CN106886634A - A kind of blower variable-pitch choice of electrical machine parameter acquiring method, system and selection method - Google Patents
A kind of blower variable-pitch choice of electrical machine parameter acquiring method, system and selection method Download PDFInfo
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Abstract
The present invention relates to a kind of blower variable-pitch choice of electrical machine parameter acquiring method, system and selection method, the method is：Calculate the real-time wind load M of root of blade under all operating conditionsz, variable-paddle bearing friction torque Mf, blade rotary inertia J and vane propeller-changing angular acceleration ω；According to Mz、Mf, J and ω, calculate each original driving torque in operating condition lower blade root；According to the original driving torque of root of blade, the deceleration when transmission efficiency of whole pitch-controlled system, the real-time torque value under each operating condition is calculated；The maximum of blower variable-pitch motor torque is worth to according to real-time torque；Torque and rotating speed to pitch motor under normal generating operation mode carry out root mean square treatment, obtain pitch motor mechanical characteristic, and the maximum and pitch motor mechanical characteristic according to pitch motor torque carry out becoming slurry choice of electrical machine.The present invention is simple and reliable, and is more conform with blower fan practical operation situation, and credible result degree is higher, can more reasonably carry out the type selecting of wind-driven generator pitching motor.
Description
Technical field
The invention belongs to technical field of wind power generation, it is related to pitch-controlled system design field, and in particular to a kind of blower variable-pitch
Choice of electrical machine parameter acquiring method, system and selection method.
Background technology
At present, MW class becomes paddle type wind-driven generator when rated wind speed is operated above, mainly by changing the oar of blade
Elongation go adjust fan blade stressing conditions, and then control wind-driven generator power and rotating speed near rated value.But,
Because the wind of nature has random changeable unstable characteristic, the wind load being subject on blade is caused not stop change, the oar of blade
Elongation also the moment change, and the change of blade pitch angle mainly by pitch motor drive variable-propeller speed reducer go realization, this
It is also to change constantly to result in the torque value acted on pitch motor axle.So, to wind-driven generator pitching motor torque
The selection of parameter has very big difference with the motor torque selection of other steady load type transmission systems.
The torque parameter (nominal torque and breakdown torque) of pitch motor is one important parameter of motor, if the parameter
Choose excessive, then can make the utilization rate of motor reduces, cause certain wasting of resources, increase blower fan cost, it is uneconomical to calculate.If
Choose too small, then in oar running is become, the motor feels hot than more serious, greatly shortens the service life of pitch motor for blower fan.
Therefore, according to wind-driven generator pitching motor actual loading situation, suitable pitch motor torque parameter is selected to wind-power electricity generation
The operation steadily in the long term of machine is particularly significant.
Calculating to pitch motor parameter in the prior art has certain research, such as bibliography《Based on maximum square
Pitch motor nominal torque》(author：Li Tao etc.), it discloses a kind of computational methods of pitch motor nominal torque.The meter
Calculation method only have studied the computational methods of pitch motor nominal torque, be not related to the calculating to pitch motor breakdown torque,
It is only simple to select nominal torque maximum alternatively foundation and the method is when pitch motor nominal torque is chosen,
The speed conditions of its corresponding pitch motor are not considered, the method has certain limitation；
The content of the invention
It is existing to solve the invention provides a kind of blower variable-pitch choice of electrical machine parameter acquiring method, system and selection method
Some change slurry choice of electrical machine parameters are single, not comprehensive, so as to cause to become the slurry inappropriate problem of choice of electrical machine.
In order to solve the above technical problems, blower variable-pitch choice of electrical machine parameter acquiring method of the present invention includes：
1) the real-time wind load of root of blade, the pitch variable bearings under all operating conditions are calculated using simulation software and blower fan model
Friction torque, blade rotary inertia and vane propeller-changing angular acceleration；
2) accelerated according to the real-time wind load of root of blade, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angle
Degree, calculates the original driving torque of root of blade under pitch motor each operating condition；
3) according to the original driving torque of root of blade, the deceleration when transmission efficiency of whole pitch-controlled system, calculate and become oar electricity
Real-time torque value under machine each operating condition；
4) maximum statistical analysis is carried out to the real-time torque value under each operating condition of each blade of pitch motor, most
The maximum of blower variable-pitch motor torque is obtained eventually；
5) real-time torque value and its corresponding real-time rotating speed to pitch motor under normal generating operation mode is carried out at root mean square
Reason, obtains torque root-mean-square value and rotating speed root-mean-square value corresponding relation of the pitch motor under normal power generation operating mode, obtains becoming oar
Mechanical characteristics of motor curve.
The original driving torque M of propeller shankpComputing formula be：
Mp=Mz-Mf+J*ω
Wherein, MzIt is the real-time wind load of root of blade, MfIt is variable-paddle bearing friction torque, J is blade rotary inertia, and ω is leaf
Piece becomes vane angle acceleration.
Real-time torque value M under pitch motor each operating conditioneComputing formula be：
Me=Mp/n/η
Wherein, n is the speed reducing ratio of whole pitch-controlled system, and η is transmission efficiency.
The step 4) in, maximum is carried out to the real-time torque value under each operating condition of each blade of pitch motor
Statistical analysis, and specific safety coefficient is multiplied by according to the relevant regulations in GL2010 specifications, using GH Bladed simulation softwares
The pitch motor torque limit load report of fan blade is generated, so as to obtain the report of blade ultimate load, according to the blade limit
Load report, finally gives the maximum of blower variable-pitch motor torque.
The calculating cycle of root-mean-square value statistical computation is 600s.
Blower variable-pitch choice of electrical machine parameter acquiring system of the present invention includes that original driving of parameter calculating module, root of blade turns
The real-time torque value computing module of square computing module, pitch motor, pitch motor torque capacity computing module and pitch motor machinery
Characteristic curve acquisition module；
The parameter calculating module, for calculating the leaf under all operating conditions of output using simulation software and blower fan model
The real-time wind load in piece root, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angular acceleration；
The original driving torque computing module of root of blade, for being rubbed according to the real-time wind load of root of blade, pitch variable bearings
Torque, blade rotary inertia and vane propeller-changing angular acceleration are wiped, the root of blade calculated under pitch motor each operating condition is former
Beginning driving torque；
The real-time torque value computing module of pitch motor, for according to the original driving torque of root of blade, entirely become oar
The deceleration of system when transmission efficiency, calculates the real-time torque value under pitch motor each operating condition；
The pitch motor torque capacity computing module, under each operating condition to each blade of pitch motor
Real-time torque value carries out maximum statistical analysis, obtains the maximum of blower variable-pitch motor torque；
Pitch motor mechanical characteristic acquisition module, for the real-time torque value to pitch motor under normal generating operation mode
And its corresponding real-time rotating speed carries out root mean square treatment, obtain torque root-mean-square value of the pitch motor under normal power generation operating mode and
Rotating speed root-mean-square value corresponding relation, obtains pitch motor mechanical characteristic.
The original driving torque computing module of root of blade calculates the original driving torque M of propeller shankpMathematical Modeling
For：
Mp=Mz-Mf+J*ω
Wherein, MzIt is the real-time wind load of root of blade, MfIt is variable-paddle bearing friction torque, J is blade rotary inertia, and ω is leaf
Piece becomes vane angle acceleration.
The real-time torque value computing module of the pitch motor calculates the real-time torque value under pitch motor each operating condition
MeMathematical Modeling be：
Me=Mp/n/η
Wherein, n is the speed reducing ratio of whole pitch-controlled system, and η is transmission efficiency.
The step 4) in, maximum is carried out to the real-time torque value under each operating condition of each blade of pitch motor
Statistical analysis, and specific safety coefficient is multiplied by according to the relevant regulations in GL2010 specifications, using GH Bladed simulation softwares
The pitch motor torque limit load report of fan blade is generated, so as to obtain the report of blade ultimate load, according to the blade limit
Load report, finally gives the maximum of blower variable-pitch motor torque.
Blower variable-pitch choice of electrical machine method of the invention is：By the mechanical characteristic and simulation calculation for becoming and starching motor to be selected
The mechanical characteristic of the change slurry motor for obtaining is compared, and the maximum of pitch motor torque to be selected is obtained with simulation calculation
The maximum of pitch motor torque be compared, if the change that the mechanical characteristic of pitch motor to be selected obtains simulation calculation
What the complete envelope of oar mechanical characteristics of motor curve and the maximum of pitch motor torque to be selected were obtained more than or equal to simulation calculation
The maximum of pitch motor torque, chooses the pitch motor to be selected as blower variable-pitch motor.
The beneficial effects of the invention are as follows：Present invention pitch motor under various required operating modes according to blower wind-driven generator
Real-time stress situation, derives the torque calculation formula of pitch motor, and fallen into a trap in GH Bladed simulation softwares using the formula
Calculate each must under operating mode pitch motor torque value, the numerical value for finally being obtained to simulation calculation carries out statistical analysis, and then
The breakdown torque value of pitch motor is drawn, so as to choose provide guidance for the torque parameter of pitch motor.The method is simple and reliable,
And it is more conform with blower fan practical operation situation, credible result degree is higher, can more reasonably carries out wind-driven generator
The type selecting of pitch motor.
The present invention is according to the real-time torque value of pitch motor and real-time rotating speed under each accidental conditions being calculated
Value, root-mean-square value calculating is carried out to the real-time torque value and real-time tachometer value, finally gives the mechanical characteristic of pitch motor,
When pitch motor type selecting is carried out, the electromechanics for only needing the mechanical characteristic of pitch motor to be selected can be calculated is special
The complete envelope of linearity curve.The selection method considers the speed conditions of its corresponding pitch motor, with blower fan actual motion feelings
Condition is more conform with, and Reliability ratio is higher, for the torque type selecting of pitch motor provides more comprehensive reliable foundation.
Brief description of the drawings
Fig. 1 is pitch-controlled system stress diagram in wind-driven generator；
Fig. 2 is pitch motor torque type selection calculation flow chart.
Specific embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in further detail.
The embodiment of blower variable-pitch choice of electrical machine parameter acquiring method of the present invention
The acquisition methods of the blower variable-pitch choice of electrical machine parameter of the present embodiment are：
1) the real-time wind load of root of blade under all operating conditions of output is calculated using simulation software and blower fan model, becomes oar
Bearing friction torque, blade rotary inertia and vane propeller-changing angular acceleration；
2) accelerated according to the real-time wind load of root of blade, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angle
Degree, calculates the original driving torque of root of blade under pitch motor each operating condition；
3) according to original driving torque, the deceleration when transmission efficiency of whole pitch-controlled system, pitch motor each fortune is calculated
Real-time torque value under row operating mode；
4) maximum statistical analysis is carried out to the real-time torque value under each operating condition of each blade of pitch motor, most
The maximum of blower variable-pitch motor torque is obtained eventually.
5) root-mean-square value statistics meter is carried out to the real-time torque value and motor speed value under pitch motor normal power generation operating mode
Calculate, and then obtain the torque under pitch motor accidental conditions and rotating speed homologous thread, i.e. mechanical characteristic.
To the above method, each step is further elaborated below：
As shown in figure 1, at present in all electric variable pitch wind-driven generators, because the torque output capability of pitch motor has
Limit, it is impossible to which directly driving blade carries out change oar, it is necessary to go the driving blade to carry out change oar by a set of deceleration device, so calculating
Before pitch motor torque, it is necessary to first calculate the original driving torque (M of root of bladep), then by whole pitch-controlled system
Speed reducing ratio (n) and transmission efficiency (η) convert and obtain the actual torque value (M of pitch motore)。
In normal change oar running, root of blade is mainly subject to following torque to blower fan：The original drive of root of blade
Dynamic torque (Mp), the real-time wind load (M of root of bladez) (containing Action of Gravity Field) and variable-paddle bearing friction torque (Mf), it refers to positive direction
It is consistent with GH Bladed simulation softwares, then can be obtained according to Newton's second law：
Mp-Mz+Mf=J* ω (1)
In formula, MzOutput, M can directly be calculated by GH Bladed simulation softwaresfCalculating can rub according to general bearing
Wipe power computing formula to obtain, J is blade rotary inertia, can be obtained according to blower fan model, ω is vane propeller-changing angular acceleration, can be by
GH Bladed softwares directly calculate output, the original driving torque of root of blade：
Mp=Mz-Mf+J*ω (2)
Pitch motor torque calculation formula is：Me=Mp/n/η (3)
According to pitch motor torque calculation formula (2), (3) that are derived, by the post processing of GH Bladed simulation softwares
Function carries out simulation calculation to all accidental conditions of Wind turbines (F and UN operating modes) and unusual service condition (UA), and then obtains
The real-time torque value of pitch motor under all calculating operating modes.
Maximum statistical analysis is carried out to the pitch motor torque value that above-mentioned all calculating operating modes are obtained, and according to GL2010
Relevant regulations in specification are multiplied by specific safety coefficient, and three changes of blade of blower fan are generated using GH Bladed simulation softwares
Oar motor torque limit load is reported, so as to obtain three blade ultimate load reports, according to this report, can obtain becoming oar electricity
Machine torque maximum value Te_max, the value is blower fan pitch motor maximum torque value required in the process of running, can be made with this
It is the selection gist of pitch motor breakdown torque.
Pitch motor nominal torque parameter acquiring method is described below：
The nominal torque of motor is relevant with its temperature rise, if the value selection is too small, pitch motor is generated heat in the process of running
Than more serious, its service life can be reduced, if selection is excessive, certain wasting of resources can be caused, how increase blower fan cost
Rationally determine that pitch motor nominal torque parameter then seems particularly significant according to simulation result.Due to the limit of capacity motor
Value, motor torque fan-out capability has certain relation with the rotating speed of motor, and it is entering according to the mechanical characteristic for motor
During row pitch motor nominal torque type selecting, it is necessary to first by being calculated the mechanical characteristic of motor.In view of blower fan reality
The temperature-rise effect of border ruuning situation and motor, the present embodiment only need to carry out root-mean-square value to normal generating operation mode (F and UN operating modes)
(RMS) statistical computation, and unusual service condition, open machine operating mode and shut down operating mode because run time is relatively short, to pitch motor
Temperature rise influence it is little, so not considering.It is bent by being calculated mechanical property of the pitch motor under normal power generation operating mode
Line, the curve can be as the selection gist of wind-driven generator pitching Rated motor torque.
When root-mean-square value (RMS) statistical computation is carried out to normal generating operation mode (F and UN operating modes), RMS calculating cycles are excellent
Elect 600s as.
Blower variable-pitch choice of electrical machine embodiment of the method for the present invention
The selection method of the present embodiment is maximum based on the change slurry motor torque obtained by above-mentioned type selecting parameter acquiring method
What value and change slurry mechanical characteristics of motor curve were carried out, therefore, no longer starch motor machine to becoming slurry motor torque maximum and change here
The characteristic acquisition process of tool is described in detail, and how is only discussed in detail using change slurry motor torque maximum and change slurry electricity
Machine mechanical characteristic carries out choice of electrical machine, specially：The mechanical characteristic for becoming slurry motor to be selected is obtained with simulation calculation
The mechanical characteristic of change slurry motor be compared, the change that the maximum of pitch motor torque to be selected and simulation calculation are obtained
The maximum of oar motor torque is compared, if the change oar electricity that the mechanical characteristic of pitch motor to be selected obtains simulation calculation
The complete envelope of the machine mechanical characteristic and maximum of pitch motor torque to be selected is more than or equal to the change oar that simulation calculation is obtained
The maximum of motor torque, chooses the pitch motor to be selected as blower variable-pitch motor.
The acquisition system embodiment of blower variable-pitch motor torque parameter of the present invention
The system of the acquisition blower variable-pitch motor torque parameter of the present embodiment includes that parameter calculating module, root of blade are original
The real-time torque value computing module of driving torque computing module, pitch motor and pitch motor torque capacity computing module；
The parameter calculating module, for calculating the leaf under all operating conditions of output using simulation software and blower fan model
The real-time wind load in piece root, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angular acceleration；
The original driving torque computing module of root of blade, for being rubbed according to the real-time wind load of root of blade, pitch variable bearings
Torque, blade rotary inertia and vane propeller-changing angular acceleration are wiped, the root of blade calculated under pitch motor each operating condition is former
Beginning driving torque；
The real-time torque value computing module of pitch motor, for being subtracted according to original driving torque, whole pitch-controlled system
Speed when transmission efficiency, calculates the real-time torque value under pitch motor each operating condition；
The pitch motor torque capacity computing module, under each operating condition to each blade of pitch motor
Real-time torque value carries out maximum statistical analysis, obtains the maximum of blower variable-pitch motor torque.
The pitch motor mechanical characteristic acquisition module, for turning in real time under to pitch motor accidental conditions
Square value and motor speed carry out root-mean-square value statistical computation, obtain machinery of each blade under pitch motor accidental conditions
Characteristic curve, using the mechanical characteristic as blower variable-pitch Rated motor rotating speed selection gist.
Wherein, the original driving torque computing module of root of blade and the real-time torque value computing module of pitch motor are calculating leaf
It is formula (2), (3) according to the method described above in embodiment when the original driving torque in piece root and the real-time torque value of pitch motor
Carry out, be no longer discussed in detail here.
Claims (10)
1. a kind of blower variable-pitch choice of electrical machine parameter acquiring method, it is characterised in that the method includes：
1) the real-time wind load of root of blade, the variable-paddle bearing friction under all operating conditions are calculated using simulation software and blower fan model
Torque, blade rotary inertia and vane propeller-changing angular acceleration；
2) according to the real-time wind load of root of blade, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angular acceleration, meter
Calculate the original driving torque of root of blade under pitch motor each operating condition；
3) according to the original driving torque of root of blade, the deceleration when transmission efficiency of whole pitch-controlled system, pitch motor is calculated each
Real-time torque value under individual operating condition；
4) maximum statistical analysis is carried out to the real-time torque value under each operating condition of each blade of pitch motor, it is final to obtain
To the maximum of blower variable-pitch motor torque；
5) real-time torque value and its corresponding real-time rotating speed to pitch motor under normal generating operation mode carries out root mean square treatment, obtains
Torque root-mean-square value and rotating speed root-mean-square value corresponding relation to pitch motor under normal power generation operating mode, obtain pitch motor machine
Tool characteristic curve.
2. blower variable-pitch choice of electrical machine parameter acquiring method according to claim 1, it is characterised in that the propeller shank is former
Beginning driving torque MpComputing formula be：
Mp=Mz-Mf+J*ω
Wherein, MzIt is the real-time wind load of root of blade, MfIt is variable-paddle bearing friction torque, J is blade rotary inertia, and ω becomes for blade
Vane angle acceleration.
3. blower variable-pitch choice of electrical machine parameter acquiring method according to claim 2, it is characterised in that pitch motor each fortune
Real-time torque value M under row operating modeeComputing formula be：
Me=Mp/n/η
Wherein, n is the speed reducing ratio of whole pitch-controlled system, and η is transmission efficiency.
4. blower variable-pitch choice of electrical machine parameter acquiring method according to claim 1, it is characterised in that the step 4) in,
Maximum statistical analysis is carried out to the real-time torque value under each operating condition of each blade of pitch motor, and according to GL2010
Relevant regulations in specification are multiplied by specific safety coefficient, using the change oar electricity of GH Bladed simulation softwares generation fan blade
Machine torque limit load is reported, so as to obtain the report of blade ultimate load, according to the report of blade ultimate load, finally gives blower fan
The maximum of pitch motor torque.
5. blower variable-pitch choice of electrical machine parameter acquiring method according to claim 1, it is characterised in that root-mean-square value statistics meter
The calculating cycle of calculation is 600s.
6. a kind of blower variable-pitch choice of electrical machine parameter acquiring system, it is characterised in that the system includes parameter calculating module, blade
The original driving torque computing module in root, the real-time torque value computing module of pitch motor, pitch motor torque capacity computing module
With pitch motor mechanical characteristic acquisition module；
The parameter calculating module, for calculating the blade root under all operating conditions of output using simulation software and blower fan model
The real-time wind load in portion, variable-paddle bearing friction torque, blade rotary inertia and vane propeller-changing angular acceleration；
The original driving torque computing module of root of blade, for being turned according to the real-time wind load of root of blade, variable-paddle bearing friction
Square, blade rotary inertia and vane propeller-changing angular acceleration, calculate the original drive of root of blade under pitch motor each operating condition
Dynamic torque；
The real-time torque value computing module of pitch motor, for according to the original driving torque of root of blade, whole pitch-controlled system
Deceleration when transmission efficiency, calculate the real-time torque value under pitch motor each operating condition；
The pitch motor torque capacity computing module, for each operating condition to each blade of pitch motor under it is real-time
Torque value carries out maximum statistical analysis, obtains the maximum of blower variable-pitch motor torque；
Pitch motor mechanical characteristic acquisition module, for the real-time torque value to pitch motor under normal generating operation mode and its
Corresponding real-time rotating speed carries out root mean square treatment, obtains torque root-mean-square value and rotating speed of the pitch motor under normal power generation operating mode
Root-mean-square value corresponding relation, obtains pitch motor mechanical characteristic.
7. blower variable-pitch choice of electrical machine parameter acquiring system according to claim 6, it is characterised in that the root of blade is former
Beginning driving torque computing module calculates the original driving torque M of propeller shankpMathematical Modeling be：
Mp=Mz-Mf+J*ω
Wherein, MzIt is the real-time wind load of root of blade, MfIt is variable-paddle bearing friction torque, J is blade rotary inertia, and ω becomes for blade
Vane angle acceleration.
8. blower variable-pitch choice of electrical machine parameter acquiring system according to claim 7, it is characterised in that the pitch motor reality
When torque value computing module calculate real-time torque value M under pitch motor each operating conditioneMathematical Modeling be：
Me=Mp/n/η
Wherein, n is the speed reducing ratio of whole pitch-controlled system, and η is transmission efficiency.
9. blower variable-pitch choice of electrical machine parameter acquiring system according to claim 6, it is characterised in that the step 4) in,
Maximum statistical analysis is carried out to the real-time torque value under each operating condition of each blade of pitch motor, and according to GL2010
Relevant regulations in specification are multiplied by specific safety coefficient, using the change oar electricity of GH Bladed simulation softwares generation fan blade
Machine torque limit load is reported, so as to obtain the report of blade ultimate load, according to the report of blade ultimate load, finally gives blower fan
The maximum of pitch motor torque.
10. the blower variable-pitch choice of electrical machine method of acquisition methods described in a kind of use claim 1, it is characterised in that will be to be selected
The mechanical characteristic of the change slurry motor that the mechanical characteristic and simulation calculation for becoming slurry motor are obtained is compared, by change to be selected
The maximum of the pitch motor torque that the maximum of oar motor torque is obtained with simulation calculation is compared, if pitch motor to be selected
The mechanical characteristic complete envelope of pitch motor mechanical characteristic that obtains simulation calculation and pitch motor torque to be selected
Maximum of the maximum more than or equal to the pitch motor torque that simulation calculation is obtained, choose the pitch motor to be selected as wind
Machine pitch motor.
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| CN109185057A (en) * | 2018-08-21 | 2019-01-11 | 固安华电天仁控制设备有限公司 | A kind of selection method of wind generating set pitch control system motor and driver |
| CN109697296A (en) * | 2017-10-20 | 2019-04-30 | 株洲中车时代电气股份有限公司 | Transmission system fast design method and device based on frequency-conversion alternating current motor |
| CN110414138A (en) * | 2019-07-29 | 2019-11-05 | 珠海格力智能装备有限公司 | Method and device for determining type of servo motor and machine equipment |
| CN110925135A (en) * | 2019-12-06 | 2020-03-27 | 中国船舶重工集团海装风电股份有限公司 | Wind turbine generator pitch motor selection method, device, equipment and storage medium |
| CN111216920A (en) * | 2020-04-16 | 2020-06-02 | 北京清航紫荆装备科技有限公司 | Rotor wing T-head bearing model selection method and device of unmanned helicopter |
| CN112257289A (en) * | 2020-11-05 | 2021-01-22 | 上海电气风电集团股份有限公司 | Load processing method and system for variable pitch system of wind turbine generator and computer readable storage medium |
| CN112287522A (en) * | 2020-10-12 | 2021-01-29 | 上海电气风电集团股份有限公司 | Method and system for optimizing driving capability of variable pitch system of wind turbine generator and computer readable storage medium |
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| 李文博: "兆瓦级风机变桨系统研究", 《国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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| CN111216920A (en) * | 2020-04-16 | 2020-06-02 | 北京清航紫荆装备科技有限公司 | Rotor wing T-head bearing model selection method and device of unmanned helicopter |
| CN112287522A (en) * | 2020-10-12 | 2021-01-29 | 上海电气风电集团股份有限公司 | Method and system for optimizing driving capability of variable pitch system of wind turbine generator and computer readable storage medium |
| CN112287522B (en) * | 2020-10-12 | 2023-08-25 | 上海电气风电集团股份有限公司 | Optimization method and system for driving capability of variable pitch system of wind turbine generator and computer readable storage medium |
| CN112257289A (en) * | 2020-11-05 | 2021-01-22 | 上海电气风电集团股份有限公司 | Load processing method and system for variable pitch system of wind turbine generator and computer readable storage medium |
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