CN114893349B

CN114893349B - Over-current and overload prevention control method and device for motor of yaw system

Info

Publication number: CN114893349B
Application number: CN202210824344.9A
Authority: CN
Inventors: 刘亚军; 丁万斌; 梁耀辉; 邹文淇
Original assignee: Shenzhen Micctech Co ltd
Current assignee: Shenzhen Micctech Co ltd
Priority date: 2022-07-14
Filing date: 2022-07-14
Publication date: 2022-09-30
Anticipated expiration: 2042-07-14
Also published as: CN114893349A

Abstract

The application relates to a new energy and motor technology, and provides an overcurrent and overload prevention control method and device for a yaw system motor. The method has the advantages that the virtual main shaft mode is adopted, the time for switching the yaw motor and the damping motor in the yaw process of the yaw system is greatly reduced, and the phenomenon that the yaw system is overloaded or has overcurrent faults due to overlarge instantaneous load is avoided.

Description

Over-current and overload prevention control method and device for motor of yaw system

Technical Field

The application relates to the technical field of motors of new energy, in particular to a yaw system motor overcurrent and overload prevention control method and device.

Background

Wind energy is a clean and pollution-free renewable energy source, is very environment-friendly by utilizing wind power to generate electricity, and is a typical new energy source. The wind turbine is one of the core devices in the wind power generation equipment, wherein the yaw system is a servo system specific to the wind turbine.

The main functions of the yaw system in the wind turbine generator are two. The first function is to be matched with a control system of the wind turbine generator, so that a wind wheel of the wind turbine generator is always in a windward state, wind energy is fully utilized, the generating efficiency of the wind turbine generator is improved, and necessary locking torque can be provided when the wind direction is relatively fixed so as to ensure the safe operation of the wind turbine generator. The second function is that the wind turbine generator can continuously yaw in one direction, so that the cable of the suspension part of the wind turbine generator is prevented from being excessively twisted to break and lose efficacy, and the wind can be automatically unwound when the cable reaches the designed winding value.

The yaw system is a system comprising multiple motors, and at least comprises a yaw motor and a damping motor, and if the yaw motor is always used for driving in the process of controlling the blade steering of the yaw system, the motors are easily subjected to instantaneous overload or overcurrent faults due to overlarge load.

Disclosure of Invention

The embodiment of the application provides an overcurrent and overload prevention control method and device for a motor of a yaw system, which can prevent the motor in the yaw system from overloading or overcurrent faults due to the fact that instantaneous overload occurs in the running process.

In a first aspect, an embodiment of the present application provides a method for controlling overcurrent and overload prevention of a motor of a yaw system, including:

if the obtained current wind speed value is determined not to exceed a preset first rated wind speed value, generating a yaw system starting instruction;

determining the current driving steering direction and the current driving steering angle of the yaw system according to the acquired current wind direction and the yaw system starting command;

acquiring yaw motor information and damping motor information in a yaw system;

acquiring the virtual main shaft running speed of a virtual main shaft of the yaw system;

determining a first anti-backlash strategy corresponding to the yaw motor information based on the virtual spindle running speed, the current driving steering direction and the yaw motor information;

determining a second anti-backlash strategy corresponding to the damping motor information based on the virtual spindle running speed, the current driving steering direction and the damping motor information;

correspondingly driving a yaw motor in the yaw system according to the first anti-backlash strategy, and correspondingly driving a damping motor in the yaw system according to the second anti-backlash strategy.

In a second aspect, an embodiment of the present application provides a yaw system motor overcurrent and overload prevention control apparatus, which includes:

the first starting instruction generating unit is used for generating a yaw system starting instruction if the obtained current wind speed value is determined not to exceed a preset first rated wind speed value;

the first steering information acquisition unit is used for determining the current driving steering direction and the current driving steering angle of the yaw system according to the acquired current wind direction and the yaw system starting command;

the system comprises a first motor information acquisition unit, a second motor information acquisition unit and a control unit, wherein the first motor information acquisition unit is used for acquiring yaw motor information and damping motor information in a yaw system;

a virtual main shaft speed obtaining unit, configured to obtain a virtual main shaft operating speed of a virtual main shaft of the yaw system;

a first anti-backlash strategy generating unit, configured to determine, based on the virtual spindle operating speed, the current driving steering direction, and the yaw motor information, a first anti-backlash strategy corresponding to the yaw motor information;

a second anti-backlash strategy generating unit, configured to determine, based on the virtual spindle operating speed, the current driving steering direction, and the damping motor information, a second anti-backlash strategy corresponding to the damping motor information;

and the backlash elimination control unit is used for correspondingly driving a yaw motor in the yaw system according to the first backlash elimination strategy and correspondingly driving a damping motor in the yaw system according to the second backlash elimination strategy.

In a third aspect, an embodiment of the present application further provides a controller, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor, when executing the computer program, implements the method for controlling an overcurrent and overload protection for a motor of a yaw system according to the first aspect.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the method for controlling an overcurrent and overload protection for a yaw system motor according to the first aspect.

The embodiment of the application provides a method and a device for controlling overcurrent and overload prevention of a motor of a yaw system, firstly generating a yaw system starting instruction when a current wind speed value does not exceed a first rated wind speed value, then determining a current driving steering direction and a current driving steering angle of the yaw system according to a current wind direction and the yaw system starting instruction, then obtaining information of a yaw motor, information of a damping motor and a virtual spindle running speed of a virtual spindle in the yaw system, determining a first anti-backlash strategy corresponding to the information of the yaw motor based on the virtual spindle running speed, the current driving steering direction and the information of the yaw motor, determining a second anti-backlash strategy corresponding to the information of the damping motor based on the virtual spindle running speed, the current driving steering direction and the information of the damping motor, and finally driving the yaw motor in the yaw system according to the first anti-backlash strategy, and correspondingly driving a damping motor in the yaw system according to a second anti-backlash strategy. The method has the advantages that the virtual main shaft mode is adopted, the time for switching the yaw motor and the damping motor in the yaw process of the yaw system is greatly reduced, and the phenomenon that the yaw system is overloaded or has overcurrent faults due to overlarge instantaneous load is avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a method for controlling an overcurrent and overload protection of a motor of a yaw system according to an embodiment of the present application;

FIG. 2 is a schematic block diagram of a yaw system motor overcurrent and overload prevention control apparatus according to an embodiment of the present application;

fig. 3 is a schematic block diagram of a controller provided in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1, fig. 1 is a schematic flowchart of a method for controlling an overcurrent and overload protection of a motor of a yaw system according to an embodiment of the present application.

As shown in FIG. 1, the method includes steps S101 to S107.

S101, if the obtained current wind speed value is determined not to exceed a preset first rated wind speed value, a yaw system starting instruction is generated.

In this embodiment, the technical solution is described in terms of any wind turbine in the wind turbine generator set. The wind driven generator is provided with an anemoscope, a wind vane and a yaw system, and is also provided with a programmable logic controller, and the anemoscope, the wind vane and the yaw system are all connected with the programmable logic controller. When the wind power generator is deployed at a place with abundant wind power, the wind oar blades of the wind power generator face the wind on the condition that the wind speed is not over-speed, and once the wind speed is over-speed (namely the obtained current wind speed does not exceed a preset first rated wind speed value), the programmable logic controller serves as a core controller to generate a yaw system starting instruction so that the yaw system drives the wind oar blades to rotate by a certain angle to reduce the windward side of the wind oar blades.

And S102, determining the current driving steering direction and the current driving steering angle of the yaw system according to the acquired current wind direction and the yaw system starting command.

In this embodiment, in order to more accurately control the wind-powered propeller blades to turn, after a yaw system start instruction is generated by the programmable logic controller, the current wind direction needs to be timely acquired, the current driving steering direction and the current driving steering angle of the wind-powered propeller blades are determined based on the current wind direction and the current direction angle of the wind-powered propeller blades, and finally the yaw system drives the wind-powered propeller blades to rotate so as to face the wind. Therefore, the rotation parameters of the wind propeller blades can be quickly and accurately determined based on the current wind direction.

In one embodiment, step S102 includes:

the method comprises the steps of obtaining the current wind direction, obtaining the current blade aligning direction angle of a wind blade, and determining the current driving steering direction and the current driving steering angle of a yaw system according to the current wind direction and the current blade aligning direction angle.

In this embodiment, the current driving steering direction and the current driving steering angle of the wind propeller blade need to be determined jointly based on the current blade alignment direction angle of the wind propeller blade and the current wind direction obtained by the wind vane. Firstly, acquiring a current wind direction through a wind vane, and sending the acquired current wind direction to a programmable logic controller through the wind vane; then, acquiring the current blade alignment direction angle of the wind blade, specifically acquiring the current blade alignment direction angle of the wind blade through a rotation angle sensor, and sending the acquired current blade alignment direction angle to a programmable logic controller; after the current wind direction and the current blade alignment direction angle of the wind blade are stored in the programmable logic controller, the current driving steering direction and the current driving steering angle of the yaw system can be quickly determined based on the angle difference between the current wind direction and the current blade alignment direction angle of the wind blade.

For example, the current wind direction obtained based on the wind vane is the positive west direction, and the current blade alignment direction angle of the wind blade obtained by the rotation angle sensor is the positive south direction, at this time, the yaw system needs to drive the wind blade to turn from the positive south direction to the positive west direction, so that the programmable logic controller can calculate and determine that the current driving steering direction of the yaw system is yaw left, and the current driving steering angle is 90 degrees.

And S103, acquiring yaw motor information and damping motor information in the yaw system.

In this embodiment, since the yaw system is matched with the programmable controller, the wind-powered propeller blades are in a windward state, and in the process of driving the wind-powered propeller blades to rotate by the yaw system, yaw motor information and damping motor information in the yaw system need to be acquired in detail in order to control the steering process more accurately. The information of the yaw motor is used for representing a motor equipment list consisting of the yaw motors included in the yaw system; the damping motor information is used to indicate a list of motor devices comprised of damping motors included in the yaw system.

In one embodiment, step S103 includes:

acquiring information of a main frequency converter and information of a slave frequency converter in the yawing system;

and determining a yaw motor and a damping motor which are respectively connected with the slave frequency converter based on the slave frequency converter information to form yaw motor information and damping motor information.

In this embodiment, taking an example that the yaw system includes 6 frequency converters, one of the frequency converters serves as a master frequency converter, and the other 5 frequency converters serve as slave frequency converters, a scheme of one master and multiple slaves is implemented based on the foregoing manner. Specifically, the 3 slave frequency converters are respectively referred to as a first slave frequency converter, a second slave frequency converter and a third slave frequency converter, a yaw motor connected with the first slave frequency converter is referred to as a first yaw motor, a yaw motor connected with the second slave frequency converter is referred to as a second yaw motor, and a yaw motor connected with the third slave frequency converter is referred to as a third yaw motor. The remaining 2 slave frequency converters of the 5 slave frequency converters are respectively connected with a damping motor, specifically, the 2 slave frequency converters are respectively designated as a fourth slave frequency converter and a fifth slave frequency converter, the damping motor connected with the fourth slave frequency converter is designated as a first damping motor, and the damping motor connected with the fifth slave frequency converter is designated as a second damping motor.

In the above example, the first yaw motor, the second yaw motor, and the third yaw motor constitute yaw motor information, and the first damping motor and the second damping motor constitute damping motor information. Therefore, the detailed information of the yaw motor and the damping motor in the yaw system can be accurately acquired based on the mode.

And S104, acquiring the virtual main shaft running speed of the virtual main shaft of the yawing system.

In this embodiment, the virtual spindle refers to a virtual spindle in a motion control system. In a motion control system, the real axis has a specific drive and motor corresponding to the virtual axis (i.e. virtual main axis), while the virtual axis has no actual drive and motor, and only a virtual stored value is reset in the controller (such as the programmable logic controller in this application), and the other real axes (e.g. the real axes of 3 yaw motors and the real axes of 2 damping motors in this application) can be used as the driven axis and synchronized with the driven axis, and the virtual axis as the main axis has the advantage of no interference and fluctuation.

In one embodiment, step S104 includes:

and acquiring the current steering angular speed as the virtual main shaft running speed.

In the present application, since the virtual main shaft of the yawing system is stored in the programmable logic controller, during the rotation of the wind blade, the current steering angular velocity can be determined based on the angular velocity sensor in the wind turbine as the virtual main shaft running speed of the virtual main shaft of the yawing system. Therefore, the obtained virtual main shaft running speed can be used as a standard reference parameter for subsequently controlling the yaw motor and the damping motor, so that the whole control process is not influenced by external interference and fluctuation.

And S105, determining a first anti-backlash strategy corresponding to the yaw motor information based on the virtual spindle running speed, the current driving steering direction and the yaw motor information.

In this embodiment, with continued reference to the above example, when the yaw system needs to drive the wind blade to steer from a direct south to a direct west direction, the programmable logic controller determines that the current drive steering direction of the yaw system is to yaw left and that the current drive steering angle is 90 degrees. Since the virtual spindle running speed is acquired before, all 3 yaw motors need to be controlled to perform left backlash at the same rotating angular speed as the virtual spindle running speed, and the duration of the left backlash of the yaw motors is determined by the system load of the yaw system. Generally, when the system load of the yaw system is not overloaded, the yaw motor continuously performs backlash elimination by taking the virtual main shaft running speed as a rotation angular speed.

In one embodiment, the first anti-backlash strategy is:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a yaw motor corresponding to the yaw motor information to perform backlash elimination in the current driving steering direction by taking the virtual main shaft running speed as a rotation angular speed;

and if the system load of the yaw system exceeds a preset maximum load threshold value, controlling the yaw motor corresponding to the yaw motor information to be unloaded.

In this embodiment, if the system load of the yaw system does not exceed the preset maximum load threshold value, which indicates that the system is not overloaded, still referring to the above example, if the current driving steering direction is yaw left, since the entire yaw system is in the position control mode, the damping motor is operated in the idle mode primarily by the force exerted by the yaw motor. And if the system load of the yaw system exceeds a preset maximum load threshold value, the system is overloaded, and then the yaw motor is switched to output of the damping motor for yaw driving without depending on the output of the yaw motor.

And S106, determining a second anti-backlash strategy corresponding to the damping motor information based on the virtual main shaft running speed, the current driving steering direction and the damping motor information.

In this embodiment, with continued reference to the above example, when the yaw system needs to drive the wind blade to steer from a direct south to a direct west direction, the programmable logic controller determines that the current drive steering direction of the yaw system is to yaw left and that the current drive steering angle is 90 degrees. Since the virtual main shaft running speed is obtained before, at this time, all 2 damping motors need to be controlled to firstly carry out right backlash elimination and no-load running at the same rotating angular speed as the virtual main shaft running speed, and the duration of the no-load running of the damping motors is determined by the system load of the yaw system. Generally, when a system load of the yaw system is overloaded, the yaw system is switched to yaw drive by the damping motor at the virtual spindle running speed as a rotation angular speed.

In one embodiment, the second anti-backlash strategy is:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a damping motor corresponding to the damping motor information to perform no-load operation by taking the virtual spindle running speed as a rotating angular speed, and controlling the damping motor corresponding to the damping motor information to perform backlash elimination in the direction opposite to the current driving steering direction;

and if the system load of the yaw system exceeds a preset maximum load threshold value, controlling a damping motor corresponding to the damping motor information to carry out yaw driving in the current driving steering direction at the virtual main shaft running speed.

In this embodiment, if the system load of the yaw system does not exceed the preset maximum load threshold, it indicates that the system is not overloaded, and at this time, still referring to the above example, if the current driving steering direction is yaw left, since the entire yaw system is in the position control mode, the damping motor operates in the idle-load mode mainly by the output of the yaw motor, that is, when the system load of the yaw system does not exceed the preset maximum load threshold, the damping motor corresponding to the damping motor information is controlled to perform the idle-load operation at the virtual spindle operating speed as the rotational angular speed, and the damping motor corresponding to the damping motor information is controlled to perform the backlash elimination in the direction opposite to the current driving steering direction. And if the system load of the yaw system exceeds a preset maximum load threshold value, indicating that the system is overloaded, and then switching to the output of the damping motor for yaw driving without depending on the output of the yaw motor, namely controlling the damping motor corresponding to the damping motor information to carry out yaw driving in the current driving steering direction at the virtual spindle running speed.

S107, correspondingly driving a yaw motor in the yaw system according to the first anti-backlash strategy, and correspondingly driving a damping motor in the yaw system according to the second anti-backlash strategy.

In this embodiment, because the yaw motor in the yaw system is correspondingly driven by the first anti-backlash strategy and the damping motor in the yaw system is correspondingly driven by the second anti-backlash strategy, a virtual spindle is adopted in the process, a communication mode similar to a CANopen bus (a CANopen is a high-level communication protocol which is configured on a control local area network, and a CANopen bus is a field bus which is commonly used for industrial control) is not required to be adopted to realize the fast switching between the control yaw motor and the damping motor in the yaw process, the switching delay is not generated, and the condition that the transient load of the yaw system is too large and overload or overcurrent fault is reported is avoided.

In an embodiment, step S107 is followed by:

if the obtained current wind speed value is determined to exceed a preset first rated wind speed value, generating another yaw system starting instruction;

determining another current driving steering direction and another current driving steering angle of the yawing system according to the obtained another current wind direction and the another yawing system starting command.

In this embodiment, once the wind speed is over-speed (i.e. the obtained current wind speed does not exceed the preset first rated wind speed), the plc as the core controller generates another yaw system start command to drive the wind blade to rotate by a certain angle by the yaw system so that the wind blade is less windward.

It is necessary to determine together the other current driving steering direction and the other current driving steering angle of the wind blade based on the other current blade alignment direction angle of the wind blade and the other current wind direction acquired by the wind vane. Firstly, acquiring another current wind direction through a wind vane, and sending the acquired another current wind direction to a programmable logic controller by the wind vane; then acquiring another current blade alignment direction angle of the wind blade, specifically acquiring another current blade alignment direction angle of the wind blade through a rotation angle sensor, and sending the acquired another current blade alignment direction angle to the programmable logic controller; after storing the further current wind direction and the further current blade alignment direction angle of the wind blade in the programmable logic controller, the further current driving steering direction and the further current driving steering angle of the yaw system may be quickly determined based on an angle difference between the further current wind direction and the further current blade alignment direction angle of the wind blade.

For example, another current wind direction acquired based on the wind vane is a true west direction, and another current blade alignment direction angle of the wind blade acquired by the rotation angle sensor is a true south direction. At this time, the obtained current wind speed value exceeds a preset first rated wind speed value, the wind propeller blades cannot face the wind frontally and need to have a certain angle difference with another current wind direction, so that the yaw system needs to drive the wind propeller blades to turn from the direction just right south to the direction just west and has a first included angle of a preset angle (if the first included angle is set to be 5 degrees), the current driving steering direction of the yaw system can be calculated and determined to be yaw leftwards by the programmable logic controller, and the current driving steering angle is 85 degrees.

When another current driving steering direction and another current driving steering angle of the yaw system are obtained and a subsequent yaw system controls the blades based on the other current driving steering direction and the other current driving steering angle, a third anti-backlash strategy corresponding to the yaw motor information and a fourth anti-backlash strategy corresponding to the damping motor information also need to be determined.

Wherein the third anti-backlash strategy is:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a yaw motor corresponding to the yaw motor information to perform backlash elimination in the other current driving steering direction by taking the virtual main shaft running speed as a rotation angular speed;

and if the system load of the yaw system exceeds a preset maximum load threshold value, controlling the yaw motor corresponding to the yaw motor information to have no load.

Wherein the third anti-backlash strategy is similar to the first anti-backlash strategy, only because the yaw motor is controlled to perform anti-backlash in the other current driving steering direction based on the third anti-backlash strategy, and the corresponding rotation angle of the whole anti-backlash process is the other current driving steering angle. Similarly, if the other current driving steering direction is yaw left, the whole yaw system is in a position control mode, and the yaw motor firstly exerts force, and the damping motor firstly runs in a no-load mode. And if the system load of the yaw system exceeds a preset maximum load threshold value, the system is overloaded, and then the yaw driving is carried out by switching to the output of the damping motor without depending on the output of the yaw motor.

The fourth anti-backlash strategy is:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a damping motor corresponding to the damping motor information to perform no-load operation by taking the virtual spindle running speed as a rotating angular speed, and controlling the damping motor corresponding to the damping motor information to perform backlash elimination in the direction opposite to the other current driving steering direction;

and if the system load of the yaw system exceeds a preset maximum load threshold value, controlling a damping motor corresponding to the damping motor information to perform yaw driving in the other current driving steering direction at the virtual main shaft running speed.

Wherein the fourth anti-backlash strategy is similar to the second anti-backlash strategy, except that the damping motor is controlled to perform anti-backlash in the other current driving steering direction based on the fourth anti-backlash strategy, and the rotation angle corresponding to the whole anti-backlash process is the other current driving steering angle. Similarly, if the system load of the yaw system does not exceed the preset maximum load threshold, it indicates that the system is not overloaded, and at this time, still referring to the above example, if another current driving steering direction is yaw left, because the entire yaw system is in the position control mode, the entire yaw system mainly depends on the first force exerted by the yaw motor, and the damping motor runs in the idle mode, that is, when the system load of the yaw system does not exceed the preset maximum load threshold, the damping motor corresponding to the damping motor information is controlled to run in the idle mode with the virtual spindle running speed as the rotating angular speed, and the damping motor corresponding to the damping motor information is controlled to perform backlash elimination in the direction opposite to the another current driving steering direction. And if the system load of the yaw system exceeds a preset maximum load threshold value, indicating that the system is overloaded, and switching to the output of the damping motor for yaw driving without depending on the output of the yaw motor, namely controlling the damping motor corresponding to the damping motor information to perform yaw driving in the other current driving steering direction at the virtual main shaft running speed.

Similarly, because the yaw motor in the yaw system is correspondingly driven by the third anti-backlash strategy and the damping motor in the yaw system is correspondingly driven by the fourth anti-backlash strategy, a virtual spindle mode is adopted in the process, the fast switching of the control yaw motor and the damping motor in the yaw process is realized without adopting a mode similar to CANopen bus (CANopen is a high-level communication protocol which is constructed on a control local area network, and CANopen bus is a field bus which is commonly used for industrial control) communication, the switching delay is not generated, and the condition that the transient load of the yaw system is too large and overload or overcurrent fault is reported is avoided.

The method adopts a virtual spindle mode, greatly reduces the time for switching the yaw motor and the damping motor in the yaw process of the yaw system, and avoids overload or overcurrent faults due to the fact that the yaw system is overloaded instantly when the load is too large.

The embodiment of the application also provides a yaw system motor overcurrent and overload prevention control device, which is used for executing any embodiment of the yaw system motor overcurrent and overload prevention control method. Specifically, referring to fig. 2, fig. 2 is a schematic block diagram of a yaw system motor overcurrent and overload prevention control device 100 according to an embodiment of the present application.

As shown in fig. 2, the yaw system motor overcurrent and overload prevention control device 100 includes a first start instruction generation unit 101, a first steering information acquisition unit 102, a first motor information acquisition unit 103, a virtual spindle speed acquisition unit 104, a first anti-backlash strategy generation unit 105, a second anti-backlash strategy generation unit 106, and an anti-backlash control unit 107.

The first starting instruction generating unit 101 is configured to generate a yaw system starting instruction if it is determined that the acquired current wind speed value does not exceed a preset first rated wind speed value.

In this embodiment, the technical solution is described in terms of any wind turbine in the wind turbine generator set. The wind driven generator is provided with an anemoscope, a wind vane and a yaw system, and is also provided with a programmable logic controller, and the anemoscope, the wind vane and the yaw system are all connected with the programmable logic controller. When the wind power generator is deployed at a place with abundant wind power, the wind paddle blades of the wind power generator face the wind on the front side under the condition that the wind speed is not overspeed, and once the wind speed is overspeed (namely the acquired current wind speed does not exceed a preset first rated wind speed value), the programmable logic controller serves as a core controller to generate a yaw system starting instruction so that the yaw system drives the wind paddle blades to rotate by a certain angle to enable the wind paddle blades to reduce the windward side.

And the first steering information acquiring unit 102 is configured to determine a current driving steering direction and a current driving steering angle of the yaw system according to the acquired current wind direction and the yaw system start instruction.

In an embodiment, the first steering information obtaining unit 102 is specifically configured to:

the method comprises the steps of obtaining a current wind direction, obtaining a current blade aligning direction angle of a wind blade, and determining a current driving steering direction and a current driving steering angle of a yaw system according to the current wind direction and the current blade aligning direction angle.

In this embodiment, the current driving steering direction and the current driving steering angle of the wind paddle blade need to be determined together based on the current blade alignment direction angle of the wind paddle blade and the current wind direction obtained by the wind vane. Firstly, acquiring a current wind direction through a wind vane, and sending the acquired current wind direction to a programmable logic controller through the wind vane; then, acquiring the current blade alignment direction angle of the wind blade, specifically acquiring the current blade alignment direction angle of the wind blade through a rotation angle sensor, and sending the acquired current blade alignment direction angle to a programmable logic controller; after the current wind direction and the current blade alignment direction angle of the wind blade are stored in the programmable logic controller, the current driving steering direction and the current driving steering angle of the yaw system can be quickly determined based on the angle difference between the current wind direction and the current blade alignment direction angle of the wind blade.

For example, the current wind direction obtained based on the wind vane is a southward direction, and the current blade alignment direction angle of the wind paddle blade obtained by the rotation angle sensor is a southward direction, at this time, the yaw system needs to drive the wind paddle blade to turn from the southward direction to the southward direction, so the programmable logic controller can calculate and determine that the current driving steering direction of the yaw system is to yaw left, and the current driving steering angle is 90 degrees.

A first motor information obtaining unit 103, configured to obtain yaw motor information and damping motor information in the yaw system.

In this embodiment, since the yaw system is matched with the programmable controller, the wind-powered propeller blades are in a windward state, and in the process of driving the wind-powered propeller blades to rotate by the yaw system, yaw motor information and damping motor information in the yaw system need to be acquired in detail in order to control the steering process more accurately. The information of the yaw motor is used for representing a motor equipment list consisting of the yaw motor in the yaw system; the damping motor information is used to indicate a list of motor devices comprised of damping motors included in the yawing system.

In an embodiment, the first motor information acquiring unit 103 is specifically configured to:

In this embodiment, taking the yaw system including 6 frequency converters as an example, one of the frequency converters serves as a master frequency converter, and the other 5 frequency converters serve as slave frequency converters, a scheme of one master and multiple slaves is implemented based on the foregoing manner. Specifically, the 3 slave frequency converters are respectively referred to as a first slave frequency converter, a second slave frequency converter and a third slave frequency converter, a yaw motor connected with the first slave frequency converter is referred to as a first yaw motor, a yaw motor connected with the second slave frequency converter is referred to as a second yaw motor, and a yaw motor connected with the third slave frequency converter is referred to as a third yaw motor. The remaining 2 slave frequency converters of the 5 slave frequency converters are respectively connected with a damping motor, specifically, the 2 slave frequency converters are respectively designated as a fourth slave frequency converter and a fifth slave frequency converter, the damping motor connected with the fourth slave frequency converter is designated as a first damping motor, and the damping motor connected with the fifth slave frequency converter is designated as a second damping motor.

A virtual main shaft speed obtaining unit 104, configured to obtain a virtual main shaft operating speed of a virtual main shaft of the yaw system.

In an embodiment, the virtual spindle speed obtaining unit 104 is specifically configured to:

In the present application, since the virtual main shaft of the yawing system is stored in the programmable logic controller, during the rotation of the wind blade, the current steering angular velocity can be determined based on the angular velocity sensor in the wind turbine as the virtual main shaft running speed of the virtual main shaft of the yawing system. Therefore, the obtained virtual spindle running speed can be used as a standard reference parameter for subsequently controlling the yaw motor and the damping motor, so that the whole control process is not influenced by external interference and fluctuation.

A first anti-backlash strategy generating unit 105, configured to determine a first anti-backlash strategy corresponding to the yaw motor information based on the virtual spindle operating speed, the current driving steering direction, and the yaw motor information.

In this embodiment, with continued reference to the above example, when the yaw system needs to drive the wind blade to steer from a south-facing direction to a west-facing direction, the programmable logic controller determines that the current drive steering direction of the yaw system is to yaw left and the current drive steering angle is 90 degrees. Since the virtual spindle running speed is acquired before, all 3 yaw motors need to be controlled to perform left backlash at the same rotating angular speed as the virtual spindle running speed, and the duration of the left backlash of the yaw motors is determined by the system load of the yaw system. Generally, when the system load of the yaw system is not overloaded, the yaw motor continuously performs backlash elimination by taking the virtual main shaft running speed as a rotation angular speed.

In one embodiment, the first backlash strategy is:

In this embodiment, if the system load of the yaw system does not exceed the preset maximum load threshold value, which indicates that the system is not overloaded, still referring to the above example, if the current driving steering direction is yaw left, since the entire yaw system is in the position control mode, the damping motor is operated in the idle mode primarily by the force exerted by the yaw motor. And if the system load of the yaw system exceeds a preset maximum load threshold value, the system is overloaded, and then the yaw driving is carried out by switching to the output of the damping motor without depending on the output of the yaw motor.

A second anti-backlash strategy generating unit 106, configured to determine a second anti-backlash strategy corresponding to the damping motor information based on the virtual spindle operating speed, the current driving steering direction, and the damping motor information.

In this embodiment, with continued reference to the above example, when the yaw system needs to drive the wind blade to steer from a south-facing direction to a west-facing direction, the programmable logic controller determines that the current drive steering direction of the yaw system is to yaw left and the current drive steering angle is 90 degrees. Since the virtual main shaft running speed is obtained before, at this time, all 2 damping motors need to be controlled to firstly carry out right backlash elimination and no-load running at the same rotating angular speed as the virtual main shaft running speed, and the duration of the no-load running of the damping motors is determined by the system load of the yaw system. Generally, when a system load of the yaw system is overloaded, the yaw system is switched to yaw drive by the damping motor at the virtual spindle running speed as a rotation angular speed.

In one embodiment, the second anti-backlash strategy is:

In this embodiment, if the system load of the yaw system does not exceed the preset maximum load threshold, it indicates that the system is not overloaded, and at this time, still referring to the above example, if the current driving steering direction is yaw left, since the entire yaw system is in the position control mode, the damping motor operates in the idle-load mode mainly by the output of the yaw motor, that is, when the system load of the yaw system does not exceed the preset maximum load threshold, the damping motor corresponding to the damping motor information is controlled to perform the idle-load operation at the virtual spindle operating speed as the rotational angular speed, and the damping motor corresponding to the damping motor information is controlled to perform the backlash elimination in the direction opposite to the current driving steering direction. If the system load of the yaw system exceeds the preset maximum load threshold value, the system is overloaded, then the output of the yaw motor is not needed, but the output of the damping motor is switched to carry out yaw driving, namely the damping motor corresponding to the damping motor information is controlled to carry out yaw driving in the current driving steering direction at the virtual main shaft running speed.

And the backlash elimination control unit 107 is used for correspondingly driving a yaw motor in the yaw system according to the first backlash elimination strategy and correspondingly driving a damping motor in the yaw system according to the second backlash elimination strategy.

In an embodiment, the yaw system motor overcurrent and overload prevention control apparatus 100 further includes:

the second starting instruction generating unit is used for generating another yaw system starting instruction if the obtained current wind speed value is determined to exceed a preset first rated wind speed value;

and the second steering information acquisition unit is used for determining another current driving steering direction and another current driving steering angle of the yaw system according to the acquired another current wind direction and the another yaw system starting command.

In this embodiment, once the wind speed is over-speed (i.e. the obtained current wind speed does not exceed the preset first rated wind speed), the plc as the core controller generates another yaw system start command to drive the wind oar blades to rotate by a certain angle by the yaw system, so that the wind oar blades reduce the windward side.

For example, the other current wind direction acquired based on the wind vane is the true west direction, and the other current blade alignment direction angle of the wind paddle blade acquired by the rotation angle sensor is the true south direction. At this time, the obtained current wind speed value exceeds a preset first rated wind speed value, the wind propeller blades cannot face the wind frontally and need to have a certain angle difference with another current wind direction, so that the yaw system needs to drive the wind propeller blades to turn from the direction just right south to the direction just west and has a first included angle of a preset angle (if the first included angle is set to be 5 degrees), the current driving steering direction of the yaw system can be calculated and determined to be yaw leftwards by the programmable logic controller, and the current driving steering angle is 85 degrees.

Wherein the third anti-backlash strategy is:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a yaw motor corresponding to the yaw motor information to perform backlash elimination in the other current driving steering direction by taking the virtual spindle running speed as a rotation angular speed;

Wherein the third anti-backlash strategy is similar to the first anti-backlash strategy, only because the yaw motor is controlled to perform anti-backlash in the other current driving steering direction based on the third anti-backlash strategy, and the corresponding rotation angle of the whole anti-backlash process is the other current driving steering angle. Similarly, if the other current driving steering direction is yaw left, the whole yaw system is in a position control mode, and the damping motor firstly operates in no-load mode mainly by means of the first force exerted by the yaw motor. And if the system load of the yaw system exceeds a preset maximum load threshold value, the system is overloaded, and then the yaw driving is carried out by switching to the output of the damping motor without depending on the output of the yaw motor.

The fourth anti-backlash strategy is:

Wherein the fourth anti-backlash strategy is similar to the second anti-backlash strategy, except that the damping motor is controlled to perform anti-backlash in the other current driving and steering direction based on the fourth anti-backlash strategy, and the corresponding rotation angle of the whole anti-backlash process is the other current driving and steering angle. Similarly, if the system load of the yaw system does not exceed the preset maximum load threshold value, it indicates that the system is not overloaded, and at this time, still referring to the above example, if another current driving steering direction is yaw left, since the entire yaw system is in the position control mode, the damping motor operates idle first mainly by the first force exerted by the yaw motor, that is, when the system load of the yaw system does not exceed the preset maximum load threshold value, the damping motor corresponding to the damping motor information is controlled to operate idle at the virtual spindle operating speed as the rotational angular speed, and the damping motor corresponding to the damping motor information is controlled to perform backlash elimination in the direction opposite to the another current driving steering direction. And if the system load of the yaw system exceeds a preset maximum load threshold value, indicating that the system is overloaded, and switching to the output of the damping motor for yaw driving without depending on the output of the yaw motor, namely controlling the damping motor corresponding to the damping motor information to perform yaw driving in the other current driving steering direction at the virtual main shaft running speed.

The device has realized adopting virtual main shaft mode, has greatly reduced yaw system yaw motor and damping motor switching's time in-process, avoids the yaw system to load greatly in the twinkling of an eye and reports overload or overcurrent fault.

The above described yaw system motor overcurrent and overload prevention control device can be implemented in the form of a computer program that can be run on a controller as shown in fig. 3.

Referring to fig. 3, fig. 3 is a schematic block diagram of a controller according to an embodiment of the present disclosure. The controller 500 is a programmable logic controller.

Referring to fig. 3, the controller 500 includes a processor 502, a memory, which may include a storage medium 503 and an internal memory 504, and a network interface 505 connected by a device bus 501.

The storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032, when executed, may cause the processor 502 to perform a yaw system motor over-current and over-load control method.

The processor 502 is used to provide computing and control capabilities to support the operation of the overall controller 500.

The internal memory 504 provides an environment for running the computer program 5032 in the storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can be enabled to execute the yaw system motor overcurrent and overload control method.

The network interface 505 is used for network communication, such as providing transmission of data information. It will be understood by those skilled in the art that the configuration shown in fig. 3 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the controller 500 to which the present application is applied, and that a particular controller 500 may include more or fewer components than shown, or combine certain components, or have a different arrangement of components.

The processor 502 is configured to run a computer program 5032 stored in the memory to implement the method for controlling the motor of the yawing system to prevent over-current and over-load in an embodiment of the present application.

Those skilled in the art will appreciate that the embodiment of the controller shown in fig. 3 does not constitute a limitation on the specific construction of the controller, and in other embodiments the controller may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. For example, in some embodiments, the controller may only include a memory and a processor, and in such embodiments, the structures and functions of the memory and the processor are the same as those of the embodiment shown in fig. 3, and are not described herein again.

In another embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium may be a nonvolatile computer-readable storage medium or a volatile computer-readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the method for controlling the motor of the yaw system to prevent the over-current and the overload, which is disclosed in the embodiments of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, devices and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only a logical division, and there may be other divisions when the actual implementation is performed, or units having the same function may be grouped into one unit, for example, a plurality of units or components may be combined or may be integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a controller (which may be a personal computer, a backend server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The control method for preventing overcurrent and overload of the motor of the yaw system is characterized by comprising the following steps:

acquiring yaw motor information and damping motor information in a yaw system;

correspondingly driving a yaw motor in the yaw system according to the first anti-backlash strategy, and correspondingly driving a damping motor in the yaw system according to the second anti-backlash strategy;

wherein the virtual spindle is a virtual stored value that is reset in the controller;

the acquiring the virtual main shaft operating speed of the virtual main shaft of the yawing system comprises: acquiring a current steering angular speed as the virtual main shaft running speed;

the first anti-backlash strategy is as follows:

if the system load of the yaw system does not exceed a preset maximum load threshold value, controlling a yaw motor corresponding to the yaw motor information to perform backlash elimination and yaw driving in the current driving steering direction by taking the virtual main shaft running speed as a rotation angular speed;

if the system load of the yaw system exceeds a preset maximum load threshold value, controlling the yaw motor corresponding to the yaw motor information to be in no-load;

the second backlash elimination strategy is as follows:

and if the system load of the yaw system exceeds a preset maximum load threshold value, controlling a damping motor corresponding to the damping motor information to carry out yaw driving in the current driving steering direction at the virtual spindle running speed.

2. The method of claim 1, wherein determining a current drive steering direction and a current drive steering angle of a yaw system based on the obtained current wind direction and the yaw system activation command comprises:

3. The method of claim 1, wherein the obtaining yaw motor information and damping motor information in a yaw system comprises:

4. The method of claim 1, wherein after correspondingly driving a yaw motor in the yaw system according to the first anti-backlash strategy and correspondingly driving a damping motor in the yaw system according to the second anti-backlash strategy, further comprising:

and determining another current driving steering direction and another current driving steering angle of the yawing system according to the obtained another current wind direction and the another yawing system starting command.

5. The utility model provides a yaw system motor overcurrent overload control device which characterized in that includes:

the first steering information acquisition unit is used for determining the current driving steering direction and the current driving steering angle of the yawing system according to the acquired current wind direction and the yawing system starting command;

the first motor information acquisition unit is used for acquiring yaw motor information and damping motor information in a yaw system;

a first anti-backlash strategy generating unit, configured to determine a first anti-backlash strategy corresponding to the yaw motor information based on the virtual spindle operating speed, the current driving steering direction, and the yaw motor information;

the backlash elimination control unit is used for correspondingly driving a yaw motor in the yaw system according to the first backlash elimination strategy and correspondingly driving a damping motor in the yaw system according to the second backlash elimination strategy;

the acquiring of the virtual spindle operating speed of the virtual spindle of the yaw system includes: acquiring a current steering angular speed as the virtual main shaft running speed;

the first backlash elimination strategy is as follows:

the second anti-backlash strategy is as follows:

6. A controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the yaw system motor over-current and over-load control method according to any of claims 1 to 4.

7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the yaw system motor overcurrent overload control method of any one of claims 1 to 4.