CN109931218A - A kind of yaw control system and its Yaw control method - Google Patents
A kind of yaw control system and its Yaw control method Download PDFInfo
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- CN109931218A CN109931218A CN201910162159.6A CN201910162159A CN109931218A CN 109931218 A CN109931218 A CN 109931218A CN 201910162159 A CN201910162159 A CN 201910162159A CN 109931218 A CN109931218 A CN 109931218A
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- yaw
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- frequency converter
- motion controller
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 2
- 230000001052 transient effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 201000009482 yaws Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a kind of yaw control system and methods, the system includes the braking resistor module or energy feedback unit of the yaw motor of 1 or 1 or more motion controller, the frequency converter of 1 or 1 or more or servo-driver, 1 or 1 or more, 1 or 1 or more, by Switching Power Supply, perhaps external electrical network motion controller of powering is communicated by MODBUS or CANopen communication bus or analog signal, digital signal with blower master controller motion controller.Yaw control system and its Yaw control method disclosed in this invention, motion controller and frequency converter are increased between blower master controller and yaw motor, control the starting, closing and acceleration and deceleration logic of each yaw motor by frequency converter or servo-driver according to the instruction of blower master controller as host by motion controller, each yaw motor is controlled during yawing and completing and is gradually decelerated to closing, thus the vibration and its impact to blower fan tower barrel that reduce yaw motor turn-off transient cabin.
Description
Technical field
The invention belongs to wind-driven generator fields, in particular to one of field yaw control system and its yaw control
Method processed.
Background technique
Wind-driven generator is made of multiple portions, and control system extends through each part, is equivalent to wind-driven generator
Nerve, therefore the operating status of control system is directly related to the working condition of wind-driven generator, generated energy be how many and work
Safety etc..Yaw control system is essential part in wind power generator control system, is run in wind-driven generator
Cheng Zhong, when yaw control system confirmation carrys out wind wind deflection angle greater than predetermined angle, yaw control system executes yaw, control
Cabin at the top of blower fan tower barrel processed is rotated along blower fan tower barrel, so that wind wheel is deflected to alignment and is carried out wind wind direction, to make full use of wind
Energy.
Current yaw control system of wind driven generator is directly by the operation of blower main controller controls yaw motor, yaw
Motor all compares the impact of blower fan tower barrel in the moment cabin vibrations and cabin of closing from the no any buffering of closing is run to
Greatly.
Summary of the invention
The technical problem to be solved by the invention is to provide one kind, and yaw motor can be made gradually to be decelerated to the inclined of closing
Control system of navigating and its Yaw control method.
The present invention adopts the following technical scheme:
A kind of yaw control system, thes improvement is that: the system include 1 or 1 or more motion controller, 1
It is a or 1 or more frequency converter or servo-driver, the yaw motor of 1 or 1 or more, 1 or 1 or more braking resistor
Module or energy feedback unit, motion controller are powered by Switching Power Supply or external electrical network, motion controller and blower master control
Device processed passes through MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal, number
Signal is communicated, furthermore motion controller also respectively with frequency converter or servo-driver by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal are communicated, and frequency converter or
Servo-driver is then respectively connected with 1 yaw motor and controls its operation.
Further, a band-type brake energy absorbing device is set in the brake loop of each yaw motor.
A kind of Yaw control method, using above-mentioned yaw control system, it is improved in that including the following steps:
It is sent according to wind direction to motion controller by blower master controller and yaws starting and Off-course Target angle command, at motion controller
Pass through MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal, number after reason
Signal send an instruction to each frequency converter perhaps each frequency converter of servo-driver or servo-driver open it is coupled
After yaw motor band-type brake, start the yaw motor, yaw starts；Motion controller by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal send current rotating speed to each frequency conversion
Device perhaps each frequency converter of servo-driver or primary transducer in servo-driver or servo-driver according to the instruction meter
Torque needed for calculating, and the calculated result is passed through into MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen
Communication bus or analog signal, digital signal are sent to remaining, and from frequency converter, perhaps servo-driver from frequency converter or is watched
Take driver respective torque adjusted according to the instruction and export, to realize load balancing automatically, finally make each frequency converter or
The load balancing of person's servo-driver, when yaw is up to target angle, blower master controller is sent to motion controller
Deceleration instruction is communicated after motion controller processing by MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen
Bus or analog signal, digital signal send an instruction to each frequency converter perhaps each frequency converter of servo-driver or servo
Primary transducer or servo-driver in driver calculate required torque according to the instruction, and the calculated result is passed through
MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal by this
Calculated result is sent to respectively from frequency converter or servo-driver, thus realize load balancing, when yaw reaches target angle,
Blower master controller give motion controller send halt instruction, motion controller processing after by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal send an instruction to each frequency converter
Or servo-driver, each frequency converter or servo-driver close the band-type brake of coupled yaw motor and the yaw motor,
Yaw is completed, and in above-mentioned During yaw, system absorbs the energy of feedback using braking resistor module or energy feedback unit.
The beneficial effects of the present invention are:
Yaw control system and its Yaw control method disclosed in this invention, increase between blower master controller and yaw motor
Added motion controller and frequency converter, by motion controller as host according to the instruction of blower master controller by frequency converter or
Person's servo-driver controls the starting, closing and acceleration and deceleration logic of each yaw motor, controls during yawing and completing each inclined
Avionics machine is gradually decelerated to closing, to reduce the vibration of yaw motor turn-off transient cabin and its rush to blower fan tower barrel
It hits.
Detailed description of the invention
Fig. 1 is the composition block diagram of yaw control system disclosed in the embodiment of the present invention 1；
Fig. 2 is the circuit connection diagram of motion controller in yaw control system disclosed in the embodiment of the present invention 1；
Fig. 3 is the circuit connection diagram of frequency converter in yaw control system disclosed in the embodiment of the present invention 1.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1, as shown in Figure 1-3, the system includes one present embodiment discloses a kind of yaw control system
2, six, frequency converter yaw motor, 3, the 24V Switching Power Supplies 4 of motion controller 1, six and a braking resistor module, wherein
Motion controller is powered by 24V Switching Power Supply and passes through CANopen bus communication with blower master controller, furthermore motion controller
Also respectively with six frequency converters by RS485 interface connection communication, and six frequency converters are then respectively connected with a yaw motor
And its operation is controlled, a band-type brake energy absorbing device (BFL) is additionally set in the brake loop of each yaw motor,
For absorbing the energy generated when band-type brake release.
In the present embodiment, the motion controller is Busmaster card；The 24V Switching Power Supply is 2A direct current
Switching Power Supply.Since the wiring of each frequency converter is all identical, the circuit connection of 1 frequency converter is shown only in Fig. 3.
The present embodiment also discloses a kind of Yaw control method, using above-mentioned yaw control system, includes the following steps:
It is sent according to wind direction to motion controller by blower master controller and yaws starting and Off-course Target angle command, at motion controller
Each frequency converter is sent an instruction to by RS485 interface after reason, each frequency converter opens coupled yaw by DO output
After motor internal contracting brake, start the yaw motor and setting speed, yaw starts；Motion controller is micro- according to the current feedback of frequency converter
The revolving speed for adjusting each yaw motor, makes the load balancing of each yaw motor, reducing noise, when yaw is up to target angle,
Blower master controller sends deceleration instruction to motion controller, is sent instruction by RS485 interface after motion controller processing
To each frequency converter, the coupled yaw motor of each Frequency Converter Control slows down, and system utilizes braking resistor mould in the process
Block absorbs feedback energy, is stopped with having the function that yaw damping is slow, reduces the shock loading to tower, when yaw reaches target angle
When spending, blower master controller sends halt instruction to motion controller, will be instructed after motion controller processing by RS485 interface
It is sent to each frequency converter, each frequency converter closes embracing for coupled yaw motor and the yaw motor by stopping DO output
Lock, yaw are completed.
This method controls yaw motor, this mode and tradition without sensor vector operational mode (SVC) using frequency converter
Hydraulic damping system is compared, and can achieve the pinpoint effect of servo, while also reducing impact to blower and cabin
Vibration, reduces noise.
Claims (3)
1. a kind of yaw control system, it is characterised in that: the system include 1 or 1 or more motion controller, 1
Or 1 or more frequency converter or servo-driver, the yaw motor of 1 or 1 or more, 1 or 1 or more braking resistor mould
Block or energy feedback unit, motion controller are powered by Switching Power Supply or external electrical network, motion controller and blower main control
Device passes through MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal, number letter
Number communicated, furthermore motion controller also respectively with frequency converter or servo-driver by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal are communicated, and frequency converter or
Servo-driver is then respectively connected with 1 yaw motor and controls its operation.
2. yaw control system according to claim 1, it is characterised in that: in the brake loop of each yaw motor
One band-type brake energy absorbing device is set.
3. a kind of Yaw control method uses yaw control system described in claim 1, which is characterized in that including walking as follows
It is rapid: yaw starting and Off-course Target angle command, motion control being sent to motion controller according to wind direction by blower master controller
After device processing by MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal,
Digital signal sends an instruction to each frequency converter, and perhaps each frequency converter of servo-driver or servo-driver opening are coupled
After the yaw motor band-type brake connect, start the yaw motor, yaw starts；Motion controller by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal send current rotating speed to each frequency conversion
Device perhaps each frequency converter of servo-driver or primary transducer in servo-driver or servo-driver according to the instruction meter
Torque needed for calculating, and the calculated result is passed through into MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen
Communication bus or analog signal, digital signal are sent to remaining, and from frequency converter, perhaps servo-driver from frequency converter or is watched
Take driver respective torque adjusted according to the instruction and export, to realize load balancing automatically, finally make each frequency converter or
The load balancing of person's servo-driver, when yaw is up to target angle, blower master controller is sent to motion controller
Deceleration instruction is communicated after motion controller processing by MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen
Bus or analog signal, digital signal send an instruction to each frequency converter perhaps each frequency converter of servo-driver or servo
Primary transducer or servo-driver in driver calculate required torque according to the instruction, and the calculated result is passed through
MODBUS, PROFIBUS, ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal by this
Calculated result is sent to respectively from frequency converter or servo-driver, thus realize load balancing, when yaw reaches target angle,
Blower master controller give motion controller send halt instruction, motion controller processing after by MODBUS, PROFIBUS,
ETHERNET, ETHERCAT or CANopen communication bus or analog signal, digital signal send an instruction to each frequency converter
Or servo-driver, each frequency converter or servo-driver close the band-type brake of coupled yaw motor and the yaw motor,
Yaw is completed, and in above-mentioned During yaw, system absorbs the energy of feedback using braking resistor module or energy feedback unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910162159.6A CN109931218A (en) | 2019-03-05 | 2019-03-05 | A kind of yaw control system and its Yaw control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910162159.6A CN109931218A (en) | 2019-03-05 | 2019-03-05 | A kind of yaw control system and its Yaw control method |
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| CN201910162159.6A Pending CN109931218A (en) | 2019-03-05 | 2019-03-05 | A kind of yaw control system and its Yaw control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140433A (en) * | 2020-03-05 | 2020-05-12 | 成都思特电气科技有限公司 | Wind turbine generator system frequency conversion device and driftage system |
| CN112610408A (en) * | 2020-12-24 | 2021-04-06 | 东方电气风电有限公司 | Yaw system and method for wind generating set |
| CN114893349A (en) * | 2022-07-14 | 2022-08-12 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
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| CN101839214A (en) * | 2010-05-12 | 2010-09-22 | 陕西科技大学 | Wind power generation yaw servo control system based on motion controller |
| CN102832868A (en) * | 2012-08-21 | 2012-12-19 | 湖北立锐机电有限公司 | Energy consumption brakingbraking device and method for servo driver |
| CN102913385A (en) * | 2012-06-08 | 2013-02-06 | 北方工业大学 | Active yaw control system of small/ medium-sized wind generating set |
| CN202756175U (en) * | 2012-09-10 | 2013-02-27 | 南车株洲电力机车研究所有限公司 | Yaw control system of wind generating set |
| KR20160012602A (en) * | 2014-07-24 | 2016-02-03 | 주식회사 파익스 | System for Motion Control and Setting Method thereof |
| CN209704752U (en) * | 2019-03-05 | 2019-11-29 | 埃斯倍风电科技(青岛)有限公司 | A kind of yaw control system |
-
2019
- 2019-03-05 CN CN201910162159.6A patent/CN109931218A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101839214A (en) * | 2010-05-12 | 2010-09-22 | 陕西科技大学 | Wind power generation yaw servo control system based on motion controller |
| CN102913385A (en) * | 2012-06-08 | 2013-02-06 | 北方工业大学 | Active yaw control system of small/ medium-sized wind generating set |
| CN102832868A (en) * | 2012-08-21 | 2012-12-19 | 湖北立锐机电有限公司 | Energy consumption brakingbraking device and method for servo driver |
| CN202756175U (en) * | 2012-09-10 | 2013-02-27 | 南车株洲电力机车研究所有限公司 | Yaw control system of wind generating set |
| KR20160012602A (en) * | 2014-07-24 | 2016-02-03 | 주식회사 파익스 | System for Motion Control and Setting Method thereof |
| CN209704752U (en) * | 2019-03-05 | 2019-11-29 | 埃斯倍风电科技(青岛)有限公司 | A kind of yaw control system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140433A (en) * | 2020-03-05 | 2020-05-12 | 成都思特电气科技有限公司 | Wind turbine generator system frequency conversion device and driftage system |
| CN112610408A (en) * | 2020-12-24 | 2021-04-06 | 东方电气风电有限公司 | Yaw system and method for wind generating set |
| CN114893349A (en) * | 2022-07-14 | 2022-08-12 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
| CN114893349B (en) * | 2022-07-14 | 2022-09-30 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
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