CN108167119B - Active yaw control method and controller for wind turbine - Google Patents
Active yaw control method and controller for wind turbine Download PDFInfo
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- CN108167119B CN108167119B CN201611117817.2A CN201611117817A CN108167119B CN 108167119 B CN108167119 B CN 108167119B CN 201611117817 A CN201611117817 A CN 201611117817A CN 108167119 B CN108167119 B CN 108167119B
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- 238000000034 method Methods 0.000 title claims abstract description 65
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- 238000005259 measurement Methods 0.000 description 6
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- 201000009482 yaws Diseases 0.000 description 5
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Classifications
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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
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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
- F03D7/048—Automatic control; Regulation by means of an electrical or electronic controller controlling wind farms
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
本发明公开了一种风力发电机组的主动偏航控制方法及控制器。其中，该方法用于中央控制器，该方法包括：当检测到风电场中存在第一风力发电机启动偏航后，查询第一风力发电机在当前风况数据下作为最早启动偏航的风力发电机的情况下的风电场的历史偏航数据的步骤；根据历史偏航数据计算每台风力发电机相对于第一风力发电机的被动偏航时间差值，根据被动偏航时间差值分别向每台风力发电机发送主动偏航控制指令。该方法不需要对风况进行预测，不需要检测风力发电机之间的距离，所以不需要加装任何额外的传感器设备，可大大节省风电场的运营成本。
The invention discloses an active yaw control method and controller for a wind turbine generator set. Wherein, the method is used in a central controller, and the method includes: when it is detected that the first wind turbine starts yaw in the wind farm, querying the first wind turbine as the earliest wind to start yaw under the current wind condition data. Steps of obtaining the historical yaw data of the wind farm in the case of generators; calculating the passive yaw time difference of each wind turbine relative to the first wind turbine based on the historical yaw data, and calculating the passive yaw time difference according to the passive yaw time difference. Send active yaw control commands to each wind turbine. This method does not need to predict wind conditions or detect the distance between wind turbines, so it does not require the installation of any additional sensor equipment, which can greatly save the operating costs of wind farms.
Description
Technical field
The invention belongs to technical field of wind power generation more particularly to a kind of active yawing control methods of wind power generating set
And controller.
Background technique
With being gradually expanded for wind-driven generator scale and being gradually improved for unit safety protection, the operation of wind-driven generator
Power generation performance, that is, improve wind-driven generator generated energy and availability, be similarly subjected to more and more attention.How to fill
Divide and utilize wind energy, obtain the maximum energy and economic benefit, becoming wind-driven generator master control system must problems faced.
Yaw system is one of essential composition system of horizontal shaft type wind-driven generator.Yaw system also known as fills wind
It sets, is a part of engine rooms of wind power generators, it, can be quick smoothly right its role is to when the direction change of wind vector
Quasi- wind direction makes the wind wheel of wind-driven generator be in state windward always, makes full use of wind energy, improves the power generation effect of wind-driven generator
Rate.So wind-driven generator to wind precision, directly influence the generating efficiency of wind-driven generator.
The control strategy adjustment and yaw of wind-driven generator belong to passive property at present, that is, after detecting wind speed variation,
Master control system just starts to control pitch-controlled system progress variable pitch operation, and blade variable pitch lags behind wind speed variation, leads to wheel speed not
Stablize, certain generated energy is caused to lose；After detecting wind vector, master control system just starts to control yaw system progress partially
Boat, yaw maneuver lag behind wind vector, and after wind vector, wheel speed can be substantially reduced, and will also result in certain generated energy
Loss.
In addition, if unit is in shutdown status, when master control system detects that current wind speed is greater than threshold wind velocity, need
It is yawed first to wind, and yaw is generally longer to the time of wind, about 5~10 minutes are even longer, i.e. wind field wind speed reaches
After wind-driven generator entry condition, it may be necessary to it can just generate electricity by way of merging two or more grid systems after about 12~15 minutes, it can be slow due to the unit starting time
And generated energy is caused to lose: assuming that wind power plant is 2MW (i.e. 2000kW) unit totally 33, by the power calculation of half, then to wind
The loss of generated energy caused by 10 minutes of yaw is about 2000kW × 33 × 15 minute/60 minute/2=8250kW, is caused
Huge generated energy loss.The passive yawing of wind-driven generator, losing to generated energy caused by a unit short time may
And it is few, but with wind power plant number increase and the increase of wind-driven generator capacity, generated energy caused by longtime running damage
Mistake is immeasurable.
Summary of the invention
The embodiment of the invention provides the active yawing control methods and controller of a kind of wind power generating set.
In a first aspect, the embodiment of the invention provides a kind of active yawing control method of wind power generating set, it is used for
Controller is entreated, method includes the following steps: inquiring when detecting in wind power plant there are after the starting yaw of the first wind-driven generator
Wind power plant in the case where wind-driven generator of first wind-driven generator under current wind regime data as earliest starting yaw
The step of history yaw data；Quilt of every typhoon power generator relative to the first wind-driven generator is calculated according to history yaw data
Dynamic yaw time difference sends active yawing control instruction to every typhoon power generator respectively according to passive yawing time difference
Step.
Second aspect, the embodiment of the invention provides a kind of Yaw control methods of wind power generating set, send out for wind-force
Motor group and is sent to central controller this method comprises: acquisition wind regime data and wind power generating set work as forward engine room direction
The step of；The active yawing control instruction that central controller is sent is received, active yawing control instruction includes wind after wind regime variation
Cabin direction, passive yawing time difference and Startup time after the yaw of the wind-driven generator yawed earliest in electric field
Step；It is opened according to active yawing control instruction, the default yawing velocity of wind power generating set and when forward engine room direction obtains yaw
The step of dynamic moment is to execute active yawing；Work as forward engine room direction according to collected wind regime data and wind power generating set
The step of directly executing passive yawing；And the step of sending yaw type to the central controller of execution.
The third aspect, the embodiment of the invention provides a kind of central controllers, comprising: judging unit and control unit, it should
Judging unit is configured to inquire first when detecting in wind power plant there are after the starting yaw of the first wind-driven generator
The history of wind power plant in the case where wind-driven generator of the wind-driven generator under current wind regime data as earliest starting yaw
Yaw data；The control unit is configured as being sent out according to the every typhoon power generator of history yaw data calculating relative to the first wind-force
The passive yawing time difference of motor sends active yawing control to every typhoon power generator respectively according to passive yawing time difference
System instruction.
Fourth aspect, the embodiment of the invention provides a kind of yawers for wind power generating set, comprising: acquisition
Unit, receiving unit, computing unit, passive yawing unit and transmission unit, the acquisition unit are configured as acquisition wind regime data
And wind power generating set works as forward engine room direction, and is sent to central controller；The receiving unit is configured as receiving central control
The active yawing control instruction that device processed is sent, active yawing control instruction include being yawed earliest in wind power plant after wind regime changes
Wind-driven generator yaw after cabin direction, passive yawing time difference and Startup time；The computing unit is configured as
According to active yawing control instruction, the default yawing velocity of wind power generating set and when forward engine room direction obtains yaw Startup time
To execute active yawing；The passive yawing unit is configured as according to collected wind regime data and wind power generating set
When forward engine room direction directly executes passive yawing；Yaw type to the center that the transmission unit is configured as sending execution controls
Device.
The active yawing control method and controller of the wind power generating set provided according to embodiments of the present invention, pass through monitoring
The yaw situation of wind regime data and wind power generating set in wind power plant, when discovery is yawed there are wind-driven generator, root
The wind-driven generator query history yaw data yawed is sent according to current wind regime data and earliest, to obtain every wind-power electricity generation
Passive yawing time difference when the wind-driven generator that machine is yawed relative to the wind-driven generator as earliest transmission；Respectively to every
When typhoon power generator sends the yaw starting comprising passive yawing time difference and the earliest wind-driven generator yawed
The yaw control instruction at quarter is so that every typhoon power generator calculates master in conjunction with oneself current cabin direction and yawing velocity
Dynamic yaw Startup time is to execute yaw.This method is not needed to predict wind regime, not needed between detection wind-driven generator
Distance can greatly save the operation cost of wind power plant so not needing to install any additional sensor device additional.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the exemplary application scene figure of wind power plant wind turbine control system；
Fig. 2 is the schematic flow chart of the active yawing control method of the wind power generating set of an embodiment of the present invention；
Fig. 3 is that wind regime data prison is carried out in the active yawing control method of the wind power generating set of an embodiment of the present invention
The schematic diagram of survey；
Fig. 4 is the data interaction schematic diagram between the central controller of an embodiment of the present invention and wind power generating set；
Fig. 5 is the data interaction schematic diagram between the central controller of another embodiment of the present invention and wind power generating set；
Fig. 6 is the schematic flow chart of the Yaw control method of the wind power generating set of another embodiment of the invention；
Fig. 7 is the whole detailed process of the active yawing control method of the wind power generating set of another embodiment of the invention
Figure；
Fig. 8 is the structural block diagram of the central controller of an embodiment of the present invention；
Fig. 9 is the structural block diagram of the yawer for wind power generating set of an embodiment of the present invention.
In figure: 101, central controller, 102, wind power plant, 103, wind power generating set,
301, the second wind-driven generator, 302, third wind-driven generator,
303, the 4th wind-driven generator, the 304, first wind-driven generator,
305, the 5th wind-driven generator, the 306, the 6th wind-driven generator.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Below to the description of embodiment just for the sake of being provided by showing example of the invention to of the invention more preferable
Understanding.The present invention is never limited to any concrete configuration and algorithm set forth below, but is not departing from spirit of the invention
Under the premise of cover any modification, replacement and the improvement of element, component and algorithm.In the the accompanying drawings and the following description, do not have
Well known structure and technology are shown, it is unnecessary fuzzy to avoid causing the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the exemplary application scene figure of wind power plant wind turbine control system.As shown in Figure 1, in the application
It include central controller 101, wind power plant 102 and multiple wind power generating sets 103 in scene in traditional wind power plant wind-driven generator
In set control system, the control system of the embodiment of the present invention relates generally to the yaw control system (Yaw of wind power generating set
It System), is a part of engine rooms of wind power generators also known as to wind apparatus, its role is to work as the direction change of wind vector
When, it can be directed at wind direction, quick smoothly so that wind wheel obtains maximum wind energy.Its working principle is that: when wind vector, control
System is located at two steering wheels behind wind wheel (its Plane of rotation and wind wheel Plane of rotation are perpendicular) rotation, and passes through set of gears power train
System control wind wheel deflection, after wind wheel realigns wind direction, steering wheel stops operating, and terminates to wind process.Tradition is to wind-power electricity generation
The active yawing of unit generally uses method are as follows: carries out wind regime prediction to air speed value, wind direction value, and installs GPS global positioning device additional
Detect the distance between wind-driven generator；The drawbacks of its implementation includes two aspects: on the one hand, realizing that accurate wind regime is pre-
Survey it is relatively difficult, at present realize forecasting wind speed method there are mainly three types of: 1. are predicted using weather forecast, and this method is blind
Mesh is too high, and the air speed value predicted is very inaccurate, and wind direction value is more inaccurate；2. the wind direction value based on big data is predicted, this
For kind method since blindness is higher, big data can only predict certain probability, cannot reflect true air speed value and wind direction value；And
And big data generally requires long-term running historical data, data volume and value, which are extracted, needs certain space, time and technology
Basis, while big data contains too many historical data, for the wind power generating set control, to wind speed, wind direction value
Wind regime prediction has a degree of hysteresis quality；3. high-precision anemometer is used, such as laser anemometer, first is that equipment price is high
It is expensive, second is that its detecting distance is restricted, short-term wind regime prediction can only be carried out, not can be carried out distance farther out, i.e., pre-set time is more
Long wind regime prediction.On the other hand, using the distance between GPS global positioning device detection wind-driven generator, one side GPS device
Higher cost will cause very big equipment cost, and on the other hand, GPS positioning has the disadvantage that: 1. systems determine that position is bullied
The influence of the factors such as time, ionosphere, troposphere, air, electromagnetic wave can have deviation；2.GPS measurement can reach certain essence
Degree, but with the engineering surveying control of GPS testing point, should leveling conjuction further be carried out with conventional instrument；3.GPS Measurement results with
Between general measure achievement, existing diversity ratio is larger between different model Measurement results；4. the wind-power electricity generation in pair wind power plant
For unit, since its geographical location has completed to fix, so only need to carry out one-shot measurement, it is subsequent do not need again into
Row measurement, so using GPS positioning instrument, and seem it is not complete necessity, or more serious cost is caused to waste.
In view of the above-mentioned problems, The present invention gives active yawing control method, controller and the system of wind power generating set,
By internet of things functional, at the time of acquiring each wind driven generator yaw in wind power plant, and the yaw time difference is calculated, thus real
The active yawing control of existing wind power generating set；Related method does not need to predict wind regime, does not need to detect wind-force
The distance between generator, so do not need to install any additional sensor device additional, can greatly save the operation of wind power plant at
This.
Fig. 2 is the schematic flow chart of the active yawing control method of the wind power generating set of an embodiment of the present invention.
As shown in Fig. 2, this method is used for central controller, this method may comprise steps of: S210 and deposit when detecting in wind power plant
After the starting yaw of the first wind-driven generator, the first wind-driven generator is inquired under current wind regime data as starting yaw earliest
Wind-driven generator in the case where wind power plant history yaw data.In one example, it can detecte the wind in wind power plant
Whether wind-driven generator starting yaw is had in condition data and wind power plant；It is appreciated that central controller can use various ways
The yaw data for obtaining every typhoon power generator in wind power plant, can obtain above-mentioned yaw by way of wired or wireless communication
Data, such as itself yaw data that every typhoon power generator acquires in real time can be obtained at a high speed by the way of fiber optic communication.
Here yaw data may include wind generating set engine room when front direction, the yaw yawed starting type etc..This
In wind power plant can be the same wind power plant and be also possible to adjacent multiple wind power plants.In one example, above-mentioned wind regime number
According to including air speed data and wind direction data, wherein this method further include: monitor and store as unit of preset range section respectively
Air speed data and wind direction data, it should be noted that considers is convenient for data statistics, and wind direction is transition, it is not necessary that
Very fine statistics is carried out, predetermined wind direction range section can be used, such as with 10 ° of segmentations and predetermined wind speed range section, example
It is such as that a segmentation is counted with 5m/s.
Fig. 3 is that wind regime data monitoring is carried out in the active yawing control method of the wind power generating set of the embodiment of the present invention
Schematic diagram.Now the statistics of passive yawing Startup time involved in the embodiment of the present invention is illustrated, as shown in figure 3, including
Second wind-driven generator 301, third wind-driven generator 302, the 4th wind-driven generator 303, the first wind-driven generator the 304, the 5th
Wind-driven generator 305 and the 6th wind-driven generator 306.Wherein, the first wind direction and the second wind direction are the wind direction range section to be counted
Between wind direction value, distinguish wind direction range section the reason of: one is easy for data statistics, and wind direction is transition, it is not necessary that into
The very fine statistics of row, such as 0.5 degree of statistics, one data；Second is that being all the first wind-power electricity generation due within the scope of this wind direction
Machine 304 is located at weather side, so the first wind-driven generator 304 starts yaw first, and due to angular range and little, so wind
Reach remaining every typhoon power generator such as the second wind-driven generator 301, third wind-driven generator 302, third wind-driven generator
303, the 5th wind-driven generator 305, the respective time deviation that reaches of the 6th wind-driven generator 306 are little, with wind-driven generator
For 302, when wind direction is the first wind direction and when wind direction is the second wind direction, wind reaches third wind-driven generator 302
Time difference is little.Simultaneously as wind speed is different, in same distance, the time that wind reaches is also different, so the present invention is implemented
Wind regime data statistics involved in example, counts wind speed, to realize more accurate active yawing control.
Choosing wind speed is that the wind regime data statistical approach for 4-8 meter per second is given in Table 1:
1 wind regime data statistic of table
As shown in table 1, by taking 4~8 meter per second of air speed value as an example, it is also possible to other wind speed range sections, such as 4~6 meter per seconds.
Wherein Txy is for indicating that the corresponding data sequence number of difference sequence, x indicate the division of wind direction range section in table 1；Y indicates wind-force hair
The number or machine group number of motor, the value range of x, y are distributed as 1~m, 1~n；Wherein m indicates wind direction range section when data statistics
Number, n be wind power plant wind-driven generator total number of units, and 1~wind-driven generator of wind-driven generator n indicate the wind-powered electricity generation to be counted
Wind-driven generator in, specific data can be the machine group # of every typhoon power generator in wind power plant.
S220 calculates passive yawing of every typhoon power generator relative to the first wind-driven generator according to history yaw data
Time difference sends active yawing control instruction to every typhoon power generator respectively according to passive yawing time difference.It should be understood that
When detecting in wind power plant there are after the starting yaw of the first wind-driven generator, the first wind-driven generator is inquired under the wind regime data
The history yaw data of wind power plant in the case where the wind-driven generator yawed as earliest starting, wherein the history of wind power plant
Yaw data includes the yaw Startup time of wind regime data and every typhoon power generator corresponding with wind regime data.Here history
Yaw data can store in the central controller, can also be used as an individual storage unit and is configured.The center
Controller can only inquire above-mentioned history yaw data, be stored in the independent storage unit when needing to store,
Above-mentioned history yaw data can also be stored in the storage unit of controller itself and be used for subsequent inquiry operation.Work as inquiry
To after the history yaw data of wind power plant, every typhoon power generator is calculated relative to the first wind-power electricity generation according to history yaw data
The passive yawing time difference of machine；Here it the passive yawing time difference, can be when being not carried out above-mentioned control method, wind-powered electricity generation
The passive yawing time difference relative to the first wind-driven generator of each wind-driven generator in.In one example, the party
Method further includes when history yaw data of the inquiry less than wind power plant, and the yaw starting type letter that every typhoon power generator is sent
When breath is passive yawing, then the yaw Startup time of every typhoon power generator is correspondingly stored with wind regime data.Root
Active yawing control instruction is sent to every typhoon power generator respectively according to passive yawing time difference.By in monitoring wind power plant
The yaw situation of wind regime data and wind power generating set, when discovery is yawed there are wind-driven generator, according to current wind regime
Data and the wind-driven generator query history yaw data for sending yaw earliest, to obtain every typhoon power generator relative to this
Passive yawing time difference when wind-driven generator is as the earliest wind-driven generator for sending yaw；Respectively to every wind-power electricity generation
The active that machine sends the yaw Startup time comprising passive yawing time difference and the earliest wind-driven generator yawed is inclined
Control instruction of navigating is so that every typhoon power generator calculates active yawing in conjunction with oneself current cabin direction and yawing velocity
Startup time is to execute yaw.This method do not need to predict wind regime, does not need the distance between detection wind-driven generator,
So not needing to install any additional sensor device additional, the operation cost of wind power plant can be greatlyd save.
In one example, which may include: the machine after the first wind-driven generator is yawed
The yaw Startup time in cabin direction, passive yawing time difference and the first wind-driven generator, so that wind power generating set receives
After yaw instruction comprising above- mentioned information, i.e. above-mentioned active yawing Startup time at the time of itself should be yawed is calculated.
Principle at the time of itself should yawing presently in connection with Fig. 1 to calculating is illustrated, in one example, in
Centre controller can be connect by optical fiber telecommunications line with the wind power generating set looped network in wind power plant, be controlled each in wind power plant
A wind-driven generator operation, and carry out the data interaction with each wind power generating set；Wind field control can acquire in wind power plant
The operation data and wind regime data of each wind-driven generator, it is for statistical analysis, and data statistic analysis result is handed down to the wind
Each wind-driven generator in electric field.
Fig. 4 is the data interaction schematic diagram between the central controller of the embodiment of the present invention and wind power generating set.Fig. 4
In, identical label, central controller combination Fig. 1 and Fig. 4, in an example are used with element identical in Fig. 1 or unit
In, uploading data is the operation data and wind regime data that central controller 101 acquires wind power generating set 103 in wind power plant 102；
Issuing data is the control data and control command that central controller 101 is handed down to wind power generating set 103 in wind power plant 102.
In embodiments of the present invention, uploading data can specifically include: the wind regime data of each wind-driven generator, cabin side
Start type to yaw；Issuing data can specifically include: the cabin after yaw time difference, the first wind driven generator yaw
Direction, it is understood that be the reference wind power generating set wind direction of other wind power generating sets, issue data so that wind-power electricity generation
Unit combination self-operating data calculate active yawing Startup time to carry out active yawing.
Fig. 5 is the data interaction schematic diagram between the central controller of another embodiment of the present invention and wind power generating set.
In Fig. 5, this method can also include cabin direction after being yawed according to the first wind-driven generator, every typhoon power generator
Default yawing velocity, passive yawing time difference, every typhoon power generator when forward engine room direction and the first wind-driven generator
Yaw Startup time.The every typhoon power generator obtained in wind power plant is made relative to the yaw Startup time of the first wind-driven generator
For active yawing Startup time, yawing control instruction includes active yawing Startup time, which is in
Centre controller is calculated.
It should be understood that the wind regime data of each wind-driven generator can be via typhoon power generator itself every in wind power plant
The air speed value that the wind direction value and air velocity transducer that wind transducer measures measure, cabin direction refers to every wind-power electricity generation in wind field
The cabin direction of machine, the i.e. yaw direction relative to 0 degree of initial position, are calculated by yaw counter.
In one example, this method can also include receive yaw type information, yaw type include active yawing and
Passive yawing.Active yawing can be understood as wind power generating set and execute the life after yaw according to above-mentioned active yawing control instruction
At and upload yaw type, it is opposite, it should be appreciated that passive yawing here be when central controller inquire less than wind power plant
When history yaw data, after the wind direction value that the wind power generating set in wind power plant is measured according to itself carries out yaw control, upload
Yaw type.Yaw starting type refers to that the current starting of wind power generating set is passive yawing or active yawing, area
Point method can start difference, effect and purpose by the yaw for judging that whether yaw starting issue according to active controller
It is for distinguishing the currently monitored data is the data of passive yawing or the data of active yawing, to guarantee data statistics
The correctness of data statistics after accuracy and wind power generating set longtime running.
It should be noted that after above-mentioned first wind driven generator yaw cabin direction be wind power plant control monitor it is each
When wind direction changes, cabin direction after the variation of the wind-driven generator of starting yaw earliest, first wind-driven generator is inclined
Cabin direction is also possible to judge that the first wind-driven generator terminates the wind direction value measured after yaw after boat, and effect and purpose are to make
When central controller in wind power plant calculates the starting of active yawing according to the operation data of each wind-driven generator received
Between or each wind-driven generator starting time of active yawing is calculated according to the cabin direction of itself and self-operating data.
It should be noted that above-mentioned yaw time difference is each wind direction of central controller statistics, in wind speed section, if false
If the difference of the yaw Startup time of the yaw Startup time of every typhoon power generator and the first wind-driven generator in wind power plant, if
For t0；Assuming that the angle difference with reference to the cabin direction of wind direction and certain typhoon power generator after wind-driven generator variation is a, wind
The default yawing velocity of power generator is w.It should be understood that the yaw motor and yaw bearing of the yawing velocity and wind power generating set
Diameter it is related, after equipment is fixed, yawing velocity is also fixed value, then every typhoon power generator active yawing in wind power plant
The starting time, relative to reference wind-driven generator starting yaw time difference t1 are as follows: t1=t0-a/w.
Below with reference to table 1 with 0~10 degree of wind direction, the data instance of 4~8 meter per second of wind speed, to involved by the embodiment of the present invention
Active yawing control method be described in detail.
Referring to table 1, in the wind power plant that counts each wind-driven generator 1 to wind-driven generator n yaw Startup time point
It Wei T11 to T1n, it is assumed that in the time series of T11 to T1n, the time of T13 is earliest, then it represents that the yaw of wind-driven generator 3
The starting time is earliest, i.e., wind-driven generator 3 is the weather side wind power generating set after wind vector, then wind-driven generator 4 and wind
The passive yawing of power generator 3 starts time difference t0=T14-T13, when can obtain the active yawing starting of wind-driven generator 4
Between, time difference t2=(T14-T13)-a/w relative to the starting yaw of reference wind-driven generator.
It should be understood that when wind regime change again be wind direction be 0~10 degree, 4~8 meter per second of wind speed when, it is assumed that wind-driven generator 3
It is T at the time of starting yaw, then should be T+t2 at the time of the starting of wind-driven generator 4 yaw, the effect realized are as follows: in wind direction
After changing, when wind reaches wind-driven generator 4, wind-driven generator 4 is just yawed on the direction where new wind direction, from
And realize the active yawing control of wind power generating set, improve the generated energy of wind power plant.And be not in yaw the time it is too early, wind
There are no the generator speeds of wind-driven generator 4 caused by arrival wind-driven generator 4 to decline and then cause wind-driven generator 4
The problem of lower power production；Meanwhile wind-driven generator 4 uploads yaw starting class to central controller after starting active yawing
Type, such as yaw starting type is uploaded with the data format of flag bit, central controller receives the upload of wind-driven generator 4
After yaw starting type, this yaw Startup time data are rejected, data are not counted in the statistics of yaw data, to guarantee number
The correctness of data statistics after accuracy according to statistics and wind power generating set longtime running.
After wind direction after wind generating set yaw is to above-mentioned first wind driven generator yaw, stop yaw, completes master
Dynamic yaw is to wind；What needs to be explained here is that here when carrying out yaw control, due to the wind transducer of wind power generating set
The wind direction value surveyed is relative to wind power generating set when forward engine room direction, and used wind direction value needs to be converted to absolute wind
To true wind direction refers to the wind direction value that the wind transducer of wind power generating set is surveyed, in addition the cabin side of wind power generating set
To, and to 360 degree of complementations, and finally obtain relative to the wind direction value on the direction of all directions, such as 15 degree of north by east.
Fig. 6 is the schematic flow chart of the Yaw control method of the wind power generating set of another embodiment of the invention.It should
Method is used for wind power generating set, and this method may comprise steps of: S610, acquisition wind regime data and wind power generating set
When forward engine room direction, and it is sent to central controller；S620 receives the active yawing control instruction that central controller is sent, main
Dynamic yaw control instruction includes the cabin side after the yaw of the wind-driven generator yawed earliest in wind power plant after wind regime changes
To, passive yawing time difference and Startup time；S630, according to active yawing control instruction, wind power generating set it is default partially
Speed of a ship or plane degree and when forward engine room direction obtain yaw Startup time to execute active yawing；S640, according to collected wind regime data
And the forward engine room direction of working as of wind power generating set directly executes passive yawing；S650 sends the yaw type of execution to center
Control.
Fig. 7 is the whole detailed process of the active yawing control method of the wind power generating set of another embodiment of the invention
Figure.As shown in fig. 7, describing the present embodiment apoplexy in detail in conjunction with Fig. 2 and the Yaw control method of wind power generating set shown in fig. 6
The overall flow of the active yawing control method of power generator group:
Whether S701, monitoring has wind-driven generator starting yaw in wind power plant；If so, then starting to execute S702, otherwise
Jump to end；
The judgment method of this step can be used in the case where all wind-driven generators of wind power plant are all yawed without starting,
The wind-driven generator whether detection subsequent time has starting to yaw, the purpose is to obtain the wind-driven generator for starting yaw at first,
The yaw information for obtaining and recording outermost wind-driven generator, the reference frame as subsequent yaw control；
S702, select the wind-driven generator for starting yaw at first for reference to wind-driven generator and using its wind regime data as
With reference to wind regime data；S703 is executed later；
Since the wind-driven generator of wind power plant outermost senses wind vector at first, so the wind that yaw will be started at first
Power generator be used as refer to wind-driven generator, can directly judge wind vector situation, and do not need to wind have to
It is predicted, also requires no knowledge about the true bearing with reference to wind-driven generator in wind power plant, to simplify the operand of system；
S703 counts the passive yawing Startup time of each wind-driven generator and yaw type in wind power plant；It executes later
S704；
It selectes with reference to after wind-driven generator, central controller start recording simultaneously counts every typhoon power generator in wind power plant
Startup time is yawed, the statistics of yaw data is carried out；
S704 judges whether that all wind driven generator yaws are completed；If completed, S705 is executed, is continued to execute
S704；
The purpose of this step is the yaw information for obtaining wind power generating set in more complete wind power plant, is on the one hand guaranteed
The yaw information of all wind-driven generators all collects in wind power plant, on the one hand sends out convenient for referring to wind-force after wind vector next time
The selection (judgement involved in the i.e. next time S701 after wind vector) of motor；
S705, by the number (or machine group number) of wind-driven generator, the wind regime of the first wind-driven generator, each wind-driven generator
Passive yawing Startup time establish associated data；S706 is executed later；
Recording process can generate each wind-driven generator passive yawing Startup time data of wind power plant according to above-mentioned table 1,
And it is stored；
The statistical method of this step can use: it is counted according to the statistical method of wind direction range section, wind speed range section,
To accelerate the progress of data statistics and statistical result；For example, if to count 0~0.5 degree of wind direction scope of statistics, it may be very
For a long time all without such small-scale wind direction, and 0~10 degree is counted, is then easier statistics and obtains a result；And amplify wind in right amount
It is little to the time effects of active yawing to scope of statistics；Simultaneously as the wind speed that the statistics of wind direction value, air speed value all designs
Range section, so the measurement accuracy to wind transducer, air velocity transducer does not specially require；
S706 judges that wind direction changes again, or has wind-driven generator starting yaw again；If so, then executing
Otherwise S707 jumps to end；
The judgment method of this step is identical as S701, and difference is that S701 is sentencing when data statistics yaws moment acquisition
It is disconnected, and this step is judgement when data application, that is, active yawing controls；
S707 judges whether there is this wind regime data in database, if so, then execute S708, otherwise the next period after
It is continuous to execute S703；
The purpose of this step is the pass in the database of judgement statistics either with or without the new wind regime after the wind vector in S706
Join data, meanwhile, it can not needed after having counted the wind direction data that 0 to 360 spends by this step, just can be carried out data call,
But it can be called while counting；
If there is no this wind regime data in database, continue data statistics mode, i.e. execution S703；
The passive yawing time difference of every typhoon power generator is handed down to each wind in wind power plant by S708, central controller
Power generator executes S709 later；
This step can use: central controller calculates the passive yawing Startup time and the first wind of every typhoon power generator
The difference of the passive yawing Startup time of power generator, and give data distributing to corresponding wind-driven generator；For example, calculating No. 7
The passive yawing Startup time difference of wind-driven generator and the first wind-driven generator, and No. 7 wind-driven generators are handed down to, calculate 2
The passive yawing Startup time difference of number wind-driven generator and the first wind-driven generator, and it is handed down to No. 2 wind-driven generators；
S709, each wind-driven generator carry out active yawing control according to passive yawing time difference and upload yaw starting
Type executes S710 later；
The purpose of this step be carry out data statistics and active yawing control differentiation, that is, be used to distinguish current data be by
The data of dynamic yaw or the data of active yawing, to guarantee that accuracy and the wind power generating set of data statistics are transported for a long time
The correctness of data statistics after row；
S710 judges that current wind generating set yaws the wind direction to reference wind-driven generator, if having yawed reference
The wind direction of wind-driven generator then executes S711, otherwise continues to execute S710；
The purpose of this step is the wind direction for judging current wind generating set and whether yawing after variation；
S711 stops yaw；After the completion of yaw, stop yaw.
Fig. 8 is the structural block diagram of the central controller of an embodiment of the present invention.As shown in figure 8, the central controller
800, it may include: judging unit 810 and control unit 820, which, which is configured to work as, detects wind
There are after the starting yaw of the first wind-driven generator in electric field, the first wind-driven generator is inquired under current wind regime data as earliest
The history yaw data of wind power plant in the case where the wind-driven generator of starting yaw；The control unit 820 is configured as basis
History yaw data calculates passive yawing time difference of every typhoon power generator relative to the first wind-driven generator, according to passive
It yaws time difference and sends active yawing control instruction to every typhoon power generator respectively.In one example, wind power plant is gone through
History yaw data includes the yaw Startup time of wind regime data and corresponding every typhoon power generator.In one example,
Wind regime data include air speed data and wind direction data, and central controller further includes monitoring and storage unit, be configured to
Preset range section is unit to monitor and store air speed data and wind direction data.In one example, the wind regime number in wind power plant
According to including the wind regime data in the wind regime data and adjacent multiple wind power plants in same wind power plant.In one example, actively
Yaw control instruction include: the first wind-driven generator carry out passive yawing after cabin direction and passive yawing Startup time with
And passive yawing time difference.In one example, active yawing control instruction includes active yawing Startup time, further includes place
Unit is managed, the cabin direction after being yawed according to the first wind-driven generator and passive yawing Startup time, every are configured as
The default yawing velocity of wind-driven generator and when forward engine room direction and passive yawing time difference calculate active yawing starting
It carves.In one example, which can also include yaw type reception unit, be configured as receiving yaw type letter
Breath, wherein yaw type includes active yawing and passive yawing, and passive yawing is when inquiry yaws number less than the history of wind power plant
According to when, after the wind direction value that the wind power generating set in wind power plant is measured according to itself carries out yaw control, the yaw type of upload；
The judging unit is additionally configured to when determining the yaw type information that receives for passive yawing, by the inclined of wind power generating set
Boat Startup time is correspondingly stored with current wind regime data.
Fig. 9 is the structural block diagram of the yawer for wind power generating set of an embodiment of the present invention.Such as Fig. 9 institute
Show, this is used for the active yawing controller 900 of wind power generating set, may include: acquisition unit 910, receiving unit 920, meter
Unit 930, passive yawing unit 940 and transmission unit 950 are calculated, which is configured as acquisition wind regime data and wind
Power generator group works as forward engine room direction, and is sent to central controller；The receiving unit 920 is configured as receiving central control
The active yawing control instruction that device is sent, active yawing control instruction include being yawed earliest in wind power plant after wind regime changes
Cabin direction, passive yawing time difference and Startup time after the yaw of wind-driven generator；The computing unit 930 is configured as
According to active yawing control instruction, the default yawing velocity of wind power generating set and when forward engine room direction obtains yaw Startup time
To execute active yawing；The passive yawing unit 940 is configured as according to collected wind regime data and wind power generating set
Directly execute passive yawing when forward engine room direction；The transmission unit 950 is configured as sending the yaw type executed to center
Controller.
Central controller 800 according to an embodiment of the present invention and yawer 900 for wind power generating set can be right
Should be in the executing subject in the active yawing control method of wind power generating set according to an embodiment of the present invention, and center controls
Device 800 and above and other operation and/or function point for the modules in the yawer 900 of wind power generating set
Not for the corresponding process for realizing each method in Fig. 2 and Fig. 6, for sake of simplicity, details are not described herein.
In addition, the terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates may exist
Three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.Separately
Outside, character "/" herein typicallys represent the relationship that forward-backward correlation object is a kind of "or".
It should be understood that in embodiments of the present invention, " B corresponding with A " indicates that B is associated with A, B can be determined according to A.But
It should also be understood that determining that B is not meant to determine B only according to A according to A, B can also be determined according to A and/or other information.
It needs to define, the invention is not limited to specific configuration described above and shown in figure and processing.Also,
For brevity, the detailed description to known method technology is omitted here.In the above-described embodiments, it has been described and illustrated several
Specific step is as example.But method process of the invention is not limited to described and illustrated specific steps, this field
Technical staff can be variously modified after understanding spirit of the invention, modification and addition, or between changing the step
Sequentially.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (16)
1. a kind of active yawing control method of wind power generating set, which is characterized in that be used for central controller, the method packet
It includes:
When detecting in wind power plant there are after the starting yaw of the first wind-driven generator, first wind-driven generator is inquired current
The history yaw data of the wind power plant in the case where the wind-driven generator yawed under wind regime data as earliest starting,
Passive yawing of every typhoon power generator relative to first wind-driven generator is calculated according to the history yaw data
Time difference sends active yawing control instruction to every typhoon power generator respectively.
2. the active yawing control method of wind power generating set according to claim 1, which is characterized in that the wind power plant
History yaw data include the wind regime data and corresponding every typhoon power generator yaw Startup time.
3. the active yawing control method of wind power generating set according to claim 2, which is characterized in that the wind regime number
According to including air speed data and wind direction data, the air speed data and described is monitored and stored respectively as unit of preset range section
Wind direction data.
4. the active yawing control method of wind power generating set according to claim 2, which is characterized in that the wind power plant
In wind regime data include wind regime data in wind regime data and adjacent multiple wind power plants in same wind power plant.
5. the active yawing control method of wind power generating set according to claim 1, which is characterized in that the active is inclined
Boat control instruction includes: the Startup time that first wind-driven generator carries out the cabin direction after passive yawing and passive yawing
And the passive yawing time difference.
6. the active yawing control method of wind power generating set according to claim 1, which is characterized in that the active is inclined
Navigate control instruction include active yawing Startup time, the active yawing Startup time be according to first wind-driven generator into
The default yawing velocity and current machine in cabin direction and passive yawing Startup time, every typhoon power generator after row yaw
Cabin direction and the passive yawing time difference calculate acquisition.
7. the active yawing control method of wind power generating set according to claim 1 to 6, which is characterized in that
It further include receiving yaw type information,
Wherein, the yaw type includes active yawing and passive yawing, and the passive yawing is when inquiry is less than the wind-powered electricity generation
When the history yaw data of field, the wind direction value that the wind-driven generator in the wind power plant is measured according to itself carries out yaw control
Afterwards, the yaw type of upload；
When determining the yaw type information that receives for passive yawing, by the yaw Startup time of the wind power generating set with
Current wind regime data are correspondingly stored.
8. a kind of Yaw control method of wind power generating set, which is characterized in that be used for wind power generating set, the method packet
It includes:
Acquire wind regime data and the wind power generating set works as forward engine room direction, and is sent to central controller；
The active yawing control instruction that the central controller is sent is received, the active yawing control instruction includes wind regime variation
When cabin direction, passive yawing time difference after the wind driven generator yaw yawed earliest in wind power plant afterwards and starting
It carves；
According to the active yawing control instruction, the default yawing velocity of the wind power generating set and when forward engine room direction obtains
Startup time is yawed to execute active yawing；
When the central controller inquiry less than the wind power plant history yaw data when, according to collected wind regime data with
And the forward engine room direction of working as of the wind power generating set directly executes passive yawing；
The yaw type of the yaw executed is sent to the central controller.
9. a kind of central controller characterized by comprising
Judging unit, be configured as when detect yawed in wind power plant there are the starting of the first wind-driven generator after, inquire described the
Wind power plant in the case where wind-driven generator of one wind-driven generator under current wind regime data as earliest starting yaw
History yaw data；
Control unit is configured as calculating every typhoon power generator relative to first wind-force according to the history yaw data
The passive yawing time difference of generator is sent to every typhoon power generator respectively according to the passive yawing time difference
Active yawing control instruction.
10. central controller according to claim 9, which is characterized in that the history yaw data of the wind power plant includes
The yaw Startup time of the wind regime data and corresponding every typhoon power generator.
11. central controller according to claim 10, which is characterized in that the wind regime data include air speed data and wind
To data, the central controller further includes monitoring and storage unit, is configured to supervise as unit of preset range section
Survey and store the air speed data and the wind direction data.
12. central controller according to claim 10, which is characterized in that the wind regime data in the wind power plant include same
The wind regime data in wind regime data and adjacent multiple wind power plants in one wind power plant.
13. central controller according to claim 9, which is characterized in that the active yawing control instruction includes: described
When the Startup time and the passive yawing in cabin direction and passive yawing after the first wind-driven generator progress passive yawing
Between difference.
14. central controller according to claim 9, which is characterized in that the active yawing control instruction includes actively
Startup time is yawed, further includes processing unit, is configured as the cabin side after being yawed according to first wind-driven generator
To the default yawing velocity with passive yawing Startup time, every typhoon power generator and work as forward engine room direction and the quilt
Dynamic yaw time difference calculates the active yawing Startup time.
15. the central controller according to any one of claim 9-14, which is characterized in that further include yaw type reception
Unit is configured as receiving yaw type information, wherein the yaw type includes active yawing and passive yawing, the quilt
Dynamic yaw is when the wind power generating set in history yaw data of the inquiry less than the wind power plant, the wind power plant is according to itself
After the wind direction value measured carries out yaw control, the yaw type of upload；
The judging unit is additionally configured to send out the wind-force when determining the yaw type information that receives for passive yawing
The yaw Startup time of motor group is correspondingly stored with current wind regime data.
16. a kind of yawer for wind power generating set characterized by comprising
Acquisition unit, be configured as acquisition wind regime data and the wind power generating set when forward engine room direction, and be sent to
Entreat controller；
Receiving unit is configured as receiving the active yawing control instruction that central controller is sent, and the active yawing control refers to
When cabin direction after enabling the yaw for including the wind-driven generator yawed in wind power plant earliest after wind regime variation, passive yawing
Between difference and Startup time；
Computing unit is configured as the default yawing velocity according to the active yawing control instruction, the wind power generating set
And when forward engine room direction obtains yaw Startup time to execute active yawing；
Passive yawing unit is configured as according to collected wind regime data and the wind power generating set when forward engine room side
To directly execution passive yawing；
Transmission unit is configured as sending the yaw type of the yaw executed to the central controller.
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| CN109026530B (en) * | 2018-07-20 | 2019-10-11 | 国网冀北电力有限公司迁西县供电分公司 | An intelligent learning method for wind turbines |
| CN110296055B (en) * | 2019-06-10 | 2020-07-28 | 同济大学 | Wind direction prediction associated seed unit screening method |
| CN112392655B (en) * | 2019-08-14 | 2022-07-15 | 湖南世优电气股份有限公司 | Automatic emergency yawing device, method and equipment for wind driven generator |
| CN111980858A (en) * | 2020-09-15 | 2020-11-24 | 中国船舶重工集团海装风电股份有限公司 | Self-adaptive control method and control system for increasing power and improving efficiency of wind generating set |
| CN114687965A (en) * | 2020-12-30 | 2022-07-01 | 北京金风科创风电设备有限公司 | Yaw lubrication control method and yaw lubrication control device of wind generating set |
| CN114810480A (en) * | 2021-01-19 | 2022-07-29 | 乌鲁木齐金风天翼风电有限公司 | Yaw control method and device for wind turbine |
| CN118567254A (en) * | 2023-02-28 | 2024-08-30 | 北京金风科创风电设备有限公司 | Control method, device and system of wind generating set and storage medium |
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| US20020000723A1 (en) * | 2000-03-09 | 2002-01-03 | Roland Weitkamp | Control system for a wind power plant |
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