CN111425350B - Control method and device for pitch system of wind turbine generator and pitch system - Google Patents

Control method and device for pitch system of wind turbine generator and pitch system Download PDF

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Publication number
CN111425350B
CN111425350B CN202010174478.1A CN202010174478A CN111425350B CN 111425350 B CN111425350 B CN 111425350B CN 202010174478 A CN202010174478 A CN 202010174478A CN 111425350 B CN111425350 B CN 111425350B
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China
Prior art keywords
paddle
proximity switch
angle
angle value
preset
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CN111425350A (en
Inventor
王海明
赵瑞杰
王旭昊
刘德林
代兴华
苏静
何友山
王萌
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Xuji Group Co Ltd
Xuchang Xuji Wind Power Technology Co Ltd
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Xuji Group Co Ltd
Xuchang Xuji Wind Power Technology Co Ltd
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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
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • 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
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • 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
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
    • 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
    • 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

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  • Engineering & Computer Science (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)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The invention discloses a control method and a device for a variable pitch system of a wind turbine generator, wherein the method comprises the following steps: receiving a pitch-retracting instruction; judging whether a paddle rotation angle signal is detected; if yes, controlling the paddle to rotate to a preset stop position according to the paddle rotation angle signal; and if the current blade rotation angle value cannot be obtained, the previous blade rotation angle value is obtained, and the blade is controlled to rotate to the preset stop position according to the previous blade rotation angle signal. A pitch system is also disclosed. The storage device is arranged in the variable-pitch system of the wind turbine generator to store the real-time rotating angle of the blade, so that when the wind turbine generator is emergently stopped due to an accident condition, if the variable-pitch system cannot collect the real-time rotating angle of the blade, the blade can be controlled to be retracted to a safe position according to the angle value of the previous blade rotating angle signal, the impact of a large load of the wind turbine generator is reduced, and the safety of the wind turbine generator in the emergency stop process is improved.

Description

Control method and device for pitch system of wind turbine generator and pitch system
Technical Field
The invention relates to the field of wind turbine generator control, in particular to a wind turbine generator variable pitch system control method and device and a variable pitch system.
Background
The variable pitch system is used as an important component of the wind driven generator and is used for receiving a command of a main control system, controlling the blades to rotate to a set angle, further controlling the rotating speed of the wind wheel and realizing the control of the output power of the fan. When the pneumatic brake device is used as a pneumatic brake of the fan in an emergency, the blades are controlled to retract quickly, the fan is stopped safely in an aerodynamic braking mode, and the purpose of protecting the unit safety is achieved.
The existing wind generating set adopts constant variable pitch speed to retract the propeller or to reach a safe position according to a set propeller retracting curve when the wind generating set breaks down and is in emergency shutdown, the propeller retracting mode is based on real-time propeller blade angle acquisition, if the situation that the propeller blade angle cannot be acquired suddenly occurs in the propeller retracting process, the propeller blade cannot retract the propeller to the safe position, the wind generating set is impacted by larger load, and the insecurity of the wind generating set is increased.
Disclosure of Invention
The embodiment of the invention aims to provide a control method and device for a variable-pitch system of a wind turbine generator and the variable-pitch system.
In order to solve the technical problem, a first aspect of an embodiment of the present invention provides a method for controlling a pitch system of a wind turbine generator, where the pitch system of the wind turbine generator is provided with a memory, and the memory is used for storing an angle value corresponding to rotation of a blade in real time, and the method includes the following steps:
receiving a paddle retracting instruction of the wind turbine generator or detecting that a safety chain input signal is abnormal;
judging whether an angle fault exists in the current detection period; if not, adopting a first mode to retract the paddle, and controlling the paddle to rotate to a preset stop position according to the current angle value of the paddle rotation; if so, adopting a second mode to retract the propeller, acquiring the rotating angle value of the previous propeller blade stored in the memory, and controlling the propeller blade to rotate to the preset stop position according to the rotating angle value of the previous propeller blade.
Further, the first mode includes:
detecting a rising edge signal of a proximity switch in the variable pitch system in real time;
when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be collected to the preset stop position at the acceleration of a 1;
when the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 that the speed of n3 is reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to reduce the speed to the preset stop position according to the acceleration a 2;
when the rotating angle value of the paddle is larger than the angle of the proximity switch, the acceleration a3 of the rotating speed of the paddle being decelerated to 0 is obtained according to the rotating angle value of the paddle and the angle value of the preset stop position, and the paddle is controlled to be decelerated to the preset stop position according to the acceleration a 3.
Further, when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to the preset stop position by the acceleration of a1, including:
when the rotating angle value of the paddle is smaller than or equal to the first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1;
when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to a second preset angle alpha 2, controlling the paddle to rotate at a second preset rotating speed n 2;
when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to the preset stop position at the acceleration of a 1.
Further, the second mode includes:
acquiring the angle value of the previous blade rotation stored in the memory;
when the angle value of the previous paddle rotation is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle;
detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the paddle retracting process;
if the rising edge signal of the proximity switch is not detected, collecting the propeller according to a constant-speed propeller collecting mode until the rising edge signal is triggered, and controlling the propeller collecting according to the part, after the signal is triggered, in a preset curve until the propeller collecting process is finished; if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, the rising edge signal of the proximity switch is still not triggered, and a propeller retracting curve is planned according to the calculated time required for safety shutdown, the calculated rotating speed of the propeller blades and the preset stopping position;
when the rotating angle value of the previous paddle is equal to the angle of the proximity switch:
when the rising edge signal of the proximity switch is not triggered, planning a blade-retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position;
when the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
Further, the angle of the proximity switch is 80 degrees; the preset stop position is 90 °.
A second aspect of the present invention provides a wind turbine generator pitch system control device, where the wind turbine generator pitch system is provided with a memory, and the memory is used to store an angle value corresponding to rotation of a blade in real time, and the wind turbine generator pitch system control device includes:
the receiving and detecting module is used for receiving a paddle retracting instruction of the wind turbine generator and/or detecting a safety chain input signal;
the angle fault judging module is used for judging whether the angle fault is detected in the current detection period;
the mode one propeller retracting control module is started when the angle fault judging module judges that no angle fault exists in the current detection period, and the blades are controlled to rotate to a preset stop position according to the current rotating angle value of the blades;
and the mode two-blade-retracting control module is started when the angle fault judging module judges that the angle fault exists in the current detection period, and the blades are controlled to rotate to the preset stop position according to the rotating angle value of the previous blade.
Further, the mode-retracting control module comprises:
the proximity switch rising edge signal detection unit detects a rising edge signal of a proximity switch in the variable pitch system in real time;
the first oar retracting execution unit controls the oar blades to execute the following operations:
when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be collected to the preset stop position at the acceleration of a 1;
when the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 that the speed of n3 is reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to reduce the speed to the preset stop position according to the acceleration a 2;
when the rotating angle value of the paddle is larger than the angle of the proximity switch, the acceleration a3 of the rotating speed of the paddle being decelerated to 0 is obtained according to the rotating angle value of the paddle and the angle value of the preset stop position, and the paddle is controlled to be decelerated to the preset stop position according to the acceleration a 3.
Further, the oar retracting execution unit executes that when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the oar retracting execution unit performs the step-by-step uniform motion according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then decelerates to retract the oar to the preset stop position with the acceleration of a1, and the oar retracting execution unit includes:
when the rotating angle value of the paddle is smaller than or equal to the first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1;
when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to a second preset angle alpha 2, controlling the paddle to rotate at a second preset rotating speed n 2;
when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to the preset stop position at the acceleration of a 1.
Further, the mode two-blade-retracting control module comprises:
a blade rotation angle value acquisition unit that acquires an angle value of rotation of a previous blade stored in the memory;
the proximity switch rising edge signal detection unit detects a rising edge signal of a proximity switch in the variable pitch system in real time;
the second blade retracting execution unit controls the blades to execute the following operations:
when the angle value of the previous paddle rotation is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle;
detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the paddle retracting process;
if the rising edge signal of the proximity switch is not detected, collecting the propeller according to a constant-speed propeller collecting mode until the rising edge signal is triggered, and controlling the propeller collecting according to the part, after the signal is triggered, in a preset curve until the propeller collecting process is finished; if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, the rising edge signal of the proximity switch is still not triggered, and a propeller retracting curve is planned according to the calculated time required for safety shutdown, the calculated rotating speed of the propeller blades and the preset stopping position;
when the rotating angle value of the previous paddle is equal to the angle of the proximity switch:
when the rising edge signal of the proximity switch is not triggered, planning a blade-retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position;
when the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
A third aspect of the invention provides a pitch system comprising: the wind turbine generator system comprises a proximity switch, a variable pitch motor, a speed reducer and a memory, and further comprises the wind turbine generator system variable pitch system control device.
The technical scheme of the embodiment of the invention has the following beneficial technical effects:
the storage device is arranged in the variable-pitch system of the wind turbine generator to store the real-time rotating angle of the blade, so that when the wind turbine generator is emergently stopped due to an accident condition, if the variable-pitch system cannot collect the real-time rotating angle of the blade, the blade can be controlled to be retracted to a safe position according to the angle value of the previous blade rotating angle signal, the impact of a large load of the wind turbine generator is reduced, and the safety of the wind turbine generator in the emergency stop process is improved.
Drawings
Fig. 1 is a flowchart of a control method for a pitch system of a wind turbine generator according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control mode I of a control method for a pitch system of a wind turbine generator according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a control mode II of a control method for a pitch system of a wind turbine generator according to an embodiment of the invention;
FIG. 4 is a block diagram of a control device for a pitch system of a wind turbine generator according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a mode-feathering control module according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a mode two-feathering control unit according to an embodiment of the present invention.
Reference numerals:
1. the system comprises a receiving and detecting module, a2, angle fault judging module, a3, a mode one-blade-retracting control module, a 31, a proximity switch rising edge signal detecting unit, a 32, a first blade-retracting executing unit, a 4, a mode two-blade-retracting control module, a 41, a blade rotation angle value acquiring unit, a 42, a proximity switch rising edge signal detecting unit, a 43 and a second blade-retracting executing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is a flowchart of a control method for a pitch system of a wind turbine generator according to an embodiment of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a method for controlling a pitch system of a wind turbine, where the pitch system of the wind turbine is provided with a memory, and the memory is used to store an angle value corresponding to rotation of a blade, and the method includes the following steps:
and S200, receiving a pitch retracting instruction of the wind turbine generator or detecting that the safety chain input signal is abnormal.
And S400, judging whether the angle fault exists in the current detection period.
S600, when no angle fault exists, adopting a first mode to retract the propeller, and controlling the propeller to rotate to a preset stop position according to the current value of the rotating angle of the propeller.
And S800, when the angle fault is detected, adopting a mode II to carry out blade retracting, acquiring a previous blade rotation angle value stored in the memory, and controlling the blades to rotate to a preset stop position according to the previous blade rotation angle value.
In this embodiment, the proximity switch is at an angle of 80 °, and the predetermined stop position is a 90 ° position of the hub.
According to the technical scheme, the storage device is arranged in the variable-pitch system of the wind turbine generator to store the real-time rotating angle of the blade, so that when the wind turbine generator is emergently stopped due to an accident condition, if the variable-pitch system has an angle fault, the blade can be controlled to be retracted to a safe position according to the angle value of the rotating angle signal of the previous blade, the impact of larger load of the wind turbine generator is reduced, and the safety of the wind turbine generator in the emergency stop process is improved.
Further, mode one includes:
and detecting a rising edge signal of a proximity switch in the variable pitch system in real time.
When the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to a preset stop position at the acceleration of a 1.
When the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected yet, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 that the speed of the n3 is reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to reduce the speed to be retracted to the preset stop position according to the acceleration a 2.
When the rotating angle value of the paddle is larger than the angle of the proximity switch, the acceleration a3 of the rotating speed of the paddle being decelerated to 0 is obtained according to the rotating angle value of the paddle and the angle value of the preset stop position, and the paddle is controlled to be decelerated to the preset stop position according to the acceleration a 3.
Further, when the angle value of the rotation of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the angle value of the rotation of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to a preset stop position by the acceleration of a1, including:
when the rotating angle value of the paddle is smaller than or equal to a first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1; when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to the second preset angle alpha 2, the paddle is controlled to rotate at a second preset rotating speed n 2; when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to a preset stop position at the acceleration of a 1.
The wind generating set comprises three blades which are respectively No. 1 blade, No. 2 blade and No. 3 blade, each blade corresponds to a variable pitch system, wherein the No. 1 blade, the No. 2 blade and the No. 3 blade correspond to the corresponding No. 1, No. 2 and No. 3 variable pitch systems.
The following description will take the example of controlling the number 1 blade to retract in an emergency.
When the control device of the No. 1 blade pitch control system receives an emergency pitch-retracting instruction or detects that an input signal of a safety chain is abnormal, whether an angle fault exists is self-checked, when the angle fault does not exist, the emergency pitch-retracting corresponds to a mode 1, and the speed-position planning schematic diagram shown in the following figure 2 is adopted for pitch-retracting. Namely: detecting a rising edge signal of an approach switch (IPS) in real time, if the rising edge signal of the approach switch is not detected, controlling the paddle to be retracted at the speed of n1 by the paddle angle time-varying paddle system control device when the paddle angle is less than or equal to alpha 1, controlling the paddle to be retracted at the speed of n2 by the paddle angle time-varying paddle system control device when the paddle angle is greater than alpha 1 and less than or equal to alpha 2, controlling the paddle to be retracted at the speed of n3 until the rising edge signal of the approach switch (IPS) of 80 degrees is detected, and then decelerating and retracting to 90 degrees at the acceleration of a 1. If the blade angle is larger than alpha 2, the time-varying propeller system control device controls the blades to retract at the speed of n3 by 1 DEG larger than the calibration angle 80 DEG, and the rising edge signal of an approach switch (IPS) is still not detected, the acceleration a2 of the speed of n3 is reduced to 0 is obtained by the current angle and the initialization angle 90 DEG, and the blades are controlled to retract at the speed of the acceleration a2 to 90 deg. According to the stress analysis result when the fan blade rotates, the speed of each stage of the blade is controlled, so that n1 is greater than n3 is greater than n 2.
Further, mode two includes:
the angle value of the previous blade rotation stored in the memory is obtained.
When the rotating angle value of the previous paddle is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle; detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the paddle retracting process; if the rising edge signal of the proximity switch is not detected, collecting the propeller according to a constant-speed propeller collecting mode until the rising edge signal is triggered, and controlling the propeller collecting according to the part, after the signal is triggered, in a preset curve until the propeller collecting process is finished; and if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, the rising edge signal of the proximity switch is still not triggered, and a propeller retracting curve is planned according to the calculated time required for safety shutdown, the rotating speed of the propeller blades and the preset stopping position.
When the angle value of the previous paddle rotation is equal to the angle of the proximity switch:
and (4) when the rising edge signal of the proximity switch is not triggered, planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
When the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
Again taking paddle No. 1 as an example. When the control device of the No. 1 blade pitch control system has angle faults through self-detection, the emergency pitch-retracting corresponds to a mode 2, and the pitch-retracting is carried out by adopting a speed-position planning schematic diagram shown in the following figure 3. Namely: reading the blade angle in the memory at the previous moment and respectively calculating the time t1 and t2 needed for reaching the calibration angle 80 degrees and the initialization angle 90 degrees, detecting the rising edge signal of an 80-degree approach switch (IPS) in real time, recording the time t3 of the blade retracting process, if the rising edge signal of the 80-degree approach switch is not detected, controlling the blades to retract in a speed retracting mode of n4 until the rising edge signal of the 80-degree approach switch (IPS) is detected, and then decelerating to 90 degrees with the acceleration of a 1. If the time t3-t1 in the propeller retracting process is larger than m seconds (the blade rotates for m seconds at the speed of n4 and rotates for 1 degree), the rising edge signal of an 80-degree approach switch (IPS) is still not acquired, the time required for the blade to retract to 90 degrees is calculated to be t3-t2, the current propeller retracting speed n4 can enable the blade to retract to 90 degrees at the acceleration a2, and then the blade decelerates to retract to 90 degrees at the acceleration a 2.
A second aspect of the present invention provides a wind turbine generator pitch system control device, where the wind turbine generator pitch system is provided with a memory, and the memory is used to store an angle value corresponding to rotation of a blade in real time, and the wind turbine generator pitch system control device includes, as shown in fig. 4:
the receiving and detecting module 1 is used for receiving a pitch-retracting instruction of the wind turbine generator and/or detecting a safety chain input signal;
the angle fault judging module 2 is used for judging whether the angle fault is detected in the current detection period;
the mode one propeller retracting control module 3 is started when the angle fault judging module judges that no angle fault exists in the current detection period, and the blades are controlled to rotate to a preset stop position according to the current rotating angle value of the blades;
and the second mode propeller retracting control module 4 is started when the angle fault judging module judges that the angle fault exists in the current detection period, and controls the blades to rotate to the preset stop position according to the rotating angle value of the previous blade.
Further, the mode-retracting control module 3 includes, as shown in fig. 5:
the proximity switch rising edge signal detection unit 31 detects a rising edge signal of a proximity switch in a pitch system in real time;
the first pitch-reducing execution unit 32 controls the blades to execute the following operations:
when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to a preset stop position at the acceleration of a 1;
when the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected yet, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 that the speed of the n3 is reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to reduce the speed to be retracted to the preset stop position according to the acceleration a 2;
when the rotating angle value of the paddle is larger than the angle of the proximity switch, the acceleration a3 of the rotating speed of the paddle being decelerated to 0 is obtained according to the rotating angle value of the paddle and the angle value of the preset stop position, and the paddle is controlled to be decelerated to the preset stop position according to the acceleration a 3.
Further, when the angle value of the rotation of the paddle is smaller than the angle of the proximity switch, the paddle retracting execution unit executes the step-by-step uniform motion according to the angle value of the rotation of the paddle until a rising edge signal of the proximity switch is detected, and then retracts the paddle to a preset stop position at an acceleration of a1, including:
when the rotating angle value of the paddle is smaller than or equal to a first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1;
when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to the second preset angle alpha 2, the paddle is controlled to rotate at a second preset rotating speed n 2;
when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to a preset stop position at the acceleration of a 1.
Further, the mode two pitch control module 4 includes, as shown in fig. 6:
a blade rotation angle value obtaining unit 41 that obtains the rotation angle value of the previous blade stored in the memory;
the proximity switch rising edge signal detection unit 42 is used for detecting a rising edge signal of a proximity switch in the variable pitch system in real time;
the second pitch actuator 43 controls the blades to perform the following operations:
when the rotating angle value of the previous paddle is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle;
detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the paddle retracting process;
if the rising edge signal of the proximity switch is not detected, collecting the propeller according to a constant-speed propeller collecting mode until the rising edge signal is triggered, and controlling the propeller collecting according to the part, after the signal is triggered, in a preset curve until the propeller collecting process is finished; if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, the rising edge signal of the proximity switch is still not triggered, and a propeller retracting curve is planned according to the calculated time required for safety shutdown, the calculated rotating speed of the propeller blades and the preset stopping position;
when the angle value of the previous paddle rotation is equal to the angle of the proximity switch:
when the rising edge signal of the proximity switch is not triggered, planning a blade-retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position;
when the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
A third aspect of the invention provides a pitch system comprising: the wind turbine generator system comprises a proximity switch, a variable pitch motor, a speed reducer and a memory, and further comprises the wind turbine generator system variable pitch system control device.
The embodiment of the invention aims to protect a control method and a device for a variable pitch system of a wind turbine generator, wherein the method comprises the following steps: receiving a blade retracting instruction of the wind turbine generator; judging whether a blade rotation angle signal is detected in the current detection period; when the paddle rotation angle signal is detected, controlling the paddle to rotate to a preset stop position according to the paddle rotation angle signal; and when the paddle rotation angle signal is not detected, acquiring a previous paddle rotation angle signal, and controlling the paddle to rotate to a preset stop position according to the previous paddle rotation angle signal. A pitch system is also protected. The technical scheme has the following effects:
the storage device is arranged in the variable-pitch system of the wind turbine generator to store the real-time rotating angle of the blade, so that when the wind turbine generator is emergently stopped due to an accident condition, if the variable-pitch system cannot collect the real-time rotating angle of the blade, the blade can be controlled to be retracted to a safe position according to the angle value of the previous blade rotating angle signal, the impact of a large load of the wind turbine generator is reduced, and the safety of the wind turbine generator in the emergency stop process is improved.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (6)

1. A control method for a variable pitch system of a wind turbine generator is characterized in that the variable pitch system of the wind turbine generator is provided with a memory, and the memory is used for storing an angle value corresponding to the rotation of a blade in real time, and the method comprises the following steps:
receiving a paddle retracting instruction of the wind turbine generator or detecting that a safety chain input signal is abnormal;
judging whether an angle fault exists in the current detection period; if not, adopting a first mode to retract the paddle, and controlling the paddle to rotate to a preset stop position according to the current angle value of the paddle rotation; if so, adopting a second mode to take down the propeller, acquiring the rotating angle value of the previous propeller blade stored in the memory, and controlling the propeller blade to rotate to the preset stop position according to the rotating angle value of the previous propeller blade;
wherein the first mode comprises:
detecting a rising edge signal of a proximity switch in the variable pitch system in real time;
when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to the preset stop position by acceleration a 1;
when the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 of the speed n3 reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to be reduced to the preset stop position according to the acceleration a 2;
when the rotating angle value of the paddle is larger than the angle of the proximity switch, obtaining the acceleration a3 that the rotating speed of the paddle is decelerated to 0 at present according to the rotating angle value of the paddle and the angle value of the preset stop position, and controlling the paddle to decelerate and retract the paddle to the preset stop position according to the acceleration a 3;
the second mode includes:
acquiring the angle value of the previous blade rotation stored in the memory;
when the angle value of the previous paddle rotation is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle;
detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the oar retracting process;
if the rising edge signal of the proximity switch is not detected, the paddle is collected according to a constant speed paddle collecting mode until the rising edge signal is triggered, and then the paddle collecting process is controlled according to the part, after the signal is triggered, in a preset curve until the paddle collecting process is finished; if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, and the rising edge signal of the proximity switch is still not triggered, planning a propeller retracting curve according to the calculated time required for safety shutdown, the calculated rotating speed of the propeller blades and the preset stopping position;
when the rotating angle value of the previous paddle is equal to the angle of the proximity switch:
the rising edge signal of the proximity switch is not triggered, and a blade retracting curve is planned according to the calculated time required by safe shutdown, the blade rotating speed and the preset stopping position;
when the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
2. The wind turbine generator pitch system control method according to claim 1, wherein when the angle value of blade rotation is smaller than the angle of the proximity switch, the wind turbine generator pitch system control method gradually moves at a constant speed according to the angle value of blade rotation until a rising edge signal of the proximity switch is detected, and then retracts the blades to the preset stop position at an acceleration a1 speed reduction, and the method comprises the following steps:
when the rotating angle value of the paddle is smaller than or equal to a first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1;
when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to a second preset angle alpha 2, controlling the paddle to rotate at the second preset rotating speed n 2;
when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to the preset stop position at an acceleration a 1.
3. The control method of the wind turbine generator pitch system according to claim 1 or 2, wherein the angle at which the proximity switch is located is 80 °; the preset stop position is 90 °.
4. The utility model provides a wind turbine generator system becomes oar system control device which characterized in that, wind turbine generator system becomes oar system and is provided with the memory, the memory is used for the real-time storage to correspond the blade pivoted angle value, wind turbine generator system becomes oar system control device and includes:
the receiving and detecting module is used for receiving a paddle retracting instruction of the wind turbine generator and/or detecting a safety chain input signal;
the angle fault judging module is used for judging whether the angle fault is detected in the current detection period;
the mode one propeller retracting control module is started when the angle fault judging module judges that no angle fault exists in the current detection period, and the blades are controlled to rotate to a preset stop position according to the current rotating angle value of the blades;
the mode two-blade-retracting control module is started when the angle fault judging module judges that the angle fault exists in the current detection period, and the blades are controlled to rotate to a preset stop position according to the rotating angle value of the previous blade;
wherein, the mode one receipts oar control module includes:
the proximity switch rising edge signal detection unit detects a rising edge signal of a proximity switch in the variable pitch system in real time;
the first oar retracting execution unit controls the oar blades to execute the following operations:
when the rotating angle value of the paddle is smaller than the angle of the proximity switch, the paddle moves at a constant speed stage by stage according to the rotating angle value of the paddle until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to the preset stop position by acceleration a 1;
when the rotating angle value of the paddle is equal to the angle of the proximity switch, the rising edge signal of the proximity switch is not detected, the paddle continues to rotate to enable the angle value of the paddle to be larger than the angle of the proximity switch, namely a third preset angle value alpha 3, the acceleration a2 of the speed n3 reduced to 0 is obtained according to the rotating angle value of the current paddle and the angle value of the preset stop position, and the paddle is controlled to be reduced to the preset stop position according to the acceleration a 2;
when the rotating angle value of the paddle is larger than the angle of the proximity switch, obtaining the acceleration a3 of the rotating speed of the current paddle being decelerated to 0 according to the rotating angle value of the current paddle and the angle value of the preset stop position, and controlling the paddle to decelerate and retract the paddle to the preset stop position according to the acceleration a 3;
the second mode paddle retracting control module comprises:
a blade rotation angle value acquisition unit that acquires an angle value of rotation of a previous blade stored in the memory;
the proximity switch rising edge signal detection unit detects a rising edge signal of a proximity switch in the variable pitch system in real time;
the second blade retracting execution unit controls the blades to execute the following operations:
when the angle value of the previous paddle rotation is smaller than the angle of the proximity switch:
calculating the time t1 and t2 required for reaching the angle of the proximity switch and the preset stop position according to the rotating angle value of the previous paddle;
detecting a rising edge signal of the proximity switch in real time, and recording the time t3 of the paddle retracting process;
if the rising edge signal of the proximity switch is not detected, collecting the propeller according to a constant-speed propeller collecting mode until the rising edge signal is triggered, and controlling the propeller collecting according to the part, after the signal is triggered, in a preset curve until the propeller collecting process is finished; if the time t3 of the propeller retracting process is larger than the calculated time t1 required for reaching the angle of the proximity switch by a certain value, the rising edge signal of the proximity switch is still not triggered, and a propeller retracting curve is planned according to the calculated time required for safety shutdown, the calculated rotating speed of the propeller blades and the preset stopping position;
when the rotating angle value of the previous paddle is equal to the angle of the proximity switch:
when the rising edge signal of the proximity switch is not triggered, planning a blade-retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position;
when the rotating angle value of the previous paddle is larger than the angle of the proximity switch:
and planning a blade retracting curve according to the calculated time required by the safe shutdown, the blade rotating speed and the preset stopping position.
5. The wind turbine generator pitch system control device according to claim 4, wherein the pitch-adjusting execution unit executes, when the angle value of the blade rotation is smaller than the angle of the proximity switch, a step-by-step uniform motion according to the angle value of the blade rotation until a rising edge signal of the proximity switch is detected, and then decelerates pitch adjustment to the preset stop position with an acceleration a1, and the method includes:
when the rotating angle value of the paddle is smaller than or equal to a first preset angle alpha 1, controlling the paddle to rotate at a first preset rotating speed n 1;
when the rotating angle value of the paddle is larger than the first preset angle alpha 1 and smaller than or equal to a second preset angle alpha 2, controlling the paddle to rotate at a second preset rotating speed n 2;
when the rotating angle value of the paddle is larger than the second preset angle alpha 2 and smaller than the angle of the proximity switch, the paddle is controlled to rotate at a third preset rotating speed n3 until a rising edge signal of the proximity switch is detected, and then the paddle is decelerated to be retracted to the preset stop position at an acceleration a 1.
6. A pitch system, comprising: the proximity switch, the pitch motor, the speed reducer and the memory further comprise the wind turbine generator pitch system control device according to claim 4 or 5.
CN202010174478.1A 2020-03-13 2020-03-13 Control method and device for pitch system of wind turbine generator and pitch system Active CN111425350B (en)

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