CN114383495B - double-Hall yaw angle measurement method - Google Patents
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- CN114383495B CN114383495B CN202111345156.XA CN202111345156A CN114383495B CN 114383495 B CN114383495 B CN 114383495B CN 202111345156 A CN202111345156 A CN 202111345156A CN 114383495 B CN114383495 B CN 114383495B
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- 238000000691 measurement method Methods 0.000 title description 4
- 238000000034 method Methods 0.000 claims abstract description 33
- 238000009825 accumulation Methods 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 238000012795 verification Methods 0.000 claims description 6
- 230000001186 cumulative effect Effects 0.000 claims description 5
- 230000005355 Hall effect Effects 0.000 claims 1
- 238000012937 correction Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
Abstract
The invention discloses a double-Hall yaw angle measuring method, which is characterized in that yaw angles of a wind generating set are acquired through two Hall sensors arranged in a shell, the two Hall sensors are configured with different transmission ratios, a 1# Hall sensor performs yaw angle measurement by adopting a circle number accumulation method, the yaw angle corresponding to the 1# Hall sensor in one circle is calculated, then the yaw angle is calculated in real time according to the accumulated circle number and a controller acquisition value, and the yaw angle is calculated in real time through a transformation ratio and a controller acquisition value by a 2# Hall sensor. The yaw angle is measured by the two Hall sensors simultaneously and independently, and when the number of turns of the 1# Hall sensor is accumulated in error, the 2# Hall sensor participates in correction of the number of turns of the 1# Hall sensor.
Description
Technical Field
The invention relates to the technical field of wind power generation equipment, in particular to a method for measuring a yaw angle by using double Hall.
Background
Yaw angle measuring devices on the market at present mainly consist of the following:
1. gear transmission + built-in encoder measurement;
2. gear transmission + built-in potentiometer measurement;
3. gear drive + external encoder measurement.
The measuring device has the following problems:
1. gear transmission and measurement of a built-in encoder, the algorithm is simple, the precision is high, but the cost of the encoder is high;
2. the gear transmission and the measurement of the built-in potentiometer are simple in algorithm, the accuracy is general, and the service life of the potentiometer is low due to abrasion and the like;
3. the gear transmission and the external encoder are used for measuring, the structure is more complex, the algorithm is simple, and the cost is higher.
Disclosure of Invention
Aiming at the defects of yaw angle measuring devices existing in the current market, the invention solves the technical problems by adopting the technical scheme that: a dual hall yaw angle measurement method, the method comprising:
collect wind generating set's yaw angle through setting up at the inside two hall sensors of casing, two hall sensors dispose different transmission ratio: the yaw angle measurement is carried out by the 1# Hall sensor by adopting a circle number accumulation method, the yaw angle corresponding to one circle of rotation of the 1# Hall sensor is calculated, and then the real-time yaw angle is calculated according to the accumulated circle number and the acquisition value of the controller; the No. 2 Hall sensor calculates the yaw angle in real time through the transformation ratio and the collected value of the controller; the yaw angle is measured by the two Hall sensors simultaneously and independently, and when the number of turns of the 1# Hall sensor is accumulated in error, the 2# Hall sensor participates in correction of the number of turns of the 1# Hall sensor.
The method for measuring the yaw angle by using the double Hall is as follows:
A 0 the acquisition value input by a scanning period sensor on the controller is used for acquiring a scanning period;
A 1 the acquisition value input by the sensor in the current scanning period is used for the controller;
the yaw angle of the Hall sensor is increased by rotating clockwise, and the number of turns of the Hall sensor is increased in an accumulated way;
the anticlockwise rotation yaw angle of the Hall sensor is reduced, and the number of turns of the Hall sensor is accumulated and reduced;
the accumulation of the number of turns of the Hall sensor is not equal to 0;
the 0-32767 is a controller acquisition value corresponding to the accumulated analog quantity input signal of the number of turns of the Hall sensor, wherein the controller acquisition value is changed from 32767 to 32767 and from 32767 to 32767;
n represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is that the accumulated number of turns of the Hall exceeds one turn and is smaller than two turns of verification values;
the number of turns accumulation method flow of the No. 1 Hall sensor is as follows:
when |A 0 -A 1 When n is smaller than or equal to n, no lap accumulation operation is carried out in the same lap, A 1 Assignment to A 0 ；
When |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m is true and A 0 -A 1 When m is not less than or equal to-m, the Hall rotates clockwise, the number of turns is increased, A 1 Assignment to A 0 Current accumulated turns = accumulated turns of last scanning period +1;
when |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m and A 0 -A 1 When less than or equal to-m is established, the Hall rotates anticlockwise, the number of turns is reduced, A 1 Assignment to A 0 Current accumulated turns = accumulated turns-1 of last scanning period;
when |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m and A 0 -A 1 When m is not less than or equal to-m, not performing the accumulated operation of the turns, A 1 Assignment to A 0 。
The method for measuring the yaw angle by using the double-Hall yaw angle measuring method, wherein the method for calculating the yaw angle measured by using the No. 1 Hall sensor comprises the following steps:
(1) The yaw angle of the 1# Hall sensor for one turn is as follows:
the 1# Hall sensor rotates for one circle to yaw angle = 360 degrees x the gear number of the big gear of the limit switch of the double sensor/the gear number of the outer gear of the yaw x the transmission ratio;
(2) And then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle of one turn of the 1# Hall sensor, the accumulated turns and the acquisition value of the controller:
(1) if the number of turns of the 1# Hall sensor is increased, namely the 1# Hall sensor rotates clockwise, and the number of turns is more than or equal to 1:
real-time yaw angle = 1# hall sensor to turn one turn yaw angle x (hall cumulative turns-1) +1# hall sensor to turn 1 turn yaw angle/32767 x input value;
(2) if the number of turns of the 1# Hall sensor is reduced, namely the 1# Hall sensor rotates anticlockwise, and the number of turns is less than or equal to minus 1:
real-time yaw angle = 1# hall sensor to one turn yaw angle x (hall cumulative number of turns + 1) +1# hall sensor to 1 turn yaw angle/32767 x (input value-32767).
The method for measuring the yaw angle by using the double Hall, wherein the method for calculating the real-time yaw angle by using the No. 2 Hall comprises the following steps:
real-time yaw angle=360×gear ratio×large gear number/yaw outer ring gear number/32767× (input value-32767/2).
According to the double-Hall yaw angle measurement method, when the number of turns of the 1# Hall sensor is accumulated in error, the 2# Hall sensor participates in the calibration of the number of turns of the 1# Hall sensor, and the calibration flow is as follows:
when the yaw angle difference value measured by the 1# Hall sensor and the 2# Hall sensor is larger than the yaw angle difference value of 1# Hall sensor to 1 turn and the yaw angle error range measured by the 2# Hall sensor, the number of turns of the 1# Hall sensor is considered to be accumulated in error, and the yaw angle measured by the 2# Hall sensor is the correct value;
substituting the yaw angle measured by the No. 2 Hall sensor as the yaw angle measured by the No. 1 Hall sensor into a formula for calculating the real-time yaw angle by the No. 1 Hall sensor, and reversely pushing the No. 1 Hall sensor to accumulate turns;
the number of turns of the accumulated turns of the counter-push 1# Hall sensor is calculated by adding 1 turn and subtracting 1 turn respectively, yaw angles corresponding to the added 1 turn, the subtracted 1 turn and the counter-push turns are calculated by the method of calculating yaw angles through the 1# Hall sensor, difference values are calculated by the yaw angles measured by the 2# Hall sensor respectively, the accumulated turns with the smallest difference value are the correct accumulated turns of the 1# Hall sensor, and the accumulated turns of the 1# Hall sensor are corrected accordingly.
The beneficial effects of the invention are as follows:
1. according to the scheme, a redundant backup design method for respectively calculating the yaw angle by using the double Hall sensors is adopted, and when the No. 1 Hall fails, the No. 2 can still measure the yaw angle, but the accuracy is low; when the No. 2 Hall fault occurs, the No. 1 Hall fault can independently measure the yaw angle, the measurement accuracy is not affected, and the reliability is improved.
2. According to the scheme 1# Hall sensor, the yaw angle is calculated by adopting a method of accumulating the turns, so that the accuracy is improved, meanwhile, the transmission ratio of the 1# Hall sensor is smaller and is 4:1, and the accuracy is improved and can reach 0.5 degrees.
3. According to the scheme, when the accumulated number of turns of the 1# Hall sensor is wrong, the 2# Hall automatically participates in the calibration of the yaw angle of the 1# Hall, and the stability during operation is ensured.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a flowchart of a number of hall turns accumulation algorithm according to the present invention.
FIG. 2 is a calibration flow chart;
fig. 3 is a diagram showing cumulative turns of the hall sensor # 1.
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, it is obvious that the following description of the present invention is provided by way of example only, and it is within the scope of the present invention to one skilled in the art to obtain other embodiments according to the present invention without inventive effort.
As shown in fig. 1 to 3, the method for measuring the yaw angle of the double hall comprises the following steps:
collect wind generating set's yaw angle through setting up at the inside two hall sensors of casing, two hall sensors dispose different transmission ratio: the yaw angle measurement is carried out by the 1# Hall sensor by adopting a circle number accumulation method, the yaw angle corresponding to one circle of rotation of the 1# Hall sensor is calculated, and then the real-time yaw angle is calculated according to the accumulated circle number and the acquisition value of the controller; the No. 2 Hall sensor calculates the yaw angle in real time through the transformation ratio and the collected value of the controller; the yaw angle is measured by the two Hall sensors simultaneously and independently, and when the number of turns of the 1# Hall sensor is accumulated in error, the 2# Hall sensor participates in correction of the number of turns of the 1# Hall sensor.
The method for measuring the yaw angle by using the double Hall is as follows:
A 0 the acquisition value input by a scanning period sensor on the controller is used for acquiring a scanning period;
A 1 the acquisition value input by the sensor in the current scanning period is used for the controller;
the yaw angle of the Hall sensor is increased by rotating clockwise, and the number of turns of the Hall sensor is increased in an accumulated way;
the anticlockwise rotation yaw angle of the Hall sensor is reduced, and the number of turns of the Hall sensor is accumulated and reduced;
the accumulation of the number of turns of the Hall sensor is not equal to 0;
the 0-32767 is a controller acquisition value corresponding to the accumulated analog quantity input signal of the number of turns of the Hall sensor, wherein the controller acquisition value is changed from 32767 to 32767 and from 32767 to 32767;
n represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is that the accumulated number of turns of the Hall exceeds one turn and is smaller than two turns of verification values;
the number of turns accumulation method flow of the No. 1 Hall sensor is as follows:
when |A 0 -A 1 When n is smaller than or equal to n, no lap accumulation operation is carried out in the same lap, A 1 Assignment to A 0 ；
When |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m is true and A 0 -A 1 When m is not less than or equal to-m, the Hall rotates clockwise, the number of turns is increased, A 1 Assignment to A 0 Current accumulated turns = accumulated turns of last scanning period +1;
when |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m and A 0 -A 1 When less than or equal to-m is established, the Hall rotates anticlockwise, the number of turns is reduced, A 1 Assignment to A 0 Current accumulated turns = accumulated turns-1 of last scanning period;
when |A 0 -A 1 Not more than n and A 0 -A 1 Not less than m and A 0 -A 1 When m is not less than or equal to-m, not performing the accumulated operation of the turns, A 1 Assignment to A 0 。
Yaw angle calculation method measured by No. 1 Hall sensor
Examples: double-sensor limit switch big gear number=10, yaw outer gear number=207, transmission ratio=4;
(1) The yaw angle of the 1# Hall sensor for one turn is as follows:
the yaw angle of the 1# Hall sensor is multiplied by 360 times the number of gear teeth of the big gear of the limit switch of the double-sensor (10)/the number of gear teeth of the outer gear of the yaw (207) ×transmission ratio (4/1) =360×10/207×4 ≡69.56 DEG
(2) And then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle of one turn of the 1# Hall sensor, the accumulated turns and the acquisition value of the controller:
(1) if the number of turns is more than or equal to 1, namely the No. 1 Hall sensor rotates clockwise,
sensor yaw angle # 1 = sensor 1 yaw angle x (number of counts-1) +hall sensor 1 yaw angle/32767 x input.
(2) If the number of turns is less than or equal to-1, namely the No. 1 Hall sensor rotates anticlockwise,
yaw angle of 1# hall sensor = yaw angle of 1# hall sensor one revolution x (number of statistical turns +1) +yaw angle of 1# hall sensor one revolution/32767 x (input value-32767).
The yaw angle calculation method measured by the No. 2 Hall sensor comprises the following steps:
yaw angle=360×gear ratio (160/1) ×large gear number (10)/yaw outer gear number (207)/32767× (input value-32767/2).
When the number of turns of the 1# Hall sensor is accumulated in error, the 2# Hall sensor participates in the calibration of the number of turns of the 1# Hall sensor.
The calibration procedure is as follows:
the calibration process is the inverse operation of yaw angle calculation of the No. 1 Hall sensor, and the No. 1 Hall sensor calculates the accumulated turns first when calculating the yaw angle, and then calculates the yaw angle according to the numerical value (0-32767) read by the controller.
Because the Hall sensor is the yaw angle directly calculated through the mechanical transmission ratio, under the premise of not considering abnormal phenomena such as gear jump, the yaw angle is considered to be calculated without error, and the position where the calculation errors of the No. 1 Hall sensor and the No. 2 Hall sensor possibly exist only has one position where the number of turns of the No. 1 Hall sensor is accumulated.
When the yaw angle difference value measured by the 1# Hall sensor and the 2# Hall sensor is larger than the yaw angle difference value of 1# Hall sensor to 1 turn and the yaw angle error range measured by the 2# Hall sensor, the number of turns of the 1# Hall sensor is considered to be accumulated in error, and the yaw angle measured by the 2# Hall sensor is the correct value; taking the number of teeth 207 of the yaw outer gear as an example, the yaw angle of the 1# hall sensor rotates by 69.56 degrees, the measurement error of the 2# hall sensor is 20 degrees, if the yaw angle difference measured by the 1# hall sensor and the 2# hall sensor is larger than 69.56 degrees-20 degrees= 49.56 degrees, the number of turns accumulated for the 1# hall is more than 1 turn, and the number of turns may be one more than the actual number of turns, and may be one less than the actual number of turns. When the yaw angle difference measured by the No. 1 Hall sensor and the No. 2 Hall sensor is larger than 49.56 degrees, the yaw angle measured by the No. 2 Hall sensor is taken as a correct value,
substituting the yaw angle measured by the No. 2 Hall sensor as the yaw angle measured by the No. 1 Hall sensor into a formula for calculating the real-time yaw angle by the No. 1 Hall sensor, and reversely pushing the No. 1 Hall sensor to accumulate turns;
the number of turns of the accumulated turns of the counter-push 1# Hall sensor is calculated by adding 1 turn and subtracting 1 turn respectively, yaw angles corresponding to the added 1 turn, the subtracted 1 turn and the counter-push turns are calculated by the method of calculating yaw angles through the 1# Hall sensor, difference values are calculated by the yaw angles measured by the 2# Hall sensor respectively, the accumulated turns with the smallest difference value are the correct accumulated turns of the 1# Hall sensor, and the accumulated turns of the 1# Hall sensor are corrected accordingly.
The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this invention will occur to those skilled in the art, and are intended to be within the spirit and scope of the invention.
Claims (4)
1. A method of measuring a yaw angle with two hall sensors, the method comprising:
collect wind generating set's yaw angle through setting up at the inside two hall sensors of casing, two hall sensors dispose different transmission ratio: the yaw angle measurement is carried out by the 1# Hall sensor by adopting a circle number accumulation method, the yaw angle corresponding to one circle of rotation of the 1# Hall sensor is calculated, and then the real-time yaw angle is calculated according to the accumulated circle number and the acquisition value of the controller; the No. 2 Hall sensor calculates the yaw angle in real time through the transformation ratio and the collected value of the controller; the yaw angle is measured by the two Hall sensors simultaneously and independently, when the number of turns of the 1# Hall sensor is accumulated to be wrong, the 2# Hall sensor participates in the calibration of the number of turns of the 1# Hall sensor, and the calibration flow is as follows:
when the yaw angle difference value measured by the 1# Hall sensor and the 2# Hall sensor is larger than the yaw angle difference value of 1# Hall sensor to 1 turn and the yaw angle error range measured by the 2# Hall sensor, the number of turns of the 1# Hall sensor is considered to be accumulated in error, and the yaw angle measured by the 2# Hall sensor is the correct value;
substituting the yaw angle measured by the No. 2 Hall sensor as the yaw angle measured by the No. 1 Hall sensor into a formula for calculating the real-time yaw angle by the No. 1 Hall sensor, and reversely pushing the No. 1 Hall sensor to accumulate turns;
the number of turns of the accumulated turns of the counter-push 1# Hall sensor is calculated by adding 1 turn and subtracting 1 turn respectively, yaw angles corresponding to the added 1 turn, the subtracted 1 turn and the counter-push turns are calculated by the method of calculating yaw angles through the 1# Hall sensor, difference values are calculated by the yaw angles measured by the 2# Hall sensor respectively, the accumulated turns with the smallest difference value are the correct accumulated turns of the 1# Hall sensor, and the accumulated turns of the 1# Hall sensor are corrected accordingly.
2. The method for measuring a yaw angle with two hall effect according to claim 1, wherein the method comprises the steps of:
a0 is an acquisition value input by a scanning period sensor on the controller;
a1 is an acquisition value input by a sensor of the current scanning period of the controller;
the yaw angle of the Hall sensor is increased by rotating clockwise, and the number of turns of the Hall sensor is increased in an accumulated way;
the anticlockwise rotation yaw angle of the Hall sensor is reduced, and the number of turns of the Hall sensor is accumulated and reduced;
the accumulation of the number of turns of the Hall sensor is not equal to 0;
the 0-32767 is a controller acquisition value corresponding to the accumulated analog quantity input signal of the number of turns of the Hall sensor, wherein the controller acquisition value is changed from 32767 to 32767 and from 32767 to 32767;
n represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value between the acquisition value of the previous period and the current period of the scanning period of the controller, wherein the difference value is that the accumulated number of turns of the Hall exceeds one turn and is smaller than two turns of verification values;
the number of turns accumulation method flow of the No. 1 Hall sensor is as follows:
when the absolute value A0-A1 is less than or equal to n, no number-of-turns accumulation operation is carried out in the same circle, and A1 is assigned to A0;
when |A0-A1| is not more than or equal to n and A0-A1 is not less than or equal to m and A0-A1 is not more than or equal to-m is not established, the Hall is rotated clockwise, the number of turns is increased, A1 is assigned to A0, and the current accumulated number of turns = the accumulated number of turns of the last scanning period +1;
when |A0-A1| is not more than or equal to n and A0-A1 is not more than or equal to m and A0-A1 is not more than or equal to-m is not more than or equal to m, the Hall is rotated anticlockwise, the number of turns is reduced, A1 is assigned to A0, and the current accumulated number of turns = the accumulated number of turns-1 of the last scanning period;
when |A0-A1| is not more than or equal to n and A0-A1 is not more than or equal to m and A0-A1 is not more than or equal to-m is not established, the number of turns accumulation operation is not carried out, and A1 is assigned to A0.
3. The method for measuring the yaw angle by using the double-Hall yaw angle sensor according to claim 1, wherein the method for calculating the yaw angle by using the No. 1 Hall sensor is as follows:
(1) The yaw angle of the 1# Hall sensor for one turn is as follows:
the 1# Hall sensor rotates for one circle to yaw angle = 360 degrees x the gear number of the big gear of the limit switch of the double sensor/the gear number of the outer gear of the yaw x the transmission ratio;
(2) And then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle of one turn of the 1# Hall sensor, the accumulated turns and the acquisition value of the controller:
(1) if the number of turns of the 1# Hall sensor is increased, namely the 1# Hall sensor rotates clockwise, and the number of turns is more than or equal to 1:
real-time yaw angle = 1# hall sensor to turn one turn yaw angle x (hall cumulative turns-1) +1# hall sensor to turn 1 turn yaw angle/32767 x input value;
(2) if the number of turns of the 1# Hall sensor is reduced, namely the 1# Hall sensor rotates anticlockwise, and the number of turns is less than or equal to minus 1:
real-time yaw angle = 1# hall sensor to one turn yaw angle x (hall cumulative number of turns + 1) +1# hall sensor to 1 turn yaw angle/32767 x (input value-32767).
4. The method for measuring the yaw angle of the double hall according to claim 1, wherein the method for calculating the real-time yaw angle measured by the hall No. 2 is as follows:
real-time yaw angle=360×gear ratio×large gear number/yaw outer ring gear number/32767× (input value-32767/2).
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| CN205120037U (en) * | 2015-10-20 | 2016-03-30 | 北京天诚同创电气有限公司 | A driftage measuring device and system for wind generating set |
| CN110307860A (en) * | 2019-07-02 | 2019-10-08 | 深圳万讯自控股份有限公司 | A kind of differential type Hall multi-turn position absolute position transducer and its detection method |
| CN110631474A (en) * | 2019-11-04 | 2019-12-31 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| CN111146980A (en) * | 2020-01-06 | 2020-05-12 | 江苏科技大学 | Deviation identification and compensation method for Hall sensor in different installation modes |
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