CN114810479A - Multi-machine synchronous driving method, variable pitch system thereof and wind generating set - Google Patents

Abstract

The invention discloses a multi-machine synchronous driving method, a pitching system, and a wind power generator set. Based on the target q-axis current value of the main engine and the actual q-axis current value of the main engine, the main engine obtains the q-axis voltage of the main engine through the PID calculation of the main engine q-axis current loop ;Based on the target q-axis current value of the slave and the actual q-axis current value of the slave, the slave calculates the q-axis voltage of the slave through the PID calculation of the q-axis current loop of the slave; the host drives the running parts according to the q-axis voltage of the host and the d-axis voltage of the host , the slave drives the running parts according to the q-axis voltage of the slave and the d-axis voltage of the slave; wherein, the target q-axis current value of the slave is obtained by synchronizing the target q-axis current value of the master after digital-frequency and/or frequency-number conversion, and is obtained by the master It realizes the synchronous driving effect of the same running parts with the slave machine; the present invention greatly reduces the load of the running parts of the main machine or the slave machine; when applied to the pitch system, the blade load of the main machine or the slave machine is obviously reduced, which is convenient for maintenance. At the same time, it is beneficial to the service life of the pitch system.

Description

A multi-machine synchronous drive method and pitch system thereof, and wind turbines

technical field

The invention belongs to the field of wind power generator sets, in particular to a multi-machine synchronous drive method, and also relates to a pitch system and a wind power generator set to which the multi-machine synchronous drive method is applied.

Background technique

In the field of wind turbines, the pitch system is very important for the stable operation and safety protection of wind turbines. The pitch system adjusts the input power of the wind rotor by adjusting the blade angle to ensure that the wind turbine can run stably under different wind conditions; when the wind turbine is under abnormal conditions, the pitch system controls the blade to retract to ensure that the wind turbine can operate stably. Fan safety.

At present, the electric pitch scheme has been widely used in the field of wind turbines. Among them, the blade drive method adopted by the electric pitch scheme is: a single drive system composed of a driver, a pitch motor and a reduction mechanism to Drive a paddle. However, as the power of the wind turbine increases, the required blade length becomes longer and longer, so the blade load also increases. Due to the use of the traditional single-drive solution, the blade load increases sharply. On the one hand, it needs to use more powerful driving components to drive the blades, which is larger in size, heavier and difficult to maintain. On the other hand, using The single-axis drive system is driven, and the output is too concentrated, which will accelerate the wear of mechanical parts.

Therefore, based on years of dedicated research and development experience in the field of control, the inventor of the present application hopes to seek technical solutions to solve the above technical problems.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to propose a multi-machine synchronous drive method and its pitch system, wind power generator set, which greatly reduces the load of the running parts of the main machine or the slave machine; when applied to the pitch system, the main machine is Both the slave and the slave are coaxially installed and connected to the drive shaft of the blade, which can significantly reduce the blade load of the master or slave, which is convenient for maintenance and is beneficial to the overall service life of the pitch system.

For this reason, the technical scheme adopted in the present invention is as follows:

A multi-machine synchronous driving method, comprising at least a host and a slave, the multi-machine synchronous driving method comprising:

Based on the host's target q-axis current value and the host's actual q-axis current value, the host calculates the host's q-axis voltage through the host's q-axis current loop PID; based on the slave's target q-axis current value and the slave's actual q-axis current value, so The slave machine obtains the q-axis voltage of the slave machine through the PID calculation of the slave machine's q-axis current loop;

The master drives the running part according to the master q-axis voltage and the master d-axis voltage, and the slave drives the running part according to the slave q-axis voltage and the slave d-axis voltage; wherein the slave The target q-axis current value of the machine is obtained by synchronizing the target q-axis current value of the main machine through digital-frequency and/or frequency-to-number conversion, and the synchronous driving effect of the same running component is realized by the main machine and the slave machine.

Preferably, based on the target speed value and the actual speed value of the host motor, the host computer obtains the host target q-axis current value through the speed loop PID calculation; wherein, based on the host motor rotor target position and the host motor rotor actual position, the host passes The target speed value is obtained by the position loop PID calculation.

Preferably, the host computer calculates the host target q-axis current value through a digital-to-frequency conversion module to form a frequency signal or PWM signal of the host target q-axis current value; the slave collects the host target q-axis current value through the frequency-to-digital conversion module. The frequency signal or PWM signal, and the signal is converted into a digital quantity, and the digital quantity is used as the target q-axis current value of the slave.

Preferably, based on the host's target d-axis current and the host's actual d-axis current, the host calculates the host's d-axis voltage through the host's d-axis current loop PID; based on the slave's target d-axis current and the slave's actual d-axis current, The slave machine obtains the d-axis voltage of the slave machine through the PID calculation of the slave machine d-axis current loop.

Preferably, the master target d-axis current and the slave target d-axis current are determined based on the master and slave achieving maximum operating efficiency as a control optimization target.

Preferably, both the master and the slave are installed and connected to the drive shaft of the running part.

Preferably, the main engine includes a main pitch motor and a main deceleration mechanism that are drive-connected, the main pitch motor is driven and operated by a main drive controller, and the main deceleration mechanism is installed and connected to the drive shaft of the running part; The slave machine includes a slave pitch motor and a slave deceleration mechanism that are drive-connected, the slave pitch motor is driven to run by a slave drive controller, and the slave deceleration mechanism is installed and connected to the drive shaft of the running component.

Preferably, a pitch system includes a paddle and a driving device for driving the paddle to run, wherein the paddle is used as the running component, and the driving device includes the main engine and the slave, In addition, the above-mentioned multi-machine synchronous driving method can significantly reduce the blade load of the main machine or the slave machine.

Preferably, the master and the slave have the same structure, and the driving power of the master ranges from 1 to 5KW.

Preferably, a wind power generating set adopts the pitch system as described above.

This application proposes a structural design for setting the master and the slave. During the driving process, the target q-axis current value signal of the master is synchronously transmitted to the slave through digital-to-analog conversion and analog-to-digital conversion, as the target q-axis current value signal of the slave, Through the master q-axis current loop PID and the slave q-axis current loop PID, respectively, the master and the slave can obtain the master q-axis voltage and the slave q-axis voltage synchronously; at the same time, the master and the slave obtain the maximum operating efficiency as the control optimization goal To determine the target d-axis current of the master and the target d-axis current of the slave (that is, automatically generated by the pre-established efficiency optimization control strategy), respectively pass the master d-axis current loop PID and the slave d-axis current loop PID, and then make the master Synchronize with the slave to obtain the master d-axis voltage and the slave d-axis voltage; in actual work, the master drives the running components according to the master's q-axis voltage and the master's d-axis voltage, and the slave is based on the slave's q-axis voltage and slave d-axis voltage. Drive the running parts, and realize the synchronous driving effect of the same running parts through the main engine and the slave machine, which greatly reduces the load of the running parts of the main machine or the slave machine; when it is specifically applied to the pitch system, the main machine and the slave machine are connected with The drive shaft of the propeller is coaxially installed and connected, which can significantly reduce the propeller load of the main machine or the slave machine, which is convenient for maintenance and is beneficial to the overall service life of the pitch system.

During the driving process, the applicant found that the target q-axis current value signal of the master can be transmitted to the slave synchronously through digital-to-frequency conversion and frequency-to-digital conversion. Analog conversion and analog-to-digital conversion are parallel technical solutions for realizing the synchronous transmission of the target q-axis current value signal of the host, and can achieve the same technical effect.

Description of drawings

Fig. 1 is the calculation processing block diagram of the host target q-axis current value in Embodiment 1 of the present application;

Fig. 2 is the calculation processing block diagram of the slave target q-axis current value in Embodiment 1 of the present application;

Fig. 3 is the calculation processing block diagram of the host target q-axis current value in Embodiment 2 of the present application;

Fig. 4 is the calculation processing block diagram of the slave target q-axis current value in Embodiment 2 of the present application;

Fig. 5 is the calculation processing block diagram of the host q-axis voltage in Embodiment 1 or Embodiment 2 of the present application;

Fig. 6 is the calculation processing block diagram of the q-axis voltage of the slave machine in Embodiment 1 or Embodiment 2 of the present application;

7 is a block diagram of the calculation processing of the host d-axis voltage in Embodiment 1 or Embodiment 2 of the present application;

FIG. 8 is a block diagram of calculation processing of the d-axis voltage of the slave machine in Embodiment 1 or Embodiment 2 of the present application.

Detailed ways

The embodiment of the present invention discloses a multi-machine synchronous driving method, which is characterized in that it includes at least a host and a slave, and the multi-machine synchronous driving method includes: based on the target q-axis current value of the host and the actual q-axis current value of the host, the host passes the host through the host. The q-axis current loop PID calculates the master's q-axis voltage; based on the slave's target q-axis current value and the slave's actual q-axis current value, the slave calculates the slave's q-axis voltage through the slave's q-axis current loop PID; the master is based on the master. The q-axis voltage and the host's d-axis voltage drive the running parts, and the slave drives the running parts according to the slave's q-axis voltage and the slave's d-axis voltage; among them, the target q-axis current value of the slave is obtained by the host's target q-axis current value through digital frequency. And/or frequency-to-number conversion is obtained synchronously, and the synchronous driving effect of the same running component is realized through the master and the slave.

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Embodiment 1: a multi-machine synchronous driving method, including a master and a slave, preferably, in this embodiment, the master and the slave have the same structure, and are both coaxially installed and connected to the drive shaft of the running part; preferably , the main engine includes a main pitch motor and a main deceleration mechanism connected by transmission, the main pitch motor is driven and operated by the main drive controller, and the main deceleration mechanism is installed and connected with the drive shaft of the running part; the slave machine includes a transmission connected slave pitch motor and The slave deceleration mechanism and the slave pitch motor are driven and run by the slave drive controller, and the slave deceleration mechanism is installed and connected to the drive shaft of the running part;

In this embodiment, the multi-machine synchronous driving method includes:

Please refer to Figure 5. Based on the target q-axis current value of the host and the actual q-axis current value of the host (collected by the current acquisition module of the host), the host calculates the host's q-axis voltage through the host's q-axis current loop PID; please refer to the figure 7, based on the target d-axis current of the host and the actual d-axis current of the host (collected by the current acquisition module of the host), the host calculates the d-axis voltage of the host through the host d-axis current loop PID;

Please refer to Figure 6. Based on the target q-axis current value of the slave and the actual q-axis current value of the slave (collected by the current acquisition module of the slave), the slave calculates the q-axis of the slave through the PID calculation of the q-axis current loop of the slave. Shaft voltage; please refer to Figure 8. Based on the target d-axis current of the slave and the actual d-axis current of the slave (obtained by the current acquisition module of the slave), the slave is calculated by the d-axis current loop PID of the slave to obtain the slave. d-axis voltage;

Preferably, please refer to FIG. 1 in further combination. In this embodiment, based on the target speed value and the actual speed value of the main engine motor (which can be collected by the speed acquisition module of the main engine), the main engine obtains the main engine target q through the speed loop PID calculation Shaft current value, wherein preferably, in this embodiment, based on the target position of the rotor of the host motor and the actual position of the rotor of the host motor (obtained), the host computer obtains the target speed value of the host motor through the position loop PID calculation; The shaft current value is calculated by the DA digital-to-analog conversion module to form the host's target q-axis current value analog value; please refer to Figure 2 for further combination, the slave machine collects the host's target q-axis current value analog signal through the AD analog-to-digital conversion module, and converts The host target q-axis current value analog signal is converted into a digital quantity, and the digital quantity is used as the slave target q-axis current value;

Preferably, in this implementation manner, the target d-axis current of the master and the target d-axis current of the slave are determined based on the maximum operating efficiency obtained by the master and the slave as the control optimization goal; that is, the target d-axis current of the master and the target d-axis current of the slave are automatically generated by a pre-established efficiency optimization control strategy. , it should be noted that the efficiency optimization control strategy belongs to the common knowledge of those skilled in the art, and is not specifically described in this embodiment.

In this embodiment, the master drives the running part according to the q-axis voltage of the master and the d-axis voltage of the master, the slave drives the running part according to the q-axis voltage of the slave and the d-axis voltage of the slave; Synchronized drive effects.

Embodiment 2: a multi-machine synchronous driving method, including a master and a slave, preferably, in this embodiment, the master and the slave have the same structure, and are both coaxially installed and connected to the drive shaft of the running part; preferably , the main engine includes a main pitch motor and a main deceleration mechanism connected by transmission, the main pitch motor is driven and operated by the main drive controller, and the main deceleration mechanism is installed and connected with the drive shaft of the running part; the slave machine includes a transmission connected slave pitch motor and The slave deceleration mechanism and the slave pitch motor are driven and run by the slave drive controller, and the slave deceleration mechanism is installed and connected to the drive shaft of the running part;

In this embodiment, the multi-machine synchronous driving method includes:

Please refer to Figure 5. Based on the target q-axis current value of the host and the actual q-axis current value of the host (collected by the current acquisition module of the host), the host calculates the host's q-axis voltage through the host's q-axis current loop PID; please refer to the figure 7, based on the target d-axis current of the host and the actual d-axis current of the host (collected by the current acquisition module of the host), the host calculates the d-axis voltage of the host through the host d-axis current loop PID;

Please refer to Figure 6. Based on the target q-axis current value of the slave and the actual q-axis current value of the slave (collected by the current acquisition module of the slave), the slave calculates the q-axis of the slave through the PID calculation of the q-axis current loop of the slave. Shaft voltage; please refer to Figure 8. Based on the target d-axis current of the slave and the actual d-axis current of the slave (obtained by the current acquisition module of the slave), the slave is calculated by the d-axis current loop PID of the slave to obtain the slave. d-axis voltage;

Preferably, please refer to FIG. 3 in further combination. In this embodiment, based on the target speed value and the actual speed value of the main engine motor (which can be collected by the speed acquisition module of the main engine), the main engine obtains the main engine target q through the speed loop PID calculation shaft current value, wherein preferably, in this embodiment, based on the target position of the host motor rotor and the actual position of the host motor rotor (obtained), the host computer obtains the target speed value of the host motor through the position loop PID calculation; the host target q-axis current The value is calculated by the digital-frequency conversion module to form the frequency signal of the host target q-axis current value (the duty cycle is fixed, the frequency is adjustable), and the PWM signal (the frequency is fixed, the frequency is adjustable) can also be calculated by the digital-frequency conversion module to form the host target q-axis current value. The duty cycle can be adjusted), and similar technical effects can be achieved; please refer to Figure 4 for further details. The slave collects the frequency signal (or PWM signal) of the target q-axis current value of the host through the frequency-to-digital conversion module, and transmits the signal through the frequency-to-digital conversion module. Convert it into a digital quantity, and use the digital quantity as the target q-axis current value of the slave;

Preferably, in this implementation manner, the target d-axis current of the master and the target d-axis current of the slave are determined based on the maximum operating efficiency obtained by the master and the slave as the control optimization goal; that is, the target d-axis current of the master and the target d-axis current of the slave are automatically generated by a pre-established efficiency optimization control strategy. , it should be noted that the efficiency optimization control strategy belongs to the common knowledge of those skilled in the art, and is not specifically described in this embodiment.

In this embodiment, the master drives the running part according to the q-axis voltage of the master and the d-axis voltage of the master, the slave drives the running part according to the q-axis voltage of the slave and the d-axis voltage of the slave; Synchronized drive effects.

Embodiment 3: This embodiment also proposes a pitch system, including a paddle and a driving device for driving the paddle to run, wherein the paddle is used as a running component, and the driving device includes the above embodiments 1-2. The main machine and the slave machine, and the multi-machine synchronous driving method described in the present embodiment 1-2 can be used to significantly reduce the blade load of the main machine or the slave machine; preferably, in this embodiment, the drive of the main machine The power range is 1-5KW; of course, the driving power of the host can also be selected according to actual needs, which is not particularly limited in this embodiment.

This embodiment also proposes a wind power generating set, which adopts the pitch system as described above in this embodiment 1.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and range of the equivalents of , are included in the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. a multi-machine synchronous drive method, is characterized in that, comprises at least host computer and slave, and described multi-machine synchronous drive method comprises: Based on the host's target q-axis current value and the host's actual q-axis current value, the host calculates the host's q-axis voltage through the host's q-axis current loop PID; based on the slave's target q-axis current value and the slave's actual q-axis current value, so The slave machine obtains the q-axis voltage of the slave machine through the PID calculation of the slave machine's q-axis current loop; The master drives the running part according to the master q-axis voltage and the master d-axis voltage, and the slave drives the running part according to the slave q-axis voltage and the slave d-axis voltage; wherein the slave The target q-axis current value of the machine is obtained by synchronizing the target q-axis current value of the main machine through digital-frequency and/or frequency-to-number conversion, and the synchronous driving effect of the same running component is realized by the main machine and the slave machine. 2. The multi-machine synchronous driving method according to claim 1, characterized in that, based on the target speed value and the actual speed value of the host motor, the host computer obtains the host target q-axis current value through the speed loop PID calculation; wherein, based on The target position of the rotor of the host motor and the actual position of the rotor of the host motor, the host obtains the target speed value through the position loop PID calculation. 3. The multi-machine synchronous driving method according to claim 1, wherein the host calculates the host target q-axis current value through a digital-to-frequency conversion module to form a frequency signal or a PWM signal of the host target q-axis current value The slave collects the frequency signal or PWM signal of the host target q-axis current value through the frequency-to-digital conversion module, and converts the signal into a digital quantity, and uses the digital quantity as the slave target q-axis current value. 4. The multi-machine synchronous driving method according to claim 1, wherein, based on the host target d-axis current and the host actual d-axis current, the host obtains the host d-axis voltage through the host d-axis current loop PID calculation ; Based on the target d-axis current of the slave and the actual d-axis current of the slave, the slave obtains the d-axis voltage of the slave through the PID calculation of the slave d-axis current loop. 5 . The multi-machine synchronous driving method according to claim 4 , wherein the target d-axis current of the master and the target d of the slave are determined based on the maximum operating efficiency obtained by the master and the slave as a control optimization target. 6 . shaft current. 6 . The multi-machine synchronous driving method according to claim 1 , wherein the master machine and the slave machine are both installed and connected to the drive shaft of the running part. 7 . 7. The multi-machine synchronous driving method according to claim 1 or 6, wherein the main engine comprises a main pitch motor and a main deceleration mechanism that are drive-connected, and the main pitch motor is driven and operated by a main drive controller , the main deceleration mechanism is installed and connected with the drive shaft of the running part; the slave machine includes a drive-connected slave pitch motor and a slave deceleration mechanism, the slave pitch motor is driven and operated by the slave drive controller, the The drive shaft of the running member is mounted and connected from the reduction mechanism. 8. A pitch system, comprising a paddle and a driving device for driving the paddle to run, wherein the paddle is used as the running component, and the driving device comprises the main engine and the slave , and using the multi-machine synchronous driving method as described in one of claims 1-7, the blade load of the main machine or the slave machine can be significantly reduced. 9 . The pitch system according to claim 8 , wherein the structure of the main machine and the slave machine are the same, and the driving power range of the main machine is 1-5KW. 10 . 10. A wind turbine, characterized in that the pitch system according to claim 8 or 9 is adopted.

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