CN115077373A - Wind wheel azimuth angle judging method and device based on variable pitch motor current signals - Google Patents
Wind wheel azimuth angle judging method and device based on variable pitch motor current signals Download PDFInfo
- Publication number
- CN115077373A CN115077373A CN202210688494.1A CN202210688494A CN115077373A CN 115077373 A CN115077373 A CN 115077373A CN 202210688494 A CN202210688494 A CN 202210688494A CN 115077373 A CN115077373 A CN 115077373A
- Authority
- CN
- China
- Prior art keywords
- current
- circuit board
- arm chip
- chip circuit
- pmc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/80—Diagnostics
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/30—Arrangements in telecontrol or telemetry systems using a wired architecture
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Sustainable Development (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a wind wheel azimuth angle judging method and device based on a variable-pitch motor current signal, wherein the device comprises an ARM chip circuit board, an ARM chip circuit board Canopen communication interface and an ARM chip circuit board 24V direct-current power supply terminal; the ARM chip circuit board is respectively connected with the variable pitch drivers of the three blades through an ARM chip circuit board Canopen communication interface and a CAN bus; the cross section of the ARM chip circuit board 24V direct-current power supply terminal and the pitch-variable driver 24V direct-current power supply is 0.5mm 2 The 3-core cables are connected together; the ARM chip circuit board Canopen communication interface is integrated on the ARM chip circuit board; and the ARM chip circuit board is integrated with a 24V direct-current power supply terminal on the ARM chip circuit board. The methodThe method is characterized in that current real-time values of three blade pitch motors are monitored, and a novel wind wheel azimuth angle recognition algorithm is integrated into a wind turbine generator set main control PLC (programmable logic controller), so that the method is simple and efficient in innovation.
Description
Technical Field
The invention belongs to the technical field of wind power generation, and particularly relates to a wind wheel azimuth angle judging method and device based on a variable pitch motor current signal.
Background
The wind wheel azimuth angle is an important parameter for identifying the spatial position of the blades in the operation process of the wind turbine generator, the flexible control of the wind turbine generator becomes more and more important along with the continuous increase of the diameter of the wind wheel of the large megawatt wind turbine generator, and the blades may have defects in the manufacturing, transporting and installing processes of the large flexible blades, so that the problem of blade tower sweeping of the wind turbine generator can occur in the actual operation process, and the wind wheel azimuth angle is a very important variable for preventing the wind turbine generator from generating a blade tower sweeping control strategy. Meanwhile, in the process of overhauling and maintaining the wind turbine generator, operation and maintenance personnel possibly need to enter the hub and need to lock the wind wheel, under the condition, the azimuth angle of the wind wheel is also a very important variable, and the main control PLC is assisted to actively lock the wind wheel to prevent the wind wheel from rotating.
In the wind turbine generator which is in active service and newly put into operation, an angle measurement encoder is arranged at the rear end of a slip ring of part of machine types, so that the numerical value of the azimuth angle of a wind wheel can be obtained in real time, but the angle measurement encoder is expensive; meanwhile, for most of the active units or the fixed units, no proper position is provided for installing the angle measurement encoder.
Disclosure of Invention
The invention aims to provide a method and a device for judging a wind wheel azimuth angle based on a variable-pitch motor current signal, so as to solve the problem that most wind turbine generators do not have a wind wheel azimuth angle acquisition signal and further participate in active control and auxiliary control of the wind turbine generators. The invention monitors the current real-time values of the three blade pitch motors and integrates a novel wind wheel azimuth angle recognition algorithm into a very concise and efficient innovation made by a wind turbine generator set master control PLC.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wind wheel azimuth angle distinguishing device based on a variable-pitch motor current signal comprises an ARM chip circuit board, an ARM chip circuit board Canopen communication interface and an ARM chip circuit board 24V direct current power supply terminal;
the ARM chip circuit board is respectively connected with the variable pitch drivers of the three blades through an ARM chip circuit board Canopen communication interface and a CAN bus; the cross section of the ARM chip circuit board 24V direct-current power supply terminal and the pitch-variable driver 24V direct-current power supply is 0.5mm 2 The 3-core cables are connected together; the Canopen communication interface of the ARM chip circuit board is integrated on the ARM chip circuit board; the ARM chip circuit board is integrated with a 24V direct-current power supply terminal on the ARM chip circuit board.
The invention is further improved in that the ARM chip circuit board is powered by a 24VDC power supply, the 24VDC power supply is parallelly shunted by the 24VDC power supply in the variable pitch drive cabinet, the power is 10 watts, and the ARM chip circuit board is provided with a CAN bus communication interface.
A wind wheel azimuth angle distinguishing method based on a variable pitch motor current signal is based on the wind wheel azimuth angle distinguishing device based on the variable pitch motor current signal and comprises the following steps:
the method comprises the following steps: the method comprises the steps that three variable pitch drivers of a wind turbine generator set acquire variable pitch driver currents at all times, wherein the sampling period is 10 ms;
step two: three variable pitch drivers of the wind turbine generator set collect current values, and communication data interaction is completed through a CANOPEN communication protocol based on a CAN bus communication interface of an ARM chip circuit board;
step three: after the ARM chip circuit board receives current signals of three pitch drivers of the wind turbine generator, preprocessing an acquired current value:
step four: the ARM chip circuit board operation program converts the collected current signal format and then stores the converted current signal format, wherein the storage step length is 5000 program cycle periods, namely the ARM chip can at least store data which are pushed forward from the current period and are stored for the first 5000 periods;
step five: the ARM chip circuit board updates the current value of the variable pitch driver in 5000 previous periods of the current cycle constantly, and the azimuth angle of the wind wheel in the current period is judged according to a built-in azimuth angle detection algorithm;
step six: in order to be better applied to engineering practice, the ARM chip circuit board receives running signals of the wind turbine generator from the master control PLC, wherein the specific running signals comprise automatic running modes of the wind turbine generator, including starting, stopping, standby and grid connection, the current wind turbine generator is in stopping, starting, standby, or grid connection running below rated power under the condition of not limiting power, grid connection running near the rated power under the condition of not limiting power, or grid connection running below a power set value under the condition of limiting power, or grid connection running near the power set value under the condition of limiting power;
the method comprises the steps that an ARM chip circuit board acquires the running mode of a master control PLC of the wind turbine generator, the running mode of the master control PLC is read through a certain variable pitch driver, and the ARM chip circuit board acquires the running mode of the master control PLC of the wind turbine generator through a CAN communication interface with the variable pitch driver;
if the supplier of the wind turbine generator can provide state variables representing the operation interval of the generator, the state variables are in an ideal state;
step seven: and determining that the azimuth angle of the wind wheel corresponding to a certain blade at a certain moment is 360 degrees, and performing angular velocity integration processing according to the rotating speed of the wind wheel to obtain the real-time azimuth angle of the wind wheel at any moment.
The further improvement of the invention is that in the third step, the collected current value is preprocessed, which comprises the following steps:
01: in each sampling period, checking the current signals of the three collected pitch-variable drivers, and if the current signals of one pitch-variable driver, two pitch-variable drivers or all pitch-variable drivers are not more than 0 in a certain period, the current signals are all regarded as invalid values, the ARM chip circuit board marks the current signals of all the collected pitch-variable drivers and makes invalid marks, and the current signals with the invalid marks are not subjected to algorithm calculation by the ARM chip circuit board;
02: the ARM chip circuit board carries out format conversion on data which are not of the REAL type, and converts the non-REAL type into the REAL type.
The further improvement of the invention is that in the fourth step, regarding the program for collecting the current values of the first 5000 program cycles of the internal program of the ARM chip circuit board, when the program accords with the ST language of IEC61131-3, the following ideas are adopted for writing:
the FOR statement is an FOR loop, and the PMC _ Current _ data is an array type variable with the length of 5000;
the PMC _ Current _ data _ REAL is Current data which are collected by a certain variable pitch drive and converted into REAL through an ARM chip.
The invention has the further improvement that in the step five, the detailed steps of the wind wheel azimuth angle detection algorithm are as follows:
01: the following regulations are made for the built-in program algorithm of the ARM chip circuit board, wherein: A. b, C Pitch drive Current real-time values for three blades are defined as follows,
PMC_Current_real_A:REAL；
PMC_Current_real_B:REAL；
PMC_Current_real_C:REAL；
the current real-time values of the three blade pitch-variable drivers correspond to data types which can be actually read by the pitch-variable drivers, and if the current values acquired by the pitch-variable drivers of the wind turbine generator are integer types, the acquired integer current values are converted into real number types;
02: A. b, C Pitch drive current lead values for three blades are defined as an array,
PMC_Current_data_A:ARRAY[1..5000]OF REAL；
PMC_Current_data_B:ARRAY[1..5000]OF REAL；
PMC_Current_data_C:ARRAY[1..5000]OF REAL；
A. b, C, storing and updating current future values of the pitch drivers of the three blades in real time according to the programming idea in the step four;
03: smoothing the collected current value of the variable pitch driver by adopting a sliding average algorithm, wherein the sliding average algorithm processing adopts an online real-time processing mode, namely the current of the three blade variable pitch drivers is updated every other period in real time, and the sliding average algorithm smoothes the current value of the three blade variable pitch drivers;
04: the sliding average values of the current values of the three blade variable pitch drivers are respectively defined as follows, and are updated and stored in real time according to the programming idea in the fourth step;
A. b, C, defining the current value of the variable pitch drive of three blades as an array;
PMC_Current_data_MAF_A:ARRAY[1..5000]OF REAL；
PMC_Current_data__MAF B:ARRAY[1..5000]OF REAL；
PMC_Current_data__MAF C:ARRAY[1..5000]OF REAL；
05: performing variable step slope calculation on the current value acquired by the variable pitch driver of each blade, and performing slope calculation every 10 program periods, 50 program periods and 100 program periods respectively;
the calculation method is as follows: s ═ (current a-current B)/T × N;
s is the calculated current change slope of the variable pitch motor;
t is a program refreshing period;
n is the number of program cycles;
current A, B is the value of the pitch drive current in a certain period;
in the examples, the recalculation process is detailed:
for blade a:
S A10 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4991])/10*T,
S A50 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4949])/50*T,
S A100 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4901])/100*T；
wherein T is 10 ms;
for blade B:
S B10 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4991])/10*T,
S B50 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4949])/50*T,
S B100 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4901])/100*T；
wherein T is 10 ms;
for blade C:
S C10 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4991])/10*T,
S C50 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4949])/50*T,
S C100 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4901])/100*T；
wherein T is 10 ms;
06: when the current Value slope of any pitch drive changes from positive to negative, the blade is about to pass through the uppermost part of the rotation plane of the wind wheel, and the azimuth angle of the wind wheel at the moment is 360 degrees +/-Value _ off set for the current blade.
The invention is further improved in that the filter periods of the moving average are respectively 10ms, 500ms, 1s and 2 s.
The invention is further improved in that the offSet Value _ offSet is determined according to the actual condition of a variable pitch system of the wind turbine set, and the Value _ offSet Value is 4 degrees for a 4MW horizontal-axis wind turbine set.
Compared with the prior art, the invention has the following technical effects:
(A) the device is very simple and has very low cost.
(B) The invention innovatively provides that the wind wheel azimuth angle of the wind turbine generator is judged according to the current feedback value of the variable-pitch driver of the wind turbine generator as signal data, the method not only improves and upgrades the program of the actually operated wind turbine generator, but also analyzes the operation data of the wind turbine generator without the wind wheel azimuth angle signal, and further obtains the wind wheel azimuth angle signal of the wind turbine generator;
(C) the novel wind wheel azimuth angle calculation method provided by the invention can efficiently and accurately identify the wind wheel rotating speed of the wind turbine generator, and has the advantages of less calculation amount, higher precision and great engineering practical application significance;
(D) the method can be used for widely and effectively processing the analysis of the wind turbine blade tower-sweeping accidents;
(E) the invention has reasonable scheme and is very easy to realize.
In conclusion, the key factor with a very wide application prospect is that when a variable pitch driver of the wind turbine generator runs at rated power, the master control PLC needs to maintain the pitch angle near the optimal pitch angle, the pitch angle does not change any more, at the moment, the variable pitch driver needs to apply electromagnetic braking torque to the variable pitch motor, and the electromagnetic braking torque can reflect the in-plane bending moment of three blades of the wind turbine generator to a certain extent; when the wind turbine generator runs above the rated wind speed, the master control PLC changes the pitch angle according to the difference between the target rotating speed and the actual rotating speed, and the current value of the pitch driver driving the pitch motor can reflect the in-plane bending moment of three blades of the wind turbine generator to a certain extent.
Drawings
Fig. 1 is a schematic diagram of an operation control section of a wind turbine generator.
FIG. 2 is a schematic diagram of a connection mode among three pitch drivers, an ARM chip circuit board and a master control PLC.
Wherein: the system comprises a 1-1# variable pitch driver CANopen communication interface, a 2-1# variable pitch driver, a 3-1# variable pitch driver, a 4-master control PLC, a 5-master control PLC CANopen communication interface, a 6-ARM chip circuit board, a 7-ARM chip circuit board CANopen communication interface, an 8-variable pitch driver 24V power terminal and a 9-ARM chip circuit board 24V power terminal.
FIG. 3 is a schematic of the raw values of the pitch drive current signal.
FIG. 4 is a schematic diagram of a sliding average of the pitch drive current signal 1 s.
FIG. 5 is a schematic diagram of a sliding average of the pitch drive current signal 2 s.
FIG. 6 is a schematic diagram of wind rotor azimuth angle and pitch motor current slope.
FIG. 7 is a schematic of the raw values of the pitch drive current signal.
FIG. 8 is a schematic diagram of a sliding average of the pitch drive current signal 1 s.
FIG. 9 is a schematic diagram of a sliding average of the pitch drive current signal 2 s.
FIG. 10 is a schematic of wind rotor azimuth angle and pitch motor current slope.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The schematic description of the embodiment is given by taking the actual operation data of a wind turbine as an example.
When the wind turbine generator set operates in the wind turbine generator set operation interval i shown in fig. 2, the pitch angle of the wind turbine generator set is kept at the optimal pitch angle to track the optimal tip speed ratio, at this time, the pitch driver applies electromagnetic braking torque to the pitch motor to keep the blade pitch angle at the optimal pitch angle, and the currents of the three pitch drivers are as shown in fig. 2:
it should be noted that the current of the pitch motor is collected every 10ms by the pitch driver of the machine type, the original values of 10ms current signals of the three blade pitch drivers are shown in fig. 3, after calculation of the sliding average value, the current average value of 1000ms is shown in fig. 4, and the current average value of 2000ms is shown in fig. 5. It should be noted that the current value acquired by the actual unit pitch drive is INT type, and it is specifically stated in the patent of the present invention that the current value is set to REAL type.
The invention calculates the current value and the current slope value of the variable pitch motor at any moment, and the relationship between the current slope value of the No. 2 variable pitch driver and the azimuth angle of the wind wheel is shown in the following figure 7:
in fig. 6, it can be seen that the slope calculated by the program has a gradual positive to negative transition, at time 6354 the slope becomes 0, this time the actual measurement of rotor azimuth angle is 357.1 °, at time 6366 the rotor azimuth angle becomes 0.129 °, i.e. 360 ° +0.129 °.
At the time 6354, the program determines that the wind wheel azimuth angle is 360 degrees according to the calculated pitch current slope being 0, and considering that the current slope of the pitch system has a certain phase lag, the calculated wind wheel azimuth angle is 360 ° -4 ° -356 ° with the difference of-1 degrees from the actual measurement Value by adding a phase offSet Value _ offSet obtained according to the engineering experience of the pitch system of the megawatt unit.
Example 2:
when the wind turbine generator set operates in the wind turbine generator set operation intervals II and III shown in the figure 2, the position of the pitch angle of the wind turbine generator set is changed by the instruction of the master control PLC so as to keep the output power constant, at the moment, the pitch driver applies electromagnetic driving torque to the pitch motor to enable the pitch angle of the blade to be kept at the target pitch angle, and the currents of the three pitch drivers are shown as the following graph:
the current value and the current slope value of the variable pitch motor are calculated at the moment, and as can be seen from the graphs in fig. 7 to 9, the current values of the three variable drivers at the moment are as follows:
the relationship between the current slope value of the No. 2 variable pitch drive and the azimuth angle of the wind wheel is shown in the following figure 7:
in fig. 10, it can be seen that the programmed slope has a gradual positive to negative transition, at time 9160 the slope becomes 0, this time the actual measurement of the rotor azimuth angle is 355.3 °, at time 9179 the rotor azimuth angle becomes 0.085 °, i.e. 360 ° +0.085 °.
At the time of 9160, the program judges that the azimuth angle of the wind wheel at this time is 360 degrees according to the calculated pitch current slope being 0, and considering that the current slope of the pitch system has a certain phase lag, the calculated azimuth angle of the wind wheel is 360 degrees to 4 degrees to 356 degrees, which is different from the actual measured Value 355.3 degrees by +0.7 degrees, in addition to the phase offSet Value _ offSet obtained according to the engineering experience of the pitch system of the megawatt unit.
The two embodiments show that the algorithm has strong engineering practice significance, can fully and effectively meet the requirement of the main control system for wind wheel azimuth recording on wind wheel azimuth angle identification, and plays an important role in accident analysis of wind turbine blade tower sweeping and the like.
When the unit is in other operation intervals except 1, 2 and 3, the control algorithm does not work, and the azimuth calculation of the wind wheel is not carried out.
Although the invention has been described in detail hereinabove with respect to a general description and specific embodiments thereof, it will be apparent to those skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. A wind wheel azimuth angle judging device based on a variable-pitch motor current signal is characterized by comprising an ARM chip circuit board (6), an ARM chip circuit board Canopen communication interface (7) and an ARM chip circuit board 24V direct-current power supply terminal (9);
the ARM chip circuit board (6) is respectively connected with the variable pitch drivers of the three blades through an ARM chip circuit board Canopen communication interface (7) and a CAN bus; the cross section of the ARM chip circuit board 24V direct current power supply terminal (9) and the pitch-variable driver 24V direct current power supply is 0.5mm 2 The 3-core cables are connected together; the ARM chip circuit board Canopen communication interface (7) is integrated on the ARM chip circuit board (6); the ARM chip circuit board 24V direct current power supply terminal (9) is integrated on the ARM chip circuit board (6).
2. The wind wheel azimuth angle distinguishing device based on the current signals of the variable pitch motor according to claim 1, wherein an ARM chip circuit board is powered by a 24VDC power supply, the 24VDC power supply is branched out of a 24VDC power supply in a variable pitch driving cabinet in parallel, the power is 10 watts, and the ARM chip circuit board is provided with a CAN bus communication interface.
3. A wind wheel azimuth angle judging method based on a variable pitch motor current signal is characterized in that the method is based on the wind wheel azimuth angle judging device based on the variable pitch motor current signal of claim 1 or 2, and the method comprises the following steps:
the method comprises the following steps: the method comprises the steps that three variable pitch drivers of a wind turbine generator set acquire variable pitch driver currents at all times, wherein the sampling period is 10 ms;
step two: three variable pitch drivers of the wind turbine generator set collect current values, and communication data interaction is completed through a CANOPEN communication protocol based on a CAN bus communication interface of an ARM chip circuit board;
step three: after the ARM chip circuit board receives current signals of three pitch drivers of the wind turbine generator, preprocessing an acquired current value:
step four: the ARM chip circuit board operation program converts the collected current signal format and then stores the converted current signal format, wherein the storage step length is 5000 program cycle periods, namely the ARM chip can at least store data which are pushed forward from the current period and are stored for the first 5000 periods;
step five: the ARM chip circuit board updates the current value of the variable pitch driver in 5000 previous periods of the current cycle constantly, and the azimuth angle of the wind wheel in the current period is judged according to a built-in azimuth angle detection algorithm;
step six: in order to be better applied to engineering practice, the ARM chip circuit board receives running signals of the wind turbine generator from the master control PLC, wherein the specific running signals comprise automatic running modes of the wind turbine generator, including starting, stopping, standby and grid connection, the current wind turbine generator is in stopping, starting, standby, or grid connection running below rated power under the condition of not limiting power, grid connection running near the rated power under the condition of not limiting power, or grid connection running below a power set value under the condition of limiting power, or grid connection running near the power set value under the condition of limiting power;
the method comprises the steps that an ARM chip circuit board acquires the running mode of a master control PLC of the wind turbine generator, the running mode of the master control PLC is read through a certain variable pitch driver, and the ARM chip circuit board acquires the running mode of the master control PLC of the wind turbine generator through a CAN communication interface with the variable pitch driver;
if the supplier of the wind turbine generator can provide state variables representing the operation interval of the generator, the state variables are in an ideal state;
step seven: and determining that the azimuth angle of the wind wheel corresponding to a certain blade at a certain moment is 360 degrees, and performing angular velocity integration processing according to the rotating speed of the wind wheel to obtain the real-time azimuth angle of the wind wheel at any moment.
4. The wind wheel azimuth angle judging method based on the current signal of the variable pitch motor according to claim 3, wherein in the third step, preprocessing is performed on the collected current value, and the method comprises the following steps:
01: in each sampling period, checking the current signals of the three collected pitch-variable drivers, and if the current signals of one pitch-variable driver, two pitch-variable drivers or all pitch-variable drivers are not more than 0 in a certain period, the current signals are all regarded as invalid values, the ARM chip circuit board marks the current signals of all the collected pitch-variable drivers and makes invalid marks, and the current signals with the invalid marks are not subjected to algorithm calculation by the ARM chip circuit board;
02: the ARM chip circuit board carries out format conversion on data which are not of the REAL type, and converts the non-REAL type into the REAL type.
5. The wind wheel azimuth angle judging method based on the current signal of the pitch motor according to claim 3, characterized in that in the fourth step, regarding the program for collecting the current values of the first 5000 program cycles by the internal program of the ARM chip circuit board, when meeting the ST language of IEC61131-3, the following ideas are adopted for writing:
the FOR statement is an FOR loop, and the PMC _ Current _ data is an array type variable with the length of 5000;
the PMC _ Current _ data _ REAL is Current data which are collected by a certain variable pitch drive and converted into REAL through an ARM chip.
6. The wind wheel azimuth angle distinguishing method based on the variable pitch motor current signal according to claim 3, wherein in the fifth step, the detailed steps of the wind wheel azimuth angle detection algorithm are as follows:
01: the following regulations are made for the built-in program algorithm of the ARM chip circuit board, wherein: A. b, C Pitch drive Current real-time values for three blades are defined as follows,
PMC_Current_real_A:REAL；
PMC_Current_real_B:REAL；
PMC_Current_real_C:REAL；
the current real-time values of the three blade variable pitch drivers correspond to data types which can be actually read by the variable pitch drivers, if the current values acquired by the variable pitch drivers of the wind turbine generator are integer types, the acquired integer current values are converted into real number types;
02: A. b, C Pitch drive current lead values for three blades are defined as an array,
PMC_Current_data_A:ARRAY[1..5000]OF REAL；
PMC_Current_data_B:ARRAY[1..5000]OF REAL；
PMC_Current_data_C:ARRAY[1..5000]OF REAL；
A. b, C, storing current future values of the pitch drive of the three blades and updating the current in real time according to the programming idea in the fourth step;
03: smoothing the collected current value of the variable pitch driver by adopting a sliding average algorithm, wherein the sliding average algorithm processing adopts an online real-time processing mode, namely the current of the three blade variable pitch drivers is updated every other period in real time, and the sliding average algorithm smoothes the current value of the three blade variable pitch drivers;
04: the sliding average values of the current values of the three blade variable pitch drivers are respectively defined as follows, and are updated and stored in real time according to the programming idea in the fourth step;
A. b, C, defining the current value of the variable pitch drive of three blades as an array;
PMC_Current_data_MAF_A:ARRAY[1..5000]OF REAL；
PMC_Current_data__MAF B:ARRAY[1..5000]OF REAL；
PMC_Current_data__MAF C:ARRAY[1..5000]OF REAL；
05: performing variable step slope calculation on the current value acquired by the variable pitch driver of each blade, and performing slope calculation every 10 program periods, 50 program periods and 100 program periods respectively;
the calculation method is as follows: s ═ (current a-current B)/T × N;
s is the calculated current change slope of the variable pitch motor;
t is a program refreshing period;
n is the number of program cycles;
current A, B is the pitch drive current value in a certain period;
in the examples, the recalculation process is detailed:
for blade a:
S A10 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4991])/10*T,
S A50 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4949])/50*T,
S A100 ＝(PMC_Current_data_MAF_A[5000]-PMC_Current_data_MAF_A[4901])/100*T；
wherein T is 10 ms;
for blade B:
S B10 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4991])/10*T,
S B50 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4949])/50*T,
S B100 ＝(PMC_Current_data_MAF_B[5000]-PMC_Current_data_MAF_B[4901])/100*T；
wherein T is 10 ms;
for blade C:
S C10 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4991])/10*T,
S C50 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4949])/50*T,
S C100 ＝(PMC_Current_data_MAF_C[5000]-PMC_Current_data_MAF_C[4901])/100*T；
wherein T is 10 ms;
06: when the current Value slope of any pitch drive changes from positive to negative, the blade is about to pass through the uppermost part of the rotation plane of the wind wheel, and the azimuth angle of the wind wheel at the moment is 360 degrees +/-Value _ off set for the current blade.
7. The wind wheel azimuth angle distinguishing method based on the current signal of the variable pitch motor according to claim 6, wherein the filtering periods of the sliding average are 10ms, 500ms, 1s and 2s respectively.
8. The method for determining the azimuth angle of the wind turbine based on the current signal of the pitch motor according to claim 6, wherein the offSet Value _ offSet is determined according to the actual condition of a pitch system of the wind turbine, and for a 4MW horizontal axis wind turbine, the Value _ offSet is 4 °.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688494.1A CN115077373A (en) | 2022-06-17 | 2022-06-17 | Wind wheel azimuth angle judging method and device based on variable pitch motor current signals |
| PCT/CN2022/143099 WO2023241005A1 (en) | 2022-06-17 | 2022-12-29 | Discrimination method and device for azimuth angle of wind wheel based on current signal of variable-pitch motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688494.1A CN115077373A (en) | 2022-06-17 | 2022-06-17 | Wind wheel azimuth angle judging method and device based on variable pitch motor current signals |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115077373A true CN115077373A (en) | 2022-09-20 |
Family
ID=83254545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210688494.1A Pending CN115077373A (en) | 2022-06-17 | 2022-06-17 | Wind wheel azimuth angle judging method and device based on variable pitch motor current signals |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115077373A (en) |
| WO (1) | WO2023241005A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023241005A1 (en) * | 2022-06-17 | 2023-12-21 | 西安热工研究院有限公司 | Discrimination method and device for azimuth angle of wind wheel based on current signal of variable-pitch motor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103629048A (en) * | 2013-12-20 | 2014-03-12 | 济南轨道交通装备有限责任公司 | Intelligent pitch control system of wind turbine generator and pitch control method thereof |
| CN103835881B (en) * | 2014-03-05 | 2016-09-28 | 沈阳华创风能有限公司 | Independent pitch system based on electronic effective damping and change oar method |
| CN204615669U (en) * | 2015-05-13 | 2015-09-02 | 科比传动技术（上海）有限公司 | Variable pitch driver |
| DE102015010227A1 (en) * | 2015-08-12 | 2017-02-16 | Senvion Gmbh | Method for controlling pitch drives of a wind turbine, control device and wind turbine |
| DE102015010686A1 (en) * | 2015-08-19 | 2017-02-23 | Senvion Gmbh | Method and system for monitoring a single blade adjustment of a wind energy plant |
| CN113464362B (en) * | 2020-03-30 | 2023-03-24 | 北京金风科创风电设备有限公司 | Wind generating set operation control method and device and variable pitch controller |
| CN113818996B (en) * | 2020-06-18 | 2023-04-18 | 北京金风科创风电设备有限公司 | Wind generating set operation control method, control equipment and controller |
| CN115077373A (en) * | 2022-06-17 | 2022-09-20 | 西安热工研究院有限公司 | Wind wheel azimuth angle judging method and device based on variable pitch motor current signals |
-
2022
- 2022-06-17 CN CN202210688494.1A patent/CN115077373A/en active Pending
- 2022-12-29 WO PCT/CN2022/143099 patent/WO2023241005A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023241005A1 (en) * | 2022-06-17 | 2023-12-21 | 西安热工研究院有限公司 | Discrimination method and device for azimuth angle of wind wheel based on current signal of variable-pitch motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023241005A1 (en) | 2023-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8049352B2 (en) | Apparatus and method for controlling the reactive power from a cluster of wind turbines connected to a utility grid | |
| EP2306003B1 (en) | System and methods for controlling a wind turbine | |
| US8912674B2 (en) | System and method of selecting wind turbine generators in a wind park for change of output power | |
| US7902689B2 (en) | Method and system for noise controlled operation of a wind turbine | |
| US8860237B2 (en) | System and method of selecting wind turbine generators in a wind park for curtailment of output power to provide a wind reserve | |
| EP1906192A2 (en) | Methods and apparatus for evaluating sensors and/or for controlling operation of an apparatus that includes a sensor | |
| CN115077373A (en) | Wind wheel azimuth angle judging method and device based on variable pitch motor current signals | |
| EP2904684A2 (en) | Line impedance compensation system | |
| CN105794067A (en) | A wind power plant with improved rise time | |
| CN113007015A (en) | Double-drive electric variable pitch control system and control method for wind turbine generator | |
| CN108923711A (en) | A kind of absolute value encoder adjusting zero method of servo-system zero point check and correction | |
| US10584679B2 (en) | Method for operating a wind turbine | |
| US20230003199A1 (en) | Azimuth sensors in wind turbines | |
| US11936328B2 (en) | Method of operating a hybrid power plant to optimize PV power output | |
| CN102192084B (en) | Servo-driven control system for changing propeller of wind generating set | |
| CN114069726A (en) | Wind power plant power coordination control method and system considering economy and safety | |
| EP2971757A1 (en) | Wind power plant having frequency measurement | |
| CN103590973A (en) | Variable pitch control method applied to wind generating set under working condition of strong wind | |
| CN112922778B (en) | Yaw optimization method, system, equipment and storage medium for wind turbine generator | |
| CN213457268U (en) | Movable tobacco equipment AMK servo system off-line testing and training platform | |
| CN105437233A (en) | Robot multi-joint transmission structure without decelerator | |
| CN108131250A (en) | The auxiliary drive and its control method of a kind of pitch-controlled system | |
| CN210769141U (en) | Electric servo control system for umbrella-shaped wind turbine | |
| CN111613109A (en) | Movable tobacco equipment AMK servo system off-line testing and training platform | |
| US20220341391A1 (en) | Yaw systems and methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |