CN106523280A - Double-motor synchronous control pitch change system - Google Patents
Double-motor synchronous control pitch change system Download PDFInfo
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- CN106523280A CN106523280A CN201610943331.8A CN201610943331A CN106523280A CN 106523280 A CN106523280 A CN 106523280A CN 201610943331 A CN201610943331 A CN 201610943331A CN 106523280 A CN106523280 A CN 106523280A
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- 230000008859 change Effects 0.000 title abstract description 6
- 238000012546 transfer Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 238000010248 power generation Methods 0.000 abstract 1
- 230000005611 electricity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/328—Blade pitch angle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
-
- 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)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a double-motor synchronous control pitch change system, belongs to the technical field of wind power generation, and in particular, is suitable for a high-power unit pitch change system. The double-motor synchronous control pitch change system comprises two sets of motor control rings and a synchronous controller. The motor control rings are characterized in that precise output of rotating speeds and positions of motors is achieved according to logic control of an upper computer and parameter setting of a drive. The two sets of motor control rings are consistent in configuration in one system. The synchronous controller is used for receiving actual rotating speeds and actual positions of the two sets of motor control rings. According to the actual values, the two sets of systems are respectively compensated to achieve the requirement for synchronous control, so that the control precision is improved.
Description
Technical field
The invention belongs to wind-driven generator technical group field, is particularly well-suited to the bi-motor of the variable blade control system of big type
Synchronization Control pitch-controlled system.
Background technology
Variable blade control system is the important component part of wind power generator control system, little type determine oar control except,
MW class all adopts pitch control with fan.The windward side of blade mainly according to wind-force size, is adjusted, electromotor work(is controlled
The constant output of rate.
The variable blade control system of complete set generally comprises switch board, back-up source cabinet, motor, reductor, peripheral control
Part etc..Switch board is the key component of whole system, and host computer, driver, electrical equipment pass through combination and logic control
System realizes the basic function of pitch control.
Peripheral driver or signal acquisition module of the miscellaneous part as whole system, coordinate switch board to realize that institute is active
Energy.
Country's main wind electromotor, all uses a motor control ring individually to control blade at present.
1 this design pattern does not have redundancy, when motor control ring critical piece breaks down cannot ensure safety
Put away the oars, there is potential safety hazard.
2 safeguard replacing constructional difficulties, after blower fan lifting runs, if motor control ring big parts damages occurs and needs more
Change, will be cumbersome due to passing in and out the replacing such as wheel hub limited space, motor, reductor, controller.
3 control effects are inaccurate, with the exploitation of wind resource, increasingly pursue unit fault-free stable operation, and
Power curve.The problems such as control will inaccurately cause power of fan curve not up to standard.
4 separate electrical motor ring control models have problems in terms of high-power machine unit hub layout, and high-power blower blade must
So lengthen, the load increase for bringing therewith causes the piece volumes such as motor, reductor, switch board, back-up source case excessive, takes turns
Limited space in hub, or even there is interference situation.Attendant is not easy to safeguard.
The content of the invention
The technical problem to be solved is to provide a kind of bi-motor that can solve the problem that traditional pitch-controlled system is not enough
Synchronization Control pitch-controlled system, by two sets of motor control rings, realizes hardware backup for security, the installation of isochronous controller, control
Precision processed is improved while often covering the corresponding load capacity of control ring and reduces, and volume reduces, and corresponding replacing, interference problem are obtained
To solve.
The present invention is adopted the following technical scheme that：
A kind of bi-motor Synchronization Control pitch-controlled system, including two sets of motor control rings and an isochronous controller, wherein, two
The band dynamic load blade motion simultaneously of set motor control ring, the isochronous controller pass through the reality for gathering two sets of motor control ring outputs
When velocity information and positional information, after carrying out the analysis of speed-error feedback signal, the motor of two sets of motor control rings is controlled
System.
Further, the motor control ring,
Including Logic control module, for storing logical order, and made according to the speed-error feedback signal of isochronous controller
Parameter is reconfigured for compensated information；
Pitch motor drive module, for receiving the parameter information and control model of Logic control module, coordinates in which
The parameter in portion come drive pitch motor operate the setting parameter of electric machine；
Pitch motor, under the driving of pitch motor drive module, is driven to blade；
Data transfer module, the real-time speed of transmission pitch motor and position are to isochronous controller.
Further, wherein isochronous controller includes：
Data acquisition module, gathers the velocity information and positional information of two sets of motor control rings；
The information simulation amount signal of the data acquisition module is converted into digital quantity letter by the first data conversion module
Number；
Compensating module, to separate electrical motor control ring output with input difference, make compensation, compare again afterwards two sets it is electric
Machine control ring output bias, respectively to two sets of motor control ring output differential negative-feedback signals as compensation letter after compensating
Breath；
Second data conversion module, the compensated information is converted into after analog quantity and is transferred to motor control ring.
Further, the compensating module adopts velocity compensation and position compensation both of which, in both modes, respectively
The detection limit of this pattern is compensated accordingly, is compared respectively, correspondence is compensated.
Further, the motor control ring takes up an official post a motor for taking a control ring as main electricity in control logic
Machine, retains its speed ring, and another is, from motor, to disconnect its speed ring, for the driver of each drive module control, defeated
Enter instruction be position Setting signal, speed-error feedback signal it is compound, wherein, act on the speed-error feedback letter of 2 drivers
Differential signal, in dynamic process, if 2 motor speeds are asynchronous, is fed back to two by number equal in magnitude, opposite polarity respectively
The given value of current end of motor is used as auxiliary input.
Compared with prior art, beneficial effect is the present invention：
First, two sets of motor control loop systems can provide redundancy, it is ensured that safe problem of putting away the oars；Second, as redundancy
Part, can continue to run with when a set of electric machine control system goes wrong；3rd, two sets of motor control rings coordinate synchronous control
Device processed is capable of the speed of precise control pitch motor, position；4th, in terms of high-power blower, can be using 2 sets of motor outputs
General power meet the full payload of blade, this scheme can reduce the volume of single set motor control ring, prevent from installing and interfere.
Description of the drawings
Fig. 1 is hub cast and pitch motor installation site figure in the present invention；
Fig. 2 is the module frame chart of Dual-motor synchronous control system control program in oar is become；
Fig. 3 is bi-motor Synchronization Control feedback principle figure；
Speed-error feedback control figures of the Fig. 4 for bi-motor Synchronization Control.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
Hub cast structural representation for two sets of motor control rings of the invention shown in Figure 1, as can be seen, the present invention
To one side bearing 1 symmetrical 180 ° of reservation, two 2 installation sites of pitch motor.Remaining electric elements such as switch board, back-up source cabinet,
Auxiliary element etc. can voluntarily rational deployment.
Fig. 2 is the module frame chart of Dual-motor synchronous control system control program in oar is become in the present invention, the present embodiment
In include 2 sets pitch motor control rings, a set of isochronous controller, two sets motor control rings are moved with dynamic load blade simultaneously, together
, by gathering the real time speed information and positional information that two sets of motor control rings are exported, isochronous controller is to individually electricity for step controller
The output of machine control ring and the difference of input, make compensation, compare two sets of motor control ring output bias afterwards again, mended
Repay.
Pitch motor control ring is covered in the present embodiment often comprising Logic control module, pitch motor drive module becomes oar electricity
Machine and data transfer module；
In the present embodiment, pitch motor is used for band dynamic load blade motion.Two motor control rings are worked simultaneously, synchronous
The equilibrium of controller control torque output.
In pitch motor control ring, Logic control module is used to store logical order, and pitch motor drive module is used to set
The information such as the parameter of electric machine, data transfer module are used to transmit the information such as real-time speed and position.
The present embodiment includes speed control mode and position control mode.It is respectively provided with rotating speed and the position of motor.
Motor drive module is used for the parameter information and control model for receiving Logic control module, the ginseng for coordinating which internal
Count to drive pitch motor to operate.
Velocity location transfer module therein, can pass out current actual speed or reality according to present mode of operation
Position.Motor control ring, specifically pitch motor drive module, for receiving parameter information and the control of Logic control module
Pattern, the parameter for coordinating which internal is driving the setting parameter of electric machine that pitch motor operates；Pitch motor, drives in pitch motor
Under the driving of module, blade is driven；Data transfer module, the real-time speed of transmission pitch motor and position are to synchronous control
Device processed.
Synchronization control module in the present embodiment includes data acquisition module, the first data conversion module, compensating module,
Two data conversion modules are constituted.
Data acquisition module is used for the information of receiving data transfer module, and the first data conversion module is used for change data
Amount, is converted into digital quantity signal analog signalses, gives compensating module process.
Bi-motor Synchronization Control such as Fig. 3, control logic take up an official post a motor for taking a control ring as mair motor, retain
Its speed ring, another is, from motor, to disconnect its speed ring.For each driver, input instruction be position Setting signal,
Speed-error feedback signal it is compound.Wherein, the speed-error feedback signal magnitude that acts on 2 drivers is equal, opposite polarity.
In dynamic process, if 2 motor speeds are asynchronous, differential signal is fed back to the given value of current end of two motors respectively as auxiliary
Help input.
The speed-error feedback control figure of bi-motor Synchronization Control, such as Fig. 4 are carried out by isochronous controller compensating module as follows
Calculating：
Motor is labeled as the first motor and the second motor, wherein, Y1, Y2 are respectively the first motor, the speed of the second motor
Output signal, Gc1 is speed ring pi regulator, and Gc2 is speed-error feedback controller, and G1, G2 are respectively the first motor, second electric
Transmission function corresponding to machine, can be derived from corresponding transmission function using Mason's formula.Order
Δ=1+G1Gc1+G2Gc2+G1Gc2+2G1G2Gc1Gc2,
The transmission function for then having closed loop is：First motor closed loop transfer function：
Second motor closed loop transfer function：
First motor and the second motor differential closed loop transfer function：
Its EU Equivalent Unit feedback open loop transmission function is：First motor open-loop transfer function：
Second motor open-loop transfer function：
First motor and the second motor differential open-loop transfer function：
Can be obtained by formula (3), when G1 and G2 are equal, Y1-Y2=0, output are synchronous.Here carry out mainly for formula (4)-(6)
Analysis.The general expression for being converted to G1, G2, Gc1, Gc2 is
k1And k2For static gain；a1、a2、b1、b2It is the coefficient more than zero；KP1、KP2For proportionality coefficient；KI1,KI2For integration
Coefficient, the K when differential adoption rate feeds backI2=0, S are the constant for integrating time domain and frequency domain transform.Above formula is brought into formula respectively
(4)-(6), obtain
In formula:Cij (i, j=1,2,3,4,5,6) represents coefficient polynomial.According to formula (8), can be divided into 4 kinds of situations is carried out
Research.
(1)KI2=0, k1≠k2,
(2)KI2=0, k1=k2,
(3)KI2≠0,k1≠k2,
(4)KI2≠0,k1=k2,
Four kinds of situations for more than, are controlled to motor after can obtaining speed-error feedback signal by formula analysis, bi-motor
Synchronous control system, control are to set up.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of bi-motor Synchronization Control pitch-controlled system, it is characterised in that including two sets of motor control rings and a Synchronization Control
Device, wherein, two sets of motor control ring band dynamic load blade motions simultaneously, the isochronous controller is by gathering two sets of motor controls
The real time speed information and positional information of ring output, after carrying out the analysis of speed-error feedback signal, to two sets of motor control rings
Motor is controlled.
2. bi-motor Synchronization Control pitch-controlled system according to claim 1, it is characterised in that the motor control ring,
Including Logic control module, for storing logical order, and according to the speed-error feedback signal of isochronous controller as benefit
Repay information to reconfigure parameter；
Pitch motor drive module, for receiving the parameter information and control model of Logic control module, coordinates its inside
Parameter come drive pitch motor operate the setting parameter of electric machine；
Pitch motor, under the driving of pitch motor drive module, is driven to blade；
Data transfer module, the real-time speed of transmission pitch motor and position are to isochronous controller.
3. bi-motor Synchronization Control pitch-controlled system according to claim 1 and 2, it is characterised in that wherein isochronous controller
Including：
Data acquisition module, gathers the velocity information and positional information of two sets of motor control rings；
The information simulation amount signal of the data acquisition module is converted into digital quantity signal by the first data conversion module；
Compensating module, output and the difference of input to separate electrical motor control ring, makes compensation, compares two sets of motor controls afterwards again
Two sets of motor control rings are exported differential negative-feedback signal as compensated information after compensating by ring output bias processed respectively；
Second data conversion module, the compensated information is converted into after analog quantity and is transferred to motor control ring.
4. bi-motor Synchronization Control pitch-controlled system according to claim 3, it is characterised in that the compensating module is using speed
Degree compensation and position compensation both of which, in both modes, are compensated to the detection limit of this pattern respectively accordingly, respectively
Compare, correspondence is compensated.
5. bi-motor Synchronization Control pitch-controlled system according to claim 1, it is characterised in that the motor control ring is in control
Logic processed takes up an official post a motor for taking a control ring as mair motor, retains its speed ring, and another is, from motor, to disconnect which
Speed ring, for the driver of each drive module control, input instruction is position Setting signal, speed-error feedback signal
It is compound, wherein, the speed-error feedback signal magnitude for acting on 2 drivers is equal, opposite polarity, in dynamic process, if 2
Motor speed is asynchronous, then differential signal is fed back to the given value of current end of two motors respectively as auxiliary input.
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| CN201610943331.8A CN106523280A (en) | 2016-11-02 | 2016-11-02 | Double-motor synchronous control pitch change system |
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| CN201610943331.8A CN106523280A (en) | 2016-11-02 | 2016-11-02 | Double-motor synchronous control pitch change system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108923693A (en) * | 2018-07-09 | 2018-11-30 | 天津工业大学 | Two magneto two degrees of freedom cross-coupling control methods |
| CN110285017A (en) * | 2019-05-31 | 2019-09-27 | 许昌许继风电科技有限公司 | A kind of control method and device of bi-motor pitch-controlled system |
| CN113031527A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Multi-axis synchronous variable pitch control method, device and system |
| CN113700603A (en) * | 2021-10-28 | 2021-11-26 | 东方电气风电有限公司 | Double-encoder check control double-drive variable pitch system and method for wind turbine generator |
| CN114810478A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system and wind generating set |
| CN114810479A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system thereof and wind generating set |
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| CN101311527A (en) * | 2007-05-23 | 2008-11-26 | 连云港杰瑞电子有限公司 | Pitch control system of wind mill generator |
| CN101624969A (en) * | 2009-08-04 | 2010-01-13 | 清华大学 | Redundancy control system and redundancy control method for wind power generation propeller change |
| CN102128133A (en) * | 2011-04-28 | 2011-07-20 | 沈阳远大机电装备有限公司 | Variable pitched propeller control device for megawatt-level wind generating set |
| CN102904496A (en) * | 2012-09-28 | 2013-01-30 | 苏州生物医学工程技术研究所 | Double-motor synchronous control system and synchronous control method thereof |
| CN203161440U (en) * | 2013-03-22 | 2013-08-28 | 北京天诚同创电气有限公司 | Emergency feathering redundancy control device for variable pitch system of wind generating set |
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| CN101311527A (en) * | 2007-05-23 | 2008-11-26 | 连云港杰瑞电子有限公司 | Pitch control system of wind mill generator |
| CN101624969A (en) * | 2009-08-04 | 2010-01-13 | 清华大学 | Redundancy control system and redundancy control method for wind power generation propeller change |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108923693A (en) * | 2018-07-09 | 2018-11-30 | 天津工业大学 | Two magneto two degrees of freedom cross-coupling control methods |
| CN110285017A (en) * | 2019-05-31 | 2019-09-27 | 许昌许继风电科技有限公司 | A kind of control method and device of bi-motor pitch-controlled system |
| CN113031527A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Multi-axis synchronous variable pitch control method, device and system |
| CN113700603A (en) * | 2021-10-28 | 2021-11-26 | 东方电气风电有限公司 | Double-encoder check control double-drive variable pitch system and method for wind turbine generator |
| CN114810478A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system and wind generating set |
| CN114810479A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system thereof and wind generating set |
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Application publication date: 20170322 |