Wind turbine yawing system with multiple mechanical braking levels
Systems, methods, and computer program products for controlling a yaw system of a wind turbine. The yaw system includes mechanical brakes that provide a first amount of braking torque when closed. The yaw system is configured to transition from a yawing state to a parked by brake state by closing mechanical brakes in a first subset of the mechanical brakes and opening each mechanical brake in a second subset of the mechanical brakes. The second subset provides a second amount of braking torque that is less than the first amount of braking torque. In response to detecting a rotation of the nacelle while in the parked by brake state, the yaw system is configured to transition from the parked by brake state to a parked by motor state in which yaw drives are activated to provide a counter acting torque in opposition to the detected rotation of the nacelle.
1 . A system for controlling a wind turbine that includes a tower and a nacelle, the system comprising:
a yaw drive configured to selectively apply torque between the tower and the nacelle;
a plurality of mechanical brakes that, when each of the mechanical brakes is in a closed state, provides a first amount of braking torque between the tower and the nacelle;
one or more processors operatively coupled to the yaw drive and the plurality of mechanical brakes; and
a memory coupled to the one or more processors and including program code that, when executed by the one or more processors, causes the system, under operational conditions, to:
while in a yawing state, activate the yaw drive to rotate the nacelle to a first orientation relative to the tower;
in response to the nacelle reaching the first orientation, transition from the yawing state to a parked by brake state in which the yaw drive is inactive, each mechanical brake of a first subset of the plurality of mechanical brakes is in an open state, and each mechanical brake of a second subset of the plurality of mechanical brakes is in the closed state, wherein the second subset of the plurality mechanical brakes provides a second amount of braking torque between the tower and the nacelle that is less than the first amount of braking torque;
in response to detecting a rotation of the nacelle while in the parked by brake state, transition from the parked by brake state to a parked by motor state in which the yaw drive is activated to provide a counter acting torque in opposition to the detected rotation of the nacelle;
cause transition between the parked by brake state and the parked by motor state during a period of time, wherein transition from the parked by motor state to the parked by brake state occurs each instance an amount of the counter acting torque being provided in opposition to the detected rotation of the nacelle while in the parked by motor state drops below a first torque threshold that is below the second amount of braking torque; and
change the first torque threshold or a number of mechanical brakes in the second subset of the plurality of mechanical brakes, or both, based on the number of times the system has transitioned between the parked by brake state and the parked by motor state during the period of time.
2 . The system of claim 1 , wherein the program code further causes the system to:
in response to the number of times being above a first transition frequency threshold, decrease the first torque threshold; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, increase the first torque threshold.
3 . The system of claim 1 , wherein the program code further causes the system to:
in response to the number of times being above a first transition frequency threshold, increase the number of mechanical brakes in the second subset of the plurality of mechanical brakes; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, decrease the number of mechanical brakes in the second subset of the plurality of mechanical brakes.
4 . The system of claim 1 , wherein the program code further causes the system to:
select which mechanical brakes are included in the second subset of the plurality of mechanical brakes based on a number of times each mechanical brake has transitioned between the open state and the closed state.
5 . The system of claim 1 , wherein the program code further causes the system to:
in response to being under non-operational conditions, cause each of the plurality of mechanical brakes to enter the closed state so the plurality of mechanical brakes provides the first amount of braking torque between the tower and the nacelle.
6 . The system of claim 5 , wherein the non-operational conditions include one or more of a wind speed exceeding a cut-out speed, a loss of grid power, and a system fault.
7 . The system of claim 1 , wherein each mechanical brake of the plurality of mechanical brakes is configured to be normally closed.
8 . The system of claim 1 , wherein the program code further causes the system to, in response to the yaw drive being activated to provide the counter acting torque in opposition to the detected rotation of the nacelle, open each mechanical brake of the second subset of the plurality of mechanical brakes.
9 . The system of claim 1 , wherein the counter acting torque in opposition to the detected rotation of the nacelle is provided at a first level that maintains the nacelle in the first orientation while a nacelle moment is below a second torque threshold, and is provided at a second level that allows the nacelle to slide in a controlled manner when the nacelle moment is above the second torque threshold, wherein the second torque threshold is above the second amount of braking torque.
10 . A method of controlling a wind turbine that includes a tower, a nacelle, a yaw drive, and a plurality of mechanical brakes, the method comprising:
while the wind turbine is in a yawing state, activating the yaw drive to rotate the nacelle to a first orientation relative to the tower;
in response to the nacelle reaching the first orientation, transitioning the wind turbine from the yawing state to a parked by brake state in which the yaw drive is inactive, each mechanical brake of a first subset of the plurality of mechanical brakes is in an open state, and each mechanical brake of a second subset of the plurality of mechanical brakes is in a closed state, wherein a first amount of braking torque is provided between the tower and the nacelle when each of the plurality of mechanical brakes is in the closed state, and a second amount of braking torque is provided between the tower and the nacelle that is less than the first amount of braking torque when only the second subset of the plurality mechanical brakes is in the closed state;
in response to detecting a rotation of the nacelle while in the parked by brake state, transitioning the wind turbine from the parked by brake state to a parked by motor state in which the yaw drive is activated to provide a counter acting torque in opposition to the detected rotation of the nacelle;
transitioning the wind turbine between the parked by brake state and the parked by motor state during a period of time, wherein transitioning the wind turbine from the parked by motor state to the parked by brake state occurs each instance an amount of the counter acting torque being provided in opposition to the detected rotation of the nacelle while in the parked by motor state drops below a torque threshold that is below the second amount of braking torque; and
changing the torque threshold based on a number of times the wind turbine has transitioned between the parked by brake state and the parked by motor state during the period of time.
11 . The method of claim 10 , further comprising:
in response to the number of times being above a first transition frequency threshold, decreasing the torque threshold; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, increasing the torque threshold.
12 . The method of claim 10 , further comprising:
in response to the number of times being above a first transition frequency threshold, increasing the number of mechanical brakes in the second subset of the plurality of mechanical brakes; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, decreasing the number of mechanical brakes in the second subset of the plurality of mechanical brakes.
13 . A computer program product for controlling a wind turbine that includes a tower, a nacelle, a yaw drive, and a plurality of mechanical brakes, the computer program product comprising:
a non-transitory computer-readable storage medium; and
program code stored on the non-transitory computer-readable storage medium that, when executed by one or more processors, causes the one or more processors to:
while the wind turbine is in a yawing state, activate the yaw drive to rotate the nacelle to a first orientation relative to the tower;
in response to the nacelle reaching the first orientation, transition the wind turbine from the yawing state to a parked by brake state in which the yaw drive is inactive, each mechanical brake of a first subset of the plurality of mechanical brakes is in an open state, and each mechanical brake of a second subset of the plurality of mechanical brakes is in a closed state, wherein a first amount of braking torque is provided between the tower and the nacelle when each of the plurality of mechanical brakes is in the closed state, and a second amount of braking torque is provided between the tower and the nacelle that is less than the first amount of braking torque when only the second subset of the plurality mechanical brakes is in the closed state;
in response to detecting a rotation of the nacelle while in the parked by brake state, transition the wind turbine from the parked by brake state to a parked by motor state in which the yaw drive is activated to provide a counter acting torque in opposition to the detected rotation of the nacelle; and
transition the wind turbine between the parked by brake state and the parked by motor state during a period of time; and
change a number of mechanical brakes in the second subset of the plurality of mechanical brakes based on a number of times the wind turbine has transitioned between the parked by brake state and the parked by motor state during the period of time.
14 . The computer program product of claim 13 , wherein, when executed, the program code further causes the one or more processors to:
detect an amount of the counter acting torque being provided in opposition to the detected rotation of the nacelle while in the parked by motor state; and
in response to each instance that the counter acting torque drops below a first torque threshold that is below the second amount of braking torque, transition the wind turbine from the parked by motor state to the parked by brake state.
15 . The computer program product of claim 14 , wherein, when executed, the program code further causes the one or more processors to:
determine the number of times the wind turbine has transitioned between the parked by brake state and the parked by motor state during the period of time;
in response to the number of times being above a first transition frequency threshold, decrease the first torque threshold; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, increase the first torque threshold.
16 . The computer program product of claim 13 , wherein, when executed, the program code further causes the one or more processors to:
determine the number of times the wind turbine has transitioned between the parked by brake state and the parked by motor state during the period of time;
in response to the number of times being above a first transition frequency threshold, increase the number of mechanical brakes in the second subset of the plurality of mechanical brakes; and
in response to the number of times being below a second transition frequency threshold that is less than the first transition frequency threshold, decrease the number of mechanical brakes in the second subset of the plurality of mechanical brakes.