Natural wind is stochastic, being characterized by its speed and direction which change randomly and frequently. Because of the certain lag in control systems and the yaw body itself, wind turbines cannot be accurately aligned toward the wind direction when the wind speed and wind direction change frequently. Thus, wind turbines often suffer from a series of engineering issues during operation, including frequent yaw, vibration overruns and downtime. This paper aims to study the effects of yaw error on wind turbine running characteristics at different wind speeds and control stages by establishing a wind turbine model, yaw error model and the equivalent wind speed model that includes the wind shear and tower shadow effects. Formulas for the relevant effect coefficients Tc
were derived. The simulation results indicate that the effects of the aerodynamic torque, rotor speed and power output due to yaw error at different running stages are different and that the effect rules for each coefficient are not identical when the yaw error varies. These results may provide theoretical support for optimizing the yaw control strategies for each stage to increase the running stability of wind turbines and the utilization rate of wind energy.
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