CN114060209B - Data processing method and data processing device for multi-turn encoder of pitch system - Google Patents
Data processing method and data processing device for multi-turn encoder of pitch system 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
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Abstract
A data processing method and a data processing device for a multi-turn encoder of a pitch system are disclosed. The data processing method comprises the following steps: reading the values of the multi-turn encoder, wherein the values of the multi-turn encoder comprise multi-turn values and single-turn values; determining whether a jump occurs to the multi-circle numerical value; when the multi-turn numerical value jumps, the correct value of the multi-turn numerical value is calculated based on the transmission relation of the pitch system and the given pitch speed.
Description
Technical Field
The present disclosure relates generally to the field of wind power generation technology, and more particularly, to a data processing method and a data processing device for a multi-turn encoder of a pitch system of a wind turbine generator set.
Background
The pitch system is used as one of the core parts of the control system of the wind generating set, and has very important effect on the safe, stable and efficient operation of the wind generating set. The control method of the pitch system of the wind generating set at present is generally as follows: detecting an actual rotating speed value of a generator by a main control system of the wind generating set, setting a target rotating speed value according to the model characteristics of the wind generating set, and outputting a target pitch angle value by PID (proportion integration differentiation) operation on the deviation of the target rotating speed value and the actual rotating speed value; after the pitch system receives the target pitch angle value issued by the main control system, the absolute value signal of the encoder is used for collecting the change of the pitch angle, and closed-loop PID negative feedback control is formed with the generator to control the running speed and direction of the servo motor; the servo motor is meshed with the inner gear ring of the blade hub through the driving gear, and the pitch angle of the blade is directly controlled.
One of the main functions of the pitch system is to act as the main braking system of the wind power plant. The electric pitch system ensures the safe and stable operation of the wind generating set through multiple detection and control means and multiple redundancy designs. Any failure-induced shutdown will feathered the blades to a 90 degree position. Therefore, in order to protect the safety of the wind turbine generator system (hereinafter referred to as "the unit"), the pitch system needs to monitor sensor data and signals in real time during operation, and if an abnormality occurs, an emergency feathering is required to retract the blades to a safe position. One of the important sensor data is the blade angle value (pitch angle value) measured by the encoder. For a typical wind power generator set, the shutdown faults involved are mainly: a) The blade position is less than 3.5 DEG, and the 5 DEG proximity switch is low level; b) The blade position is greater than 6.5 DEG, and the 5 DEG proximity switch is high level; c) The position deviation of the three blades is overlarge; d) The pitch calculation speed exceeds the limit; e) The minimum angle of the blade is overrun.
Meanwhile, as the variable pitch driver needs to collect signals of the encoder, after the encoder is damaged, the position signals detected by the variable pitch driver are wrong, so that the variable pitch motor runs abnormally, the current becomes large, and the motor can be stopped due to the internal triggering fault of the driver; in the wind generating set, after the variable-pitch driver fails, a variable-pitch system can generate a pitch clamping phenomenon, and at the moment, a variable-pitch motor can not drive blades to feathering to a safe position, so that a great hidden danger is generated for the safety of the wind generating set; in addition, if the blade wheel is a single-shaft clamping blade, in the running process of the impeller of the wind generating set, the acting force of wind energy received by the blade wheel can generate great deviation due to different positions of three blades, namely the stress of the impeller is unbalanced, the load of the wind generating set can be greatly influenced, and the service life of the wind generating set is reduced.
Encoders are relatively delicate and sensitive devices, and anomalies in the operating environment can cause the encoder to fail. The main causes of the encoder failure are the following concentrates. First, the encoder itself fails or the grating contaminates, i.e., the components of the encoder itself fail; secondly, the encoder connection cable has the highest probability of failure, such as open-circuit, short-circuit or poor contact of the encoder cable, or loose welding or open-circuit caused by loose fixation of the cable; third, the encoder +5v power supply drops, which means that +5v power supply is too low, typically not below 4.75V, and the reason for the too low is power failure or loss due to a large power transfer cable resistance. Fourthly, the cable shielding wire of the encoder is not connected or falls off, which can introduce interference signals, so that the waveform is unstable and the accuracy of communication is affected; fifth, the encoder is loose in installation, and the fault is caused by the fact that the encoder is loose or not centered in installation, so that the position deviation amount in stopping and moving is out of tolerance, the encoder is seriously worn, and the encoder is mechanically damaged; the result is that the drive overload warning will be generated when the pitch motor is just running.
However, in the existing wind turbine generator system, since there is only one pitch motor per blade, only one encoder can be mounted on each pitch motor, it is difficult to perform redundant detection of encoder failure by an additional sensor. The detection and processing of the jump of the encoder generally adopts a direct amplitude limiting method, for example, the numerical value of the front period and the rear period is larger than a certain threshold value, and the threshold value is used as the variation amplitude. The problems with this approach are: the threshold value is set to be smaller, so that the acquired signals are distorted; while the threshold setting is large, some cases may not be filtered out. The setting of the threshold is thus very blind.
Disclosure of Invention
The embodiment of the disclosure provides a data processing method and a data processing device for a multi-turn encoder of a pitch system, which can effectively identify whether an abnormal jump occurs in the encoder.
In one general aspect, there is provided a data processing method of a multi-turn encoder of a pitch system, the data processing method comprising: reading the values of the multi-turn encoder, wherein the values of the multi-turn encoder comprise multi-turn values and single-turn values; determining whether a jump occurs to the multi-circle numerical value; when the multi-turn numerical value jumps, the correct value of the multi-turn numerical value is calculated based on the transmission relation of the pitch system and the given pitch speed.
Optionally, the values of the multi-turn encoder are periodically read and recorded at sampling intervals.
Optionally, the step of determining whether the multi-turn value is hopped includes: determining whether the current multi-turn value changes based on the current multi-turn value and the previous multi-turn value; in response to determining that the current multi-turn value changes, determining whether the change in the current multi-turn value follows a law of change from a lowest order to a highest order; and if the change of the current multi-turn numerical value violates the rule of changing from the lowest bit to the highest bit, determining that the current multi-turn numerical value jumps.
Optionally, the data processing method further includes: and determining whether the current multi-turn numerical value changes according to the previous single-turn numerical value, the transmission relation of the pitch system and the given pitch speed.
Optionally, the step of determining whether the multi-turn value is hopped includes: in response to determining that the current multi-turn value changes, determining whether the change in the current multi-turn value follows a law of change from a lowest order to a highest order; and if the change of the current multi-turn numerical value violates the rule of changing from the lowest bit to the highest bit, determining that the current multi-turn numerical value jumps.
Optionally, the step of calculating the correct value of the multi-turn number based on the drive relationship of the pitch system and the given pitch speed comprises: calculating the theoretical variation of a single-circle numerical value according to the transmission relation of the variable pitch system, the given variable pitch speed and the time length of the sampling interval; based on the calculated theoretical variation of the single-turn value, the previous single-turn value and the previous multi-turn value, the correct value of the current multi-turn value is calculated.
Optionally, the step of calculating the theoretical variation of the single turn value includes: calculating a theoretical pitch speed according to the transmission relation of the pitch system and the time length of the sampling interval; and calculating the theoretical variation of the single-turn numerical value according to the calculated theoretical pitch speed, the given pitch speed and the single-turn number of the multi-turn encoder.
Optionally, the step of reading the values of the multi-turn encoder comprises: and analyzing the read numerical value of the multi-turn encoder to obtain a multi-turn numerical value and a single-turn numerical value.
Optionally, the values of the multi-turn encoder are in binary gray code format and/or natural binary code format.
In another general aspect, there is provided a data processing apparatus of a multi-turn encoder of a pitch system, the data processing apparatus comprising: a number reading module configured to read a number of the multi-turn encoder, the number of the multi-turn encoder including a multi-turn number and a single-turn number; a jump determining module configured to determine whether a jump occurs in the multi-turn value; and the numerical value calculation module is configured to calculate the correct value of the multi-circle numerical value based on the transmission relation of the pitch system and the given pitch speed when the multi-circle numerical value jumps.
In another general aspect, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements a data processing method of a multi-turn encoder of a pitch system as described above.
In another general aspect, there is provided a controller of a wind power generation set, the controller comprising: a processor; and a memory storing a computer program which, when executed by the processor, implements a data processing method of a multi-turn encoder of a pitch system as described above.
In another general aspect, there is provided a pitch system of a wind turbine, the pitch system comprising: a multi-turn encoder configured to encode a pitch angle variation of blades of the wind turbine generator set; a controller configured to: reading the values of the multi-turn encoder, wherein the values of the multi-turn encoder comprise multi-turn values and single-turn values; determining whether a jump occurs to the multi-circle numerical value; when the multi-turn numerical value jumps, the correct value of the multi-turn numerical value is calculated based on the transmission relation of the pitch system and the given pitch speed.
According to the data processing method and the data processing device of the multi-turn encoder of the pitch system, whether the encoder has abnormal jump can be effectively identified, the blindness of direct amplitude limiting is avoided, the true signal state is reserved, the abnormal signal state is filtered, and the method and the device have great significance in monitoring sensing signals of a wind generating set.
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
The foregoing and other objects and features of embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings in which the embodiments are shown, in which:
FIG. 1 is a waveform diagram illustrating field operational data of a wind turbine generator set;
FIG. 2 is a schematic diagram illustrating a pitch system gear drive;
FIG. 3 is a flow chart illustrating a data processing method of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure;
FIG. 4 is a block diagram illustrating a data processing apparatus of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure;
FIG. 5 is a diagram illustrating an example of a pitch system of a wind turbine according to an embodiment of the present disclosure;
FIG. 6 is a block diagram illustrating a controller of a wind turbine generator system according to an embodiment of the present disclosure.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of the present application. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the present application, except for operations that must occur in a particular order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.
The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein, which will be apparent after an understanding of the present disclosure.
As used herein, the term "and/or" includes any one of the listed items associated as well as any combination of any two or more.
Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, first component, first region, first layer, or first portion referred to in the examples described herein may also be referred to as a second member, second component, second region, second layer, or second portion without departing from the teachings of the examples.
In the description, when an element (such as a layer, region or substrate) is referred to as being "on" another element, "connected to" or "coupled to" the other element, it can be directly "on" the other element, be directly "connected to" or be "coupled to" the other element, or one or more other elements intervening elements may be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" or "directly coupled to" another element, there may be no other element intervening elements present.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, amounts, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, amounts, operations, components, elements, and/or combinations thereof.
Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs after understanding this disclosure. Unless explicitly so defined herein, terms (such as those defined in a general dictionary) should be construed to have meanings consistent with their meanings in the context of the relevant art and the present disclosure, and should not be interpreted idealized or overly formal.
In addition, in the description of the examples, when it is considered that detailed descriptions of well-known related structures or functions will cause a ambiguous explanation of the present disclosure, such detailed descriptions will be omitted.
In the running process of the variable pitch system of the wind generating set, the encoder in the variable pitch system can jump to different degrees due to various reasons such as electromagnetic interference, loosening of a signal wire, loosening of a shielding layer, abnormality of a PLC (programmable logic controller) connected with the encoder, abnormality of the encoder, and the like, so that the blade angle value calculated by the controller can jump. The fault is triggered and the machine set is stopped, so that a certain power generation amount is lost. FIG. 1 is a waveform diagram showing field operation data of a wind turbine generator system, wherein the angle value of a certain blade is greatly jumped at the time 0 and has a duration longer than 500ms, so that the wind turbine generator system triggers 'position deviation is greatly failed' to stop.
The encoders used in wind power plants are typically multi-turn encoders. Both single-turn and multi-turn encoders refer to absolute encoders that can sense the current absolute angular position at any time, particularly at the time of the last power-up; a single turn encoder can only sense absolute angular position within one turn, while a multi-turn encoder can sense not only absolute angular position within one turn, but also how many turns the encoder has rotated. The working principle of the multi-turn encoder is as follows: after a single turn, adding 1 to the number of multiple turns; when the number of turns reaches the full scale, the encoder value becomes 0, and the counting is restarted.
Embodiments of the present disclosure take advantage of the characteristics of a multi-turn encoder, and after a controller (e.g., without limitation, pitch controller, master controller) of a wind turbine generator set receives an initial value of the encoder, the value is checked to identify whether a transition has occurred in the data transmitted by the encoder. For example, the encoder has a 12-turn number of bits and a 12-turn number of bits, and the encoder has a maximum value of 2ζ4=16777216, and a corresponding binary value of 1 0000 0000 0000 0000 0000 0000, wherein the lower 12-turn (right) is a single-turn number, the upper 12-turn (left) is a multi-turn number, and the multi-turn number is increased by 1 after the single-turn number reaches 1 0000 0000 0000.
Fig. 2 is a schematic diagram showing a pitch system gear drive.
Referring to fig. 2, a pitch bearing or toothed belt 201 is connected to and driven by a gear engagement with a speed reducer gear 204. In general, since the modulus of the pitch bearing gear is fixed, the modulus of the speed reducer gear is also fixed, and the number of teeth of the speed reducer gear is fixed. The conversion of the angle value by which the pitch motor rotates into the angle value by which the blades rotate may be performed by calculating the reduction ratio of the speed reducer, the number of teeth of the speed reducer gear 204, and the number of teeth of the pitch bearing or toothed belt 201.
For example, assuming that the number of pulses per revolution of the encoder is n207, the number of teeth of the speed reducer gear 204 is n204, the number of teeth of the pitch bearing 201 is n201, the reduction ratio of the speed reducer is n205, 360 degrees are corresponding to each revolution of the encoder, and the change of the corresponding number of pulses is n207, the value of the angle through which the pitch motor rotates (set to n 0) is: n0=360/n 207. After the angle value is decelerated by the speed reducer, the angle value (set as n 1) rotated by the speed reducer gear 204 is: n1=360/n 207/n205.
According to the gear transmission of the pitch bearing 201 and the speed reducer gear 204, an angle value (set as n2, corresponding to the total transmission ratio of the pitch system) of the blade rotation is obtained: n2=360×n204/n207/n205/n201. As can be seen from the above equation, for a single pitch system, since the transmission is a fixed value, the speed command of the pitch motor (i.e., the speed value sent to the pitch drive) is proportional to the change in the encoder angle (pitch speed). For example, taking an example pitch system as an example, the overall ratio is 2040.09, then for each revolution (360 degrees) of the encoder, the blades are rotated through an angle of 360/2040.09 = 0.1765 degrees. Assuming a 20ms sweep period of the pitch controller, the corresponding pitch speed (i.e., theoretical pitch speed) is 0.1765 x 1000/20 = 8.823 degrees/second. If the speed command maximum of the pitch system (i.e., a given pitch speed) is 6 degrees/second, then the number of pulses of the encoder value should normally be less than 2≡12=4096 pulses per week.
Table 1 below shows an example of a numerical change of a multi-turn encoder according to an embodiment of the present disclosure. Assuming that the maximum speed command for the pitch system (i.e., a given pitch speed) is 6 degrees/second, the number of single-turn bits for the multi-turn encoder is 12 bits, and the total gear ratio is 2040.09, then the number of pulses for the multi-turn encoder per unit time (e.g., 1 second) should be 2785 (4096 x 6/8.823), corresponding to 2785 x 360/4096 degrees of multi-turn encoder rotation. Alternatively, if a given pitch speed is 3 degrees/second, the number of pulses of the multi-turn encoder per unit time should be 2785/2=1392; the number of pulses per unit time of the multi-turn encoder should be 2785/6=464 if the given pitch speed is 1 degree. Therefore, the theoretical variation of the single-circle numerical value in unit time can be calculated according to the transmission relation of the pitch system and the given pitch speed length. Accordingly, the theoretical variation of the single-turn value in a sampling interval can be calculated according to the transmission relation of the pitch system, the given pitch speed and the time length of the sampling interval.
TABLE 1
The value of sequence number 1 indicates the initial state of the multi-turn encoder. At this time, the total number of the multi-turn encoders is 0, and the number of the multi-turn encoders and the number of the single-turn encoder are 0000 0000 0000. The value of sequence number 2 indicates the maximum count value of the multi-turn encoder. At this time, the total number of the multi-turn encoders is 16777215, and the number of the multi-turn encoder and the number of the single-turn encoder are 1111 1111 1111.
The value of number 3 indicates the count value of the multi-turn encoder at any one time. For example, the total number of encoder turns is 36864, the number of encoder turns is 0000 00001001, and the number of encoder turns is 0000 0000 0000. The value of sequence number 4 indicates that the total number of multi-turn encoders is increased by 2785 relative to the value of sequence number 3 to become 39649. It can be seen from table 1 that the multi-turn value was not changed at this time, and only the single-turn value was changed to 1010 1110 0001. The value of sequence number 5 indicates that the total number of multi-turn encoders is increased by 2785 relative to the value of sequence number 4 to become 42434. It can be seen from table 1 that the number of turns at this time was changed by 1 to 0000 0000 1010 and the number of turns was changed to 0101 1100 0010 accordingly.
The value of number 6 indicates that the total number of multi-turn encoders increases by 5000 relative to the value of number 5 to 47434. It can be seen from table 1 that the third bit of the multi-turn value is changed to 1, i.e. the multi-turn value is changed to 0000 0000 1100, while according to the principle of the multi-turn encoder, it is supposed that the lowest bit of the multi-turn value is changed, i.e. the multi-turn value is changed to 0000 0000 1011. It can be determined that the multi-turn value of the multi-turn encoder in table 1 jumps. This situation may be referred to as forward hopping.
The value of number 7 indicates that the total number of multi-turn encoders is reduced by 8000 relative to the value of number 6, to 39434. It can be seen from table 1 that the fourth bit of the multi-turn value is changed to 0, i.e. the multi-turn value is changed to 0000 0000 0011, while according to the principle of the multi-turn encoder, it is supposed that the next lower bit of the multi-turn value is changed (in case the multi-turn value is correct with respect to the number 6), i.e. the multi-turn value should be changed to 0000 0000 1001. It can be determined that the multi-turn value of the multi-turn encoder in table 1 jumps. This situation may be referred to as a negative going transition.
In this disclosure, the numerical variation of a multi-turn encoder is illustrated in natural binary. However, the present disclosure is not limited thereto. In practice, the coding format of the encoder generally adopts binary gray codes, rather than natural binary codes, but the data change modes of the two codes are the same, and only the values are different. Since the numerical changes of the binary gray code and the natural binary code are both front-to-back data comparisons, the example shown in table 1 is applicable to binary gray codes. Table 2 below shows the multi-turn values and single-turn values in the form of natural binary codes and binary gray codes for a multi-turn encoder, where the left 12 bits are the multi-turn values and the right 12 bits are the single-turn values.
TABLE 2
| Decimal system | Binary system | Gray code |
| 42434 | 0000 0000 1010 0101 1100 0010 | 0000 0000 1111 0111 0010 0011 |
| 51434 | 0000 0000 1100 1000 1110 1010 | 0000 0000 1010 1100 1001 1111 |
The natural binary code is converted into binary gray code, and its rule is that the most significant bit of the natural binary code is reserved as the most significant bit of gray code, and the next most significant bit gray code is the exclusive or of the most significant bit and the next most significant bit of binary code, and the rest of all the bits of gray code are similar to the solving method of the next most significant bit. The binary gray code is converted into a natural binary code, the rule is that the highest bit of the gray code is reserved as the highest bit of the natural binary code, the next highest natural binary code is the highest natural binary code which is different from or equal to the next highest gray code, and the rest bits of the natural binary code are similar to the solving method of the next highest natural binary code. Since the conversion method of the natural binary code and the binary gray code is a method known in the art, the disclosure is not repeated.
A data processing method of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure is described in detail below with reference to fig. 3.
Fig. 3 is a flowchart illustrating a data processing method of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure. The data processing method of the multi-turn encoder of the pitch system according to embodiments of the present disclosure may be performed by a controller of the wind turbine (e.g., without limitation, a pitch controller of the pitch system, a main controller of the wind turbine, etc.) during a pitch operation.
Referring to fig. 3, in step S301, the values of the multi-turn encoder are read. As described above, the values of the multi-turn encoder may include multi-turn values and single-turn values. Alternatively, the values of the multi-turn encoder may be in a binary gray code format and/or a natural binary code format. In reading the values of the multi-turn encoder, the read values of the multi-turn encoder may be parsed according to the examples shown in table 1 to obtain multi-turn values and single-turn values. Alternatively, when reading the values of the multi-turn encoder, the values of the multi-turn encoder may be periodically read and recorded at sampling intervals (e.g., without limitation, 20 ms) for use in subsequent steps.
Next, in step S302, it is determined whether a jump occurs in the multi-turn value. Specifically, in step S302, it may be first determined whether the current multiturn value has changed based on the current multiturn value and the previous multiturn value. Then, in response to determining that the current multi-turn value has changed, it may be determined whether the change in the current multi-turn value follows a law that changes from the lowest order bit to the highest order bit by bit. If the change of the current multi-turn value violates the rule of changing from the lowest bit to the highest bit, the current multi-turn value can be determined to jump. For example, if the previous multi-turn value is 0000 0011 0001 and the current multi-turn value is 0000 0011 1001, since the third bit of the multi-turn value is directly changed, it can be determined that the change of the current multi-turn value violates the rule of changing from the lowest bit to the highest bit, and further it can be determined that the current multi-turn value jumps.
Alternatively, it may be determined whether the current multi-turn value has changed based on the previous single-turn value, the drive relationship of the pitch system, and the given pitch speed. For example, when the overall ratio of the pitch system (i.e., the drive relationship of the pitch system) is 2040.09 and the given pitch speed is 6 degrees/sec, the amount of change in the single-turn value per sampling interval should be 2785/50≡56. Therefore, whether the current multi-turn value changes can be predicted according to the previous single-turn value, the transmission relation of the pitch system and the given pitch speed. For example, if the previous number of turns is 1111 1110 1101 and the amount of change in the single turn is 56, it may be determined that the current number of turns should be changed. In this case, in response to determining that the current multi-turn value is changing, it may be determined whether the change in the current multi-turn value follows a rule that the change from the lowest bit to the highest bit is bitwise, and if the change in the current multi-turn value violates the rule that the change from the lowest bit to the highest bit is bitwise, it may be determined that the current multi-turn value is hopped.
When the multi-turn value does not jump, the data processing method may return to step S301 to periodically read the value of the multi-turn encoder at sampling intervals.
However, when the multi-turn number jumps, in step S303, the correct value of the multi-turn number may be calculated based on the transmission relation of the pitch system and the given pitch speed. Specifically, in step S303, the theoretical variation of the single-turn value may be first calculated according to the transmission relation of the pitch system, the given pitch speed, and the time length of the sampling interval. The correct value for the current multi-turn value may then be calculated based on the calculated theoretical variance of the single-turn value, the previous single-turn value, and the previous multi-turn value. When calculating the theoretical variation of the single-circle numerical value, the theoretical pitch speed can be calculated according to the transmission relation of the pitch system and the time length of the sampling interval. Then, the theoretical variation of the single turn value can be calculated according to the calculated theoretical pitch speed, the given pitch speed and the single turn number of the multi-turn encoder. For example, when the overall ratio of the pitch system (i.e., the drive relationship of the pitch system) is 2040.09 and the sampling interval is 20ms (i.e., the length of the sampling interval), the angle through which the blades rotate per revolution (360 degrees) of the encoder is 360/2040.09 = 0.1765 degrees, and thus the corresponding pitch speed (i.e., the theoretical pitch speed) is 0.1765×1000/20= 8.823 degrees/second. When the given pitch speed is 6 degrees/second and the number of turns and number of single turns of the multi-turn encoder are 12, the number of pulses of the multi-turn encoder per unit time should be 2785 (4096×6/8.823). Thus, the variation of the single-turn value per sampling interval (i.e., the theoretical variation of the single-turn value) should be 2785/50≡56. Then, the correct value of the current multi-turn value can be calculated according to the calculated theoretical variation of the single-turn value, the previous single-turn value and the previous multi-turn value. For example, if the previous single turn value is 1010 1110 0001 and the previous multiple turns value is 0000 00001001, the current single turn value is 1011 0001 1001, the current multiple turns value is 0000 00001001, and the multiple turns value is unchanged. For another example, if the previous single turn value is 1111 1110 1010 and the previous multiple turns value is 0000 0000 1011, then the current single turn value is 0000 0010 0010, the current multiple turns value is 0000 0000 1100, and the lowest three digits of the multiple turns values are all changed.
Fig. 4 is a block diagram illustrating a data processing apparatus of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure.
Referring to fig. 4, a data processing apparatus 400 of a multi-turn encoder of a pitch system according to an embodiment of the present disclosure includes a value reading module 410, a transition determination module 420, and a value calculation module 430. The value reading module 410 may read the values of the multi-turn encoder. As described above, the values of the multi-turn encoder may include multi-turn values and single-turn values. The transition determination module 420 may determine whether a transition occurs in the multi-turn value. The numerical calculation module 430 may calculate the correct value for the number of turns based on the transmission relationship of the pitch system and the given pitch speed when the number of turns is hopped.
In particular, the value reading module 410 may periodically read and record the values of the multi-turn encoder at sampling intervals. The value reading module 410 may also parse the read values of the multi-turn encoder to obtain multi-turn values and single-turn values. The values of the multi-turn encoder may be in binary gray code format and/or natural binary code format.
The transition determination module 420 may determine whether the current multi-turn value has changed based on the current multi-turn value and the previous multi-turn value. In response to determining that the current multi-turn value has changed, the transition determination module 420 may determine whether the change in the current multi-turn value follows a law that changes from the lowest bit to the highest bit. The transition determination module 420 may determine that the current multi-turn value transitions if the change in the current multi-turn value violates a rule that changes from a lowest bit to a highest bit.
On the other hand, the jump determining module 420 may also determine whether the current multi-turn value changes according to the previous single-turn value, the transmission relation of the pitch system, and the given pitch speed. In response to determining that the current multi-turn value has changed, the transition determination module 420 may determine whether the change in the current multi-turn value follows a law that changes from the lowest bit to the highest bit. The transition determination module 420 may determine that the current multi-turn value transitions if the change in the current multi-turn value violates a rule that changes from a lowest bit to a highest bit.
The numerical calculation module 430 may calculate a theoretical variation of the single-turn numerical value according to a transmission relation of the pitch system, a given pitch speed, and a time length of a sampling interval, and may calculate a correct value of the current multi-turn numerical value based on the calculated theoretical variation of the single-turn numerical value, a previous single-turn numerical value, and a previous multi-turn numerical value. Further, the numerical calculation module 430 may calculate a theoretical pitch speed according to a transmission relation of the pitch system and a time length of the sampling interval, and calculate a theoretical variation of a single-turn numerical value according to the calculated theoretical pitch speed, the given pitch speed, and a single-turn number of the multi-turn encoder.
Fig. 5 is a diagram illustrating an example of a pitch system of a wind turbine according to an embodiment of the present disclosure.
Referring to fig. 5, the pitch system may include a controller 503 and a multi-turn encoder 507. In addition, pitch system may also include a pitch motor 501, a super-capacitor 502, a pitch drive 504, an enable switch (limit switch) 505, and a brake relay 506.
When pitch drive 504 is operating normally, enable switch (limit switch) 505 is in a closed state and pitch drive 504 is powered. After the controller 503 receives the pitch speed indication of the main controller of the wind turbine generator system, or when the controller 503 detects that the pitch system is faulty and feathering is performed autonomously, the controller 503 sends a speed command and an enable signal to the pitch drive 504. After receiving the speed command and the enable signal, the pitch drive 504 controls the brake relay 506 to open, and provides an output voltage through power output, so as to drive the pitch motor 501 to rotate, thereby realizing the pitch function.
The multi-turn encoder 507 may encode the pitch angle variation of the blades of the wind park and provide its value to the pitch drive 504 and/or the controller 503. Pitch drive 504 and/or controller 503 may calculate the rotational speed of pitch motor 501 based on the read values of the multi-turn encoder. Pitch drive 504 compares the calculated rotational speed to the value of the speed command sent to pitch drive 504 by controller 503. If the calculated rotational speed is less than the speed commanded value, pitch drive 504 may increase the voltage of the power output to increase the rotational speed of pitch motor 501. If the calculated rotational speed is greater than the speed command value, pitch drive 504 may decrease the voltage of the power output to reduce the rotational speed of pitch motor 501. In this way, the rotational speed of pitch motor 501 may ultimately be brought to the value of a given speed command.
The controller 503 may directly or indirectly read the values of the multi-turn encoder 507. As described above, the values of the multi-turn encoder 507 may include multi-turn values and single-turn values. The controller 503 may determine whether the multi-turn number is hopped and calculate the correct value for the multi-turn number based on the pitch system gearing and the given pitch speed when the multi-turn number is hopped.
FIG. 6 is a block diagram illustrating a controller of a wind turbine generator system according to an embodiment of the present disclosure.
Referring to FIG. 6, a controller 600 of a wind turbine generator set according to an embodiment of the present disclosure may be, but is not limited to, a pitch controller, a master controller of a wind turbine generator set, or the like. The controller 600 of a wind turbine generator set according to an embodiment of the present disclosure may include a processor 610 and a memory 620. The processor 610 may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), and the like. The memory 620 stores computer programs to be executed by the processor 610. Memory 620 includes high-speed random access memory and/or nonvolatile computer readable storage media. When the processor 610 executes a computer program stored in the memory 620, a data processing method of a multi-turn encoder of a pitch system as described above may be implemented.
Alternatively, the controller 600 may communicate with other components in the wind park (e.g., multi-turn encoders) in a wired/wireless communication manner, and may also communicate with other devices in the wind park in a wired/wireless communication manner. In addition, the controller 600 may communicate with devices external to the wind farm in a wired/wireless communication.
The data processing method of the multi-turn encoder of the pitch system according to the embodiments of the present disclosure may be written as a computer program and stored on a computer readable storage medium. The screen recording method as described above may be implemented when the computer program is executed by a processor. Examples of the computer readable storage medium include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drives (HDD), solid State Disks (SSD), card memory (such as multimedia cards, secure Digital (SD) cards or ultra-fast digital (XD) cards), magnetic tape, floppy disks, magneto-optical data storage, hard disks, solid state disks, and any other means configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and to provide the computer programs and any associated data, data files and data structures to a processor or computer to enable the processor or computer to execute the programs. In one example, the computer program and any associated data, data files, and data structures are distributed across networked computer systems such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner by one or more processors or computers.
According to the data processing method and the data processing device for the multi-turn encoder of the pitch system, whether the encoder has abnormal jump can be effectively identified based on the counting principle of the multi-turn encoder, and an additional sensor and/or a redundant encoder are not needed, so that the cost can be reduced. On the other hand, the data processing method and the data processing device of the multi-turn encoder of the pitch system can avoid blindness of direct amplitude limiting, are beneficial to keeping a real signal state, filter abnormal signal states, and have great significance for monitoring sensing signals of a wind generating set.
Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.
Claims (12)
1. A method of data processing for a multi-turn encoder of a pitch system, the method comprising:
reading the values of the multi-turn encoder, wherein the values of the multi-turn encoder comprise multi-turn values and single-turn values;
determining whether a jump occurs to the multi-circle numerical value;
when the multi-turn numerical value jumps, based on the transmission relation of the pitch system and the given pitch speed, calculating the correct value of the multi-turn numerical value,
wherein the step of calculating the correct value of the number of turns based on the transmission relation of the pitch system and the given pitch speed comprises: calculating the theoretical variation of a single-circle numerical value according to the transmission relation of the variable pitch system, the given variable pitch speed and the time length of the sampling interval; based on the calculated theoretical variation of the single-turn value, the previous single-turn value and the previous multi-turn value, the correct value of the current multi-turn value is calculated.
2. A data processing method as claimed in claim 1, characterized in that the values of the multi-turn encoder are read and recorded periodically at sampling intervals.
3. The data processing method of claim 2, wherein the step of determining whether the transition of the multi-turn value occurs comprises:
determining whether the current multi-turn value changes based on the current multi-turn value and the previous multi-turn value;
in response to determining that the current multi-turn value changes, determining whether the change in the current multi-turn value follows a law of change from a lowest order to a highest order;
and if the change of the current multi-turn numerical value violates the rule of changing from the lowest bit to the highest bit, determining that the current multi-turn numerical value jumps.
4. The data processing method according to claim 2, wherein the data processing method further comprises:
and determining whether the current multi-turn numerical value changes according to the previous single-turn numerical value, the transmission relation of the pitch system and the given pitch speed.
5. The data processing method of claim 4, wherein the step of determining whether the transition of the multi-turn value occurs comprises:
in response to determining that the current multi-turn value changes, determining whether the change in the current multi-turn value follows a law of change from a lowest order to a highest order;
and if the change of the current multi-turn numerical value violates the rule of changing from the lowest bit to the highest bit, determining that the current multi-turn numerical value jumps.
6. The data processing method of claim 5, wherein the step of calculating the theoretical variation of the single-turn value includes:
calculating a theoretical pitch speed according to the transmission relation of the pitch system and the time length of the sampling interval;
and calculating the theoretical variation of the single-turn numerical value according to the calculated theoretical pitch speed, the given pitch speed and the single-turn number of the multi-turn encoder.
7. The data processing method of claim 1, wherein the step of reading the values of the multi-turn encoder comprises:
and analyzing the read numerical value of the multi-turn encoder to obtain a multi-turn numerical value and a single-turn numerical value.
8. The data processing method according to claim 1, wherein the values of the multi-turn encoder are in binary gray code format and/or natural binary code format.
9. A data processing apparatus for a multi-turn encoder of a pitch system, the data processing apparatus comprising:
a number reading module configured to read a number of the multi-turn encoder, the number of the multi-turn encoder including a multi-turn number and a single-turn number;
a jump determining module configured to determine whether a jump occurs in the multi-turn value;
a numerical calculation module configured to calculate a correct value of the multi-turn numerical value based on a transmission relation of the pitch system and a given pitch speed when the multi-turn numerical value jumps,
wherein the numerical calculation module is further configured to: calculating the theoretical variation of a single-circle numerical value according to the transmission relation of the variable pitch system, the given variable pitch speed and the time length of the sampling interval; based on the calculated theoretical variation of the single-turn value, the previous single-turn value and the previous multi-turn value, the correct value of the current multi-turn value is calculated.
10. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements a data processing method of a multi-turn encoder of a pitch system according to any of claims 1 to 8.
11. A controller for a wind turbine generator system, the controller comprising:
a processor; and
memory storing a computer program which, when executed by a processor, implements a method for data processing of a multi-turn encoder of a pitch system according to any of claims 1 to 8.
12. A pitch system of a wind turbine, the pitch system comprising:
a multi-turn encoder configured to encode a pitch angle variation of blades of the wind turbine generator set;
a controller configured to:
reading the values of the multi-turn encoder, wherein the values of the multi-turn encoder comprise multi-turn values and single-turn values;
determining whether a jump occurs to the multi-circle numerical value;
when the multi-turn numerical value jumps, based on the transmission relation of the pitch system and the given pitch speed, calculating the correct value of the multi-turn numerical value,
wherein the controller is further configured to: calculating the theoretical variation of a single-circle numerical value according to the transmission relation of the variable pitch system, the given variable pitch speed and the time length of the sampling interval; based on the calculated theoretical variation of the single-turn value, the previous single-turn value and the previous multi-turn value, the correct value of the current multi-turn value is calculated.
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| CN105675030A (en) * | 2016-03-23 | 2016-06-15 | 北京天诚同创电气有限公司 | Measuring method and device for absolute value encoder |
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| CN111076759A (en) * | 2019-12-19 | 2020-04-28 | 扬州海通电子科技有限公司 | Portable encoder detection device and method based on FPGA |
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| CN105675030A (en) * | 2016-03-23 | 2016-06-15 | 北京天诚同创电气有限公司 | Measuring method and device for absolute value encoder |
| CN108168590A (en) * | 2018-01-15 | 2018-06-15 | 固安华电天仁控制设备有限公司 | A kind of increment type absolute value type motor encoder detecting |
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