CN114542372A - Torque determination method and torque determination device for variable pitch motor - Google Patents
Torque determination method and torque determination device for variable pitch motor Download PDFInfo
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Abstract
A torque determination method and a torque determination apparatus for a pitch motor are disclosed. The torque determination method includes: acquiring the rotating speed of a variable pitch motor at the termination moment of the current calculation period; determining whether the acquired rotating speed of the variable pitch motor meets the torque calculation requirement; and determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor of the pre-calculated laboratory loading platform under the standard working condition, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the acquired rotating speed of the variable pitch motor meeting the torque calculation requirement.
Description
Technical Field
The present disclosure relates generally to the field of wind power generation, and more particularly, to a torque determination method and a torque determination device for a pitch motor of a wind turbine generator system.
Background
With the gradual expansion of the scale of the wind generating set and the gradual improvement of the safety protection of the set, the power generation performance of the operation of the wind generating set, namely the improvement of the generated energy and the availability of the wind generating set, receives more and more attention. On the other hand, the safety of the wind generating set is strictly ensured while the power generation benefit is pursued.
When the wind generating set breaks down, on one hand, the working order system of the power industry must be strictly followed, and some fans may be far away, so that a certain time is delayed when the fans arrive at the positions of the fans; most importantly, however, since the wind generating set is a set of relatively complex system, currently, the MW-level permanent magnet wind turbine highly integrates comprehensive disciplines such as aerodynamics, structural mechanics, electromechanics, material science, power electronics, power system analysis, relay protection technology, automatic control technology, modern communication and the like, and becomes a set of complex energy conversion system, so that the same fault may be caused by different reasons, for example, a fault of inconsistent three-axis angles of the pitch system is taken as an example, the fault may be caused by a fault of the encoder itself, a fault of the power supply of the encoder, a fault of the pitch system blocking of the pitch system, a fault of the driver, and a fault of the acquisition module of the controller.
When the operating characteristics of the wind generating set are analyzed, a large amount of data support is needed to ensure the accuracy of analysis and statistics, so that a reference basis is provided for the design of a machine type. For a variable pitch system of a wind generating set, a main power supply device for realizing pitch adjustment is a variable pitch motor, and the size change of wind speed and the pitch adjustment frequency are also reflected on the variable pitch motor. Therefore, the torque value of the variable pitch motor is calculated and analyzed, and the method has important practical significance for deeply knowing the operation mechanism of a variable pitch system, and for model selection of the variable pitch motor, model selection of a toothed belt, model selection of a brake electromagnetic valve, comparison and optimization of control strategies and the like.
In order to perform simple and reasonable type selection of the variable pitch motor, calculation formulas of motor torque in different working modes are deduced on the basis of analyzing the stress transmission of the variable pitch motor and a variable pitch bearing, a simulation model is built in Bladed software for load calculation, data obtained by the load calculation are analyzed, the maximum driving torque, the rated torque and the maximum braking torque of the variable pitch motor are obtained, and reference basis is provided for the type selection of the variable pitch motor. However, most pitch systems do not have a torque value acquisition and calculation device, and therefore it is difficult to calculate the torque value of the pitch motor.
In the existing methods for calculating the torque value of the pitch motor, the calculation is generally performed according to the formula T9550 p/n, where T is the motor torque, p is the motor power, and n is the motor rotation speed. However, this method has the following disadvantages.
First, such a formula is generally used for the calculation of the electromagnetic torque of the generator. The calculation of the power p of the variable pitch motor can only use the motor voltage U and the motor current I for calculation, but the power factor of the variable pitch motor is uncertain under different rotating speeds, and the conversion of the variable pitch motor has certain efficiency, while the power of the variable pitch motor is generally only several kilowatts, the magnitude of the variable pitch motor is small, the influence of the coefficient is obvious, and therefore, the torque value calculated by the method is inaccurate.
Secondly, when the pitch of the pitch-controlled motor is adjusted, the current of the motor is constantly changed and fluctuant, and the current value is also unstable along with the difference of the azimuth angles of the blades, so that high precision is difficult to achieve. In addition, when the rotating speed of the variable pitch motor is low, namely the denominator in the formula T9550 p/n is small, the error is larger, slight data fluctuation can cause the calculated data to be abnormal, and the low rotating speed is the main statistical target of load calculation, so that the large error of the calculated torque value is difficult to avoid.
Again, some pitch drives do not transmit the pitch motor voltage and pitch motor current to the pitch controller or record them in a data file. At this time, if there is no one of the voltage of the pitch motor and the current of the pitch motor, the torque value cannot be calculated.
Disclosure of Invention
The embodiment of the disclosure provides a torque determination method and a torque determination device for a variable pitch motor, and voltage and current of the variable pitch motor are not needed when the torque of the variable pitch motor is calculated, and factors such as power factor of the variable pitch motor and mechanical efficiency of the variable pitch motor are not involved, so that the torque calculation precision can be improved, and the universality of the torque calculation of the variable pitch motor is realized.
In one general aspect, there is provided a torque determination method of a pitch motor, the torque determination method comprising: acquiring the rotating speed of a variable pitch motor at the termination moment of the current calculation period; determining whether the acquired rotating speed of the variable pitch motor meets the torque calculation requirement; and determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor of the pre-calculated laboratory loading platform under the standard working condition, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the acquired rotating speed of the variable pitch motor meeting the torque calculation requirement.
In another general aspect, there is provided a torque determination apparatus of a pitch motor, the torque determination apparatus including: the rotating speed acquisition module is configured to acquire the rotating speed of the variable pitch motor at the ending moment of the current calculation period; a calculation requirement determining module configured to determine whether the acquired rotation speed of the pitch motor meets a torque calculation requirement; the torque determination module is configured to determine the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor under the standard working condition of the pre-calculated laboratory loading platform, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the acquired rotating speed of the variable pitch motor meeting the torque calculation requirement.
In another general aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of torque determination for a pitch motor as described above.
In another general aspect, there is provided a controller, including: a processor; and a memory storing a computer program which, when executed by the processor, implements the method of determining torque of a pitch motor as described above.
According to the torque determination method of the variable pitch motor, the voltage of the variable pitch motor and the current of the variable pitch motor are not needed, and the factors such as power factors and mechanical efficiency of the motor are not involved, so that the torque calculation precision can be improved, and the universality of the torque calculation of the variable pitch motor is realized. Meanwhile, the locked-rotor torque of the variable-pitch motor can be effectively calculated according to the torque determination method of the variable-pitch motor disclosed by the embodiment of the disclosure, so that sufficient basis is provided for the type selection of the variable-pitch motor.
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.
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The above and other objects and features of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings illustrating embodiments, in which:
FIG. 1 is a diagram illustrating an example of a pitch system of a wind park according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a method of torque determination of a pitch motor according to an embodiment of the present disclosure;
FIG. 3A is a flow chart illustrating an example of a method of determining whether an acquired rotational speed of a pitch motor meets a torque calculation requirement;
FIG. 3B is a flow chart illustrating another example of a method of determining whether the acquired rotational speed of the pitch motor meets the torque calculation requirement;
FIG. 4 is a block diagram illustrating a torque determination arrangement of a pitch motor according to an embodiment of the present disclosure;
fig. 5 is a block diagram illustrating a controller of a wind park 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, devices, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent to those skilled in the art after reviewing 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 changed as will become apparent after understanding the disclosure of the present application, except to the extent that operations must occur in a particular order. Moreover, 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, apparatus and/or systems described herein, which will be apparent after understanding the disclosure of the present application.
As used herein, the term "and/or" includes any one of the associated listed items and 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 element, component, region, layer or section referred to in the examples described herein could also be referred to as a second element, component, region, layer or section without departing from the teachings of the examples.
In the specification, when an element such as a layer, region or substrate is referred to as being "on," "connected to" or "coupled to" another element, it can be directly on, connected to or coupled to the other element or intervening one or more other elements may be present. In contrast, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there may be no 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. The singular is also intended to include the plural unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.
Unless otherwise defined, 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 the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in general dictionaries) should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal sense.
Further, in the description of the examples, when it is considered that detailed description of well-known related structures or functions will cause a vague explanation of the present disclosure, such detailed description will be omitted.
Fig. 1 is a diagram illustrating an example of a pitch system of a wind park according to an embodiment of the present disclosure.
Referring to fig. 1, the pitch system may include a pitch motor 101, a supercapacitor 102, a pitch controller 103, a pitch drive 104, an enable switch (limit switch) 105, and a brake relay 106.
When pitch drive 104 is operating normally, enable switch (limit switch) 105 is closed, and pitch drive 104 is powered. When pitch controller 103 receives a pitch speed indication from a main controller of the wind turbine or pitch controller 103 detects that the pitch system is malfunctioning and is autonomously feathering, pitch controller 103 sends a speed command and an enable signal to pitch driver 104. After receiving the speed command and the enabling signal, the pitch control driver 104 controls the brake relay 106 to release the brake, and provides output voltage through the power output 108 to drive the pitch control motor 101 to rotate, so that the pitch control function is realized.
An encoder (not shown) disposed at pitch motor 101 may encode the change in pitch angle of the blades of the wind turbine generator set and provide its value to pitch drive 104 (e.g., via encoder interface 107) and/or pitch controller 103. Pitch drive 104 and/or pitch controller 103 may calculate the rotational speed of pitch motor 101 based on the read encoder values. Pitch drive 104 compares the calculated rotational speed to the value of the speed command sent to pitch drive 104 by pitch controller 103. If the calculated rotational speed is less than the value of the speed command, pitch drive 104 may increase the voltage of power output 108 to increase the rotational speed of pitch motor 101. If the calculated rotational speed is greater than the value of the speed command, pitch drive 104 may decrease the voltage of power output 108 to turn down the rotational speed of pitch motor 101. In this way, the rotational speed of pitch motor 101 can eventually be brought into agreement with the value of the given speed command.
The pitch controller 103 may control the overall operation of the pitch system and may communicate with a main controller of the wind turbine generator system, receive control instructions sent by the main controller and/or send status information of the pitch system to the main controller. The pitch controller 103 may perform the below described torque determination method of the pitch motor according to embodiments of the present disclosure.
The principle of the torque determination method of the pitch motor according to an embodiment of the present disclosure is explained below.
According to the laws of mechanics, there is formula (1): and f is ma, wherein f represents the output force of the pitch motor, m is the equivalent mass of the pitch motor during rotation, the equivalent mass is a constant value, and a is the acceleration of the pitch motor. Further, let F be the pitch motor torque, which is equal to the product of the output force of the pitch motor and the torsion radius. Since the radius of the pitch motor is a fixed value, the twist radius can be eliminated in the following calculation. Therefore, according to the mechanical equation v ═ at, the final available torque equation (2): f is mv/t. That is, the change time t of the pitch speed is obtained, and the corresponding pitch motor torque F can be obtained. Thus, when using a laboratory loading platform, the torque of the pitch motor satisfies equation (3): f1-mv 1/t1, wherein F1 represents the actual torque of the pitch motor of the laboratory loading platform under the standard working condition, and t1 represents the actual torque of the pitch motor of the laboratory loading platform under the standard working conditionThe actual acceleration time of the pitch motor of the laboratory loading platform under the standard working condition is shown as v1, and the actual rotating speed of the pitch motor of the laboratory loading platform under the standard working condition is shown as v 1. When the wind generating set actually operates, the torque of the variable pitch motor meets the formula (4): f2 is mv2/t2, wherein F2 represents the torque when the pitch motor actually operates, v2 represents the rotating speed when the pitch motor actually operates, and t2 represents the acceleration time when the pitch motor actually operates. Therefore, the calculation formula (5) of the torque of the variable pitch motor in actual operation can be determined according to the formula (3) and the formula (4):
for example, when the loaded torque of the laboratory loading platform under the standard working condition is 100Nm, the rotating speed of the pitch motor is increased from 0 degree/second to 6 degrees/second, and the required time is 0.6 second. When the pitch motor actually runs, the time for the rotation speed of the pitch motor to rise from 0 degree/second to 2 degrees/second is 0.5 second, so that the torque of the pitch motor actually running can be calculated to be 100 x (2/0.5)/(6/0.6) to 40 Nm.
Having described the principles of a method of determining torque for a pitch motor according to an embodiment of the present disclosure, a specific implementation of a method of determining torque for a pitch motor according to an embodiment of the present disclosure is described below.
FIG. 2 is a flow chart illustrating a method of torque determination of a pitch motor according to an embodiment of the present disclosure.
According to the embodiment of the disclosure, the torque determination method of the pitch motor can be operated in each pitch controller of the wind generating set. However, the present disclosure is not limited thereto, and the torque determination method of the pitch motor may also be run in a main controller of the wind park or in other controllers. Alternatively, the torque determination method for the pitch motor may also be operated in a controller of the wind park or any other controller capable of communicating with the wind park.
Referring to fig. 2, in step S201, the rotation speed v2 of the pitch motor at the end of the current calculation period T may be acquired. Here, the time length of the calculation period T may be arbitrarily set according to actual needs. For example, the time length of the calculation period T may range from 20ms to 60ms, but is not limited thereto. Furthermore, the rotational speed v2 of the pitch motor at the end of the current calculation period T may be calculated based on the encoder values as described above. However, the disclosure is not limited thereto, and the rotation speed v2 of the pitch motor at the end time of the current calculation period T may be acquired by providing a dedicated sensor or by using other methods, which is not limited by the disclosure.
Next, in step S202, it may be determined whether the acquired rotation speed v2 of the pitch motor meets the torque calculation requirement. By executing step S202, data (i.e., rotational speed) jump caused by encoder jump, communication interruption, encoder data acquisition module failure, etc. can be effectively eliminated. Step S202 will be described later in detail with reference to fig. 3A and 3B.
In step S203, in response to that the acquired rotation speed of the pitch motor meets the torque calculation requirement, the actual torque of the pitch motor may be determined based on the pre-calculated actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the current calculation period T, and the acquired rotation speed v2 of the pitch motor. Here, the actual torque of the pitch motor of the laboratory loading platform under the standard condition may be calculated based on the equivalent mass m when the pitch motor rotates, the actual acceleration time t1 of the pitch motor of the laboratory loading platform under the standard condition, and the actual rotation speed v1 of the pitch motor.
Specifically, in step S203, the actual torque of the pitch motor may be determined based on the actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the actual acceleration time T1 of the pitch motor, the actual rotation speed v1 of the pitch motor, the current calculation period T, and the acquired rotation speed v2 of the pitch motor. More specifically, the quotient of the acquired rotating speed v2 of the pitch motor and the current calculation period T may be first calculated as a first value, then the quotient of the actual rotating speed v1 of the pitch motor of the laboratory loading platform under the standard working condition and the actual acceleration time T1 is calculated as a second value, then the quotient of the first value and the second value is calculated as a third value, and finally, the product of the actual torque of the pitch motor of the laboratory loading platform under the standard working condition and the third value is determined as the actual torque of the pitch motor. Namely, the actual torque of the pitch motor is F1, (v2/T)/(v 1/T1).
As described above, according to the torque determination method of the pitch motor in the embodiment of the present disclosure, it is not necessary to use the voltage of the pitch motor, the current of the pitch motor, or the like, and it is also not related to factors such as power factor, mechanical efficiency of the motor, and therefore, the torque calculation accuracy can be improved, and the versatility of the torque calculation of the pitch motor can be realized. On the other hand, the method for determining the torque of the variable pitch motor according to the embodiment of the disclosure can be suitable for counting and calculating the torque value of any type of variable pitch motor, can ensure the calculation precision of low-rotation-speed data, and solves the problem of inaccurate calculation of the torque of the variable pitch motor at low rotation speed. In addition, the torque determination method of the variable pitch motor according to the embodiment of the disclosure is independent of the front and rear positions of the blade angle and only related to the angle change process and duration, so that the calculation complexity is reduced. In addition, the torque determination method of the pitch motor according to the embodiment of the disclosure uses the actual torque of the laboratory loading platform under the standard working condition, so that the accuracy of torque calculation can be ensured, and the accuracy of data calculation of the traditional calculation method with the T being 9550p/n is not easy to judge due to no comparison basis.
FIG. 3A is a flow chart illustrating an example of a method of determining whether the acquired rotational speed of the pitch motor meets the torque calculation requirements.
Referring to fig. 3A, in step S301, it may be determined whether the acquired rotational speed v2 of the pitch motor is less than a first threshold. According to an embodiment of the present disclosure, the first threshold may be, but is not limited to, 10 degrees/second. In fact, when encoder jump, communication interruption, and encoder data acquisition module failure occur, the calculated rotation speed will usually be greater than 12 degrees/second due to the jump of the angle value. Thus, the first threshold may take 10 degrees/second.
In response to the acquired rotational speed v2 of the pitch motor being less than the first threshold value, in step S302 it may be determined whether the ratio of the acquired rotational speed v2 of the pitch motor to the given rotational speed v3 at the end of the current calculation period T is less than a second threshold value. Here, by judging whether the ratio of the acquired rotating speed v2 of the variable pitch motor to the given rotating speed v3 is smaller than the second threshold value, the condition that the variable pitch motor is locked can be effectively eliminated. This is because, when the acquired rotation speed v2 of the pitch motor is less than the given rotation speed v3 to a certain extent, it can be determined that the pitch motor is locked. Therefore, according to the embodiment of the present disclosure, the second threshold may be set according to actual needs, as long as the second threshold can effectively determine the condition of the locked rotor of the pitch motor. Alternatively, step S302 may be performed before step S301.
In response to the ratio of the acquired rotation speed v2 of the pitch motor to the given rotation speed v3 at the end time of the current calculation period T being less than the second threshold value, in step S303, it may be determined that the acquired rotation speed v2 of the pitch motor meets the torque calculation requirement. Alternatively, when the acquired rotation speed v2 of the pitch motor is not less than the first threshold value or the ratio of the acquired rotation speed v2 of the pitch motor to the given rotation speed v3 at the end time of the current calculation cycle T is not less than the second threshold value, it may be determined that the acquired rotation speed v2 of the pitch motor does not satisfy the torque calculation requirement, and the process returns to step S201 to acquire the rotation speed of the pitch motor at the end time of the next calculation cycle.
FIG. 3B is a flow chart illustrating another example of a method of determining whether the acquired rotational speed of the pitch motor meets the torque calculation requirements.
Before determining whether the acquired rotating speed v2 of the pitch motor meets the torque calculation requirement, the rotating speed v0 of the pitch motor at the starting moment of the current calculation period T needs to be acquired. As described above, the rotation speed v0 of the pitch motor at the starting time of the current calculation period T may be obtained by various methods, which are not limited by the present disclosure.
In step S311, the acceleration a of the pitch motor of the current calculation period T may be calculated based on the rotation speed v2 of the pitch motor at the end time of the current calculation period T and the rotation speed v0 of the pitch motor at the start time of the current calculation period T.
Then, in step S312, it may be determined whether the acceleration a of the pitch motor is zero. Since in the embodiment of the present disclosure, the torque of the pitch motor is calculated according to equation (5), by executing step S312, the situation that equation (5) cannot be applied due to the uniform speed of the rotation speed of the pitch motor can be effectively eliminated.
In response to the acceleration a of the pitch motor not being zero, in step S313 it may be determined whether the rotational speed v2 of the pitch motor at the end of the current calculation period T is less than a first threshold value. Similarly, step S313 may be performed before step S311 and/or step S312.
In response to the rotation speed v2 of the pitch motor at the ending time of the current calculation period T being less than the first threshold, in step S314, it may be determined that the acquired rotation speed v2 of the pitch motor meets the torque calculation requirement.
On the other hand, when the acceleration a of the pitch motor is zero, the torque determination method of the pitch motor according to the embodiment of the present disclosure cannot be applied, and thus the torque determination method of the pitch motor according to the embodiment of the present disclosure may be exited. Further, as described above, when the acquired rotation speed v2 of the pitch motor is not less than the first threshold, it may be determined that the acquired rotation speed v2 of the pitch motor does not satisfy the torque calculation requirement, and the process returns to step S201 to acquire the rotation speed of the pitch motor at the termination time of the next calculation cycle.
Referring back to fig. 1, according to an embodiment of the present disclosure, before performing step S103, a data check may be performed based on the rotational speed v2 of the pitch motor at the termination time of the current calculation cycle T and the rotational speed v0 of the pitch motor at the start time of the current calculation cycle T. When the data verification is successful, step S103 is performed. Alternatively, the pitch motor torque determination method according to embodiments of the present disclosure may be exited when the data check fails.
Specifically, the data verification may be performed by the following steps. First, the acceleration a of the pitch motor of the current calculation period T may be calculated based on the rotational speed v2 of the pitch motor at the end time of the current calculation period T and the rotational speed v0 of the pitch motor at the start time of the current calculation period T. Then, it is determined whether the acceleration a of the pitch motor is less than a third threshold. When the acceleration a of the variable pitch motor is smaller than a third threshold value, the data verification can be determined to be successful. According to the embodiment of the disclosure, by performing data verification, the condition that the acceleration of the pitch motor is abnormal during the current calculation period (i.e. the acceleration time) can be effectively eliminated. Therefore, the third threshold value can be set according to actual needs as long as the third threshold value can effectively determine that the acceleration of the pitch motor is not abnormal.
Optionally, the torque determination method for the pitch motor according to the embodiment of the disclosure can also effectively determine the locked-rotor torque when the pitch motor is locked. The reason why the locked-rotor torque is generated is: if the actual rotating speed of the variable pitch motor is smaller than the given speed, the change of the actual rotating speed is reduced because the torque is in direct proportion to the acceleration, which shows that the variable pitch motor is under the action of the friction resistance with corresponding magnitude, and when the variable pitch motor runs, the torque is increased to overcome the friction resistance of a brake valve due to the tracking of the given speed, so that the locked rotor torque is generated.
As described above, when the ratio of the acquired rotation speed v2 of the pitch motor to the given rotation speed v3 at the termination time of the current calculation period T is not less than the second threshold value, it may be determined that the pitch motor is stalled. In this case, the actual torque of the pitch motor may be determined based on the pre-calculated actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the current calculation period T, and the acquired rotation speed v2 of the pitch motor. Then, based on the actual torque of the pitch motor, the given rotating speed v3 at the ending moment of the current calculation period T and the obtained rotating speed v2 of the pitch motor, the locked-rotor torque of the pitch motor is determined. In particular, a quotient of the given rotational speed v3 at the end time of the current calculation period T and the acquired rotational speed v2 of the pitch motor may be calculated, and the product of the actual torque of the pitch motor and the quotient is determined as the locked-rotor torque of the pitch motor.
As described above, the actual torque of the pitch motor of the laboratory loading platform under the standard working condition may be calculated based on the equivalent mass m when the pitch motor rotates, the actual acceleration time T1 of the pitch motor of the laboratory loading platform under the standard working condition, and the actual rotation speed v1 of the pitch motor, and the actual torque of the pitch motor may be determined based on the actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the actual acceleration time T1 of the pitch motor, the actual rotation speed v1 of the pitch motor, the current calculation period T, and the acquired rotation speed v2 of the pitch motor.
According to the torque determination method of the variable pitch motor, the locked rotor torque of the variable pitch motor can be effectively calculated, so that sufficient basis can be provided for the type selection of the variable pitch motor.
FIG. 4 is a block diagram illustrating a torque determination arrangement of a pitch motor according to an embodiment of the present disclosure.
The torque determination device of the pitch motor according to the embodiment of the disclosure can be arranged in each pitch controller of the wind generating set. However, the present disclosure is not limited thereto, and the torque determination device of the pitch motor according to the embodiments of the present disclosure may be provided in a main controller or other controller of the wind turbine generator set.
Referring to FIG. 4, a torque determination arrangement 400 for a pitch motor may include a rotational speed acquisition module 410, a calculation requirement determination module 420, and a torque determination module 430. The rotation speed obtaining module 410 may obtain the rotation speed v2 of the pitch motor at the end time of the current calculation period T. The calculation requirement determination module 420 may determine whether the obtained rotational speed v2 of the pitch motor meets the torque calculation requirement. The torque determination module 430 may determine the actual torque of the pitch motor based on the pre-calculated actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the current calculation period T, and the acquired rotation speed v2 of the pitch motor in response to the acquired rotation speed of the pitch motor satisfying the torque calculation requirement. Here, the actual torque of the pitch motor of the laboratory loading platform under the standard condition may be calculated based on the equivalent mass m when the pitch motor rotates, the actual acceleration time t1 of the pitch motor of the laboratory loading platform under the standard condition, and the actual rotation speed v1 of the pitch motor. The torque determination module 430 may determine the actual torque of the pitch motor based on the actual torque F1 of the pitch motor of the laboratory loading platform under the standard working condition, the actual acceleration time T1 of the pitch motor, the actual rotational speed v1 of the pitch motor, the current calculation period T, and the acquired rotational speed v2 of the pitch motor.
The calculation requirement determination module 420 may determine whether the acquired rotational speed v2 of the pitch motor is less than a first threshold value and determine whether a ratio of the acquired rotational speed v2 of the pitch motor to a given rotational speed v3 at the end time of the current calculation cycle T is less than a second threshold value. In response to the acquired rotational speed v2 of the pitch motor being less than the first threshold and the ratio of the acquired rotational speed v2 of the pitch motor to the given rotational speed v3 at the end of the current calculation period T being less than the second threshold, the calculation requirement determination module 420 may determine that the acquired rotational speed v2 of the pitch motor meets the torque calculation requirement.
Optionally, the rotation speed obtaining module 410 may further obtain the rotation speed v0 of the pitch motor at the starting time of the current calculation period T. The calculation requirement determination module 420 may calculate the acceleration a of the pitch motor of the current calculation period T based on the rotation speed v2 of the pitch motor at the end time of the current calculation period T and the rotation speed v0 of the pitch motor at the start time of the current calculation period T, determine whether the acceleration a of the pitch motor is zero, and determine whether the rotation speed v2 of the pitch motor at the end time of the current calculation period T is less than a first threshold. In response to the acceleration a of the pitch motor not being zero and the rotational speed v2 of the pitch motor at the end of the current calculation period T being less than the first threshold, the calculation requirement determination module 420 may determine that the obtained rotational speed v2 of the pitch motor meets the torque calculation requirement.
According to an embodiment of the present disclosure, the torque determination apparatus 400 of the pitch motor may further include a data verification module (not shown). The data verification module may perform data verification based on the rotational speed v2 of the pitch motor at the ending time of the current calculation period T and the rotational speed v0 of the pitch motor at the starting time of the current calculation period T. In response to the data verification being successful, the torque determination module 430 may determine an actual torque of the pitch motor. In particular, the data verification module may calculate an acceleration a of the pitch motor of the current calculation period T based on the rotational speed v2 of the pitch motor at the end time of the current calculation period T and the rotational speed v0 of the pitch motor at the start time of the current calculation period T, and determine whether the acceleration a of the pitch motor is less than a third threshold. The data verification module may determine that the data verification is successful in response to the acceleration of the pitch motor being less than a third threshold.
According to an embodiment of the disclosure, in response to the ratio of the acquired rotation speed v2 of the pitch motor to the given rotation speed v3 at the end time of the current calculation period T not being less than the second threshold, the torque determination module 430 may determine the actual torque of the pitch motor based on the pre-calculated actual torque F1 of the pitch motor of the laboratory loading platform under the standard condition, the current calculation period T, and the acquired rotation speed v2 of the pitch motor, and determine the locked-rotor torque of the pitch motor based on the actual torque of the pitch motor, the given rotation speed v3 at the end time of the current calculation period T, and the acquired rotation speed v2 of the pitch motor. Specifically, the torque determination module 430 may calculate the actual torque of the pitch motor of the laboratory loading platform under the standard condition based on the equivalent mass m when the pitch motor rotates, the actual acceleration time T1 of the pitch motor of the laboratory loading platform under the standard condition, and the actual rotation speed v1 of the pitch motor, and determine the actual torque of the pitch motor based on the actual torque F1 of the pitch motor of the laboratory loading platform under the standard condition, the actual acceleration time T1 of the pitch motor, the actual rotation speed v1 of the pitch motor, the current calculation period T, and the acquired rotation speed v2 of the pitch motor. For example, the torque determination module 430 may calculate a quotient of the obtained rotation speed v2 of the pitch motor and the current calculation period T as a first value, calculate a quotient of the actual rotation speed v1 of the pitch motor of the laboratory loading platform under the standard condition and the actual acceleration time T1 as a second value, calculate a quotient of the first value and the second value as a third value, and determine a product of the actual torque of the pitch motor of the laboratory loading platform under the standard condition and the third value as the actual torque of the pitch motor. Furthermore, the torque determination module 430 may calculate a quotient of the given rotational speed v3 at the end time of the current calculation period T and the acquired rotational speed v2 of the pitch motor, and determine a product of the actual torque of the pitch motor and the quotient as a locked-rotor torque of the pitch motor.
Fig. 5 is a block diagram illustrating a controller of a wind park according to an embodiment of the present disclosure.
Referring to fig. 5, the controller 500 of the wind park according to an embodiment of the present disclosure may be, but is not limited to, a pitch controller, a main controller of the wind park, etc. The controller 500 of the wind park according to an embodiment of the present disclosure may comprise a processor 510 and a memory 520. Processor 510 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 520 stores computer programs to be executed by the processor 510. Memory 520 includes high speed random access memory and/or non-volatile computer-readable storage media. The torque determination method of the pitch motor as described above may be implemented when the processor 510 executes a computer program stored in the memory 720.
Alternatively, the controller 500 may communicate with other components in the wind park in wired/wireless communication, and may also communicate with other devices in the wind park in wired/wireless communication. Further, the controller 500 may communicate with a device external to the wind farm in a wired/wireless communication manner. Further, the controller 500 may have a timer and an encoder function.
The torque determination method of a pitch motor according to embodiments of the present disclosure may be written as a computer program and stored on a computer readable storage medium. The computer program, when executed by a processor, may implement a method of torque determination for a pitch motor as described above. Examples of computer-readable storage media 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, non-volatile 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 memory, Hard Disk Drive (HDD), solid-state disk drive (SSD), card-type memory (such as a multimedia card, a Secure Digital (SD) card or an extreme digital (XD) card), tape, a floppy disk, a magneto-optical data storage device, an optical data storage device, a hard disk, a magnetic tape, a magneto-optical data storage device, a hard disk, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic tape, a magnetic data storage device, a magnetic disk, a magnetic data storage device, a magnetic disk, A solid state disk, and any other device configured to store and provide a computer program and any associated data, data files, and data structures to a processor or computer in a non-transitory manner such that the processor or computer can execute the computer program. 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 fashion by one or more processors or computers.
According to the torque determination method of the variable pitch motor, the voltage of the variable pitch motor and the current of the variable pitch motor are not needed, and the factors such as power factors and mechanical efficiency of the motor are not involved, so that the torque calculation precision can be improved, and the universality of the torque calculation of the variable pitch motor is realized. On the other hand, the method for determining the torque of the variable pitch motor according to the embodiment of the disclosure can be suitable for counting and calculating the torque value of any type of variable pitch motor, can ensure the calculation precision of low-rotation-speed data, and solves the problem of inaccurate calculation of the torque of the variable pitch motor at low rotation speed. In addition, the torque determination method of the variable pitch motor according to the embodiment of the disclosure is independent of the front and rear positions of the blade angle and only related to the angle change process and duration, so that the calculation complexity is reduced. In addition, the torque determination method of the pitch motor according to the embodiment of the disclosure uses the actual torque of the laboratory loading platform under the standard working condition, so that the accuracy of torque calculation can be ensured, and the accuracy of data calculation of the traditional calculation method with the T being 9550p/n is not easy to judge due to no comparison basis. Meanwhile, according to the torque determination method of the variable pitch motor disclosed by the embodiment of the disclosure, the locked rotor torque of the variable pitch motor can be effectively calculated, so that sufficient basis is provided for the type selection of the variable pitch motor.
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 (15)
1. A torque determination method of a pitch motor, the torque determination method comprising:
acquiring the rotating speed of a variable pitch motor at the termination moment of the current calculation period;
determining whether the acquired rotating speed of the variable pitch motor meets the torque calculation requirement;
and determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor of the pre-calculated laboratory loading platform under the standard working condition, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the acquired rotating speed of the variable pitch motor meeting the torque calculation requirement.
2. The torque determination method of claim 1, wherein the actual torque of the pitch motor of the laboratory loading platform under the standard condition is calculated based on the equivalent mass of the pitch motor when the pitch motor rotates, the actual acceleration time of the pitch motor of the laboratory loading platform under the standard condition, and the actual rotational speed of the pitch motor.
3. The torque determination method of claim 2, wherein the step of determining the torque of the pitch motor comprises: and determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor, the actual acceleration time of the variable pitch motor, the actual rotating speed of the variable pitch motor, the current calculation period and the obtained rotating speed of the variable pitch motor of the laboratory loading platform under the standard working condition.
4. The torque determination method of claim 1, wherein the step of determining whether the obtained rotational speed of the pitch motor meets the torque calculation requirement comprises:
determining whether the acquired rotating speed of the variable pitch motor is smaller than a first threshold value;
determining whether the ratio of the acquired rotating speed of the variable pitch motor to the given rotating speed at the termination moment of the current calculation period is smaller than a second threshold value;
and determining that the acquired rotating speed of the variable pitch motor meets the torque calculation requirement in response to the fact that the acquired rotating speed of the variable pitch motor is smaller than a first threshold and the ratio of the acquired rotating speed of the variable pitch motor to the given rotating speed at the termination moment of the current calculation period is smaller than a second threshold.
5. The torque determination method of claim 1, further comprising:
and acquiring the rotating speed of the variable pitch motor at the starting moment of the current calculation period.
6. The torque determination method of claim 5, wherein the step of determining whether the obtained rotational speed of the pitch motor meets the torque calculation requirement comprises:
calculating the acceleration of the variable pitch motor in the current calculation period based on the rotating speed of the variable pitch motor at the ending moment of the current calculation period and the rotating speed of the variable pitch motor at the starting moment of the current calculation period;
determining whether the acceleration of the variable pitch motor is zero;
determining whether the rotating speed of the variable pitch motor at the termination moment of the current calculation period is less than a first threshold value;
and determining that the acquired rotating speed of the variable pitch motor meets the torque calculation requirement in response to that the acceleration of the variable pitch motor is not zero and the rotating speed of the variable pitch motor at the termination moment of the current calculation period is less than a first threshold value.
7. The torque determination method of claim 5, further comprising:
performing data verification based on the rotation speed of the variable pitch motor at the ending time of the current calculation period and the rotation speed of the variable pitch motor at the starting time of the current calculation period,
wherein the step of determining the torque of the pitch motor is performed in response to a successful data verification.
8. The torque determination method of claim 7, wherein the step of performing a data check comprises:
calculating the acceleration of the variable pitch motor in the current calculation period based on the rotating speed of the variable pitch motor at the ending moment of the current calculation period and the rotating speed of the variable pitch motor at the starting moment of the current calculation period;
determining whether the acceleration of the pitch motor is less than a third threshold,
and determining that the data verification is successful in response to the acceleration of the variable pitch motor being smaller than a third threshold value.
9. The torque determination method of claim 4, further comprising:
determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor under the standard working condition of a pre-calculated laboratory loading platform, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the fact that the ratio of the acquired rotating speed of the variable pitch motor to the given rotating speed at the termination moment of the current calculation period is not smaller than a second threshold value;
and determining locked-rotor torque of the variable-pitch motor based on the actual torque of the variable-pitch motor, the given rotating speed at the ending moment of the current calculation period and the obtained rotating speed of the variable-pitch motor.
10. The torque determination method of claim 9, wherein the step of determining the actual torque of the pitch motor comprises:
calculating the actual torque of the variable pitch motor of the laboratory loading platform under the standard working condition based on the equivalent mass of the variable pitch motor during rotation, the actual acceleration time of the variable pitch motor of the laboratory loading platform under the standard working condition and the actual rotating speed of the variable pitch motor;
and determining the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor, the actual acceleration time of the variable pitch motor, the actual rotating speed of the variable pitch motor, the current calculation period and the obtained rotating speed of the variable pitch motor of the laboratory loading platform under the standard working condition.
11. A method for determining torque as claimed in claim 3 or 10, wherein the step of determining the actual torque of the pitch motor comprises:
calculating the quotient of the obtained rotating speed of the variable pitch motor and the current calculation period as a first value;
calculating the quotient of the actual rotating speed and the actual acceleration time of the variable-pitch motor of the laboratory loading platform under the standard working condition as a second value;
calculating a quotient of the first value and the second value as a third value;
and determining the product of the actual torque of the variable pitch motor of the laboratory loading platform under the standard working condition and the third value as the actual torque of the variable pitch motor.
12. The torque determination method of claim 9, wherein the step of determining the actual torque of the pitch motor comprises:
calculating the quotient of the obtained rotating speed of the variable pitch motor and the current calculation period as a first value;
calculating the quotient of the actual rotating speed and the actual acceleration time of the variable-pitch motor of the laboratory loading platform under the standard working condition as a second value;
calculating a quotient of the first value and the second value as a third value;
determining the product of the actual torque of the variable pitch motor of the laboratory loading platform under the standard working condition and the third value as the actual torque of the variable pitch motor, and/or,
the step of determining the locked-rotor torque of the variable-pitch motor comprises the following steps of:
calculating the quotient of the given rotating speed at the ending moment of the current calculation period and the obtained rotating speed of the variable pitch motor;
and determining the product of the actual torque of the variable-pitch motor and the quotient as the locked-rotor torque of the variable-pitch motor.
13. A torque determination device of a pitch motor, characterized in that the torque determination device comprises:
the rotating speed acquisition module is configured to acquire the rotating speed of the variable pitch motor at the ending moment of the current calculation period;
a calculation requirement determining module configured to determine whether the acquired rotation speed of the pitch motor meets a torque calculation requirement;
the torque determination module is configured to determine the actual torque of the variable pitch motor based on the actual torque of the variable pitch motor under the standard working condition of the pre-calculated laboratory loading platform, the current calculation period and the acquired rotating speed of the variable pitch motor in response to the acquired rotating speed of the variable pitch motor meeting the torque calculation requirement.
14. A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when being executed by a processor, carries out the method of torque determination of a pitch motor according to any of claims 1-12.
15. A controller, characterized in that the controller comprises:
a processor; and
a memory storing a computer program which, when executed by the processor, implements a method of torque determination of a pitch motor according to any of claims 1 to 12.
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| CN202011341815.8A CN114542372A (en) | 2020-11-25 | 2020-11-25 | Torque determination method and torque determination device for variable pitch motor |
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| CN202011341815.8A CN114542372A (en) | 2020-11-25 | 2020-11-25 | Torque determination method and torque determination device for variable pitch motor |
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