WO2019165744A1 - 防飞车控制方法和装置、风力发电机组 - Google Patents

防飞车控制方法和装置、风力发电机组 Download PDF

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Publication number
WO2019165744A1
WO2019165744A1 PCT/CN2018/095302 CN2018095302W WO2019165744A1 WO 2019165744 A1 WO2019165744 A1 WO 2019165744A1 CN 2018095302 W CN2018095302 W CN 2018095302W WO 2019165744 A1 WO2019165744 A1 WO 2019165744A1
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WIPO (PCT)
Prior art keywords
crosswind
wind direction
angle
wind
cable
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/095302
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English (en)
French (fr)
Inventor
孙长亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
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Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Goldwind Science and Creation Windpower Equipment Co Ltd filed Critical Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority to US16/471,652 priority Critical patent/US11365716B2/en
Priority to EP18887198.2A priority patent/EP3557047B8/en
Priority to ES18887198T priority patent/ES2899573T3/es
Priority to AU2018386361A priority patent/AU2018386361B2/en
Publication of WO2019165744A1 publication Critical patent/WO2019165744A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—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
    • F03D7/0208—Orientating out of wind
    • F03D7/0212—Orientating out of wind the rotating axis remaining horizontal
    • 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
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
    • 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
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/024—Adjusting aerodynamic properties of the blades of individual blades
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0244—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • 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
    • F03D7/0256—Stall control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0264—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for stopping; controlling in emergency situations
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/321—Wind directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/329—Azimuth or yaw angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present application relates to the field of wind power generation technologies, and in particular, to an anti-flying vehicle control method and apparatus, and a wind power generator set.
  • the wind turbine needs to use the braking system to perform emergency shutdown treatment of the wind turbine, that is, emergency braking.
  • the brakes of the brake system mainly include: pneumatic brakes, mechanical brakes or a combination of the two.
  • the pneumatic brake scheme is applied to the unit with the blade pitch system, which achieves the feather position by independently driving each blade to minimize the wind power captured by the blade;
  • the mechanical brake scheme acts on the impeller transmission mechanism by using the mechanical brake device
  • the high mechanical friction damping of the brake disc forces the impeller to brake completely.
  • the brake system still has the possibility of overall failure. After the overall failure of the brake system, the speed of the wind turbine can not be effectively controlled, and eventually a speeding accident will occur. Flying accidents can easily cause accidents such as friction and friction of the brake disc, causing serious damage to the wind turbine.
  • the embodiment of the present application provides an anti-flying vehicle control method and device, and a wind power generator set, which can realize the shutdown operation of the wind power generator set after the overall failure of the brake system of the wind power generator to avoid the occurrence of a flying accident.
  • an embodiment of the present application provides a wind turbine generator anti-flying vehicle control method, where the method includes:
  • the initial crosswind position is calculated according to the current wind direction angle, so that the yaw system of the wind turbine performs the crosswind operation according to the initial crosswind position;
  • the new crosswind position is calculated based on the average wind direction angle, and the yaw system performs the crosswind operation based on the new crosswind position.
  • an embodiment of the present application provides a wind turbine anti-vehicle control device, the device comprising: a confirmation module, configured to confirm whether a brake system of the wind power generator has failed; and a first execution module, if the brake system has been In case of failure, the initial crosswind position is calculated according to the current wind direction angle, so that the yaw system of the wind power generator performs the crosswind operation according to the initial crosswind position; the calculation module is configured to perform long-period filtering processing on the collected wind direction data during the crosswind process.
  • the first determining module is configured to determine whether the wind direction is abruptly changed according to the average wind direction angle and the instantaneous wind direction angle; and the second execution module is configured to:
  • the updated crosswind position is calculated from the average wind direction and the yaw system performs the crosswind operation based on the updated crosswind position.
  • an embodiment of the present application provides a wind power generator set including the wind turbine anti-vehicle control device as described above.
  • the braking system of the wind turbine in order to avoid the occurrence of a flying accident, it may first be confirmed whether the braking system of the wind turbine has failed. If the braking system has failed, the initial crosswind position is calculated according to the current wind direction angle, so that the wind turbine is biased.
  • the navigation system performs a crosswind operation on the impeller based on the initial crosswind position. Since the wind energy can be reduced after the crosswind operation is performed, the rotational speed of the wind turbine is reduced, so that the occurrence of a flying accident can be avoided.
  • the wind direction is constantly changing. It is also possible to perform long-period filtering on the collected wind direction data in the crosswind process, obtain the average wind direction angle, and perform short-cycle filtering on the wind direction data to obtain the instantaneous wind direction. Angle, then judge whether the wind direction is abrupt according to the average wind direction angle and the instantaneous wind direction angle. If the wind direction changes suddenly, the updated crosswind position is calculated according to the average wind direction angle, and the yaw system performs the crosswind operation according to the updated crosswind position. In this way, the crosswind operation can be kept consistent with the wind direction. For example, when the wind direction changes greatly, the crosswind operation of the yaw system can be adjusted in time to improve the wind direction response rate and environmental adaptability of the yaw system.
  • the anti-speed control method in the embodiment of the present application can actively identify whether the brake system of the wind power generator has failed, and can automatically cut into the crosswind process according to the recognition result. Therefore, compared with the crosswind operation of the artificially triggered yaw system, on the one hand, it has the advantages of high timeliness and high accuracy, on the other hand, it can avoid occupational health risks to maintenance personnel, especially capable of replacing artificial nighttime. Automatic maintenance ensures long-term crosswind function is complete, thus preventing crosswind failure caused by twisted cables, slow wind direction changes and sudden changes in wind direction.
  • FIG. 1 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of a Cartesian coordinate system with a wind direction of 0° according to an embodiment of the present application
  • FIG. 3 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to another embodiment of the present application.
  • FIG. 4 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to another embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a wind turbine generator anti-vehicle control device according to an embodiment of the present application.
  • Embodiments of the present application provide an anti-flying vehicle control method and apparatus, and a wind power generator set.
  • the shutdown operation of the wind power generator can be realized after the overall braking system of the wind power generator fails. That is, it can be used as a further defense means after the brake system fails, thereby avoiding the occurrence of a flying accident.
  • a yaw system is provided in the wind turbine.
  • the yaw system can perform wind operation and crosswind operation.
  • the rotation plane of the impeller can be adjusted to be perpendicular to the wind direction, so that the impeller can capture the maximum wind energy.
  • the yaw system can adjust the rotation plane of the impeller to be parallel with the wind direction, that is, adjust the angle between the cabin direction and the wind direction to nearly 90°, reduce the wind energy that the impeller can capture, and make the wind power generation.
  • the speed of the unit is reduced.
  • the speed of the wind turbine can be reduced to zero, so as to achieve the purpose of stopping the wind turbine.
  • the rotation plane of the impeller can be adjusted to be completely parallel with the wind direction by triggering the crosswind function of the yaw system to reduce the speed of the wind turbine and avoid the speed. The purpose of the accident.
  • FIG. 1 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to an embodiment of the present application. As shown in FIG. 1, the anti-speed control method includes steps 101 to 105.
  • step 101 it is confirmed whether the brake system of the wind turbine has failed.
  • the brake system after determining that the brake system receives the stop command, whether at least two blades are all braked to the corresponding predetermined position within the first predetermined time period t1; if the brake system receives the stop command, If at least two blades are all braked to the corresponding predetermined position within the first predetermined time period t1, it is determined that the brake system has failed.
  • the predetermined position refers to the pitch brake position
  • the pitch brake refers to the position of the blade from the windward surface to the angle of 90° with the plane of the wind wheel in a plane parallel to the plane of the wind wheel to reduce the capture. The ability of wind energy.
  • the post-brake position and the post-brake rotational speed are two independent indicators, the above-described method of whether the brake system has failed by the predetermined position and the predetermined rotational speed is separately performed. As long as any of the conditions are met, it can be determined that the brake system has failed.
  • step 102 if the brake system has failed, the initial crosswind position is calculated based on the current wind direction angle, so that the yaw system of the wind turbine performs the crosswind operation according to the initial crosswind position.
  • the crosswind position is a relative concept, and the crosswind position needs to be determined according to the wind direction, that is, the crosswind position changes with the change of the wind direction.
  • FIG. 2 is a schematic diagram of a Cartesian coordinate system with a wind direction of 0° according to an embodiment of the present application. Among them, the wind direction is represented by B.
  • the angular intervals [80°, 100°] and [260°, 280°] with respect to the wind direction B can be used as the crosswind position range defined by the current wind direction B, even if the nacelle direction and the wind direction B are The angle between them is [80°, 100°] and [260°, 280°].
  • the crosswind position can also be obtained based on the impeller running load simulation method.
  • step 103 the wind direction data collected during the crosswind process is subjected to long-period filtering processing to obtain an average wind direction angle, and short-cycle filtering processing is performed on the wind direction data to obtain an instantaneous wind direction angle.
  • the long-period filtering method is suitable for yaw use in a relatively stable wind direction.
  • the collected wind direction data may be subjected to long period filtering processing based on a weighting policy of 30 s.
  • Short-period filtering is used for wind direction abrupt detection.
  • the collected wind direction angle data may be subjected to short period filtering processing based on a weighting policy of 5 s.
  • filter processing method based on the weight policy reference may be made to the prior art, and details are not described herein.
  • step 104 it is determined whether the wind direction has changed based on the average wind direction angle and the instantaneous wind direction angle.
  • the difference between the average wind direction angle and the instantaneous wind direction angle may be calculated. If the difference is greater than the preset threshold, the wind direction is determined to be abrupt; if the difference is not greater than the preset threshold, the wind direction is compared. stable.
  • the average wind direction or instantaneous wind direction can also be optimized according to the actual situation, such as multiplying by some constants or doing some common data processing, so that the calculated average wind direction angle and instantaneous wind direction angle can be accurately used. Determine the wind direction mutation.
  • step 105 if the wind direction is abrupt, a new crosswind position is calculated based on the average wind direction angle, and the yaw system performs a crosswind operation based on the new crosswind position.
  • the braking system of the wind turbine in order to avoid the occurrence of a flying accident, it may first be confirmed whether the braking system of the wind turbine has failed. If the braking system has failed, the initial crosswind position is calculated according to the current wind direction angle, so that the wind turbine is biased. The navigation system performs a crosswind operation based on the initial crosswind position. Since the wind energy can be reduced after the crosswind operation is performed, the rotational speed of the wind turbine is reduced, so that the occurrence of a flying accident can be avoided.
  • the wind direction is constantly changing. It is also possible to perform long-period filtering on the collected wind direction data in the crosswind process, obtain the average wind direction angle, and perform short-cycle filtering on the wind direction data to obtain the instantaneous wind direction. Angle, then judge whether the wind direction is abrupt according to the average wind direction angle and the instantaneous wind direction angle. If the wind direction changes suddenly, the updated crosswind position is calculated according to the average wind direction angle, and the yaw system performs the crosswind operation according to the updated crosswind position. In this way, the crosswind operation can be kept consistent with the wind direction. For example, when the wind direction changes greatly, the crosswind operation of the yaw system can be adjusted in time to improve the wind direction response rate and environmental adaptability of the yaw system.
  • the anti-speed control method in the embodiment of the present application can actively identify whether the brake system of the wind power generator has failed, and can automatically cut into the crosswind process according to the recognition result. Therefore, compared with the crosswind operation of the artificially triggered yaw system, on the one hand, it has the advantages of high timeliness and high accuracy, on the other hand, it can avoid occupational health risks to maintenance personnel, especially capable of replacing artificial nighttime. Automatic maintenance ensures long-term crosswind function is complete, thus preventing crosswind failure caused by twisted cables, slow wind direction changes and sudden changes in wind direction.
  • the anti-speed control method in the embodiment of the present application does not need to add a new hardware device, the implementation manner of the software control strategy can be sampled, and therefore, the cost is low, and the utility model has the advantages of being easy to popularize and use.
  • the cabin of the wind turbine is provided with a cable connecting the nacelle and the bottom of the tower, the cable is twisted with the yaw system relative to its straight state, for example, one or more turns. Therefore, the yaw system crosswind operation should also meet the risk avoidance requirements of twisted cable.
  • the cable unwinding direction when performing the crosswind operation of the yaw system, may also be acquired, so that the yaw system laterally winds the cabin direction to the initial wind position along the unwinding direction It is thought that more twistable angles are reserved for the cable during the continuous crosswind process.
  • the cable unwinding direction should be counterclockwise; if the cable twisting direction is counterclockwise, the cable unwinding direction should be clockwise.
  • FIG. 3 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to another embodiment of the present application.
  • the anti-flying control method further includes steps 301 to 303 for protecting the cable in the case where the yaw system continues to cross the wind, thereby avoiding wind power generation caused by the over-limit of the twisted cable angle of the cable. The unit is faulty.
  • step 301 the twisted cable angle of the cable during the current crosswind is obtained.
  • step 302 it is determined whether the twist cable angle is greater than or equal to a predetermined allowable twist cable angle and less than a predetermined safe twist cable angle.
  • step 303 if the twisting cable angle is greater than or equal to the predetermined allowable twisting cable angle and less than the predetermined safe twisting cable angle, the next crosswind operation may be suspended after the current crosswinding process ends, until the current wind direction and the nacelle direction The angle between the two is less than the predetermined critical angle, so that the yaw system resumes the next crosswind operation along the unwinding direction of the cable.
  • each crosswind position corresponds to one crosswind operation. If the twisted cable angle is greater than or equal to the predetermined allowable twisted cable angle and less than the predetermined safe twisted cable angle, indicating that the yaw system has been sideways to the allowable twisted cable angle of the cable, but has not been crosswinded to exceed the safe twisted cable angle of the cable (ie, The twisted cable protection value of the wind turbine's safety system setting).
  • the cable twist angle is an absolute concept.
  • the position when the cable is straight is taken as the reference 0°, and the position of the reference 0° is determined by the lifting process of the wind turbine.
  • the predetermined allowable twist cable angle can be set to 800°
  • the predetermined safe twist cable angle can be set to 900°.
  • Those skilled in the art can set a suitable predetermined allowable twisted cable angle and a predetermined safe twisted cable angle according to actual conditions. , here is not limited.
  • the angle between the direction of the wind and the direction of the nacelle when the speed of the wind turbine is accelerated can be taken as a predetermined critical angle. Since the angle between the current wind direction and the direction of the nacelle is less than a predetermined critical angle, the impeller of the wind turbine is in a windward state, and the energy for capturing wind energy is strong, which easily leads to an accelerated increase in the rotational speed of the wind turbine. Therefore, the yaw system can be made In the current direction of unwinding, the next crosswind operation is resumed to prevent the wind turbine from causing a speeding accident due to the acceleration of the speed. In the following, it is considered that the yaw system continuously receives other yaw commands during the execution of the crosswind operation, and the anti-speed control method in the embodiment of the present application further includes the following contents: :
  • the yaw system receives other automatic yaw commands that are not related to the crosswind operation during the current crosswind, other automatic yaw commands that are not related to the crosswind operation are disabled, and The control yaw system continues to perform the current crosswind operation.
  • the yaw system receives a manual yaw command during the current crosswind, the current leeward operation is terminated and the yaw system is controlled to perform the next crosswind operation in accordance with the manual yaw command.
  • the manual yaw command may be a manual local yaw command or a remote yaw command, and the difference between the two is that the sender is different.
  • FIG. 4 is a schematic flow chart of a method for controlling a wind turbine anti-flying vehicle according to another embodiment of the present application, which is used to explain the anti-flying vehicle control method in the embodiment of the present application in detail.
  • the anti-speed control method in this example includes steps 401 to 413.
  • step 401 it is confirmed whether the brake system of the wind turbine has failed. If the braking system of the wind turbine has failed, step 402 is performed; if the braking system of the wind turbine has not failed, then return to step 401.
  • step 402 a failure event for the brake system is alerted and the yaw side wind flag of the yaw system is activated.
  • the activation information of the alarm information and the yaw side wind flag can be uploaded to the remote monitoring system.
  • step 403 the crosswind position is determined based on the current wind direction.
  • step 404 the cabin direction is flanked to the crosswind position along the unwinding direction of the cable.
  • step 405 it is determined whether the cable twist angle of the cable is greater than or equal to a predetermined allowable twist cable angle and less than a predetermined safe twist cable angle. If the cable twist angle is greater than or equal to the predetermined allowable twist angle and less than the predetermined safe twist angle, step 406 is performed; otherwise, return to step 405.
  • step 406 the current crosswind operation is continued and the next crosswind operation is suspended.
  • step 407 it is determined whether the angle between the wind direction and the nacelle direction is less than a predetermined critical angle. If the angle between the wind direction and the nacelle direction is less than a predetermined critical angle, step 408 is performed; if the wind direction and the nacelle direction are sandwiched If the angle is not less than the predetermined critical angle, then return to step 407.
  • step 408 the next crosswind operation is resumed in accordance with the current unwinding direction of the cable.
  • step 409 it is determined whether the wind direction has changed during the crosswind. If the wind direction changes suddenly during the crosswind process, step 410 is performed; if the wind direction does not change during the crosswind process, step 411 is performed.
  • step 410 the crosswind position is calculated based on the average wind direction angle, and then proceeds to step 404.
  • step 411 the crosswind position is calculated using the instantaneous wind direction angle, and then proceeds to step 404.
  • step 412 it is determined whether a manual yaw command is received during the crosswind. If the artificial yaw command is received during the crosswind process, step 413 is performed; if the artificial yaw command is not received during the crosswind process, the process returns to step 405.
  • step 413 the current crosswind operation is ended and the yaw operation is performed in accordance with the manual yaw command.
  • FIG. 5 is a schematic structural diagram of a wind turbine generator anti-vehicle control device according to an embodiment of the present application.
  • the anti-speeding control device includes a confirmation module 501, a first execution module 502, a calculation module 503, a first determination module 504, and a second execution module 505.
  • the confirmation module 501 is configured to confirm whether the brake system of the wind turbine has failed.
  • the first execution module is configured to calculate the initial crosswind position according to the current wind direction angle if the brake system has failed, so that the yaw system of the wind power generator performs the crosswind operation according to the initial crosswind position.
  • the first execution module 502 specifically includes: an obtaining unit and an executing unit.
  • the obtaining unit is configured to acquire a cable unwinding direction of the cable; and the executing unit is configured to cause the yaw system to wind the cabin direction to the initial crosswind position along the unwinding direction.
  • the calculation module 503 is configured to perform long-period filtering processing on the wind direction data collected during the crosswind process, obtain an average wind direction angle, and perform short-cycle filtering on the wind direction data to obtain an instantaneous wind direction angle.
  • the first determining module 504 is configured to determine whether the wind direction is abrupt according to the average wind direction angle and the instantaneous wind direction angle.
  • the first determining module 504 specifically includes a calculating unit and a determining unit.
  • the calculation unit is configured to calculate a difference between the average wind direction angle and the instantaneous wind direction angle; and the determining unit is configured to determine that the wind direction is abruptly changed if the difference is greater than a preset threshold.
  • the second execution module 505 is configured to calculate a new crosswind position according to the average wind direction angle, and cause the yaw system to perform the crosswind operation according to the new crosswind position.
  • the anti-speed control device further includes an acquisition module 506, a second determination module, and a 507 third execution module 508.
  • the obtaining module 506 is configured to obtain a twisted cable angle of the cable during the current crosswind.
  • the second determining module 507 is configured to determine whether the twist cable angle is greater than or equal to a predetermined allowable twist cable angle and less than a predetermined safe twist cable angle.
  • the third execution module 508 is configured to suspend execution of the next crosswind operation until the current wind direction and the nacelle direction after the current crosswind process ends, if the twisted cable angle is greater than or equal to the predetermined allowable twisted cable angle and less than the predetermined safe twisted cable angle. The angle between the angles is less than a predetermined critical angle, causing the yaw system to resume performing the next crosswind operation along the unwinding direction of the cable.
  • wind turbine anti-flying control device may be integrated in the main controller of the wind power generator, or may be a component capable of independent logic calculation, which is not limited herein.
  • the embodiment of the present application further provides a wind power generator set comprising the wind turbine anti-flying vehicle control device as described above.
  • the functional blocks shown in the block diagrams described above may be implemented as hardware, software, firmware, or a combination thereof.
  • hardware can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, plug-ins, function cards, and the like.
  • ASIC application specific integrated circuit
  • the elements of embodiments of the present application are programs or code segments that are used to perform the required tasks.
  • the program or code segments can be stored in a machine readable medium or transmitted over a transmission medium or communication link through a data signal carried in the carrier.
  • a "machine-readable medium” can include any medium that can store or transfer information.
  • machine-readable media examples include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like.
  • the code segments can be downloaded via a computer network such as the Internet, an intranet, and the like.

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Abstract

本申请公开提供一种防飞车控制方法和装置、风力发电机组。该方法包括：确认风力发电机组的刹车系统是否已失效；若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作；对侧风过程中采集的风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角；根据平均风向角和瞬时风向角，判断风向是否发生突变；若风向发生突变，则根据平均风向角计算更新的侧风位置，并使偏航系统根据更新的侧风位置执行侧风操作。采用本申请实施例中的技术方案，能够在风力发电机组的刹车系统整体失效后实现对风力发电机组的停机操作。

Description

防飞车控制方法和装置、风力发电机组
本申请要求于2018年03月01日提交中国专利局、申请号为2018101718760、申请名称为“防飞车控制方法和装置、风力发电机组”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及风力发电技术领域，尤其涉及一种防飞车控制方法和装置、风力发电机组。
背景技术
为保护风力发电机组的安全运行，风力发电机组故障时需要利用刹车系统对风力发电机组进行紧急停机处理，即紧急刹车。目前，刹车系统的刹车主要包括：气动刹车、机械刹车或者两者结合的刹车方案。其中，气动刹车方案应用于具有叶片变桨系统的机组，通过独立驱动每支叶片达到顺桨位置，使叶片捕获的风功率达到最小；机械刹车方案作用于叶轮传动机构，通过利用机械制动设备(比如，刹车盘)的高机械摩擦阻尼作用，强制叶轮完全制动。
但是，基于设备可靠性和环境适应性等不确定因素的考虑，刹车系统依然存在整体失效的可能性。而刹车系统整体失效后，风力发电机组的转速就无法得到有效控制，最终将发生飞车事故。飞车事故容易造成刹车盘摩擦起火等事故，给风力发电机组带来严重破坏。
发明内容
本申请实施例提供一种防飞车控制方法和装置、风力发电机组，能够在风力发电机组的刹车系统整体失效后实现对风力发电机组的停机操作，避免飞车事故的发生。
第一方面，本申请实施例提供一种风力发电机组防飞车控制方法，该方法包括：
确认风力发电机组的刹车系统是否已失效；
若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作；
对侧风过程中采集的风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角；
根据平均风向角和瞬时风向角，判断风向是否发生突变；
若风向发生突变，则根据平均风向角计算新的侧风位置，并使偏航系统根据新的侧风位置执行侧风操作。
第二方面，本申请实施例提供一种风力发电机组防飞车控制装置，该装置包括：确认模块，用于确认风力发电机组的刹车系统是否已失效；第一执行模块，用于若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作；计算模块，用于对侧风过程中的采集风向数据进行长 周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角；第一判断模块，用于根据平均风向角和瞬时风向角，判断风向是否发生突变；第二执行模块，用于根据平均风向角计算更新的侧风位置，并使偏航系统根据更新的侧风位置执行侧风操作。
第三方面，本申请实施例提供了一种风力发电机组，该风力发电机组包括如上所述的风力发电机组防飞车控制装置。
根据本申请的实施例，为避免飞车事故的发生，可以先确认风力发电机组的刹车系统是否已失效，若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行对叶轮的侧风操作。由于执行侧风操作后能够降低捕获到的风能，从而降低风力发电机组的转速，因此能够避免飞车事故的发生。
此外，考虑到侧风过程中，风向是不断变化的，还可以对侧风过程中的采集风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角，然后根据平均风向角和瞬时风向角，判断风向是否发生突变，若风向发生突变，则根据平均风向角计算更新的侧风位置，并使偏航系统根据更新的侧风位置执行侧风操作，如此设置，能够使侧风操作与风向保持一致性，比如，能够在风向变化较大时，及时调整偏航系统的侧风操作，提高偏航系统的风向响应速率和环境适应性。
另外，由于本申请实施例中的防飞车控制方法能够主动识别风力发电机组的刹车系统是否已失效，并能够根据识别结果自动切入侧风流程。因此，与人工触发偏航系统的侧风操作相比，一方面，具有时效性高和准确度高的优点，另一方面，能够避免对维护人员造成职业健康风险，尤其是能够替代人工进行夜间自动维护，保证长期侧风功能完备，从而防止因扭缆、风向缓慢变化和风向突变等因素造成的侧风失败。
附图说明
图1为本申请一个实施例提供的风力发电机组防飞车控制方法的流程示意图；
图2为本申请实施例提供的以风向为参考0°的直角坐标系示意图；
图3为本申请另一实施例提供的风力发电机组防飞车控制方法的流程示意图；
图4为本申请又一实施例提供的风力发电机组防飞车控制方法的流程示意图；
图5为本申请实施例提供的风力发电机组防飞车控制装置的结构示意图。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例。在下面的详细描述中，提出了许多具体细节，以便提供对本申请的全面理解。
本申请实施例提供一种防飞车控制方法和装置、风力发电机组。采用本申请实施例中的技术方案，能够在风力发电机组的刹车系统整体失效后，实现对风力发电机组的停机操作。即能够作为刹车系统失效后的进一步防御手段，从而避免飞车事故的发生。
一般来讲，风力发电机组中设置有偏航系统。按实施目的来划分，偏航系统可以 执行对风操作和侧风操作。
偏航系统在执行对风操作时，能够将叶轮的旋转平面调节至与风向相垂直，使叶轮能够捕获到最大风能。
偏航系统在执行侧风操作时，能够将叶轮的旋转平面调整至与风向相平行，即将机舱方向与风向之间的夹角调整至接近90°，降低叶轮能够捕获到的风能，使风力发电机组的转速降低。当叶轮的旋转平面与风向完全平行时，风力发电机组的转速可降低至0，从而达到使风力发电机组停机的目的。
利用这一原理，可以在风力发电机组的刹车系统整体失效后，通过触发偏航系统的侧风功能，将叶轮的旋转平面调整至与风向完全平行，来达到降低风力发电机组的转速，避免飞车事故的目的。
图1为本申请一个实施例提供的风力发电机组防飞车控制方法的流程示意图。如图1所示，该防飞车控制方法包括步骤101至步骤105。
在步骤101中，确认风力发电机组的刹车系统是否已失效。
在一个可选实施例中，可以通过判断刹车系统接收到停机指令后，是否在第一预定时长t1内将至少两支叶片全部刹车到对应的预定位置；若刹车系统接收到停机指令后，未在第一预定时长t1内将至少两支叶片全部刹车到对应的预定位置，则确定刹车系统已失效。
其中，预定位置指的是变桨刹车位置，变桨刹车指的是指沿与风轮平面的平面内，将叶片从迎风面顺桨至与风轮平面成90°夹角位置，以降低捕获风能的能力。
在一个可选实施例中，也可以通过判断刹车系统接收到停机指令后，是否在第二预定时长t2内使叶轮的转速下降至预定转速；若刹车系统接收到停机指令后，未在第二预定时长t2内使风力发电机组的转速下降至预定转速，则确定刹车系统已失效。
需要说明的是，由于刹车后位置和刹车后转速为两个独立指标，上述通过预定位置和预定转速来刹车系统是否已失效的方法是分别执行的。只要任意一个条件得到满足，就可以确定刹车系统已失效。
在步骤102中，若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作。
其中，侧风位置是一个相对概念，侧风位置需要根据风向进行确定，也就是说侧风位置随着风向的变化而变化。
图2为本申请实施例提供的以风向为参考0°的直角坐标系示意图。其中，风向由B表示。
在一个可选实施例中，可以将相对于风向B的角度区间[80°，100°]和[260°，280°]作为当前风向B限定的侧风位置范围，即使机舱方向和风向B之间的夹角处于[80°，100°]和[260°，280°]。
在一个可选实施例中，也可以根据叶轮运行载荷仿真方法得到侧风位置。
在步骤103中，对侧风过程中采集的风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角。
其中，长周期滤波的方式适用于在较为稳定的风向情况下偏航使用。示例性地，可以基于30s的权重策略对采集的风向角数据进行长周期滤波处理。
短周期滤波的方式用于风向突变检测。示例性地，可以基于5s的权重策略对采集的风向角数据进行短周期滤波处理。基于权重策略的滤波处理方式可以参考现有技术，此处不进行赘述。
在步骤104中，根据平均风向角和瞬时风向角，判断风向是否发生突变。
在一个可选实施例中，可以计算平均风向角和瞬时风向角之间的差值，若差值大于预设阈值，则判断风向发生突变；若差值未大于预设阈值，则说明风向比较稳定。
在一个可选实施例中，也可以根据实际情况对平均风向角或瞬时风向进行优化，比如乘以一些常数或者做一些常见的数据处理，使得能够利用计算出的平均风向角和瞬时风向角准确地判断风向突变情况。
在步骤105中，若风向发生突变，则根据平均风向角计算新的侧风位置，并使偏航系统根据新的侧风位置执行侧风操作。
根据本申请的实施例，为避免飞车事故的发生，可以先确认风力发电机组的刹车系统是否已失效，若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作。由于执行侧风操作后能够降低捕获到的风能，从而降低风力发电机组的转速，因此能够避免飞车事故的发生。
此外，考虑到侧风过程中，风向是不断变化的，还可以对侧风过程中的采集风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角，然后根据平均风向角和瞬时风向角，判断风向是否发生突变，若风向发生突变，则根据平均风向角计算更新的侧风位置，并使偏航系统根据更新的侧风位置执行侧风操作，如此设置，能够使侧风操作与风向保持一致性，比如，能够在风向变化较大时，及时调整偏航系统的侧风操作，提高偏航系统的风向响应速率和环境适应性。
另外，由于本申请实施例中的防飞车控制方法能够主动识别风力发电机组的刹车系统是否已失效，并能够根据识别结果自动切入侧风流程。因此，与人工触发偏航系统的侧风操作相比，一方面，具有时效性高和准确度高的优点，另一方面，能够避免对维护人员造成职业健康风险，尤其是能够替代人工进行夜间自动维护，保证长期侧风功能完备，从而防止因扭缆、风向缓慢变化和风向突变等因素造成的侧风失败。
另外，由于本申请实施例中的防飞车控制方法不需要增加新的硬件设备，而是可以采样软件控制策略的实施方式，因此，成本低，具有易于推广使用的优点。
进一步地，考虑到风力发电机组的机舱柜中设置有连接机舱和塔底的电缆，电缆会随偏航系统相对于其顺直状态扭转，比如，一圈或多圈。因此，偏航系统侧风操作时还应满足扭缆风险规避要求。
在一个可选实施例中，当执行偏航系统的侧风操作时，还可以获取电缆的解缆方向，使偏航系统沿所述解缆方向将机舱方向侧风至所述初始侧风位置，以为持续侧风过程中的电缆预留更多的可扭转角度。
示例性地，若电缆的扭缆方向为顺时针，则解缆方向应为逆时针；若电缆的扭缆方向为逆时针，则解缆方向应为顺时针。
图3为本申请另一实施例提供的风力发电机组防飞车控制方法的流程示意图。如图3所示，该防飞车控制方法还包括步骤301至步骤303，用于在偏航系统持续侧风 的情况下，保护电缆，避免发生因电缆的扭缆角度超限而造成的风力发电机组故障。
在步骤301中，获取当前侧风过程中电缆的扭缆角度。
在步骤302中，判断扭缆角度是否大于或等于预定允许扭缆角度且小于预定安全扭缆角度。
在步骤303中，若扭缆角度大于或等于预定允许扭缆角度且小于预定安全扭缆角度，则可以在当前侧风过程结束后，暂停执行下一次侧风操作，直到当前风向与机舱方向之间的夹角小于预定临界角度，使偏航系统沿电缆的解缆方向恢复执行下一次侧风操作。
其中，每个侧风位置对应一次侧风操作。若扭缆角度大于或等于预定允许扭缆角度且小于预定安全扭缆角度，表示偏航系统已侧风至电缆的允许扭缆角度，但还未侧风至超过电缆的安全扭缆角度(即风力发电机组的安全系统设置的扭缆保护值)。
此处，电缆的扭缆角度是一个绝对概念。将电缆顺直状态时的位置作为参考0°，参考0°的位置由风力发电机组的吊装过程决定。在一个示例中，预定允许扭缆角度可以设置为800°，预定安全扭缆角度可以设置为900°，本领域技术人员可以根据实际情况，设置合适的预定允许扭缆角度和预定安全扭缆角度，此处不做限定。
在一个可选实施例中，可以将风力发电机组转速加速上升时的、风向与机舱方向之间的夹角作为预定临界角度。由于当前风向与机舱方向之间的夹角小于预定临界角度时，风力发电机组的叶轮处于迎风状态，捕获风能的能量较强，容易导致风力发电机组的转速加速上升，因此，可以使偏航系统沿当前解缆方向，恢复下一次侧风操作，以防止风力发电机组因转速加速上升而造成飞车事故。接下来，考虑到偏航系统在执行侧风操作中会不断接收到其他的偏航指令，为避免指令执行冲突，顺利达到防止飞车事故，本申请实施例中的防飞车控制方法还包括以下内容：
在一个可选实施例中，若偏航系统在当前侧风过程中接收到与侧风操作无关的其它自动偏航指令，则使与侧风操作无关的其它自动偏航指令不使能，并控制偏航系统继续执行当前侧风操作。
其中，与侧风操作无关的其它偏航指令包括：对风偏航指令、解缆偏航指令和润滑偏航指令等，这些指令均为风力发电领域的常规操作指令。
在一个可选实施例中，若偏航系统在当前侧风过程中接收到手动偏航指令，则结束当前侧风操作，并控制偏航系统根据手动偏航指令执行下一次侧风操作。
这里，手动偏航指令可以是人工就地偏航指令或远程偏航指令，两者的区别在于发送方不同。
图4为本申请又一实施例提供的风力发电机组防飞车控制方法的流程示意图，用于详细举例对本申请实施例中的防飞车控制方法进行说明。如图4所示，该示例中的防飞车控制方法包括步骤401至413。
在步骤401中，确认风力发电机组的刹车系统是否已失效。若风力发电机组的刹车系统是否已失效，则执行步骤402；若风力发电机组的刹车系统未失效，则返回步骤401。
在步骤402中，对刹车系统的失效事故报警且激活偏航系统的偏航侧风标志。其中，报警信息和偏航侧风标志的激活信息可以上传至远程监控系统。
在步骤403中，根据当前风向确定侧风位置。
在步骤404中，沿电缆的解缆方向，将机舱方向侧风至侧风位置。
在步骤405中，判断电缆的扭缆角度是否大于或等于预定允许扭缆角度且小于预定安全扭缆角度。若电缆的扭缆角度是否大于或等于预定允许扭缆角度且小于预定安全扭缆角度，则执行步骤406；否则，返回步骤405。
在步骤406中，继续执行当前侧风操作并暂停执行下一次侧风操作。
在步骤407中，判断风向与机舱方向之间的夹角是否小于预定临界角度，若风向与机舱方向之间的夹角小于预定临界角度，则执行步骤408；若风向与机舱方向之间的夹角未小于预定临界角度，则返回步骤407。
在步骤408中，按照电缆的当前解缆方向，恢复下一次侧风操作。
在步骤409中，判断侧风过程中风向是否发生突变。若侧风过程中风向发生突变，则执行步骤410；若侧风过程中风向未发生突变，则执行步骤411。
在步骤410中，根据平均风向角计算侧风位置，然后转到步骤404。
在步骤411中，使用瞬时风向角计算侧风位置，然后转到步骤404。
在步骤412中，判断侧风过程中是否接收到人工偏航指令。若侧风过程中接收到人工偏航指令，则执行步骤413；若侧风过程中未接收到人工偏航指令，则返回步骤405。
在步骤413中，结束当前侧风操作，并根据人工偏航指令执行偏航操作。
图5为本申请实施例提供的风力发电机组防飞车控制装置的结构示意图。如图5所示，该防飞车控制装置包括确认模块501、第一执行模块502、计算模块503、第一判断模块504和第二执行模块505。
其中，确认模块501用于确认风力发电机组的刹车系统是否已失效。
第一执行模块用于若刹车系统已失效，则根据当前风向角计算初始侧风位置，使风力发电机组的偏航系统根据初始侧风位置执行侧风操作。
在一个可选实施例中，第一执行模块502具体包括：获取单元和执行单元。其中，获取单元用于获取电缆的解缆方向；执行单元用于使偏航系统沿所述解缆方向将机舱方向侧风至初始侧风位置。
计算模块503，用于对侧风过程中采集的风向数据进行长周期滤波处理，得到平均风向角，及对风向数据进行短周期滤波处理，得到瞬时风向角
第一判断模块504，用于根据平均风向角和瞬时风向角，判断风向是否发生突变。
在一个可选实施例中，第一判断模块504具体包括计算单元和判断单元。其中，计算单元用于计算所述平均风向角和所述瞬时风向角之间的差值；判断单元用于若所述差值大于预设阈值，则判断风向发生突变。
第二执行模块505，用于根据平均风向角计算新的侧风位置，并使偏航系统根据新的侧风位置执行侧风操作。
在一个可选实施例中，如图5所示，该防飞车控制装置还包括获取模块506、第二判断模块和507第三执行模块508。
其中，获取模块506用于获取当前侧风过程中电缆的扭缆角度。
第二判断模块507用于判断扭缆角度是否大于或等于预定允许扭缆角度且小于预 定安全扭缆角度。
第三执行模块508用于若扭缆角度大于或等于预定允许扭缆角度且小于预定安全扭缆角度，则在当前侧风过程结束后，暂停执行下一次侧风操作，直到当前风向与机舱方向之间的夹角小于预定临界角度，使偏航系统沿电缆的解缆方向恢复执行下一次侧风操作。
需要说明的是，上述风力发电机组防飞车控制装置可以集成设置在风力发电机组的主控制器中，也可以是能够独立进行逻辑运算的元器件，此处不进行限定。
本申请实施例还提供一种风力发电机组，该风力发电机组包括如上所述的风力发电机组防飞车控制装置。
还需要说明的是，以上所述的结构框图中所示的功能块可以实现为硬件、软件、固件或者它们的组合。当以硬件方式实现时，其可以例如是电子电路、专用集成电路(ASIC)、适当的固件、插件、功能卡等等。当以软件方式实现时，本申请实施例的元素是被用于执行所需任务的程序或者代码段。程序或者代码段可以存储在机器可读介质中，或者通过载波中携带的数据信号在传输介质或者通信链路上传送。“机器可读介质”可以包括能够存储或传输信息的任何介质。机器可读介质的例子包括电子电路、半导体存储器设备、ROM、闪存、可擦除ROM(EROM)、软盘、CD-ROM、光盘、硬盘、光纤介质、射频(RF)链路，等等。代码段可以经由诸如因特网、内联网等的计算机网络被下载。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (12)

  1. 一种风力发电机组防飞车控制方法，其特征在于，包括：
    确认风力发电机组的刹车系统是否已失效；
    若所述刹车系统已失效，则根据当前风向角计算初始侧风位置，使所述风力发电机组的偏航系统根据初始侧风位置执行侧风操作；
    对侧风过程中采集的风向数据进行长周期滤波处理，得到平均风向角，及对所述风向数据进行短周期滤波处理，得到瞬时风向角；
    根据所述平均风向角和所述瞬时风向角，判断风向是否发生突变；
    若风向发生突变，则根据所述平均风向角计算新的侧风位置，并使所述偏航系统根据所述新的侧风位置执行侧风操作。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述平均风向角和所述瞬时风向角，判断风向是否发生突变，包括：
    计算所述平均风向角和所述瞬时风向角之间的差值；
    若所述差值大于预设阈值，则判断风向发生突变。
  3. 根据权利要求1所述的方法，其特征在于，所述风力发电机组的机舱柜中设置有电缆，所述使所述风力发电机组的偏航系统根据初始侧风位置执行侧风操作，包括：
    获取所述电缆的解缆方向；
    使所述偏航系统沿所述解缆方向将机舱方向侧风至所述初始侧风位置。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：
    获取当前侧风过程中所述电缆的扭缆角度；
    判断所述扭缆角度是否大于或等于预定允许扭缆角度且小于预定安全扭缆角度；
    若所述扭缆角度大于或等于所述预定允许扭缆角度且小于所述预定安全扭缆角度，则在当前侧风过程结束后，暂停执行下一次侧风操作，直到当前风向与机舱方向之间的夹角小于预定临界角度，使所述偏航系统沿所述电缆的解缆方向恢复执行下一次侧风操作。
  5. 根据权利要求1所述的方法，其特征在于，所述确认风力发电机组的刹车系统是否已失效，包括：
    判断所述刹车系统接收到停机指令后，是否在第一预定时长内将至少两支叶片刹车到对应的预定位置；
    若所述刹车系统接收到所述停机指令后，未在所述第一预定时长内将所述至少两支叶片刹车到对应的预定位置，则确定所述刹车系统已失效；或者，
    判断所述刹车系统接收到所述停机指令后，是否在第二预定时长内使风力发电机组的转速下降至预定转速；
    若所述刹车系统接收到所述停机指令后，未在所述第二预定时长内使叶轮的转速下降至所述预定转速，则确定所述刹车系统已失效。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    若所述偏航系统在当前侧风过程中接收到与侧风操作无关的其它自动偏航指令，则使所述与侧风操作无关的其它偏航指令不使能，并控制所述偏航系统继续执行当前侧风操作；
    若所述偏航系统在当前侧风过程中接收到手动偏航指令，则结束当前侧风操作，并控制所述偏航系统根据所述手动偏航指令执行下一次侧风操作。
  7. 一种风力发电机组防飞车控制装置，其特征在于，包括：
    确认模块，用于确认风力发电机组的刹车系统是否已失效；
    第一执行模块，用于若所述刹车系统已失效，则根据当前风向角计算初始侧风位置，使所述风力发电机组的偏航系统根据初始侧风位置执行侧风操作；
    计算模块，用于对侧风过程中采集的风向数据进行长期滤波处理，得到平均风向角，及对所述风向数据进行短期滤波处理，得到瞬时风向角；
    第一判断模块，用于根据所述平均风向角和所述瞬时风向角，判断风向是否发生突变；
    第二执行模块，用于根据所述平均风向角计算更新的侧风位置，并使所述偏航系统根据更新的侧风位置执行侧风操作。
  8. 根据权利要求7所述的装置，其特征在于，所述第一判断模块包括：
    计算单元，用于计算所述平均风向角和所述瞬时风向角之间的差值；
    判断单元，用于若所述差值大于预设阈值，则判断风向发生突变。
  9. 根据权利要求7所述的装置，其特征在于，所述风力发电机组的机舱柜中设置有电缆，所述第一执行模块包括：
    获取单元，用于获取所述电缆的解缆方向；
    执行单元，用于使所述偏航系统沿所述解缆方向将机舱方向侧风至所述初始侧风位置。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括：
    获取模块，用于获取当前侧风过程中所述电缆的扭缆角度；
    第二判断模块，用于判断所述扭缆角度是否大于或等于预定允许扭缆角度且小于预定安全扭缆角度；
    第三执行模块，用于若所述扭缆角度大于或等于所述预定允许扭缆角度且小于所述预定安全扭缆角度，则在当前侧风过程结束后，暂停执行下一次侧风操作，直到当前风向与机舱方向之间的夹角小于预定临界角度，使所述偏航系统沿所述电缆的解缆方向恢复执行下一次侧风操作。
  11. 根据权利要求10所述的装置，其特征在于，所述装置集成设置在风力发电机组的主控制器中。
  12. 一种风力发电机组，其特征在于，包括如权利要求7-11任意一项所述的风力发电机组防飞车控制装置。
PCT/CN2018/095302 2018-03-01 2018-07-11 防飞车控制方法和装置、风力发电机组 Ceased WO2019165744A1 (zh)

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