Abnormality detection method, device, electronic equipment and storage medium of pitch system

Abstract

The present application discloses a method, device, electronic device and storage medium for detecting abnormalities in a variable pitch system. The method for detecting abnormalities in a variable pitch system includes: obtaining the actual speed and reference speed of the variable pitch system, and transmitting the reference speed to the inverter of the variable pitch system through an analog signal line; judging whether the changing trend of the actual speed is consistent with the changing trend of the reference speed, and whether the difference between the actual speed and the reference speed reaches a preset condition; in response to the changing trend of the actual speed being consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaching a preset condition, determining that an abnormality in the analog signal line occurs in the variable pitch system. According to the embodiments of the present application, it is possible to solve the problem in the related art that it is difficult to distinguish abnormalities in the analog signal line from other abnormalities in the detection method for the variable pitch system.

Description

Technical Field

[0001] The present application belongs to the field of detection technology, and in particular, relates to an abnormality detection method, device, electronic equipment and storage medium for a variable pitch system. Background Art

[0002] The pitch system is a key control system in large wind turbines. Its main function is to control the speed of the wind rotor by controlling the angle of the blades. Usually, the controller of the pitch system sends the speed of controlling the blade angle change to the pitch actuator to execute the pitch change.

[0003] In order to ensure that the blades change pitch according to the controlled speed, the actual speed of the blades is usually detected. However, the abnormality of the actual speed of the blades may be caused by a variety of reasons, such as the difference in the execution of the drivers of the three pitch shaft cabinets, the difference in the torque applied to the blades, the difference in the execution of the speed control instructions, and the abnormality of the analog signal line. Among them, the analog signal line is used to send control commands of analog signals (such as 0-10V voltage signals) to the inverter. When there is a fault in the analog line (such as a virtual connection, damaged wire insulation, etc.), the interference signal may be injected into the analog signal line, causing the analog voltage to drift, thereby causing the actual speed of the blade to be abnormal. When troubleshooting when the actual speed of the blade is abnormal, it is difficult to distinguish the difference between the abnormality of the analog signal line and other hardware execution abnormalities, which makes troubleshooting very difficult. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for detecting anomalies in a variable pitch system, which can solve the problem in the related art that the detection method for the variable pitch system is difficult to distinguish anomalies of the analog signal line from other anomalies.

[0005] On the one hand, an embodiment of the present application provides a method for detecting an abnormality of a pitch system, the method comprising:

[0006] The actual speed and reference speed of the pitch system are obtained, and the reference speed is transmitted to the inverter of the pitch system through an analog signal line;

[0007] Determine whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed meets the preset conditions;

[0008] In response to the fact that a changing trend of the actual speed is consistent with a changing trend of the reference speed and a difference between the actual speed and the reference speed reaches a preset condition, it is determined that an abnormality occurs in an analog signal line of the pitch control system.

[0009] In an optional embodiment, in response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching a preset condition, determining that an analog signal line abnormality occurs in the pitch system includes:

[0010] In response to the change trend of the actual speed being consistent with the change trend of the reference speed, calculating a ratio of the actual speed to the reference speed;

[0011] In response to the ratio exceeding the first threshold for a number of times exceeding the second threshold, it is determined that an abnormality occurs in the analog signal line of the pitch control system.

[0012] In an optional implementation, before determining that an analog signal line abnormality occurs in the pitch system, the method further includes:

[0013] Get the temperature value of the pitch motor of the pitch system;

[0014] Determine the temperature change rate of the pitch motor according to the temperature value of the pitch motor;

[0015] In response to the fact that the change trend of the actual speed is consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition, it is determined that an abnormality occurs in the analog signal line of the pitch control system, including:

[0016] In response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches a preset condition, and the temperature change rate is less than a third threshold, it is determined that an analog signal line abnormality occurs in the pitch system.

[0017] In an optional implementation, determining whether the difference between the actual speed and the reference speed reaches a preset condition includes:

[0018] Respectively counting the number of times the reference speed increases and / or decreases relative to the previous moment, and the number of times the actual speed increases and / or decreases relative to the previous moment;

[0019] The difference between the actual speed and the reference speed reaches the preset condition, including at least one of the following:

[0020] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold;

[0021] The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than a fifth threshold;

[0022] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed decreases relative to the previous moment is less than a sixth threshold;

[0023] A difference between the number of times the reference speed decreases relative to a previous moment and the number of times the actual speed increases relative to a previous moment is smaller than a seventh threshold.

[0024] In an optional embodiment, the method further comprises:

[0025] Obtain the pitch adjustment requirements of the pitch control system;

[0026] The reference speed is calculated based on the pitch adjustment requirements.

[0027] On the other hand, an embodiment of the present application provides an abnormality detection device for a pitch system, the device comprising:

[0028] A first acquisition unit is used to acquire an actual speed and a reference speed of the pitch system, and the reference speed is transmitted to the pitch system through an analog signal line;

[0029] A judgment unit, used to judge whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed reaches a preset condition;

[0030] The first determination unit is used to determine that an abnormality occurs in the analog signal line of the pitch control system in response to the fact that a change trend of the actual speed is consistent with a change trend of the reference speed and a difference between the actual speed and the reference speed reaches a preset condition.

[0031] In an optional implementation, the first determining unit includes:

[0032] a first calculation unit, configured to calculate a ratio of the actual speed to the reference speed in response to the change trend of the actual speed being consistent with the change trend of the reference speed;

[0033] The second determination unit is configured to determine that an abnormality occurs in the analog signal line of the pitch control system in response to the number of times that the ratio exceeds the first threshold exceeding a second threshold.

[0034] In an optional embodiment, the device further comprises:

[0035] A second acquisition unit is used to acquire a temperature value of a pitch motor of the pitch system before determining that an analog signal line abnormality occurs in the pitch system;

[0036] A third determining unit is used to determine a temperature change rate of the pitch motor according to a temperature value of the pitch motor;

[0037] The first determining unit includes:

[0038] The fourth determination unit is used to determine that an analog signal line abnormality occurs in the variable pitch system in response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches a preset condition, and the temperature change rate is less than a third threshold.

[0039] In an optional implementation, the judging unit includes:

[0040] a statistical unit, for respectively counting the number of times the reference speed increases and / or decreases relative to a previous moment, and the number of times the actual speed increases and / or decreases relative to a previous moment;

[0041] The difference between the actual speed and the reference speed reaches the preset condition, including at least one of the following:

[0042] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold;

[0043] The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than a fifth threshold;

[0044] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed decreases relative to the previous moment is less than a sixth threshold;

[0045] A difference between the number of times the reference speed decreases relative to a previous moment and the number of times the actual speed increases relative to a previous moment is smaller than a seventh threshold.

[0046] In an optional embodiment, the device further comprises:

[0047] A third acquisition unit is used to obtain a pitch adjustment requirement of the pitch control system;

[0048] The second calculation unit is used to calculate a reference speed according to a pitch adjustment requirement.

[0049] On the other hand, an embodiment of the present application provides a pitch control system, which includes a first controller, an inverter, and a speed detection module;

[0050] The inverter is used to drive the pitch;

[0051] The speed detection module is used to detect the actual speed of the pitch system;

[0052] The first controller is connected to the speed detection module and to the inverter through an analog signal line. The first controller is used to obtain the actual speed detected by the speed detection module and the reference speed of the variable pitch system, and transmit the reference speed to the inverter through the analog signal line; determine whether the changing trend of the actual speed is consistent with the changing trend of the reference speed, and whether the difference between the actual speed and the reference speed meets the preset conditions; and in response to the changing trend of the actual speed being consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed meeting the preset conditions, determine that an analog signal line abnormality occurs in the variable pitch system.

[0053] In an optional embodiment, the pitch system further includes a temperature detection module, and the temperature detection module is used to detect the temperature value of the pitch motor of the pitch system;

[0054] The first controller is also connected to the temperature detection module, and is also used to obtain the temperature value of the pitch motor detected by the temperature detection module, and determine the temperature change rate of the pitch motor according to the temperature value of the pitch motor; and in response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching a preset condition, and the temperature change rate being less than a third threshold, determine that an analog signal line abnormality has occurred in the pitch system.

[0055] In an optional embodiment, the pitch control system is configured in a wind turbine generator set, and the wind turbine generator set further includes a second controller; the second controller is connected to the first controller;

[0056] The second controller is used to obtain the pitch adjustment demand of the pitch control system; and calculate the reference speed according to the pitch adjustment demand.

[0057] In another aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0058] When the processor executes the computer program instructions, the abnormality detection method of the variable pitch system provided in the embodiment of the present application is implemented.

[0059] On the other hand, an embodiment of the present application provides a storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the abnormality detection method for a variable pitch system provided in an embodiment of the present application is implemented.

[0060] The abnormality detection method, device, equipment and storage medium of the variable pitch system of the embodiment of the present application can determine whether an analog signal line abnormality has occurred in the variable pitch system according to whether the changing trends of the actual speed and the reference speed are consistent, and whether the difference between the actual speed and the reference speed reaches a preset condition. Since the interference signal to the analog signal line is superimposed on the originally transmitted signal, in the case of an abnormality in the analog signal line, the changing trend of the actual speed is consistent with the changing trend of the reference speed, but there is a large change in the difference. In this way, if it is determined that the changing trend of the actual speed is consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition, it is determined that the analog signal line is abnormal. Therefore, the problem that it is difficult to distinguish between abnormalities of the analog signal line and other abnormalities in the detection method of the variable pitch system in the related art is solved, and the technical effect of determining the abnormality of the analog signal line is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0062] Figure 1 is a structural schematic diagram of a pitch control system provided by an embodiment of the present application;

[0063] Figure 2 is a structural schematic diagram of a pitch control system provided by another embodiment of the present application;

[0064] Figure 3 It is a flowchart of an abnormality detection method for a pitch system provided by an embodiment of the present application;

[0065] Figure 4 is a schematic diagram comparing an actual speed and a reference speed provided by an embodiment of the present application;

[0066] Figure 5 is a schematic diagram comparing the actual speed and the reference speed provided by another embodiment of the present application;

[0067] Figure 6 is a flow chart of an abnormality detection method for a pitch system provided in another embodiment of the present application;

[0068] Figure 7 It is a structural schematic diagram of an abnormality detection device for a pitch system provided by an embodiment of the present application;

[0069] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0070] 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.

[0071] 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 presence of other identical elements in the process, method, article or device including the elements.

[0072] In order to solve the problems of the prior art, the embodiments of the present application provide a method, device, equipment and storage medium for detecting anomalies in a variable pitch system.

[0073] The embodiment of the present application also provides a pitch control system, Figure 1 is a schematic diagram of the structure of a pitch control system provided by an embodiment of the present application, such as Figure 1 As shown, the pitch control system includes a first controller 101 , an inverter 103 and a speed detection module 102 .

[0074] The inverter 103 is used to drive the pitch system to change the pitch. The pitch system is a control system in a wind turbine generator set, and its main function is to control the rotation speed of the wind wheel by controlling the angle of the blades. The first controller 101 of the pitch system sends the reference speed for controlling the blade angle change to the inverter 103, and the inverter 103 performs the pitch change based on the reference speed. Specifically, the inverter 103 can control the pitch motor by changing the current or voltage, and can change the speed of the pitch motor, that is, change the actual speed of the blades. The reference speed serves as the control target of the inverter 103. Under normal circumstances, the actual speed needs to follow the reference speed.

[0075] The speed detection module 102 is used to detect the actual speed of the pitch control system, that is, the actual speed of the blade angle change.

[0076] The first controller 101 is connected to the speed detection module 102, and is connected to the inverter 103 through the analog signal line 104. The first controller 101 is used to obtain the actual speed detected by the speed detection module 102, and to obtain the reference speed of the pitch control system, wherein the reference speed can be calculated by the first controller 101 itself according to the pitch control demand, or calculated by the main controller (second controller) of the wind turbine generator set and sent to the first controller 101. After obtaining the reference speed, the first controller 101 can transmit the reference speed to the inverter 103 through the analog signal line 104.

[0077] Next, the first controller 101 can determine whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed reaches a preset condition. Furthermore, the first controller 101 determines that an abnormality occurs in the analog signal line of the pitch control system when it is determined that the change trend of the actual speed is consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition.

[0078] If the blades of the wind turbine generator set do not have a fault such as a stuck blade, the temperature change rate of the variable pitch motor is small. Therefore, in addition to the above-mentioned conditions for judging the abnormality of the analog signal line, it is also possible to further judge whether the wind turbine generator set has a stuck blade based on whether the temperature change rate of the variable pitch motor is less than a preset threshold. If the temperature change rate is small, it is determined that the analog signal line is abnormal, otherwise, a stuck blade fault may have occurred.

[0079] Based on this, an optional implementation is provided, in which the temperature value of the pitch motor is detected by a temperature detection module. Specifically, the pitch system may also include a temperature detection module, which may detect the temperature value of the pitch motor of the pitch system. Furthermore, the first controller 101 is also connected to the temperature detection module, and the first controller 101 is also used to obtain the temperature value of the pitch motor detected by the temperature detection module, and then, according to the temperature value of the pitch motor, determine the temperature change rate of the pitch motor.

[0080] In this case, if the changing trend of the actual speed is consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaches the preset condition, and the temperature change rate is less than the third threshold, it is determined that an analog signal line abnormality occurs in the pitch system.

[0081] By using the temperature value of the pitch motor as a judgment condition for further judging whether an abnormality occurs in the analog signal line, a more accurate judgment can be made as to whether an abnormality occurs in the analog signal line.

[0082] In an optional embodiment, the pitch control system may be a component module of a wind turbine generator set, and the wind turbine generator set further includes a second controller (eg, a main controller of the wind turbine generator set); the second controller is connected to the first controller 101 .

[0083] The second controller can obtain the pitch adjustment requirement of the pitch control system and calculate the reference speed according to the pitch adjustment requirement. Thus, the first controller 101 can obtain the reference speed from the data sent by the second controller.

[0084] Figure 2 FIG. 1 is a schematic diagram of the structure of a pitch control system provided by another embodiment of the present application. Figure 2The module structure in the pitch control cabinet of the wind turbine is shown. In one example, the pitch control cabinet can be installed in the impeller hub of the wind turbine.

[0085] The pitch control cabinet includes a first controller 101 of the pitch system, an analog output (AO) module 1011 and an inverter 103. The AO module may be an analog output module of a programmable logic controller (PLC). The inverter 103 is the main execution and control unit of the pitch system, and is used to drive the pitch motor to operate.

[0086] The inverter 103 includes an analog input (AI) port, and the AO port of the AO module is electrically connected to the AI ​​port of the inverter via an analog signal line 104 .

[0087] In one example, the main control cabinet of the wind turbine generator set is installed in the cabin of the wind turbine; the main control (i.e., main controller, second controller) in the main control cabinet and the first controller 101 in the pitch control cabinet transmit data through DP communication or CANopen communication. After the pitch controller (first controller 101) receives the control instruction sent by the main control, or the instruction to trigger emergency pitching inside the pitch controller, the instruction may include a reference speed for controlling the angle change of the blades of the pitch system, which may be converted into an analog signal through the analog output module 1011 and transmitted to the inverter 103 via the analog signal line 104. After the inverter 103 receives the analog signal, it converts the analog value into the corresponding speed command value according to the relevant corresponding relationship, and drives the pitch motor to run according to this command value, thereby realizing the pitch adjustment function.

[0088] When an abnormality occurs in the analog signal line 103 (for example, a short circuit or a short circuit to the ground occurs), the interference signal will be injected into the analog signal line 104, interfering with the transmitted analog signal, causing the analog signal to drift due to the superposition of the interference signal, thereby causing the speed of the driver driven by the inverter 103 to deviate, which may cause the variable pitch motor to frequently stop and start.

[0089] Figure 4 This is a curve comparison diagram of an example of actual speed (solid line) and reference speed (dashed line) after an abnormality occurs in the analog signal line. The horizontal axis is time and the vertical axis is speed value. Figure 4 It can be seen that there is a large deviation between the actual speed and the reference speed, and the actual speed fluctuates greatly.

[0090] However, from Figure 4It can also be seen that since the result of analog interference is the superposition of interference signals on the basis of normal signals, the voltage variation law and reference speed variation cycle after superposition will not change.

[0091] Figure 5 FIG. 1 is another example of a curve comparison diagram of the actual speed (dashed line) and the reference speed (solid line), where the horizontal axis is time and the vertical axis is the speed value. Figure 5 It can be seen that the trend change cycles of the reference speed and the actual speed are consistent, but the directions of increase and decrease are opposite.

[0092] Under normal circumstances, the pitch control target of the pitch control system is that the actual speed follows the reference speed, that is, the actual speed should reach the reference speed, or be basically consistent with the reference speed. In the case of drift of the analog signal, since the analog signal is superimposed with an uncertain interference signal, and the amplitude will change with the interference of the operating frequency of the inverter 103, the number of electrical equipment started in the wind turbine generator set, etc., the analog signal finally input to the inverter 103 is also a random value. After the inverter 103 is executed, the actual speed of the pitch motor will be fast and slow, or even seriously deviate from the reference speed.

[0093] In order to detect abnormalities in analog signal lines, an embodiment of the present application provides an abnormality detection method for a pitch control system. Figure 3 As shown, the method comprises the following steps:

[0094] Step 201, obtaining the actual speed and reference speed of the pitch control system.

[0095] The actual speed of the variable pitch system may be the speed detected by the speed detection module 102, and obtained by the method executor provided in the embodiment of the present application through communication. The reference speed may be obtained by the method executor provided in the embodiment of the present application from the main controller through communication, or calculated by itself according to the pitch adjustment requirements of the wind turbine generator set, and then the reference speed is transmitted to the inverter 103 of the variable pitch system through the analog signal line 104.

[0096] Since there may be interference signals on the analog signal line 104, causing the actual speed to be unable to follow the reference speed, it is necessary to determine whether an abnormality occurs on the analog signal line 104 based on the relationship between the actual speed and the reference speed.

[0097] Step 202: determine whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed meets a preset condition.

[0098] In order to determine whether an abnormality occurs in the analog signal line, it is determined whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed reaches a preset condition.

[0099] The preset condition is a threshold value set for the difference between the actual speed and the reference speed. If the preset condition is reached, it is determined that the following of the actual speed and the reference speed is abnormal. Here, the cause of the abnormality may be an abnormality in the analog signal line, or it may be an abnormality caused by other reasons. Therefore, it is also necessary to judge the change trend of the actual speed and the change trend of the reference speed. If the change trend of the actual speed is consistent with the change trend of the reference speed, it means that the analog signal line is abnormal. Otherwise, it may be other reasons that cause the difference between the actual speed and the reference speed to be too large.

[0100] The change trend of the actual speed is consistent with the change trend of the reference speed, which means that the change period is the same. For example, Figure 4 , Figure 5 The situation shown is that the change cycle is the same. Specifically, within one cycle, the change increase and decrease directions may be opposite.

[0101] Step 203 , in response to the fact that the change trend of the actual speed is consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition, it is determined that an abnormality occurs in the analog signal line of the pitch control system.

[0102] In an optional embodiment, in response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching a preset condition, step 203 determines that an abnormality occurs in the analog signal line of the pitch control system, which may include the following steps:

[0103] Step 2031, in response to the change trend of the actual speed being consistent with the change trend of the reference speed, calculating the ratio of the actual speed to the reference speed;

[0104] Step 2032: In response to the ratio exceeding the first threshold for a number of times exceeding the second threshold, it is determined that an abnormality occurs in the analog signal line of the pitch control system.

[0105] That is, in this optional implementation, first determine whether the change trend is consistent. By determining whether the change trend is consistent, the situation that the analog signal line is not abnormal can be directly eliminated. That is, if the change trend is inconsistent, that is, the change cycle does not match, then even if an abnormality occurs, it is not caused by the analog signal line, and the ratio of the actual speed to the reference speed can no longer be determined. This implementation can prioritize the situation where the analog signal line has no abnormality, thereby improving the judgment efficiency.

[0106] If the changing trend of the actual speed is consistent with the changing trend of the reference speed, the ratio of the actual speed to the reference speed is calculated, and then, if it is determined that the number of times the ratio exceeds the first threshold exceeds the second threshold, it is determined that an abnormality in the analog signal line of the pitch system occurs. Otherwise, even if the changing trend of the actual speed is consistent with the changing trend of the reference speed, but the number of times the ratio exceeds the first threshold does not exceed the second threshold, there is no abnormality in the analog signal line. This situation is actually a normal situation. The changing trend of the actual speed is consistent with the changing trend of the reference speed and the difference is small, which is equivalent to the actual speed being able to follow the reference speed well, and the pitch system is working normally.

[0107] In an optional embodiment, in addition to judging the following situation of the actual speed and the reference speed, it is also possible to judge whether the propeller is stuck in combination with the temperature value of the variable pitch motor, and then assist in judging whether an analog signal abnormality occurs based on the judgment result of whether the propeller is stuck.

[0108] Specifically, before determining that an analog signal line abnormality occurs in the pitch control system, the method may further include the following steps:

[0109] Step 204, obtaining the temperature value of the pitch motor of the pitch system.

[0110] The temperature value of the pitch motor can be detected by a temperature detection module, and the temperature detection module can communicate with the executor of the method provided in the embodiment of the present application to obtain the temperature value of the pitch motor.

[0111] Step 205: Determine the temperature change rate of the pitch motor according to the temperature value of the pitch motor.

[0112] The temperature change rate is the rate of change of one moment relative to another moment. For example, the temperature difference between each moment and the previous moment can be calculated, so that the temperature change rate of each moment compared with the previous moment can be expressed by the temperature difference.

[0113] Accordingly, in response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching a preset condition, step 203 determines that an abnormality occurs in the analog signal line of the pitch control system, which may include the following steps:

[0114] Step 2033, in response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches a preset condition, and the temperature change rate is less than a third threshold, it is determined that an analog signal line abnormality occurs in the pitch system.

[0115] That is, in this optional embodiment, in addition to the above-mentioned situation where the actual speed does not follow the reference speed, it is also necessary to determine that the temperature change rate is less than the third threshold value in order to determine that an analog signal abnormality has occurred in the variable pitch system. Otherwise, if the temperature change rate is greater than or equal to the third threshold value, it means that the temperature of the variable pitch motor is too high, and a propeller jamming failure may have occurred. In this case, the situation where the actual speed does not follow the reference speed may be caused by a propeller jam, rather than by an abnormality in the analog signal line.

[0116] In an optional implementation, determining whether the difference between the actual speed and the reference speed reaches a preset condition may include:

[0117] The number of times the reference speed increases and / or decreases relative to the previous moment, and the number of times the actual speed increases and / or decreases relative to the previous moment are counted respectively.

[0118] In this way, the difference between the actual speed and the reference speed reaches a preset condition, which may include at least one of the following situations:

[0119] ① The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold;

[0120] ② The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than the fifth threshold;

[0121] ③ The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed decreases relative to the previous moment is less than the sixth threshold;

[0122] ④ The difference between the number of times the reference speed decreases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than the seventh threshold.

[0123] By counting the number of times the reference speed / actual speed increases / decreases relative to the previous moment, it is possible to indicate the duration of the increase / decrease of the reference speed / actual speed. If the number of times the actual speed increases is similar to the number of times the reference speed increases (less than the fourth threshold), it can be indicated that the trends of the actual speed and the reference speed during this period are the same. Among them, due to the presence of interference signals, the directions of increase or decrease may be opposite. Therefore, if the number of times the actual speed increases is similar to the number of times the reference speed decreases (less than the seventh threshold), it can also be indicated that the trends of the actual speed and the reference speed during this period are the same. The same applies to other situations and will not be repeated.

[0124] The fourth to seventh thresholds mentioned above may be determined based on historical speed monitoring records. Since the sensor for detecting the actual speed objectively has certain errors, and even under normal circumstances there may be a time gap between the actual speed and the reference speed, the set fourth to seventh thresholds may be higher than the frequency of errors occurring in the sensor to allow for certain errors.

[0125] In an optional implementation, the specific implementation of the execution party obtaining the reference speed provided in the embodiment of the present application may include the following steps:

[0126] Step 2011, obtaining the pitch adjustment requirement of the pitch control system;

[0127] Step 2012: Calculate and obtain a reference speed according to the pitch adjustment requirement.

[0128] In another embodiment, the above steps 2011 and 2012 may also be executed by the main controller of the wind turbine generator set. In this case, the executor provided by the embodiment of the present application may communicate with the main controller to obtain the reference speed calculated by the main controller.

[0129] The abnormality detection method, device, equipment and storage medium of the variable pitch system of the embodiment of the present application can determine whether an analog signal line abnormality has occurred in the variable pitch system according to whether the changing trends of the actual speed and the reference speed are consistent, and whether the difference between the actual speed and the reference speed reaches a preset condition. Since the interference signal to the analog signal line is superimposed on the originally transmitted signal, in the case of an abnormality in the analog signal line, the changing trend of the actual speed is consistent with the changing trend of the reference speed, but there is a large change in the difference. In this way, if it is determined that the changing trend of the actual speed is consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition, it is determined that the analog signal line is abnormal. Therefore, the problem that it is difficult to distinguish between abnormalities of the analog signal line and other abnormalities in the detection method of the variable pitch system in the related art is solved, and the technical effect of determining the abnormality of the analog signal line is achieved.

[0130] The following is an exemplary description of the process of the detection method of the variable pitch system provided in the embodiment of the present application in conjunction with a specific application scenario.

[0131] See Figure 6 , Figure 6 : is a flow chart of an abnormality detection method for a pitch system provided by another embodiment of the present application, comprising the following steps:

[0132] Step 501: The controller (first controller) of the pitch system reads the reference speed, the actual speed, and the temperature of the pitch motor.

[0133] Step 502, the controller of the variable pitch system calculates the change direction of the reference speed and the actual speed relative to the previous sampling moment. If it increases, the increased count value is increased by 1; if it decreases, the decreased count value is increased by 1. Thus, four values ​​can be obtained, the number of times the reference speed increases, the number of times the reference speed decreases, the number of times the actual speed increases, and the number of times the actual speed decreases.

[0134] This step is used to count the cycles of changes. For example, between t1 and t2, if the number of reference speed increases / decreases is n, and the number of actual speed increases / decreases is also n, then the change trends are considered consistent; if they are inconsistent, it means that other types of faults may have occurred (such as propeller jamming), and the test can be exited.

[0135] Step 503, determining whether the speed change cycles are consistent, that is, whether the change trends are consistent.

[0136] In step 504, the controller of the pitch control system calculates the ratio of the actual speed to the reference speed.

[0137] Step 505: The ratio is greater than m for more than p times.

[0138] The detection of this step can be limited to a certain time, for example, within 10 seconds. If within this period, the ratio of the actual speed to the reference speed is greater than a preset value m for more times than a preset value p, then the difference between the actual speed and the reference speed meets the preset condition;

[0139] Step 506: The temperature change rate of the pitch motor is normal.

[0140] The judgment method of this step can be: the motor temperature value sampled this time is divided by the motor temperature value sampled last time. If the ratio is greater than a preset value q (for example, 1.5), it is considered that the temperature rise of the variable pitch motor is too fast and a stuck propeller fault may have occurred. This step is to further confirm whether the variable pitch motor has a stuck propeller fault.

[0141] Step 507: The controller of the pitch control system generates an alarm message of "analog signal line abnormality".

[0142] The embodiment of the present application provides an abnormality detection device for a variable pitch system, which can be used to execute the abnormality detection method for a variable pitch system provided in the embodiment of the present application. For the contents not described in detail in the abnormality detection device for a variable pitch system provided in the embodiment of the present application, reference can be made to the abnormality detection method for a variable pitch system provided in the embodiment of the present application, and no further description will be given here.

[0143] Figure 7 FIG. 1 is a schematic diagram of a structure of an abnormality detection device for a pitch system provided by an embodiment of the present application. Figure 7As shown, the device includes a first acquisition unit 401, a judgment unit 402 and a first determination unit 403.

[0144] The first acquisition unit 401 is used to acquire the actual speed and reference speed of the pitch system, and the reference speed is transmitted to the pitch system through the analog signal line;

[0145] The judging unit 402 is used to judge whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed meets a preset condition;

[0146] The first determination unit 403 is used to determine that an abnormality occurs in the analog signal line of the pitch control system in response to the fact that the change trend of the actual speed is consistent with the change trend of the reference speed and the difference between the actual speed and the reference speed reaches a preset condition.

[0147] In an optional implementation, the first determining unit 403 may include:

[0148] a first calculation unit, configured to calculate a ratio of the actual speed to the reference speed in response to the change trend of the actual speed being consistent with the change trend of the reference speed;

[0149] The second determination unit is configured to determine that an abnormality occurs in the analog signal line of the pitch control system in response to the number of times that the ratio exceeds the first threshold exceeding a second threshold.

[0150] In an optional embodiment, the device may further include:

[0151] A second acquisition unit is used to acquire a temperature value of a pitch motor of the pitch system before determining that an analog signal line abnormality occurs in the pitch system;

[0152] A third determining unit is used to determine a temperature change rate of the pitch motor according to a temperature value of the pitch motor;

[0153] The first determining unit 403 may include:

[0154] The fourth determination unit is used to determine that an analog signal line abnormality occurs in the variable pitch system in response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches a preset condition, and the temperature change rate is less than a third threshold.

[0155] In an optional implementation, the determining unit 402 may include:

[0156] a statistical unit, for respectively counting the number of times the reference speed increases and / or decreases relative to a previous moment, and the number of times the actual speed increases and / or decreases relative to a previous moment;

[0157] The difference between the actual speed and the reference speed reaches a preset condition, which may include at least one of the following situations:

[0158] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold;

[0159] The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than a fifth threshold;

[0160] The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed decreases relative to the previous moment is less than a sixth threshold;

[0161] A difference between the number of times the reference speed decreases relative to a previous moment and the number of times the actual speed increases relative to a previous moment is smaller than a seventh threshold.

[0162] In an optional embodiment, the device may further include:

[0163] A third acquisition unit is used to obtain a pitch adjustment requirement of the pitch control system;

[0164] The second calculation unit is used to calculate a reference speed according to a pitch adjustment requirement.

[0165] The abnormality detection device of the variable pitch system of the embodiment of the present application can determine whether an analog signal line abnormality occurs in the variable pitch system according to whether the changing trends of the actual speed and the reference speed are consistent, and whether the difference between the actual speed and the reference speed reaches a preset condition. Since the interference signal to the analog signal line is superimposed on the originally transmitted signal, in the case of an abnormality in the analog signal line, the changing trend of the actual speed is consistent with the changing trend of the reference speed, but there is a large change in the difference. In this way, if it is determined that the changing trend of the actual speed is consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaches a preset condition, it is determined that the analog signal line is abnormal. Therefore, the problem that the detection method of the variable pitch system in the related art is difficult to distinguish between abnormalities of the analog signal line and other abnormalities is solved, and the technical effect of determining the abnormality of the analog signal line is achieved.

[0166] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0167] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0168] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0169] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 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 appropriate cases, the memory 302 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0170] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, 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 one aspect of the present application.

[0171] The processor 301 implements any one of the abnormality detection methods for the pitch control system in the above embodiments by reading and executing computer program instructions stored in the memory 302 .

[0172] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 8 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0173] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0174] Bus 310 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more quantity above these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0175] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0176] The functional blocks shown in the above-described 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, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by 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 disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0177] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0178] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.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 can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0179] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for detecting abnormality of a pitch system, characterized in that: The method comprises: Acquiring an actual speed and a reference speed of a pitch system, wherein the reference speed is transmitted to an inverter of the pitch system via an analog signal line; Determine whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed meets a preset condition; In response to the fact that a change trend of the actual speed is consistent with a change trend of the reference speed, and a difference between the actual speed and the reference speed reaches the preset condition, it is determined that an abnormality occurs in an analog signal line of the pitch control system.

2. The abnormality detection method of the pitch system according to claim 1, characterized in that: In response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching the preset condition, determining that an analog signal line abnormality occurs in the pitch control system, including: In response to the change trend of the actual speed being consistent with the change trend of the reference speed, calculating a ratio of the actual speed to the reference speed; In response to the ratio exceeding the first threshold for a number of times exceeding the second threshold, it is determined that an abnormality in the analog signal line of the pitch control system occurs.

3. The abnormality detection method of the pitch system according to claim 1, characterized in that: Before determining that an analog signal line abnormality occurs in the pitch control system, the method further includes: Obtaining a temperature value of a pitch motor of the pitch system; Determining a temperature change rate of the pitch motor according to a temperature value of the pitch motor; In response to the fact that the change trend of the actual speed is consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaches the preset condition, determining that an analog signal line abnormality occurs in the pitch control system, includes: In response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches the preset condition, and the temperature change rate is less than a third threshold, it is determined that an abnormality occurs in the analog signal line of the pitch system.

4. The abnormality detection method of the pitch system according to claim 1, characterized in that: The determining whether the difference between the actual speed and the reference speed reaches a preset condition comprises: Respectively counting the number of times the reference speed increases and / or decreases relative to a previous moment, and the number of times the actual speed increases and / or decreases relative to a previous moment; The difference between the actual speed and the reference speed reaches the preset condition, including at least one of the following situations: The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold; The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than a fifth threshold; The difference between the number of times the reference speed increases relative to a previous moment and the number of times the actual speed decreases relative to a previous moment is less than a sixth threshold; A difference between a number of times the reference speed decreases relative to a previous moment and a number of times the actual speed increases relative to a previous moment is smaller than a seventh threshold.

5. The abnormality detection method of a pitch system according to any one of claims 1 to 4, characterized in that: The method further comprises: Obtaining a pitch adjustment requirement of the pitch control system; The reference speed is calculated according to the pitch adjustment requirement.

6. An abnormality detection device for a pitch control system, characterized in that: The device comprises: A first acquisition unit is used to acquire an actual speed and a reference speed of the pitch system, wherein the reference speed is transmitted to the pitch system via an analog signal line; a judging unit, configured to judge whether the changing trend of the actual speed is consistent with the changing trend of the reference speed, and whether the difference between the actual speed and the reference speed reaches a preset condition; The first determination unit is used to determine that an abnormality occurs in the analog signal line of the pitch control system in response to the change trend of the actual speed being consistent with the change trend of the reference speed and the difference between the actual speed and the reference speed reaching the preset condition.

7. The abnormality detection device for a pitch system according to claim 6, characterized in that: The first determining unit includes: a first calculation unit, configured to calculate a ratio of the actual speed to the reference speed in response to the change trend of the actual speed being consistent with the change trend of the reference speed; The second determining unit is configured to determine that an abnormality in the analog signal line of the pitch control system occurs in response to the number of times that the ratio exceeds the first threshold exceeding a second threshold.

8. The abnormality detection device for a pitch system according to claim 6, characterized in that: The device also includes: A second acquisition unit is used to acquire a temperature value of a pitch motor of the pitch system before determining that an analog signal line abnormality occurs in the pitch system; a third determining unit, configured to determine a temperature change rate of the pitch motor according to a temperature value of the pitch motor; The first determining unit includes: The fourth determination unit is used to determine that an abnormality in the analog signal line of the pitch system occurs in response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, the difference between the actual speed and the reference speed reaches the preset condition, and the temperature change rate is less than a third threshold.

9. The abnormality detection device of the pitch system according to claim 6, characterized in that: The judging unit comprises: a statistical unit, for respectively counting the number of times the reference speed increases and / or decreases relative to a previous moment, and the number of times the actual speed increases and / or decreases relative to a previous moment; The difference between the actual speed and the reference speed reaches the preset condition, including at least one of the following situations: The difference between the number of times the reference speed increases relative to the previous moment and the number of times the actual speed increases relative to the previous moment is less than a fourth threshold; The difference between the number of times the reference speed is reduced relative to the previous moment and the number of times the actual speed is reduced relative to the previous moment is less than a fifth threshold; The difference between the number of times the reference speed increases relative to a previous moment and the number of times the actual speed decreases relative to a previous moment is less than a sixth threshold; A difference between a number of times the reference speed decreases relative to a previous moment and a number of times the actual speed increases relative to a previous moment is smaller than a seventh threshold.

10. The abnormality detection device for a pitch system according to any one of claims 6 to 9, characterized in that: The device also includes: A third acquisition unit is used to obtain a pitch adjustment requirement of the pitch control system; The second calculation unit is used to calculate the reference speed according to the pitch adjustment requirement.

11. A variable pitch system, characterized in that: The pitch system includes a first controller, an inverter and a speed detection module; The inverter is used to drive the pitch changer; The speed detection module is used to detect the actual speed of the pitch system; The first controller is connected to the speed detection module and is connected to the inverter through an analog signal line. The first controller is used to obtain the actual speed detected by the speed detection module and the reference speed of the pitch system, and transmit the reference speed to the inverter through the analog signal line. Determine whether the change trend of the actual speed is consistent with the change trend of the reference speed, and whether the difference between the actual speed and the reference speed meets a preset condition; In response to the change trend of the actual speed being consistent with the change trend of the reference speed, and the difference between the actual speed and the reference speed reaching the preset condition, it is determined that an abnormality occurs in the analog signal line of the pitch control system.

12. The pitch system according to claim 11, characterized in that: The pitch system further comprises a temperature detection module, wherein the temperature detection module is used to detect a temperature value of a pitch motor of the pitch system; The first controller is also connected to the temperature detection module, and the first controller is also used to obtain the temperature value of the pitch motor detected by the temperature detection module, and determine the temperature change rate of the pitch motor according to the temperature value of the pitch motor; In response to the fact that the changing trend of the actual speed is consistent with the changing trend of the reference speed, and the difference between the actual speed and the reference speed reaches the preset condition, and the temperature change rate is less than a third threshold, it is determined that an abnormality occurs in the analog signal line of the pitch system.

13. The pitch system according to claim 11, characterized in that: The variable pitch system is configured in a wind turbine generator set, and the wind turbine generator set further includes a second controller; the second controller is connected to the first controller; The second controller is used to obtain a pitch adjustment requirement of the variable pitch system; and calculate the reference speed according to the pitch adjustment requirement.

14. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the abnormality detection method for the variable pitch system according to any one of claims 1 to 5 is implemented.

15. A storage medium, characterized in that: The storage medium stores computer program instructions, which, when executed by a processor, implement the abnormality detection method for a variable pitch system according to any one of claims 1 to 5.

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