CN118128692A - Anti-dragging detection method of variable-pitch motor, controller and wind generating set - Google Patents
Anti-dragging detection method of variable-pitch motor, controller and wind generating set Download PDFInfo
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Abstract
A reverse dragging detection method for a variable-pitch motor, a controller and a wind generating set are disclosed. The reverse dragging detection method of the variable pitch motor comprises the following steps: acquiring a variable pitch speed difference value and a pitch angle difference value between every two blades of the wind generating set in real time; discretizing the obtained variable pitch speed difference value between every two blades based on a preset speed threshold value to obtain a variable pitch speed difference value sequence; and determining whether the pitch motor is reversely towed or not based on the pitch speed difference value sequence and the obtained pitch angle difference value between every two blades.
Description
Technical Field
The present disclosure relates generally to the field of wind power generation technology, and more particularly, to a method for detecting reverse dragging of a variable pitch motor, a controller, and a wind turbine generator set.
Background
For mountain areas with certain development value of wind energy resources and weak power grids, the wind power plant can be built to drive power and traffic construction in the mountain areas, investment and construction of related industries are promoted, and accordingly local economic development is accelerated. In addition, wind power is developed in mountain areas, and the method has the advantage of relatively simple land occupation and the like.
However, the distribution of wind resources is regional, and any irregular terrain on the mountain land surface changes the flow state of wind. The wind resource characteristics of mountain areas are mainly affected by the aspects of terrain, wind speed, atmospheric temperature and the like, so that the wind speed and the wind direction value of a downwind side fan can be directly predicted for flat terrain through the wind speed and the wind direction value of the upwind side fan. However, uneven elevations, depressions (e.g. peaks, ridges, valleys, canyons, etc.) have a very pronounced influence on the wind characteristics, which makes the wind speed, direction distribution very complex. In short, the wind speed and direction are different from region to region in the mountain area, making it extremely difficult to predict the wind characteristics. In addition, abnormal changes of wind speed and wind direction can also cause the variable pitch motor to be reversely towed by external force, so that the wind generating set triggers a fault stop.
The variable pitch system of the wind generating set plays an important role in tracking the maximum power of the wind generating set and ensuring the safe shutdown of the wind generating set. Specifically, one main function of the pitch system is to act as a main braking system of the wind generating set, and the pitch system ensures safe and stable operation of the wind generating set through multiple detection and control means and multiple redundancy designs.
However, rapid changes in wind speed and wind direction tend to cause sudden changes in wind force acting on blades of the wind turbine generator, resulting in counter-drag of the pitch motor, which may cause imbalance in the blades and vibration of the wind turbine generator, which may negatively affect the toothed belt of the pitch system. In extreme cases, the toothed belt is pulled apart due to the reverse dragging of the pitch motor.
Furthermore, for a gear transmission system, the pitch gear is worn to a certain extent due to various reasons such as overlarge load, underlubrication, mechanical abnormality, large vibration, unbalanced stress and the like; the wear of gears mainly comprises: tooth face wear, galling, pitting, cracking, flaking and gluing. The gears are worn, so that on one hand, the pitch adjustment precision of the pitch system can be influenced; on the other hand, small iron slag or powder formed after abrasion accelerates abrasion of the gear; on the other hand, the gear clearance is increased, so that noise is increased, efficiency is reduced, the gear strength is reduced, and safety accidents are easy to occur.
For the reverse dragging working condition of the pitch motor, after the wind generating set triggers the three-blade position fault (the difference between the three-blade angles is greater than 3.5 degrees), whether the reverse dragging of the pitch motor occurs is generally determined by checking a fault file. However, in actual operation of the wind turbine, there may be a case where the difference between the three blade angles caused by the reverse dragging of the pitch motor is less than 3.5 degrees. Under the condition, the wind generating set cannot trigger faults, and engineering staff cannot know the running condition of the wind generating set, and the reverse dragging of the variable-pitch motor can cause damage to the variable-pitch system to a certain extent.
Disclosure of Invention
Therefore, the embodiment of the disclosure provides a reverse dragging detection method of a variable-pitch motor of a wind generating set, a controller and the wind generating set, and the method and the controller can accurately detect whether the variable-pitch motor is reversely dragged in the operation of a variable-pitch system, so that the safe operation of the wind generating set is ensured.
In one general aspect, there is provided a method for detecting reverse drag of a pitch motor of a wind turbine, the method comprising: acquiring a variable pitch speed difference value and a pitch angle difference value between every two blades of the wind generating set in real time; discretizing the obtained variable pitch speed difference value between every two blades based on a preset speed threshold value to obtain a variable pitch speed difference value sequence; and determining whether the pitch motor is reversely towed or not based on the pitch speed difference value sequence and the obtained pitch angle difference value between every two blades.
Optionally, the step of discretizing the obtained pitch speed difference value between every two blades based on a preset speed threshold value to obtain a pitch speed difference value sequence includes: and comparing the absolute value of the variable pitch speed difference value between every two blades with a preset speed threshold value to obtain a variable pitch speed difference value sequence, wherein the variable pitch speed difference value sequence consists of 0 and 1.
Optionally, the step of comparing the absolute value of the difference in pitch speed between every two blades with a preset speed threshold to obtain a sequence of difference in pitch speed comprises: setting the position corresponding to the current moment in the variable pitch speed difference sequence to be 1 in response to the absolute values of the variable pitch speed differences between every two blades at the current moment being larger than a preset threshold value; and setting the position corresponding to the current moment in the variable pitch speed difference sequence to 0 in response to any one of absolute values of variable pitch speed differences between every two blades at the current moment being smaller than or equal to a preset threshold.
Optionally, the step of determining whether the pitch motor is counter-towed based on the pitch speed difference sequence and the obtained pitch angle difference between every two blades includes: determining whether pitch angle differences between every two blades show normal distribution or not; and determining that the pitch motor is reversely towed in response to the pitch speed difference sequence and the pitch angle difference between every two blades.
Optionally, the step of determining whether the pitch motor is counter-towed based on the pitch speed difference sequence and the obtained pitch angle difference between every two blades includes: determining whether the pitch speed difference sequence exhibits normal distribution; in response to the pitch speed difference sequence exhibiting normal distribution, determining whether pitch angle differences between the blades exhibit normal distribution; and determining that the pitch motor is reversely towed in response to the normal distribution of the pitch angle differences between every two blades.
Optionally, it is determined whether the sequence of pitch speed differences exhibits a normal distribution based on the number of 1 s in the sequence of pitch speed differences over a predetermined period of time.
Optionally, in response to the number of consecutive 1's in the sequence of pitch speed difference values falling within a preset range over a predetermined period of time, it is determined that the sequence of pitch speed difference values exhibits a normal distribution.
Optionally, the value range of the preset range is 10-200.
Optionally, based on the comparison result of the pitch angle difference value between every two blades and the first angle threshold value and the second angle threshold value in a preset time period, whether the pitch angle difference value between every two blades presents normal distribution is determined.
Optionally, determining that the pitch angle difference between every two blades presents a normal distribution in response to a time period in which the absolute value of the pitch angle difference between every two blades is greater than the first angle threshold value being unequal to a time period in which the absolute value of the pitch angle difference between every two blades is greater than the first angle threshold value within a predetermined period of time.
Optionally, the first angle threshold is different from the second angle threshold, and a difference between the first angle threshold and the second angle threshold is greater than or equal to 1 degree.
In another general aspect, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements a pitch motor anti-tug detection method as described above.
In another general aspect, there is provided a controller including: a processor; and a memory storing a computer program which, when executed by the processor, implements a pitch motor anti-drag detection method as described above.
In another general aspect, there is provided a wind power plant, characterized in that the wind power plant comprises a controller as described above.
According to the reverse dragging detection method for the variable pitch motor of the wind generating set, the controller and the wind generating set, whether the variable pitch motor is reversely dragged or not is determined by using the variable pitch speed difference value and the pitch angle difference value between every two blades, accuracy and reliability of detection of the reverse dragging working condition of the variable pitch motor can be improved, and false detection caused by improper setting of the variable pitch speed threshold value and/or the pitch angle threshold value in the existing detection method is avoided.
On the other hand, according to the method for detecting the reverse dragging of the variable pitch motor of the wind generating set, the controller and the wind generating set, which are disclosed by the embodiment of the invention, the wind speed change and the wind direction change of the wind generating set do not need to be judged, so that the possibility of false detection can be further reduced; the setting of the relevant threshold values of the pitch speed difference value and the pitch angle difference value between every two blades is not strictly required, so that the method is easy to realize; and as other hardware devices are not required to be additionally arranged for detection, the cost is not increased.
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The foregoing and other objects and features of embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings in which the embodiments are shown, in which:
FIG. 1A is a waveform diagram illustrating a blade pitch angle and a pitch angle difference between blades when a pitch motor is counter-towed;
FIG. 1B is a waveform diagram showing a blade pitch angle and a pitch angle difference between blades as the blades lock the blades;
FIG. 1C is a waveform diagram illustrating blade pitch angle and pitch angle difference between blades as the encoder jumps;
FIG. 1D is a waveform diagram illustrating a blade pitch angle and a pitch angle difference between blades as the brake wears;
FIG. 2 is a waveform diagram illustrating pitch speed;
FIG. 3 is a diagram illustrating an example of a change curve of blade pitch angles of a certain wind park;
FIG. 4 is a graph showing an example of a variation curve of a blade pitch speed of the wind turbine generator system
FIG. 5 is a flow chart illustrating a method of pitch motor anti-drag detection of a wind turbine generator system according to an embodiment of the present disclosure;
FIG. 6 is a diagram illustrating an example of a sudden change in blade pitch angle;
FIG. 7 is a diagram illustrating an example of determining whether a pitch angle difference between blades exhibits a normal distribution;
FIG. 8 is a diagram illustrating a verification example of a pitch motor anti-tug detection method of a wind turbine generator system according to an embodiment of the present disclosure;
fig. 9 is a block diagram illustrating a controller according to an embodiment of the present disclosure.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the application, except for operations that must occur in a specific order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.
The following first describes a conventional method for detecting the reverse towing condition of a variable pitch motor. From the technical point of view analysis, the existing method for detecting the reverse dragging working condition of the variable-pitch motor can be roughly divided into the following three types.
The first method is to detect whether the pitch motor is reversely towed or not through the torque value of the pitch motor. In theory, detecting the torque value of the pitch motor can identify whether the pitch motor has a reverse towing condition, however, the driver/controller of the low-voltage pitch system has no function of detecting the torque of the pitch motor, so the application range of the method is limited.
The second method is to detect whether the pitch motor is reversely towed or not through the pitch angle difference value between the blades. However, such methods have disadvantages in that: on the one hand, the threshold value of the angle difference is difficult to determine; on the other hand, when the abnormal changes or slow changes of the angles such as the jump of the encoder, the interruption of DP communication, the clamping of the blade or the abrasion of the brake occur, the angle difference value is also detected, and the duration of the angle difference value is not easy to judge. Therefore, such methods can lead to high false detection rates when actually applied.
Fig. 1A is a waveform diagram showing a difference between a blade pitch angle and a pitch angle between blades when a pitch motor is reversely towed, fig. 1B is a waveform diagram showing a difference between a blade pitch angle and a pitch angle between blades when blades are stuck, fig. 1C is a waveform diagram showing a difference between a blade pitch angle and a pitch angle between blades when an encoder jumps, and fig. 1D is a waveform diagram showing a difference between a blade pitch angle and a pitch angle between blades when brakes are worn. As shown in fig. 1A to 1D, in various situations such as reverse dragging of the pitch motor, blade clamping, jump of the encoder, brake wear and the like, the pitch angle difference between the blades becomes large, and parameters of the detection duration and parameters of the amplitude of the pitch angle difference are difficult to determine.
The third method is to detect whether the pitch motor is reversely towed through the pitch speed. However, such methods have disadvantages in that: if the speed threshold is too large, the reverse dragging working condition of the variable-pitch motor cannot be effectively detected; if the speed threshold is set too small, false detection is caused when the wind speed suddenly increases and rapid pitching is required.
Fig. 2 is a waveform diagram showing pitch speed. As shown in fig. 2, the pitch speed value is changed differently according to the speed of the wind speed (the pitch speed change range during normal pitch of the pitch system is typically-6 to 6 degrees/second), so that the anti-drag condition cannot be accurately identified by detecting the pitch speed alone.
The principle of the pitch motor anti-drag detection method according to the embodiment of the present disclosure is described next.
According to statistics, single wind generating sets on a plurality of sites report out faults of large variable pitch position deviation, and simultaneously the variable pitch speed is abnormal, and the faults are all in working conditions of strong wind and rapid change of wind speed and wind direction. At the same time, the toothed belt, the tensioner, the encoder, and the like were inspected, and no abnormality was found.
Fig. 3 is a diagram showing an example of a change curve of a blade pitch angle of a certain wind turbine generator system, and fig. 4 is a diagram showing an example of a change curve of a blade pitch speed of the wind turbine generator system.
Referring to FIG. 3, the 1 st pitch speed burst of blade 1 corresponds to a time of about-7.088 s and the 2 nd pitch speed burst is about-2.198 s (as shown by curve 301). The time corresponding to the 1 st pitch speed abrupt change of the blade 3 is about-5.574 s, and the 2 nd pitch speed abrupt change time is about-0.605 s (shown as a curve 303). The time difference of the two blade pitch speed abrupt change is respectively as follows: (-0.605+5.574) = 4.969s, (-2.198+7.088) =4.89 s. The generator speed was 12.2rpm at a sudden change in blade speed, and the azimuth angle value of 4.9 seconds was about: 12.2×360×4.9/60= 358.68 degrees. It can be seen that the impeller just turns one circle in the time period of the two abrupt speed changes, and the strong periodicity is presented.
Referring to fig. 4, the pitch speed of the blade 1 and the pitch speed of the blade 3 are respectively instantaneously increased at different times (as shown by curves 401 and 403), the maximum pitch speed reaches 8.9 degrees/second, and the shape of the pitch speed curve shows a normal distribution.
Therefore, according to the anti-dragging detection method of the variable pitch motor, firstly, the variable pitch speed difference value between every two blades of the wind generating set is detected, normal distribution detection is carried out on the variable pitch speed difference value between every two blades, and then different parameter values are used for judging the duration of the pitch angle difference value between every two blades, so that whether the variable pitch motor is in anti-dragging is determined.
Fig. 5 is a flowchart illustrating a method of reverse drag detection of a pitch motor of a wind turbine generator system according to an embodiment of the present disclosure. The method for detecting the reverse dragging of the variable pitch motor can be executed by a main controller of the wind generating set, and can also be executed by other controllers arranged in the wind generating set.
Referring to fig. 5, in step S501, a pitch speed difference value and a pitch angle difference value between every two blades of a wind turbine generator are obtained in real time. Here, the pitch speed and pitch angle of the blades may be obtained by various methods, for example, a main controller of the wind turbine may calculate the pitch speed of the blades, and the pitch controller may obtain the pitch angle of the blades. The above description is merely an example, and the present disclosure does not limit any method of obtaining a pitch speed and a pitch angle of a blade.
Next, in step S502, the obtained pitch speed difference between every two blades is discretized based on a preset speed threshold value, so as to obtain a pitch speed difference sequence. Specifically, the pitch speed difference sequence may be obtained by comparing the absolute value of the pitch speed difference between every two blades with a preset speed threshold. The obtained sequence of pitch speed differences may consist of 0 and 1. According to the embodiment of the disclosure, in response to absolute values of the variable pitch speed difference values between every two blades at the current moment being greater than a preset threshold, a position corresponding to the current moment in a variable pitch speed difference value sequence may be set to 1; and setting the position corresponding to the current moment in the variable pitch speed difference sequence to 0 in response to any one of absolute values of variable pitch speed differences between every two blades at the current moment being smaller than or equal to a preset threshold. The preset threshold may be, for example, 2 degrees/second, but the present disclosure is not limited thereto. For example, the preset threshold may be set to other values according to engineering needs. Therefore, the working conditions such as brake abrasion, blade clamping, electrical element faults and the like can be effectively removed, and a data processing algorithm can be simplified, so that the anti-dragging detection method of the variable pitch motor can be conveniently realized in a PLC program.
According to the embodiment of the disclosure, the variable pitch speed difference value between every two blades is discretized to obtain a variable pitch speed difference value sequence, so that the problems of long time consumption, slow software running speed and slow analysis result statistics caused by the detection of batch data files by an existing slope method and a circulation method can be reduced, the running condition analysis, characteristic information extraction, fault processing and solution parameter setting of a wind turbine generator system can be accelerated on the basis, the efficient processing of data can be realized, the usability and the friendliness of software are both key effects, the analysis and statistics of big data can be realized, the circulation program in the data analysis is avoided, the analysis time of the big data analysis is shortened, and the method has significant significance on the data analysis and the software running efficiency. In the existing method, the cyclic variable i and the continuous comparison and update method of the data are used, which is equivalent to 6000 times of operation if 6000 data exist in the fault file, so that the operation time is prolonged, and the method is not suitable for the operation and statistics of big data.
According to an embodiment of the present disclosure, the duration of the pitch speed anomaly (i.e., the pitch speed difference is greater than a preset threshold) may be derived based on the number of consecutive 1's in the sequence of pitch speed differences. For example, assuming a sequence of 000000000111111111111111111111111100000000000000 and a data sampling period of 20ms, the duration of the pitch speed anomaly is: 25 (number of consecutive 1) ×20ms=0.50 s.
Referring back to fig. 5, in step S503, it is determined whether the pitch motor is counter-towed based on the pitch speed difference sequence and the acquired pitch angle difference between the blades. Specifically, in step S503, it may be first determined whether the pitch speed difference sequence and the pitch angle difference between every two blades exhibit normal distribution, and then, in response to the pitch speed difference sequence and the pitch angle difference between every two blades exhibiting normal distribution, it may be determined that the pitch motor is reversely towed. On the other hand, in step S503, it may be first determined whether the pitch speed difference sequence exhibits a normal distribution; then, in response to the pitch speed difference sequence exhibiting normal distribution, determining whether pitch angle differences between the blades exhibit normal distribution; finally, in response to the normal distribution of the pitch angle differences between every two blades, the reverse dragging of the variable-pitch motor can be determined.
According to embodiments of the present disclosure, it may be determined whether the sequence of pitch speed differences exhibits a normal distribution based on the number of 1 s in the sequence of pitch speed differences over a predetermined period of time. Specifically, in response to the number of consecutive 1 s in the sequence of pitch speed difference values falling within a preset range within a predetermined period of time, it is determined that the sequence of pitch speed difference values exhibits a normal distribution. As described above, the number of consecutive 1's in the sequence of pitch speed difference values reflects the duration of the pitch speed anomaly. Here, the value range of the preset range may be 10 to 200, but the present disclosure is not limited thereto.
According to the embodiment of the disclosure, whether the pitch angle difference between every two blades presents normal distribution can be determined based on the comparison result of the pitch angle difference between every two blades in a preset time period and the first angle threshold value and the second angle threshold value. Specifically, in response to a period of time in which an absolute value of a pitch angle difference between every two blades is greater than a first angle threshold value within a predetermined period of time being unequal to a period of time in which an absolute value of a pitch angle difference between every two blades is greater than the first angle threshold value, it may be determined that the pitch angle differences between every two blades exhibit a normal distribution. Here, the first angle threshold is different from the second angle threshold, and a difference between the first angle threshold and the second angle threshold is greater than or equal to 1 degree/second. In this way, the situation of pitch angle mutation caused by DP communication interruption and encoder jump can be effectively eliminated.
FIG. 6 is a diagram illustrating an example of a sudden change in blade pitch angle, and FIG. 7 is a diagram illustrating an example of determining whether a difference in pitch angle between blades exhibits a normal distribution. Referring to FIG. 6, the pitch angle value of a blade changes abruptly from 13.28 degrees to 7.8 degrees, which is significantly different from the blade pitch angle change in the reverse drag condition of the pitch motor shown in FIG. 3. Referring to FIG. 7, the region between lines 701 and 702 represents the detection range of a first angle threshold (e.g., 2 degrees), and the region between lines 711 and 712 represents the detection range of a second angle threshold (e.g., 1 degree), which is necessarily not equal to the detection range of the second angle threshold since the blade pitch angle is also a taper due to the pitch angle differential. In contrast, for the case where a sudden change in blade pitch angle results in a sudden change in pitch angle difference, the detection range of the first angle threshold will be equal to the detection range of the second angle threshold. It follows that determining whether the pitch angle difference between blades exhibits a normal distribution may be due to a condition of a sudden change in the culling pitch angle (e.g., a break in DP communication, an encoder jump, etc.).
Fig. 8 is a diagram illustrating a verification example of a pitch motor anti-drag detection method of a wind turbine generator according to an embodiment of the present disclosure. Referring to fig. 8, a curve 801 indicates a period of time during which the reverse dragging of the pitch motor occurs, and a curve 802 indicates a result of the pitch motor reverse dragging detection method. As shown in fig. 8, when the reverse drag occurs to the pitch motor, the results of the pitch motor reverse drag detection method of the wind turbine according to the embodiment of the present disclosure all indicate that the reverse drag occurs.
Compared with the existing method for detecting the pitch angle difference value, the reverse dragging detection method for the variable pitch motor according to the embodiment of the disclosure has the advantages that: is not affected by the continuous deviation of the angle. The method specifically comprises the following steps: when the pitch motor is counter-towed, the pitch angle of the blades may deviate for a longer period of time, while the pitch speed does not deviate for a longer period of time. Compared with the existing method for detecting the pitch speed, the method for detecting the reverse dragging of the pitch motor according to the embodiment of the disclosure has the advantages that: the parameter setting is simpler and more reliable. The method specifically comprises the following steps: the pitch speed threshold value is only required to be set to a value exceeding the normal pitch speed difference value, and the pitch speed of the single blade is not required to be considered. Further, when DP communication interruption, encoder jump, occurs, the change in pitch angle typically appears as a sudden change, e.g., from 2.3 degrees to 0 degrees or 20 degrees, for a period of time. The reverse dragging detection method of the variable pitch motor according to the embodiment of the disclosure utilizes the characteristic to realize the identification and elimination of abnormal working conditions, thereby ensuring the detection accuracy of the reverse dragging working conditions.
Fig. 9 is a block diagram illustrating a controller according to an embodiment of the present disclosure. The controller may be implemented as a master controller or other controller of the wind turbine.
Referring to fig. 9, a controller 900 according to an embodiment of the present disclosure includes a processor 910 and a memory 920. The processor 910 may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), etc. The memory 920 may store computer programs to be executed by the processor 910. Memory 920 may include high-speed random access memory and/or non-volatile computer-readable storage media. When the processor 910 executes the computer program stored in the memory 920, a pitch motor anti-drag detection method of the wind turbine generator set as described above may be implemented.
Alternatively, controller 900 may communicate with other various components in the wind park in a wired or wireless communication manner, and may also communicate with other devices in the wind park (e.g., a master controller of the wind park) in a wired or wireless communication manner. In addition, the controller 900 may communicate with devices external to the wind farm in a wired or wireless communication.
The pitch motor anti-drag detection method of a wind turbine according to embodiments of the present disclosure may be written as a computer program and stored on a computer readable storage medium. When the computer program is executed by the processor, the method for detecting the reverse dragging of the variable pitch motor of the wind generating set can be realized. Examples of the computer readable storage medium include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD + R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD + R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, blu-ray or optical disk storage, hard Disk Drives (HDD), solid State Disks (SSD), card-type memories (such as multimedia cards, secure Digital (SD) cards or ultra-fast digital (XD) cards), magnetic tapes, floppy disks, magneto-optical data storage devices, hard disks, solid state disks, and any other devices configured to store computer programs and any associated data, data files and data structures in a non-transitory manner and to provide the computer programs and any associated data, data files and data structures to a processor or computer to enable the processor or computer to execute the programs. In one example, the computer program and any associated data, data files, and data structures are distributed across networked computer systems such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner by one or more processors or computers.
According to an embodiment of the present disclosure, there may also be provided a wind power generating set comprising a controller as described above.
According to the reverse dragging detection method for the variable pitch motor of the wind generating set, the controller and the wind generating set, whether the variable pitch motor is reversely dragged or not is determined by using the variable pitch speed difference value and the pitch angle difference value between every two blades, accuracy and reliability of detection of the reverse dragging working condition of the variable pitch motor can be improved, and false detection caused by improper setting of the variable pitch speed threshold value and/or the pitch angle threshold value in the existing detection method is avoided.
On the other hand, according to the method for detecting the reverse dragging of the variable pitch motor of the wind generating set, the controller and the wind generating set, which are disclosed by the embodiment of the invention, the wind speed change and the wind direction change of the wind generating set do not need to be judged, so that the possibility of false detection can be further reduced; the setting of the relevant threshold values of the pitch speed difference value and the pitch angle difference value between every two blades is not strictly required, so that the method is easy to realize; and as other hardware devices are not required to be additionally arranged for detection, the cost is not increased.
Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.
Claims (14)
1. The method for detecting the reverse dragging of the variable-pitch motor of the wind generating set is characterized by comprising the following steps of:
acquiring a variable pitch speed difference value and a pitch angle difference value between every two blades of the wind generating set in real time;
Discretizing the obtained variable pitch speed difference value between every two blades based on a preset speed threshold value to obtain a variable pitch speed difference value sequence;
and determining whether the pitch motor is reversely towed or not based on the pitch speed difference value sequence and the obtained pitch angle difference value between every two blades.
2. The method for reverse drag detection of a variable pitch motor according to claim 1, wherein the step of discretizing the obtained variable pitch speed difference between every two blades based on a preset speed threshold to obtain a variable pitch speed difference sequence comprises:
And comparing the absolute value of the variable pitch speed difference value between every two blades with a preset speed threshold value to obtain a variable pitch speed difference value sequence, wherein the variable pitch speed difference value sequence consists of 0 and 1.
3. The method of claim 2, wherein the step of obtaining the sequence of pitch speed differences by comparing an absolute value of a pitch speed difference between each pair of blades with a preset speed threshold value comprises:
Setting the position corresponding to the current moment in the variable pitch speed difference sequence to be 1 in response to the absolute values of the variable pitch speed differences between every two blades at the current moment being larger than a preset threshold value;
and setting the position corresponding to the current moment in the variable pitch speed difference sequence to 0 in response to any one of absolute values of variable pitch speed differences between every two blades at the current moment being smaller than or equal to a preset threshold.
4. The method for detecting reverse dragging of a variable pitch motor according to claim 1, wherein the step of determining whether the variable pitch motor is reversely dragged based on the variable pitch speed difference sequence and the obtained pitch angle difference between every two blades comprises:
determining whether pitch angle differences between every two blades show normal distribution or not;
And determining that the pitch motor is reversely towed in response to the pitch speed difference sequence and the pitch angle difference between every two blades.
5. The method for detecting reverse dragging of a variable pitch motor according to claim 1, wherein the step of determining whether the variable pitch motor is reversely dragged based on the variable pitch speed difference sequence and the obtained pitch angle difference between every two blades comprises:
determining whether the pitch speed difference sequence exhibits normal distribution;
In response to the pitch speed difference sequence exhibiting normal distribution, determining whether pitch angle differences between the blades exhibit normal distribution;
and determining that the pitch motor is reversely towed in response to the normal distribution of the pitch angle differences between every two blades.
6. A method of reverse drag detection of a pitch motor according to claim 4 or 5, wherein it is determined whether the pitch speed difference sequence exhibits a normal distribution based on the number of 1s in the pitch speed difference sequence within a predetermined period of time.
7. The method of reverse drag detection of a pitch motor according to claim 6, wherein the pitch speed difference sequence is determined to exhibit a normal distribution in response to a number of consecutive 1 s in the pitch speed difference sequence falling within a preset range for a predetermined period of time.
8. The method for detecting reverse dragging of a variable pitch motor according to claim 7, wherein the preset range is 10-200.
9. The reverse drag detection method of a variable pitch motor according to claim 4 or 5, wherein it is determined whether the pitch angle difference between the blades exhibits a normal distribution based on a comparison result of the pitch angle difference between the blades and the first and second angle thresholds for a predetermined period of time.
10. A method of reverse drag detection of a pitch motor as defined in claim 9, wherein the pitch angle difference between the blades is determined to exhibit a normal distribution in response to a time period during which the absolute value of the pitch angle difference between the blades is greater than the first angle threshold being unequal to a time period during which the absolute value of the pitch angle difference between the blades is greater than the first angle threshold for a predetermined period of time.
11. The method of claim 10, wherein the first angle threshold is different from the second angle threshold, and wherein a difference between the first angle threshold and the second angle threshold is greater than or equal to 1 degree.
12. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements a pitch motor anti-tug detection method according to any one of claims 1 to 11.
13. A controller, the controller comprising:
a processor; and
A memory storing a computer program which, when executed by a processor, implements a pitch motor anti-tug detection method as claimed in any one of claims 1 to 11.
14. A wind power plant, characterized in that the wind power plant comprises a controller according to claim 13.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211497133.5A CN118128692A (en) | 2022-11-25 | 2022-11-25 | Anti-dragging detection method of variable-pitch motor, controller and wind generating set |
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| CN202211497133.5A CN118128692A (en) | 2022-11-25 | 2022-11-25 | Anti-dragging detection method of variable-pitch motor, controller and wind generating set |
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