Low-temperature pitch drive control system and control method applicable to medium-sized fans

Abstract

The present invention designs a low-temperature pitch drive control system applicable to medium-sized wind turbines, which is characterized by including a pitch drive controller, a power supply module, a lubricant supply mechanism, a voltage sampling circuit, a motor temperature sensor, an ambient temperature sensor, an encoder, and a limit switch. Another technical solution of the present invention is to provide a low-temperature pitch drive control method applicable to medium-sized wind turbines. The present invention is mainly applied to the pitch drive control part of medium-sized wind power generation sets, and provides a relatively perfect low-temperature pitch drive control system and control method. The system and method provided by the present invention take into account the influence of temperature on torque, bearing maintenance, pitch fault protection, etc. Through pitch self-adjustment, control of lubricant, and fault protection logic, the service life of the bearing is effectively increased, the stability of the wind turbine operation is ensured, and the convenience of installation and later maintenance is also ensured.

Description

Technical Field

[0001] The present invention relates to a pitch drive control system for a medium-sized wind turbine and a control method based on the control system, belonging to the technical field of medium-sized wind turbine generators. Background Art

[0002] Medium-sized wind turbines are often installed in areas with good wind resources such as coastal areas, plateaus, Inner Mongolia, and northern Gansu. Some areas are seasonal wind energy utilization areas. For example, the most effective wind energy appears in winter and spring. Therefore, the medium-sized wind turbines in these areas need to face the test under low temperature. For the pitch drive control device of a medium-sized wind turbine, it is necessary to adjust the blade pitch angle in real time according to the actual wind speed and direction to ensure the safety of the wind turbine and obtain the maximum wind energy.

[0003] There are not many relevant systems and logics for low-temperature pitch drive control, and additional heating power supplies and multiple heaters are often required. For example:

[0004] In the patent application for invention with the publication number CN101493074 A, a low-temperature control system and control method for a wind power pitch device are disclosed. In this patent application for invention, it is necessary to monitor the ambient temperatures of the hub and the battery box, and the wind power pitch device is heated under the control of a temperature sensor. If any one of the sensor or the heater fails, it will affect its control at low temperature.

[0005] The patent with the publication number CN201401279 Y discloses a pitch device for a low-temperature type wind power generating set. In this patent, an independent control power supply and a heating power supply need to be equipped, and multiple heaters are provided. The heating power supply is respectively connected to each heater, and each heater is controlled through a temperature control intermediate relay. Different from the patent application for invention with the publication number CN101493074 A, the device disclosed in this patent also has an input protection air switch between the heating power supply and each heater. From a safety perspective, this patent is better than the former. However, more auxiliary devices are required in this device, which is not friendly to fault troubleshooting and later maintenance in case of abnormalities.

[0006] The patent with the publication number CN201763539 U discloses a wind power generating set adapted to the environment of ultra-low temperature regions. This patent only records the devices and related requirements for the wind power generating set as a whole to cope with the ultra-low temperature environment. Similar to the patent application for invention with the publication number CN101493074 A and the patent with the publication number CN201401279 Y, a large number of heaters are required in the technical solution disclosed in this patent, but no heater is provided in the pitch part, nor is it mentioned how the pitch part copes with the environment of ultra-low temperature regions. Summary of the Invention

[0007] The object of the present invention is to provide a control system and a control method suitable for low-temperature pitch drive control of medium-sized wind turbines.

[0008] To achieve the above object, a technical solution of the present invention is to provide a low-temperature pitch drive control system suitable for medium-sized wind turbines, which is characterized in that it includes a pitch drive controller, the pitch drive controller is connected to the main control system owned by the medium-sized wind turbine, the pitch drive controller drives a motor via a driver, the output shaft of the motor is coupled to the main shaft of the medium-sized wind turbine, and blades of the medium-sized wind turbine are provided on the main shaft;

[0009] The low-temperature pitch drive control system further includes a power supply module, a lubricant supply mechanism for supplying lubricant to the main shaft, a voltage sampling circuit for collecting the voltage signal output by the power supply module, a motor temperature sensor for collecting the temperature signal of the motor, an ambient temperature sensor for collecting the temperature of the environment where the medium-sized wind turbine is located, an encoder for detecting the rotation angle of the output gear of the motor, and a limit switch located at the limit position of the main shaft rotation, wherein:

[0010] The power supply module supplies power to the pitch drive controller, the driver, the motor, the lubricant supply mechanism, the motor temperature sensor, and the ambient temperature sensor;

[0011] The lubricant supply mechanism, the voltage sampling circuit, the motor temperature sensor, the ambient temperature sensor, the encoder, and the limit switch are all connected to the pitch drive controller.

[0012] Preferably, the pitch drive controller is connected to the main control system owned by the medium-sized wind turbine through a data communication interface and an I / O port at the same time.

[0013] Preferably, the power supply module includes a main power supply, a control power supply, and a super capacitor, wherein: the input end of the main power supply is connected to an external AC power supply;

[0014] The DC output end of the main power supply is connected to the super capacitor through a charging module, is connected to the DC input end of the control power supply, is connected to the power supply end of the driver, and is connected to the power supply end of the motor; the power supply end of the driver and the power supply end of the motor are also connected to the super capacitor;

[0015] The DC output end of the control power supply is connected to the power supply end of the lubricant supply mechanism, the power supply end of the pitch drive controller, the power supply end of the motor temperature sensor, and the power supply end of the ambient temperature sensor.

[0016] Preferably, there are three voltage sampling circuits, and these three voltage sampling circuits respectively collect the output voltage signals of the main power supply, the control power supply, and the super capacitor.

[0017] Preferably, the lubricant supply mechanism includes an oil pump. The control end of the oil pump is connected to the pitch drive controller. The input port of the oil pump is connected to the lubricant storage mechanism. The output port of the oil pump provides lubricant for the main shaft of the medium-sized wind turbine. The lubricant storage mechanism stores grease.

[0018] Preferably, the pitch drive controller controls the grease in the following steps:

[0019] The pitch drive controller collects the ambient temperature in real time through the ambient temperature sensor. If the ambient temperature collected in real time is less than a preset temperature threshold, the pitch drive controller controls the lubricant supply mechanism to provide the grease at a fixed interval T1, and the lubricant supply mechanism works continuously for a duration of T2 each time;

[0020] If the ambient temperature collected in real time is greater than the preset temperature threshold, the pitch drive controller controls the lubricant supply mechanism to provide the grease at a fixed interval T3, where T3 is greater than T1, and the lubricant supply mechanism works continuously for a duration of T4 each time, and T4 is less than T2;

[0021] The pitch drive controller also obtains the angle of rotation of the motor controlled by the driver. If the rotation angle obtained in real time is less than the threshold, it starts timing until the timing time exceeds the time threshold, and if the rotation angle obtained in real time remains less than the threshold during this process, the frequency of the lubricant supply mechanism providing the grease is reduced.

[0022] Another technical solution of the present invention is to provide a low-temperature pitch drive control method applicable to a medium-sized wind turbine, which uses the above low-temperature pitch drive control system, and is characterized in that

[0023] The pitch drive controller operates in a normal working logic and an installation mode control logic. Among them, when the pitch drive controller operates in the normal working logic:

[0024] The pitch drive controller controls the driver to rotate the motor at an appropriate speed according to the instructions issued by the main control system, so that the blade is maintained in the optimal angle of attack state to obtain the maximum wind energy; during this process, the pitch drive controller obtains angle data feedback through the encoder to ensure that the blade is in the correct position; the pitch drive controller monitors the motor temperature and the ambient temperature through the motor temperature sensor and the ambient temperature sensor, and combines the control of the driver and the lubricant supply mechanism to ensure that the system operates at a suitable temperature and can work well at low or high temperatures:

[0025] The variable pitch drive controller obtains the motor temperature in real time through the motor temperature sensor. If the motor temperature obtained in real time is less than a preset temperature threshold, the torque is further obtained through the encoder. If the torque increases to a set range, it is considered that the current temperature is low. Without adding an independent heating device, the variable pitch drive controller controls the motor through the driver, and repeatedly moves the main shaft at a smaller position without affecting the blade pitch angle, so as to prevent the main shaft bearing from freezing when it does not move at low temperature, thereby affecting the unit;

[0026] When the pitch drive controller operates in the installation mode control logic:

[0027] The operator manually gives an on signal to the pitch drive controller, and the pitch drive controller drives the main shaft to rotate after receiving the on signal; the operator determines the rotation angle of the main shaft, and when the main shaft rotates to the required angle, the operator manually gives an off signal to the pitch drive controller, and the pitch drive controller stops rotating the main shaft after receiving the off signal.

[0028] Preferably, the pitch drive control needs to monitor the output voltage values ​​of the main power supply, control power supply and supercapacitor, and ensure that the pitch drive controller detects the voltage drop in time based on the three output voltage values, and completes the pitch protection action in advance before the system completely loses power to prevent the wind turbine from running out of control. At the same time, the safety chain between the pitch drive controller and the main control system is disconnected, and the status of the pitch drive controller is fed back to the main control system to deal with the fault in advance.

[0029] Preferably, the variable pitch drive controller calculates the theoretical time required to reach the target angle at the target speed based on the target angle, target speed, actual angle and actual speed, and adds appropriate time compensation on the basis of this theoretical time as a time judgment basis for out-of-tolerance protection; if the variable pitch drive controller fails to reach the target angle within this time, it is considered that there is an out-of-tolerance in the control, and the abnormality is fed back to the main control system.

[0030] Preferably, the pitch drive controller is connected to the main control system through an I / O port in addition to the communication and safety chain, and the pitch drive controller receives the operating status feedback from the main control system through the I / O port. If the main control system is abnormal, the pitch drive controller will take corresponding protection actions to ensure the safety of the unit;

[0031] The pitch drive controller and the main control system also send heartbeat data through the communication port to ensure that both parties can understand whether the other party is in normal working condition. If any abnormality occurs in either party, fault protection is implemented.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] The present invention is mainly applied to the pitch drive control part of medium-sized wind turbines, and provides a relatively perfect low-temperature pitch drive control system and control method. The system and method provided by the present invention take into account the influence of temperature on torque, bearing maintenance, pitch fault protection, etc. Through pitch self-adjustment, control of lubricants and fault protection logic, the service life of the bearing is effectively increased, the stability of the wind turbine operation is ensured, and the convenience of installation and later maintenance is also ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a circuit schematic diagram of a low-temperature pitch drive control system for medium-sized wind turbines provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0036] As Figure 1 shown, a low-temperature pitch drive control system for medium-sized wind turbines disclosed by the present invention includes a pitch drive controller implemented based on an STM32 chip. The pitch drive controller is connected to the main control system owned by the medium-sized wind turbine through a data communication interface and an I / O port.

[0037] The pitch drive controller drives a motor via a driver. The output shaft of the motor is connected to the main shaft of the medium-sized wind turbine, and the blades of the medium-sized wind turbine are provided on the main shaft. In this embodiment, the driver uses FD144S-CB-000 of Shanghai B&R Industrial Automation Co., Ltd., and the motor uses SMC130D-0180-30ABK-4DKR of Shanghai B&R Industrial Automation Co., Ltd.

[0038] The main power supply powers the driver and the motor. The main power supply uses Mean Well's RSP-3000-48, which is used to convert the alternating current provided by the external power supply into direct current. The DC signal output terminal of the main power supply charges the supercapacitor via the charging module, and the DC signal output terminal of the main power supply is connected to the DC signal input terminal of the control power supply. The DC signal output terminal of the control power supply is connected to the power supply terminals of the lubricant supply mechanism, the pitch drive controller, the motor temperature sensor, and the ambient temperature sensor. The external power supply converts the DC signal provided by the main power supply into a DC signal adapted to the lubricant supply mechanism, the pitch drive controller, the motor temperature sensor, and the ambient temperature sensor, thereby realizing the power supply adapted to the lubricant supply mechanism, the pitch drive controller, the motor temperature sensor, and the ambient temperature sensor. In this embodiment, the charging module is implemented based on Mean Well's RSD200C-48, the control power supply uses Mean Well's RSD100C-24, and the supercapacitor is the backup power supply, using CeraMax's M14S-060-05S.

[0039] The pitch drive controller respectively collects the voltage signals output by the main power supply, the control power supply, and the supercapacitor via three voltage sampling circuits. The voltage sampling circuit can use the voltage sampling resistors well-known to those skilled in the art or the voltage sampling chips well-known to those skilled in the art.

[0040] The lubricant supply mechanism includes an oil pump. The control end of the oil pump is connected to the pitch drive controller. The input port of the oil pump is connected to the lubricant storage mechanism, and the output port of the oil pump provides lubricant for the main shaft of the medium-sized fan. In this embodiment, the oil pump uses Kairun's KG-Y type electric lubrication pump, and grease is used as the lubricant. Compared with lubricating oil, grease has the characteristics of small fluidity, not easy to leak, and long lubrication maintenance time, which is more suitable for the pitch drive control system and can also reduce the difficulty of maintenance.

[0041] Since the cooling effect of grease is poor, the control of grease is more complicated than that of lubricating oil. In the present invention, the following specific scheme is adopted to control grease: when the pitch drive controller is at a relatively high ambient temperature, the operation of the oil pump is appropriately adjusted to reduce the continuous working time of the oil pump and increase the operation interval time. In addition to the influence of temperature, lubrication control also needs to be combined with the operation of the pitch drive controller. Specifically: when the pitch drive controller operates at a small angle for a long time, the oil pump is controlled not to operate multiple times. If the grease control method remains unchanged, within a small range of the motor output gear operation, friction extrusion will cause the grease to overflow and fall, while in other ranges, there will be accumulation of grease, resulting in waste of grease and increasing the maintenance cost of grease.

[0042] The pitch drive controller is also connected to a motor temperature sensor and an ambient temperature sensor. Among them, the motor temperature sensor is used to collect the temperature signal of the motor, and the ambient temperature sensor is located to collect the ambient temperature where the medium-sized wind turbine is located. After obtaining the above technical solution provided by the present invention, those skilled in the art can select the specific installation positions and installation methods of the motor temperature sensor and the ambient temperature sensor according to needs, which are common knowledge for those skilled in the art and will not be elaborated here. In this embodiment, both the motor temperature sensor and the ambient temperature sensor adopt P07-PT100.

[0043] In the present invention, a limit switch is provided at the extreme position of the main shaft rotation. The limit switch is connected to the pitch drive controller. If the pitch drive controller receives the signal given by the limit switch, it will send an alarm signal to the main control system. In this embodiment, the limit switch adopts ZCMD29C1 of Schneider.

[0044] An encoder is provided on the motor. The encoder is used to detect the angle rotated by the output gear of the motor and send the angle signal to the pitch drive controller. Then, the pitch drive controller obtains the output torque of the motor based on this angle signal. The specific installation method of the encoder is common knowledge for those skilled in the art and will not be elaborated here. In this embodiment, the encoder adopts GMX60R12 / 12E10SGB.

[0045] Figure 1 Among them, the input detection (IO detection) is a peripheral function of the STM32 chip and is implemented based on the internal chip of the pitch drive controller. It is used to monitor: external limit (both the B&R drive and the pitch controller are connected to the limit switch. If the communication between the pitch controller and the B&R drive fails, this input detection can also feedback this signal to the main control system), local-remote switch (used to enter the installation mode), emergency stop button (external stop control of the pitch drive controller), manual pitch retraction (cooperating with the installation mode), manual pitch opening (cooperating with the installation mode), main control status (an I / O port where the pitch drive controller is connected to the main control system. The main control flips the level, and the pitch drive controller is used as input detection to determine the operation status of the main control), etc. signals, and then reasonably control the pitch drive.

[0046] The pitch drive controller controls the drive to rotate the motor at an appropriate speed according to the instructions issued by the main control system, so that the blade is maintained at the optimal angle of attack to obtain the maximum wind energy. The pitch drive controller needs to monitor its own and the motor status so as to make a reasonable response quickly when an abnormality occurs. The encoder feeds back the angle data to ensure that the blade is in the correct position. The limit switch is used as a backup protection to feed back the abnormality to the pitch drive controller. The pitch drive controller monitors the ambient temperature, motor temperature, etc. through the motor temperature sensor and the ambient temperature sensor, and combines the control of the drive and the lubricant supply mechanism to ensure that the system operates at an appropriate temperature and can work well at low or high temperatures. If the motor runs for a long time, the motor temperature will gradually rise, and the high temperature will affect the normal operation of the motor and even cause failures. If the motor temperature is extremely low, other effects will occur, such as an increase in the driving torque. In the present invention, temperature detection is combined with torque detection. In a certain low-temperature environment, when the torque increases to the set range, it can be considered that the current temperature is low. Without adding an independent heating device, the pitch drive controller can control the drive, and repeatedly actuate the main shaft with a small position without affecting the blade pitch angle, preventing the bearings and other devices of the main shaft from freezing when they do not act at low temperatures, thereby affecting the unit.

[0047] Considering that when installing the blades of a medium-sized wind turbine, it is necessary to rotate the bearing 360° so that the blade flange and the bearing hole positions correspond to each other, and the bolts in the hub web can all complete the torque operation. Therefore, the present invention adds a control logic in the installation mode in addition to the normal working logic of the pitch drive controller, facilitating the on-site installation personnel to complete the blade installation work through simple node switch operations without manually rotating the bearing step by step. Specifically, in the installation mode, the operator manually gives an on signal to the pitch drive controller. After receiving the on signal, the pitch drive controller drives the main shaft to rotate. The operator judges the rotation angle of the main shaft. When the main shaft has rotated through the required angle, the operator then manually gives an off signal to the pitch drive controller. After receiving the off signal, the pitch drive controller makes the main shaft stop rotating.

[0048] In addition to the above control logic, the pitch drive controller also has some fault protection logics as follows:

[0049] The pitch drive controller needs to monitor the main power supply, control power supply, and supercapacitor voltage. By the three voltage values, it ensures that the pitch drive controller can detect the voltage drop in time, complete the feathering protection action in advance before the system completely loses power, prevent the wind turbine from running out of control, and at the same time disconnect the safety chain between the pitch drive controller and the main control system, and feedback the status of the pitch drive controller to the main control system to deal with this fault in advance. The supercapacitor needs to provide enough energy to ensure that the pitch drive controller can complete the action smoothly.

[0050] The pitch drive controller calculates the theoretical time required to reach the target angle at the target speed based on the target angle, target speed, actual angle, and actual speed, and adds an appropriate time compensation to this theoretical time as the basis for the time judgment of over-tolerance protection. If the pitch drive controller fails to reach the target angle within this time, it is considered that there is an over-tolerance in the control, and this abnormality needs to be fed back to the main control system.

[0051] In addition to communication and the safety chain, the pitch drive controller is also connected to the main control system through I / O ports. The pitch drive controller receives the operating status feedback from the main control system through these I / O ports. If an abnormality occurs in the main control system, the pitch drive controller needs to take corresponding protection actions, such as retracting the blades, etc., to ensure the safety of the unit. In addition to the above technical solutions, a "heartbeat" is also additionally set in the communication between the pitch drive controller and the main control system to ensure that both parties can understand whether the other party is in a normal working state. In case of an abnormality in any party, fault protection needs to be taken.

Claims

1. A low-temperature pitch drive control method applicable to medium-sized fans, which adopts a low-temperature pitch drive control system. The low-temperature pitch drive control system includes a pitch drive controller, and the pitch drive controller is connected to the main control system owned by the medium-sized fan. The pitch drive controller drives a motor via a driver, and the output shaft of the motor is coupled to the main shaft of the medium-sized fan. Blades of the medium-sized fan are provided on the main shaft. The low-temperature pitch drive control system further includes a power supply module, a lubricant supply mechanism for supplying lubricant to the main shaft, a voltage sampling circuit for collecting the voltage signal output by the power supply module, a motor temperature sensor for collecting the temperature signal of the motor, an ambient temperature sensor for collecting the temperature of the environment where the medium-sized fan is located, an encoder for detecting the rotation angle of the output gear of the motor, and a limit switch located at the extreme position of the main shaft rotation. Wherein: The power supply module supplies power to the pitch drive controller, the driver, the motor, the lubricant supply mechanism, the motor temperature sensor, and the ambient temperature sensor. The lubricant supply mechanism, the voltage sampling circuit, the motor temperature sensor, the ambient temperature sensor, the encoder, and the limit switch are all connected to the pitch drive controller. The lubricant supply mechanism includes an oil pump, the control end of the oil pump is connected to the pitch drive controller, the input port of the oil pump is connected to the lubricant storage mechanism, the output port of the oil pump supplies lubricant to the main shaft of the medium-sized fan, and grease is stored in the lubricant storage mechanism. The pitch drive controller controls the grease by the following steps: The pitch drive controller collects the ambient temperature in real time through the ambient temperature sensor. If the ambient temperature collected in real time is less than a preset temperature threshold, the pitch drive controller controls the lubricant supply mechanism to supply the grease at a fixed interval duration T1, and the lubricant supply mechanism works continuously for a duration of T2 each time. If the ambient temperature collected in real time is greater than the preset temperature threshold, the pitch drive controller controls the lubricant supply mechanism to supply the grease at a fixed interval duration T3, T3 is greater than T1, and the lubricant supply mechanism works continuously for a duration of T4 each time, T4 is less than T2. The pitch drive controller also obtains the angle of controlling the motor to rotate through the driver. If the rotation angle obtained in real time is less than the threshold value, start timing until the timing time exceeds the time threshold, and during this process, the rotation angle obtained in real time remains less than the threshold value, then reduce the frequency of the lubricant supply mechanism supplying the grease. It is characterized in that the low-temperature pitch drive control method includes the following steps: The pitch drive controller operates in a normal working logic and an installation mode control logic. Among them, when the pitch drive controller operates in the normal working logic: The pitch drive controller controls the drive to rotate the motor at an appropriate speed according to the instructions issued by the main control system, so that the blade is maintained in the optimal angle of attack state to obtain the maximum wind energy; during this process, the pitch drive controller obtains angle data feedback through the encoder to ensure that the blade is in the correct position; the pitch drive controller monitors the motor temperature and the ambient temperature through the motor temperature sensor and the ambient temperature sensor, and combines the control of the drive and the lubricant supply mechanism to ensure that the system operates at a suitable temperature and can work well at low or high temperatures: The pitch drive controller obtains the motor temperature in real time through the motor temperature sensor. If the motor temperature obtained in real time is less than the pre-set temperature threshold, the torque is further obtained through the encoder. If the torque increases to the set range, it is considered that the current is in a low temperature state. Without adding an independent heating device, the pitch drive controller controls the motor through the drive, and repeatedly moves the main shaft in a small position without affecting the blade pitch angle, preventing the bearing of the main shaft from freezing when it does not move at low temperature, thus affecting the unit; When the pitch drive controller operates in the installation mode control logic: The operator manually gives an on signal to the pitch drive controller. After receiving the on signal, the pitch drive controller drives the main shaft to rotate; the operator judges the rotation angle of the main shaft. When the main shaft has rotated through the required angle, the operator then manually gives an off signal to the pitch drive controller. After receiving the off signal, the pitch drive controller stops the main shaft from rotating.

2. A low-temperature pitch drive control method for a medium-sized wind turbine as described in claim 1, characterized in that, The pitch drive control needs to monitor the output voltage values of the main power supply, the control power supply and the supercapacitor, and based on the three output voltage values, ensure that the pitch drive controller can detect the voltage drop in time, complete the feathering protection action in advance before the system completely loses power, prevent the wind turbine from running out of control, and at the same time disconnect the safety chain between the pitch drive controller and the main control system, and feedback the status of the pitch drive controller to the main control system to cope with the fault in advance.

3. A low-temperature pitch drive control method for a medium-sized wind turbine as described in claim 1, characterized in that, The pitch drive controller calculates the theoretical time required to reach the target angle at the target speed according to the target angle, target speed, actual angle and actual speed, and adds a suitable time compensation on this theoretical time as the time judgment basis for over-tolerance protection; if the pitch drive controller does not reach the target angle within this time, it is considered that the control has an over-tolerance, and an abnormality is fed back to the main control system.

4. A low-temperature pitch drive control method for a medium-sized wind turbine as described in claim 1, characterized in that, The pitch drive controller is connected to the main control system through the I / O port in addition to communication and the safety chain. The pitch drive controller receives the operating status feedback from the main control system through this I / O port; if the main control system has an abnormality, the pitch drive controller makes corresponding protection actions to ensure the safety of the unit; The pitch drive controller also sends heartbeat data to the main control system through a communication port to ensure that both parties can understand whether the other is in a normal working state. In case of any abnormality on either side, fault protection is triggered.

5. A low-temperature pitch drive control method for a medium-sized wind turbine according to claim 1, characterized in that the pitch drive controller is connected to the main control system of the medium-sized wind turbine through a data communication interface and an I / O port at the same time.

6. A low-temperature pitch drive control method for a medium-sized wind turbine according to claim 1, characterized in that the power supply module includes a main power supply, a control power supply and a super capacitor, where: the input end of the main power supply is connected to an external AC power supply; the DC output end of the main power supply is connected to the super capacitor through a charging module, connected to the DC input end of the control power supply, connected to the power supply end of the driver, and connected to the power supply end of the motor; the power supply end of the driver and the power supply end of the motor are also connected to the super capacitor; the DC output end of the control power supply is connected to the power supply end of the lubricant supply mechanism, the power supply end of the pitch drive controller, the power supply end of the motor temperature sensor, and the power supply end of the ambient temperature sensor.

7. A low-temperature pitch drive control system for a medium-sized wind turbine according to claim 6, characterized in that there are three voltage sampling circuits, and these three voltage sampling circuits respectively collect the output voltage signals of the main power supply, the control power supply and the super capacitor.

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