CN115306637A - Variable pitch drive system, variable pitch driver and master-slave motor drive method - Google Patents
Variable pitch drive system, variable pitch driver and master-slave motor drive method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a variable pitch driving system, a variable pitch driver and a driving method of a master motor and a slave motor, wherein the driving method of the master motor and the slave motor comprises the following steps: the master speed control unit and the slave speed control unit respectively output a master given current instruction and a slave given current instruction to the frequency compensation unit; the frequency compensation unit generates a frequency compensation instruction according to the received main given current instruction and the slave given current instruction and outputs the frequency compensation instruction to the slave speed control unit; the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command. The technical scheme of the invention can improve the transient response and the steady-state response of the dual-motor variable pitch driver.
Description
Technical Field
The invention relates to the technical field of variable pitch control, in particular to a variable pitch driving system, a variable pitch driver and a driving method of a master motor and a slave motor.
Background
At present, a wind turbine generator generally adopts double-motor output torque to a gear system to drive blades to execute a variable pitch command, but the characteristics of the gear system are not considered in the conventional double-motor drive control scheme, so that severe impact is caused to a variable pitch drive system when sudden change working conditions are met, and the service life of the whole wind turbine generator is further influenced.
Disclosure of Invention
The invention mainly aims to provide a driving method of a master-slave motor, and aims to solve the problem that a dual-motor variable pitch driver is poor in transient response and steady-state response.
In order to achieve the above object, a master-slave motor driving method provided by the present invention is applied to a pitch drive, the pitch drive includes a master motor controller, a slave motor controller, and a frequency compensation unit, the master motor controller includes a master speed control unit for outputting a master given current command, the slave motor controller includes a slave speed control unit for outputting a slave given current command, and the frequency compensation unit is respectively connected to the master speed control unit and the slave speed control unit, and the master-slave motor driving method includes:
the master speed control unit and the slave speed control unit respectively output a master given current instruction and a slave given current instruction to the frequency compensation unit;
the frequency compensation unit generates a frequency compensation command according to the received main given current command and the slave given current command and outputs the frequency compensation command to the slave speed control unit;
the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command.
Optionally, the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, specifically:
the frequency compensation unit performs subtraction operation on the main given current instruction and the auxiliary given current instruction, and generates a frequency compensation instruction according to the subtraction calculation result.
Optionally, the slave position and velocity unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, specifically:
the slave position control unit adds the received frequency compensation command and the generated slave frequency deviation command, and takes the addition result as the compensated slave frequency deviation command.
Optionally, the master-slave motor driving method further includes:
the frequency compensation unit also outputs a frequency compensation command to the main speed control unit;
the main speed control unit carries out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, and outputs a main given current instruction to the main current control unit according to the compensated main frequency deviation instruction;
and the main current control unit controls the main motor to work according to the received main given current command and the main feedback current command.
Optionally, the main speed control unit performs frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, specifically:
and the main speed control unit performs subtraction calculation on the received frequency compensation command and the generated main frequency deviation command, and takes the subtraction calculation result as the compensated main frequency deviation command.
Optionally, the master-slave motor driving method further comprises:
and the main position control unit generates a main given frequency command according to the given position command and the feedback position command and outputs the main given frequency command to the main speed control unit.
Optionally, the master-slave motor driving method further comprises:
the master position control unit also outputs the generated master given frequency command to the slave speed control unit as a slave given frequency command.
The invention also provides a pitch drive for implementing the master-slave motor driving method, where the pitch drive includes:
a main motor controller comprising: a main speed control unit for outputting a main given current command;
a slave motor controller comprising: a slave speed control unit for outputting a slave given current instruction; and the number of the first and second groups,
the frequency compensation unit is respectively connected with the master speed control unit and the slave speed control unit so as to access the master given current instruction and the slave given current instruction; the frequency compensation unit is used for generating a frequency compensation command according to the received main given current command and the received slave given current command and outputting the frequency compensation command to the slave speed control unit so that the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command;
the slave speed control unit is also used for outputting a slave given current instruction to the slave current control unit according to the compensated slave frequency deviation instruction.
Optionally, the frequency compensation unit includes:
the subtraction module is used for respectively accessing the master given current instruction and the slave given current instruction, and outputting a calculation result after performing subtraction calculation on the master given current instruction and the slave given current instruction;
and the frequency compensation generation module is used for accessing the calculation result of the subtraction module, generating a corresponding frequency compensation instruction according to the calculation result of the subtraction module and outputting the frequency compensation instruction to the slave speed control unit.
Optionally, the frequency compensation unit is further configured to output a frequency compensation command to the main speed control unit;
the main speed control unit is also used for carrying out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction and outputting a main given current instruction according to the compensated main frequency deviation instruction.
Optionally, the main motor controller further comprises:
and the main current control unit is used for controlling the main motor to work according to the main given current instruction output by the main speed control unit and the received main feedback current instruction.
Optionally, the slave motor controller further comprises:
and the slave current control unit is used for controlling the slave motor to work according to the slave given current command output by the slave speed control unit and the received slave feedback current command.
Optionally, the main motor controller further comprises:
and the main speed control unit is used for generating a main given frequency command according to the received given position command and the feedback position command and outputting the main given frequency command to the main speed control unit.
Optionally, the master speed control unit is further configured to output the generated master given frequency command to the slave speed control unit as a slave given frequency command.
The invention also proposes a pitch drive system, the pitch drive comprising:
a main motor;
a slave motor; and (c) a second step of,
the variable pitch drive is respectively connected with the main motor and the slave motor and is used for respectively controlling the main motor and the slave motor to work.
The technical scheme of the invention is that a main speed control unit and a slave speed control unit respectively output a main given current instruction and a slave given current instruction to a frequency compensation unit; the frequency compensation unit generates a frequency compensation instruction according to the received main given current instruction and the slave given current instruction and outputs the frequency compensation instruction to the slave speed control unit; and a slave speed control unit for performing frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputting a slave given current command according to the compensated slave frequency deviation command. The driving method of the master motor and the slave motor can ensure that the torque and the rotating speed of the slave motor are always consistent with those of the master motor, so that when the double-motor variable-pitch driving system is subjected to sudden change working conditions, the double-motor variable-pitch driving system can stably run without impact in transient response and steady response, impact and vibration caused by the sudden change working conditions are avoided, the problem that the double-motor variable-pitch driver is poor in transient response and steady response is solved, and the service life and the reliability of the wind turbine generator can be effectively prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a driving method of a master-slave motor according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a pitch drive of the present invention;
FIG. 3 is a schematic structural view of another embodiment of a pitch drive of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of a pitch drive system according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name(s) |
| 10 | |
22 | Slave |
| 11 | Main |
30 | |
| 12 | Main |
31 | |
| 13 | Master position control unit | 32 | Frequency |
| 20 | |
40 | |
| 21 | Slave |
50 | Slave motor |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a driving method of a master-slave motor.
Because the clearance of each gear in the gear system is too big, when meetting sudden change operating modes such as start-up, switching-over, sudden acceleration and deceleration, load sudden change, the operating mode that two gears correspond is different, for example: the conditions that one gear is unloaded and one gear is overloaded may occur, and the speed characteristics of the double motors under the same torque are inconsistent, so that severe impact and vibration can be caused to the variable pitch driving system. When the wind turbine actually operates, especially when the wind turbine operates on the sea, because the load is the windage, the working condition that consequently meets is comparatively complicated sudden change, but because the transient response and the steady state response of current bi-motor become oar driver are relatively poor, can't deal with the impact and the shock that the working condition of complicated sudden change brought, therefore still can cause the influence to the safety in utilization and the life of wind turbine generator system.
In view of the above problem, referring to fig. 1 to 4, in an embodiment, the master-slave motor driving method includes:
step S100, a master speed control unit and a slave speed control unit respectively output a master given current instruction and a slave given current instruction to a frequency compensation unit;
the execution main body of the master-slave motor driving method can be a variable pitch driver, and the variable pitch driver is used for controlling the work of two motors in a variable pitch driving system. The two motor controllers CAN be in communication connection in a CAN communication mode and the like, one of the two motor controllers CAN be used as a main motor controller, the other motor controller CAN be used as a slave motor controller, the main motor controller CAN comprise a main speed control unit for outputting a main given current command, and the slave motor controller CAN comprise a slave speed control unit for outputting a slave given current command. Correspondingly, the motor controlled by the master motor controller is the master motor, and the motor controlled by the slave motor controller is the slave motor. In this embodiment, the pitch drive may further include a frequency compensation unit, and the frequency compensation unit may be connected to the master speed control unit and the slave speed control unit, respectively.
The main machine controller at least comprises a main speed control unit, the main speed control unit can perform subtraction operation on an accessed main given frequency instruction and a feedback frequency instruction of the main motor through a subtraction module to obtain a frequency deviation of the main motor, namely a main frequency deviation instruction, the main frequency deviation instruction can be output to a speed loop module, and a torque instruction (a current instruction) is output after proportional and integral control constant-speed closed-loop processing is performed through the speed loop module, namely the main given current instruction is output to the frequency compensation unit and the main current control unit. The slave controller at least comprises a slave speed control unit, the slave speed control unit can perform subtraction operation on an accessed slave given frequency command and a feedback frequency command of the slave motor through a subtraction module to obtain a frequency deviation of the slave motor, namely a slave frequency deviation command, and can output the slave frequency deviation command to a speed loop module, so as to output a torque command (a current command) after speed closed-loop processing such as proportional and integral control is performed through the speed loop module, namely the slave current command is transmitted to a frequency compensation unit and the slave current control unit.
Step S200, the frequency compensation unit generates a frequency compensation instruction according to the received main given current instruction and the slave given current instruction, and outputs the frequency compensation instruction to the slave speed control unit;
when the variable pitch drive system encounters a sudden change working condition and the working conditions corresponding to the two gears are different, the speed characteristics of the two motors of the master motor and the slave motor can be reflected on respective feedback frequencies, for example: the motor feedback frequency instruction corresponding to the idle gear is far higher than the motor feedback frequency instruction corresponding to the gear under the normal working condition; the feedback rotating speed of the motor corresponding to the overload gear is far lower than that of the motor under the normal working condition of the gear. Therefore, inconsistent master and slave given current instructions generated according to abnormal master and slave feedback current instructions under sudden working conditions are the main reason for poor transient response and steady-state response of the dual-motor variable pitch drive when the master and slave motors are controlled respectively.
The scheme of the application is that a frequency compensation unit is arranged to respectively access a main given current instruction and an auxiliary given current instruction. The frequency compensation unit can correspondingly calculate the accessed main given current command and the accessed slave given current command, then determine the torque difference value between the slave motor torque and the main motor torque according to the calculation result, further convert the torque difference value into a corresponding frequency command, namely the frequency compensation command, and then output the frequency compensation command to the slave speed control unit so as to perform speed compensation on the slave speed control unit.
In step S300, the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave set current command according to the compensated slave frequency deviation command.
The slave speed control unit can correspondingly adjust the slave frequency deviation command generated by the slave speed control unit according to the received frequency compensation command, so that the adjusted slave frequency deviation command can be correspondingly increased or decreased, and the adjusted frequency deviation command can be output to the speed loop module as the compensated slave frequency deviation command, so as to be converted into a new slave given current command by the speed loop module and then output to the frequency compensation unit and the slave current control unit. The slave current control unit can perform subtraction calculation on the received slave given current instruction and the slave feedback current instruction which is output from the motor in a feedback manner to obtain a slave current deviation instruction, and the slave current deviation instruction can be converted into a corresponding PMW signal through the current loop module and then output to the slave motor driving circuit, so that the slave motor driving circuit can correspondingly output corresponding alternating current to the slave motor, and the slave motor is controlled to work. If the frequency compensation unit still determines that the torque difference exists between the slave motor torque and the main motor torque according to the calculation results of the new slave given current command and the main given current command, the frequency compensation unit repeats the steps until the slave motor torque and the main motor torque are determined to be free of the torque difference, namely the slave motor torque is the same as the main motor torque, namely the new slave given current command is equal to the main given current command.
Therefore, the torque and the rotating speed of the slave motor can be always kept consistent with those of the master motor, so that when the double-motor pitch-controlled driving system is subjected to sudden change working conditions, the double-motor pitch-controlled driving system can stably run without impact in transient response and steady state response, impact and vibration caused by sudden change working conditions are avoided, the problem that the transient response and steady state response of a double-motor pitch-controlled driver are poor is solved, and the service life and the reliability of the wind turbine generator can be effectively prolonged.
Referring to fig. 1 to 4, in an embodiment, in step S200, the frequency compensation unit generates a frequency compensation command according to the received master given current command and the slave given current command, specifically:
the frequency compensation unit performs subtraction operation on the main given current instruction and the auxiliary given current instruction, and generates a frequency compensation instruction according to the subtraction calculation result.
In this embodiment, the frequency compensation unit may include a subtraction module and a frequency compensation generation module. The subtracting module can be respectively connected with the main given current instruction and the auxiliary given current instruction and used for outputting a subtraction calculation result obtained by subtracting the main given current instruction and the auxiliary given current instruction, wherein the subtraction calculation result represents a difference value between the torque of the main motor and the torque of the auxiliary motor, and the subtraction calculation result is output to the frequency compensation generating module; the frequency compensation generation module can be pre-stored with a corresponding PI algorithm to generate and output a corresponding frequency compensation command to the slave speed control unit according to the subtraction calculation result so as to realize the frequency compensation of the slave frequency deviation command.
Referring to fig. 1 to 4, in an embodiment, the slave position and velocity unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command in step S300, specifically:
the slave speed control unit adds the received frequency compensation command and the generated slave frequency deviation command, and takes the addition result as the compensated slave frequency deviation command.
In this embodiment, the slave speed control unit may include a subtraction module, an addition module, and a speed loop module connected in sequence. The subtracting module can be used for generating a secondary frequency deviation instruction and outputting the secondary frequency deviation instruction to the adding module; the adding module is used for adding the accessed slave frequency deviation instruction and the frequency compensation instruction, and outputting an addition result to the speed loop module as the compensated slave frequency deviation instruction. It should be noted that, when the master given current command is greater than the slave given current command, the frequency compensation command may be regarded as a positive frequency command, so that the slave frequency offset command after compensation may be greater than the slave frequency offset command before compensation; when the master given current command is smaller than the slave given current command, the frequency compensation command can be regarded as a negative frequency command, so that the slave frequency offset command after compensation can be smaller than the slave frequency offset command before compensation; when the master given current command is equal to the slave given current command, the frequency compensation command can be regarded as a zero frequency command to adjust, so that the compensated slave frequency offset command can be equal to the slave frequency offset command before compensation.
Referring to fig. 1 to 4, in an embodiment, the master-slave motor driving method further includes:
step 400, the frequency compensation unit also outputs a frequency compensation command to the main speed control unit;
in practical tests, it is found that a certain time is required for the slave motor controller to achieve the consistency of the master motor torque and the slave motor torque through frequency compensation, and the method cannot be well applied to wind power generation scenes with extremely fast wind resistance change such as on the sea. In order to solve the problem, the master-slave motor driving method enables the frequency compensation unit to send the generated frequency compensation command to the master speed control unit, so that the master motor controller can perform corresponding frequency compensation on the master motor by using the frequency compensation command.
500, the main speed control unit performs frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, and outputs a compensated main given current instruction to the main current control unit according to the compensated main frequency deviation instruction;
the main speed control unit can correspondingly adjust a main frequency deviation instruction generated by the main speed control unit according to the received frequency compensation instruction, so that the adjusted main frequency deviation instruction can be correspondingly increased or decreased, and the adjusted frequency deviation instruction can be output to the speed ring module as the compensated main frequency deviation instruction, and is output to the frequency compensation unit and the main current control unit after being converted into a new main given current instruction by the speed ring module. If the frequency compensation unit still determines that the torque difference exists between the torque of the master motor and the torque of the slave motor according to the calculation results of the new master given current command and the new slave given current command, the frequency compensation unit repeats the steps until the new master given current command and the new master given current command are determined to be equal.
And step 600, the main current control unit controls the main motor to work according to the received main given current instruction and main feedback current instruction.
In this embodiment, the main current control unit may perform subtraction on the received main given current command and the main feedback current command fed back and output by the main motor to obtain a main current deviation command, and may convert the main current deviation command into a corresponding PMW signal through the current loop module and output the PMW signal to the main motor driving circuit, so that the main motor driving circuit may correspondingly output a corresponding ac power to the main motor, thereby controlling the main motor to operate.
According to the driving method of the master-slave motor, the master speed control unit and the slave speed control unit are subjected to frequency compensation at the same time, so that the torque and the rotating speed of the master motor and the slave motor can be quickly consistent when sudden change working conditions occur, and the adaptability of the technical scheme of the invention to the wind power generation scene with extremely fast wind resistance change at sea is favorably improved.
Optionally, in step 500, the main speed control unit performs frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, specifically:
and the main speed control unit performs subtraction calculation on the received frequency compensation command and the generated main frequency deviation command, and takes the subtraction calculation result as the compensated main frequency deviation command.
In this embodiment, the main speed control unit may include two subtraction modules (hereinafter referred to as a first subtraction module and a second subtraction module, respectively) and a speed loop module connected in series. The first subtraction module can be used for generating a main frequency deviation instruction and outputting the main frequency deviation instruction to the second subtraction module; the second subtraction module is used for subtracting the accessed main frequency deviation instruction and the frequency compensation instruction, and outputting a subtraction result as the compensated main frequency deviation instruction to the speed loop module, so that the frequency compensation of the main speed control unit is realized. It should be noted that, when the main given current instruction is greater than the main given current instruction, the compensated main frequency offset instruction may be greater than the main frequency offset instruction before compensation; when the main given current instruction is smaller than the main given current instruction, the compensated main frequency offset instruction can be smaller than the main frequency offset instruction before compensation; when the main given current command is equal to the main given current command, the compensated main frequency shift command may be equal to the main frequency shift command before compensation.
Referring to fig. 1 to 4, in an embodiment, the master-slave motor driving method further includes:
step S700, the main position control unit generates a main given frequency command according to the given position command and the feedback position command and outputs the main given frequency command to the main speed control unit,
in this embodiment, the main position control unit may obtain the given position command from the upper control device or the upper control module, and may obtain the feedback position command from a position sensor such as an encoder in the main motor. The main position control unit can perform subtraction calculation on the given position instruction and the feedback position instruction through the subtraction module, then outputs the subtraction calculation result to the position loop module to be multiplied by the position gain, and can output the multiplication calculation result to the main speed control unit as a main given frequency instruction, so that the position closed-loop control of the main motor is realized.
Optionally, the master-slave motor driving method further includes:
in step S800, the master position control unit further outputs the generated master given frequency command to the slave speed control unit as a slave given frequency command.
In this embodiment, the slave motor controller is designed without a position ring. The slave motor controller is used for accessing a master given frequency command from the master motor controller to be output to the slave speed control unit as the slave given frequency command, so that the speed closed-loop control of the slave motor is realized. So set up, be favorable to improving the uniformity of main motor and slave motor.
The invention also proposes a pitch drive comprising: the master motor controller 10, the slave motor controller 20, and the frequency compensation unit 30, where the pitch drive is used to implement the master-slave motor driving method, and the specific steps of the master-slave motor driving method refer to the above embodiments, and since the pitch drive adopts all technical solutions of all the above embodiments, the pitch drive at least has all beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated here.
Wherein, the main motor controller 10 includes: a main speed control unit 11, the main speed control unit 11 being configured to output a main given current instruction; the slave motor controller 20 includes: a slave speed control unit 21, the slave speed control unit 21 being configured to output a slave given current instruction; and a frequency compensation unit 30, wherein the frequency compensation unit 30 is respectively connected with the master speed control unit 11 and the slave speed control unit 21 so as to access the master given current command and the slave given current command; the frequency compensation unit 30 is configured to generate a frequency compensation command according to the received master given current command and the slave given current command, and output the frequency compensation command to the slave speed control unit 21, so that the slave speed control unit 21 performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command; the slave speed control unit 21 is further configured to output a slave given current command to the slave current control unit 22 according to the compensated slave frequency deviation command. In an embodiment, the master motor controller 10 may further include a master speed control unit 11 and a master current control unit 12, the slave motor controller 20 may further include a slave current control unit 22, and the functional functions of the master speed control unit 11, the master current control unit, and the slave current control unit 22 may also refer to the above embodiments, which are not described herein again.
Optionally, the frequency compensation unit 30 includes:
the subtraction module 31 is configured to access the master given current command and the slave given current command respectively, and output a subtraction calculation result after performing subtraction calculation on the master given current command and the slave given current command;
and the frequency compensation generating module 32 is configured to access the subtraction calculation result, generate a corresponding frequency compensation instruction according to the subtraction calculation result, and output the frequency compensation instruction to the slave speed control unit 21.
The subtraction module 31 can be respectively connected to the master given current command and the slave given current command, and is configured to output a subtraction calculation result representing a difference between the torque of the master motor 40 and the torque of the slave motor 50, obtained by subtracting the master given current command and the slave given current command, to the frequency compensation generation module 32; the frequency compensation generating module 32 may pre-store a corresponding PI algorithm therein, so as to generate and output a corresponding frequency compensation command to the slave speed control unit according to the subtraction calculation result, so as to implement frequency compensation on the slave frequency deviation command. In another alternative embodiment, the frequency compensation generation module 32 may also output the frequency compensation command to the master speed control unit 11 at the same time to perform frequency compensation on the master speed control unit 11 and the slave speed control unit 21 at the same time.
Optionally, the frequency compensation unit 30 is further configured to output a frequency compensation command to the main speed control unit 11;
the main speed control unit 11 is further configured to perform frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, and output a main given current instruction according to the compensated main frequency deviation instruction.
The main speed control unit 11 can correspondingly adjust the main frequency deviation command generated by itself according to the received frequency compensation command, so that the adjusted main frequency deviation command can be correspondingly increased or decreased, and the adjusted frequency deviation command can be output to the speed loop module as the compensated main frequency deviation command, and is output to the frequency compensation unit 30 and the main current control unit 12 after being converted into a new main given current command by the speed loop module. If the frequency compensation unit 30 still determines that there is a torque difference between the torque of the master motor 40 and the torque of the slave motor 50 according to the calculation results of the new master and slave current commands, the above steps are repeated until the new master and slave current commands are determined to be equal.
Optionally, the main motor controller 10 further comprises:
and a main current control unit 12 for controlling the main motor 40 to operate according to the main given current command output by the main speed control unit 11 and the received main feedback current command.
The main current control unit 12 can perform subtraction calculation on the received main given current command and the main feedback current command fed back and output by the main motor 40 to obtain a main current deviation command, and can convert the main current deviation command into a corresponding PMW signal through the current loop module and output the PMW signal to the main motor driving circuit, so that the main motor driving circuit can correspondingly output corresponding alternating current to the main motor 40, thereby controlling the main motor 40 to work.
Optionally, the slave motor controller 20 further comprises:
and a slave current control unit 22 for controlling the operation of the slave motor 50 according to the slave given current command and the received slave feedback current command outputted from the speed control unit 21.
The slave current control unit 22 may perform a subtraction calculation on the received slave feedback current command outputted from the given current command and the slave feedback current command outputted from the motor 50 to obtain a slave current deviation command, and may convert the slave current deviation command into a corresponding PMW signal through the current loop module and output the PMW signal to the slave electric drive circuit, so that the slave electric drive circuit may correspondingly output a corresponding ac power to the slave motor 50, thereby controlling the operation of the slave motor 50.
Optionally, the main motor controller 10 further comprises:
and the main position control unit 13 is used for generating a main given frequency command according to the received given position command and the feedback position command and outputting the main given frequency command to the main speed control unit 11.
The main position control unit 13 may acquire a given position command from an upper control device or an upper control module, and may acquire a feedback position command from a position sensor such as an encoder in the main motor 40. The main position control unit 13 may perform subtraction calculation on the given position command and the feedback position command through the subtraction module, output the subtraction calculation result to the position loop module to multiply by the position gain, and may output the multiplication result as a main given frequency command to the main speed control unit 11, thereby implementing the position closed-loop control of the main motor 40.
Optionally, the master speed control unit 11 is further configured to output the generated master given frequency command to the slave speed control unit 21 as a slave given frequency command.
In this embodiment, the slave motor controller 20 employs a position loop free design. The slave motor controller 20 is configured to access the master given frequency command from the master motor controller 10 to output as the slave given frequency command to the slave speed control unit 21, thereby realizing the closed-loop control of the speed of the slave motor 50. So configured, it is beneficial to improve the consistency of the master motor 40 and the slave motor 50.
The invention further provides a pitch-variable driving system, which comprises a main motor, a slave motor and a pitch-variable driver, wherein the specific structure of the pitch-variable driver refers to the embodiments.
The variable pitch drive is respectively connected with the main motor and the slave motor and is used for respectively controlling the main motor and the slave motor to work. Specifically, the variable pitch drive can further comprise a main motor drive circuit and a slave motor drive circuit, wherein the main motor drive circuit can output corresponding alternating current to the main motor according to a PWM signal output by the main motor controller so as to drive the main motor to drive the main speed reducer to work; the slave motor driving circuit can output corresponding alternating current to the slave motor according to the PWM signal output by the slave motor controller so as to drive the slave motor to drive the slave speed reducer to work.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (15)
1. A master-slave motor driving method is applied to a pitch drive, and is characterized in that the pitch drive comprises a main motor controller, a slave motor controller and a frequency compensation unit, the main motor controller comprises a main speed control unit used for outputting a main given current command, the slave motor controller comprises a slave speed control unit used for outputting a slave given current command, and the frequency compensation unit is respectively connected with the main speed control unit and the slave speed control unit, and the master-slave motor driving method comprises the following steps:
the master speed control unit and the slave speed control unit respectively output a master given current instruction and a slave given current instruction to the frequency compensation unit;
the frequency compensation unit generates a frequency compensation command according to the received main given current command and the slave given current command and outputs the frequency compensation command to the slave speed control unit;
the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command.
2. The master-slave motor driving method according to claim 1, wherein the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, specifically:
the frequency compensation unit performs subtraction operation on the main given current instruction and the auxiliary given current instruction, and generates a frequency compensation instruction according to the subtraction calculation result.
3. The master-slave motor driving method according to claim 1, wherein the slave position-velocity unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, specifically:
the slave position control unit adds the received frequency compensation command and the generated slave frequency deviation command, and takes the addition result as the compensated slave frequency deviation command.
4. The master-slave motor driving method according to claim 1, further comprising:
the frequency compensation unit also outputs a frequency compensation command to the main speed control unit;
the main speed control unit carries out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, and outputs a main given current instruction to the main current control unit according to the compensated main frequency deviation instruction;
and the main current control unit controls the main motor to work according to the received main given current command and the main feedback current command.
5. The master-slave motor driving method according to claim 4, wherein the master speed control unit performs frequency compensation on the generated master frequency deviation command according to the received frequency compensation command, specifically:
and the main speed control unit performs subtraction calculation on the received frequency compensation command and the generated main frequency deviation command, and takes the subtraction calculation result as the compensated main frequency deviation command.
6. The master-slave motor driving method according to any one of claims 1 to 5, further comprising:
and the main position control unit generates a main given frequency command according to the given position command and the feedback position command and outputs the main given frequency command to the main speed control unit.
7. The master-slave motor driving method of claim 6, further comprising:
the master position control unit also outputs the generated master given frequency command to the slave speed control unit as a slave given frequency command.
8. A pitch drive for implementing the master-slave motor driving method according to any one of claims 1-7, wherein the pitch drive comprises:
a main motor controller comprising: a main speed control unit for outputting a main given current command;
a slave motor controller comprising: a slave speed control unit for outputting a slave given current instruction; and (c) a second step of,
the frequency compensation unit is respectively connected with the master speed control unit and the slave speed control unit so as to access the master given current instruction and the slave given current instruction; the frequency compensation unit is used for generating a frequency compensation command according to the received main given current command and the received slave given current command and outputting the frequency compensation command to the slave speed control unit so that the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command;
the slave speed control unit is also used for outputting a slave given current instruction to the slave current control unit according to the compensated slave frequency deviation instruction.
9. The pitch drive of claim 8, wherein said frequency compensation unit comprises:
the subtraction module is used for respectively accessing the master given current instruction and the slave given current instruction, and outputting a calculation result after performing subtraction calculation on the master given current instruction and the slave given current instruction;
and the frequency compensation generation module is used for accessing the calculation result of the subtraction module, generating a corresponding frequency compensation instruction according to the calculation result of the subtraction module and outputting the frequency compensation instruction to the slave speed control unit.
10. The pitch drive of claim 8 wherein said frequency compensation unit is further configured to output a frequency compensation command to a main speed control unit;
the main speed control unit is also used for carrying out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction and outputting a main given current instruction according to the compensated main frequency deviation instruction.
11. The pitch drive of claim 8, wherein said primary motor controller further comprises:
and the main current control unit is used for controlling the main motor to work according to the main given current instruction output by the main speed control unit and the received main feedback current instruction.
12. The pitch drive of claim 8 wherein said slave motor controller further comprises:
and the slave current control unit is used for controlling the slave motor to work according to the slave given current command output by the slave speed control unit and the received slave feedback current command.
13. The pitch drive of any one of claims 8-12, wherein said primary motor controller further comprises:
and the main speed control unit is used for generating a main given frequency command according to the received given position command and the feedback position command and outputting the main given frequency command to the main speed control unit.
14. The pitch drive of claim 13 wherein said master speed control unit is further configured to output the generated master given frequency command to the slave speed control unit as a slave given frequency command.
15. A pitch drive system, characterized in that the pitch drive comprises:
a main motor;
a slave motor; and the number of the first and second groups,
a pitch drive according to any one of claims 8-14, connected to the master motor and the slave motor, respectively, for controlling the operation of the master motor and the slave motor, respectively.
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