US 12,264,652 B2
Yaw control using mean motor speed reference as feedback
Peter Fynbo, Ørsted (DK); Jesper Lykkegaard Neubauer, Hornslet (DK); Jens-Kristian Egsgaard Langkjær, Aarhus (DK); and Niels Henrik Pedersen, Aarhus (DK)
Assigned to VESTAS WIND SYSTEMS A/S, Aarhus N (DK)
Appl. No. 17/916,284
Filed by VESTAS WIND SYSTEMS A/S, Aarhus (DK)
PCT Filed Mar. 29, 2021, PCT No. PCT/DK2021/050092
§ 371(c)(1), (2) Date Sep. 30, 2022,
PCT Pub. No. WO2021/197559, PCT Pub. Date Oct. 7, 2021.
Claims priority of application No. PA 2020 70195 (DK), filed on Mar. 30, 2020.
Prior Publication US 2023/0038784 A1, Feb. 9, 2023
Int. Cl. F03D 7/04 (2006.01); F03D 7/02 (2006.01)
CPC F03D 7/044 (2013.01) [F03D 7/0204 (2013.01); F05B 2270/1095 (2013.01); F05B 2270/327 (2013.01); F05B 2270/602 (2013.01)] 15 Claims
OG exemplary drawing
 
1. 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.