Pitch Controller, Fault Detection Method, Device and Medium of Pitch System

Abstract

An embodiment of the present application provides a pitch controller, a method, a device and a medium for fault detection of a pitch system. The method includes: during the process of blade pitching, obtaining the actual pitch speed and the given pitch speed within a target time period; calculating a first parameter according to the actual pitch speed within the target time period, where the first parameter represents the fluctuation amplitude of the actual pitch speed within the target time period; calculating a second parameter according to the actual pitch speed and the given pitch speed within the target time period, where the second parameter represents the similarity between the actual pitch speed and the given pitch speed within the target time period; determining a pitch system fault according to the first parameter and the second parameter. According to the embodiments of the present application, accurate detection of pitch system faults can be achieved.

Description

Technical Field

[0001] This application belongs to the technical field of wind power generation, and particularly relates to a pitch controller, a fault detection method, device and medium for a pitch system. Background Art

[0002] As a core component of a wind turbine generator set, the pitch system plays an important role in controlling the power generation of the wind turbine and improving the safety of the wind turbine.

[0003] Specifically, during the operation of the wind turbine, the pitch system can control the pitch angle of the blade by controlling the rotation and stop of the pitch motor.

[0004] If a fault occurs in the pitch system, it will lead to an increase in the load of the wind turbine generator set, which may affect the safety or service life of the wind turbine. Therefore, how to accurately detect the faults of the pitch system has become an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of this application provide a pitch controller, a fault detection method, device and medium for a pitch system, which can realize accurate detection of pitch system faults.

[0006] In a first aspect, the embodiments of this application provide a fault detection method for a pitch system, the method includes:

[0007] During the process of blade pitching, obtain the actual pitching speed and the given pitching speed within a target time period;

[0008] According to the actual pitching speed within the target time period, calculate a first parameter, where the first parameter represents the fluctuation amplitude of the actual pitching speed within the target time period;

[0009] According to the actual pitching speed and the given pitching speed within the target time period, calculate a second parameter, where the second parameter represents the similarity between the actual pitching speed and the given pitching speed within the target time period;

[0010] Determine a pitch system fault according to the first parameter and the second parameter.

[0011] In a second aspect, the embodiments of this application provide a fault detection device for a pitch system, the device includes:

[0012] A parameter acquisition module, configured to obtain the actual pitching speed and the given pitching speed within a target time period during the process of blade pitching;

[0013] A processing module, configured to calculate a first parameter according to the actual pitching speed within the target time period, where the first parameter represents the fluctuation amplitude of the actual pitching speed within the target time period;

[0014] and is further configured to calculate a second parameter according to an actual pitch speed and a given pitch speed within a target time period, where the second parameter represents a similarity between the actual pitch speed and the given pitch speed within the target time period;

[0015] A fault judgment module, configured to determine a pitch system fault according to the first parameter and the second parameter.

[0016] In a third aspect, a pitch controller is provided, including:

[0017] a processor and a memory storing computer program instructions;

[0018] The processor reads and executes the computer program instructions to implement the fault detection method for a pitch system provided in the first aspect or any optional implementation manner of the first aspect.

[0019] In a fourth aspect, a computer storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the fault detection method for a pitch system provided in the first aspect or any optional implementation manner of the first aspect is implemented.

[0020] The pitch controller, the fault detection method, device and medium for a pitch system according to the embodiments of the present application can calculate, during the pitch process, a first parameter representing the fluctuation amplitude of the actual pitch speed within a target time period, and calculate a second parameter representing the similarity between the actual pitch speed and the given pitch speed within the target time period, and determine a pitch system fault according to the first parameter and the second parameter. Since when a pitch system fails, it may cause a change in the fluctuation degree of the actual pitch speed, and the similarity between the actual pitch speed and the given pitch speed may also change, the fault of the braking system of the pitch system can be accurately detected according to the first parameter and the second parameter. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0022] Figure 1 is a schematic structural diagram of a pitch system provided by an embodiment of the present application;

[0023] Figure 2 is a schematic flowchart of a first fault detection method for a pitch system provided by an embodiment of the present application;

[0024] Figure 3It is a schematic flow chart of the second fault detection method for the pitch system provided by the embodiments of the present application;

[0025] Figure 4 It is a schematic flow chart of the third fault detection method for the pitch system provided by the embodiments of the present application;

[0026] Figure 5 It is a schematic flow chart of the fourth fault detection method for the pitch system provided by the embodiments of the present application;

[0027] Figure 6 It is a schematic flow chart of the fifth fault detection method for the pitch system provided by the embodiments of the present application;

[0028] Figure 7 It is a schematic flow chart of the sixth fault detection method for the pitch system provided by the embodiments of the present application;

[0029] Figure 8 It is a schematic diagram of the change curve of the actual pitch speed of the blade during the shutdown and feathering process provided by the embodiments of the present application;

[0030] Figure 9 It is a schematic diagram of the change curve of the blade angle during the shutdown and feathering process provided by the embodiments of the present application;

[0031] Figure 10 It is a schematic diagram of the change curve of the temperature of the pitch motor during the shutdown and feathering process provided by the embodiments of the present application;

[0032] Figure 11 It is a schematic flow chart of the third fault detection method for the pitch system provided by the embodiments of the present application;

[0033] Figure 12 It is a schematic flow chart of an exemplary fault detection method for the pitch system provided by the embodiments of the present application;

[0034] Figure 13 It is a schematic structural diagram of a fault detection device for the pitch system provided by the embodiments of the present application;

[0035] Figure 14 It shows a schematic hardware structure diagram of the fault detection device for the pitch system provided by the embodiments of the present invention. Detailed implementation manners

[0036] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0038] When the wind turbine generator set is started or stopped, the pitch angle of the wind turbine generator set needs to be adjusted within the range of 0 degrees (°) to 90 degrees using the pitch system. If the pitch system fails, it will seriously affect the safety or service life of the wind turbine generator set. For example, taking a wind turbine generator set with three blades as an example, in the process of the blades changing from the 0° position to the 90° position, if the blades are retracted at a speed of 2 degrees / second, the pitching time requires 90 / 2=45 seconds, and the entire pitching process lasts for a long time. In this process, if there is a certain deviation in the speed of the three blades during pitching due to differences in the execution of the drivers of the three pitch shaft cabinets, the differences in the torque of the blades, the differences in the execution of the speed control instructions, etc., the angle deviation will become larger and larger over time, resulting in an unbalanced angle of the three blades, which will increase the load of the unit due to the unbalanced angle, increase the vibration of the wind turbine generator set, and have a certain impact on the mechanical life and safety of the unit.

[0039] Therefore, a solution is needed that can accurately detect pitch system failures.

[0040] Based on this, the embodiments of the present application provide a fault detection method, device, equipment and medium for a variable pitch system, which can be applied to application scenarios for fault diagnosis of a variable pitch system.

[0041] First, before specifically describing the fault warning scheme of the pitch system provided by the embodiments of the present application, for the convenience of understanding, the following part of the embodiments of the present application will first specifically describe the pitch system.

[0042] Figure 1 It is a schematic structural diagram of a pitch system provided by the embodiments of the present application. As Figure 1 shown, the pitch system includes a pitch controller 10, a pitch driver 20, a brake relay 30, a pitch motor brake 40, a pitch motor 50, a super capacitor 60, an enable switch 70, and an encoder 80. Among them, the pitch controller 10 includes an analog output module 11.

[0043] The specific working process of the pitch system is described as follows: When the pitch controller 10 receives a control instruction from the main control controller or an emergency pitch command triggered inside the pitch controller 10, after the analog output module 11 of the pitch controller 10 converts the speed command into an analog signal, the analog signal is sent to the analog input (Analog Input, AI) port of the pitch driver 20 through the analog output (Analog Output, AO) port of the pitch controller 10. After receiving the analog signal, the pitch driver 20 converts the analog signal into a corresponding given rotational speed value, and drives the pitch motor 50 to rotate according to the given rotational speed value through the brake relay 30 and the pitch motor brake 40, so that the pitch motor 50 drives the blade to rotate, thereby realizing the pitch function.

[0044] Among them, during the pitch process, the angle value of the blade can be collected through the encoder 80, and the pitch process can be closed-loop controlled according to the collected blade angle value. Among them, the encoder 80 can be an incremental encoder or an absolute encoder.

[0045] In one example, the pitch controller 10 in the embodiments of the present application can be specifically implemented as a Programmable Logic Controller (PLC).

[0046] When the pitch system is pitching normally, all parameters of the pitch system are normal. For example, the actual pitch speed of the blade will change normally with the given pitch speed and the temperature of the pitch motor is normal. However, when the pitch system fails, it will cause some parameters of the blade to be abnormal. For example, the actual pitch speed changes abnormally or the temperature of the pitch motor rises abnormally, etc.

[0047] Combined with the pitch system fault experiment, it is obtained that when the pitch system fails, it may cause the actual pitch speed to fluctuate during the fault time, and / or there is a certain amount of deviation between the actual rotational speed and the given rotational speed.

[0048] Based on this, an embodiment of the present application proposes a fault detection method that can be based on the actual pitch speed fluctuation degree and the similarity between the actual rotational speed and the given rotational speed.

[0049] To better understand the present application, the following will describe in detail a fault detection method, device, equipment, and medium for a pitch system according to an embodiment of the present application with reference to the accompanying drawings. It should be noted that these embodiments do not limit the scope of the disclosure of the present application.

[0050] Figure 2 is a schematic flowchart of the first fault detection method for a pitch system provided by an embodiment of the present application. As Figure 2 shown, the fault detection method for the pitch system may include S210 to S240. Exemplarily, the execution subject of each step in the embodiment of the present application may be a pitch controller, or it may be other controllers, and this is not limited.

[0051] S210, during the process of blade pitching, obtain the actual pitch speed and the given pitch speed within a target time period.

[0052] First, for the blade pitching process, it can be the feathering process of the blade, such as the feathering process when shutting down according to the normal process, or the feathering process during emergency shutdown, or it can be the feathering during the normal pitch process of adjusting the pitch angle according to the wind speed, power generation, etc. when the wind turbine is running.

[0053] Or, the blade pitching process can also be the unfeathering process of the blade, such as the unfeathering process when starting up according to the normal process, or the normal pitch process when the wind turbine is running.

[0054] Second, for the actual pitch speed, it can be calculated using an encoder. Exemplarily, the encoder can be an absolute encoder or an incremental encoder.

[0055] Third, for the given pitch speed, it can be sent from the main control controller to the pitch controller, or it can be a digital given pitch speed generated by the pitch controller itself triggering an emergency pitch instruction. Then, the analog output module of the pitch controller converts the digital given pitch speed into an analog given pitch speed and sends the converted analog given pitch speed to the pitch driver. In one example, the given pitch speed can be continuously sent or directly sent as a given value, and this is not limited.

[0056] Third, the acquisition time points of the actual pitch speed and the given pitch speed are described as follows.

[0057] In some embodiments, the actual pitch speed and the given pitch speed can be collected in real time. When the actual pitch speed and the given pitch speed are real-time collected data, the fault detection scheme provided by the embodiments of the present application can be used to give a real-time early warning of the pitch system fault, thereby improving the operation safety of the wind turbine.

[0058] In other embodiments, it can be obtained from the historical files of the wind turbine generator set. Exemplarily, it can be obtained from the historical files of the fault information of the wind turbine generator set, so that the fault detection scheme provided by the embodiments of the present application can be used to analyze the historical fault causes, accurately locate the historical faults, and thereby improve the safety of the wind turbine.

[0059] S220. Calculate a first parameter according to the actual pitch speed within the target time period.

[0060] In S220, the first parameter represents the fluctuation amplitude of the actual pitch speed within the target time period. In some embodiments, a physical quantity characterizing the degree of dispersion between multiple values can be used to represent the first parameter. Specifically, the first parameter can be the standard deviation, average difference, variance, or range of the actual pitch speed values at m moments within the target time period, or it can also be a deformation of several parameters, such as the reciprocal, or a combination of several parameters, etc., which is not limited herein.

[0061] In one example, taking the first parameter as the variance, the first parameter σ 2 satisfies formula (1):

[0062]

[0063] where V 1i represents the actual pitch speed at the i-th moment among m moments, represents the average value of the actual pitch speed values at m moments, and i is any positive integer less than or equal to m.

[0064] It should be noted that when parameters such as the standard deviation, average difference, variance, or range are used to represent the first parameter, the magnitude of the first parameter is directly proportional to the degree of fluctuation. That is to say, the greater the degree of fluctuation of the actual pitch speed within the target time period, the greater the calculated first parameter. On the contrary, the smaller the degree of fluctuation of the actual pitch speed within the target time period, the smaller the calculated first parameter.

[0065] S230. Calculate a second parameter according to the actual pitch speed and the given pitch speed within the target time period.

[0066] In S230, the second parameter represents the similarity between the actual pitch speed and the given pitch speed within the target time period. That is to say, the second parameter can represent the degree of deviation between the actual pitch speed and the given pitch speed.

[0067] In one embodiment, the second parameter can be the linear correlation coefficient r between the actual pitch speed and the given pitch speed. Or, it can be other physical quantities representing the similarity between the two, such as the sum of the Euclidean distances between the actual pitch speeds and the given pitch speeds at multiple moments, etc., which is not limited herein.

[0068] Exemplarily, the linear correlation coefficient r can be calculated based on the actual pitch speeds and the given pitch speeds at n moments. Specifically, the linear correlation coefficient r satisfies the following formula (2):

[0069]

[0070] wherein, V 1j represents the actual pitch speed at the j-th moment among the n moments, represents the average value of the actual pitch speed values at the n moments, V 2j represents the given pitch speed at the j-th moment among the n moments, represents the average value of the actual pitch speed values at the n moments.

[0071] It should be noted that when the second parameter is represented by parameters such as the current correlation coefficient, the magnitude of the second parameter is directly proportional to the similarity. That is to say, the higher the similarity between the actual pitch speed and the given rotational speed, the larger the calculated second parameter. On the contrary, the lower the similarity between the actual pitch speed and the given rotational speed, the smaller the calculated second parameter.

[0072] S240, determine the pitch system fault according to the first parameter and the second parameter.

[0073] In some embodiments, the pitch system fault can be determined according to the comparison relationship between the first parameter and the second preset threshold, and the comparison relationship between the second parameter and the third preset threshold.

[0074] Exemplarily, when the first parameter is greater than the second preset threshold, that is, when the actual pitch speed fluctuates greatly within the target time period, the pitch system fault is determined according to the comparison relationship between the second parameter and the third preset threshold.

[0075] Among them, for the second preset threshold, it can be set according to the actual scenario and specific requirements. Exemplarily, if the first parameter is variance, the second preset threshold can be selected as 0.05. When the second preset threshold is selected as 0.05, it can more accurately distinguish the normal fluctuation of the actual pitch speed from the normal fluctuation when the pitch system fails, thereby improving the accuracy of fault detection.

[0076] For the third preset threshold, it can be set according to the actual scenario and specific requirements. Exemplarily, if the second parameter is the linear correlation coefficient, the third preset threshold can be selected as 0.5. When the third preset threshold can be selected as 0.5, it can more accurately reflect whether the deviation between the actual pitch speed and the given pitch speed is large or small, thereby improving the accuracy of fault detection. Optionally, in order to further improve the detection accuracy, the third preset threshold can be selected as 0.7.

[0077] According to the fault detection method of the pitch system in the embodiments of the present application, during the pitch process, it is possible to calculate a first parameter representing the fluctuation amplitude of the actual pitch speed within a target time period, and calculate a second parameter representing the similarity between the actual pitch speed and the given pitch speed within the target time period, and determine a pitch system fault according to the first parameter and the second parameter. Since when the pitch system fails, it may cause changes in the fluctuation degree of the actual pitch speed, and the similarity between the actual pitch speed and the given pitch speed may also change, the fault of the braking system of the pitch system can be accurately detected according to the first parameter and the second parameter.

[0078] Based on this, in order to accurately determine a pitch system fault, the faults of the pitch system can at least include the following categories: (1) absolute encoder fault, (2) incremental encoder fault, (3) stall fault of the pitch motor, (4) analog output module fault.

[0079] If the absolute encoder fails, the angle value of the blade collected by the pitch controller will be incorrect, resulting in a jump in the pitch angle value, but at this time the actual speed of the pitch motor does not change. The other three faults do not cause a jump in the pitch angle value.

[0080] In addition, faults of some types of pitch systems can cause abnormal temperatures of the pitch motors. For example, for locked-rotor faults, in the case of locked-rotor, the rotation speed of the pitch motor slows down. Since the driver will control the pitch motor to follow the given speed, the motor current will continuously increase, resulting in an increase in the motor temperature. Another example is for incremental encoder faults. Since the encoder incremental signal can be used as the feedback of the motor rotation speed value of the pitch driver, when the incremental signal is abnormal, the driver cannot collect the normal motor rotation speed value, which will cause the pitch motor current to increase during the closed-loop control process of the driver, resulting in an increase in the motor temperature.

[0081] Based on this, in some embodiments, Figure 3 is a schematic flowchart of the second fault detection method for the pitch system provided by the embodiments of the present application. Figure 3 Different from Figure 2 is that S240 may specifically include S241 and S242.

[0082] S241, obtain the angular change rate of the blade within the target time period, and obtain the temperature rise rate of the pitch motor of the pitch system within the target time period.

[0083] First, for the angular change rate, it can represent how fast the pitch angle changes within the target time period. Specifically, the angular change rate can be calculated by the encoder based on the pulse signal. Exemplarily, the unit of the angular change rate can be degrees per second (deg / s).

[0084] Second, for the temperature rise rate of the pitch motor within the target time period, it can represent how fast the temperature of the pitch motor changes within the target time period. Among them, the greater the temperature rise rate, the faster the temperature of the pitch motor changes within the target time period. Specifically, the temperature rise rate can be collected by the temperature acquisition module. Exemplarily, a PT100 temperature sensor can be used to collect the temperature of the pitch motor within the target time period, and then the temperature rise rate of the pitch motor within the target time period can be calculated based on the collected temperature.

[0085] In one example, the ratio of the end temperature to the start temperature of the pitch motor within the target time period can be determined as the temperature rise rate of the pitch motor within the target time period. For example, if the temperature of the pitch motor rises from 25 degrees Celsius (°C) to 27 °C within the target time period, the temperature rise rate of the pitch motor within the target time period can be expressed as 27 °C / 25 °C = 1.125.

[0086] In another example, the temperature change value of the pitch motor within the target time period can be determined, that is, the difference between the termination temperature and the starting temperature. Then, the ratio of the temperature change value to the starting temperature is determined as the temperature rise rate. Continuing with the previous example, the temperature rise rate of the pitch motor within the target time period can be expressed as (27°C - 25°C) / 25°C = 0.08.

[0087] In yet another example, the temperature values of the pitch motor at multiple moments within the target time period can be determined, and then a temperature change curve is obtained by fitting the temperature values at multiple moments, and then the temperature rise rate is determined according to the temperature change curve.

[0088] It should be noted that the temperature rise rate can also be calculated by other calculation methods, and the embodiments of the present application do not limit the specific calculation method of the temperature rise rate.

[0089] S242. When the angle change rate is less than the first preset threshold, determine a pitch system fault according to the first parameter, the second parameter, and the temperature rise rate. Among them, the pitch system fault is an analog output module fault, an incremental encoder fault, or a stall fault of the pitch motor.

[0090] First, for the first preset threshold, it can be set according to the actual situation and specific requirements.

[0091] Exemplarily, when the absolute encoder fails, the angle change rate often exceeds 12.5 deg / s. In other cases, such as when any of the other three faults except the absolute encoder fault occur, or when the pitch system is working properly, the angle change rate will be much less than 12.5 deg / s. For example, when the analog output module fails, due to the limitation of the maximum range of the analog quantity, the maximum angle that can be output is 7 deg / s. Correspondingly, the angle change rate will not exceed 7 deg / s, which is much less than 12.5 deg / s.

[0092] Based on the above analysis, in a specific example, in order to improve the accuracy of fault detection, the value range of the first preset threshold can be between 7 deg / s and 12.5 deg / s. Exemplarily, in order to reduce the false detection rate, the first preset threshold can be set to 10 deg / s.

[0093] Secondly, for the stall fault, in the embodiments of the present application, it may include Figure 1 the shown brake relay 30 fault and / or the pitch motor brake 40 fault. Exemplarily, the pitch motor brake 40 can be implemented as a brake disc.

[0094] Through this embodiment, when the angular rate of change is less than the first preset threshold, the absolute encoder fault can be excluded, so that the range of the pitch system fault is limited to the analog output module fault, the incremental encoder fault or the stall fault of the pitch motor, thereby improving the accuracy of fault judgment.

[0095] In some embodiments, based on the analysis of the above embodiments, the embodiments of the present application can determine the absolute encoder fault according to the angular rate of change.

[0096] Correspondingly, Figure 4 FIG. is a schematic flowchart of a third pitch system fault detection method provided by an embodiment of the present application. Figure 4 Different from Figure 3 The pitch system fault detection method may further include S250 after S241.

[0097] S250, when the angular rate of change is greater than or equal to the first preset threshold, it is determined that the absolute encoder of the pitch system fails.

[0098] For the specific contents of the angular rate of change and the first preset threshold, reference may be made to the relevant descriptions of the above embodiments of the present application, which will not be elaborated here.

[0099] Exemplarily, if the calculated angular rate of change is 12.5 deg / s and the first preset threshold is 10 deg / s, it can be determined that the absolute encoder of the pitch system fails. Among them, the absolute encoder fault may include encoder wire breakage.

[0100] In some embodiments, when the angular rate of change is normal, that is, when the angular rate of change is less than the first preset threshold, the specific type of the pitch system fault can also be determined according to the first parameter, the second parameter and the temperature rate of change.

[0101] Correspondingly, Figure 5 FIG. is a schematic flowchart of a fourth pitch system fault detection method provided by an embodiment of the present application. Figure 5 Different from Figure 3 S242 may be specifically implemented as S2421.

[0102] S2421, when the first parameter is greater than the second preset threshold, the second parameter is greater than the third preset threshold, and the temperature rise rate is greater than the fourth preset threshold, it is determined that the incremental encoder of the pitch system fails.

[0103] In S2421, for the fourth preset threshold, it can be set according to the actual scenario and specific requirements. When the pitch motor is normal, its temperature change is small, for example, rising from 25°C to 27°C. When a fault occurs in the incremental encoder of the pitch system, it may cause the temperature of the pitch motor to rise from 25°C to 50°C. Thus, by selecting an appropriate fourth preset threshold, the fault type can be accurately distinguished. In one example, since the wind turbine generator includes multiple blades and each blade corresponds to a pitch system, the temperature change rate can be determined based on the temperatures of the pitch motors of multiple blades.

[0104] It should be noted that the specific contents of the second preset threshold and the third preset threshold can be referred to the relevant descriptions of the above embodiments of the present application, and will not be elaborated here.

[0105] Through this embodiment, the fault of the incremental encoder can be accurately detected.

[0106] In some embodiments, the embodiments of the present application can further determine the stall-type fault of the pitch system according to the first parameter, the second parameter, and the temperature rise rate.

[0107] Correspondingly, Figure 6 is a schematic flowchart of the fifth fault detection method for the pitch system provided by the embodiments of the present application. Figure 6 Different from Figure 3 is that S242 can be specifically implemented as S2422.

[0108] S2422, when the first parameter is greater than the second preset threshold, the second parameter is less than the third preset threshold, and the temperature rise rate is greater than the fourth preset threshold, it is determined that the pitch motor of the pitch system has a stall-type fault.

[0109] Among them, the specific contents of the second preset threshold, the third preset threshold, and the fourth preset threshold can be referred to the relevant descriptions of the above embodiments of the present application, and will not be elaborated here.

[0110] It should be noted that in the embodiments of the present application, since when a stall-type fault occurs in the pitch motor, the motor brake cannot be released normally, resulting in that the actual pitch speed of the pitch motor cannot reach the given pitch speed. There will be a deviation between the actual pitch speed and the given pitch speed, resulting in a low similarity, so the second parameter will be less than the third preset threshold. And the actual pitch speed may fluctuate greatly. And the stall-type fault will cause the temperature to rise.

[0111] Therefore, through this embodiment, it is possible to accurately determine that the pitch motor of the pitch system has a stall-type fault according to the first parameter, the second parameter, and the temperature rise rate.

[0112] In some embodiments, the embodiments of the present application can further determine a failure of the analog output module of the pitch controller according to the first parameter, the second parameter, and the temperature rise rate.

[0113] Correspondingly, Figure 7 is a schematic flowchart of the sixth pitch system fault detection method provided by the embodiments of the present application. Figure 7 Different from Figure 3 is that S242 can be specifically implemented as S2423.

[0114] S2423, when the first parameter is greater than the second preset threshold, the second parameter is less than the third preset threshold, and the temperature rise rate is less than the fourth threshold, it is determined that the analog output module of the pitch controller in the pitch system fails.

[0115] Among them, for the specific contents of the second preset threshold, the third preset threshold, and the fourth threshold, reference can be made to the relevant descriptions in the above embodiments of the present application, which will not be elaborated here.

[0116] It should be noted that after the analog output module fails, the voltage value of the analog signal output by the analog channel is no longer the correct voltage value signal, and its manifestation is the frequent fluctuation of the voltage value, which in turn causes the actual pitch speed in the form of analog quantity to be sometimes fast and sometimes slow, resulting in a large fluctuation in the actual pitch speed.

[0117] To verify the feasibility of this embodiment, Figure 8 is a schematic diagram of the change curve of the actual pitch speed of the blade during the shutdown and feathering process provided by the embodiments of the present application. Among them, Figure 8 the abscissa of is the time axis, and its unit is s, and the ordinate represents the pitch speed, and its unit is deg / s.

[0118] From Figure 8 it can be seen that curves L1, L2, and L3 respectively represent the change curves of the actual pitch speeds of the 3 blades of the wind turbine during the shutdown and feathering process. Among them, curves L2 and L3 are the change curves of the actual pitch speeds of normal blades, and curve L1 is the change curve of the actual pitch speed of the blade with a failed analog output module. By comparison, it can be seen that the fluctuation amplitudes of curves L2 and L3 are smaller, while curve L3 has a larger amplitude of fluctuation.

[0119] In addition, Figure 9 is a schematic diagram of the change curve of the blade angle during the shutdown and feathering process provided by the embodiments of the present application. Among them, Figure 9 the abscissa in is the time axis, and its unit is s. The ordinate represents the angle, and its unit is deg.

[0120] From Figure 9As can be seen, curve L4, curve L5, and curve L6 respectively represent the variation curves of the blade angles of the three blades of the fan during the shutdown and feathering process. Among them, curve L5 and curve L6 are the actual pitch-changing speed variation curves of normal blades. Since the two intervals almost coincide, they can be regarded as one curve in the figure. Curve L4 is the variation curve of the blade angle when the analog output module fails. Through Figure 9 it can be known that when the analog output module fails, it takes about 15 s for the pitch angle to change from 0° to 90°, that is to say, the angle change rate is much lower than the first preset threshold of 10 deg / s.

[0121] In addition, Figure 10 is a schematic diagram of the temperature change curve of the pitch motor during the shutdown and feathering process provided by the embodiment of the present application. Among them, Figure 10 the abscissa in

[0122] is the time axis, and its unit is s. The ordinate represents temperature, and its unit is °C. Figure 10 As can be seen from Figure 10 curve L7, curve L8, and curve L9 respectively represent the temperature change curves of the pitch motor during the shutdown and feathering process of the fan. Among them, curve L8 and curve L9 are the temperature change curves of normal pitch motors, and curve L7 is the temperature change curve of the pitch motor when the analog output module fails. Compared with the case where the temperature value of the pitch motor increases by 50 °C in a short time under the locked-rotor condition,

[0123] the temperature value differences of the three pitch motors in

[0124] are not large, that is, the maximum is only 5 °C, and correspondingly, the temperature rise change is not large.

[0125] In the existing solution, the pitch driver can only adjust the actual pitch-changing speed, cannot test the analog quantity, nor can it perform feedback adjustment on the analog voltage. The reasons are as follows:

[0126] 1) Since the impedances of the pitch driver and the AI port are different, if directly connected, it will have a certain impact on the original analog signal.

[0127] 2) When the pitch driver and the AI port are connected in parallel, it will cause current shunting, that is, the current of a single device is too small, resulting in both devices being unable to work properly;

[0128] 3) After the pitch driver and the AI port are connected to each other, strong interference will also be formed between them;

[0129] 4) After adding devices such as voltage isolators and power amplifiers, the monitoring of analog voltage signals can be achieved, but the transformation cost involved is relatively high, so it is not convenient for the installation of the already arranged pitch cabinets.

[0130] For the above reasons, it is impossible to detect faults in the analog output module in the prior art.

[0131] In the embodiments of the present application, without setting additional analog detection devices, the detection of faults in the analog output module can be achieved, ensuring the detection accuracy while reducing the technical transformation cost and material cost.

[0132] In some embodiments, in order to improve the detection accuracy, Figure 11 is a schematic flow chart of the third fault detection method for the pitch system provided by the embodiments of the present application. Figure 4 Different from Figure 2 before S210, the fault detection method of the pitch system may further include S260.

[0133] S260, determining that the wind turbine to which the blade belongs operates in a preset working condition.

[0134] Among them, the preset working condition includes: shutdown working condition or startup working condition.

[0135] In this embodiment, the given pitch speed during the operation of the machine changes with factors such as wind speed, and the given pitch speed is constantly changing, which easily causes the actual pitch speed to fluctuate following the given pitch speed, thus there is a possibility of misjudging a normal pitch system as a faulty pitch system. While the given pitch speed during the shutdown and startup processes is a fixed value, which will not affect the calculation of the first parameter, accordingly reducing the misjudgment rate and improving the detection accuracy of the pitch system fault.

[0136] In an example, Figure 12 is a schematic flow chart of an exemplary fault detection method for the pitch system provided by the embodiments of the present application. As Figure 12 shown, the fault detection method of the pitch system includes S1210 to S1280.

[0137] S1210, obtaining the actual pitch speed, given pitch speed, angle change rate, and temperature change rate within the target time period.

[0138] Among them, the specific content of S1210 can refer to the specific implementation manners of S210 and S241 in the above embodiments of the present application, and will not be elaborated here.

[0139] S1220, judging whether the wind turbine to which the blade belongs operates in a preset working condition, where the preset working condition includes: shutdown working condition or startup working condition.

[0140] Among them, for the specific content of S1220, reference can be made to the specific implementation manners of the above embodiments of the present application in combination with S260, which will not be elaborated here.

[0141] It should be noted that since the given pitch speed issued during the pitch process when the fan is running changes randomly, it will affect the calculation of the first parameter, thereby leading to misjudgment. During shutdown and startup, the given pitch speed is a fixed value. At this time, the accuracy of the first parameter can be guaranteed, which can correctly reflect the fluctuation of the actual pitch speed, avoid the occurrence of misjudgment, and thus improve the accuracy of fault detection.

[0142] S1230, if the wind power generating unit is operating in a preset working condition, determine whether the angle change rate is less than a first preset threshold.

[0143] Among them, for the specific content of S1230, reference can be made to the specific implementation manners of the above embodiments of the present application in combination with S241 and S242, which will not be elaborated here.

[0144] Through this step, the absolute value encoder fault can be excluded according to the angle change rate.

[0145] S1240, when the angle change rate is less than the first preset threshold, calculate the first parameter according to the actual pitch speed within the target time period, and calculate the second parameter according to the actual pitch speed and the given pitch speed within the target time period.

[0146] Among them, for the specific content of S1240, reference can be made to the specific implementation manners of the above embodiments of the present application in combination with S220 and S230, which will not be elaborated here.

[0147] S1250, determine whether the first parameter is greater than a second preset threshold.

[0148] Among them, for the specific content of S1250, reference can be made to the specific implementation manners of the above embodiments of the present application in combination with S240, which will not be elaborated here.

[0149] S1260, when the first parameter is greater than the second preset threshold, determine whether the second parameter is less than a third preset threshold.

[0150] Among them, for the specific content of S1260, reference can be made to the specific implementation manners of the above embodiments of the present application in combination with S240, which will not be elaborated here.

[0151] Through this step, the incremental encoder fault can be excluded according to the second parameter. It should be noted that if it is necessary to determine the incremental encoder fault, the temperature rise rate of the pitch motor also needs to be judged.

[0152] S1270. When the second parameter is less than the third preset threshold, determine whether the temperature change rate of the pitch motor is less than the fourth preset threshold.

[0153] Specifically, for the content of S1270, reference can be made to the specific implementation manner of the above embodiments of the present application in combination with S2421, which will not be elaborated here.

[0154] Through this step, the locked-rotor type faults of the pitch motor can be excluded according to the temperature change rate of the pitch motor.

[0155] S1280. When the temperature change rate of the pitch motor is less than the fourth preset threshold, it is determined that a fault has occurred in the analog output module of the pitch system.

[0156] Specifically, for the content of S1280, reference can be made to the specific implementation manner of the above embodiments of the present application in combination with S2423, which will not be elaborated here.

[0157] Through this embodiment, the faults of the absolute encoder, incremental encoder, and locked-rotor type faults of the pitch motor can be excluded one by one, so that the cause of the fault can be accurately located in the fault of the analog output module.

[0158] Moreover, for the prior art involved in the embodiments of the present application, while ensuring the detection accuracy, there is no need to set up another detection module, reducing the detection cost.

[0159] Based on the same inventive concept, in addition to providing a fault detection method for the pitch system, the embodiments of the present application also provide a corresponding fault detection device for the pitch system.

[0160] Next, with reference to the accompanying drawings, the fault detection device for the pitch system according to the embodiments of the present application will be introduced in detail.

[0161] Figure 13 is a schematic structural diagram of a fault detection device for a pitch system provided by an embodiment of the present application. As Figure 13 shown, the fault detection device 1300 for the pitch system includes a parameter acquisition module 1310, a processing module 1320, and a fault determination module 1330.

[0162] The parameter acquisition module 1310 is configured to acquire the actual pitch speed and the given pitch speed within a target time period during the pitch of the blade.

[0163] The processing module 1320 is configured to calculate a first parameter according to the actual pitch speed within the target time period, where the first parameter represents the fluctuation amplitude of the actual pitch speed within the target time period.

[0164] Further, it is also used to calculate a second parameter according to the actual pitch speed and the given pitch speed within a target time period, where the second parameter represents the similarity between the actual pitch speed and the given pitch speed within the target time period.

[0165] The fault judgment module 1330 is used to determine the pitch system fault according to the first parameter and the second parameter.

[0166] In one example, continue to refer to Figure 1 , during the blade pitching process, the encoder 80 calculates the actual pitch speed within the target time period and sends the calculated actual pitch speed to the parameter acquisition module 1310 of the pitch controller 10. Further, the main controller sends the pitch controller within the target time period to the pitch controller 10, or the parameter acquisition module 1310 of the pitch controller 10 acquires the given pitch speed in digital quantity form generated by the pitch controller 10 itself triggering an emergency pitch instruction. Then, the processing module 1320 of the pitch controller 10 calculates the first parameter and the second parameter according to the acquired pitch speed. Finally, the fault judgment module 1330 determines the pitch system fault according to the first parameter and the second parameter. Among them, the pitch system faults include absolute encoder 80 faults, incremental encoder 80 faults, locked-rotor faults of the pitch motor 50, or analog output module 11 faults.

[0167] In some embodiments, the fault judgment module 1330 specifically includes:

[0168] The parameter acquisition unit is used to acquire the angular change rate of the blade within the target time period and acquire the temperature rise rate of the pitch motor of the pitch system within the target time period;

[0169] The fault judgment unit is used to determine the pitch system fault according to the first parameter, the second parameter and the temperature rise rate when the angular change rate is less than the first preset threshold.

[0170] Among them, the pitch system fault is an analog output module fault, an incremental encoder fault or a locked-rotor fault of the pitch motor.

[0171] In some embodiments, the fault judgment unit is specifically used for:

[0172] When the first parameter is greater than the second preset threshold, the second parameter is less than the third preset threshold, and the temperature rise rate is less than the fourth preset threshold, it is determined that the analog output module of the pitch controller in the pitch system fails.

[0173] In some embodiments, the fault judgment unit is specifically used for:

[0174] When the first parameter is greater than the second preset threshold, the second parameter is greater than the third preset threshold, and the temperature rise rate is greater than the fourth preset threshold, it is determined that the incremental encoder of the pitch system fails.

[0175] In some embodiments, the fault determination unit is specifically configured to: when the first parameter is greater than the second preset threshold, the second parameter is less than the third preset threshold, and the temperature rise rate is greater than the fourth preset threshold, determine that the pitch motor of the pitch system has a stall-like fault.

[0176] In some embodiments, the fault determination module 1330 further includes:

[0177] When the angle change rate is greater than or equal to the first preset threshold, it is determined that the absolute encoder of the pitch system fails.

[0178] In some embodiments, the fault detection device 1300 of the pitch system further includes:

[0179] An operating condition determination module, configured to determine that the wind turbine generator set to which the blade belongs operates in a preset operating condition,

[0180] wherein the preset operating condition includes: a shutdown operating condition or a startup operating condition.

[0181] For other details of the fault detection device of the pitch system according to the embodiments of the present application, it is similar to the fault detection method of the pitch system described in the above combined Figures 2 to 12 shown example, and can achieve its corresponding technical effects. For the sake of brevity, it will not be described in detail here.

[0182] The fault detection device of the pitch system according to the embodiments of the present application can calculate, during the pitch process, a first parameter representing the fluctuation amplitude of the actual pitch speed within a target time period, and calculate a second parameter representing the similarity between the actual pitch speed and the given pitch speed within the target time period, and determine the pitch system fault according to the first parameter and the second parameter. Since when the pitch system fails, it may cause a change in the fluctuation degree of the actual pitch speed, and the similarity between the actual pitch speed and the given pitch speed may also change, the fault of the braking system of the pitch system can be accurately detected according to the first parameter and the second parameter.

[0183] Figure 14 FIG. shows a schematic hardware structure diagram of a fault detection device for a pitch system provided by an embodiment of the present invention.

[0184] The fault detection device of the pitch system may include a processor 1401 and a memory 1402 storing computer program instructions.

[0185] Specifically, the above-mentioned processor 1401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more integrated circuits for implementing the embodiments of the present invention.

[0186] The memory 1402 may include a mass storage for data or instructions. By way of example and not limitation, the memory 1402 may include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. In some instances, the memory 1402 may include removable or non-removable (or fixed) media, or the memory 1402 is a non-volatile solid-state memory. In some embodiments, the memory 1402 may be inside or outside the fault detection device of the pitch system.

[0187] In some instances, the memory 1402 may be a Read Only Memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), an Electrically Alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0188] The memory 1402 may include a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0189] The processor 1401 reads and executes the computer program instructions stored in the memory 1402 to implement Figures 2 - 12 the method in the illustrated embodiment, and achieves Figures 2 - 12 the corresponding technical effects achieved by the method executed by the illustrated example. For the sake of brevity, it will not be elaborated here.

[0190] In one example, the fault detection device of the pitch system may further include a communication interface 1403 and a bus 1410. Among them, as Figure 14As shown, a processor 1401, a memory 1402, and a communication interface 1403 are connected via a bus 1410 and communicate with each other.

[0191] The communication interface 1403 is mainly used to implement communication between various modules, devices, units, and / or equipment in the embodiments of the present invention.

[0192] The bus 1410 includes hardware, software, or both, and couples the components of the online data flow meter charging device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 1410 may include one or more buses. Although the embodiments of the present invention describe and illustrate a specific bus, the present invention contemplates any suitable bus or interconnect.

[0193] The pitch system fault detection device can execute the pitch system fault detection method in the embodiments of the present invention, thereby implementing the pitch system fault detection method and device described in combination with Figures 2 to 13 the described pitch system fault detection method and device.

[0194] In addition, in combination with the pitch system fault detection method in the above embodiments, the embodiments of the present invention can be implemented by providing a computer storage medium. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the pitch system fault detection methods in the above embodiments is implemented.

[0195] It should be clear that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present invention is not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present invention.

[0196] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, and so on. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0197] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0198] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses, devices, and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowcharts and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and the combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0199] The above are only specific embodiments of the present invention. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A fault detection method for a pitch system, characterized in that including: During the process of blade pitch adjustment, obtaining the actual pitch speed and the given pitch speed within a target time period; Calculating a first parameter according to the actual pitch speed within the target time period, where the first parameter represents the fluctuation amplitude of the actual pitch speed within the target time period; Calculating a second parameter according to the actual pitch speed and the given pitch speed within the target time period, where the second parameter represents the similarity between the actual pitch speed and the given pitch speed within the target time period; Obtaining the angle change rate of the blade within the target time period, and obtaining the temperature rise rate of the pitch motor of the pitch system within the target time period; When the angle change rate is less than a first preset threshold, determining that the pitch system fails according to the first parameter, the second parameter, and the temperature rise rate, where the pitch system failure is an analog output module failure, an incremental encoder failure, or a stall-like failure of the pitch motor.

2. The method according to claim 1, wherein the step of, when the angle change rate is less than a first preset threshold, determining that the pitch system fails according to the first parameter, the second parameter, and the temperature rise rate specifically includes: When the first parameter is greater than a second preset threshold, the second parameter is less than a third preset threshold, and the temperature rise rate is less than a fourth preset threshold, determining that the analog output module of the pitch controller in the pitch system fails.

3. The method according to claim 1, wherein the step of, when the angle change rate is less than a first preset threshold, determining that the pitch system fails according to the first parameter, the second parameter, and the temperature rise rate specifically includes: When the first parameter is greater than a second preset threshold, the second parameter is greater than a third preset threshold, and the temperature rise rate is greater than a fourth preset threshold, determining that the incremental encoder of the pitch system fails.

4. The method according to claim 1, wherein the step of, when the angle change rate is less than a first preset threshold, determining that the pitch system fails according to the first parameter, the second parameter, and the temperature rise rate specifically includes: When the first parameter is greater than a second preset threshold, the second parameter is less than a third preset threshold, and the temperature rise rate is greater than a fourth preset threshold, determining that the pitch motor of the pitch system has a stall-like failure.

5. The method according to claim 1, wherein after obtaining the angle change rate of the blade within the target time period, the method further includes: When the angle change rate is greater than or equal to the first preset threshold, determining that the absolute encoder of the pitch system fails.

6. The method according to any one of claims 1-5, characterized in that, Before the step of, during the process of blade pitch adjustment, obtaining the actual pitch speed and the given pitch speed within a target time period, the method further includes: Determining that the wind turbine generator set to which the blade belongs operates in a preset working condition, where the preset working condition includes: a shutdown working condition or a startup working condition.

7. A fault detection device for a pitch system, characterized in that, The device includes: A parameter acquisition module, configured to acquire the actual pitch speed and the given pitch speed within a target time period during the blade pitch change process; A processing module, configured to calculate a first parameter according to the actual pitch speed within the target time period, where the first parameter represents the fluctuation amplitude of the actual pitch speed within the target time period; And it is further configured to calculate a second parameter according to the actual pitch speed and the given pitch speed within the target time period, where the second parameter represents the similarity between the actual pitch speed and the given pitch speed within the target time period; A fault judgment module, configured to determine the pitch system fault according to the first parameter and the second parameter; The fault judgment module includes: A parameter acquisition unit, configured to acquire the angle change rate of the blade within the target time period, and acquire the temperature rise rate of the pitch motor of the pitch system within the target time period; A fault judgment unit, configured to determine the pitch system fault according to the first parameter, the second parameter and the temperature rise rate when the angle change rate is less than a first preset threshold, where the pitch system fault is an analog output module fault, an incremental encoder fault or a stall fault of the pitch motor.

8. A pitch controller, characterized in that, The pitch controller includes: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the fault detection method of the pitch system according to any one of claims 1-6.

9. A computer storage medium, characterized in that, Computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by the processor, the fault detection method of the pitch system according to any one of claims 1-6 is implemented.

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