CN113431737B - Variable pitch control method, controller and control system of wind generating set - Google Patents
Variable pitch control method, controller and control system of wind generating set Download PDFInfo
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- CN113431737B CN113431737B CN202010208350.2A CN202010208350A CN113431737B CN 113431737 B CN113431737 B CN 113431737B CN 202010208350 A CN202010208350 A CN 202010208350A CN 113431737 B CN113431737 B CN 113431737B
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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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The disclosure provides a variable pitch control method, a controller and a control system of a wind generating set. The pitch control method comprises the following steps: data interaction is carried out among all pitch controllers of the wind generating set; judging whether a single-shaft communication fault occurs in the wind generating set, wherein the single-shaft communication fault is a communication fault between a master control controller and a variable pitch controller of the wind generating set; after the wind generating set is determined to have single-shaft communication fault, the variable pitch controller with the single-shaft communication fault sets a speed value sent to the other variable pitch controller as an abnormal value, and judges whether the speed values received from the other variable pitch controllers are within a preset normal speed range; and when the received speed value is within a preset normal speed range, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value.
Description
Technical Field
The present disclosure relates to the field of wind power generation technologies, and more particularly, to a pitch control method, a pitch controller, and a pitch control system for a wind turbine generator system.
Background
The wind generating set is a device for converting wind energy into electric energy, the wind energy drives the main shaft, the speed increasing box and the generator to be converted into electric energy through the impeller, and then the electric energy generated by the wind generating set is transmitted into a power grid through grid-connected control, so the grid-connected control is an important link for controlling the wind generating set.
The conductive slip ring is a precise power transmission device which transmits electric signals and electric energy between a rotating part and a rolling or sliding part of a fixed seat frame by utilizing sliding contact, electrostatic coupling or electromagnetic coupling of a conductive ring. It is widely used in all electromechanical systems that require unlimited, continuous or intermittent 360 degree rotation, providing multi-channel rotational power, data and signals. The conducting slip ring greatly simplifies the system structure and avoids the sprain of the lead in the rotating process. The conductive slip ring component is composed of a slip ring body, an electric brush component, a fixed support, a concentric ball bearing and other important parts. The conductive slip ring is required to ensure reliable contact in structural design and ensure continuous connection of all lines.
In a wind power plant, the conductive slip ring is one of the indispensable components in the wind power generator, since the hub of the pitch system rotates with the impeller, while the nacelle is fixed. However, since the conductive slip ring transmits dozens of different electrical signals, for example, high-frequency alternating current, high-voltage alternating current, large-current alternating current, and weak-small direct current, and the distance between the conductive slip ring rings is very short, various signals interfere with each other during transmission, thereby seriously affecting information transmission.
Fig. 1 shows the control logic between the main control system and the pitch system of a wind park. Referring to fig. 1, a main control system (not shown) compares an actual rotating speed value of a generator with a preset rotating speed set value, performs PID calculation by using a PID controller 104, and sends a required speed command to a pitch controller 101 of a pitch system through a conductive slip ring 106; the variable pitch controller 101 sends the required variable pitch speed and the enabling signal to the variable pitch driver 102 according to the received speed command, and after receiving the enabling signal and the variable pitch speed, the variable pitch driver 102 controls the variable pitch motor 103 to brake and release and drives the variable pitch motor 103 to operate, so that the blade adjusting function is realized. The rotary encoder 105 feeds back the angle measured according to the absolute value signal to the pitch controller 101 and the speed measured according to the incremental signal to the pitch drive 102. In addition, pitch controller 101 feeds back the angle received from rotary encoder 105 to GH controller 104 through slip ring 106. When the speed command is 0, the pitch drive 102 controls the brake of the pitch motor.
However, as can be seen from fig. 1, if the pitch controller 101 needs to control the operation of the pitch driver 102 and make the pitch driver 102 drive the pitch motor 103 to operate, it needs to send a speed command and an enable signal at the same time, once the communication between the pitch controller 101 and the main control controller is interrupted, both the speed command and the enable signal become 0 or have no output value, and at this time, the pitch driver 102 cannot perform normal pitch control any more because it cannot receive the operation command.
At present, for communication faults caused by interference of a conductive slip ring, a wind generating set can only be ensured to be safe by adopting a stopping operation, namely, after a master control system detects that communication of the conductive slip ring is wrong, a propeller retracting machine can be immediately executed to stop so as to ensure the safety of the wind generating set, but the wind generating set can be caused to be unnecessarily stopped to influence the generating capacity of the wind generating set.
Disclosure of Invention
Exemplary embodiments of the present disclosure provide a pitch control method, a pitch controller, and a pitch control system of a wind turbine generator set, which solve at least the above technical problems and other technical problems not mentioned above and provide the following advantageous effects.
One aspect of the present disclosure is to provide a pitch control method of a wind turbine generator system, which may include: performing data interaction between each variable pitch controller of the wind generating set; judging whether a single-shaft communication fault occurs in the wind generating set, wherein the single-shaft communication fault is a communication fault between a master control controller and a variable pitch controller of the wind generating set; after the wind generating set is determined to have single-shaft communication fault, the variable pitch controller with the single-shaft communication fault sets a speed value sent to the other variable pitch controller as an abnormal value, and judges whether the speed values received from the other variable pitch controllers are within a preset normal speed range; and when the received speed value is within a preset normal speed range, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value.
The step of performing data interaction among the variable pitch controllers of the wind generating set can comprise the following steps: performing data interaction between each pitch controller of the wind generating set based on the pulse signals, wherein before judging whether the speed values received from other pitch controllers are within a preset normal speed range, the data interaction may comprise: and the variable pitch controller with the single-shaft communication fault converts the frequency value of the received pulse signal into a corresponding speed value according to the corresponding relation between the frequency and the speed.
When the received speed value is within a preset normal speed range, the step of executing the pitch control operation by the pitch controller with the single-shaft communication fault according to the received speed value may include: when the received speed value is within a preset normal speed range, judging whether other nodes except the node with the single-shaft communication fault in a safety chain of the wind generating set are normal or not; when all the other nodes are determined to be normal, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value; when it is determined that there is a failed node among the remaining nodes, disconnecting a safety chain of the wind power plant and triggering a wind power plant fault shutdown.
After the step of the pitch controller with the single-shaft communication fault performing the pitch operation according to the received speed value, the method further comprises the following steps: judging whether the time length of the pitch control controller with the single-shaft communication fault for executing the pitch control operation according to the received speed value exceeds a preset threshold value; when the duration exceeds a preset threshold, judging whether the single-axis communication fault is recovered to be normal or not; if the single-shaft communication fault is recovered to be normal, the variable pitch controller with the single-shaft communication fault recovers to perform variable pitch control according to the speed value sent by the main controller; if the single-shaft communication fault is not recovered, disconnecting a safety chain of the wind turbine generator system and triggering a wind turbine generator system fault shutdown.
After determining whether the received speed value is within a preset normal speed range, the pitch control method may further include: and when the received speed value is judged not to be in the preset normal speed range, disconnecting the safety chain of the wind generating set and triggering the wind generating set to stop due to faults.
Another aspect of the present disclosure is to provide a pitch controller of a wind turbine generator system, which may include: the communication module is used for carrying out data interaction with other variable pitch controllers; and the control module is used for setting the speed value sent to the other variable pitch controller as an abnormal value and judging whether the speed values received from the other variable pitch controllers are within a preset normal speed range or not after determining that the single-shaft communication fault occurs between the variable pitch controller and the wind generating set, and executing variable pitch operation according to the received speed values after the received speed values are within the preset normal speed range, wherein the single-shaft communication fault is a communication fault between a main control controller of the wind generating set and one variable pitch controller.
The pitch controller may further comprise: and the determining module is respectively connected with the communication module and the control module and is used for judging whether a single-shaft communication fault occurs between the variable pitch controller and the wind generating set.
The control module can also be used for executing variable pitch operation according to the received speed value when the received speed value is within a preset normal speed range and other nodes except the node with the single-shaft communication fault in the safety chain of the wind generating set are normal.
The pitch controller can also comprise a recovery module used for judging whether the time length for executing the pitch operation according to the received speed value exceeds a preset threshold value; when the duration exceeds a preset threshold, judging whether the single-axis communication fault is recovered to be normal or not; and if the single-shaft communication fault is recovered to be normal, the variable pitch control is performed according to the speed value sent by the main controller.
Another aspect of the present disclosure is to provide a pitch control system of a wind turbine generator system, which may include: a master controller; and at least two pitch controllers as described above, the master controller being connected to each of the at least two pitch controllers.
In the pitch control system, the master controller may be configured to determine whether a single-axis communication fault occurs in the wind turbine generator system, and send a determination result to the at least two pitch controllers; when determining that other nodes except the node with the single-shaft communication fault in the safety chain of the wind generating set are not all normal, disconnecting the safety chain of the wind generating set and triggering the wind generating set to be in fault shutdown; when the time length of the pitch control controller with the single-shaft communication fault for executing the pitch control operation according to the received speed value exceeds a preset threshold value and the single-shaft communication fault is not recovered, disconnecting a safety chain of the wind generating set and triggering the wind generating set to be in fault shutdown; or/and when the speed value received by the variable pitch controller with the single-shaft communication fault is judged not to be within a preset normal speed range, disconnecting the safety chain of the wind generating set and triggering the wind generating set to be in fault shutdown.
According to another exemplary embodiment of the disclosure, a computer is provided, comprising a readable medium having a computer program stored thereon and a processor, characterized in that the processor, when running the computer program, performs the pitch control method of a wind park as described above.
Based on the method, the system and the device, the pitch controllers with communication faults still have certain pitch adjusting functions by performing data interaction among the pitch controllers, so that the operation safety of the wind driven generator can be ensured, the fault of inconsistent angle caused by the pitch adjusting control of the blades can not be triggered immediately, the redundant operation time of the wind driven generator set is prolonged, and the communication flash fault-tolerant control of Decentralized peripheral equipment (DP) is effectively performed.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
These and/or other aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 shows a control logic between a main control system and a pitch system of a wind power plant;
FIG. 2 is a pitch control system of a wind park according to an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a pulse signal according to an example embodiment of the present disclosure;
FIG. 4 is a graphical illustration of the relationship between speed and frequency in accordance with an exemplary embodiment of the present disclosure;
FIG. 5 is a pitch control method of a wind park according to an exemplary embodiment of the present disclosure;
FIG. 6 is a pitch controller of a wind park according to an exemplary embodiment of the present disclosure.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of the embodiments of the disclosure as defined by the claims and their equivalents. Various specific details are included to aid understanding, but these are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
The terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules, or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules, or units.
Because the communication data is sensitive digital quantity signals, the interference of the conductive slip ring easily influences the stability and reliability of the communication data, and the operation of the pitch control system controlled by the main control system of the wind generating set is mainly realized through the communication of the conductive slip ring, so that the wind generating set often has the phenomenon that the communication is interrupted (namely the communication is recovered to be normal after being interrupted for a short time (for example, 1 s)) due to the interference of the conductive slip ring, the wind generating set is stopped, or the pitch control controller receives wrong pitch angle instruction data due to the interference of the communication data, so that the pitch control system malfunctions.
At present, for communication faults caused by interference of a conductive slip ring, the safety of a wind generating set can be ensured only by stopping the wind generating set, and the communication faults mainly comprise the following reasons: the variable pitch system does not acquire a wind speed value, the current wind speed value cannot be judged, and the wind speed is transient, so that the variable pitch system cannot operate blindly after a flash failure occurs in communication, otherwise, the safety of the wind generating set is extremely easily damaged; the variable pitch system cannot detect the rotating speed value of the generator or the low-speed shaft, even if the main control system of some wind driven generators transmits the rotating speed value of the generator to the variable pitch system, data transmission is still carried out through the conductive slip ring, after the conductive slip ring has a flash-off phenomenon, the data cannot be effectively transmitted, at the moment, the variable pitch system cannot operate blindly, otherwise, the safety of the wind driven generator set is extremely easily damaged; by means of communication data verification, misoperation of the variable pitch system can be effectively prevented, but the fault-tolerant function of slip ring flash cannot be realized, namely, after the variable pitch system detects that a verification result of communication data is wrong, the variable pitch system immediately executes pitch-retracting shutdown so as to ensure the safety of the wind generating set; even if the communication redundancy is considered by using the wireless communication, the wireless communication is easily shielded or interfered, more wireless modules are needed to be added, and the modification cost is higher; if the fault is not triggered and the fault tolerance of the wind driven generator is directly realized, the method has certain blindness and has greater hidden danger to the safety of the fan, and if the blades of the pitch control system in normal communication are in pitch control at the moment, the redundant operation time is very short, and the fault of inconsistent angle can be triggered quickly. Here, an "angle inconsistency" fault is a fault signal triggered by a pitch angle difference between individual blades of the wind park being larger than a fault threshold value over a certain time. For example, under the normal operation condition of the wind generating set, the deviation of the variable pitch speed value of each variable pitch system of the wind generating set is small, so that the difference value of the pitch angle of each blade is smaller than the fault threshold value of the "angle inconsistency" (generally 3.5 degrees/second) within a certain time. An "angle inconsistency" fault may be triggered if the pitch angle difference for each blade is greater than or equal to an "angle inconsistency" fault threshold.
Based on the above reasons, the present disclosure provides a pitch control method and apparatus that solves communication interruption. By adding the input and output module between the variable pitch controllers, after the wind generating set has single-shaft communication failure, variable pitch operation is executed through data interaction between the variable pitch controllers.
Hereinafter, according to various embodiments of the present disclosure, an apparatus and a method of the present disclosure will be described with reference to the accompanying drawings.
FIG. 2 is a pitch control system of a wind park according to an exemplary embodiment of the present disclosure.
Referring to FIG. 2, pitch control system 200 may include a master control system 201 of a wind turbine generator set, a pitch system (not shown), and a conductive slip ring 203. Here, fig. 2 shows a pitch system of a wind park with three blades, wherein the pitch system comprises three pitch control cabinets 202. The master control system 201 includes a master controller 204. Each pitch control cabinet 202 includes a pitch controller, such as pitch controller 205, 206, or 207. Conductive slip ring 203 includes a plurality of communication channels, and master controller 204 is connected for data communication with each of pitch controllers 205, 206, and 207, respectively, via one communication channel of conductive slip ring 203.
The main control controller 204 can control the start, operation and stop of the wind generating set, the main control controller 204 respectively collects the angle value of each blade and sends a speed instruction/pitch angle control instruction to each pitch controller 205, 206 and 207, and each pitch controller 205, 206 and 207 controls the blade to open and close after receiving the instruction of the main control controller 204 so as to realize maximum power output and ensure the operation according to a stable rotating speed, and performs data interaction with the main control controller 204.
In the present disclosure, an input-output module (not shown) may be provided in each pitch controller 205, 206, and 207, or in each pitch control cabinet, to enable data interaction between each pitch controller 205, 206, and 207. For example, in data interaction between each pitch controller 205, 206 and 207, the pitch controller 205 may send speed values received from the master controller 204 to the pitch controller 207 via a first one of the input-output modules and receive speed values assigned to the pitch controller 206 by the master controller 204 from the pitch controller 206 via a first one of the input-output modules, the pitch controller 206 may send speed values received from the master controller 204 to the pitch controller 205 via a second one of the input-output modules and receive speed values assigned to the pitch controller 207 by the master controller 204 from the pitch controller 207 via a second one of the input-output modules, the pitch controller 207 may send speed values received from the master controller 204 to the pitch controller 206 via a third one of the input-output modules and receive speed values assigned to the pitch controller 207 by the master controller 204 from the pitch controller via a third one of the input-output modules The controller 205 receives speed values assigned to the pitch controller 205 by the master controller 204. However, the data interaction lines between the pitch controllers described above are merely exemplary, and the disclosure is not limited thereto.
The input/output module of the present disclosure may be an analog input/output module or a digital input/output module. When the analog quantity input and output module is used for data interaction, analog quantity signals can be directly transmitted between the pitch controllers. When the digital quantity input and output module is used for data interaction, each variable pitch controller of the wind generating set can perform data interaction based on the pulse signals. Each pitch controller may convert the frequency value of the received pulse signal into a corresponding speed value according to a relationship between frequency and speed. How to transmit the speed value in the form of the pulse signal will be described with reference to fig. 3 and 4.
Fig. 3 is a schematic diagram of a pulse signal according to an example embodiment of the present disclosure.
Referring to fig. 3, the abscissa is time and the ordinate is a voltage value. When the signal is at a high level, it indicates that the voltage value in the line is 24V, and when the signal is at a low level, it indicates that the voltage in the line is 0V, thereby generating a pulse signal in which the high and low levels are alternately changed. As can be seen from fig. 3, at time t1, the pulse width of the signal becomes wider, indicating that the velocity value becomes smaller at this time; at time t2, the pulse width of the signal is narrowed again, indicating that the speed value is increased at this time; at time t3, the pulse width of the signal becomes further narrow, indicating that the velocity value becomes further large at this time.
Since the hardware line is a 24V voltage signal, the pulse signal is less susceptible to electromagnetic interference than communication data. In addition, the voltage range that the switching value channel of the programmable logic controller PLC can receive is 17-27V, so even if slight voltage fluctuation caused by electromagnetic interference exists, the transmission of the pulse signal is not influenced.
FIG. 4 is a graphical illustration of a relationship between speed and frequency in accordance with an exemplary embodiment of the present disclosure.
Referring to fig. 4, the abscissa is a velocity value and the ordinate is a frequency value. The relationship between the speed value and the frequency value may be y ═ x + 6. The purpose of this is to convert the speed and frequency by integer numbers to facilitate the generation and recovery of the pulse signal and to ensure that the calculated frequency value is not too high. However, the above functional relationship is merely exemplary and may be adaptively changed according to actual situations, and the present disclosure is not limited thereto.
After each pitch controller 205, 206, 207 receives such a pulse signal, the pitch controllers 205, 206, 207 perform a proportional conversion, converting the frequency value of the pulse signal to a speed value.
The master controller 204 may determine whether a single-shaft communication fault occurs in the wind turbine generator set, where the single-shaft communication fault is a communication fault between the master controller 204 and one of the pitch controllers 205, 206, or 207 of the wind turbine generator set. The communication failure may be due to a communication channel failure of the conductive slip ring 203 between the master controller 204 and one of the pitch controllers 205 or 206 or 207.
After master controller 204 determines that a single-shaft communication fault has occurred with the wind turbine, each of pitch controllers 205, 206, and 207, respectively, determines whether the single-shaft communication fault has occurred with itself. Assuming that the pitch controller 205 determines that this single-shaft communication failure has occurred itself, the pitch controller 205 may set the speed value sent to the other pitch controller 207 to an abnormal value and determine whether the speed values received from the other pitch controllers 206 are within a preset normal speed range. When the received speed value is within the preset normal speed range, the pitch controller 205 in which the single-shaft communication failure occurs performs a pitch operation according to the speed value received from the pitch controller 206. When the received speed value is judged not to be within the preset normal speed range, the main control controller 204 disconnects the safety chain of the wind generating set and triggers the wind generating set to be in a fault shutdown state.
As an example, pitch controller 205, upon determining that it has a communication failure, may set the speed value received from master controller 204 to a maximum value. Here, the maximum value is a velocity value whose converted velocity value is greater than 6 degrees/sec, for example, 10 degrees/sec (it can be seen from fig. 4 that the frequency value of the corresponding pulse signal is greater than 20 Hz). This is done to distinguish from the speed value 0 to determine whether the pitch controller 205 is currently in a fault state or a state where no pitch adjustment is required (i.e. the given speed is a 0 value).
The speed value may be subjected to a clipping setting in advance, and for example, the normal speed range may be set to-6 degrees/second to 6 degrees/second. Pitch controller 205 may determine whether the received speed value is normal based on a normal speed range. If the received speed value is not within this range, the speed is considered abnormal. However, the above normal speed range is merely exemplary, and the present disclosure is not limited thereto.
Further, after determining that the received speed value is within the preset normal speed range, the main control controller 204 may determine whether the remaining nodes of the safety chain of the wind turbine generator set, except the node where the single-axis communication failure occurs, are normal. When it is determined that all the remaining nodes are normal, the pitch controller 205 may perform a pitch operation according to the received speed value. When it is determined that there is a failed node among the remaining nodes, the master control controller 204 may disconnect the safety chain of the wind park and trigger a wind park failover. Whether each node in the safety chain is normal or not is detected to judge whether other faults except the single-axis communication fault occur to the wind generating set or not, and therefore safe operation of the wind generating set is guaranteed.
Further, in the case that the pitch controller 205 with a normal safety chain and a single-shaft communication failure performs the pitch operation at the received speed value (this stage may be referred to as a redundant operation mode stage), the main control controller 204 may determine whether a duration of the pitch operation performed by the pitch controller 205 according to the received speed value exceeds a preset threshold. When the duration exceeds the preset threshold, the master controller 204 may determine whether the single-axis communication failure is recovered to normal. If the single-shaft communication failure is recovered to be normal, the variable pitch controller 205 recovers to perform variable pitch control according to the speed value sent by the main controller 204. If the single-axis communication fault is not recovered, the master control 204 disconnects the safety chain of the wind park and triggers a wind park failover.
In the redundant operation mode, the main control controller 204 may also monitor the rotational speed value of the wind turbine generator set in real time. When the monitored rotational speed value exceeds a preset value, the master controller 204 may disconnect the safety chain and trigger a fail-down. The running safety of the wind generating set is guaranteed by monitoring the rotating speed value of the generator.
According to the embodiment of the disclosure, each variable pitch controller has a function of mutual detection, and during the redundant operation mode, the variable pitch controller with communication fault has a certain pitch adjusting function, so that the operation safety of the wind driven generator can be ensured, and the fault of 'inconsistent angle' caused by the pitch adjusting control of the blades can not be triggered immediately, thereby prolonging the redundant operation time of the wind driven generator and effectively carrying out DP communication flash fault-tolerant control.
FIG. 5 is a pitch control method of a wind park according to an exemplary embodiment of the present disclosure.
In the embodiment of the disclosure, data interaction can be carried out among all pitch controllers of the wind generating set. For example, the sending and receiving of speed commands for each pitch controller may be accomplished using analog or digital input-output modules.
Referring to fig. 5, in step S501, the main control controller determines whether a single-axis communication fault occurs in the wind turbine generator set. The single-shaft communication fault is a communication fault between a main control controller and a variable pitch controller of the wind generating set. The communication failure may be due to a failure of a communication channel of the conductive slip ring between the master controller and one of the pitch controllers. And if the single-shaft communication fault is determined to occur, the step S502 is carried out, otherwise, the step S508 is carried out, or the wind generating set is operated normally.
After determining that the single-shaft communication fault occurs in the wind generating set, in step S502, each pitch controller of the wind generating set determines whether the single-shaft communication fault occurs in itself. The pitch controller with the single-shaft communication fault executes step S503, and the pitch controller without the single-shaft communication fault executes step S504.
In step S503, the pitch controller in which the single-axis communication failure occurs sets the speed value sent to the other pitch controller to an abnormal value. The pitch controller that has a single-shaft communication failure may set the speed value received from master controller 204 to a maximum value. Here, the maximum value is a value in which the converted velocity value is greater than 6 degrees/second, and is, for example, 10 degrees/second. The purpose of setting as an abnormal value is to distinguish from the velocity 0 value.
In step S504, the pitch controller without the single-shaft communication fault controls the operation of the pitch system according to the speed command received from the main control controller, and sends the speed value to other pitch controllers.
In step S505, the pitch controller with the single-shaft communication failure determines whether the speed values received from other pitch controllers are within a preset normal speed range. If the received speed value is within the preset normal speed range, the step S506 is proceeded to, otherwise, the step S508 is proceeded to. The normal speed range may be set to-6 degrees/sec to 6 degrees/sec, although the present disclosure is not limited thereto.
In step S506, the main control controller determines whether the remaining nodes except the node where the single-axis communication fault occurs in the safety chain of the wind turbine generator system are normal.
And when all the other nodes are determined to be normal, the step S507 is carried out, the wind generating set enters a redundant operation mode, namely, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value.
And when determining that the fault node exists in the rest nodes, entering step S508, disconnecting the safety chain of the wind generating set by the master control controller and triggering the wind generating set to perform fault shutdown, that is, the variable pitch system performs emergency feathering shutdown.
In addition, during the redundant operation mode, the main control controller can judge whether the time length of the pitch control controller with the single-shaft communication fault executing the pitch control operation according to the received speed value exceeds a preset threshold value. And when the duration exceeds a preset threshold, the master control controller judges whether the single-axis communication fault is recovered to be normal. And if the single-shaft communication fault is recovered to be normal, the variable pitch controller with the single-shaft communication fault recovers to perform variable pitch control according to the speed value sent by the main controller. If the single-shaft communication fault is not recovered, the main control controller disconnects the safety chain of the wind generating set and triggers the wind generating set to be in a fault shutdown state.
FIG. 6 is a pitch controller of a wind park according to an exemplary embodiment of the present disclosure.
Referring to FIG. 6, pitch control apparatus 600 may include a communication module 601 and a control module 602. Each module in pitch control apparatus 600 may be implemented by one or more modules, and the names of the corresponding modules may vary depending on the type of module. In various embodiments, some modules in pitch controller 600 may be omitted, or additional modules may also be included. Furthermore, modules/elements according to various embodiments of the present disclosure may be combined to form a single entity, and thus the functions of the respective modules/elements may be equivalently performed prior to the combination.
The communication module 601 may include an input-output module (not shown). And carrying out data interaction between the variable pitch controllers of the wind generating set through the input and output module. The input and output module can be an analog input and output module or a digital input and output module.
After determining that the wind generating set has a single-shaft communication fault, the control module 602 may control the pitch controller having the single-shaft communication fault to set the speed value sent to another pitch controller to an abnormal value and determine whether the speed values received from the other pitch controllers are within a preset normal speed range.
When the received speed value is within the preset normal speed range, the control module 602 may control the pitch controller with the single-shaft communication failure to execute a pitch operation according to the received speed value. For example, the control module 602 may perform a pitch operation according to the received speed value when the received speed value is within a preset normal speed range and the remaining nodes in the safety chain of the wind turbine generator system, except the node where the single-shaft communication fault occurs, are normal.
When the received speed value exceeds the preset normal speed range, the control module 602 may control the main control system to disconnect the safety chain of the wind turbine generator system and trigger the wind turbine generator system to perform a fault shutdown.
Moreover, pitch controller 600 may also include a determination module (not shown). The determination module is connected to the communication module 601 and the control module 602, respectively, and may determine whether a single-shaft communication fault occurs between the pitch controller 600 and the wind turbine generator system. For example, pitch controller 600 utilizes a determination module to determine whether a single-axis communication failure occurred with the master controller itself.
The pitch controller may also include a recovery module (not shown). The recovery module may determine whether a duration of performing a pitch change operation according to the received speed value exceeds a preset threshold. When the duration exceeds a preset threshold, the recovery module can judge whether the single-axis communication fault is recovered to be normal or not; and if the single-shaft communication fault is recovered to be normal, the variable pitch control is performed according to the speed value sent by the main controller.
As an example, the recovery module may determine whether a duration of a pitch operation performed by the pitch controller having a single-shaft communication failure according to the received speed value exceeds a preset threshold. When the duration exceeds a preset threshold, the recovery module can judge whether the single-axis communication fault is recovered to be normal. And if the single-shaft communication fault is recovered to be normal, the recovery module controls the variable pitch controller with the single-shaft communication fault to recover to perform variable pitch control according to the speed value sent by the main controller. If the single-axis communication fault is not recovered, the recovery module can control the main control controller to disconnect the safety chain of the wind generating set and trigger the wind generating set to be in a fault shutdown state. However, the above modules are merely illustrative, and the function of the recovery module may also be implemented by the control module, and the disclosure is not limited thereto.
The method and the device can effectively perform DP communication flash fault-tolerant control after a single shaft of the wind generating set has a communication fault, and ensure the operation safety of the wind generating set.
One skilled in the art will appreciate that the present disclosure includes apparatus directed to performing one or more of the operations/steps described in the present disclosure. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
While the disclosure has been shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.
Claims (12)
1. A variable pitch control method of a wind generating set is characterized by comprising the following steps:
performing data interaction between each variable pitch controller of the wind generating set;
judging whether a single-shaft communication fault occurs in the wind generating set, wherein the single-shaft communication fault is a communication fault between a master control controller and a variable pitch controller of the wind generating set;
after the wind generating set is determined to have single-shaft communication fault, the variable pitch controller with the single-shaft communication fault sets a speed value sent to the other variable pitch controller as an abnormal value, and judges whether the speed values received from the other variable pitch controllers are within a preset normal speed range;
and when the received speed value is within a preset normal speed range, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value.
2. The pitch control method of claim 1, wherein the step of performing data interaction between individual pitch controllers of the wind turbine generator system comprises:
data interaction is carried out among all pitch controllers of the wind generating set based on the pulse signals,
before judging whether the speed values received from other pitch controllers are within a preset normal speed range, the method comprises the following steps:
and the variable pitch controller with the single-shaft communication fault converts the frequency value of the received pulse signal into a corresponding speed value according to the corresponding relation between the frequency and the speed.
3. The pitch control method according to claim 1, wherein the step of the pitch controller having the single-shaft communication failure performing the pitch operation according to the received speed value after the received speed value is within a preset normal speed range includes:
when the received speed value is within a preset normal speed range, judging whether other nodes except the node with the single-shaft communication fault in a safety chain of the wind generating set are normal or not;
when all the other nodes are determined to be normal, the variable pitch controller with the single-shaft communication fault executes variable pitch operation according to the received speed value;
when it is determined that there is a failed node among the remaining nodes, disconnecting a safety chain of the wind power plant and triggering a wind power plant fault shutdown.
4. The pitch control method of claim 1, further comprising, after the step of the pitch controller experiencing the single-shaft communication failure performing a pitch operation in accordance with the received speed value:
judging whether the time length of the pitch control controller with the single-shaft communication fault for executing the pitch control operation according to the received speed value exceeds a preset threshold value;
when the duration exceeds a preset threshold, judging whether the single-axis communication fault is recovered to be normal or not;
if the single-shaft communication fault is recovered to be normal, the variable pitch controller with the single-shaft communication fault recovers to perform variable pitch control according to the speed value sent by the main controller;
if the single-shaft communication fault is not recovered, disconnecting a safety chain of the wind turbine generator system and triggering a wind turbine generator system fault shutdown.
5. The pitch control method according to claim 1, wherein after determining whether the received speed value is within a preset normal speed range, the pitch control method further comprises:
and when the received speed value is judged not to be in the preset normal speed range, disconnecting the safety chain of the wind generating set and triggering the wind generating set to stop due to faults.
6. A pitch controller of a wind generating set, the pitch controller comprising:
the communication module is used for carrying out data interaction with other variable pitch controllers; and
the control module is used for setting the speed value sent to the other variable pitch controller as an abnormal value and judging whether the speed values received from the other variable pitch controllers are within a preset normal speed range or not after the single-shaft communication fault between the variable pitch controller and the wind generating set is determined, and executing variable pitch operation according to the received speed values after the received speed values are within the preset normal speed range,
and the single-shaft communication fault is a communication fault between a master control controller and a variable pitch controller of the wind generating set.
7. The pitch controller of claim 6, further comprising:
and the determining module is respectively connected with the communication module and the control module and is used for judging whether a single-shaft communication fault occurs between the variable pitch controller and the wind generating set.
8. The pitch controller of claim 6, wherein the control module is further configured to perform a pitch operation according to the received speed values when the received speed values are within a preset normal speed range and the remaining nodes of the safety chain of the wind turbine generator set, except the node where the single-shaft communication failure occurs, are normal.
9. The pitch controller of claim 6, further comprising:
the recovery module is used for judging whether the time length for executing the variable pitch operation according to the received speed value exceeds a preset threshold value; when the duration exceeds a preset threshold, judging whether the single-axis communication fault is recovered to be normal or not; and if the single-shaft communication fault is recovered to be normal, the variable pitch control is performed according to the speed value sent by the main controller.
10. A pitch control system of a wind generating set, the pitch control system comprising:
a master controller;
at least two pitch controllers according to any of claims 6-9, said master controller being connected to each of said at least two pitch controllers.
11. The pitch control system according to claim 10, wherein the master controller is configured to determine whether a single-shaft communication fault occurs in the wind turbine generator set, and send the determination result to the at least two pitch controllers; when determining that other nodes except the node with the single-shaft communication fault in the safety chain of the wind generating set are not all normal, disconnecting the safety chain of the wind generating set and triggering the wind generating set to be in fault shutdown; when the time length of the pitch control controller with the single-shaft communication fault for executing the pitch control operation according to the received speed value exceeds a preset threshold value, the single-shaft communication fault is not recovered, a safety chain of the wind generating set is disconnected, and the wind generating set is triggered to be in fault shutdown; or/and when the speed value received by the variable pitch controller with the single-shaft communication fault is judged not to be within a preset normal speed range, disconnecting the safety chain of the wind generating set and triggering the wind generating set to be in fault shutdown.
12. A computer-readable recording medium, characterized in that a program is stored, wherein the program includes instructions for executing the method according to any one of claims 1 to 5.
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| CN202010208350.2A CN113431737B (en) | 2020-03-23 | 2020-03-23 | Variable pitch control method, controller and control system of wind generating set |
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| CN202010208350.2A CN113431737B (en) | 2020-03-23 | 2020-03-23 | Variable pitch control method, controller and control system of wind generating set |
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| US7962246B2 (en) * | 2009-06-22 | 2011-06-14 | General Electric Company | Method and apparatus for operating a wind turbine during a loss of communication |
| DE102011079939A1 (en) * | 2011-07-27 | 2013-01-31 | Karl E. Brinkmann GmbH | Control device for controlling the angular adjustment of a rotor blade of a wind turbine and wind turbine |
| EP2599995B1 (en) * | 2011-11-30 | 2015-10-28 | Siemens Aktiengesellschaft | Wind turbine control system |
| CN105508136A (en) * | 2015-12-28 | 2016-04-20 | 北京天诚同创电气有限公司 | Variable pitch control device and method for wind generating set and variable pitch system |
| CN107917043B (en) * | 2016-10-10 | 2019-12-10 | 北京金风科创风电设备有限公司 | method and system for processing communication flash of wind driven generator |
| CN109209765B (en) * | 2017-06-29 | 2019-09-10 | 北京金风科创风电设备有限公司 | The pitch control method and system of wind power generating set |
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