CN113007015A - Double-drive electric variable pitch control system and control method for wind turbine generator - Google Patents
Double-drive electric variable pitch control system and control method for wind turbine generator Download PDFInfo
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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
- F03D7/022—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
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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
- F03D15/00—Transmission of mechanical power
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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
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/70—Bearing or lubricating arrangements
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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
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- 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 double-drive electric variable pitch control system and a control method for a wind turbine generator, wherein the system comprises a main controller, a main driver, a main motor, a main position speed sensor, a main motor, a main speed reducer and a variable pitch bearing which are electrically connected in sequence, wherein the main motor, the main speed reducer and the variable pitch bearing are mechanically connected in sequence, the main position speed sensor is electrically connected with the main driver, the system also comprises a slave driver, a slave motor and a slave speed reducer, the main driver, the slave driver and the slave motor are electrically connected in sequence, and the slave motor, the slave speed reducer and the variable pitch bearing are mechanically connected in sequence. The invention solves the problems of large tooth stress concentration, high single tooth load, serious abrasion, even fatigue damage, danger to fan safety and the like in the prior art.
Description
Technical Field
The invention relates to the technical field of wind generating set variable pitch control, in particular to a wind generating set double-drive electric variable pitch control system and a control method.
Background
The wind generating set comprises a wind wheel and a generator; the wind wheel comprises blades, a hub, a reinforcing member and the like; it has the functions of wind driven blade rotation to generate electricity, generator head rotation, etc. The wind power generation power supply comprises a wind generating set, a tower frame for supporting the generating set, a storage battery charging controller, an inverter, an unloader, a grid-connected controller, a storage battery pack and the like.
As the land economy can develop less and less wind resources, compared with the land wind power, the offshore wind power has the advantages of large wind energy content, small wind shear, low turbulence, small influence on the environment and the like, and the global wind power plant construction has a trend from land to offshore. At present, offshore wind power is developing towards large-scale units in China, and a pitch system is used as an important component of a control system of a wind generating set, has the functions of adjusting wind wheel input power, performing pneumatic braking and the like, and directly influences the performance and safety of the wind generating set.
The existing pitch control system adopts a single driver to drive a single motor, and then the single motor drives a pitch control bearing through a single pitch control reduction gearbox so as to drive the whole blade to execute pitch control operation. In the process, the small teeth of the variable pitch reduction box only act on a plurality of large teeth of the variable pitch bearing, and the large teeth need to bear the load of the whole blade, so that the stress concentration, the serious abrasion and even the fatigue damage of the large teeth are easily caused, and the variable pitch can not be realized under extreme conditions, thereby endangering the safety of the fan.
Therefore, a new control technology capable of reducing the load of the single tooth of the pitch bearing and improving the safety of the wind turbine generator is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a double-drive electric variable pitch control system and a control method of a wind turbine generator, and solves the problems of large tooth stress concentration, high single tooth load, serious abrasion, even fatigue damage, danger to the safety of a fan and the like in the prior art.
The technical scheme adopted by the invention for solving the problems is as follows:
the utility model provides a wind turbine generator system double-drive electronic becomes oar control system, includes main control unit, main drive ware, main motor, the main position velocity sensor that links to each other electrically in proper order, main motor, main reducer, the oar bearing that becomes that mechanical connection in proper order, main position velocity sensor links to each other with the main drive ware electricity, still includes from driver, slave motor, from the reduction gear, main drive ware, from the motor electricity in proper order links to each other, from the motor, from the reduction gear, become the oar bearing and mechanically connect in proper order.
The main controller, the main driver, the main motor, the main speed reducer and the pitch bearing form a main driving loop, the main controller, the main driver (one part of the main driver), the slave driver, the slave motor, the slave speed reducer and the pitch bearing form a slave driving loop, the double driving loops share large tooth stress concentration, single tooth load is reduced, serious wear and even fatigue damage of large teeth are effectively reduced, and fan safety is improved.
As a preferred technical scheme, the master driver includes a position speed signal conversion module, and a position controller, a speed controller, a current controller, a master power converter, and a master current sensor that are electrically connected in sequence, an input end of the position speed signal conversion module is connected to an output end of the master position speed sensor, an output end of the position speed signal conversion module is electrically connected to an input end of the position controller and an input end of the speed controller, respectively, the slave driver includes a slave current controller, a slave power converter, and a slave current sensor that are electrically connected in sequence, an output end of the speed controller is electrically connected to an input end of the slave current controller, and an output end of the slave current sensor is electrically connected to an input end of the slave current controller and a slave motor, respectively.
Position loop control is realized by comparing a position control command given by a main control controller with an actual position value of a main motor, speed loop control is realized by comparing a speed given command of the position loop with an actual speed value of the main motor, and main current loop control is realized by comparing a current given command of the speed loop with an actual current value of the main motor; the slave current controller realizes slave current loop control by comparing the received current instruction control (slave set torque instruction) with the received actual current value of the slave motor, and the slave motor drives the slave speed reducer to act so as to drive the blade bearing to act. Therefore, double-drive electric variable-pitch torque synchronization is realized, the stress of a variable-pitch bearing is reduced, the load of a single tooth is reduced, and the safety and the reliability of a variable-pitch system are improved.
Preferably, the position controller is further configured to feed back actual position information to the main controller, and the main controller is further configured to receive the actual position information. Therefore, the actual position information in the loop can be timely acquired by the main controller, the main controller is endowed with the function of monitoring the actual position information of the loop, the actual variable pitch control condition is more conveniently controlled, and the control is more accurately facilitated.
As a preferred technical solution, the slave driver further includes a speed limiter electrically connected to the output terminal of the position controller and the input terminal of the slave power converter, respectively.
The speed limiter is used for receiving the speed instruction sent by the position controller and outputting the limited speed instruction.
The speed instruction of the main driving loop after passing through the position loop controller is given to the slave power converter after passing through the speed amplitude limiter, the current control instruction (slave set torque instruction) output by the main driving loop after passing through the current loop controller is directly transmitted to the slave driver, and the slave driver controls the action of the slave motor according to the received speed amplitude limiting instruction and the received current instruction (slave set torque instruction), so that the torque synchronization and anti-backlash control of the rotating speed amplitude limiting of the double-drive electric variable pitch belt are realized, the stress of a variable pitch bearing is further reduced, the single-tooth load is reduced, and the safety and the reliability of the variable pitch system are improved.
As a preferred technical solution, the master power converter and/or the slave power converter is a PWM inverter.
The PWM inverter has the advantages of high regulation speed, good power factor and simple structure.
As a preferred technical solution, the main position and speed sensor is a rotary transformer.
The rotary transformer is a precise angle, position and speed detection device, and is particularly suitable for occasions where a rotary encoder cannot work normally, such as high-temperature, high-dust, severe cold, moist, high-speed and high-vibration rotary encoders and the like. The device has the advantages of high monitoring precision, simple structure, sensitive action, reliable work, low requirement on environmental conditions (especially in places with high temperature and high dust), large output signal amplitude and strong anti-interference capability. And the device is applied to a main driving loop, so that the simultaneous position and speed detection is facilitated, and the integration degree is improved.
As a preferable technical scheme, the device further comprises a slave position speed sensor electrically connected with the slave motor.
The slave position and speed sensor is arranged to facilitate the switching of the master drive circuit and the slave drive circuit. When the master drive circuit and the slave drive circuit are required to be switched, the original master drive circuit is easily switched to the slave drive circuit, and the original slave drive circuit is easily switched to the master drive circuit.
As a preferred technical solution, the slave position and speed sensor is a resolver.
The rotary transformer is a precise angle, position and speed detection device, and is particularly suitable for occasions where a rotary encoder cannot work normally, such as high-temperature, high-dust, severe cold, moist, high-speed and high-vibration rotary encoders and the like. The device has the advantages of high monitoring precision, simple structure, sensitive action, reliable work, low requirement on environmental conditions (especially in places with high temperature and high dust), large output signal amplitude and strong anti-interference capability. When the original main driving loop is switched to the slave driving loop and the original slave driving loop is switched to the main driving loop, auxiliary feedback and correction of position and speed detection information are facilitated, and control is more accurate.
As a preferred technical scheme, the system also comprises a variable pitch controller, wherein the main controller, the variable pitch controller and the position controller are electrically connected in sequence.
The variable pitch controller plays a role in transferring and correcting position information, so that the position control instruction can be conveniently regulated and controlled, and more I/O point positions can be conveniently provided.
A control method of a double-drive electric variable pitch control system of a wind turbine generator comprises the following steps:
s1, the main controller sends a position control command to the main driver;
s2, the main driver receives a position control command, drives the main motor to work by combining the actual position information and the actual speed information of the main motor fed back by the main position speed sensor, and controls the slave driver to drive the slave motor to work;
s3, the main motor drives the main speed reducer to work, and the auxiliary motor drives the auxiliary speed reducer to work;
s4, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the main driver;
and S5, the main speed reducer drives the pitch bearing to work, and the auxiliary speed reducer drives the pitch bearing to work.
The main controller, the main driver, the main motor, the main speed reducer and the pitch bearing form a main driving loop, the main controller, the main driver (one part of the main driver), the slave driver, the slave motor, the slave speed reducer and the pitch bearing form a slave driving loop, the double driving loops share large tooth stress concentration, single tooth load is reduced, serious wear and even fatigue damage of large teeth are effectively reduced, and fan safety is improved.
As a preferable technical scheme, a control method of a double-drive electric variable pitch control system of a wind turbine generator set,
the master driver comprises a position controller, a speed controller, a master current controller, a master power converter, a master current sensor and a position speed signal conversion module which are sequentially connected, the slave driver comprises a slave current controller, a slave power converter and a slave current sensor,
step S1 specifically includes the following steps:
k1, the main controller sends a position control command to the position controller;
step S2 specifically includes the following steps:
k2, the position controller receives the position control instruction, and sends a speed instruction to the speed controller by combining the actual position information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k3, the speed controller receives the speed command, and sends a torque command to the main current controller and the slave current controller by combining the actual speed information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k4, the main current controller receives the torque instruction, and sends an output signal to the control main power converter in combination with the actual current information of the main motor output by the main current sensor;
k5, the main power converter receives the output signal sent by the main current controller and outputs the current information after power conversion to the main current sensor;
k6, the main current sensor receives the current information output by the main power converter, detects the actual current information of the main motor and feeds the actual current information of the main motor back to the input end of the main current controller;
k7, a position and speed signal conversion module receives and converts the actual position information and the actual speed information of the main motor fed back by the main position and speed sensor, transmits the actual position information to the input end of the position controller, and transmits the actual speed information to the input end of the speed controller;
k8, receiving a torque command from the current controller, and sending an output signal to the control slave power converter by combining with the actual current information of the slave motor fed back from the current sensor;
k9, receiving the output signal sent from the current controller from the power converter, and outputting the current information after power conversion to the slave current sensor;
k10, receiving the current information output from the power converter from the current sensor, detecting the actual current information of the slave motor and feeding the actual current information of the slave motor back to the input end of the slave current controller;
step S4 specifically includes the following steps:
k11, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the position speed signal conversion module.
Position loop control is realized by comparing a position control command given by a main control controller with an actual position value of a main motor, speed loop control is realized by comparing a speed given command of the position loop with an actual speed value of the main motor, and main current loop control is realized by comparing a current given command of the speed loop with an actual current value of the main motor; the slave current controller realizes slave current loop control by comparing the received current instruction control (slave set torque instruction) with the received actual current value of the slave motor, and the slave motor drives the slave speed reducer to act so as to drive the blade bearing to act. Therefore, double-drive electric variable-pitch torque synchronization is realized, the stress of a variable-pitch bearing is reduced, the load of a single tooth is reduced, and the safety and the reliability of a variable-pitch system are improved.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, the double-drive loop is adopted to share stress concentration of the large teeth, so that the load of the single tooth is reduced, the serious wear and even fatigue damage of the large teeth are effectively reduced, and the safety of the fan is improved;
(2) the invention realizes the torque synchronization and anti-backlash control of the rotating speed amplitude limit of the double-drive electric variable-pitch belt;
(3) the invention further reduces the stress of the variable-pitch bearing, reduces the load of a single tooth, and improves the safety and reliability of the variable-pitch system;
(4) the invention has the advantages of high regulation speed, good power factor and simple structure;
(5) the invention is convenient for detecting the position and the speed simultaneously, and the integration degree is improved;
(6) the invention has the advantages of high monitoring precision, simple structure, sensitive action, reliable work, low requirement on environmental conditions, large output signal amplitude and strong anti-interference capability, improves the integration degree and controls more accurately;
(7) the invention is convenient for regulating and controlling the position control instruction and providing more I/O points.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a partially enlarged view of fig. 1.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
Example 1
As shown in fig. 1 and 2, the double-drive electric pitch control system of the wind turbine generator comprises a main controller, a main driver, a main motor, a main position speed sensor, a main motor, a main speed reducer and a pitch bearing, wherein the main controller, the main driver, the main speed reducer and the pitch bearing are electrically connected in sequence, the main motor, the main speed reducer and the pitch bearing are mechanically connected in sequence, the main position speed sensor is electrically connected with the main driver, the slave motor and the slave speed reducer are electrically connected in sequence, and the slave motor, the slave speed reducer and the pitch bearing are mechanically connected in sequence.
In operation, the system performs the following steps:
s1, the main controller sends a position control command to the main driver;
s2, the main driver receives a position control command, drives the main motor to work by combining the actual position information and the actual speed information of the main motor fed back by the main position speed sensor, and controls the slave driver to drive the slave motor to work;
s3, the main motor drives the main speed reducer to work, and the auxiliary motor drives the auxiliary speed reducer to work;
s4, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the main driver;
and S5, the main speed reducer drives the pitch bearing to work, and the auxiliary speed reducer drives the pitch bearing to work.
It should be noted that the above steps are not in a single order, as the operation of the system is dynamic, the flow of electrical signals is dynamic, and there is feedback.
The main controller, the main driver, the main motor, the main speed reducer and the pitch bearing form a main driving loop, the main controller, the main driver (one part of the main driver), the slave driver, the slave motor, the slave speed reducer and the pitch bearing form a slave driving loop, the double driving loops share large tooth stress concentration, single tooth load is reduced, serious wear and even fatigue damage of large teeth are effectively reduced, and fan safety is improved. Preferably, the master drive circuit and the slave drive circuit share half of the stress of the large teeth.
As a preferred technical scheme, the master driver includes a position speed signal conversion module, and a position controller, a speed controller, a current controller, a master power converter, and a master current sensor that are electrically connected in sequence, an input end of the position speed signal conversion module is connected to an output end of the master position speed sensor, an output end of the position speed signal conversion module is electrically connected to an input end of the position controller and an input end of the speed controller, respectively, the slave driver includes a slave current controller, a slave power converter, and a slave current sensor that are electrically connected in sequence, an output end of the speed controller is electrically connected to an input end of the slave current controller, and an output end of the slave current sensor is electrically connected to an input end of the slave current controller and a slave motor, respectively.
In operation, the preferred embodiment performs a more detailed procedure relative to the above, as follows:
step S1 specifically includes the following steps:
k1, the main controller sends a position control command to the position controller;
step S2 specifically includes the following steps:
k2, the position controller receives the position control instruction, and sends a speed instruction to the speed controller by combining the actual position information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k3, the speed controller receives the speed command, and sends a torque command to the main current controller and the slave current controller by combining the actual speed information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k4, the main current controller receives the torque instruction, and sends an output signal to the control main power converter in combination with the actual current information of the main motor output by the main current sensor;
k5, the main power converter receives the output signal sent by the main current controller and outputs the current information after power conversion to the main current sensor;
k6, the main current sensor receives the current information output by the main power converter, detects the actual current information of the main motor and feeds the actual current information of the main motor back to the input end of the main current controller;
k7, a position and speed signal conversion module receives and converts the actual position information and the actual speed information of the main motor fed back by the main position and speed sensor, transmits the actual position information to the input end of the position controller, and transmits the actual speed information to the input end of the speed controller;
k8, receiving a torque command from the current controller, and sending an output signal to the control slave power converter by combining with the actual current information of the slave motor fed back from the current sensor;
k9, receiving the output signal sent from the current controller from the power converter, and outputting the current information after power conversion to the slave current sensor;
k10, receiving the current information output from the power converter from the current sensor, detecting the actual current information of the slave motor and feeding the actual current information of the slave motor back to the input end of the slave current controller;
step S4 specifically includes the following steps:
k11, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the position speed signal conversion module.
It should be noted that the above steps are not in a single order, as the operation of the system is dynamic, the flow of electrical signals is dynamic, and there is feedback.
Position loop control is realized by comparing a position control command given by a main control controller with an actual position value of a main motor, speed loop control is realized by comparing a speed given command of the position loop with an actual speed value of the main motor, and main current loop control is realized by comparing a current given command of the speed loop with an actual current value of the main motor; the slave current controller realizes slave current loop control by comparing the received current instruction control (slave set torque instruction) with the received actual current value of the slave motor, and the slave motor drives the slave speed reducer to act so as to drive the blade bearing to act. Therefore, double-drive electric variable-pitch torque synchronization is realized, the stress of a variable-pitch bearing is reduced, the load of a single tooth is reduced, and the safety and the reliability of a variable-pitch system are improved.
Preferably, the position controller is further configured to feed back actual position information to the main controller, and the main controller is further configured to receive the actual position information. Therefore, the actual position information in the loop can be timely acquired by the main controller, the main controller is endowed with the function of monitoring the actual position information of the loop, the actual variable pitch control condition is more conveniently controlled, and the control is more accurately facilitated.
As a preferred technical solution, the slave driver further includes a speed limiter electrically connected to the output terminal of the position controller and the input terminal of the slave power converter, respectively.
The speed limiter is used for receiving the speed instruction sent by the position controller and outputting the limited speed instruction.
The speed instruction of the main driving loop after passing through the position loop controller is given to the slave power converter after passing through the speed amplitude limiter, the current control instruction (slave set torque instruction) output by the main driving loop after passing through the current loop controller is directly transmitted to the slave driver, and the slave driver controls the action of the slave motor according to the received speed amplitude limiting instruction and the received current instruction (slave set torque instruction), so that the torque synchronization and anti-backlash control of the rotating speed amplitude limiting of the double-drive electric variable pitch belt are realized, the stress of a variable pitch bearing is further reduced, the single-tooth load is reduced, and the safety and the reliability of the variable pitch system are improved.
In the embodiment, the current of the main driving loop is transmitted to the auxiliary driving loop, the load borne by the main/auxiliary motor is distributed, and the torque difference value of the main/auxiliary driving loop can be controlled to be below 5%; meanwhile, amplitude limiting control is carried out on the speed set value transmitted from the main driving loop to the auxiliary driving loop, the tooth gap error inevitably existing in the assembling and manufacturing process of the speed reducer is eliminated, the condition that only one motor is actually contacted and acted with the teeth of the speed reducer in the actual operation process is avoided, the rotating speed difference value of the main driving loop and the auxiliary driving loop is controlled to be below 5%, torque synchronous control in the rotating speed limit of the main motor and the auxiliary motor is achieved, the fatigue load and the limit load of single teeth of the variable-pitch bearing are reduced, the damage rate of the variable-pitch bearing caused by overlarge stress of the single teeth is reduced, and the safety and reliability of the wind turbine generator.
As a preferred technical solution, the master power converter and/or the slave power converter is a PWM inverter.
The PWM inverter has the advantages of high regulation speed, good power factor and simple structure.
As a preferred technical solution, the main position and speed sensor is a rotary transformer.
The rotary transformer is a precise angle, position and speed detection device, and is particularly suitable for occasions where a rotary encoder cannot work normally, such as high-temperature, high-dust, severe cold, moist, high-speed and high-vibration rotary encoders and the like. The device has the advantages of high monitoring precision, simple structure, sensitive action, reliable work, low requirement on environmental conditions (especially in places with high temperature and high dust), large output signal amplitude and strong anti-interference capability. And the device is applied to a main driving loop, so that the simultaneous position and speed detection is facilitated, and the integration degree is improved.
As a preferable technical scheme, the device further comprises a slave position speed sensor electrically connected with the slave motor.
The slave position and speed sensor is arranged to facilitate the switching of the master drive circuit and the slave drive circuit. When the master drive circuit and the slave drive circuit are required to be switched, the original master drive circuit is easily switched to the slave drive circuit, and the original slave drive circuit is easily switched to the master drive circuit.
As a preferred technical solution, the slave position and speed sensor is a resolver.
The rotary transformer is a precise angle, position and speed detection device, and is particularly suitable for occasions where a rotary encoder cannot work normally, such as high-temperature, high-dust, severe cold, moist, high-speed and high-vibration rotary encoders and the like. The device has the advantages of high monitoring precision, simple structure, sensitive action, reliable work, low requirement on environmental conditions (especially in places with high temperature and high dust), large output signal amplitude and strong anti-interference capability. When the original main driving loop is switched to the slave driving loop and the original slave driving loop is switched to the main driving loop, auxiliary feedback and correction of position and speed detection information are facilitated, and control is more accurate.
As a preferred technical scheme, the system also comprises a variable pitch controller, wherein the main controller, the variable pitch controller and the position controller are electrically connected in sequence.
The variable pitch controller plays a role in transferring and correcting position information, so that the position control instruction can be conveniently regulated and controlled, and more I/O point positions can be conveniently provided.
It is worth mentioning that, as a preferred solution, the communication protocol between the pitch controller and the master drive includes, but is not limited to, one or a combination of CanOpen, Profibus, and RS 485.
The variable pitch controller receives the control instruction of the master control controller through the communication protocol and feeds back the actual state of the variable pitch to the master controller, so that the control coordination of the system is improved, and the communication faults of the system are reduced.
It should be noted that, as a preferred technical solution, the communication protocol between the master driver and the slave driver includes, but is not limited to, one or a combination of multiple buses, ETHcat, CanOpen, Profibus, and RS 485.
The master driver sends the speed limit value, the current value and the control word to the slave driver through the communication protocol, and the slave driver feeds back the state of the slave driver to the master driver in time through the communication protocol. Multi-axis bus communication may be preferred for 1 ms.
It is worth noting that it may be preferable that the master drive circuit and the slave drive circuit may be selectively switched in the control software.
It is worth mentioning that, as a preferred technical solution, the pitch controller is a separate pitch controller, a pitch controller with a separate control card, or is built in the main drive.
The selectable mounting position and the actual structure of the variable pitch controller are more diversified, and the variable pitch controller is convenient to adapt to wider application scenes.
Example 2
A control method of a double-drive electric variable pitch control system of a wind turbine generator comprises the following steps:
s1, the main controller sends a position control command to the main driver;
s2, the main driver receives a position control command, drives the main motor to work by combining the actual position information and the actual speed information of the main motor fed back by the main position speed sensor, and controls the slave driver to drive the slave motor to work;
s3, the main motor drives the main speed reducer to work, and the auxiliary motor drives the auxiliary speed reducer to work;
s4, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the main driver;
and S5, the main speed reducer drives the pitch bearing to work, and the auxiliary speed reducer drives the pitch bearing to work.
It should be noted that the above steps are not in a single order, as the operation of the system is dynamic, the flow of electrical signals is dynamic, and there is feedback. A
The main controller, the main driver, the main motor, the main speed reducer and the pitch bearing form a main driving loop, the main controller, the main driver (one part of the main driver), the slave driver, the slave motor, the slave speed reducer and the pitch bearing form a slave driving loop, the double driving loops share large tooth stress concentration, single tooth load is reduced, serious wear and even fatigue damage of large teeth are effectively reduced, and fan safety is improved. Preferably, the master drive circuit and the slave drive circuit share half of the stress of the large teeth.
As a preferable technical scheme, a control method of a double-drive electric variable pitch control system of a wind turbine generator set,
the master driver comprises a position controller, a speed controller, a master current controller, a master power converter, a master current sensor and a position speed signal conversion module which are sequentially connected, the slave driver comprises a slave current controller, a slave power converter and a slave current sensor,
step S1 specifically includes the following steps:
k1, the main controller sends a position control command to the position controller;
step S2 specifically includes the following steps:
k2, the position controller receives the position control instruction, and sends a speed instruction to the speed controller by combining the actual position information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k3, the speed controller receives the speed command, and sends a torque command to the main current controller and the slave current controller by combining the actual speed information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k4, the main current controller receives the torque instruction, and sends an output signal to the control main power converter in combination with the actual current information of the main motor output by the main current sensor;
k5, the main power converter receives the output signal sent by the main current controller and outputs the current information after power conversion to the main current sensor;
k6, the main current sensor receives the current information output by the main power converter, detects the actual current information of the main motor and feeds the actual current information of the main motor back to the input end of the main current controller;
k7, a position and speed signal conversion module receives and converts the actual position information and the actual speed information of the main motor fed back by the main position and speed sensor, transmits the actual position information to the input end of the position controller, and transmits the actual speed information to the input end of the speed controller;
k8, receiving a torque command from the current controller, and sending an output signal to the control slave power converter by combining with the actual current information of the slave motor fed back from the current sensor;
k9, receiving the output signal sent from the current controller from the power converter, and outputting the current information after power conversion to the slave current sensor;
k10, receiving the current information output from the power converter from the current sensor, detecting the actual current information of the slave motor and feeding the actual current information of the slave motor back to the input end of the slave current controller;
step S4 specifically includes the following steps:
k11, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the position speed signal conversion module.
It should be noted that the above steps are not in a single order, as the operation of the system is dynamic, the flow of electrical signals is dynamic, and there is feedback.
Position loop control is realized by comparing a position control command given by a main control controller with an actual position value of a main motor, speed loop control is realized by comparing a speed given command of the position loop with an actual speed value of the main motor, and main current loop control is realized by comparing a current given command of the speed loop with an actual current value of the main motor; the slave current controller realizes slave current loop control by comparing the received current instruction control (slave set torque instruction) with the received actual current value of the slave motor, and the slave motor drives the slave speed reducer to act so as to drive the blade bearing to act. Therefore, double-drive electric variable-pitch torque synchronization is realized, the stress of a variable-pitch bearing is reduced, the load of a single tooth is reduced, and the safety and the reliability of a variable-pitch system are improved.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
As described above, the present invention can be preferably realized.
The foregoing is only a preferred embodiment of the present invention, and the present invention is not limited thereto in any way, and any simple modification, equivalent replacement and improvement made to the above embodiment within the spirit and principle of the present invention still fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a wind turbine generator system double-drive electronic becomes oar control system, its characterized in that includes main control unit, main drive ware, main motor, the master position velocity sensor that consecutive electricity links to each other, main motor, main reduction gear, the oar bearing of becoming of mechanical connection in proper order, main position velocity sensor links to each other with the main drive ware electricity, still includes from driver, follow motor, follow reduction gear, main drive ware, follow motor are consecutive electricity and are linked to each other, follow motor, follow reduction gear, become oar bearing and mechanical connection in proper order.
2. The wind turbine generator double-drive electric pitch control system according to claim 1, the main driver comprises a position and speed signal conversion module, and a position controller, a speed controller, a current controller, a main power converter and a main current sensor which are electrically connected in sequence, the input end of the position and speed signal conversion module is connected with the output end of the main position and speed sensor, the output end of the position and speed signal conversion module is respectively and electrically connected with the input end of the position controller and the input end of the speed controller, the slave driver comprises a slave current controller, a slave power converter and a slave current sensor which are electrically connected in sequence, the output end of the speed controller is electrically connected with the input end of the slave current controller, and the output end of the slave current sensor is electrically connected with the input end of the slave current controller and the slave motor respectively.
3. The dual-drive electric pitch control system for the wind turbine generator according to claim 2, wherein the slave driver further comprises a speed limiter electrically connected to an output of the position controller and an input of the slave power converter.
4. The wind turbine generator double-drive electric pitch control system according to claim 2, wherein the master power converter and/or the slave power converter is a PWM inverter.
5. The wind turbine generator system dual-drive electric pitch control system according to claim 2, wherein the main position speed sensor is a rotary transformer.
6. The dual-drive electric pitch control system for the wind turbine generator according to claim 2, further comprising a slave position and speed sensor electrically connected to the slave motor.
7. The wind turbine generator system double-drive electric pitch control system according to claim 2, wherein the slave position speed sensor is a rotary transformer.
8. The double-drive electric variable pitch control system of the wind turbine generator according to any one of claims 2 to 7, further comprising a variable pitch controller, wherein the main controller, the variable pitch controller and the position controller are electrically connected in sequence.
9. The control method of the double-drive electric variable pitch control system of the wind turbine generator set based on any one of 1 to 8 is characterized by comprising the following steps of:
s1, the main controller sends a position control command to the main driver;
s2, the main driver receives a position control command, drives the main motor to work by combining the actual position information and the actual speed information of the main motor fed back by the main position speed sensor, and controls the slave driver to drive the slave motor to work;
s3, the main motor drives the main speed reducer to work, and the auxiliary motor drives the auxiliary speed reducer to work;
s4, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the main driver;
and S5, the main speed reducer drives the pitch bearing to work, and the auxiliary speed reducer drives the pitch bearing to work.
10. The control method of the double-drive electric variable pitch control system of the wind turbine generator set according to claim 9,
the master driver comprises a position controller, a speed controller, a master current controller, a master power converter, a master current sensor and a position speed signal conversion module which are sequentially connected, the slave driver comprises a slave current controller, a slave power converter and a slave current sensor,
step S1 specifically includes the following steps:
k1, the main controller sends a position control command to the position controller;
step S2 specifically includes the following steps:
k2, the position controller receives the position control instruction, and sends a speed instruction to the speed controller by combining the actual position information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k3, the speed controller receives the speed command, and sends a torque command to the main current controller and the slave current controller by combining the actual speed information of the main motor fed back by the main position speed sensor and the position speed signal conversion module in sequence;
k4, the main current controller receives the torque instruction, and sends an output signal to the control main power converter in combination with the actual current information of the main motor output by the main current sensor;
k5, the main power converter receives the output signal sent by the main current controller and outputs the current information after power conversion to the main current sensor;
k6, the main current sensor receives the current information output by the main power converter, detects the actual current information of the main motor and feeds the actual current information of the main motor back to the input end of the main current controller;
k7, a position and speed signal conversion module receives and converts the actual position information and the actual speed information of the main motor fed back by the main position and speed sensor, transmits the actual position information to the input end of the position controller, and transmits the actual speed information to the input end of the speed controller;
k8, receiving a torque command from the current controller, and sending an output signal to the control slave power converter by combining with the actual current information of the slave motor fed back from the current sensor;
k9, receiving the output signal sent from the current controller from the power converter, and outputting the current information after power conversion to the slave current sensor;
k10, receiving the current information output from the power converter from the current sensor, detecting the actual current information of the slave motor and feeding the actual current information of the slave motor back to the input end of the slave current controller;
step S4 specifically includes the following steps:
k11, the main position speed sensor detects and outputs the actual position information and the actual speed information of the main motor to the position speed signal conversion module.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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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2021
- 2021-03-03 CN CN202110234715.3A patent/CN113007015A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN115506955B (en) * | 2022-11-24 | 2023-01-31 | 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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Address after: 618099 No.99, Zhujiang East Road, Jingyang District, Deyang City, Sichuan Province Applicant after: Dongfang Electric Wind Power Co.,Ltd. Address before: 618099 No.99, Zhujiang East Road, Jingyang District, Deyang City, Sichuan Province Applicant before: DONGFANG ELECTRIC WIND POWER Co.,Ltd. |