阅读说明：本技术 基于多容错模式的风机变桨控制系统 (Fan variable pitch control system based on multiple fault-tolerant modes ) 是由 罗小锁 于 2020-12-29 设计创作，主要内容包括：本发明公开一种基于多容错模式的风机变桨控制系统,属于风力发电技术领域,针对相关技术中风电系统自身元件出现故障,导致风电系统无法正常运行的问题,提出以下方案：包括数据采集模块、主控制器、容错检测模块、冗余模块和补偿模型数据库；容错检测模块根据变桨浆距角与预设浆距角生成角度偏差,并判断风机中的传感器处于极限故障状态或者非极限故障状态,以对应生成极限故障信号或者非极限故障信号；主控制器接收容错检测模块生成的极限故障信号或者非极限故障信号,以在接收到极限故障信号时控制冗余模块启动或者在接收到非极限故障信号时调用补偿模型数据库,并控制变桨控制器运行。(The invention discloses a fan variable pitch control system based on multiple fault-tolerant modes, belongs to the technical field of wind power generation, and provides the following scheme aiming at the problem that a wind power system cannot normally operate due to the failure of elements of the wind power system in the related technology: the system comprises a data acquisition module, a main controller, a fault-tolerant detection module, a redundancy module and a compensation model database; the fault-tolerant detection module generates an angle deviation according to the pitch angle of the variable propeller and a preset pitch angle, and judges whether a sensor in the fan is in a limit fault state or a non-limit fault state so as to correspondingly generate a limit fault signal or a non-limit fault signal; the main controller receives a limit fault signal or a non-limit fault signal generated by the fault-tolerant detection module, controls the redundant module to start when the limit fault signal is received or calls the compensation model database when the non-limit fault signal is received, and controls the variable pitch controller to operate.)

1. The utility model provides a fan becomes oar control system based on many fault-tolerant modes, includes the data acquisition module that is used for gathering fan and becomes the oar pitch angle and is used for controlling the main control unit that becomes the oar controller output drive instruction, its characterized in that, fan becomes oar control system based on many fault-tolerant modes still includes: the system comprises a fault-tolerant detection module, a redundancy module and a compensation model database;

the fault-tolerant detection module is used for generating an angle deviation according to the variable pitch angle and a preset pitch angle, and judging whether a sensor in the fan is in an extreme fault state or a non-extreme fault state according to the angle deviation so as to correspondingly generate an extreme fault signal or a non-extreme fault signal;

the main controller is used for receiving the limit fault signal or the non-limit fault signal generated by the fault-tolerant detection module, controlling the redundancy module to start when the limit fault signal is received or calling the compensation model database when the non-limit fault signal is received, and controlling the variable pitch controller to operate.

2. The multi-fault-tolerant mode-based wind turbine pitch control system of claim 1, wherein the data acquisition module comprises a wind turbine angle sensor electrically connected to the fault-tolerant detection module;

the data acquisition module is used for acquiring the pitch angle of the variable pitch of the fan.

3. The fan variable pitch control system based on the multiple fault-tolerant modes according to claim 2, wherein the data acquisition module further comprises a wind speed sensor, a wind wheel rotation speed sensor, a transmission mechanism temperature sensor, a generator rotation speed sensor, a generator temperature sensor, a converter mechanism current sensor, a transformer mechanism voltage sensor, a power grid frequency sensor and a power grid power factor sensor which are respectively electrically connected with the fault-tolerant detection module;

the data acquisition module is also used for acquiring the wind speed of the fan, the rotating speed of the wind wheel, the rotating speed of the transmission mechanism, the temperature of the transmission mechanism, the rotating speed of the generator, the temperature of the generator, the current of the converter mechanism, the voltage of the transformer mechanism, the frequency of the power grid and the power factor of the power grid.

4. The multi-fault-tolerant-mode-based fan pitch control system according to claim 3, wherein the fault-tolerant detection module is further configured to compare the generated angle deviation with a preset angle deviation, and when the angle deviation is within a preset angle deviation range, output a first control signal to the main controller to control the pitch controller to operate; and when the angle deviation is not within a preset angle deviation range, judging that a sensor in the fan is in a limit fault state or a non-limit fault state, and outputting a second control signal to the main controller so as to respectively control the redundant module to start or call the compensation model database.

5. The multi-fault-tolerant mode-based wind turbine pitch control system of claim 4, wherein the fault-tolerant detection module is further configured to determine a position of a sensor in the wind turbine in an extreme fault state when the sensor in the wind turbine is in the extreme fault state.

6. The multi-fault-tolerant mode-based fan pitch control system of claim 5, wherein the redundant modules comprise backup sensors in one-to-one correspondence with the wind wheel angle sensor, the wind speed sensor, the wind wheel speed sensor, the transmission temperature sensor, the generator speed sensor, the generator temperature sensor, the converter current sensor, the transformer voltage sensor, the grid frequency sensor, and the grid power factor sensor, respectively.

7. The multi-fault-tolerant mode-based wind turbine pitch control system of claim 4, wherein the main controller is further configured to compare real-time operating data of the sensors in the non-extreme fault state with operating data of the sensors before the fault in the compensation model database when the sensors in the wind turbine are in the non-extreme fault state, so as to perform data correction on the sensors in the non-extreme fault state.

8. The multi-fault-tolerant mode-based fan pitch control system of claim 7, wherein the compensation model database is further configured to continuously store the operation data of the wind wheel angle sensor, the wind speed sensor, the wind wheel rotation speed sensor, the transmission mechanism temperature sensor, the generator rotation speed sensor, the generator temperature sensor, the converter mechanism current sensor, the transformer mechanism voltage sensor, the grid frequency sensor and the grid power factor sensor in the fan in real time.

9. The fan pitch control system based on multiple fault-tolerant modes according to any one of claims 1 to 8, further comprising a servo mechanism, wherein an input end of the servo mechanism is connected with an output end of the pitch controller, and is used for receiving a pitch driving signal output by the pitch controller so as to control the servo mechanism to drive the operation of a wind wheel in the fan.

Technical Field

The invention relates to the technical field of wind power generation, in particular to a fan variable pitch control system based on multiple fault-tolerant modes.

Background

At present, in renewable energy, wind energy is an important component of renewable energy, and active development of wind energy has profound significance for improving the structure of an energy system, relieving the energy crisis and protecting the ecological environment. The regulation of the output power and torque of the wind turbine depends on the variation of the wind speed, which, when reaching and exceeding the rated value, requires limiting the output power by reducing the aerodynamic efficiency of the wind turbine in order to avoid overloading the wind turbine. Therefore, the pitch angle and blade position need to be controlled under variable wind conditions, referred to as pitch control. The variable pitch control is an effective method for reducing overload of the wind turbine generator at high wind speed, and has an important function.

However, most of the existing wind power systems are exposed outdoors, which easily causes damage to parts of the systems. Secondly, a pitch control system in the wind turbine generator system is affected by the working life of components and parts of the wind turbine generator system and the severe working environment, the inevitable fault can cause the smooth completion of the pitch control function, the generator set, the braking equipment, the fan blade and the like of the wind turbine generator system are all located at high altitude, and the wind turbine generator system is difficult to replace in time if the fault occurs.

Disclosure of Invention

The technical problem solved by the invention is to provide a fan variable pitch control system based on a multi-fault-tolerant mode, and solve the problem that a wind power system cannot normally operate when elements of the wind power system in the related technology break down.

The basic scheme provided by the invention is as follows: a fan variable pitch control system based on multiple fault-tolerant modes comprises a data acquisition module for acquiring a fan variable pitch angle and a main controller for controlling a variable pitch controller to output a driving instruction, and further comprises: the system comprises a fault-tolerant detection module, a redundancy module and a compensation model database;

the fault-tolerant detection module is used for generating an angle deviation according to the variable pitch angle and a preset pitch angle, and judging whether a sensor in the fan is in an extreme fault state or a non-extreme fault state according to the angle deviation so as to correspondingly generate an extreme fault signal or a non-extreme fault signal;

the main controller is used for receiving the limit fault signal or the non-limit fault signal generated by the fault-tolerant detection module, controlling the redundancy module to start when the limit fault signal is received or calling the compensation model database when the non-limit fault signal is received, and controlling the variable pitch controller to operate.

The principle of the basic scheme of the invention is as follows:

the pitch angle refers to the included angle between the airfoil chord line and the rotating plane at the top end of the fan blade. The wind turbine adopts variable pitch control, and the power is adjusted by adjusting the windward angle of the blades, wherein the pitch angle refers to the included angle between the fan blades and the plane of the wind wheel. Various sensors are arranged in the fan pitch control system to collect operation parameter data of devices such as a wind wheel, a transmission mechanism and a motor in the fan, and if the devices such as the wind wheel, the transmission mechanism and the motor break down, the pitch angle of the fan can be deviated. In the scheme, the fan pitch control system is considered not to be always in fault, firstly, the fan pitch angle is collected in real time, whether the whole fan pitch control system is in fault or not is judged, and various sensors in the fan pitch control system do not need to be detected one by one at every time.

The data acquisition module is arranged to realize the acquisition of the pitch angle of the fan in the fan pitch control system, and the pitch angle is the current pitch angle of the fan blades. Due to control precision and errors of a mechanical structure, the collected pitch angle of the variable pitch is output to the fault-tolerant detection module, so that deviation exists between the fan blade and an expected operation condition in the operation process of the fan blade, and the actual pitch angle of the fan is collected to be used as comparison data in the fault-tolerant detection module so as to adjust a fan pitch control system in real time.

The fault-tolerant detection module is arranged, the actual pitch angle of the fan collected by the data collection module and the preset pitch angle generate an angle deviation, the generated angle deviation is compared with the preset angle deviation, if the generated angle deviation is not within the range of the preset angle deviation, the fan is indicated to have a fault, the working state of the sensor in the fan is further detected at the moment, whether the sensor in the fan has a limit fault or a non-limit fault is judged, the sensor in the fan pitch control system makes an action corresponding to the fault under different fault states, and the reliability of the fan pitch control system is improved.

The redundant module can replace a sensor with a limit fault, namely when the fault-tolerant detection module in the variable-pitch control system of the fan detects that the sensor is in the limit fault, the redundant module is controlled by the main controller to replace the sensor in the limit fault state with the sensor corresponding to the sensor, so that the normal operation of the variable-pitch control system of the fan can be ensured, the limit fault of the sensor cannot cause the shutdown, and the accidental shutdown of the variable-pitch control system of the fan is avoided.

The main controller can call the compensation model database when the fan pitch control system has a non-limit fault state. Specifically, the data acquisition module is used for detecting the sensor data in the fan pitch control system, and when the fault-tolerant detection module in the fan pitch control system detects that the sensor is in a non-extreme fault state, the compensation model database is called through the main controller, so that the normal operation of the fan pitch control system is ensured by combining the compensation model database.

The basic scheme has the beneficial effects that:

(1) according to the scheme, the fan pitch control system and the fault-tolerant detection module are combined, whether a sensor in the fan pitch control system is in a limit fault state or a non-limit fault state is judged through the fault-tolerant detection module, and a limit fault signal or a non-limit fault signal is output to the main controller to control the corresponding modules to operate respectively, so that the fan pitch control system can be further judged, the normal operation of the control system is guaranteed, and accidental shutdown is avoided.

(2) In the scheme, the fan pitch control system and the redundancy module are combined, when a sensor in the fan is in a limit fault state, the redundancy module is controlled to be started through the main controller to serve as a standby module corresponding to the sensor, namely when the fan pitch control system has the limit fault, the specific sensor with the limit fault in the fan is further judged, and therefore the problem that the fan pitch control system is stopped due to the fact that the sensor with the limit fault completely fails can be solved; meanwhile, the situation that when limit faults occur in the variable pitch control system of the fan, all sensors in the fan need to be replaced integrally is avoided. The wind power generation system is safe and efficient to operate, and meanwhile, the resource waste of the fan variable pitch control system is avoided.

(3) According to the scheme, the fan pitch control system and the compensation model database are combined, when the sensors in the fan are in a non-limit fault state, the compensation model database is controlled to be started through the main controller, so that when the fan pitch control system has the non-limit fault, data correction is performed on all the sensors in the fan, the problem that the fan pitch control system cannot normally operate due to partial failure of the sensors and occasional failure can be avoided, meanwhile, data correction is performed on all the sensors in the fan according to the compensation model database, normal, safe and efficient operation of the wind power generation system is guaranteed, and operation reliability of the fan pitch control system is improved.

(4) In the scheme, firstly, the pitch angle of the variable-pitch propeller of the fan is acquired in real time, whether the whole variable-pitch control system of the fan has a fault is judged, and the various sensors in the variable-pitch control system of the fan do not need to be detected one by one at every time, so that the resource waste is avoided.

Further, the data acquisition module comprises a wind wheel angle sensor electrically connected with the fault-tolerant detection module;

the data acquisition module is used for acquiring the pitch angle of the variable pitch of the fan.

The wind wheel angle sensor is adopted in the data acquisition module to acquire the pitch angle of the fan, the technology is mature, the real-time acquisition of the pitch angle of the fan is facilitated, and whether the fan pitch control system breaks down or not is judged conveniently.

Further, the data acquisition module further comprises a wind speed sensor, a wind wheel rotating speed sensor, a transmission mechanism temperature sensor, a generator rotating speed sensor, a generator temperature sensor, a converter mechanism current sensor, a transformer mechanism voltage sensor, a power grid frequency sensor and a power grid power factor sensor which are respectively and electrically connected with the fault-tolerant detection module;

the data acquisition module is also used for acquiring the wind speed of the fan, the rotating speed of the wind wheel, the rotating speed of the transmission mechanism, the temperature of the transmission mechanism, the rotating speed of the generator, the temperature of the generator, the current of the converter mechanism, the voltage of the transformer mechanism, the frequency of the power grid and the power factor of the power grid.

A plurality of different sensors are arranged in the fan pitch control system, such as a wind speed sensor, a wind wheel rotating speed sensor, a transmission mechanism temperature sensor, a generator rotating speed sensor, a generator temperature sensor, a current sensor of a converter mechanism, a voltage sensor of a transformer mechanism, a power grid frequency sensor and a power grid power factor sensor, so that the operation data of each part in the fan pitch control system are detected in real time respectively, the real-time operation data of the fan pitch control system in the operation process are monitored, the fan pitch control system is prevented from being out of order and cannot be processed in time, and the operation reliability of the fan pitch control system is improved.

Further, the fault-tolerant detection module is further configured to compare the generated angle deviation with a preset angle deviation, and when the angle deviation is within a preset angle deviation range, output a first control signal to the main controller to control the operation of the pitch controller; and when the angle deviation is not within a preset angle deviation range, judging that a sensor in the fan is in a limit fault state or a non-limit fault state, and outputting a second control signal to the main controller so as to respectively control and start the redundancy module or call the compensation model database.

The generated angle deviation is compared with a preset angle deviation through a fault-tolerant detection module, whether a fan pitch control system has a fault or not is judged according to the angle deviation, so that the fan pitch control system is directly controlled to operate when the fan pitch control system has no fault, or when the fan pitch control system has the fault, a sensor in the fan is specifically judged to be in a limit fault state or a non-limit fault state, so that a redundancy module is controlled to be started or a compensation model database is controlled to be started. In the scheme, the fan pitch control system is specifically detected through the fault-tolerant detection module, and the replacement or data correction of the sensor in the fan pitch control system is realized by combining the redundancy module and the compensation model database, so that the accidental shutdown caused by the sensor fault in the fan pitch control system is avoided, and the reliability and the safety of the fan pitch control system are improved.

Further, the fault-tolerant detection module is also used for judging the position of the sensor in the limit fault state in the fan when the sensor in the fan is in the limit fault state.

The fault-tolerant detection module judges the position of the sensor in the limit fault state in the fan, so that maintenance personnel can conveniently overhaul the damaged sensor, and the intelligent control of the main controller is facilitated to replace the damaged sensor with a corresponding standby sensor.

Further, the redundancy module comprises standby sensors which are respectively in one-to-one correspondence with the wind wheel angle sensor, the wind speed sensor, the wind wheel rotating speed sensor, the transmission mechanism temperature sensor, the generator rotating speed sensor, the generator temperature sensor, the current sensor of the converter mechanism, the voltage sensor of the transformer mechanism, the power grid frequency sensor and the power factor sensor of the power grid.

Because the redundant module is provided with the standby sensors which are respectively in one-to-one correspondence with the sensors in the fan variable pitch control system, when a certain sensor in the fan variable pitch control system has a limit fault, the sensor can be replaced conveniently, so that the fan variable pitch control system can continue to work normally.

Further, the main controller is further used for comparing the real-time operation data of the sensor in the non-limit fault state with the operation data of the sensor before fault in the compensation model database when the sensor in the fan is in the non-limit fault state, so as to correct the data of the sensor in the non-limit fault state.

The main controller compares the real-time operation data of the sensor in the non-extreme fault state with the normal operation data of the sensor before the fault in the compensation model database, so that the main controller can correct the sensor data of the sensor in the non-extreme fault state, and the control precision of the fan variable pitch control system is improved.

Further, the compensation model database is also used for continuously storing the operation data of the wind wheel angle sensor, the wind speed sensor, the wind wheel rotating speed sensor, the transmission mechanism temperature sensor, the generator rotating speed sensor, the generator temperature sensor, the current sensor of the converter mechanism, the voltage sensor of the transformer mechanism, the power grid frequency sensor and the power grid factor sensor in the fan in real time.

The compensation model database continuously stores the operation data of each sensor in the fan in real time, so that when a certain sensor in the fan is in a non-limit fault state, the compensation model database is controlled to be started through the main controller, the real-time operation data of the sensor in the non-limit fault state is compared with the operation data of the sensor before the fault in the compensation model database, the sensor in the non-limit fault state is subjected to data correction, and the control precision of the fan pitch control system is improved.

The input end of the servo mechanism is connected with the output end of the variable pitch controller and used for receiving variable pitch driving signals output by the variable pitch controller so as to control the servo mechanism to drive the operation of a wind wheel in the fan.

The servo mechanism is arranged, so that the pitch controller outputs a pitch driving signal to control the servo mechanism to drive the wind wheel in the fan to operate, and the output of the pitch angle of the fan is ensured.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a multi-fault-tolerant mode-based fan pitch control system according to the present invention;

FIG. 2 is a schematic structural diagram of another embodiment of a multi-fault-tolerant mode-based fan pitch control system according to the invention;

FIG. 3 is a schematic control flow diagram of an embodiment of a multi-fault-tolerant mode-based wind turbine pitch control system according to the present invention.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the system comprises a data acquisition module 10, a fault-tolerant detection module 20, a main controller 30, a compensation model database 40, a redundancy module 50, a variable pitch controller 60, a servo mechanism 70, a wind wheel 11, a transmission mechanism 12, a generator 13, a converter mechanism 14 and a transformer mechanism 15.

Referring to FIG. 1, an embodiment of a multiple fault tolerant mode based wind turbine pitch control system is shown.

The specific implementation process is as follows: the fan variable pitch control system based on the multiple fault-tolerant modes comprises: the data acquisition module 10 for gathering the fan pitch angle and the main controller 30 for controlling the pitch controller 60 to output the driving instruction further include: fault tolerant detection module 20, redundancy module 50 and compensation model database 40;

the fault-tolerant detection module 20 is configured to generate an angle deviation according to the pitch angle of the variable blade and a preset pitch angle, and judge that a sensor in the fan is in an extreme fault state or a non-extreme fault state according to the angle deviation so as to generate an extreme fault signal or a non-extreme fault signal correspondingly;

the main controller 30 is configured to receive an extreme fault signal or a non-extreme fault signal generated by the fault-tolerant detection module 20, to control the redundant module 50 to start when the extreme fault signal is received or to call the compensation model database 40 when the non-extreme fault signal is received, and to control the pitch controller 60 to operate.

In this solution, referring to fig. 1 and fig. 2, an input end of the fault-tolerant detection module 20 is connected to an output end of the data acquisition module 10, an output end of the fault-tolerant detection module 20 is connected to a first input end of the main controller 30, a second input end of the main controller 30 is connected to an output end of the redundancy module 50, a third input end of the main controller 30 is connected to an output end of the compensation model database 40, and an output end of the main controller 30 is connected to an input end of the pitch controller 60. The data acquisition module 10 is provided with a wind wheel angle sensor to realize the actual pitch angle acquisition of the fan and output the actual pitch angle acquisition to the fault-tolerant detection module 20, the fault-tolerant detection module 20 generates an angle deviation between the actual pitch angle and a preset pitch angle and compares the generated angle deviation with the preset angle deviation, if the generated angle deviation is within the range of the preset angle deviation, the fan is free of fault, the fault-tolerant detection module 20 outputs a first control signal to the main controller 30, the main controller 30 directly controls the pitch controller 60 to output a pitch control signal, and the pitch controller 60 sends a control instruction to the servo mechanism, so that the wind wheel 11 in the fan outputs a pitch angle. If the generated angle deviation is not in the preset angle deviation range, the fan is indicated to have a fault, at this time, the working state of the sensor in the fan is further detected to judge whether the sensor in the fan has a limit fault or a non-limit fault, if the sensor is detected to be in the limit fault, the fault-tolerant detection module 20 outputs a second control signal to the main controller 30 to control the redundancy module 50 to start, if the sensor is detected to be in the non-limit fault, the fault-tolerant detection module 20 outputs the second control signal to the main controller 30 to control the compensation model database 40 to start, that is, through the combination of the data acquisition module 10, the fault-tolerant detection module 20, the redundancy module 50 and the compensation model database 40, the problem that the wind power system cannot normally run due to the fact that the wind power system cannot be replaced in time when the elements in the pitch control system of the fan fail can be, the safety and the reliability of the fan variable pitch control system are improved.

In an embodiment, referring to fig. 2, the data acquisition module 10 further includes a wind speed sensor electrically connected to the fault-tolerant detection module 20 to acquire the wind speed of the wind turbine in the wind turbine pitch control system; the wind wheel rotating speed sensor is electrically connected with the fault-tolerant detection module 20 so as to realize the acquisition of the rotating speed of the wind wheel 11 in the fan variable pitch control system; the transmission mechanism rotating speed sensor is electrically connected with the fault-tolerant detection module 20 so as to realize acquisition of the rotating speed of the transmission mechanism 12 in the fan variable pitch control system; the transmission mechanism temperature sensor is electrically connected with the fault-tolerant detection module 20 to acquire the temperature of the transmission mechanism 12 in the fan variable pitch control system; the generator rotating speed sensor is electrically connected with the fault-tolerant detection module 20 so as to realize acquisition of the rotating speed of the generator 13 in the fan variable pitch control system; the generator temperature sensor is electrically connected with the fault-tolerant detection module 20 to acquire the temperature of the generator 13 in the fan pitch control system; the current sensor of the current transformation mechanism is electrically connected with the fault-tolerant detection module 20 so as to realize the collection of the current transformation mechanism 14 in the variable pitch control system of the fan; the voltage sensor of the voltage transformation mechanism is electrically connected with the fault-tolerant detection module 20 so as to realize the acquisition of the voltage transformation mechanism 15 in the fan variable pitch control system; the power grid frequency sensor is electrically connected with the fault-tolerant detection module 20 to realize the acquisition of the power grid frequency in the fan variable pitch control system; and the grid power factor sensor is electrically connected with the fault-tolerant detection module 20 so as to realize the collection of grid power factors in the fan variable pitch control system. By the scheme, various parameters of the fan variable pitch control system are acquired by the sensors of the data acquisition module 10 in real time, so that the fan variable pitch control system is monitored in real time, and the reliability of the fan variable pitch control system is improved.

In this embodiment, the limit fault detection in the variable pitch control system of the wind turbine may be to observe whether the output voltage of each sensor in the wind turbine is normal, so that when the output voltage of the sensor in the wind turbine is abnormal, the redundant module 50 is started to replace the faulty sensor, thereby ensuring the normal operation of the control system.

Different sensors are installed at each position in a fan variable pitch control system, as shown in fig. 2 in the scheme, a wind wheel angle sensor, a wind speed sensor and a wind wheel rotating speed sensor are installed at the position of a wind wheel 11 of the fan variable pitch control system, a transmission mechanism rotating speed sensor and a transmission mechanism temperature sensor are installed at the position of a transmission mechanism 12 of the fan variable pitch control system, a generator rotating speed sensor and a generator temperature sensor are installed at the position of a generator 13 of the fan variable pitch control system, a current sensor of a current transformation mechanism is installed at the position of a current transformation mechanism 14 of the fan variable pitch control system, a voltage sensor of a voltage transformation mechanism is installed at the position of a voltage transformation mechanism 15 of the fan variable pitch control system, and a power grid frequency sensor and a power factor sensor are installed at the. Most of equipment of the wind power system is exposed outdoors, so that part of the system is easily damaged, meanwhile, a generator 13 set, braking equipment, a fan wind wheel 11 and the like of the wind power system are positioned at high altitude, and the wind power system is difficult to replace in time if a fault occurs, so that the running state of the fan variable pitch control system is judged through each sensor in the fan variable pitch control system, and the normal, safe and efficient running of the wind power system is guaranteed.

Further, the redundancy module 50 includes standby sensors corresponding to the wind wheel angle sensor, the wind speed sensor, the wind wheel rotation speed sensor, the transmission mechanism temperature sensor, the generator rotation speed sensor, the generator temperature sensor, the current sensor of the converter mechanism, the voltage sensor of the transformer mechanism, the power grid frequency sensor and the power grid power factor sensor in the fan pitch control system one by one. Further, when the fault-tolerant detection module 20 determines that the fan is in the limit fault state, it continues to determine the position of the sensor in the limit fault state in the fan, so that the maintenance personnel can conveniently overhaul the damaged sensor, and the main controller 30 can intelligently control the damaged sensor to be replaced by a corresponding standby sensor. The fault-tolerant detection module 20 of the present solution can locate which sensor in the fan has a limit fault, so that the main controller 30 can control the corresponding sensor in the redundant module 50 to operate. Namely, when one sensor of the variable-pitch control system of the fan has a limit fault, the other corresponding standby sensor is controlled to work, so that the normal operation of the variable-pitch control system of the fan is ensured.

In one embodiment, the pitch control system of the wind turbine has a memory electrically connected to the main controller, and the number of extreme faults occurring in each sensor of the wind turbine can be recorded. When the fault-tolerant detection module judges the limit fault of the sensor in the fan, the data recorded by the memory can be used for preferentially judging the sensor with more times through the control of the main controller, and if the sensor is judged to have the limit fault, other sensors do not need to be detected one by one, so that the detection flow of the fan pitch control system is reduced, and the detection cost is saved.

In one embodiment, when a sensor in the wind turbine is in a non-extreme fault state, the main controller 30 compares the real-time operation data of the sensor in the non-extreme fault state with the operation data of the sensor before the fault in the compensation model database 40 to perform data correction on the sensor in the non-extreme fault state. Specifically, when the fan pitch control system is in a non-limit fault, a real-time operation curve of each sensor in the fan is obtained, and the real-time operation curve is automatically compared with the operation curves of each sensor before the fault, which are stored in the compensation model database 40. It will be appreciated that the compensation model database 40 is continuously maintained in real time for each sensor's operational data. At the moment, model data of each sensor before the fault occurs is called out, and data correction is carried out on each current sensor, so that normal operation of a control system can be ensured, and accidental shutdown is avoided.

Referring to fig. 3, which is a schematic control flow diagram of an embodiment of the multi-fault-tolerant-mode-based fan pitch control system of the present invention, the multi-fault-tolerant-mode-based fan pitch control system enters a fault-tolerant detection module 20 in a sensor limit fault state and a non-limit fault state, the fault-tolerant detection module 20 determines whether the fan pitch control system has a fault by detecting whether an output waveform and a preset waveform of a pitch angle are within an error range, and if the output waveform and the preset waveform of the pitch angle are within the error range, it indicates that the fan pitch control system has no fault, the main controller 30 sends a normal control instruction to the pitch controller 60, and the pitch controller 60 sends a control instruction to the servo mechanism, so as to drive the wind wheel 11 in the fan pitch control system to output a pitch angle. When the output waveform of the variable pitch angle and the preset waveform are not in the error range, the fault-tolerant detection module 20 further judges whether each sensor in the variable pitch control system of the fan is in a limit fault, when the fault-tolerant detection module 20 judges that the sensor is in the limit fault, the main controller 30 controls the redundant module 50 to start, the redundant module 50 is combined to send a control instruction to the variable pitch controller 60, and the variable pitch controller 60 sends the control instruction to the servo mechanism, so that the wind wheel 11 in the variable pitch control system of the fan is driven to output a pitch angle. When the fault-tolerant detection module 20 judges that the sensor is a non-limit fault, the compensation model database 40 is controlled to be started through the main controller 30, a control instruction is sent to the variable pitch controller 60 through the combination of the compensation model database 40, and the variable pitch controller 60 sends the control instruction to the servo mechanism, so that the wind wheel 11 in the variable pitch control system of the fan is driven to output a pitch angle. According to the scheme, the problem that the wind power system cannot normally operate due to the fact that self elements of the wind power system cannot be replaced in time when the wind power system fails in the related technology is solved, and the operation reliability of the wind power system is improved.

Based on the embodiment, the scheme firstly judges the angle deviation generated by the real-time collected variable pitch angle and the preset pitch angle so as to judge whether the integral variable pitch control system of the fan has a fault; secondly, when the fan variable pitch control system has faults, judging whether the fan variable pitch system has limit faults or non-limit faults; and finally, judging the specific sensor with the limit fault when the limit fault exists in the variable-pitch control system of the fan. That is, through the multistage judgment of the fan variable pitch control system, the problem that the fan variable pitch control system cannot normally operate when the fan variable pitch control system fails is solved, and the operation reliability of the fan variable pitch control system is improved.

In an embodiment, referring to fig. 2, the multiple fault-tolerant mode-based wind turbine pitch control system further includes a servo mechanism 70, wherein an input end of the servo mechanism 70 is connected to an output end of the pitch controller 60, and is configured to receive a pitch driving signal output by the pitch controller 60, so as to control the servo mechanism 70 to drive the operation of a wind turbine in the wind turbine. The servo mechanism 70 is arranged, so that the pitch controller 60 outputs the pitch driving signal to control the servo mechanism 70 to drive the wind wheel in the fan to operate, and the output of the pitch angle of the fan is ensured.

It should be noted that the limit fault in the wind turbine pitch control system of the above embodiment refers to an extreme situation when the sensor completely loses the detection function. The non-extreme fault in the fan variable pitch control system refers to that when the sensor part loses efficacy and occasionally fails, due to uncertainty and immeasurability of the sensor part, various data of the fan variable pitch control system cannot be detected and diagnosed timely, accurately and comprehensively.

The normal, safe and efficient operation of the wind power generation system is ensured by the fan variable pitch control system with various fault-tolerant modes. The problems of poor real-time performance, large calculation amount, easiness in occurrence of false alarm, missed alarm, wrong judgment, delay and the like in a fan variable pitch control system in the related technology are solved.

The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.