CN109340048A - Wind generating set operation control method and device and storage medium - Google Patents
Wind generating set operation control method and device and storage medium Download PDFInfo
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- CN109340048A CN109340048A CN201811076335.6A CN201811076335A CN109340048A CN 109340048 A CN109340048 A CN 109340048A CN 201811076335 A CN201811076335 A CN 201811076335A CN 109340048 A CN109340048 A CN 109340048A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000005265 energy consumption Methods 0.000 claims abstract description 59
- 238000005259 measurement Methods 0.000 claims description 25
- 230000010354 integration Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 3
- 230000006399 behavior Effects 0.000 claims description 2
- 238000010248 power generation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 17
- 230000005611 electricity Effects 0.000 description 9
- 230000015556 catabolic process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 244000089409 Erythrina poeppigiana Species 0.000 description 1
- 235000009776 Rathbunia alamosensis Nutrition 0.000 description 1
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- 239000000835 fiber Substances 0.000 description 1
- 238000005534 hematocrit Methods 0.000 description 1
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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
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
-
- 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
- F05B2270/10—Purpose of the control system
- F05B2270/101—Purpose of the control system to control rotational speed (n)
-
- 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
-
- 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
Abstract
The invention discloses a wind generating set operation control method and device and a storage medium, wherein the method comprises the following steps: respectively detecting the working states of encoders arranged on rotating shafts of variable pitch motors in driving connection with blades of the wind generating set; if the encoder of one blade fails and the encoders of other blades are normal, the variable pitch motors of all the blades in the wind generating set are controlled to operate at the same variable pitch speed; if the energy consumption values of the variable pitch motors of any two blades in all the blades meet the preset redundant operation condition of the encoder in one impeller rotation period from the fault moment of the encoder of one blade, the wind generating set can normally operate under the working condition that the encoder of one blade fails. By adopting the technical scheme in the embodiment of the invention, the redundancy control of the fault working condition of the encoder can be realized, and the power generation loss of the wind generating set is reduced.
Description
Technical field
The present invention relates to technical field of wind power generation more particularly to a kind of running control method for wind generating set and dress
It sets, storage medium.
Background technique
The major function of pitch-controlled system is to adjust generator speed by the propeller pitch angle that pitch motor controls blade, in turn
Control the output power of wind power generating set.The control method of pitch-controlled system specifically: receive wind power generating set master controller
The target pitch angle of transmission, and according to the propeller pitch angle variable signal and mesh of the encoder feedback being installed in pitch motor rotary shaft
Propeller pitch angle is marked, the revolving speed and direction to pitch motor carry out closed-loop control.Encoder in the process of running can be because of rotation overheat, arteries and veins
Punching interference, wiring loosening and encoder sole mass and service life etc. break down.
In the prior art, wind power generating set relevant to encoder fault runs control strategy are as follows: once detection is taken office
Anticipate a blade pitch motor encoder fault just to wind power generating set execute feathering shut down, avoid wind power generating set
The safety problem because of caused by encoder fault in the process of running.
But using operation control strategy in the prior art, although can be avoided wind power generating set in operational process
The middle safety problem because of caused by encoder fault, but frequent shutdown will also result in generated energy loss, therefore, how to coding
The technical issues of device fault condition carries out Redundant Control, reduces generated energy loss, becomes urgent need to resolve.
Summary of the invention
The embodiment of the invention provides a kind of running control method for wind generating set and device, storage medium, Neng Goushi
Now to the Redundant Control of encoder fault operating condition, generated energy loss is reduced.
In a first aspect, the embodiment of the present invention provides a kind of running control method for wind generating set, this method comprises:
Detection is set to the volume in each pitch motor rotary shaft being drivingly connected with each branch blade of wind power generating set respectively
The working condition of code device；
If the encoder fault of a blade, and the encoder of other blades is normal, then controls institute in wind power generating set
Vaned pitch motor is run according to same variable pitch speed；
If in an impeller swing circle from the fault moment of the encoder of a blade, any two in all blades
The energy consumption values of the pitch motor of branch blade are all satisfied pre-arranged code device redundancy running condition, then make wind power generating set one
It is operated normally under the operating condition of branch blade encoder fault.
In a kind of possible embodiment of first aspect, the vaned variable pitch electricity of institute in control wind power generating set
After machine is run according to same variable pitch speed, this method further include: if the impeller revolution that self-encoding encoder fault moment rises
In phase, the energy consumption values of the pitch motor of any two blades are unsatisfactory for pre-arranged code device redundancy running item in all blades
Part then controls wind power generating set and executes shutdown operation.
In a kind of possible embodiment of first aspect, the vaned variable pitch electricity of institute in control wind power generating set
While machine is run according to same variable pitch speed, this method further include: control wind power generating set does not execute and encoder fault
Relevant error correction, and the measurement data of the encoder using blade in addition to blade where trouble coder, other, are replaced
For the measurement data of trouble coder.
In a kind of possible embodiment of first aspect, using in addition to the blade where the trouble coder, other
The measurement data of the encoder of blade substitutes the measurement data of trouble coder, comprising: using except blade where trouble coder
In addition, other the measurement data of vaned encoder average value, substitute the measurement data of trouble coder.
In a kind of possible embodiment of first aspect, make wind power generating set in a blade encoder fault
Operating condition under operate normally after, this method further include: every an impeller swing circle, judge in all blades any two
Whether energy consumption values of the pitch motor of blade in the impeller swing circle are all satisfied pre-arranged code device redundancy running condition；
Energy consumption values include: that first energy of the pitch motor of any two blades in all blades in the impeller swing circle disappears
Consumption value, or/also, in all blades any two blades pitch motor the encoder from a blade fault moment
It rises to the second energy consumption values between current time；
If the first energy consumption values or the second energy consumption values are unsatisfactory for pre-arranged code device redundancy running condition, control
Wind power generating set executes shutdown operation.
3 °~5 ° pitch Angle Positions in a kind of possible embodiment of first aspect, on every vane propeller-changing path
Place is provided with close to switch, should after operating normally wind power generating set under the operating condition of a blade encoder fault
Method further include: in response to the trigger signal close to switch, energy consumption values are zeroed out, and every an impeller revolution
Phase, judge the pitch motors of any two blades in all blades from resetting the moment to the energy consumption between current time
Value, if be all satisfied pre-arranged code device redundancy running condition；If the pitch motor of any two blades is from clearly in all blades
Zero moment rises to the energy consumption values between current time, is unsatisfactory for pre-arranged code device redundancy running condition, controls wind-power electricity generation
Unit executes shutdown operation.
In a kind of possible embodiment of first aspect, energy consumption values include current integration values and/or voltage product
Score value, pre-arranged code device redundancy running condition include: the pitch motor of any two blades in all blades within the affiliated period
The differences of current integration values be respectively less than the first preset threshold；Alternatively, the pitch motor of any two blades exists in all blades
The difference of voltage integrating meter value in the affiliated period is respectively less than the second preset threshold；Alternatively, any two blades in all blades
The difference of current integration values of the pitch motor within the affiliated period is respectively less than the first preset threshold, and any two in all blades
The pitch motor of blade is respectively less than the second preset threshold in the difference of the voltage integrating meter value of same period.
In a kind of possible embodiment of first aspect, the output signal of encoder includes absolute value signal and increment
Signal；If the encoder fault of a blade, and the encoder of other blades is normal, then controls all leaves in wind power generating set
The pitch motor of piece is run according to same variable pitch speed, comprising: absolute value signal event occurs for the encoder of a blade if it exists
Barrier and increment signal is normal, and the absolute value signal of the encoder of other blades and increment signal are normal, then control wind-force hair
The vaned pitch motor of institute is run according to same variable pitch speed in motor group.
Second aspect, the embodiment of the present invention provide a kind of wind power generating set operating control device, which includes:
Detection module, for detecting each pitch motor for being set to and being drivingly connected with each branch blade of wind power generating set respectively
The working condition of encoder in rotary shaft；
Pitch motor control module, if the encoder fault for a blade, and the encoder of other blades is normal, then
The vaned pitch motor of institute is run according to same variable pitch speed in control wind power generating set；
Fan control module, if for from the fault moment of the encoder of a blade, one of wind power generating set
In impeller swing circle, it is superfluous to be all satisfied pre-arranged code device for the energy consumption values of the pitch motor of any two blades in all blades
Remaining service condition operates normally wind power generating set under the operating condition of a blade encoder fault.
In a kind of possible embodiment of second aspect, pitch motor control module is also used to, and controls wind-power electricity generation
Unit does not execute error correction relevant to encoder fault, and utilizes in addition to blade where trouble coder, Qi Taye
The measurement data of the encoder of piece substitutes the measurement data of trouble coder.
In a kind of possible embodiment of second aspect, the output signal of encoder includes absolute value signal and increment
Signal, pitch motor control module are set in pitch control device；Pitch motor control module is specifically used for, if it exists a leaf
Absolute value signal failure occurs for the encoder of piece and increment signal is normal, and the absolute value signal and increasing of the encoder of other blades
It is normal to measure signal, then controls the vaned pitch motor of institute in wind power generating set and is run according to same variable pitch speed.
The third aspect, the embodiment of the present invention provide a kind of wind power generating set operating control device, including memory, processing
On a memory and the program that can run on a processor, when processor execution program, realizes wind-force as described above for device and storage
Generating set progress control method.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with program, program quilt
Processor realizes running control method for wind generating set as described above when executing.
As described previously for the encoder fault of a blade, and the normal situation of encoder of other blades, Ke Yixian
The vaned pitch motor of institute is run according to same variable pitch speed in control wind power generating set, then from the coding of a blade
In the impeller swing circle that the fault moment of device rises, the energy consumption of the pitch motor of any two blades in all blades
Value meets pre-arranged code device redundancy running condition, so that it may so that work of the wind power generating set in a blade encoder fault
It is operated normally under condition.With it is in the prior art once detecting the encoder fault of pitch motor of any one blade to wind
Power generator group executes feathering shutdown and compares, and can be realized the Redundant Control to encoder fault operating condition, reduces because of wind-power electricity generation
The loss of generated energy caused by unit frequent shutdown.
Detailed description of the invention
The present invention may be better understood from the description with reference to the accompanying drawing to a specific embodiment of the invention,
In, the same or similar appended drawing reference indicates the same or similar feature.
Fig. 1 is the structural schematic diagram of pitch-controlled system provided in an embodiment of the present invention；
Fig. 2 is the control principle drawing of pitch-controlled system provided in an embodiment of the present invention；
Fig. 3 is the mass breakdown schematic diagram of wind generator set blade provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram to the further mass breakdown of blade 301 in Fig. 3；
Fig. 5 is the flow diagram of running control method for wind generating set provided by one embodiment of the present invention；
Fig. 6 be another embodiment of the present invention provides running control method for wind generating set flow diagram；
Fig. 7 is the flow diagram for the running control method for wind generating set that further embodiment of this invention provides；
Fig. 8 is the flow diagram for the running control method for wind generating set that yet another embodiment of the invention provides；
Fig. 9 is the structural schematic diagram of wind power generating set operating control device provided in an embodiment of the present invention.
Description of symbols:
101- wheel hub；102,103- blade；104- pitch motor；105- pitch control device；
106- pitch variable bearings；107- encoder；108- blower fan main shaft；109- azimuth sensor；
201- blower master controller；201- slip ring；203- variable pitch driver；
301,302,303- blade.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, many details are proposed, in order to provide complete understanding of the present invention.
Fig. 1 is the structural schematic diagram of pitch-controlled system provided in an embodiment of the present invention.
Fig. 1 shows two blades 102 and 103 being installed on wheel hub 101.Wherein, the pitch drive structure of blade 102
It include: pitch motor 104, pitch control device 105 and pitch variable bearings 106.The control terminal and pitch control device of pitch motor 104
The rotary shaft of 105 connections, pitch motor 104 is connect by pitch variable bearings 106 with blade 102.Pitch control device 105 controls variable pitch
Motor 104 rotates, and pitch motor 104 is rotated by pitch variable bearings 106 with movable vane piece 102, executes variable pitch operation to blade 102.
Pitch control device 105 is connect with the pitch motor of three blades simultaneously.
The encoder 107 positioned at 104 rotary shaft tail portion of pitch motor, encoder 107 and pitch motor are also shown in Fig. 1
104 rotary shaft mechanical connection, for measuring the reality output revolving speed of pitch motor 104.In 104 course of work of pitch motor,
The absolute value signal for indicating variable pitch angle can be sent to pitch control device 105 by encoder 107, while will indicate variable pitch speed
Increment signal is sent to variable pitch driver (not shown).
The azimuth sensor 109 being installed on blower fan main shaft 108 is also shown in Fig. 1, for measuring the side of wheel hub 101
Parallactic angle, wheel hub 101 rotate a circle, and the output of azimuth sensor 109 is 360 degree.
Fig. 2 is the control principle drawing of pitch-controlled system provided in an embodiment of the present invention.Compared to Figure 1, wind is also shown in Fig. 2
Owner's controller 201, slip ring 202 and variable pitch driver 203.
Wherein, it is communicated between blower master controller 201 and pitch control device 105 by slip ring 202, blower main control
Device 201 is used to be provided with feedback regulator in blower master controller 201 according to unit model featured configuration rotating speed of target, such as
Pi regulator.
When work, the pi regulator in blower master controller 201 can be defeated compared with rotating speed of target by generator actual speed
Variable pitch demand speed out, and variable pitch demand speed is sent to by pitch control device 105 by slip ring 202.Pitch control device 105 will
Variable pitch demand speed is sent to variable pitch driver 203, while sending enable signal to variable pitch driver 203.Variable pitch driver 203
After receiving enable signal and variable pitch demand speed, the control brake of pitch motor 104 declutches and exports three-phase voltage (U, V, W) drive
Dynamic pitch motor 104 is run, and realizes blade tune paddle function.
Fig. 3 is the mass breakdown schematic diagram of wind generator set blade provided in an embodiment of the present invention, shows three in Fig. 3
Branch blade, the number of three blades are respectively 301,302 and 303, and illustrate the mass breakdown signal of blade 301 in detail.
As shown in figure 3, angle a is the azimuth of blade 301.M0 is equivalent matter when blade is installed on rotation on wheel hub
Amount.M1 is quality m0 perpendicular to the component in 301 direction of blade, i.e. m1=m0 × sina.M2 is quality m0 parallel rotating axis
Component.M1 and m2 is respectively positioned in the Plane of rotation (also referred to as wind wheel plane) of three blades composition.
Fig. 4 is the schematic diagram to the further mass breakdown of blade 301 in Fig. 3, specifically from the cross section angle of blade 301
Mass breakdown signal has been carried out to blade 301.
As shown in figure 4, angle b is the propeller pitch angle of blade 301, angle b can be measured by encoder 107 and be obtained.P0 is leaf
The centroid position of piece 301, P1 are the rotation axis of blade 301 and the intersection point of wind wheel plane.
Round tangent component where m11 is m1 and the rotation of blade 301, i.e. m11=m1 × sinb, m11 is perpendicular to blade
Flank surfaces, but it is not vertical with rotation axis.
M12 is the component m1 component vertical with 301 axis of blade, and m12 is vertical with rotation axis.Since blade shape is not
Regular rigid body, the expression formula of total rotary inertia I of blade are as follows:
I=I1+I2 (1)
Wherein, I1 be blade equivalent quality m rotate when rotary inertia, I2 be and blade rotate when additional rotation inertia
I2.Wherein:
I1=m0 × L2 (2)
I2=m11 × R2 (3)
Wherein, m0 and m1 has meaning as described above, and L is the diameter of blade 301, and R is mass center radius, i.e., from mass center
The distance between position P0 to P1.
In conjunction with Fig. 3, it is assumed that position straight up is 0 degree of deflection, then obtains blade by the measurement of azimuth sensor 109
302 azimuth is 0 °；The azimuth of blade 302 is 120 °, and the azimuth of blade 303, which is 240 °, to be obtained: a=
180 ° -120 °=60 °.
In conjunction with Fig. 3 and Fig. 4, it is assumed that the initial propeller pitch angle of blade 301 is 90 degree, then:
When blade 301 is located at the right half plane of wind wheel plane, and when variable pitch direction is to 0 degree of direction variable pitch, blade it is attached
Rotary inertia I2 is added to play drag effect to variable pitch；
When blade 301 is located at the right half plane of wind wheel plane, and when variable pitch direction is to 180 degree direction variable pitch, blade
Additional rotation inertia I2 plays power-assisted to variable pitch.
When blade 301 is located at the Left half-plane of wind wheel plane, such as 303 position of blade in Fig. 3, and variable pitch direction be to
When 0 degree of direction variable pitch, the additional rotation inertia I2 of blade plays power-assisted to variable pitch.
When blade 301 is located at the Left half-plane of wind wheel plane, such as 303 position of blade in Fig. 3, and variable pitch direction be to
When the variable pitch of 180 degree direction, the additional rotation inertia I2 of blade plays drag effect to variable pitch.
Therefore, it can be deduced that the size of the additional rotation inertia of blade are as follows:
Wherein, p indicates the variable pitch direction of blade, when blade is to 0 degree of angle variable pitch, p 1；When blade is to 180 degree angle
When variable pitch, p is -1.
In conjunction with (1)-(4), total rotary inertia I of available blade are as follows:
Kinetic energy E according to kinetic energy formula, when available blade rotates are as follows:
E=0.5 × I × ω2 (6)
Wherein, ω is the angular speed of blade rotation.
In conjunction with formula (4) and (5) as can be seen that wind generating set pitch control system is when executing tune paddle operation, three leaves
The azimuth of piece is in periodically variable, so rotating if master control sends identical speed command in each impeller
In period (such as 360 °), the average energy consumption or torque value of three blades be it is identical, i.e. the electric current of pitch motor is the same
's.
Based on this, the embodiment of the present invention provides a kind of running control method for wind generating set and device, storage medium, benefit
With the periodicity of synchronism and the impeller rotation of three vane propeller-changings, Redundant Control is carried out to encoder fault operating condition, to reduce
Because generated energy caused by frequent shutdown loses.
Fig. 5 is the flow diagram of running control method for wind generating set provided by one embodiment of the present invention.Such as Fig. 5
Shown, which includes step 501 to step 503.
In step 501, detection is set to each pitch motor being drivingly connected with each branch blade of wind power generating set respectively
The working condition of encoder in rotary shaft.
In conjunction with Fig. 2, the signal that encoder 107 exports includes absolute value signal S1 and increment signal S2.
Wherein, absolute value signal S1 is fed back to pitch control device 105, by pitch control device 105 according to absolute value signal
Practical variable pitch angle is calculated in S1.In one example, it is provided with code device signal receiving module in pitch control device 105, when
When code device signal receiving module does not receive the absolute value signal S1 of the feedback of encoder 107, it can determine that encoder 107 occurs
Absolute value signal S1 failure.
Increment signal S2 is fed back to variable pitch driver 203, by variable pitch driver 203 according to increment signal S2, calculates
To practical variable pitch speed.In one example, it is provided with code device signal receiving module in variable pitch driver 203, when encoder is believed
When number receiving module does not receive the increment signal S2 of encoder feedback, can determine encoder 107 increment signal S2 occurs therefore
Barrier.
When encoder 107 is in malfunction, it may be possible to absolute value signal S1 failure, increment signal S2 failure, alternatively,
Absolute value signal S1 failure and increment signal S2 failure exist simultaneously, and are not defined herein to the type of encoder fault.
In step 502, if the encoder fault of a blade, and the encoder of other blades is normal, then controls wind-force
The vaned pitch motor of institute is run according to same variable pitch speed in generating set.
In step 503, if in an impeller swing circle from the fault moment of the encoder of a blade, own
The energy consumption values of the pitch motor of any two blades are all satisfied pre-arranged code device redundancy running condition in blade, then make wind-force
Generating set operates normally under the operating condition of a blade encoder fault.
In one example, impeller swing circle can use the azimuth counter being set on wheel hub and measure,
It can use wind power generating set revolving speed to convert.For example, set wind power generating set revolving speed as n/rpm (rev/min), then impeller
It often rotates a circle, required time is (1/n) point, is converted into after the second as (60/n), i.e., per (60/n) second, the leaf of wind power generating set
Wheel rotates a circle, synchronous 360 degree of the variation in the azimuth of corresponding three blades.
In conjunction with Fig. 3 and Fig. 4 and the conclusion of formula (4) and (5), wind generating set pitch control system is executing tune paddle behaviour
When making, the azimuth of three blades is in periodically variable, so if master control sends identical speed command, every
In a impeller swing circle (such as 360 °), the average energy consumption or torque value of three blades be it is identical, therefore, can pass through
The comparing result of the energy consumption values of pitch motor of three blades in impeller swing circle, the shadow for encoder of debugging
It rings, so that wind power generating set be made to operate normally under the operating condition of a blade encoder fault.
As the first characteristic manner, if electricity of the pitch motor of any two blades within the affiliated period in all blades
The difference of stream integrated value is respectively less than the first preset threshold, and the first preset threshold is a minimum here, and specific value can root
It is determined according to the current integration characteristic of pitch motor.If the pitch motor of any two blades is rotated in impeller in all blades
The difference of current integration values in period is respectively less than the first preset threshold, illustrates the vaned pitch motor of institute in impeller revolution
The average energy consumption of pitch motor in phase is identical, and the influence for the encoder that can debug makes wind power generating set in a leaf
It is operated normally under the operating condition of piece encoder fault.
As second of characteristic manner, if electricity of the pitch motor of any two blades within the affiliated period in all blades
The difference of hematocrit score value is respectively less than the second preset threshold, and the second preset threshold is also a minimum here, and specific value can be with
It is determined according to the voltage integrating meter characteristic of pitch motor.If the pitch motor of any two blades is revolved in impeller in all blades
The difference of voltage integrating meter value in the turn-week phase is respectively less than the first preset threshold, illustrates that the vaned pitch motor of institute is rotated in impeller
The average energy consumption of pitch motor in period is identical, and the influence for the encoder that can debug makes wind power generating set at one
It is operated normally under the operating condition of blade encoder fault.
As the third characteristic manner, if electricity of the pitch motor of any two blades within the affiliated period in all blades
Integrated value is flowed less than the first preset threshold, and the pitch motor of any two blades is accumulated in the voltage of same period in all blades
Score value is different from first two characteristic manner less than the second preset threshold, the third characteristic manner is by current integration and voltage integrating meter
Mode combine, then determine debugging encoder influence, make wind power generating set in the work of a blade encoder fault
It is operated normally under condition, the accuracy of encoder fault exclusion is improved, so as to avoid leading due to encoder fault is misprinted and removed
The operational safety problem of the wind power generating set of cause.
As described previously for the encoder fault of a blade, and the normal situation of encoder of other blades, Ke Yixian
The vaned pitch motor of institute is run according to same variable pitch speed in control wind power generating set, then from the coding of a blade
In the impeller swing circle that the fault moment of device rises, the energy consumption of the pitch motor of any two blades in all blades
Value is all satisfied pre-arranged code device redundancy running condition, so that it may so that the wind power generating set is in blade encoder fault
It is operated normally under operating condition.With it is in the prior art once detecting the encoder fault of pitch motor of any one blade it is right
Wind power generating set executes feathering shutdown and compares, and can be realized the Redundant Control to encoder fault operating condition, reduces because wind-force is sent out
The loss of generated energy caused by motor group frequent shutdown.
Further, since the embodiment of the present invention is the synchronism for utilizing three vane propeller-changings and the periodicity of impeller rotation, lead to
It crosses and the energy consumption values in impeller swing circle of each branch blade is compared, come the influence for encoder of debugging, make wind
Power generator group operates normally under the operating condition of a blade encoder fault, therefore, there is no need to pitch-controlled system internal structure
It is redesigned, is had the advantages that at low cost and easy to spread.
Fig. 6 be another embodiment of the present invention provides running control method for wind generating set flow diagram.Fig. 6 with
Fig. 5 the difference is that, after the step 502 in Fig. 5, which include thes steps that 504 in Fig. 6.
In step 504, if in an impeller swing circle from the fault moment of the encoder of a blade, own
The energy consumption values of the pitch motor of any two blades are unsatisfactory for pre-arranged code device redundancy running condition in blade, then control wind
Power generator group executes shutdown operation.
In conjunction with Fig. 3 and Fig. 4 and the conclusion of formula (4) and (5), if from the fault moment of the encoder of a blade
An impeller swing circle in, the energy consumption values of the pitch motor of any two blades are unsatisfactory for default volume in all blades
Code device redundancy running condition, illustrates the average energy consumption of pitch motor of the pitch motor of each blade in impeller swing circle not
Together, cannot exclude the influence of trouble coder, to avoid because of encoder fault caused by wind power generating set operational safety
Problem needs to control wind power generating set and executes shutdown operation.
Fig. 7 is the flow diagram for the running control method for wind generating set that further embodiment of this invention provides.Fig. 7 with
Fig. 5 the difference is that, execute Fig. 5 in step 502 while, it is also necessary to execute the step 505 in Fig. 7.
In step 505, control wind power generating set does not execute error correction relevant to encoder fault, and utilizes and remove
The measurement data of the encoder of blade other than blade where trouble coder, other, substitutes the measurement data of trouble coder.
In one example, the error correction relevant to encoder fault of wind power generating set includes: that angle corrects function,
For being consistent the propeller pitch angle of each blade.
In this step, wind power generating set does not execute above-mentioned angle and corrects function, but utilizes and remove trouble coder institute
Measurement data (such as the practical variable pitch angle obtained based on increment signal S2 of the encoder of other than blade, other blades
Degree), the measurement data of substitution trouble coder is gone, to be wind power generating set under the operating condition of a blade encoder fault
It operates normally and data support is provided.
Specifically, in addition to can use the blade where the trouble coder, other vaned encoder measurement
The average value of data substitutes the measurement data of trouble coder.
Fig. 8 is the flow diagram for the running control method for wind generating set that yet another embodiment of the invention provides.Fig. 8 with
Fig. 5 the difference is that, after the step 503 in Fig. 5, which include thes steps that in Fig. 8 506 and step
Rapid 507, for wind power generating set the energy consumption values of vaned pitch motor continued to monitor and compared, with true
Recognize the validity of the redundancy running control strategy based on encoder fault.
In step 506, every an impeller swing circle, judge the pitch motor of any two blades in all blades
Energy consumption values whether be all satisfied pre-arranged code device redundancy running condition.
Wherein, energy consumption values include: the pitch motor of any two blades in all blades in the impeller swing circle
The first interior energy consumption values, or/also, in all blades any two blades pitch motor in the volume from a blade
The fault moment of code device rises to the second energy consumption values between current time.
In step 507, if the first energy consumption values or the second energy consumption values are unsatisfactory for pre-arranged code device redundancy fortune
Row condition then controls wind power generating set and executes shutdown operation.
It should be noted that the difference of the first energy consumption values and the second energy consumption values is to calculate data decimation side
Formula, what the former chose is operation data of the pitch motor in an impeller rotation, for example, electric current or voltage, for characterizing
Energy consumption values of the pitch motor in an impeller rotation, without data accumulation；And the latter chooses be pitch motor from
The fault moment of the encoder of one blade rises to operation data between current time, for characterizing pitch motor from a blade
The fault moment of encoder rise to energy consumption values between current time, for from the confirmation of the angle of energy accumulation value based on compiling
The validity of the redundancy running control strategy of code device failure, those skilled in the art can choose suitable according to actual needs
Data calculate energy consumption values, herein without limiting.
Data decimation mode is calculated as the first, by taking energy consumption values are current integration values as an example, if in all blades
It is default that difference of the pitch motor of any two blades between the current integration values in the impeller swing circle is respectively less than first
Threshold value, illustrate pitch motor of the vaned pitch motor in current impeller swing circle average energy consumption it is identical, can be with
The influence of debugging encoder operates normally wind power generating set continuation under the operating condition of a blade encoder fault.
And if in all blades current integration values of the pitch motor of any two blades in the impeller swing circle it
Between difference not be respectively less than the first preset threshold, illustrate pitch motor of the pitch motor of each blade in impeller swing circle
Average energy consumption is different, cannot exclude the influence of trouble coder, to avoid because of encoder fault caused by wind power generating set
Operational safety problem, need to control wind power generating set execute shutdown operation.
As second of calculating data decimation mode, by taking energy consumption values are current integration values as an example, if in all blades
The pitch motor of any two blades is in the current integration values from the fault moment of the encoder of a blade to current time
Between difference be respectively less than the first preset threshold, illustrate that the vaned pitch motor of institute rises in self-encoding encoder fault moment to current
The average energy consumption of the pitch motor at moment is identical, the influence for the encoder that can debug, and continues wind power generating set one
It is operated normally under the operating condition of branch blade encoder fault.
And if the pitch motor of any two blades is from the fault moment of the encoder of a blade in all blades
It is not respectively less than the first preset threshold to the difference between the current integration values between current time, illustrates the pitch motor of each blade
The average energy consumption of pitch motor in impeller swing circle is different, cannot exclude the influence of trouble coder, to avoid because compiling
The operational safety problem of wind power generating set caused by code device failure, needs to control wind power generating set and executes shutdown operation.
In one alternate embodiment, for eliminate from the fault moment of the encoder of a blade to the electricity at current time
Accumulated error caused by integrated value is flowed, 3 °~5 ° pitch angular positions being set on every vane propeller-changing path is can use and sets
It is equipped with close to switch to current integration data into clearing.
Specifically, energy consumption values can be zeroed out in response to the trigger signal of close switch, and every a leaf
Take turns swing circle, judge the pitch motors of any two blades in all blades from resetting the moment between current time
Energy consumption values, if be all satisfied pre-arranged code device redundancy running condition.
For example, if in all blades any two blades pitch motor from resetting the moment between current time
Difference between current integration values is not respectively less than the first preset threshold, illustrates the pitch motor of each blade in impeller swing circle
Pitch motor average energy consumption it is different, cannot exclude the influence of trouble coder, caused by avoiding because of encoder fault
The operational safety problem of wind power generating set needs to control wind power generating set and executes shutdown operation.
As noted previously, as the running control method for wind generating set in the embodiment of the present invention is based primarily upon pitch motor
The consistency of electric current carries out Redundant Control to encoder fault operating condition, therefore can be adapted for the failure that significant change does not occur for electric current
Operating condition, such as: encoder line fault and encoder acquisition module failure etc..
And for some fault conditions for causing electric current significant change, for example, pitch motor stall will lead to pitch motor
Electric current increased dramatically；Variable pitch brake relay will lead to pitch motor stall extremely, and pitch motor electric current increased dramatically；Variable pitch drives
It is 0 that dynamic device failure, which will lead to pitch motor electric current,；Variable pitch driver parameter error pitch motor electric current increased dramatically；Just need wind
Power generator group automatically exits from redundancy running, to guarantee the safe operation of wind power generating set.
Fig. 9 is the structural schematic diagram of wind power generating set operating control device provided in an embodiment of the present invention, such as Fig. 9 institute
Show, which includes detection module 901, pitch motor control module 902 and fan control module 903.
Wherein, detection module 901 is set to each with each branch blade drive connection of wind power generating set for detection respectively
The working condition of encoder in pitch motor rotary shaft.
If pitch motor control module 902 is used for the encoder fault of a blade, and the encoder of other blades is normal,
The vaned pitch motor of institute in wind power generating set is then controlled to run according to same variable pitch speed.
In one alternate embodiment, pitch motor control module 902 is also used to, control wind power generating set do not execute with
The relevant error correction of encoder fault, and utilize the encoder of blade in addition to blade where trouble coder, other
Measurement data substitutes the measurement data of trouble coder.
If fan control module 903 is for an impeller swing circle from the fault moment of the encoder of a blade
Interior, the energy consumption values of the pitch motor of any two blades are all satisfied pre-arranged code device redundancy running condition in all blades,
Operate normally wind power generating set under the operating condition of a blade encoder fault.
It should be noted that for wind power generating set in actual motion, the output signal of encoder includes exhausted in conjunction with Fig. 2
To value signal S1 and increment signal S2, absolute value signal S1 is fed back to pitch control device, and increment signal S2 is fed back to variable pitch
Driver.
Absolute value signal S1 failure is occurred for the encoder of blade and increment signal S2 is normal, and other blades
The absolute value signal S1 and increment signal S2 of encoder normal situation, it can be understood as: pitch control device trigger failure and
Variable pitch driver does not trigger failure, and the failure-description of pitch control device is " the only absolute value signal of the encoder of a blade
S1 is abnormal ".
For the situation, can be can be set in pitch control device with pitch motor control module 902, by pitch control device
Execute in control wind power generating set the strategy that is run according to same variable pitch speed of vaned pitch motor.
And increment signal S2 failure is occurred for the encoder of blade and absolute value signal S1 is normal, and other blades
Encoder the normal situation of absolute value signal S1 and increment signal S2, it can be understood as: pitch control device do not trigger therefore
Barrier is that variable pitch driver triggers failure, and the failure-description of variable pitch driver is " the only increment signal of the encoder of a blade
It is abnormal ".
For the situation, pitch motor control module 902 can be set in variable pitch driver, by variable pitch driver Lai
Execute in control wind power generating set the strategy that is run according to same variable pitch speed of vaned pitch motor.
Increment signal S2 failure and absolute value signal S1 failure, and other blades are occurred for the encoder of a blade
Encoder the normal situation of absolute value signal S1 and increment signal S2, it can be understood as: pitch control device and variable pitch drive
Dynamic device triggers failure, and the failure-description of pitch control device is " only the absolute value signal of the encoder of a blade is abnormal " variable pitch
Driver malfunction is described as " only the increment signal of the encoder of a blade is abnormal ".
For the situation, pitch motor control module 902 can be respectively arranged at pitch control device and variable pitch driver
In, the vaned pitch motor of institute is controlled in wind power generating set according to same change by pitch control device and variable pitch driver together
The operation of paddle speed.
The embodiment of the present invention also provides a kind of wind power generating set operating control device, including memory, processor and deposits
The program that can be run on a memory and on a processor is stored up, processor realizes wind-driven generator as described above when executing program
Group progress control method.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with program, program is by processor
Running control method for wind generating set as described above is realized when execution.
It should be clear that all the embodiments in this specification are described in a progressive manner, each embodiment it
Between the same or similar part may refer to each other, the highlights of each of the examples are it is different from other embodiments it
Place.For device embodiment, related place may refer to the declaratives of embodiment of the method.Not office of the embodiment of the present invention
It is limited to particular step and structure described above and shown in figure.Those skilled in the art can understand the present invention in fact
It after the spirit for applying example, is variously modified, modification and addition, or the sequence between changing the step.Also, it is risen in order to concise
See, omits the detailed description to known method technology here.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
It closes.When realizing in hardware, it may, for example, be electronic circuit, specific integrated circuit (ASIC), firmware appropriate, insert
Part, function card etc..When being realized with software mode, the element of the embodiment of the present invention is used to execute the program of required task
Or code segment.Perhaps code segment can store in machine readable media program or the data by carrying in carrier wave are believed
It number is sent in transmission medium or communication links." machine readable media " may include be capable of storage or transmission information any
Medium.The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM
(EROM), floppy disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can via such as because
The computer network of special net, Intranet etc. is downloaded.
The embodiment of the present invention can be realized in other specific forms, without departing from its spirit and essential characteristics.For example, special
Determining algorithm described in embodiment can be modified, and system architecture is without departing from the substantially smart of the embodiment of the present invention
Mind.Therefore, current embodiment is all counted as being exemplary rather than limited, the model of the embodiment of the present invention in all respects
It encloses by appended claims rather than foregoing description defines, also, falls into the meaning of claim and complete in the range of equivalent
Portion changes all to be included among the range of the embodiment of the present invention.
Claims (13)
1. a kind of running control method for wind generating set characterized by comprising
Detection is set to the encoder in each pitch motor rotary shaft being drivingly connected with each branch blade of wind power generating set respectively
Working condition；
If the encoder fault of a blade, and the encoder of other blades is normal, then controls all leaves in wind power generating set
The pitch motor of piece is run according to same variable pitch speed；
If in an impeller swing circle from the fault moment of the encoder of a blade, any two in all blades
The energy consumption values of the pitch motor of branch blade are all satisfied pre-arranged code device redundancy running condition, then make the wind power generating set
It is operated normally under the operating condition of a blade encoder fault.
2. the method according to claim 1, wherein the vaned change of institute in the control wind power generating set
After paddle motor is run according to same variable pitch speed, the method also includes:
If in the impeller swing circle that self-encoding encoder fault moment rises, the pitch motor of any two blades in all blades
Energy consumption values be unsatisfactory for the pre-arranged code device redundancy running condition, then control the wind power generating set and execute and shut down behaviour
Make.
3. the method according to claim 1, wherein the vaned change of institute in the control wind power generating set
While paddle motor is run according to same variable pitch speed, the method also includes:
It controls the wind power generating set and does not execute error correction relevant to encoder fault, and using except trouble coder institute
The measurement data of the encoder of other than blade, other blades, substitutes the measurement data of the trouble coder.
4. according to the method described in claim 3, it is characterized in that, it is described using it is in addition to the blade where the trouble coder,
The measurement data of the encoder of other blades substitutes the measurement data of the trouble coder, comprising:
Using it is in addition to blade where the trouble coder, other the measurement data of vaned encoder be averaged
Value, substitutes the measurement data of the trouble coder.
5. the method according to claim 1, wherein compiling the wind power generating set in a blade described
After being operated normally under the operating condition of code device failure, the method also includes:
Every an impeller swing circle, judge the pitch motor of any two blades in all blades energy consumption values whether
It is all satisfied the pre-arranged code device redundancy running condition；The energy consumption values include: any two blades in all blades
First energy consumption values of the pitch motor in the impeller swing circle, or/also, any two blades in all blades
Pitch motor from the fault moment of the encoder of a blade to the second energy consumption values between current time；
If first energy consumption values or second energy consumption values are unsatisfactory for the pre-arranged code device redundancy running item
Part then controls the wind power generating set and executes shutdown operation.
6. the method according to claim 1, wherein 3 °~5 ° pitch Angle Positions on every vane propeller-changing path
Place is provided with close to switch, operates normally the wind power generating set under the operating condition of a blade encoder fault described
Later, the method also includes:
In response to the trigger signal close to switch, the energy consumption values are zeroed out, and are rotated every an impeller
Period judges that the pitch motor of any two blades in all blades is disappearing from resetting the moment to the energy between current time
Consumption value, if be all satisfied the pre-arranged code device redundancy running condition；
If in all blades the pitch motor of any two blades from resetting the moment to the energy consumption between current time
Value, is unsatisfactory for the pre-arranged code device redundancy running condition, controls the wind power generating set and executes shutdown operation.
7. method described in -6 any one according to claim 1, which is characterized in that the energy consumption values include current integration
Value and/or voltage integrating meter value, the pre-arranged code device redundancy running condition include:
The difference of current integration values of the pitch motor of any two blades within the affiliated period is respectively less than in all blades
First preset threshold；Alternatively,
The difference of voltage integrating meter value of the pitch motor of any two blades within the affiliated period is respectively less than in all blades
Second preset threshold；Alternatively,
The difference of current integration values of the pitch motor of any two blades within the affiliated period is respectively less than in all blades
First preset threshold, and in all blades any two blades pitch motor same period voltage integrating meter value
Difference be respectively less than the second preset threshold.
8. the method according to claim 1, wherein the output signal of the encoder include absolute value signal and
Increment signal；
If the encoder fault of a blade, and the encoder of other blades is normal, then controls institute in wind power generating set
Vaned pitch motor is run according to same variable pitch speed, comprising:
Absolute value signal failure occurs for the encoder of a blade if it exists and increment signal is normal, and the encoder of other blades
Absolute value signal and increment signal it is normal, then control in wind power generating set the vaned pitch motor of institute according to same change
The operation of paddle speed.
9. a kind of wind power generating set operating control device characterized by comprising
Detection module is rotated for detecting each pitch motor for being set to and being drivingly connected with each branch blade of wind power generating set respectively
The working condition of encoder on axis；
Pitch motor control module, if the encoder fault for a blade, and the encoder of other blades is normal, then controls
The vaned pitch motor of institute is run according to same variable pitch speed in wind power generating set；
Fan control module, if for from the fault moment of the encoder of a blade, one of wind power generating set
In impeller swing circle, it is superfluous to be all satisfied pre-arranged code device for the energy consumption values of the pitch motor of any two blades in all blades
Remaining service condition operates normally the wind power generating set under the operating condition of a blade encoder fault.
10. device according to claim 9, which is characterized in that the pitch motor control module is also used to, described in control
Wind power generating set does not execute error correction relevant to encoder fault, and using in addition to blade where trouble coder
, the measurement data of the encoders of other blades, substitute the measurement data of the trouble coder.
11. device according to claim 10, which is characterized in that the output signal of the encoder includes absolute value signal
And increment signal, the pitch motor control module are set in the pitch control device；
The pitch motor control module is specifically used for, and the encoder of a blade occurs absolute value signal failure and increases if it exists
It is normal to measure signal, and the absolute value signal of the encoder of other blades and increment signal are normal, then control wind power generating set
The middle vaned pitch motor of institute is run according to same variable pitch speed.
12. a kind of wind power generating set operating control device, including memory, processor and storage on a memory and can located
The program run on reason device, which is characterized in that the processor realizes such as claim 1-8 any one when executing described program
The running control method for wind generating set.
13. a kind of computer readable storage medium, is stored thereon with program, which is characterized in that described program is executed by processor
Running control method for wind generating set of the Shi Shixian as described in claim 1-8 any one.
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| CN112523946A (en) * | 2019-09-17 | 2021-03-19 | 北京金风科创风电设备有限公司 | Variable pitch control method, device and medium for wind generating set |
| CN113027681A (en) * | 2019-12-25 | 2021-06-25 | 新疆金风科技股份有限公司 | Wind generating set operation control method and device and computer equipment |
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| CN113389684B (en) * | 2021-08-18 | 2021-11-09 | 东方电气风电有限公司 | Fault-tolerant control method for yaw angle counter of wind generating set |
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