Yaw control using mean motor speed reference as feedback
AssigneeVestas Wind Systems A/S
InventorsPeter Fynbo, Jesper Lykkegaard Neubauer, Jens-Kristian Egsgaard Langkjær, Niels Henrik Pedersen
Life of this patent
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Abstract
Techniques for controlling the yaw of a wind turbine system by controlling a plurality of yaw drive actuators. Based on a requested motor speed reference as an input signal, and a mean motor speed reference as a feedback signal, the method determines a required motor torque reference as an output signal for the plurality of yaw drive actuators. The plurality of yaw drive actuators rotates a nacelle or a structure comprising a plurality of nacelles such that an even load distribution is provided for the plurality of yaw drive actuators.
Claims15
A method for controlling a yaw of a wind turbine system, the wind turbine system comprises a nacelle, a tower, a turbine controller and a yaw system, the yaw system is operable to rotate the nacelle with respect to the tower, the yaw system comprises a motor controller and a plurality of yaw drive actuators;
- the method, comprising:
- receiving, by the motor controller, a requested motor speed reference, as an input signal,
- receiving, by the motor controller, a mean motor speed reference, as a feedback signal, wherein the mean motor speed reference is an average that comprises a sum of motor speeds of a number of motors in at least two of the plurality of yaw drive actuators, divided by the number of the motors, and
- providing, by the motor controller, a required motor torque reference, as an output signal, for the plurality of yaw drive actuators to rotate the nacelle, determined according to the input signal and the feedback signal.
A control system for controlling a yaw of a wind turbine system comprising a nacelle, a tower, and a yaw system operable to rotate the nacelle with respect to the tower and comprising a motor controller and a plurality of yaw drive actuators;
- wherein the control system comprises:
- an input/output (I/O) interface;
- and
- one or more processors communicatively coupled to the (I/O) interface, and programmed to perform an operation, comprising:
- receiving, by the motor controller, a requested motor speed reference, as an input signal,
- receiving, by the motor controller, a mean motor speed reference, as a feedback signal, wherein the mean motor speed reference is an average that comprises a sum of motor speeds of a number of motors in at least two of the plurality of yaw drive actuators, divided by the number of the motors, and
- providing, by the motor controller, a required motor torque reference, as an output signal, for the plurality of yaw drive actuators to rotate the nacelle, determined according to the input signal and the feedback signal.
A wind turbine system, comprising:
- a tower;
- a nacelle disposed on the tower;
- a yaw system operable to rotate the nacelle with respect to the tower, wherein the yaw system comprises a motor controller and a plurality of yaw drive actuators;
- and
- a control system configured to perform an operation, comprising:
- receiving, by the motor controller, a requested motor speed reference, as an input signal,
- receiving, by the motor controller, a mean motor speed reference, as a feedback signal, wherein the mean motor speed reference is an average that comprises a sum of motor speeds of a number of motors in at least two of the plurality of yaw drive actuators, divided by the number of the motors, and
- providing, by the motor controller, a required motor torque reference, as an output signal, for the plurality of yaw drive actuators to rotate the nacelle, determined according to the input signal and the feedback signal.
Dependencies are inferred from the claim text.