Yaw supervision

Abstract

The invention relates to a method for monitoring yawing fault events of a yaw system of a wind turbine. The yaw system comprises one or more actuators for driving the yaw system and a holding system to resist yaw rotation. The yaw system is arranged to provide yaw rotation in response to a yaw control signal. According to the method, the monitored yaw angle is compared with the yaw control signal, and based on the comparison, a correlation between a monitored change in the yaw angle and the yaw control signal is determined. A yawing fault event is determined dependent on the determined correlation.

Claims

1. A method for monitoring yawing fault events, the method comprising: providing a wind turbine comprising a tower, a nacelle, and a yaw system, the yaw system being arranged to provide yaw rotation of the nacelle relative to the tower in response to a yaw control signal, wherein the yaw system comprises one or more actuators for driving the yaw system and a holding system to resist yaw rotation; monitoring a yaw angle of the yaw system; comparing the yaw angle with the yaw control signal; based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal to determine whether the monitored change in the yaw angle was unintended: i) by not being generated in response to the yaw control signal; or ii) when a magnitude of the monitored change in the yaw angle is not due to a corresponding change of the yaw control signal; registering a yawing fault event when the determined correlation between the monitored change in the yaw angle and the yaw control signal indicates that the change in the yaw angle was unintended; and servicing the yaw system based on a number of accumulated registered fault events.

2. The method of claim 1, wherein comparing the yaw angle with the yaw control signal comprises determining if a change in the yaw control signal has occurred prior to the time of the monitored change in the yaw angle.

3. The method of claim 1, wherein comparing the yaw angle with the yaw control signal comprises determining if the magnitude of the monitored change in the yaw angle is due to the corresponding change of the yaw control signal.

4. The method of claim 1, wherein determining the correlation comprises determining if the monitored change in the yaw angle is not generated in response to the yaw control signal.

5. The method of claim 1, further comprising: obtaining a wind condition valid for the time of the monitored change in the yaw angle; and registering the yawing fault event dependent on the wind condition.

6. The method of claim 5, wherein the registering of the yawing fault event is dependent on a comparison of a wind speed value of the wind condition with a wind speed threshold.

7. The method of claim 1, further comprising: booking spare parts prior to the servicing.

8. A control system for monitoring yawing fault events, wherein the control system is arranged to perform an operation, comprising: providing a wind turbine comprising a tower, a nacelle, and a yaw system, the yaw system being arranged to provide yaw rotation of the nacelle relative to the tower in response to a yaw control signal, wherein the yaw system comprises one or more actuators for driving the yaw system and a holding system to resist yaw rotation; monitoring a yaw angle of the yaw system; comparing the yaw angle with the yaw control signal, wherein comparing the yaw angle with the yaw control signal comprises determining if a change in the yaw control signal has occurred prior to the time of the monitored change in the yaw angle; based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal; registering a yawing fault event dependent on the determined correlation between the monitored change in the yaw angle and the yaw control signal; and servicing the yaw system based on a number of accumulated registered fault events.

9. A monitoring system for monitoring yawing fault events, wherein the monitoring system comprises: a data communication unit arranged to receive data, including a yaw angle and a yaw control signal, and wherein the monitoring system is arranged to perform an operation, comprising: providing a wind turbine comprising a tower, a nacelle, and a yaw system, the yaw system being arranged to provide yaw rotation of the nacelle relative to the tower in response to the yaw control signal, wherein the yaw system comprises one or more actuators for driving the yaw system and a holding system to resist yaw rotation; monitoring the yaw angle of the yaw system; comparing the yaw angle with the yaw control signal, wherein comparing the yaw angle with the yaw control signal comprises determining if a magnitude of the monitored change in the yaw angle is due to a corresponding change of the yaw control signal; based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal; registering a yawing fault event dependent on the determined correlation between the monitored change in the yaw angle and the yaw control signal; and servicing the yaw system based on a number of accumulated registered fault events.

10. A computer program product comprising a non-transitory computer readable medium storing instructions which, when the instructions are executed by a computer, cause the computer to perform an operation, the operation comprising: providing a wind turbine comprising a tower, a nacelle, and a yaw system, the yaw system being arranged to provide yaw rotation of the nacelle relative to the tower in response to a yaw control signal, wherein the yaw system comprises one or more actuators for driving the yaw system and a holding system to resist yaw rotation; monitoring a yaw angle of the yaw system; comparing the yaw angle with the yaw control signal; based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal, wherein determining the correlation comprises determining if the monitored change in the yaw angle is not generated in response to the yaw control signal; registering a yawing fault event dependent on the determined correlation between the monitored change in the yaw angle and the yaw control signal; and servicing the yaw system based on a number of accumulated registered fault events.

11. A wind turbine, comprising: a tower; a nacelle; a yaw system comprising one or more actuators for driving the yaw system and a holding system to resist yaw rotation, the yaw system arranged to provide yaw rotation of the nacelle based on a yaw control signal; and a control system configured to perform an operation, comprising: monitoring a yaw angle of the yaw system; comparing the yaw angle with the yaw control signal; based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal, wherein determining the correlation comprises determining if the monitored change in the yaw angle is not generated in response to the yaw control signal; registering a yawing fault event dependent on the determined correlation between the monitored change in the yaw angle and the yaw control signal; and servicing the yaw system based on a number of accumulated registered fault events.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Embodiments of the invention will be described, by way of example only, with reference to the drawings, in which

(2) FIG. 1A shows a wind turbine,

(3) FIG. 1B shows a cross-sectional view of a yaw system,

(4) FIG. 2 shows a wind turbine configured as multi-rotor wind turbine,

(5) FIG. 3A shows a control system for controlling a yaw system,

(6) FIG. 3B shows an example of controlling the yaw angle in response to changes in the yaw reference,

(7) FIG. 4A shows a control system for monitoring the yawing fault events of a wind turbine based on the yaw angle, and

(8) FIG. 4B shows an external monitoring system for monitoring yawing fault events of a wind turbine.

(9) FIG. 5 is a flow diagram for a method of monitoring yawing fault events of a yaw system of a wind turbine.

DETAILED DESCRIPTION OF EMBODIMENTS

(10) FIG. 1A shows a wind turbine 100 (WTG) comprising a tower 101 and a rotor 102 with at least one rotor blade 103, such as three blades. The blades 103 are connected with the hub 105 which is arranged to rotate with the blades. The rotor is connected to a nacelle 104 which is mounted on top of the tower 101 and being adapted to drive a generator situated inside the nacelle via a drive train. The rotor 102 is rotatable by action of the wind. The wind induced rotational energy of the rotor blades 103 is transferred via a shaft to the generator. Thus, the wind turbine 100 is capable of converting kinetic energy of the wind into mechanical energy by means of the rotor blades and, subsequently, into electric power by means of the generator. The generator is connected with a power converter, which comprises a generator side converter and a grid side converter. The generator side converter converts the generator AC power into DC power and the grid side converter converts the DC power into an AC power for injection into the utility grid via output inductors of the wind turbine 100.

(11) The nacelle 104 is mounted on top of the tower 101 via a yaw system 130 (only indicated in FIG. 1A) arranged to enable rotation of the nacelle about a longitudinal axis of the tower 101.

(12) FIG. 1B principally illustrates a cross-sectional view of a yaw system 130 with a yaw holding system 131 and yaw actuators 132.

(13) A purpose of the yaw system is to rotate the nacelle 104 dependent on the wind direction so that the rotor 102 is oriented against the wind, i.e. so that the rotor plane is perpendicular or substantially perpendicular to the wind direction.

(14) Rotation of the yaw system is achieved by use of one or more drive actuators 132 comprised by the yaw system 130 for driving the yaw system. The one or more drive actuators 132 (in short actuators 132) may comprise electric motors, hydraulic actuators or other.

(15) An uneven wind distribution on the blade 103 in the rotor plane inevitably results in an uneven load distribution over the motor plane which results a yaw moment acting in a direction around the tower 101. The yaw system is configured to resist yaw rotation due to uneven wind distributions, at least for yaw moments below a given threshold.

(16) Accordingly, the yaw system 130 is configured with a holding system 131 arranged to provide a holding moment to prevent yaw rotation or to prevent yaw rotation for yaw moments below a yaw moment threshold. Very high yaw moments could damage components of the wind turbine and therefore the yaw system 130 may be configured to provide yaw slippage for yaw moments above a given maximum yaw moment threshold.

(17) Herein the moment which is exerted e.g. on the wind turbine or yaw system is understood to be equivalent with a torque. Similarly, the holding moment of the holding system 131 is understood to be equivalent with a holding torque.

(18) The holding system 131 may be a passive or active friction brake or holding mechanism which may utilize friction contact between contact parts 131a, 131b of the yaw system 130 to provide the desired holding properties. For example, a contact force 133 established between brake parts of the yaw systemwhere relative motion or rotation is generated between the parts during yaw rotationgenerates the holding moment necessary to resist yaw rotation. The contact force can be established by a system arranged to press the brake parts together, e.g. a passive system where the contact force is generated e.g. by compressed springs, or an active system where the contact force is generated by actuators such as hydraulic linear actuators which press the parts together when required. Specific examples of the brake of the holding system 131 comprise hydraulic yaw brakes, yaw friction bearings with passive or active brake friction systems and a yaw drive with a brake and clutch system, or a combination thereof. The holding system 131 need not be a separate system, i.e. a system which is separate from the drive system comprising the one or more actuators 132 and/or the yaw gear. That is, the holding system 131 may be comprised by such drive system, or a separate holding system (e.g. a friction brake) may be supplemented by another holding system comprised by the drive system. The yaw system need not be configured with a yaw friction bearing, but could be configured with a roller bearing instead.

(19) In order that the contact force and holding moment are within desired limits, the system for providing the contact force may need to be serviced periodically or when the holding moment is outside the limits.

(20) The holding system could also be configured as a motorized brake where the motor generated torque is controlled via the electric power supplied to the motor to generate the required holding moment.

(21) In FIG. 1B the contact parts 131a, 131b of the yaw system 130 comprises flanges connected with the tower 101 and the nacelle 104, respectively, and arranged with adjacently arranged friction plane friction surfaces. The holding system could also be configured similarly to a disc brake of a card with hydraulic actuated brake pistons.

(22) Clearly, the holding system may be configured as a combination of the above-mentioned examples or other holding systems.

(23) FIG. 2 shows an alternative wind turbine 100 configured as multi-rotor wind turbine. Multi-rotor wind turbines comprises a plurality of nacelles 104. The nacelles 104 can be supported, as illustrated in the upper drawing, via a tower 101 and support arms extending outwardly from the tower 101 so that the nacelles are placed away from the tower and on opposite sides of the tower. Alternatively, as illustrated in the lower drawing, the nacelles 104 can be supported by angled towers 101 extending from a foundation 230, e.g. a ground or floating foundation, so that two or more nacelles 104 are sufficiently separated from each other at a given height. The multi-rotor wind turbine may be configured with similar yaw systems 130 as the wind turbine 100. For example, yaw systems 130 may be arranged for each of the nacelles. Alternative or additionally, a yaw system 130 may be arranged as a common yaw mechanism arranged between the tower and the support arms or between the foundation 230 and the angled towers 101. Embodiments of the present invention may be used with multi-rotor wind turbines or single-rotor wind turbines.

(24) FIG. 3A shows a possible control system 300 for controlling the yaw system 130 which is illustrated for the purpose of explaining embodiments of the invention. Other differently configured control systems providing the same or similar functionality also feasible for the purpose of controlling the yaw angle of the yaw system 130. The desired yaw angle ref and the monitored yaw angle m are provided as input to the control system 300. The error e=ref-m is determined and used for determining the yaw actuator signal y. The yaw actuator signal y is provided to the yaw system 130 which uses the yaw actuator signal y for controlling the yaw actuators 132. In case the yaw system uses active or motorized brakes, the control system may also determine a yaw brake signal for the brakes (not shown). The yaw actuator signal y is determined so that the controlled actuation of the yaw system minimizes the error e. The control of the yaw actuators based on the yaw actuator signal y may be performed continuously or periodically. When actuators are not controlled via the yaw actuator signal y, e.g. when the error e is below a certain threshold, the yaw angle is maintained by means of the holding system 131.

(25) FIG. 3B shows an example of controlling the yaw angle m in response to changes in the yaw reference ref or equivalently in response to changes in the error e. FIG. 3B also shows an example of registering a yawing fault event dependent on a comparison of the determined yaw angle m with the yaw control signal 351 such as the yaw actuator signal y or the yaw error signal e. All signals are illustrated as a function of time, are not in scale and are shown along the same ordinate axis despite their different units.

(26) At t0, the reference signal ref increases to a new value. The change in the reference signal ref may be due to a change in the wind direction which requires a corresponding change in the yaw angle. The error signal e=refm increases instantly and causes a change in the yaw actuator signal y which causes an increase of the monitored yaw angle m. At t1 the monitored yaw angle m has reached a level matching the yaw reference ref and the error signal e has returned to the zero-value.

(27) Depending on the configuration of the yaw system 130, the yaw actuator signal y may be set to zero, may be unchanged or set to other non-active state 361 as indicated with the dotted line. The non-active state 361 of the actuator signal y means that adjustments of the yaw angle by use of the actuators 132 are practically disabled. During t1 to t2 or other period were the actuators are disabled the holding system 131 may be responsible for maintaining the yaw angle unchanged.

(28) At t2, a new change in the reference signal ref is generated which results in a non-zero value of the error signal e. The actuator signal y changes, e.g. from the previous value before t2 or from other value to cause a change in the yaw angle m. At t3 the desired value for the yaw angle m has been reached.

(29) At t4, there is no change of the yaw reference ref, but the yaw angle changes anyway as seen by the monitored yaw angle m. This may be due to a wind gust which generates a moment exceeding the holding moment of the holding system 131. The error signal e shows a change due to the deviation between the yaw angel m and the reference ref.

(30) At t5, the control signal is determined based on the error signal e and therefore changes so as to bring the yaw signal m back to the yaw reference ref. If not already enabled, the actuators 132 will be enabled, e.g. via an enabling signal, the value of the actuator signal y or in other ways. At t6 the rotor 102 has been rotated back to the desired yaw angle m.

(31) The change of the yaw angle m which occurs without a change in the yaw reference ref is normally undesired since during the period where the nacelle 104 is forced from its upwind position to the nacelle is back in the upwind direction, there is a loss of energy production and there is a risk of mechanical overload of the load carrying components of the wind turbine 100 such as yaw gears and actuators 132. Such unintended change of the yaw angle m is referred to as a yawing fault event.

(32) In order to avoid or limit future occurrences of such undesired yaw misalignments, the yaw system 130 including its holding system 131 needs to be serviced. Embodiments of the present invention discloses yaw supervision methods enabling detection of yawing fault events so that service can be planned and relevant spare parts booked before service.

(33) In the above examples, the actuator signal y is determined in response to the reference signal ref or the error signal e or in response to changes of the reference signal ref or the error signal e. Consequently, desired, i.e. planned, changes in the yaw angle m occurs in response to a change of state, such as a change of a value, of the reference signal ref, the error signal e, the actuator signal y or other yaw control signal 350 of the yaw system 130 or the control system 300. Such other yaw control signal 350 can be any input signal, such as the reference ref, to the control system 300 or any signal generated in response to the input signal.

(34) According to an embodiment, the method for monitoring yawing fault events the yaw angle m of the yaw system is monitored. The yaw angle m may be monitored by monitoring a sensor output which relates to the yaw angle. For example, an encoder or other position sensor may be arranged with a rotatable component of the yaw system 130 to measure the yaw angle m.

(35) The monitored yaw angle m is compared with the yaw control signal 350 in order to determine if a change in the yaw angle is a response to the yaw control signal 350.

(36) In order to avoid reactions to insignificant changes in the yaw angle m, only changes of m above a threshold may be considered.

(37) Thus, if a change of the yaw angle m is detected and there is no change in the yaw control signal 350, the change of the yaw angle is unintended and indicates a yawing fault event.

(38) It is also possible, that a yaw angle m is detected, but that the magnitude of the change of the yaw angle does not match the intended change of the yaw angle m, i.e. where the change yaw angle m does not correspond to the yaw control signal 350. For example, the change of the yaw angle m may be smaller or greater than the intended change of the yaw angle m. Such monitored changes of the yaw angle m, which deviates from the intended change of the yaw angle may similarly indicate a yawing fault event.

(39) Thus, the monitored yaw angle m is compared with the yaw control signal 350 to determine a correlation between a monitored change in the yaw angle m and the yaw control signal 350.

(40) The correlation may comprise determining if the change in the yaw angle m is not generated in response to the yaw control signal 350 and/or that the magnitude of the change of the yaw angle m does not correspond with the intended magnitude of change of the yaw angle m, i.e. does not correspond with the yaw angle which should have resulted from the yaw control signal 350 such as the reference ref.

(41) For example, as illustrated in FIG. 3B, the unintended change in the yaw angle m at t4 is not generated in response to the yaw control signal 350 since, within a time window T located prior to the time t4 of the monitored change in the yaw angle, there was no change in the yaw control signal 350.

(42) The yaw fault initiated at t4 in FIG. 3B results in an error signal, but the change of the error signal is initiated after the first change of the yaw angle m at t4. Accordingly, there is no change in any of the actuator signal y, the error signal e, or the yaw reference ref in a time window T prior to t4 indicating presence of a yawing fault event.

(43) The length of the time window T may be a few seconds, possible around one minute. The yaw system 130 may be configured so that any changes in the yaw reference ref or monitoring of the yaw angle m occurs with a given control period. Thus, the time window T may be selected to be less than the control period.

(44) Dependent on the determined correlation between the yaw angle m and the yaw control signal 350 a yawing fault event may be registered.

(45) FIG. 4A shows a control system 400 for monitoring the yawing fault events of a wind turbine 100 based on the yaw angle m, the yaw control signal 350 and optionally a wind condition signal 401 provided to the control system 400 via inputs. The yawing fault event may be registered by the control system 400 and made available via the output 402. The control system 400 is configured to perform method steps of the various embodiments described herein, e.g. by means of a digital processor comprised by the control system and a computer program. Thus, based on the inputs, the control system 400 may be configured to compare the yaw angle m with the yaw control signal 350, determining the correlation between a monitored change in the yaw angle m and the yaw control signal 350 based on the comparison, and determining a yawing fault event dependent based on the determined correlation.

(46) The control system 400 may be comprised by the wind turbine 100 or a system external to the wind turbine.

(47) FIG. 4B shows such external control system 400 in the form of a monitoring system 450 for monitoring yawing fault events of a wind turbine 100. The monitoring system 450 receives the data necessary for determining if a yawing fault event is present based on received data such as the yaw angle m, the yaw control signal 350, and optionally a wind condition signal 401. The monitoring system 450 may comprise a data communication unit 451 arranged to receive data such as the above-mentioned data, e.g. via a wired or wireless connection. The data may be provided from the one or more wind turbines 100. For example, yaw angle m and yaw control signals 350 may be provided from the one or more wind turbines, whereas the wind condition data 401 may be provided from another system such as a wind monitoring system. Similarly, the yaw reference Oref may be provided from others systems than the wind turbines. The monitoring system 450 is arranged to perform the same method steps as the control system and may therefore comprise the control system 400 or a digital processor arranged perform method steps of the embodiments described herein. A yawing fault event may be registered by the monitoring system 450 and made available via an output 452.

(48) As explained above, for high yaw moments above a given maximum yaw moment threshold, the yaw system 130 may be configured to provide yaw slippage in order to prevent potentially damaging yaw moments. Such high yaw moments may be generated under special wind conditions, e.g. at high wind speeds or for turbulent winds.

(49) In order to avoid registering a fault event where yaw slippage is intended, the control system 400 may be arranged to obtain a wind condition 401 via an input. The wind condition 401 may be provided regularly so that the wind condition valid for the time of the monitored change in the yaw angle or for the determination of a potential yawing fault event is available. The registering of the yawing fault event may then be determined dependent on the comparison of the yaw angle m with the yaw control signal 350 and dependent on the wind condition 401. For example, the control system 400 may be configured to register a yawing fault event dependent on a comparison of a wind speed value of the wind condition 401 with a wind speed threshold, so that a potential yawing fault event is not registered as a yawing fault event if the actual wind speed value is above the wind speed threshold.

(50) FIG. 5 is a flow diagram for a method 500 of monitoring yawing fault events of a yaw system of a wind turbine. In some implementations, a monitoring or control system can implement the method 500. At 502, the method 500 includes monitoring a yaw angle of the yaw system. At 504, the method 500 includes comparing the yaw angle with the yaw control signal. At 506, the method 500 includes, based on the comparison, determining a correlation between a monitored change in the yaw angle and the yaw control signal. At 508, the method 500 includes registering a yawing fault event dependent on the determined correlation between the yaw angle with the yaw control signal.

(51) Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is to be interpreted in the light of the accompanying claim set. In the context of the claims, the terms comprising or comprises do not exclude other possible elements or steps. Also, the mentioning of references such as a or an etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.