阅读说明：本技术 大容量风电机组偏航电机的驱动系统及其控制方法 (Driving system of large-capacity wind turbine generator yaw motor and control method thereof ) 是由 陶海亮 杜明慧 余业祥 何春 邱国祥 任华彬 于 2019-09-17 设计创作，主要内容包括：本发明公开一种大容量风电机组偏航电机的驱动系统,包括受机组主控控制的3台整流器、若干台逆变器、1个制动电阻及直流母线,整流器、逆变器和制动电阻共用一个直流母线；所述的整流器、逆变器和机组主控采用一路CANOPEN总线通讯；所述的逆变器采用另一路CANOPEN总线通讯。当一台整流器故障时,主控将该整流器的电源输入断开；所述的逆变器分为主机和从机,当主机故障时,主控将一台从机设为主机,如果该主机仍出现故障则将下一台从机设为主机,以此类推,直到无法满足机舱的驱动转矩要求时,主控才报故障并对机组进行停机。(The invention discloses a driving system of a large-capacity wind turbine generator yaw motor, which comprises 3 rectifiers, a plurality of inverters, 1 brake resistor and a direct-current bus, wherein the rectifiers, the inverters and the brake resistor share the direct-current bus; the rectifier, the inverter and the main control of the unit adopt a CANOPEN bus for communication; and the inverter adopts the other CANOPEN bus for communication. When one rectifier fails, the main control disconnects the power input of the rectifier; the inverter is divided into a master machine and slave machines, when the master machine fails, the master control sets one slave machine as the master machine, if the master machine still fails, the next slave machine is set as the master machine, and the like, and the master control does not report the failure and stops the unit until the requirement of the driving torque of the engine room cannot be met.)

1. The utility model provides a large capacity wind turbine generator system yaw motor's actuating system which characterized in that: the driving system comprises 3 rectifiers, a plurality of inverters, 1 braking resistor and a direct current bus, wherein the rectifiers, the inverters and the braking resistors share the direct current bus; the rectifier, the inverter and the main control of the unit adopt a CANOPEN bus for communication; and the inverter adopts the other CANOPEN bus for communication.

2. The drive system of a yaw motor of a high-capacity wind turbine set according to claim 1, characterized in that: the number of the inverters is consistent with that of the yaw motors of the unit, and the capacity of the inverters is matched with the power of the yaw motors.

3. The control method of the driving system of the yaw motor of the large-capacity wind turbine generator set as claimed in claim 1 or 2, wherein when one rectifier fails, the master controller disconnects the power input of the rectifier; the inverter is divided into a master machine and slave machines, when the master machine fails, the master control sets one slave machine as the master machine, if the master machine still fails, the next slave machine is set as the master machine, and the like, and the master control does not report the failure and stops the unit until the requirement of the driving torque of the engine room cannot be met.

4. The control method of the driving system of the large-capacity wind turbine yaw motor according to claim 3, characterized in that: dividing the running state of the driving system into 3 states of standby, automatic running and fault, and dividing the automatic running into 3 running states of a master-slave mode, a damping mode and a torque mode; the driving system is controlled according to the following steps:

(1) the rectifier inverter finishes self-checking after the driving system is electrified, and if the main control does not send any instruction, the system is in a standby state; if the master control sends a control instruction to the host in the standby state, the system is in an automatic operation state; if a fault occurs in a standby state or during automatic operation, the system is in a fault state; when the system is in a fault state, if the system can reset by sending a fault reset instruction through the master control, the system exits the fault state and enters a standby state;

(2) when the yaw action is started, the driving system runs in a master-slave mode, only one host machine in all the inverters receives a main control rotating speed instruction, and the rest slave machines follow the torque and rotating speed instructions of the host machine;

(3) after the yaw starting action is finished, the device runs in a damping mode, two inverters are set as a main machine through a main control in the damping mode, one main machine and one slave machine provide reverse torque for damping, and the other main machine and the rest slave machines provide forward yaw driving torque;

(4) when the cabin drifts to a target position, the main control controls the yaw driving system to slow down and stop, and when the yaw speed of the cabin is reduced to zero, the driving system operates in a torque mode; the output rotating speed of each inverter is set to be zero through a main control command, the cabin is stabilized through the output torque of the yaw motor to wait for the completion of yaw hydraulic brake input according to a system set torque value, and after the brake is completed, the driving system enters a standby mode again to wait for the next yaw action command.

Technical Field

The invention relates to a wind power generation technology, in particular to a driving system of a large-capacity wind turbine generator yaw motor and a control method thereof.

Background

In recent years, with the increasing capacity of the single wind turbine, especially the offshore wind turbine, the diameter of the impeller of the wind turbine is also increasing, and the weight of the engine room and the weight of the impeller are also increasing. The large-capacity unit is generally installed on the sea, and severe wind conditions such as typhoon and the like frequently occur in the regions, so that the safety of the unit is seriously threatened. Under the typhoon condition, the wind generating set generally adopts a real-time wind or leeward method to reduce the load of the set, so that the harm degree of the typhoon to the set is reduced to the minimum, and the measure puts higher requirements on a driving system of a yaw motor and mainly shows the following aspects: firstly, high reliability and appropriate redundancy measures are required; secondly, enough torque needs to be provided to overcome the huge inertia of the cabin and the wind wheel during yaw starting and the wind thrust; and thirdly, under the typhoon condition, the yaw motor driving system can provide enough dynamic torque to prevent the unit from generating yaw overspeed or reverse yaw. The existing yaw motor driving system generally adopts direct drive, soft starter drive or frequency converter drive, and the several modes have respective disadvantages, such as great impact on a unit, particularly on a yaw speed reducer and yaw teeth, caused by direct start; the soft starter cannot provide enough starting torque and has poor reliability; the reliability of a frequency converter, particularly a driving system with a plurality of yaw motors sharing one frequency converter is poor, and the problem of uneven output of the yaw motors exists.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a driving system of a large-capacity wind turbine generator yaw motor and a control method thereof. The driving system does not influence the overall operation under the condition of local faults, can still reliably work, and is particularly suitable for large-capacity offshore wind turbines.

The technical scheme provided by the invention is as follows:

the utility model provides a large capacity wind turbine generator system yaw motor's actuating system which characterized in that: the driving system comprises 3 rectifiers, a plurality of inverters, 1 braking resistor and a direct current bus, wherein the rectifiers, the inverters and the braking resistors share the direct current bus; the rectifier, the inverter and the main control of the unit adopt a CANOPEN bus for communication; and the inverter adopts the other CANOPEN bus for communication.

The number of the inverters is consistent with that of the yaw motors of the unit, and the capacity of the inverters is matched with the power of the yaw motors.

According to the control method of the driving system of the large-capacity wind turbine yaw motor, when one rectifier fails, the power input of the rectifier is disconnected by a master controller; the inverter is divided into a master machine and slave machines, when the master machine fails, the master control sets one slave machine as the master machine, if the master machine still fails, the next slave machine is set as the master machine, and the like, and the master control does not report the failure and stops the unit until the requirement of the driving torque of the engine room cannot be met.

Further, the method divides the operation state of the driving system into 3 states of standby, automatic operation and failure, and the automatic operation is divided into 3 operation states of a master-slave mode, a damping mode and a torque mode; and controlling the driving system according to the following steps:

1. the rectifier inverter finishes self-checking after the driving system is electrified, and the system is in a standby state if the master control does not send any instruction; if the master control sends a control instruction to the host in the standby state, the system is in an automatic operation state; if a fault occurs in a standby state or during automatic operation, the system is in a fault state; when the system is in a fault state, if the system can reset by sending a fault reset instruction through the master control, the system exits the fault state and enters a standby state;

2. when the yaw action is started, the driving system runs in a master-slave mode, only one host machine in all inverters receives a main control rotating speed instruction, and the rest slave machines follow the torque and rotating speed instructions of the host machine;

3. after the yaw starting action is finished, the device runs in a damping mode, two inverters are set as main machines through a master control in the damping mode, one main machine and one slave machine provide reverse torque for damping, and the other main machine and the rest slave machines provide forward yaw driving torque;

4. when the cabin drifts to a target position, the main control controls the yaw driving system to decelerate and stop, and when the yaw speed of the cabin is reduced to zero, the driving system operates in a torque mode. The output rotating speed of each inverter is set to be zero through a main control command, the cabin is stabilized through the output torque of the yaw motor to wait for the completion of yaw hydraulic brake input according to a system set torque value, and after the brake is completed, the driving system enters a standby mode again to wait for the next yaw action command.

Compared with the prior art, the invention has the following advantages:

1. can provide enough yaw starting torque for overcoming inertia and thrust, and is particularly suitable for large-capacity units.

2. In the yaw action process, a hydraulic brake is not needed to provide a damping effect, and the service life of the brake pad is prolonged.

3. The output of each yaw motor is balanced, which is beneficial to prolonging the service life of the yaw speed reducer and the yaw teeth.

4. The operation of the driving system is not influenced by the fault of a single rectifier or the fault of an inverter, and the reliability of the system is high.

Drawings

FIG. 1 is a block diagram of a yaw motor drive system;

FIG. 2 is a state machine of a yaw motor drive system;

fig. 3 is a control flowchart of the drive system.

Detailed Description

The structure and control method of the present invention will be further described with reference to specific embodiments.

The driving system of the yaw motor of the wind turbine generator is shown in figure 1: the system consists of 3 rectifiers, n inverters, 1 brake resistor and a direct current bus, wherein the number n of the inverters is determined by the number of yaw motors. The rectifier, the inverter and the brake resistor share one direct current bus. The size of the brake resistor is determined according to the number of the yaw motors and the energy generated by the deceleration stop. The main control of the unit carries out working mode and parameter setting and start-stop control on the inverter through a CANOPEN communication bus, and simultaneously collects the working state and data of each rectifier and the inverter. The inverter can be set as a master or a slave according to the control requirement, and the slave receives the rotating speed and torque instruction of the master in a CANOPEN bus communication mode among the inverters. When one rectifier, such as the rectifier 1, fails, the main control disconnects the power input QF1 of the rectifier, and the other two rectifiers can continue to operate; when the inverter 1 is a host and faults are reported, the master control sets the inverter 2 as the host, if the inverter 2 still has faults in the running process, the inverter 3 is set as the host, and the like is repeated, and the master control reports the fault halt of the yaw driving system until the remaining inverters can not meet the requirements of driving torque; if one slave machine fails, the yaw driving system can continue to operate because the operation of other inverters is not influenced.

The control flow of the invention is as follows:

the yaw motor drive system can only be in 3 states: as shown in fig. 2, in the automatic operation state, the main controller needs to set the operation mode of each inverter according to the stage of the yaw motion of the unit, that is, a master-slave mode, a damping mode or a torque mode.

When the yaw action of the engine room is not started, the driving system is in a power-on standby state, the output torque of each yaw motor is zero, and the yaw hydraulic brake is in a brake state.

When the main control starts the yawing action, firstly, the yawing hydraulic brake is loosened, and when the brake pressure is lower than a set value, the main control sets each inverter to enter a master-slave mode to operate and start the yawing action. Referring to fig. 1, the master controller uses an inverter 1 as a master, and inverters 2 to n as slaves, the master outputs a driving torque following the yaw rotation speed and yaw direction commands of the master, the slaves follow the torque and speed commands of the master, the output of each motor is balanced, and the nacelle is driven to perform yaw motion in a given direction of the master. In the process, if the master computer fails, the master control judges whether the number of the remaining slave computers meets the driving requirement, if so, the inverter 2 is set as the master computer, the inverter 3-n is still the slave computer, if the inverter 2 also fails, the inverter 3 is set as the master computer, and so on, until the master control reports that the yaw driving system fails to stop when the driving requirement cannot be met, as shown in fig. 3.

When the yaw speed reaches the set speed of the main control, the yaw starting is finished, and the main control sets each inverter to enter a damping mode for operation. The inverter 1 and the inverter n are respectively set as a master 1 and a master 2, the inverter 2 to the inverter (n-2) serve as a slave following master 1, and the inverter (n-1) serves as a slave following master 2. The main machine 1 moves in the target yaw direction following the main control, and the main machine 2 moves in the reverse direction as a damper for yaw movement, and in this mode, the nacelle can smoothly perform yaw movement.

When the engine room reaches the target position, the main control main machines 1 and 2 are decelerated and stopped, and whether the yaw speed of the engine room is reduced to zero or not is judged. When the yaw speed is zero, the main control sets all the inverters as a main machine and operates in a torque mode, all the inverters follow the torque command of the main control, the main control sets the rotating speed of all the inverters to be zero, the main control puts the cabin into a yaw hydraulic brake while stabilizing, and after the brake is finished, the yaw driving system returns to a standby state again to wait for the next yaw action command.