CN108363311A - A kind of wind power pitch motor controller hardware is in ring implementation method - Google Patents
A kind of wind power pitch motor controller hardware is in ring implementation method Download PDFInfo
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- CN108363311A CN108363311A CN201810135119.8A CN201810135119A CN108363311A CN 108363311 A CN108363311 A CN 108363311A CN 201810135119 A CN201810135119 A CN 201810135119A CN 108363311 A CN108363311 A CN 108363311A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The present invention relates to a kind of wind power pitch motor controller hardwares in ring implementation method, belongs to wind power pitch motor control technology field, this method is established pitch motor and its controller model based on Matlab/Simulink platforms, included the following steps：S1：The wind power pitch motor and its control system off-line simulation model of Matlab/Simulink platforms are established according to design object；S2：According to the wind power pitch motor Controlling model automatic code generating in Simulink off-line simulation models, and the code is downloaded into practical controller；S3：Wind power pitch motor hardware model in Simulink off-line simulation models is downloaded into hardware-in-loop simulation platform；S4：Hardware-in-the-loop test is carried out using the pitch motor model in the practical controller and hardware-in-loop simulation platform of the code.The method of the present invention has higher confidence level compared to off-line simulation, effectively saves exploitation totle drilling cost, improves development efficiency, and has ensured the life safety of developer.
Description
Technical field
The invention belongs to wind power pitch motor control technology field, it is related to a kind of wind power pitch motor controller hardware in ring
Implementation method.
Background technology
With a large amount of the problems such as using the lack of energy brought and environmental pollution getting worses of fossil energy, clean,
Reproducible new energy is widely studied application.Wind energy is one of main new energy, in recent years, wind energy is derived from power grid
The electric energy accounting of conversion is higher and higher, and the control of wind power pitch motor is to ensure the safe and reliable efficient operation of wind generator system
Key, therefore to wind power pitch motor control research have important practical significance.
The development approach of existing wind power pitch motor control usually requires hand-coding control algolithm code, and downloads to
Practical pitch motor control debugging is carried out in controller.It is easy to be by parameter of electric machine time-varying and non-since pitch motor controls complexity
It is long to often lead to the conventional controller R＆D cycle for linear influence, it is difficult to the problem of adapting to pitch motor Parameters variation.Although existing
There is the simulation model of pitch motor and its control algolithm to provide certain support for the exploitation of pitch motor controller, but it is offline
Simulation model often has ignored controller real-time and pitch motor parametrical nonlinearity.Although on the basis of off-line simulation, mesh
The preceding method for being also proposed rapid prototyping and hardware in loop, or but these method controllers are model, pitch motor is real
Object；Controller is real-time controller, and pitch motor is model, is difficult to adapt to controller parameter and variable pitch electricity to a certain extent
The adaptability of machine parameter regulation, therefore, it is necessary to a kind of method researched and developed controller and pitch motor parameter while can adjusted.
Invention content
In view of this, the purpose of the present invention is to provide a kind of wind power pitch motor controller hardwares in ring implementation method,
In conjunction with rapid prototype development and custom hardware the ring the advantages of, based on Matlab/Simulink platforms establish pitch motor and its
Control off-line system simulation model so that after off-line simulation result is met the requirements, it is imitative that hardware in loop is carried out on the basis of this model
True test.
In order to achieve the above objectives, the present invention provides the following technical solutions：
A kind of wind power pitch motor controller hardware is based on Matlab/Simulink platforms in ring implementation method, this method
Pitch motor and its controller model are established, is included the following steps：
S1：According to design object establish Matlab/Simulink platforms wind power pitch motor and its control system it is offline
Simulation model；
S2：According to the wind power pitch motor Controlling model automatic code generating in Simulink off-line simulation models, and will
The code downloads to practical controller；
S3：Wind power pitch motor hardware model in Simulink off-line simulation models is downloaded to hardware-in-loop simulation to put down
Platform；
S4：Hardware is carried out using the pitch motor model in the practical controller and hardware-in-loop simulation platform of the code
Assemblage on-orbit is tested.
Further, step S1 includes specifically：
S11：The hardware model of the high power components of wind power pitch motor is established according to actual conditions；
S12：Wind power pitch motor control section model is established according to control strategy；
S13：Wind power pitch motor software control parameter and hardware model parameter are adjusted, until Simulation Control effect satisfaction is wanted
It asks.
Further, step S2 includes specifically：
S21：Set the default data type in Optimization；
S22：Configuration microcontroller chip type, manufacturer and word length in hardware realization regulation, configuration hardware development plate
Interface and clock；
S23：Aims of systems file, object language, tools chain are configured in Code Generation, after the completion of configuration certainly
It is dynamic to generate code.
Further, step S3 is specially：Assemblage on-orbit platform is connected with PC by data line, by platform it is relevant
Ring software realizes the connection of Simulink and assemblage on-orbit platform, Simulink hardware models is then downloaded to assemblage on-orbit
Platform.
Further, step S4 is specially：
S41：The practical control object of pitch motor modeling in assemblage on-orbit platform, by the practical controller of pitch motor
It is connected with emulation platform and carries out data interaction, assemblage on-orbit platform feedback motor signal is used to control to practical controller, practical
Controller is to output pwm signal after motor signal processing to assemblage on-orbit platform to control inverter, and then control wind electricity change paddle
Motor；
S42：Make pitch motor mould according to the working condition adjustment control parameter of pitch motor model in assemblage on-orbit platform
The working condition of type reaches control and requires；
S43：If practical control targe parameter changes, modifies, lay equal stress on to pitch motor hardware model parameter
New adjustment control parameter, makes control effect meet design requirement.
Further, the motor signal includes voltage, electric current and the tach signal of motor.
The beneficial effects of the present invention are：In conjunction with existing rapid prototyping and custom hardware the ring the advantages of, variable pitch electricity is utilized
The foundation of machine and its controller model and real time workshop realize the seamless of Matlab off-line simulations and hardware-in-loop simulation
The modelling of linking and pitch motor.When pitch motor is difficult to carry out Practical on-site test, pass through hardware-in-loop simulation
Mode simulates the actual condition of pitch motor, verifies the control performance of real-time controller, has compared to off-line simulation higher
Confidence level effectively saves exploitation totle drilling cost, improves development efficiency, and has ensured the life safety of developer.
Description of the drawings
In order to keep the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides following attached drawing and carries out
Explanation：
Fig. 1 is the system flow chart of the embodiment of the present invention；
Fig. 2 is the Matlab/Simulink pitch motors and its controller system simulation model figure of the embodiment of the present invention；
Flow chart when Fig. 3 is the pitch motor and its controller hardware assemblage on-orbit of the embodiment of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
Fig. 1 is that the specific implementation flow chart of the method for the present invention establishes Matlab/Simulink according to control targe first
The pitch motor and its control system model of platform, and carry out off-line simulation so that Simulation Control effect meets design requirement；So
Afterwards, Simulink pitch motor Controlling models part is automatically generated into control routine, and downloads code to practical controller,
Simulink pitch motor model parts download to hardware-in-loop simulation platform；Finally, the reality of the code automatically generated is utilized
Pitch motor model in controller and hardware simulation platform carries out hardware-in-loop simulation, realizes wind power pitch motor and its control
The control and test of device hardware in loop.
It is the DSP signal processors of TI companies production that the present embodiment, which selects control chip, and concrete model is
TMS320F28335, hardware-in-loop simulation platform are NI real-time emulation systems, and pitch motor is threephase asynchronous machine, using rotor
Field orientable control technology accurately controls wind-powered electricity generation paddle propeller pitch angle in real time.Including step is implemented as follows：
First, Matlab/Simulink pitch motors as shown in Figure 2 are established according to design requirement and its controller is offline
Simulation Model, including pitch motor Controlling model and high-power hardware model：Controlling model is mainly according to the present embodiment
The mathematical operation block diagram that rotor used by same field orientation technical controlling is established, high-power hardware model are mainly inverter and variable pitch electricity
Machine model.Adjustment Controlling model and hardware model parameter make pitch motor control effect meet design requirement.
Secondly, real time workshop is carried out according to the software Controlling model in Matlab off-line simulation models, and will be automatic
The code of generation downloads in DSP28335 controllers.It is corresponding in Matlab configurations according to TMS320F28335 chips fundamental characteristics
Environmental parameter specifically needs to configure the parameter in Configuration Parameter：
1)：The default data type in Optimization is set as single types；
2)：Configuration hardware plate is TI Delfino in hardware realization (Hardware Implementation) regulation
F2833x, select time reference triggering be ADCINT1, chip model F28335；
3)：Aims of systems file is configured in Code Generation, object language is C language, tools chain
Toolchain is TI CCS v6 (c2000) etc.；
It can pass through Ctrl+B automatic code generatings after the completion of the above configuration.
Then, the hardware model in pitch motor off-line emulation system model is downloaded into NI hardware-in-loop simulation platforms,
It is connected with PC by data line, utilizes the Simulink pitch motor hardware established in NI VeriStand software transfers Matlab
Model, and this hardware model is downloaded into hardware-in-loop simulation platform.
Finally, it carries out pitch motor using the code and hardware model automatically generated and its controller hardware assemblage on-orbit is surveyed
Examination, and control parameter and hardware model are changed according to debugging result.As shown in figure 3, the practical control of hardware-in-loop simulation platform simulation
Controller is connected with emulation platform and carries out data interaction by object processed, and emulation platform feeds back the voltage of pitch motor, electric current and turns
Fast signal to DSP28335 controllers for controlling, controller to output pwm signal after motor signal processing to emulation platform with
Inverter is controlled, and then controls pitch motor, the final propeller pitch angle for controlling pitch motor；According to variable pitch electricity in assemblage on-orbit platform
The working condition of machine model, adjusting suitable control parameter makes pitch motor working condition reach control requirement；If practical control
Target component changes, and can change hardware model parameter to simulate actual condition, and readjust control parameter, make control
Effect meets design requirement.
Finally illustrate, preferred embodiment above is only to illustrate the technical solution of invention and unrestricted, although passing through
Above preferred embodiment is described in detail the present invention, however, those skilled in the art should understand that, can be in shape
Various changes are made in formula and to it in details, without departing from claims of the present invention limited range.
Claims (6)
1. a kind of wind power pitch motor controller hardware is in ring implementation method, it is characterised in that：This method is based on Matlab/
Simulink platforms establish pitch motor and its controller model, include the following steps：
S1：The wind power pitch motor and its control system off-line simulation of Matlab/Simulink platforms are established according to design object
Model；
S2：According to the wind power pitch motor Controlling model automatic code generating in Simulink off-line simulation models, and will be described
Code downloads to practical controller；
S3：Wind power pitch motor hardware model in Simulink off-line simulation models is downloaded into hardware-in-loop simulation platform；
S4：Hardware in loop is carried out using the pitch motor model in the practical controller and hardware-in-loop simulation platform of the code
Emulation testing.
2. a kind of wind power pitch motor controller hardware according to claim 1 is in ring implementation method, it is characterised in that：Step
Suddenly S1 includes specifically：
S11：The hardware model of the high power components of wind power pitch motor is established according to actual conditions；
S12：Wind power pitch motor control section model is established according to control strategy；
S13：Wind power pitch motor software control parameter and hardware model parameter are adjusted, until Simulation Control effect is met the requirements.
3. a kind of wind power pitch motor controller hardware according to claim 2 is in ring implementation method, it is characterised in that：Step
Suddenly S2 includes specifically：
S21：Set the default data type in Optimization；
S22：Configuration microcontroller chip type, manufacturer and word length, configure the interface of hardware development plate in hardware realization regulation
And clock；
S23：Aims of systems file, object language, tools chain are configured in Code Generation, it is automatic raw after the completion of configuration
At code.
4. a kind of wind power pitch motor controller hardware according to claim 3 is in ring implementation method, it is characterised in that：Step
Suddenly S3 is specially：Assemblage on-orbit platform is connected with PC by data line, it is relevant in ring software by platform, it realizes
Then Simulink hardware models are downloaded to assemblage on-orbit platform by the connection of Simulink and assemblage on-orbit platform.
5. a kind of wind power pitch motor controller hardware according to claim 4 is in ring implementation method, it is characterised in that：Step
Suddenly S4 is specially：
S41：The practical control object of pitch motor modeling in assemblage on-orbit platform by the practical controller of pitch motor and is imitated
True platform, which is connected, carries out data interaction, and assemblage on-orbit platform feedback motor signal is used to control to practical controller, practical to control
Device is to output pwm signal after motor signal processing to assemblage on-orbit platform to control inverter, and then control wind power pitch motor；
S42：Make pitch motor model according to the working condition adjustment control parameter of pitch motor model in assemblage on-orbit platform
Working condition reaches control and requires；
S43：If practical control targe parameter changes, modify to pitch motor hardware model parameter, and adjust again
Whole control parameter, makes control effect meet design requirement.
6. a kind of wind power pitch motor controller hardware according to claim 5 is in ring implementation method, it is characterised in that：Institute
State voltage, electric current and tach signal that motor signal includes motor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112099377A (en) * | 2020-09-15 | 2020-12-18 | 上海电机学院 | Semi-physical simulation platform of variable pitch motor of wind turbine generator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112099377A (en) * | 2020-09-15 | 2020-12-18 | 上海电机学院 | Semi-physical simulation platform of variable pitch motor of wind turbine generator |
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Application publication date: 20180803 |