Self-control system and method for wind generating set pitch control system
阅读说明：本技术 用于风力发电机组变桨系统的自主控制系统及方法 (Self-control system and method for wind generating set pitch control system ) 是由 徐曙 郭晓明 钱振华 陈林 梁家宁 吕飞 赵子麟 张凝 于 2018-05-21 设计创作，主要内容包括：本申请提供一种能对桨叶角度进行自主闭环控制的用于风力发电机组变桨系统的自主控制系统,其具备独特的变桨控制系统通信拓扑架构,将变桨控制系统内部一个变桨控制器作为现场总线的主站,且将其它的变桨控制器作为从站。本申请还提供一种用于风力发电机组变桨系统的自主控制方法。本申请的有益效果在于闭环实现桨叶角度的自主控制,有效提高风力发电机组的安全,可利用率,且提供柔和的载荷。(The application provides a kind of self-control system for wind generating set pitch control system that autonomous closed-loop control can be carried out to blade angle, it has unique variable blade control system communication topology framework, using a pitch control device inside variable blade control system as the main website of fieldbus, and using other pitch control devices as slave station.The application also provides a kind of autonomous control method for wind generating set pitch control system.The beneficial effects of the present application are as follows closed loop realizes the autonomous control of blade angle, the safety of wind power generating set, availability are effectively improved, and provide soft load.)
1. a kind of self-control system for wind generating set pitch control system, including variable blade control system, the variable pitch control System processed include at least the first pitch control device and the second pitch control device, which is characterized in that first pitch control device and At least one of second pitch control device is configured to field bus communication main website.
2. being used for the self-control system of wind generating set pitch control system as described in claim 1, which is characterized in that also wrap Master controller is included, the master controller is configured to field bus communication slave station.
3. being used for the self-control system of wind generating set pitch control system as described in claim 1, which is characterized in that described Variable blade control system further includes third pitch control device, and the third pitch control device is configured to field bus communication slave station.
4. being used for the self-control system of wind generating set pitch control system as claimed in claim 1 or 2, which is characterized in that The fieldbus is Profibus bus and/or CANbus bus.
5. a kind of autonomous control method for wind generating set pitch control system, the autonomous control method is utilized as right is wanted The self-control system that wind generating set pitch control system is used for described in any one of 1-4 is sought, the method includes following steps It is rapid:
S1: wind speed round signal, wind wheel acceleration signal and/or wind regime signal are independently acquired by variable blade control system；
S2: in the case where not depending on master controller, the field bus communication main website carries out at operation collected signal Reason, provides target blade angle command, and target blade angle command is transmitted to corresponding pitch control device；
S3: the pitch control device for receiving target blade angle command issues driving instruction to variable pitch executing agency, and driving blade reaches To target blade angle.
6. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that in step In rapid S1, wind speed round signal, wind wheel are acquired by the way that any pitch control device inside wind generator unit wheel hub is arranged in Acceleration signal or wind regime signal.
7. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that in step In rapid S1, wind wheel acceleration signal is provided by the acceleration transducer being arranged on blade.
8. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 7, which is characterized in that described Acceleration transducer is MPU9250 sensor.
9. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 7, which is characterized in that described Wind speed round resolves to obtain by wind wheel acceleration signal, and specific solution process is as follows:
Due to X, the acceleration in three directions Y and Z axis and it is constantly equal to acceleration of gravity, then obtains following formula (1):
Because of az=0, obtain following formula (2):
Using trigonometric function relationship, following formula (3)-(6) are respectively obtained:
It takes Real-Time Differential to obtain angular velocity wind wheel position, obtains following formula (7):
Wushu (6) substitutes into formula (7), obtains following formula (8):
Wherein ω indicates wind speed round, ax, ayAnd azRespectively indicate component of acceleration of the wind wheel on X, Y and Z-direction, and Z axis Perpendicular to wind wheel Plane of rotation；G indicates acceleration of gravity；θ indicates wind wheel acceleration and forever gravity acceleration g vertically downward Between angle.
10. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that In In step S1, wind regime signal is provided by the way that the wind speed wind direction sensor inside wind generator unit wheel hub is arranged in.
11. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that In In step S3, the pitch control device for receiving target blade angle command issues driving instruction, driving blade to variable pitch executing agency Reaching target blade angle includes:
(1) after pitch control device detects wind wheel actual speed, compared with target wind speed round, speed difference is obtained；
(2) conversion for passing through aerodynamic model obtains the value that fan blade blade angle needs to adjust, so that variable pitch be driven to hold Blade is adjusted to target angle by row mechanism.
12. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that In In step S3, the pitch control device for receiving target blade angle command is to be configured to the pitch control device of communication main station.
13. being used for the autonomous control method of wind generating set pitch control system as claimed in claim 5, which is characterized in that In In step S3, the pitch control device for receiving target blade angle command is to be configured to the pitch control device of communication slave station.
14. a kind of autonomous control method for wind generating set pitch control system, the method includes (1) to pass through pitch control System independently acquires wind wheel and wind regime signal；(2) signal is handled by the pitch control device as communication main station, obtains target paddle Leaf angle command, and send corresponding pitch control device to；(3) the pitch control device instruction variable pitch executing agency driving of instruction is received Blade reaches target blade angle.
Technical field
The application belongs to variable pitch control system of wind generating control field, it particularly relates to be used for wind-power electricity generation The self-control system and method for set pitch control system.
Background technique
Traditional variable pitch control system of wind generating is pure performer.The setting of wind-driven generator master controller In the tower bottom or cabin of wind power generating set, acquisition is installed on the various sensors such as speed probe of cabin different location, Then vibrating sensor, the signal of wind speed wind direction sensor provide the instruction of corresponding blade angle by the processing of controller, Then the pitch control system being installed on inside wind generator unit wheel hub is sent to via slip ring hardware using fieldbus mode System, variable blade control system execute vane angle instruction according to the blade angle order-driven pitch drive system.
The drawbacks of this variable blade control system, is slip ring hardware as on-scene communication bus signals transfer medium, reliability It is not optimal, therefore it sometimes appear that the case where communication disruption.Once there is communication disruption, due to being located at the variable pitch of hub interior Any revolving speed of control system wind powered generator system unable to monitor, wind regime, Vibration Condition, quickly blower to be made to be in safe shape Blade is returned to feather position by state, the paddle rate of returning that can only be appointed with one.And also due to entire become during this time paddle Blade control system can only carry out back paddle control with the rate defined in advance, can not be by rotation speed of fan, wind regime, vibration letter Number real-time judge realize flexible time paddle, blower can not be made to be in the case where being detached from blower master controller by variable pitch Control system independently carries out the closed-loop control of blade angle.
For this purpose, there is an urgent need in the art to develop it is a kind of blade angle can be carried out autonomous closed-loop control for wind-power electricity generation The self-control system and method for set pitch control system.
Summary of the invention
The application be designed to provide it is a kind of blade angle can be carried out autonomous closed-loop control for wind-driven generator The self-control system of group pitch-controlled system, to solve above-mentioned the problems of the prior art.Self-control system as described herein The characteristics of be have unique variable blade control system communication topology framework, by a pitch control device inside variable blade control system As the main website of fieldbus, and using other pitch control devices as slave station, so that it is guaranteed that being communicated being lost with master controller In the case where, it remains to ensure the communication between each pitch control device.
The purpose of the application, which also resides in, provides a kind of wind power generating set that autonomous closed-loop control can be carried out to blade angle Variable blade control system autonomous control method.The method includes independently acquiring wind speed round signal, wind by variable blade control system Wheel acceleration signal or wind regime signal；Self-control system as described above is then based on using as the pitch control device of main website It handles these signals, carries out operation, obtain target blade angle command；Then variable pitch is instructed to hold by any pitch control device Row mechanism driving blade reaches target blade angle.
In order to solve the above-mentioned technical problem, the application provides following technical scheme.
In the first aspect, the application provides a kind of self-control system for wind generating set pitch control system, packet Variable blade control system is included, the variable blade control system includes at least the first pitch control device and the second pitch control device, feature It is, at least one of first pitch control device and the second pitch control device are configured to field bus communication main website.
It further include master controller in a kind of embodiment of first aspect, the master controller is configured to live total Line communicates slave station.
In the another embodiment of first aspect, the variable blade control system further includes third pitch control device, institute It states third pitch control device and is configured to field bus communication slave station.
In the another embodiment of first aspect, the fieldbus is that Profibus bus and/or CANbus are total Line.
In second aspect, the application provides a kind of autonomous control method for wind generating set pitch control system, institute It states autonomous control method and utilizes the self-control system for wind generating set pitch control system as described in relation to the first aspect, it is described Method includes the following steps:
S1: wind speed round signal, wind wheel acceleration signal and/or wind regime signal are independently acquired by variable blade control system；
S2: in the case where not depending on master controller, the field bus communication main website transports collected signal Calculation processing, provides target blade angle command, and target blade angle command is transmitted to corresponding pitch control device；
S3: the pitch control device for receiving target blade angle command issues driving instruction to variable pitch executing agency, drives leaf Piece reaches target blade angle.
In a kind of embodiment of second aspect, in step sl, by being arranged inside wind generator unit wheel hub Any pitch control device acquire wind speed round signal, wind wheel acceleration signal or wind regime signal.
In the another embodiment of second aspect, in step sl, pass through the acceleration sensing being arranged on blade Device provides wind wheel acceleration signal.
In the another embodiment of second aspect, the acceleration transducer is MPU9250 sensor.
In the another embodiment of second aspect, the wind speed round resolves to obtain by wind wheel acceleration signal, Specific solution process is as follows:
Due to X, the acceleration in three directions Y and Z axis and it is constantly equal to acceleration of gravity, then obtains following formula (1):
Because of az=0, obtain following formula (2):
Using trigonometric function relationship, following formula (3)-(6) are respectively obtained:
It takes Real-Time Differential to obtain angular velocity wind wheel position, obtains following formula (7):
Wushu (6) substitutes into formula (7), obtains following formula (8):
Wherein ω indicates wind speed round, ax, ayAnd azComponent of acceleration of the wind wheel on X, Y and Z-direction is respectively indicated, And Z axis is perpendicular to wind wheel Plane of rotation；G indicates acceleration of gravity；θ indicates that wind wheel acceleration adds with gravity vertically downward forever Angle between speed g.
In the another embodiment of second aspect, by the way that the wind speed and direction inside wind generator unit wheel hub is arranged in Sensor provides wind regime signal.
In the another embodiment of second aspect, the pitch control device for receiving target blade angle command is held to variable pitch Row mechanism issues driving instruction, and driving blade reaches target blade angle and includes:
(1) after pitch control device detects wind wheel actual speed, compared with target wind speed round, rotational speed difference is obtained It is different；
(2) conversion for passing through aerodynamic model obtains the value that fan blade blade angle needs to adjust, to drive change Blade is adjusted to target angle by paddle executing agency.
In the another embodiment of second aspect, in step s3, the change for receiving target blade angle command Paddle controller is the pitch control device for being configured to communication main station.
In the another embodiment of second aspect, in step s3, the change for receiving target blade angle command Paddle controller is the pitch control device for being configured to communication slave station.
In a third aspect, the application provides a kind of autonomous control method for wind generating set pitch control system, institute It states method and wind wheel and wind regime signal is independently acquired by variable blade control system including (1)；(2) pass through the variable pitch as communication main station Controller handles signal, obtains target blade angle command, and send corresponding pitch control device to；(3) variable pitch of instruction is received Controller instruction variable pitch executing agency driving blade reaches target blade angle.
Compared with prior art, the beneficial effects of the present application are as follows by using unique variable blade control system communication topology Framework, using a pitch control device inside variable blade control system as the main website of fieldbus, and by other pitch control devices As slave station, closed loop realizes the autonomous control of blade angle, effectively improves the safety of wind power generating set, availability, and mention For soft load.
Detailed description of the invention
Fig. 1 shows the variable blade control system communication topology configuration diagram according to the application.
Fig. 2 shows the autonomous control method for wind generating set pitch control system according to the application.
Specific embodiment
Below in conjunction with attached drawing and embodiments herein, clear and complete retouch is carried out to the technical solution of the application It states.
Traditional variable pitch control system of wind generating is pure performer, with wind-driven generator master controller In the case where losing communication, the autonomous closed-loop control of blade angle can not achieve.In order to overcome above-mentioned drawback, the application provides one Kind can carry out the self-control system and method for wind generating set pitch control system of autonomous closed-loop control to blade angle.
Self-control system for wind generating set pitch control system
In one embodiment, in order to ensure with blower master controller communication loss in variable blade control system It is still able to achieve communication between each pitch control device in portion, a pitch control device inside variable blade control system is provided as existing The main website of field bus, and using other pitch control devices as slave station.
The variable blade control system communication topology configuration diagram according to the application is shown with reference to Fig. 1, Fig. 1.
It in the embodiment shown in figure 1, include master controller, slip ring and pitch control system for blower general control system System, wherein variable blade control system includes pitch control device A, pitch control device B and pitch control device C.Slip ring can be used as main control The signal transfer medium of field bus communication between device and variable blade control system.
Compared with the blower general control system of the prior art, feature shown in FIG. 1 is for pitch control device A to be arranged to existing Remaining pitch control device B and pitch control C are arranged to field bus communication slave station by field bus main website.Even if to master In the case that controller loses communication, still it is able to maintain between pitch control device A, pitch control device B and pitch control device C logical Letter.
In a specific embodiment, pitch control device A, pitch control device B and pitch control device C are arranged in same change Among paddle cabinet.In another embodiment specific implementation mode, pitch control device A, pitch control device B and pitch control device C are arranged not Among variable pitch cabinet.
In the embodiment shown in Fig. 1 institute, master controller is configured to the fieldbus slave station of pitch control device A.But In another embodiment, master controller can be configured to field bus communication main website, be arranged while by pitch control device A At the fieldbus slave station of master controller and the field bus communication main website of remaining pitch control device.In this case, often In the case of rule, variable blade control system still works as pure actuator.
Fieldbus used is not particularly limited herein.In a specific embodiment, the fieldbus can be Profibus bus.In another embodiment specific implementation mode, fieldbus can be CANbus bus.In another specific embodiment party In formula, the fieldbus between master controller and pitch control device is Profibus bus.In another embodiment specific implementation mode, Fieldbus between each pitch control device can be CANbus bus.
Although but it is not limited to this it is noted that showing that variable blade control system includes 3 pitch control devices in Fig. 1.In one kind In specific embodiment, variable blade control system can include 4,5,6 or 10 pitch control devices as needed.
Variable pitch control system of wind generating autonomous control method
In another embodiment, the application proposes a kind of variable pitch control system of wind generating autonomous control side Method, the method includes installing wind speed round measurement sensor respectively inside wind generator unit wheel hub, vibration acceleration is passed The signal of sensor, laser wind speed and direction measurement sensor, the sensor acquisition is sent into variable blade control system, in regular situation Lower variable blade control system still operates in pure actuator state.When communication loss between variable blade control system and blower master controller When, variable blade control system is switched to autonomous control state, by collected wind speed round signal, acceleration signal, wind regime Signal is handled, and closed loop realizes the autonomous control of blade angle, and to improve the safety of wind power generating set, availability is mentioned For soft load.
It shows according to one embodiment of the application with reference to Fig. 2, Fig. 2 for the autonomous of wind generating set pitch control system Control method.The method, which may include (1), independently acquires wind wheel and wind regime signal by variable blade control system；(2) pass through conduct The pitch control device of communication main station handles signal, obtains target blade angle command, and send corresponding pitch control device to；(3) The pitch control device instruction variable pitch executing agency driving blade for receiving instruction reaches target blade angle.
In a specific embodiment, the application provides a kind of autonomous control for wind generating set pitch control system Method, the autonomous control method utilize the self-control system for wind generating set pitch control system as described above, The method includes the following steps: S1: wind speed round signal, wind wheel acceleration signal are independently acquired by variable blade control system And/or wind regime signal；
S2: in the case where not depending on master controller, the field bus communication main website transports collected signal Calculation processing, provides target blade angle command, and target blade angle command is transmitted to corresponding pitch control device；
S3: the pitch control device for receiving target blade angle command issues driving instruction to variable pitch executing agency, drives leaf Piece reaches target blade angle.
In a specific embodiment, in step sl, by the way that the variable pitch inside wind generator unit wheel hub is arranged in Controller acquires wind speed round signal, wind wheel acceleration signal and/or wind regime signal.In another embodiment specific implementation mode, In step sl, wind wheel acceleration signal, the acceleration sensing are provided by the acceleration transducer being arranged on blade Device can be MPU9250 sensor.
In a specific embodiment, the wind speed round resolves to obtain by wind wheel acceleration signal.In a kind of tool In body embodiment, acceleration transducer can acquire X, and the acceleration in tri- directions Y, Z is installed in axial fan hub, three The acceleration in direction and it is constantly equal to acceleration of gravity, is then rotated in the angular range of 0 to 360 degree with impeller, X, Different acceleration values can be presented with the different location of 0 to 360 degree in the acceleration value in tri- directions Y, Z, but vector sum is identical In acceleration of gravity, then each moment is by collecting different X, the acceleration value in tri- directions Y, Z in a coordinate system with Acceleration of gravity vertically downward is relatively that may know that X forever, the angle in Y, Z tri- directions and acceleration of gravity vertical direction, So as to knowing that current impeller is in the angle positions of 0 to 360 degree, then Real-Time Differential is taken to obtain angular velocity the position, it should Angular speed is wind speed round.
Next it will be described in the derivation process of wind speed round ω, wherein ax, ayAnd azWind wheel is respectively indicated in X, Y and Component of acceleration in Z-direction, and Z axis is perpendicular to wind wheel Plane of rotation；G indicates acceleration of gravity；θ indicates wind wheel acceleration With the angle between gravity acceleration g vertically downward forever.
Firstly, the acceleration in X, Y and three directions of Z axis and being constantly equal to acceleration of gravity, then following formula (1) is obtained:
Because of az=0, obtain following formula (2):
Using trigonometric function relationship, following formula (3)-(6) are respectively obtained:
It takes Real-Time Differential to obtain angular velocity wind wheel position, obtains following formula (7):
Wushu (6) substitutes into formula (7), obtains following formula (8):
In another embodiment specific implementation mode, in step sl, by the way that the wind inside wind generator unit wheel hub is arranged in Fast wind transducer provides wind regime signal.The wind speed wind direction sensor can be with hub rotation, can not also be with hub rotation.One In kind of specific embodiment, the limit wind regime in front of wind wheel that the Laser Measuring wind devices by being mounted on hub interior measure, wind Shearing directly pass to pitch control device in hub interior, thus guarantee wheel hub and cabin communication lose in the case where be not required to according to Rely the air velocity transducer of nacelle rear to judge wind regime condition, fundamentally guarantees the safety of blower.
In another embodiment specific implementation mode, the pitch control device of target blade angle command is received to variable pitch executing agency Driving instruction is issued, driving blade reaches target blade angle and includes:
(1) after pitch control device detects wind wheel actual speed, compared with target wind speed round, rotational speed difference is obtained It is different；
(2) conversion for passing through aerodynamic model obtains the value that fan blade blade angle needs to adjust, to drive change Blade is adjusted to target angle by paddle executing agency.
In another embodiment specific implementation mode, in step s3, the pitch control for receiving target blade angle command Device is the pitch control device for being configured to communication main station.
In another embodiment specific implementation mode, in step s3, the pitch control for receiving target blade angle command Device is the pitch control device for being configured to communication slave station.
The above-mentioned description to embodiment is that this Shen can be understood and applied for the ease of those skilled in the art Please.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein General Principle is applied in other embodiments without paying creative labor.Therefore, the application is not limited to implementation here Example, those skilled in the art make according to herein disclosed content in the case where not departing from the application scope and spirit It improves and modifies within all scope of the present application.