CN104329221B - Paddle retracting method of variable-pitch system - Google Patents
Paddle retracting method of variable-pitch system Download PDFInfo
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- CN104329221B CN104329221B CN201410447567.3A CN201410447567A CN104329221B CN 104329221 B CN104329221 B CN 104329221B CN 201410447567 A CN201410447567 A CN 201410447567A CN 104329221 B CN104329221 B CN 104329221B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims description 60
- 238000001514 detection method Methods 0.000 claims description 7
- 230000005856 abnormality Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000007257 malfunction Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 10
- 230000001960 triggered effect Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 210000003746 feather Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
-
- 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 invention discloses a paddle retracting method of a variable-pitch system. The method is applied when a wind power variable-pitch servo driver fails. A paddle retracting program applying the paddle retracting method is always kept in an activated state, so that the state of the wind power variable-pitch servo driver can be automatically detected when an encoder fails, a paddle retracting action is automatically finished, and paddles are rotated back to a paddle retracting extreme position. Meanwhile, a failure alarm is reported to an upper computer which can instruct other paddles to be retracted, thereby protecting the safety of a wind generation set.
Description
Technical field
The present invention relates to the method that wind generating set pitch control controls blade away from system, more particularly, to a kind of servo-driver
Encoder fault when pitch-variable system method of putting away the oars.
Background technology
In high-power wind turbine unit, generally adopt electric variable propeller system, become by wind electricity change paddle servo driver drives
Oar motor, after reduction box, driving blade carries out propeller pitch angle adjustment.Host computer is to wind electricity change paddle servo-driver given rotating speed
Signal, wind electricity change paddle servo-driver is to pitch motor output driving power, and installs from motor internal or outer, coaxial
Encoder obtains current rotating speed and corner, carries out closed loop regulation.And blade, in the extreme position of its stroke, is mounted with that blade limits
Bit switch, carries out the higher hardware level protection of reliability.Typically it is integrated with to coding in current wind electricity change paddle servo-driver
The abnormal monitoring function of device, when monitoring that encoder is abnormal, it will alarm, brake is shut down, this function is led to for a Daepori
Servo-driver for should possess, but in wind-powered electricity generation industry, encoder abnormal alarm brake application stoping then means
When wind speed is higher windward for Wind turbines, wherein a piece of blade may will be stopped at a uneasy all positon that is to say, that wherein
A piece of blade is not put away the oars, and this kind of situation will result in three blades of Wind turbines and bears load inequality, and then Wind turbines
Run and there is very big potential safety hazard.
Content of the invention
The purpose of the present invention is the defect existing for above-mentioned background technology, provides a kind of encoder event of servo-driver
The method of putting away the oars of pitch-variable system during barrier, when the method is applied to wind electricity change paddle servo-driver fault, and applies method of putting away the oars
The program of putting away the oars be always maintained at state of activation, when achievable encoder breaks down, automatic detection wind electricity change paddle servo-driver
State, be automatically performed action of putting away the oars, blade rotated back into extreme position of putting away the oars, meanwhile, fault alarm is reported to
Position machine, host computer can instruct other blades and put away the oars, thus protecting the safety of Wind turbines.
For achieving the above object, the method for putting away the oars of a kind of pitch-variable system of one of present invention, the receipts of this pitch-variable system
Oar method is applied in servo-driver encoder fault, including：
Step S1：Start encoder fault functional module, and judge encoder whether fault, such as encoder fault, then touch
Send out servo-driver work state monitoring function module to run, that is, enter step S2, such as encoder does not break down, then terminate；
Step S2：Start servo-driver work state monitoring function module, and by servo-driver working state monitoring
Functional module judges whether servomotor is in band-type brake armed state, and such as servomotor is not at band-type brake armed state, then trigger
Judge that servo-driver whether there is fault, that is, enter step S3, such as servomotor is in band-type brake armed state, then trigger blade
Limit switch detects function, that is, enter step S4；
Step S3：Judge that servo-driver whether there is fault, such as servo-driver has fault, then triggering cannot be put away the oars
Warning function module and band-type brake functional module, after the completion of terminate, there is not fault in such as servo-driver, then be sequentially respectively started system
Dynamic functional module, band-type brake functional module, working condition handoff functionality module；
Step S4：Sequentially start declutch functional module, servo-drive open loop to put away the oars functional module, the detection of blade limit switch
Functional module, and judge whether blade limit switch triggers by blade limit switch monitoring function module, such as blade limit switch
Trigger, then start braking function module, terminate after band-type brake functional module, such as paddle limit switch is not triggered, then again return
Return startup to declutch functional module step.
Further, in described step S1, encoder fault monitoring function module be at least used for monitoring incremental encoder or
Any in person's rotary transformer.
Further, in described step S1, encoder fault monitoring modular judges real in the signal output area of itself
When monitor value whether deviate preset value, and the encoder ruuning situation that encoder fault monitoring modular is given at least includes encoder
Normally, one of encoder fault, encoder disengaging, the alarm signal of encoder output abnormality.
Further, in described step S1, the encoder fault signal that encoder fault monitoring modular is given at least includes
Encoder fault, encoder depart from, any one in the alarm signal of encoder output abnormality.
Further, in described step 3, servo-driver work state monitoring function module can return to servomotor band-type brake
Await orders, run well, in the status information of exceed the speed limit driving and servo-driver fault any.
Further, in described step 3, servo-driver work state monitoring function module returns the letter that there is not fault
Number include run well, hypervelocity driving signal in any.
Further, in described step S3, described working condition handover module is used for watching in servo-driver fault
The control mode taking driver is switched to servo-drive opened loop control state from servo-drive closed-loop control state.
Further, in described step S4, servo-drive open loop module of putting away the oars carries out during open loop puts away the oars, and blade limits
Bit switch monitoring modular is also constantly in running status.
Further, servo-drive open loop puts away the oars module according to parameter of electric machine model, carries out open loop with speed V and drives receipts
Oar, and speed V determines by parameter of electric machine model.
A kind of servo-driver of the two of the present invention, is applied to pitch-variable system, including encoder fault monitoring modular, watches
Take driver working state monitoring module, brake module, band-type brake module, the module that declutches and blade limit switch monitoring modular, should
Servo-driver has further included that working condition handover module, servo-drive open loop are put away the oars module, described working condition switching
Module is used for being switched to the control mode of servo-driver from servo-drive closed-loop control state in servo-driver fault
Servo-drive opened loop control state, described servo-drive open loop puts away the oars module according to parameter of electric machine model, is entered with certain speed
Row open loop drives and puts away the oars, and described servo-drive open loop module of putting away the oars carries out during open loop puts away the oars, described blade limit switch
Monitoring modular is also constantly in running status, when described blade limit switch monitoring modular returns the triggering shape of blade limit switch
State is when triggering, and controls described servo-drive open loop module of putting away the oars to stop, and runs described brake module and described band-type brake
Module is to complete action of putting away the oars.
In sum, a kind of pitch-variable system of present invention method of putting away the oars is triggered and accordingly put away the oars by encoder fault control
System, and this method of putting away the oars, by being integrated in the realization of wind electricity change paddle servo-driver respective algorithms, realizes feather system of the present invention
The respective algorithms of method of putting away the oars of uniting are always maintained at state of activation, and during achievable encoder fault, automatic detection wind electricity change paddle is with watching
Take the state of driver, be automatically performed action of putting away the oars, blade is rotated back into extreme position of putting away the oars, meanwhile, by fault alarm
Be reported to host computer, host computer can instruct other blades and put away the oars, thus protecting the safety of Wind turbines.
Brief description
Fig. 1 is a kind of method flow schematic diagram of putting away the oars of pitch-variable system of the present invention.
Specific embodiment
For describing technology contents, structural feature, institute's reached purpose and the effect of the present invention in detail, hereby enumerate embodiment below
And coordinate accompanying drawing to be explained in detail.
Refer to Fig. 1, a kind of method of putting away the oars of pitch-variable system of the present invention, the method for putting away the oars of this pitch-variable system is applied
During servo-driver encoder fault, it includes：
Step S1：Start encoder fault functional module, and judge encoder whether fault, such as encoder fault, then touch
Send out servo-driver work state monitoring function module to run, that is, enter step S2, such as encoder does not break down, then terminate；
Step S2：Start servo-driver work state monitoring function module, and by servo-driver working state monitoring
Functional module judges whether servomotor is in band-type brake armed state, and such as servomotor is not at band-type brake armed state, then trigger
Judge that servo-driver whether there is fault, that is, enter step S3, such as servomotor is in band-type brake armed state, then trigger blade
Limit switch detects function, that is, enter step S4；
Step S3：Judge that servo-driver whether there is fault, such as servo-driver has fault, then triggering cannot be put away the oars
Warning function module and band-type brake functional module, after the completion of terminate, there is not fault in such as servo-driver, then be sequentially respectively started system
Dynamic functional module, band-type brake functional module, working condition handoff functionality module；
Step S4：Start declutch functional module, servo-drive open loop to put away the oars functional module, blade limit switch detection function
Module, and judge whether blade limit switch triggers by blade limit switch monitoring function module, as tactile in blade limit switch
Send out, then start braking function module, terminate after band-type brake functional module, such as paddle limit switch is not triggered, then return to and open
The dynamic functional module step that declutches.
In described step S1, encoder fault monitoring function module is at least to monitor incremental encoder or rotary transformer
In any.
In described step S1, encoder fault monitoring modular judges that in the signal output area of itself real-time monitoring value is
No deviation preset value, and the encoder ruuning situation that is given of encoder fault monitoring modular at least includes, and encoder is normal, coding
Device fault, encoder depart from, any one in the alarm signal of encoder output abnormality.
In described step S1, the encoder fault signal that encoder fault monitoring modular is given at least includes encoder event
Barrier, encoder depart from, any one in the alarm signal of encoder output abnormality.
In described step 3, servo-driver work state monitoring function module can return to servomotor band-type brake and awaits orders, normally
Operating, hypervelocity driving and servo-driver fault status information in any.
In described step 3, the signal that the return of servo-driver work state monitoring function module does not have fault is just included
Any in often operating, hypervelocity driving signal.
In described step S3, described working condition handover module is used for servo-driver in servo-driver fault
Control mode is switched to servo-drive opened loop control state from servo-drive closed-loop control state.
In described step S4, servo-drive open loop module of putting away the oars carries out during open loop puts away the oars, and described blade is spacing to be opened
Close monitoring modular and be also constantly in running status.
A kind of servo-driver, is applied to pitch-variable system, including encoder fault monitoring modular, servo-driver work
State monitoring module, brake module, band-type brake module, the module that declutches and blade limit switch monitoring modular, this servo-driver enters
Module that one step includes, working condition handover module, servo-drive open loop are put away the oars.
Described encoder fault monitoring function module is used for encoder output in real-time monitoring servo-driver running
Signal, judges whether to deviate preset value to judge and to provide that encoder is normal, encoder fault, coding in signal output area
Device departs from, the alarm signal of encoder output abnormality.
Described encoder fault monitoring function module is used for monitoring incremental encoder, any in rotary transformer.
Described servo-driver work state monitoring function module is used for monitoring servo-driver running status, can return to embrace
Lock is awaited orders, runs well, the status information of exceed the speed limit driving and servo-driver fault.
Described brake module is used for for the servomotor being connected with servo-driver carrying out emergency electrical braking, by servo electricity
The rotating speed of machine is reduced to and can carry out below the rotating speed of band-type brake.
Described band-type brake module is used for for the servomotor being connected with servo-driver carrying out band-type brake.
The described module that declutches is for releasing band-type brake by the servomotor being connected with servo-driver.
The blade of described blade limit switch monitoring modular real-time monitoring servo-driver management corresponds to blade limit switch
Triggering state, and return the status information triggering or not triggering.
Described working condition handover module is used for the control mode of servo-driver in servo-driver fault from watching
Clothes drive closed-loop control state to be switched to servo-drive opened loop control state.
Described servo-drive open loop puts away the oars module according to parameter of electric machine model, carries out open loop driving with speed V and puts away the oars, and speed
Degree V is determined by parameter of electric machine model.
Described band-type brake module by described servo-driver working state monitoring module monitors arrive because servo-driver exist
Fault and the warning message that can not complete automatically to put away the oars reports host computer, and trigger alarm relay output hardware alarms signal.
Described servo-drive open loop module of putting away the oars carries out during open loop puts away the oars, described blade limit switch monitoring modular
Also it is constantly in running status, when the triggering state that described blade limit switch monitoring modular returns blade limit switch is tactile
When sending out, and described control servo-drive open loop module of putting away the oars stops, and runs described brake module and described band-type brake module, completes
After stop.
In sum, a kind of pitch-variable system of present invention method of putting away the oars is triggered and accordingly put away the oars by encoder fault control
System, and this method of putting away the oars, by being integrated in the realization of wind electricity change paddle servo-driver respective algorithms, realizes feather system of the present invention
The respective algorithms of method of putting away the oars of uniting are always maintained at state of activation, and during achievable encoder fault, automatic detection wind electricity change paddle is with watching
Take the state of driver, be automatically performed action of putting away the oars, blade is rotated back into extreme position of putting away the oars, meanwhile, by fault alarm
Be reported to host computer, host computer can instruct other blades and put away the oars, thus protecting the safety of Wind turbines.
Techniques discussed above scheme is only a kind of pitch-variable system of the present invention and puts away the oars the preferred embodiment of method, Ren He
The equivalent transformation made on the basis of a kind of method of putting away the oars of pitch-variable system of the present invention or replace the right being included in this patent
Within the scope of requirement.
Claims (10)
1. a kind of method of putting away the oars of pitch-variable system, the method for putting away the oars of this pitch-variable system is applied in the event of servo-driver encoder
During barrier, including：
Step S1：Start encoder fault functional module, and judge encoder whether fault, such as encoder fault, then triggering is watched
Take driver work state monitoring function module to run, that is, enter step S2, such as encoder does not break down, then terminate；
Step S2：Start servo-driver work state monitoring function module, and by servo-driver work state monitoring function
Module judges whether servomotor is in band-type brake armed state, and such as servomotor is not at band-type brake armed state, then triggering judges
Servo-driver whether there is fault, that is, enter step S3, and such as servomotor is in band-type brake armed state, then triggering blade is spacing
Switch detection function, that is, enter step S4；
Step S3：Judge that servo-driver whether there is fault, such as servo-driver has fault, then trigger warning of cannot putting away the oars
Functional module and band-type brake functional module, after the completion of terminate, there is not fault in such as servo-driver, then be sequentially respectively started braking work
Can module, band-type brake functional module, working condition handover module；
Step S4：Sequentially start declutch functional module, servo-drive open loop to put away the oars module, blade limit switch detection function mould
Block, and judge whether blade limit switch triggers by blade limit switch monitoring function module or aided location monitoring modular, such as
Blade limit switch triggers, then start braking function module, terminates after band-type brake functional module, and such as paddle limit switch is not touched
Send out, then return to startup and declutch functional module step.
2. a kind of pitch-variable system according to claim 1 put away the oars method it is characterised in that：In described step S1, compile
Code device fault monitor module is at least used for monitoring any one in photoelectric encoder or rotary transformer.
3. a kind of pitch-variable system according to claim 2 put away the oars method it is characterised in that：In described step S1, compile
Code device fault monitor module judges in the signal output area of itself whether real-time monitoring value deviates preset value, and encoder event
The barrier encoder ruuning situation that is given of monitoring modular at least includes that encoder is normal, encoder fault, encoder depart from, encoder
One of alarm signal of output abnormality.
4. a kind of pitch-variable system according to claim 3 put away the oars method it is characterised in that：In described step S1, compile
The encoder fault signal that code device fault monitor module is given at least includes encoder fault, encoder departs from, encoder output
Any one in abnormal alarm signal.
5. a kind of pitch-variable system according to claim 3 put away the oars method it is characterised in that：In described step S3, watch
Take driver work state monitoring function module and can return to that servomotor band-type brake is awaited orders, runs well, exceed the speed limit driving and servo
In the status information of driver malfunction any one.
6. a kind of pitch-variable system according to claim 5 put away the oars method it is characterised in that：In described step S3, watch
Take driver work state monitoring function module return do not exist fault signal include run well, hypervelocity driving signal in
Any one.
7. a kind of pitch-variable system according to claim 1 or 6 put away the oars method it is characterised in that：In described step S3,
Described working condition handover module is used for closing the control mode of servo-driver from servo-drive in servo-driver fault
Loop control state is switched to servo-drive opened loop control state.
8. a kind of pitch-variable system according to claim 1 put away the oars method it is characterised in that：In described step S4, watch
Clothes drive open loop module of putting away the oars to carry out during open loop puts away the oars, and blade limit switch monitoring modular is also constantly in operation shape
State.
9. a kind of pitch-variable system according to claim 1 or 8 put away the oars method it is characterised in that：Servo-drive open loop
Module of putting away the oars carries out open loop driving according to the aerodynamic characteristic of wind power generating set with speed V and puts away the oars, and speed V is by wind-driven generator
The aerodynamic model of group determines.
10. a kind of servo-driver, is applied to pitch-variable system, including encoder fault monitoring modular, servo-driver work
State monitoring module, brake module, band-type brake module, the module that declutches and blade limit switch monitoring modular it is characterised in that：This is watched
Take driver and further included that working condition handover module, servo-drive open loop are put away the oars module, described working condition switches mould
Block is used for being switched to the control mode of servo-driver from servo-drive closed-loop control state in servo-driver fault watching
Clothes drive opened loop control state, and described servo-drive open loop is put away the oars module according to parameter of electric machine model, carried out with certain speed
Open loop drives and puts away the oars, and described servo-drive open loop module of putting away the oars carries out during open loop puts away the oars, described blade limit switch prison
Survey module and be also constantly in running status, when described blade limit switch monitoring modular returns the triggering state of blade limit switch
During for triggering, and control described servo-drive open loop module of putting away the oars to stop, and run described brake module and described band-type brake mould
Block is to complete action of putting away the oars.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410447567.3A CN104329221B (en) | 2014-09-04 | 2014-09-04 | Paddle retracting method of variable-pitch system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410447567.3A CN104329221B (en) | 2014-09-04 | 2014-09-04 | Paddle retracting method of variable-pitch system |
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| CN104329221A CN104329221A (en) | 2015-02-04 |
| CN104329221B true CN104329221B (en) | 2017-02-15 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107781104B (en) * | 2016-08-30 | 2019-01-08 | 北京金风科创风电设备有限公司 | Control method and control circuit for propeller retracting |
| US10663365B2 (en) * | 2017-09-27 | 2020-05-26 | Rockwell Automation Technologies, Inc. | Method for measuring motor brake health |
| CN108566133B (en) * | 2018-03-30 | 2020-04-10 | 北京控制工程研究所 | Angle measurement fault diagnosis and control method of permanent magnet synchronous motor control system |
| CN108979955A (en) * | 2018-06-25 | 2018-12-11 | 浙江运达风电股份有限公司 | A kind of alternating current variable-pitch control system dormancy control method |
| CN110133499A (en) * | 2019-04-30 | 2019-08-16 | 固安华电天仁控制设备有限公司 | A kind of method that wind power pitch motor is tested automatically |
| CN112523946B (en) * | 2019-09-17 | 2022-10-18 | 北京金风科创风电设备有限公司 | Variable pitch control method and device for wind generating set and medium |
| CN113864116B (en) * | 2020-06-30 | 2022-11-08 | 新疆金风科技股份有限公司 | Control method and device of wind generating set |
| CN112145349B (en) * | 2020-09-28 | 2021-08-03 | 中国船舶重工集团海装风电股份有限公司 | Wind turbine generator pitch system limit switch trigger identification and control method |
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| WO2008135605A1 (en) * | 2007-05-04 | 2008-11-13 | Ingeteam Energy, S.A. | System and method for control of pitch for wind turbines |
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