CN108223276A - Yaw control method, yaw control device - Google Patents
Yaw control method, yaw control device Download PDFInfo
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- CN108223276A CN108223276A CN201711477411.XA CN201711477411A CN108223276A CN 108223276 A CN108223276 A CN 108223276A CN 201711477411 A CN201711477411 A CN 201711477411A CN 108223276 A CN108223276 A CN 108223276A
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- wind speed
- wind
- yaw
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- yaw system
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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
- F03D7/0244—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor for braking
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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
- F03D7/047—Automatic control; Regulation by means of an electrical or electronic controller characterised by the controller architecture, e.g. multiple processors or data communications
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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
- F05B2270/32—Wind speeds
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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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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The embodiment of the invention discloses a kind of Yaw control method and yaw control devices.Present invention method includes：When yaw system confirms wind wheel alignment wind direction in During yaw, the yaw system, which obtains, carrys out wind wind speed；When yaw system confirmation is described carrys out wind wind speed less than the first default wind speed, the yaw system control yaw motor postpones the braking of the first preset duration；When yaw system confirmation is described carrys out wind wind speed not less than the first default wind speed, the yaw system controls the yaw motor to postpone the braking of the second preset duration, and second preset duration is more than first preset duration.So as to fulfill it is different carry out wind wind speed under brake duration braking yaw motor using corresponding delay.
Description
Technical field
The present invention relates to wind power generation field more particularly to Yaw control method, yaw control devices.
Background technology
Wind power generating set is made of multiple portions, and control system extends through each part, is equivalent to wind power system
Nerve.Therefore the operation of control system be directly related to the working condition of wind-driven generator, generated energy number and equipment
Safety etc..
Yaw system is the essential part of wind turbine control system, in wind power generating set operational process
In, when yaw system detects that wind regime meets the default yaw condition of yaw system, yaw system control wind wheel deflection so that
Wind wheel is directed at wind direction.
In the prior art, generally after yaw system control wind wheel alignment wind direction, delay braking yaw motor passes through
Reserved fixed buffer time retrodeviates boat motor braking.
However, under different wind regime, wind power generating set inertia force is different, and the braking of fixed single time is easily right
Yaw motor generates impact, and the implementation strategy is excessively single.
Invention content
The embodiment of the present application provides a kind of Yaw control method and yaw control device, is used to implement and carrys out wind in different
Under wind speed duration braking yaw motor is braked using corresponding delay.
The embodiment of the present application first aspect provides a kind of yaw control device, including：
When yaw system confirms wind wheel alignment wind direction in During yaw, which, which obtains, carrys out wind wind speed；
When the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, yaw system control yaw motor prolongs
Slow first preset duration braking；
When the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, which controls the yaw
Motor postpones the braking of the second preset duration, which is more than first preset duration.
Preferably, when the yaw system confirms that this carrys out wind wind speed not less than the second default wind speed, yaw system control
Yaw motor delay third preset duration braking, which is not less than the first default wind speed, when which presets
It is long to be more than second preset duration.
Preferably, it is 7 metre per second (m/s)s which, which is 10 seconds mean wind speeds,；
Preferably, which is 4 seconds；Second preset duration is 6 seconds.
Preferably, it is 7 metre per second (m/s)s which, which is 10 seconds mean wind speeds,；The second default wind speed is average for 10 seconds
Wind speed is 12 metre per second (m/s)s.
Preferably, which is 4 seconds；Second preset duration is 6 seconds；The third preset duration is 8 seconds.
The embodiment of the present application second aspect provides a kind of yaw control device, including：
Acquiring unit, for when yaw system confirms wind wheel alignment wind direction in During yaw, which, which obtains, to come
Wind wind speed；
First control unit, for when the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, control to be inclined
Avionics machine postpones the braking of the first preset duration；
Second control unit, for when the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, controlling
It makes the yaw motor and postpones the braking of the second preset duration, which is more than first preset duration.
Preferably, which further includes third control unit, confirms that this carrys out wind wind speed and is not less than for working as the yaw system
During the second default wind speed, which controls yaw motor delay third preset duration braking, and the second default wind speed is not
Less than the first default wind speed, which is more than second preset duration.
The embodiment of the present application third aspect provides a kind of yaw control device, and the structure of the yaw control device includes：
Processor, memory, the processor are stored in by running the software program being stored in the memory, calling in the memory
Data, the method for performing the embodiment of the present application first aspect and embodiment.
The embodiment of the present application fourth aspect provides a kind of computer storage media, for saving as above-mentioned yaw control dress
Computer software instructions used are put, it includes the journeys for performing the embodiment of the present application first aspect and designed by embodiment
Sequence.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
When yaw system is when wind wheel alignment carrys out wind wind direction in confirming During yaw, which, which obtains, carrys out wind wind speed；
When the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, yaw system control yaw motor delay first is pre-
If duration is braked；When the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, yaw system control should
Yaw motor postpones the braking of the second preset duration, which is more than first preset duration.Future wind wind speed and
One default wind speed is compared, and determines that yaw system is inclined using different delay braking duration brakings according to the result for comparing size
Avionics machine, so as to fulfill it is different carry out wind wind speed under brake duration braking yaw motor using corresponding delay.
Description of the drawings
Fig. 1 is one embodiment schematic diagram of Yaw control method in the embodiment of the present invention；
Fig. 2 is another embodiment schematic diagram of Yaw control method in the embodiment of the present invention；
Fig. 3 is one embodiment schematic diagram of yaw control device in the embodiment of the present invention；
Fig. 4 is another embodiment schematic diagram of yaw control device in the embodiment of the present invention.
Specific embodiment
An embodiment of the present invention provides a kind of Yaw control method and yaw control devices, are used to implement and carry out wind in different
Under wind speed duration braking yaw motor is braked using corresponding delay.
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " third " in description and claims of this specification and above-mentioned attached drawing, "
Four " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so that the embodiments described herein can be in addition to illustrating or describing herein
Sequence other than appearance is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that covering is non-exclusive
Include, be not necessarily limited to clearly arrange for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit gone out, but may include not listing clearly or these processes, method, product or equipment are consolidated
The other steps or unit having.
In order to make it easy to understand, the idiographic flow in the embodiment of the present invention is described below, referring to Fig. 1, of the invention
One embodiment of Yaw control method includes in embodiment：
101st, when yaw system confirms wind wheel alignment wind direction in During yaw, which, which obtains, carrys out wind wind speed；
In the present embodiment, yaw system presets the first default wind speed, when yaw system confirms wind wheel pair in During yaw
After quasi- wind direction, the yaw system is by wind measuring device acquisition come wind wind speed.
Specifically, which can be 7 metre per second (m/s) of every five seconds for example mean wind speed or every 10 seconds average winds
Fast 7 metre per second (m/s)s or instantaneous wind speed is 7 metre per second (m/s)s, can also be the default wind speed of other preset durations, yaw system can
It is adjusted with reference to the wind regime of wind power generating set locality, does not limit herein specifically.
Specifically, which obtains wind deflection angle according to normal process.In addition, carry out the mistake of wind information in acquisition
Cheng Zhong, yaw system can obtain every five seconds for example mean wind speed, can also obtain every 10 seconds mean wind speeds, and yaw system can also obtain
The instantaneous wind speed of wind is fetched, the mean wind speed in other durations is can also be, does not limit herein specifically.
In the present embodiment, yaw system after default first default wind speed it is confirmed that obtain the dimension of carrying out wind wind speed,
The dimension is identical with the first default wind speed, for the comparison size of subsequent step.
102nd, when the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, yaw system control yaw electricity
Machine postpones the braking of the first preset duration；
In the present embodiment, when yaw system confirmation carrys out wind wind speed less than the first default wind speed, yaw system control yaw
Motor postpones the braking of the first preset duration.
Specifically, yaw system according to step 101 obtain come wind wind speed compared with the preset first default wind speed, when
When carrying out wind wind speed less than the first default wind speed, yaw system control yaw motor postpones the braking of the first preset duration.
In addition, the first preset duration can be 4 seconds, 5 seconds or other durations, can also be local according to Wind turbines
Wind regime carries out appropriate adjustment, does not limit herein specifically.
103rd, when the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, yaw system control should
Yaw motor postpones the braking of the second preset duration, which is more than first preset duration.
In the present embodiment, when yaw system confirmation carrys out wind wind speed not less than the first default wind speed, yaw system control is inclined
Avionics machine postpones the braking of the second preset duration, which is more than first preset duration.
Specifically, yaw system according to step 101 obtain come wind wind speed compared with the preset first default wind speed, when
When carrying out wind wind speed not less than the first default wind speed, yaw system control yaw motor postpones the braking of the first preset duration.
In addition, the second preset duration be more than first preset duration, second preset duration can be 6 seconds, 7 seconds or its
Its duration can also carry out appropriate adjustment according to the wind regime of Wind turbines locality, not limit herein specifically.
In the present embodiment, when yaw system is when wind wheel alignment carrys out wind wind direction in confirming During yaw, which obtains
Fetch wind wind speed；When the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, yaw system control yaw electricity
Machine postpones the braking of the first preset duration；When the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, this is partially
Boat system controls the yaw motor to postpone the braking of the second preset duration, which is more than first preset duration.It will
Carry out wind wind speed to be compared with the first default wind speed, determine that yaw system uses different delay bases according to the result for comparing size
Dynamic duration braking yaw motor, so as to fulfill it is different carry out wind wind speed under brake duration braking yaw using corresponding delay
Motor.
Referring to Fig. 2, another embodiment of Yaw control method includes in the embodiment of the present application：
201st, when yaw system confirms wind wheel alignment wind direction in During yaw, which, which obtains, carrys out wind wind speed；
In the present embodiment, yaw system presets the first default wind speed and the second default wind speed, which is more than
First default wind speed, after yaw system confirms that wind wheel is directed at wind direction in During yaw, which passes through wind measuring device
It obtains and carrys out wind wind speed.
Specifically, which can be 7 metre per second (m/s) of every five seconds for example mean wind speed or every 10 seconds average winds
Fast seven metre per second (m/s)s or instantaneous wind speed is 7 metre per second (m/s)s, can also be the default wind speed of other preset durations, yaw system
The wind regime that wind power generating set locality can be combined is adjusted, and is not limited herein specifically.
In addition, the second default wind speed is more than the first default wind speed, can be 12 metre per second (m/s) of every five seconds for example mean wind speed,
Can be 12 metre per second (m/s) of every 10 seconds mean wind speeds or instantaneous wind speed it be 12 metre per second (m/s)s, can also be other preset durations
Default wind speed, yaw system can combine wind power generating set locality wind regime be adjusted, do not limit herein specifically.
Specifically, which obtains wind deflection angle according to normal process.In addition, carry out the mistake of wind information in acquisition
Cheng Zhong, yaw system can obtain every five seconds for example mean wind speed, can also obtain every 10 seconds mean wind speeds, and yaw system can also obtain
The instantaneous wind speed of wind is fetched, the mean wind speed in other durations is can also be, does not limit herein specifically.
In the present embodiment, yaw system comes after default first default wind speed and the second default wind speed it is confirmed that obtaining
The dimension of wind wind speed, the dimension is identical with the first default wind speed and the second default wind speed, for the comparison size of subsequent step.
202nd, when the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, yaw system control yaw electricity
Machine postpones the braking of the first preset duration.
203rd, when the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, yaw system control should
Yaw motor postpones the braking of the second preset duration, which is more than first preset duration.
Step 202 is similar with abovementioned steps 102 and step 103 with step 203, and details are not described herein again.
203rd, when the yaw system confirms that this carrys out wind wind speed not less than the second default wind speed, yaw system control should
Yaw motor delay third preset duration braking.
In the present embodiment, when yaw system confirmation carrys out wind wind speed not less than the second default wind speed, yaw system control is inclined
The delay third preset duration braking of avionics machine, the third preset duration are more than second preset duration.
Specifically, yaw system according to step 201 obtain come wind wind speed compared with the preset second default wind speed, when
When carrying out wind wind speed not less than the first default wind speed, yaw system control yaw motor postpones the braking of the first preset duration.
In addition, third preset duration be more than second preset duration, second preset duration can be 8 seconds, 9 seconds or its
Its duration can also carry out appropriate adjustment according to the wind regime of Wind turbines locality, not limit herein specifically.
In the present embodiment, wind speed is further classified on the basis of previous embodiment, when yaw system confirmation comes
When wind wind speed is not less than the second default wind speed, yaw system control yaw motor delay third preset duration is braked, and the third is pre-
If duration is more than second preset duration, determine that yaw system brakes duration using different delays according to the result for comparing size
Braking yaw motor, so as to fulfill it is different carry out wind wind speed under brake duration braking yaw motor using corresponding delay.
Referring to Fig. 3, one embodiment of yaw control device includes in the embodiment of the present application：
Acquiring unit 301, for when yaw system confirms wind wheel alignment wind direction in During yaw, which to obtain
Carry out wind wind speed；
First control unit 302, for when the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, controlling
Yaw motor postpones the braking of the first preset duration；
Second control unit 303, for when the yaw system confirm this come wind wind speed not less than the first default wind speed when,
The yaw motor is controlled to postpone the braking of the second preset duration, which is more than first preset duration.
In the present embodiment, acquiring unit 301 obtains when wind wheel alignment carrys out wind wind direction in confirming During yaw and carrys out wind wind
Speed；When the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, the first control unit 302 control yaw motor prolongs
Slow first preset duration braking；When the yaw system confirms that this carrys out wind wind speed not less than the first default wind speed, the second control
Unit 303 controls the yaw motor to postpone the braking of the second preset duration, which is more than first preset duration.It will
Carry out wind wind speed to be compared with the first default wind speed, determine that yaw system uses different delay bases according to the result for comparing size
Dynamic duration braking yaw motor, so as to fulfill it is different carry out wind wind speed under brake duration braking yaw using corresponding delay
Motor.
Referring to Fig. 4, another embodiment of yaw control device includes in the embodiment of the present application：
Acquiring unit 301, for when yaw system confirms wind wheel alignment wind direction in During yaw, which to obtain
Carry out wind wind speed；
First control unit 302, for when the yaw system confirms that this carrys out wind wind speed less than the first default wind speed, controlling
Yaw motor postpones the braking of the first preset duration；
Second control unit 303, for when the yaw system confirm this come wind wind speed not less than the first default wind speed when,
The yaw motor is controlled to postpone the braking of the second preset duration, which is more than first preset duration；
Third control unit, for when the yaw system confirms that this carrys out wind wind speed not less than the second default wind speed, this to be partially
Boat system controls yaw motor delay third preset duration braking, which is not less than the first default wind speed, should
Third preset duration is more than second preset duration.
In the present embodiment, wind speed is further classified on the basis of previous embodiment, when yaw system confirmation comes
When wind wind speed is not less than the second default wind speed, the control yaw motor delay third preset duration braking of third control unit, this
Three preset durations are more than second preset duration, determine that yaw system is braked using different delays according to the result for comparing size
Duration braking yaw motor, so as to fulfill it is different carry out wind wind speed under brake duration braking yaw electricity using corresponding delay
Machine.
The yaw control device provided in the present embodiment, only with the division of above-mentioned a functional unit carry out for example,
In practical application, above-mentioned function can be integrated in a functional unit as needed and is completed or by above-mentioned function distribution
It is completed by different functional units, not limited specifically.
The embodiment of the present application also provides a kind of computer program product, which refers to including computer software
It enables, which can be loaded to realize Yaw control method flow in previous embodiment by processor.
The embodiment of the present application also provides a kind of computer storage media, which is used to save as aforementioned connect
The computer software instructions used in terminal are received, including the program for execution designed by yaw control device.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function can have other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is independent product sale or uses
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially
The part to contribute in other words to the prior art or all or part of the technical solution can be in the form of software products
It embodies, which is stored in a storage medium, is used including some instructions so that a computer
Equipment (can be personal computer, server or the network equipment etc.) performs the complete of each embodiment the method for the present invention
Portion or part steps.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or carry out equivalent replacement to which part technical characteristic；And these
Modification is replaced, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of control method of yaw system, which is characterized in that including：
When yaw system confirms wind wheel alignment wind direction in During yaw, the yaw system, which obtains, carrys out wind wind speed；
When yaw system confirmation is described carrys out wind wind speed less than the first default wind speed, the yaw system controls yaw motor
Postpone the braking of the first preset duration；
When yaw system confirmation is described carrys out wind wind speed not less than the first default wind speed, the yaw system controls institute
It states yaw motor and postpones the braking of the second preset duration, second preset duration is more than first preset duration.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
When yaw system confirmation is described carrys out wind wind speed not less than the second default wind speed, the yaw system control is described partially
The delay third preset duration braking of avionics machine, the second default wind speed is not less than the first default wind speed, when the third is preset
It is long to be more than second preset duration.
3. method according to claim 1 or 2, which is characterized in that including：
It is 7 metre per second (m/s)s that the first default wind speed, which is 10 seconds mean wind speeds,.
4. method according to claim 1 or 2, which is characterized in that including：
First preset duration is 4 seconds；
Second preset duration is 6 seconds.
5. according to the method described in claim 2, it is characterised in that it includes：
It is 7 metre per second (m/s)s that the first default wind speed, which is 10 seconds mean wind speeds,；
It is 12 metre per second (m/s)s that the second default wind speed, which is 10 seconds mean wind speeds,.
6. the method according to claim 2 or 5, which is characterized in that including：
First preset duration is 4 seconds；
Second preset duration is 6 seconds；
The third preset duration is 8 seconds.
7. a kind of control device of yaw system, which is characterized in that including：
Acquiring unit, for when yaw system confirms wind wheel alignment wind direction in During yaw, the yaw system, which obtains, to carry out wind
Wind speed；
First control unit, for when the yaw system confirm it is described come wind wind speed be less than the first default wind speed when, control is inclined
Avionics machine postpones the braking of the first preset duration；
Second control unit, for when the yaw system confirm it is described come wind wind speed be not less than the first default wind speed when,
The yaw motor is controlled to postpone the braking of the second preset duration, second preset duration is more than first preset duration.
8. device according to claim 7, which is characterized in that described device further includes：
Third control unit, for when the yaw system confirm it is described come wind wind speed be not less than the second default wind speed when, it is described
Yaw system controls the yaw motor delay third preset duration braking, and the second default wind speed is not less than the first default wind
Speed, the third preset duration are more than second preset duration.
9. a kind of computer program product for including instruction, which is characterized in that when run on a computer so that the meter
Calculation machine performs such as claim 1 to 6 any one of them method.
10. a kind of computer readable storage medium, including instruction, which is characterized in that when described instruction is run on computers,
So that computer performs such as method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711477411.XA CN108223276A (en) | 2017-12-29 | 2017-12-29 | Yaw control method, yaw control device |
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| CN201711477411.XA CN108223276A (en) | 2017-12-29 | 2017-12-29 | Yaw control method, yaw control device |
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