CN110285017A - A kind of control method and device of bi-motor pitch-controlled system - Google Patents
A kind of control method and device of bi-motor pitch-controlled system Download PDFInfo
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- CN110285017A CN110285017A CN201910468721.8A CN201910468721A CN110285017A CN 110285017 A CN110285017 A CN 110285017A CN 201910468721 A CN201910468721 A CN 201910468721A CN 110285017 A CN110285017 A CN 110285017A
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The present invention relates to a kind of control method and device of bi-motor pitch-controlled system, this method obtains blade current location and blade target position first, and motor rotating speed of target is calculated according to the difference of blade current location and blade target position；According to motor rotating speed of target, motor target torque is acquired；Then the motor target torque is distributed to main motor and from motor, obtains main motor target torque electric current and from motor target torque electric current；Main motor is controlled with main motor target torque electric current, to control from motor target torque electric current from motor.The present invention is respectively controlled to main motor and from motor, exports motor target torque a part by main motor, and another part is realized main motor and the coordinated control from motor, guaranteed that blade can reach target position by exporting from motor.
Description
Technical field
The invention belongs to wind-powered electricity generation blower technical fields, and in particular to a kind of control method and dress of bi-motor pitch-controlled system
It sets.
Background technique
Important component of the pitch-controlled system as wind-driven generator, for receiving master control system order, control blade turns
Set angle is moved, and then controls wind speed round, realizes the control of blower output power.In emergency circumstances stop as aerodynamic
Che Shi, control blade are quickly put away the oars, and shut down fan safe by way of aerodynamic braking, reach protection unit safety
Purpose.
Domestic main wind-driven generator at present, mostly using the control system of driving single motor, however as big function
The application of rate unit, blade necessarily lengthens, load increases, and causes motor, retarder, control cabinet, capacitor box volume excessive.Due to
Wheel hub finite volume, component is excessive will lead to it is difficult to install；Simultaneously because big part quality is big, repairs and replace in damage
Shi Gengjia is difficult.
In order to solve this problem, two motors can be used to drive blade to move.But it is controlled using two motors
When processed, the coordinated control of two motors is emphasis problem to be solved.
Summary of the invention
The present invention provides a kind of control methods of bi-motor pitch-controlled system, how to realize that two motors carry out to solve
The problem of coordinated control；The present invention also provides a kind of control devices of bi-motor pitch-controlled system, how to realize two to solve
A motor carries out the problem of coordinated control.
In order to solve the above technical problems, technical solution of the present invention and having the beneficial effect that
A kind of control method of bi-motor pitch-controlled system of the invention, includes the following steps:
Blade current location and blade target position are obtained, according to the difference meter of blade current location and blade target position
Calculation obtains motor rotating speed of target；According to motor rotating speed of target, motor target torque is acquired；By the motor target torque distribute to
Main motor and from motor obtains main motor target torque electric current and from motor target torque electric current；With main motor target torque electricity
Stream controls main motor, to control from motor target torque electric current from motor.
Its advantages: this method can calculate after obtaining blade current location and blade target position according to difference
Motor rotating speed of target is obtained, convert motor target torque for motor rotating speed of target and distributes to main motor and from motor, with
To main motor target torque electric current and from motor target torque electric current, it is respectively controlled to main motor and from motor, makes motor
Target torque a part is exported by main motor, and another part from motor by exporting, realization main motor and the coordinated control from motor,
Guarantee that blade can reach target position.
As further improvements in methods, in order to realize the control to principal and subordinate's motor, the main motor executes revolving speed outer ring
With the double-closed-loop control of current inner loop, revolving speed outer ring generates the main motor target torque electric current and from motor target torque electricity
Stream, is used for current inner loop control for main motor target torque electric current；Single closed-loop control that electric current loop is executed from motor, by institute
It states from motor target torque electric current for current loop control.
As further improvements in methods, in order to realize the control to principal and subordinate's motor, the main motor and executed from motor
Revolving speed outer ring, Main motor current inner ring and from current of electric inner loop control；Revolving speed outer ring generates the main motor target torque electricity
Stream is used for Main motor current inner loop control；Revolving speed outer ring is used for out of current of electric described in also generating from motor target torque electric current
Ring control.
As further improvements in methods, rush of current, makes the given value of current inner loop according to the first setting in order to prevent
Slope linear change is to the main motor target torque electric current；Make the given value of electric current loop according to the second setting slope linear change
To described from motor target torque electric current.
Influence as further improvements in methods, in order to compensate for the internal resistance of armature winding to current inner loop and electric current loop
To improve the dynamic response capability of current inner loop and electric current loop, the control of the current inner loop further include: by giving for current inner loop
Definite value is superimposed in the output valve of current inner loop；The control of the electric current loop further include: the given value of electric current loop is superimposed to electricity
In the output valve for flowing ring.
As further improvements in methods, in order to improve the dynamic responding speed of current inner loop and electric current loop, the electric current
The control of inner ring further include: the main motor actual torque electric current of acquisition is superimposed in the output valve of current inner loop；The electric current
The control of ring further include: the slave actual motor torque electric current of acquisition is superimposed in the output valve of electric current loop.
As further improvements in methods, rush of current, makes the given value of Main motor current inner ring according in order to prevent
One sets slope linear change to the main motor target torque electric current；Make to set from the given value of current of electric inner ring according to second
Slope linear change is determined to described from motor target torque electric current.
As further improvements in methods, in order to compensate for the internal resistance of armature winding to Main motor current inner ring and from motor
To improve Main motor current inner ring and from the dynamic response capability of current of electric inner ring, the main motor is electric for the influence of current inner loop
Flow the control of inner ring further include: the given value of Main motor current inner ring is superimposed in the output valve of Main motor current inner ring；Institute
State the control from current of electric inner ring further include: will be superimposed to from the given value of current of electric inner ring from the defeated of current of electric inner ring
Out in value.
As further improvements in methods, in order to improve Main motor current inner ring and from the dynamic response of current of electric inner ring
Speed, the control of the Main motor current inner ring further include: the main motor actual torque electric current of acquisition is superimposed to main motor electricity
In the output valve for flowing inner ring；The control from current of electric inner ring further include: fold the slave actual motor torque electric current of acquisition
It adds to from the output valve of current of electric inner ring.
The present invention also provides a kind of control device of bi-motor pitch-controlled system, which includes memory and processor,
The processor is reached for executing instruction stored in memory to realize the control method of above-mentioned bi-motor pitch-controlled system
To effect identical with method.
Detailed description of the invention
Fig. 1 is the control principle drawing of the bi-motor pitch-controlled system of embodiment of the method 1 of the invention；
Fig. 2 is the main motor control block diagram of embodiment of the method 1 of the invention；
Fig. 3 is the slave motor control block diagram of embodiment of the method 1 of the invention；
Fig. 4 is the main motor control block diagram of embodiment of the method 2 of the invention.
Specific embodiment
Embodiment of the method 1:
This embodiment offers a kind of control methods of bi-motor pitch-controlled system, in order to realize this method, use such as Fig. 1
Shown in bi-motor pitch-controlled system.The system includes master driver and from driver, respectively to main motor M1 and from motor M2 into
Row control, carries out data interaction by CAN bus between main motor and master control system.Here master driver and equal from driver
Including a processor and electric machine controller, signal can not only be handled, additionally it is possible to realize the control to motor.
Master driver receives the blade target position (i.e. the angle of blade) that master control system issues, the paddle according to current record
Leaf current location is compared with the blade target position received, obtains motor rotating speed of target, and the motor rotating speed of target is not only
Size including motor speed further includes the direction that motor needs to rotate, after obtaining motor rotating speed of target, by motor target
Revolving speed is converted into motor target torque, and motor target torque is distributed to two motors, with obtain main motor target torque and
From motor target torque, main motor target torque electric current is converted by main motor target torque, and according to main motor target torque
Electric current output main motor pwm control signal controls main motor, meanwhile, it will be from motor target torque in a manner of square-wave pulse
It is sent to from driver.It is receiving after motor target torque, will be converted into from motor target torque from motor from driver
Target torque electric current is controlled according to from the output of motor target torque electric current from motor PWM control signal from motor.To
Export motor target torque a part by main motor, another part realizes main motor and the association from motor by exporting from motor
Regulation system guarantees that blade can reach target position.
In order to realize that torque distribution control, main motor M1 will not only control motor torque while also to control motor speed,
Torque namely control electric current output are controlled, therefore uses the control strategy of speed outer ring, current inner loop, control block diagram such as Fig. 2 institute
Show.Using motor rotating speed of target as rotary speed setting value, using the motor actual speed of acquisition as speed feedback value, by rotational speed setup
It is poor that value is made with speed feedback value, carries out PID and adjusts control, obtains motor target torque；Motor target torque is allocated control
System, obtains main motor target torque；Main motor target torque is converted by torque coefficient inverse, obtains main motor target
Torque current；Current over pulse and protection master driver (main motor stall or heavy duty make limit value reach rated value) in order to prevent, will
Main motor target torque electric current is given (even if the given value of current inner loop sets slope linear change extremely according to first by slope
Main motor target torque electric current) and I2The value obtained after T control turns as current inner loop given value with the main motor of acquisition is practical
For square electric current as current inner loop value of feedback, it is poor that current inner loop given value and current inner loop value of feedback are made, and carries out PI and adjusts control,
Obtain current inner loop output valve；By current inner loop output valve by PWM generator, main motor pwm control signal is exported.Electric current loop
Playing the role of two: one is to play current regulation and clipping in starting and a wide range of acceleration and deceleration；The other is making system
Anti- electric source disturbance and load disturbance ability enhancing.
Moreover, current inner loop part also adds current feed-forward and dead area compensation control.Current feed-forward be by
The given value of current inner loop is superimposed in the output valve of current inner loop, and main purpose is compensation main motor armature winding internal resistance pair
The influence of current inner loop greatly improves the dynamic response capability of current inner loop.Dead area compensation control is the main motor that will be acquired
Actual torque electric current is superimposed in the output valve of current inner loop, to offset the open-minded of loop of power circuit upper and lower bridge arm to a certain extent
Dead time improves the dynamic responding speed of current inner loop.
Wherein, speed outer ring uses PID regulator, can be according to the deviation of rotary speed setting value and speed feedback value in time
The torque of main motor is controlled, to make main motor torque larger when speed difference is bigger, velocity variations are fast, so as to as soon as possible
Main motor revolving speed is pulled to rotary speed setting value, realizes the rapidity of speed regulation process；And work as speed feedback value close to rotary speed setting value
When the torque of main motor can be made to reduce automatically again, main motor revolving speed can be made to quickly reach revolving speed to avoid excessive overshoot in this way
Given value realizes static indifference.
The square wave frequency that master driver issues is received from driver, is worth the slave motor issued by calculating square wave frequency
Target torque, the functional block diagram exported from driver control motor torque is as shown in figure 3, due to from driver control principle and master
Driver is similar, has only lacked speed outer ring, using single Closed-loop Control Strategy of only electric current loop, the control of the electric current loop and master
The control principle of the current inner loop of driver is identical, and details are not described herein.
In order to be not take up the resource of master driver, while can be quickly controlled again from driver, the control core of master driver
By the way of piece F28335 exports different frequency square wave using the extra channel PWM, issue to from driver from motor target torque.It should
The case where embodiment describes principal and subordinate's driver respectively maximum can export 100Nm, is torque and square wave frequency as shown in table 1
Contrast relationship.Corresponding square wave frequency is 30kHz when 0 torque output, and when negative torque output, corresponding square wave frequency value was with turning
Square increases and reduces, and square wave frequency value increases with torque and increased when positive torque exports.The every 0.5Nm variation one of the variable quantity of torque
Secondary, corresponding frequency variation is 125Hz, when 100Nm, -100Nm torque output corresponding square wave frequency be 55kHz and
5kHz。
Table 1
| Serial number | Torque (Nm) | Corresponding square wave frequency (kHz) |
| 1 | -100 | 5 |
| 2 | -80 | 10 |
| 3 | -60 | 15 |
| 4 | -40 | 20 |
| 5 | -20 | 25 |
| 6 | 0 | 30 |
| 7 | 20 | 35 |
| 8 | 40 | 40 |
| 9 | 60 | 45 |
| 10 | 80 | 50 |
| 11 | 100 | 55 |
It is received from motor target torque from driver, it is to be calculated by calculating the square wave frequency of master driver output
's.Its frequency calculation method used is that measuring period method (T method) calculates.T method is the time measured between two pulses
It is converted into the period, to obtain frequency.As shown in table 2, it is the theoretical square wave frequency of master driver output and frequency is calculated using T method
The table of comparisons of rate.Within the scope of 5kHz to the 55kHz square wave frequency of master driver output, frequency is calculated from driver using T method
Deviation be up to 25Hz, far smaller than frequency variation 125Hz, ensure that the precision of calculating.The frequency that will be calculated
Value, corresponding torque value can be obtained by carrying out conversion with the contrast relationship of square wave frequency according to torque.
Table 2
How specific motor target torque distributes to obtain main motor target torque and from motor target torque, can be according to main electricity
Machine and performance from motor are distributed.For example, if two motor performances are identical, can by torque mean allocation to two motors, if
Two motor performance differences, can the torque that undertakes of one of motor it is more, the torque that another motor undertakes is few, with
Guarantee that two motors can overcome wind load, guarantees motor operation in motor rotating speed of target.
Embodiment of the method 2:
This embodiment offers a kind of control methods of bi-motor pitch-controlled system, in order to realize that the process employs such as Fig. 1
Shown in system.But the system of the embodiment is unlike the first embodiment, master driver and the function realized from driver
It can be different.
Master driver in the embodiment includes a processor and an electric machine controller, and from driver including one
Electric machine controller, it is no longer about the square wave frequency from motor target torque that master driver, which is handed down to from the pwm signal of driver,
Signal, but control the control signal of the switching tube of electric machine controller from driver.
The blade target position that master driver reception master control system issues, the blade current location of foundation current record, with
The blade target position received is compared, and obtains motor rotating speed of target, which not only includes motor speed
Size, further include that motor needs the direction that rotates to convert electricity for motor rotating speed of target after obtaining motor rotating speed of target
Machine target torque.Then, the control strategy of use is as shown in Figure 4.It will be apparent from this figure that main motor pwm control signal and
It is calculated from motor PWM control signal by master driver.As shown in figure 4, using revolving speed outer ring, Main motor current inner ring and
From the control strategy of current of electric inner ring.Motor target torque obtains main motor target torque and from motor by distribution control
Target torque.Main motor target torque is being obtained and after motor target torque, then according to controlling party same as Example 1
Method come generate main motor pwm control signal and from motor PWM control signal.Master driver is according to main motor pwm control signal pair
Main motor is controlled, and the slave motor PWM of generation control signal is handed down to from driver.From driver based on the received from
Motor PWM control signal is controlled from motor.
It should be noted that detail content is identical as embodiment 1 in Fig. 4, which is not described herein again.
Installation practice:
This embodiment offers a kind of control device of bi-motor pitch-controlled system, which includes memory and processor,
The transmission or interaction to realize data are directly or indirectly electrically connected between memory and processor.Here processor can be with
It is general processor, such as central processor CPU, is also possible to other programmable logic device, such as digital signal processor
DSP.Processor is used to execute instruction stored in memory to realize a kind of control of bi-motor pitch-controlled system of the invention
Method.Since this method being discussed in detail in embodiment of the method 1 and embodiment of the method 2, therefore which is not described herein again.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of control method of bi-motor pitch-controlled system, which comprises the steps of:
Blade current location and blade target position are obtained, is calculated according to the difference of blade current location and blade target position
To motor rotating speed of target；
According to motor rotating speed of target, motor target torque is acquired；
The motor target torque is distributed to main motor and from motor, obtains main motor target torque electric current and from motor target
Torque current；
Main motor is controlled with main motor target torque electric current, to be controlled from motor target torque electric current to from motor
System.
2. the control method of bi-motor pitch-controlled system according to claim 1, which is characterized in that the main motor, which executes, to be turned
The double-closed-loop control of fast outer ring and current inner loop, revolving speed outer ring generate the main motor target torque electric current and turn from motor target
Main motor target torque electric current is used for current inner loop control by square electric current；Single closed-loop control that electric current loop is executed from motor,
Current loop control is used for from motor target torque electric current by described.
3. the control method of bi-motor pitch-controlled system according to claim 1, which is characterized in that the main motor, which executes, to be turned
Fast outer ring, Main motor current inner ring and from current of electric inner loop control；Revolving speed outer ring generates the main motor target torque electric current
For Main motor current inner loop control；Revolving speed outer ring is used for from motor target torque electric current from current of electric inner ring described in also generating
Control.
4. the control method of bi-motor pitch-controlled system according to claim 2, which is characterized in that make the given of current inner loop
Value is according to the first setting slope linear change to the main motor target torque electric current；Set the given value of electric current loop according to second
Slope linear change is determined to described from motor target torque electric current.
5. the control method of bi-motor pitch-controlled system according to claim 2, which is characterized in that the control of the current inner loop
System further include: the given value of current inner loop is superimposed in the output valve of current inner loop；The control of the electric current loop further include: will
The given value of electric current loop is superimposed in the output valve of electric current loop.
6. the control method of bi-motor pitch-controlled system according to claim 2, which is characterized in that the control of the current inner loop
System further include: the main motor actual torque electric current of acquisition is superimposed in the output valve of current inner loop；The control of the electric current loop
Further include: the slave actual motor torque electric current of acquisition is superimposed in the output valve of electric current loop.
7. the control method of bi-motor pitch-controlled system according to claim 3, which is characterized in that make Main motor current inner ring
Given value according to the first setting slope linear change to the main motor target torque electric current；Make from current of electric inner ring to
Definite value is according to the second setting slope linear change to described from motor target torque electric current.
8. the control method of bi-motor pitch-controlled system according to claim 3, which is characterized in that in the Main motor current
The control of ring further include: be superimposed to the given value of Main motor current inner ring in the output valve of Main motor current inner ring；It is described from
The control of current of electric inner ring further include: the output valve from current of electric inner ring will be superimposed to from the given value of current of electric inner ring
On.
9. the control method of bi-motor pitch-controlled system according to claim 3, which is characterized in that in the Main motor current
The control of ring further include: the main motor actual torque electric current of acquisition is superimposed in the output valve of Main motor current inner ring；It is described
From the control of current of electric inner ring further include: being superimposed to the slave actual motor torque electric current of acquisition from the defeated of current of electric inner ring
Out in value.
10. a kind of control device of bi-motor pitch-controlled system, which is characterized in that including memory and processor, the processor
For executing instruction stored in memory to realize the control such as the described in any item bi-motor pitch-controlled systems of claim 1-9
Method processed.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111219293A (en) * | 2020-02-18 | 2020-06-02 | 南京理工大学 | Variable pitch controller design method based on linear active disturbance rejection control |
| CN113267867A (en) * | 2021-05-26 | 2021-08-17 | 上海理工大学 | Dynamic focusing system based on dual-motor synchronous control |
| CN113700603A (en) * | 2021-10-28 | 2021-11-26 | 东方电气风电有限公司 | Double-encoder check control double-drive variable pitch system and method for wind turbine generator |
| CN114189176A (en) * | 2021-12-10 | 2022-03-15 | 东风德纳车桥有限公司 | Multi-motor synchronous control method and device, computer equipment and readable storage medium |
| CN114810479A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system thereof and wind generating set |
| CN114810478A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system and wind generating set |
| WO2022242177A1 (en) * | 2021-05-17 | 2022-11-24 | 中国第一汽车股份有限公司 | Control method and apparatus for multi-unit motor, and medium and electronic device |
| CN115506955A (en) * | 2022-11-24 | 2022-12-23 | 东方电气风电股份有限公司 | Double-drive variable pitch system of wind turbine generator and synchronous control method thereof |
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| CN114810479A (en) * | 2022-04-08 | 2022-07-29 | 福氏新能源技术(上海)有限公司 | Multi-machine synchronous driving method, variable pitch system thereof and wind generating set |
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