic motor reversal unit, if it is judged that being no, t1Start motor after time and rotate forward unit；
Motor reversal unit：Yaw motor reversion is controlled, and starts the 4th judging unit after the unit terminates；
Motor rotates forward unit：Control yaw motor to rotate forward, and start the 4th judging unit after the unit terminates；
4th judging unit：Judge whether the rotating cycle of yaw motor is more than the rotating cycle upper limit, and be yes in judged result
Shi Qidong stops operating unit, judged result for it is no when starting state holding unit, the rotating cycle upper limit is set in advance
Value；
State holding elements：Yaw motor maintains the original state t2Time, and start the first judging unit after the unit terminates；
Stop operating unit：Control yaw motor stops operating, and starts the unit that unties the mooring rope after the unit terminates；
Untie the mooring rope unit：Control yaw motor unties the mooring rope, and starts the 4th judging unit after the unit terminates.
3. a kind of wind driven generator yaw control device, it is characterised in that it includes test the speed unit (1), direction finding unit (2), master
Controller (3), the unit that stops operating (4) and yawing unit (5)；Direction finding unit (2) includes wind vane and wave filter；
Test the speed unit (1) output end connection master controller (3) tachometer signal input, the output end of direction finding unit (2) connects
Connect the direction-finding signal input of master controller (3), the oil circuit signal output part connection master controller (3) of the unit that stops operating (4)
Oil circuit signal input part, the control signal output connection that stops operating of master controller (3) stops operating the control of unit (4)
Signal input part, the driftage control of the absolute value signal output end connection master controller (3) of the cabin rotational angle of yawing unit (5)
Signal input part processed, the control signal input of the yaw-control signal output end connection yawing unit (5) of master controller (3)；
Master controller (3) be embedded in software realization based on the wind driven generator yaw control module described in claim 2.
4. wind driven generator yaw control device according to claim 3, it is characterised in that the unit that tests the speed (1) is adopted
Realized with air velocity transducer.
5. wind driven generator yaw control device according to claim 3, it is characterised in that in the direction finding unit (2)
Wave filter be low pass filter.
6. wind driven generator yaw control device according to claim 3, it is characterised in that the unit that stops operating
(4) emergency stop device and safety stop gear are included.
7. wind driven generator yaw control device according to claim 3, it is characterised in that the unit that stops operating
(4) ratio solenoid directional control valve is included.
8. wind driven generator yaw control device according to claim 3, it is characterised in that the yawing unit (5) is adopted
The absolute value of cabin rotational angle is gathered with position sensor.
9. wind driven generator yaw control device according to claim 8, it is characterised in that the position sensor is selected
Absolute transducer.
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| CN201510317052.6A CN104912733B (en) | 2015-06-10 | 2015-06-10 | Wind driven generator yaw control method, control module and the control device based on the module |
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| CN201510317052.6A CN104912733B (en) | 2015-06-10 | 2015-06-10 | Wind driven generator yaw control method, control module and the control device based on the module |
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| CN107795433B (en) * | 2016-08-31 | 2019-09-13 | 北京天诚同创电气有限公司 | Wind driven generator yaw control method, apparatus and system |
| CN106593764B (en) * | 2016-12-19 | 2021-08-06 | 北京金风科创风电设备有限公司 | Wind measuring system, wind measuring method, yaw control method and master control system |
| CN106704104B (en) * | 2017-01-20 | 2019-08-23 | 锐电科技有限公司 | A kind of method and its system improving big windage losses apparatus for lower wind generating set headroom |
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| CN107781108B (en) * | 2017-09-30 | 2019-06-28 | 上海华兴数字科技有限公司 | A kind of Wind turbines Yaw control method |
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