A paddle position synchronization judgment method and device and a paddle system

Abstract

This invention discloses a method, device, and blade system for determining blade position synchronization, relating to the field of blade synchronization. If N blades are to be synchronized, then the positions and velocities of the N blades in the current cycle need to remain essentially consistent. Therefore, the method first determines the sum of the positional deviations and the sum of the velocity deviations between any two blades among the N blades in the current cycle. Then, based on the determined sum of the positional deviations and the sum of the velocity deviations between any two blades among the N blades, it is possible to determine whether the positions of the N blades are synchronized. This method can accurately and promptly determine whether the N blades are synchronized without requiring technical personnel, thus reducing errors.

Description

Technical Field

[0001] This invention relates to the field of blade synchronization, and in particular to a method, apparatus and blade system for determining blade position synchronization. Background Technology

[0002] Wind energy is a vital green energy source, its safe, clean, and inexhaustible nature brimming with immense energy and business opportunities. Wind turbines, as devices that convert wind energy into electricity, are becoming increasingly important. The blades in a wind turbine rotate synchronously and periodically at the same speed between 0 and a preset angle, with their own axis as the reference point. Any asynchrony in the position (angle) of the blades can lead to incorrect perception of the blade status by the control system, resulting in unbalanced forces on the blades, affecting the overall load of the turbine and posing safety risks. However, current technology primarily relies on technicians operating testing equipment to detect the synchronization of the blade positions, a method whose results are heavily influenced by the technicians' skill. Summary of the Invention

[0003] The purpose of this invention is to provide a method, device, and blade system for determining blade position synchronization. If N blades are to be synchronized, then the positions and velocities of the N blades in the current cycle must remain essentially consistent. Therefore, the sum of the positional deviations and the sum of the velocity deviations between any two blades in the current cycle are first determined. Then, based on the determined sum of the positional deviations and the sum of the velocity deviations between any two blades in the N blades, it is possible to determine whether the positions of the N blades are synchronized. This method can accurately and promptly determine whether the N blades are synchronized without requiring technical personnel, thus reducing errors.

[0004] To solve the above-mentioned technical problems, the present invention provides a method for determining the synchronization of blade position, applied to the processor in a blade position synchronization determination device, comprising:

[0005] Determine the sum of positional deviations between any two blades out of N blades in the current cycle, where N is an integer not less than 2;

[0006] Determine the sum of the velocity deviations between any two blades out of the N blades in the current cycle;

[0007] The N blade positions are determined to be synchronized based on the sum of the position deviations and the sum of the velocity deviations.

[0008] Preferably, determining whether the positions of the N blades are synchronized based on the sum of the position deviations and the sum of the velocity deviations includes:

[0009] Multiply the sum of the position deviations between any two blades in the current cycle by the sum of the velocity deviations between any two blades in the current cycle to obtain the characteristic values ​​of the position and velocity deviations of the N blades.

[0010] Determine whether the characteristic values ​​of the position deviation and velocity deviation are less than a preset characteristic value;

[0011] If so, then determine that the positions of the N blades are synchronized;

[0012] If not, then the positions of the N blades are determined to be out of sync.

[0013] Preferably, before determining whether the N blade positions are synchronized based on the sum of the position deviations and the sum of the velocity deviations, the method further includes:

[0014] The sum of the position deviations and the sum of the velocity deviations are respectively subjected to low-pass filtering.

[0015] Preferably, low-pass filtering is performed on the sum of the position deviations and the sum of the velocity deviations, respectively, including:

[0016] The total position deviation after low-pass filtering is obtained based on the sum of the position deviations between any two blades among the N blades in the current cycle and the first preset filtering formula.

[0017] The total speed deviation after low-pass filtering is obtained based on the sum of the speed deviations between any two blades among the N blades in the current cycle and the second preset filtering formula.

[0018] The first preset filtering relationship is:

[0019] The total position deviation after low-pass filtering = the total position deviation of the current cycle * 1 / 5 + the total position deviation of the previous cycle * 4 / 5;

[0020] The second preset filtering relationship is:

[0021] The total speed deviation after low-pass filtering = the total speed deviation of the current cycle * 1 / 5 + the total speed deviation of the previous cycle * 4 / 5.

[0022] Preferably, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0023] Determine the positions of the limit switches that correspond one-to-one with each of the N blades;

[0024] Determine whether the installation of each limit switch is correct based on the position of each limit switch;

[0025] If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

[0026] Preferably, the installation position of the limit switch is a preset reference angle θ. Determining whether the installation of each limit switch is correct based on its position includes:

[0027] All N blades are controlled to change pitch from a first preset angle to a second preset angle, and from the second preset angle to the first preset angle, wherein the first preset angle > the reference preset angle θ > the second preset angle;

[0028] For any blade, during the process of the blade changing pitch from the first preset angle to the second preset angle, the encoder sequentially obtains the first position value θ1 and the second position value θ2 of the limit switch corresponding to the blade, and during the process of the blade changing pitch from the second preset angle to the first preset angle, the encoder sequentially obtains the third position value θ3 and the fourth position value θ4 of the limit switch corresponding to the blade.

[0029] The maximum offset of the limit switch at the first preset angle and the second preset angle is obtained based on the relationship between the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the maximum offset of the limit switch.

[0030] The minimum offset of the limit switch at the first preset angle and the second preset angle is obtained based on the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the relationship between the minimum offset of the limit switch.

[0031] The maximum offset of the limit switch is expressed as follows:

[0032] The maximum offset of the limit switch at the first preset angle and the second preset angle is MAX(θ1-θ+θ4-θ, θ2-θ+θ3-θ);

[0033] The minimum offset of the limit switch is expressed as follows:

[0034] The minimum offset of the limit switch at the first preset angle and the second preset angle is MIN(θ1-θ+θ4-θ, θ2-θ+θ3-θ);

[0035] The installation accuracy characteristic quantity of the limit switch is obtained based on the maximum offset value of the limit switch at the first preset angle and the second preset angle, the minimum offset value of the limit switch at the first preset angle and the second preset angle, the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the relationship between the installation accuracy of the limit switch.

[0036] The formula for the installation accuracy of the limit switch is:

[0037] The installation accuracy characteristic of the limit switch = |maximum offset of the limit switch at the first preset angle and the second preset angle / minimum offset of the limit switch at the first preset angle and the second preset angle|*|((θ1+θ2) / 2-θ+(θ3+θ4) / 2-θ)|;

[0038] Determine whether the installation accuracy characteristic of the limit switch is less than the installation accuracy characteristic of the preset limit switch;

[0039] If so, then the limit switch is determined to be installed correctly;

[0040] If not, the limit switch is determined to be installed incorrectly.

[0041] Preferably, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0042] Control the N blades to operate in normal operation mode and / or normal shutdown mode and / or emergency shutdown mode;

[0043] Obtain the first speed of N blades when operating in normal mode and / or the second speed when operating in normal shutdown mode and / or the third speed when operating in emergency shutdown mode;

[0044] Determine whether the first speed and the preset first speed are equal and / or determine whether the second speed and the preset second speed are equal and / or determine whether the third speed and the preset third speed are equal;

[0045] If the first speed is equal to the preset first speed and / or the second speed is equal to the preset second speed and / or the third speed is equal to the preset third speed, then it is determined that the N blades are operating normally, and the process proceeds to the step of determining the sum of the positional deviations between any two blades among the N blades in the current cycle.

[0046] Preferably, the blade position synchronization determination further includes a PLC device, used to control the pitch of the blades based on the control of the processor, and to send the position and speed of the blades to the processor;

[0047] Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included:

[0048] Determine whether the communication between itself and the PLC device is normal;

[0049] If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

[0050] Preferably, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0051] Determine the state of the safety chain, which includes: a closed safety chain state and a disconnected safety chain state;

[0052] Determine whether the security chain has failed based on its status.

[0053] If not, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

[0054] Preferably, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0055] Obtain the pitch current of N blades;

[0056] Determine whether each pitch current is less than the preset pitch current;

[0057] If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

[0058] To solve the above-mentioned technical problems, the present invention also provides a blade position synchronization determination device, comprising:

[0059] Memory, used to store computer programs;

[0060] A processor is used to implement the steps of the blade position synchronization determination method as described above when executing the computer program.

[0061] To solve the above-mentioned technical problems, the present invention also provides a blade system, including the blade position synchronization determination device as described above and N blades, wherein the blade position synchronization determination device is connected to the N blades, and N is an integer not less than 2.

[0062] The purpose of this invention is to provide a method, device, and blade system for determining blade position synchronization. If N blades are to be synchronized, then the positions and velocities of the N blades in the current cycle must remain essentially consistent. Therefore, the sum of the positional deviations and the sum of the velocity deviations between any two blades in the current cycle are first determined. Then, based on the determined sum of the positional deviations and the sum of the velocity deviations between any two blades in the N blades, it is possible to determine whether the positions of the N blades are synchronized. This method can accurately and promptly determine whether the N blades are synchronized without requiring technical personnel, thus reducing errors. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 A flowchart of a method for determining the synchronized position of a propeller blade provided by the present invention;

[0065] Figure 2 Flowchart of another method for determining blade position synchronization provided by the present invention;

[0066] Figure 3 This is a schematic diagram of the limit switch triggered by the blade during the pitch change process provided by the present invention.

[0067] Figure 4 This is a schematic diagram of the structure of a blade position synchronization determination device provided by the present invention. Detailed Implementation

[0068] The core of this invention is to provide a method, device, and blade system for determining blade position synchronization. If N blades are to be synchronized, then the positions and velocities of the N blades in the current cycle must remain essentially consistent. Therefore, the sum of the positional deviations and the sum of the velocity deviations between any two blades in the current cycle are first determined. Then, based on the determined sum of the positional deviations and the sum of the velocity deviations between any two blades in the N blades, it is possible to determine whether the positions of the N blades are synchronized. This method can accurately and promptly determine whether the N blades are synchronized without requiring technical personnel, thus reducing errors.

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] Please refer to Figure 1 , Figure 1 A flowchart illustrating a blade position synchronization determination method provided by the present invention. The method, applied to a processor in a blade position synchronization determination device, includes:

[0071] S10: Determine the sum of positional deviations between any two blades out of N blades in the current cycle, where N is an integer not less than 2;

[0072] In this invention, to determine whether N blades are synchronized, it is necessary to know whether the positions of the N blades are consistent in the current cycle. This requires determining the sum of the positional deviations between any two blades in the current cycle. This allows for a more accurate determination of whether the positions of the N blades are consistent in the current cycle, improving the efficiency of the determination process.

[0073] In practical applications, the sum of positional deviations between any two blades out of N blades in the current cycle can be determined by first obtaining the positions of the N blades in the current cycle, then obtaining the difference between the positions of any two blades based on the positions of the N blades in the current cycle, and finally obtaining the sum of the positional deviations of the N blades based on the sum of the absolute values ​​of the differences between the positions of any two blades, or by other methods.

[0074] S11: Determine the sum of the speed deviations between any two blades out of N blades in the current cycle;

[0075] In this invention, to determine whether N blades are synchronized, it is necessary to know whether the speeds of the N blades are consistent in the current cycle. This requires determining the sum of the speed deviations between any two blades in the current cycle. This allows for a more accurate determination of whether the speeds of the N blades are consistent in the current cycle, improving the efficiency of the determination process.

[0076] In practical applications, the sum of the speed deviations between any two blades out of N blades in the current cycle can be determined by first obtaining the speeds of the N blades in the current cycle, then obtaining the speed difference between any two blades based on the speeds of the N blades in the current cycle, and finally obtaining the sum of the speed deviations of the N blades based on the sum of the absolute values ​​of the speed differences between any two blades, or by other methods.

[0077] S12: Determine whether the positions of N blades are synchronized based on the sum of position deviations and the sum of velocity deviations.

[0078] In this invention, after determining the sum of positional and velocity deviations between any two blades out of N blades in the current cycle, the processor can directly determine whether the N blades are synchronized based on these sums. This method can more accurately and promptly determine whether the N blades are synchronized, and it eliminates the need for technical personnel, thus reducing errors.

[0079] It should be noted that after determining the sum of the positional deviations and the sum of the velocity deviations between any two blades of the N blades in the current cycle, the method to determine whether the positions of the N blades are synchronized can be to check whether the sum of the positional deviations between any two blades of the N blades in the current cycle is less than a preset sum of positional deviations and whether the sum of the velocity deviations between any two blades of the N blades in the current cycle is less than a preset sum of velocity deviations. If the sum of the positional deviations between any two blades of the N blades in the current cycle is less than the preset sum of positional deviations and the sum of the velocity deviations between any two blades of the N blades in the current cycle is less than the preset sum of velocity deviations, then the synchronization is determined. If the total velocity deviation is set, then the N blades are determined to be in sync. Alternatively, the sum of the position deviations between any two blades in the current cycle and the sum of the velocity deviations between any two blades in the current cycle can be multiplied to obtain the characteristic values ​​of the position and velocity deviations of the N blades. The synchronization of the N blades is determined by whether the characteristic values ​​of the position and velocity deviations are less than a preset characteristic value. If the characteristic values ​​of the position and velocity deviations are less than the preset characteristic value, the N blades are determined to be in sync; if the characteristic values ​​of the position and velocity deviations are not less than the preset characteristic value, the N blades are determined to be in sync or other methods are used.

[0080] It should also be noted that the workshop commissioning of the wind turbine pitch system mainly confirms that the sensors and actuators of the wind turbine pitch system are functioning normally. A workshop commissioning platform for wind turbines is provided, mainly including: an operating console, a handheld terminal, a wireless multimeter, and field terminals. The operating console mainly consists of an industrial control computer, function boards, a main power supply circuit, and a DC power supply group. The operating console primarily handles command communication with the tested object, automatically collecting test data and recording it in a database through communication with devices such as the wireless multimeter and handheld terminal.

[0081] This embodiment provides a method for determining blade position synchronization. If N blades are to be synchronized, then the positions and velocities of the N blades in the current cycle must be substantially consistent. Therefore, the sum of the positional deviations and the sum of the velocity deviations between any two blades in the current cycle are first determined. Then, based on the determined sum of the positional deviations and the sum of the velocity deviations between any two blades in the N blades, it is possible to determine whether the positions of the N blades are synchronized. This method can accurately and promptly determine whether the N blades are synchronized without requiring technical personnel, thus reducing errors.

[0082] As a preferred embodiment, determining whether the positions of N blades are synchronized based on the sum of position deviations and the sum of velocity deviations includes:

[0083] Multiply the sum of the positional deviations between any two blades in the current cycle by the sum of the velocity deviations between any two blades in the current cycle to obtain the characteristic values ​​of the positional and velocity deviations of the N blades.

[0084] Determine whether the characteristic values ​​of position deviation and velocity deviation are less than preset characteristic values;

[0085] If so, then determine that the positions of N blades are synchronized;

[0086] If not, then the N blades are determined to be out of sync.

[0087] In this invention, the method for determining whether the positions of N blades are synchronized based on the sum of position deviations and the sum of velocity deviations is to multiply the sum of the position deviations between any two blades in the current cycle by the sum of the velocity deviations between any two blades in the current cycle to obtain characteristic values ​​of the position and velocity deviations of the N blades. These characteristic values ​​simultaneously represent the position and velocity deviations of the N blades. Therefore, by determining whether the characteristic values ​​of position and velocity deviations are less than a preset characteristic value, it can be determined whether the positions of the N blades are synchronized. If the characteristic values ​​are less than the preset characteristic value, it proves that the blades are synchronized; if the characteristic values ​​are not less than the preset characteristic value, it proves that the N blades are not synchronized. This method is more accurate, reduces errors, and improves the reliability of the determination process.

[0088] Please refer to Figure 2 , Figure 2 A flowchart illustrating another method for determining blade position synchronization provided by the present invention.

[0089] As a preferred embodiment, before determining whether the positions of the N blades are synchronized based on the sum of position deviations and the sum of velocity deviations, the method further includes:

[0090] S2: Perform low-pass filtering on the sum of position deviations and the sum of velocity deviations respectively.

[0091] In this invention, before determining whether the positions of N blades are synchronized based on the total position deviation and the total velocity deviation, the total position deviation and the total velocity deviation are first subjected to low-pass filtering. This is because the determined total position deviation and the total velocity deviation are under the current cycle and may be subject to certain errors due to some factors. Low-pass filtering can eliminate the influence of these errors and improve the accuracy of the judgment process.

[0092] In a preferred embodiment, low-pass filtering is performed on the sum of position deviations and the sum of velocity deviations, respectively, including:

[0093] The total position deviation after low-pass filtering is obtained based on the sum of the position deviations between any two blades out of N blades in the current cycle and the first preset filtering formula.

[0094] The total speed deviation after low-pass filtering is obtained by using the sum of the speed deviations between any two blades out of N blades in the current cycle and the second preset filtering formula.

[0095] The first preset filtering relationship is:

[0096] The total position deviation after low-pass filtering = the total position deviation of the current cycle * 1 / 5 + the total position deviation of the previous cycle * 4 / 5;

[0097] The second preset filtering relationship is:

[0098] The total speed deviation after low-pass filtering = the total speed deviation of the current cycle * 1 / 5 + the total speed deviation of the previous cycle * 4 / 5.

[0099] In this invention, the total position deviation after low-pass filtering is mainly obtained based on the total position deviation between any two blades of N blades in the current cycle, the total position deviation between any two blades of N blades in the previous cycle, and a first preset filtering formula; the total velocity deviation after low-pass filtering is mainly obtained based on the total velocity deviation between any two blades of N blades in the current cycle, the total velocity deviation between any two blades of N blades in the previous cycle, and a second preset filtering formula. Using the low-pass filtering calculation method can more accurately obtain the total position deviation and total velocity deviation after low-pass filtering.

[0100] As a preferred embodiment, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0101] Determine the positions of the limit switches that correspond one-to-one with each of the N propeller blades;

[0102] Determine whether the installation of each limit switch is correct based on the position of each limit switch;

[0103] If so, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

[0104] In this invention, each of the N blades corresponds to a limit switch. The main function of the limit switches is to correct the encoder readings in the wind turbine generator set. Because encoder gears may experience meshing problems during long-term operation, leading to discrepancies between encoder readings and the actual blade pitch angle, the processor may misinterpret the blade status, causing imbalances in the rotor's load and affecting the overall load capacity, thus posing safety risks. Therefore, it is crucial to ensure the correct installation of the limit switches. This invention determines the correct installation of the limit switches by first determining the position of the limit switches corresponding to each of the N blades before determining the sum of the positional deviations between any two blades in the current cycle. Then, based on the position of each limit switch, the correct installation of each limit switch is determined. Ensuring the correct installation of the limit switches facilitates subsequent encoder calibration in the wind turbine generator set and improves the reliability of the judgment process.

[0105] In one preferred embodiment, the installation position of the limit switches is based on a preset angle θ. Determining whether the installation of each limit switch is correct based on its position includes:

[0106] Control all N blades to change from a first preset angle to a second preset angle, and from the second preset angle to the first preset angle, where the first preset angle > the reference preset angle θ > the second preset angle;

[0107] For any blade, during the process of the blade changing from a first preset angle to a second preset angle, the encoder sequentially obtains the first position value θ1 and the second position value θ2 of the limit switch corresponding to the blade, and during the process of the blade changing from a second preset angle to a first preset angle, the encoder sequentially obtains the third position value θ3 and the fourth position value θ4 of the limit switch corresponding to the blade.

[0108] The maximum offset of the limit switch at the first and second preset angles is obtained based on the relationship between the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the maximum offset of the limit switch.

[0109] The minimum offset of the limit switch at the first and second preset angles is obtained based on the relationship between the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the minimum offset of the limit switch.

[0110] The maximum offset of the limit switch is expressed by the following formula:

[0111] The maximum offset of the limit switch at the first preset angle and the second preset angle = MAX(θ1-θ+θ4-θ, θ2-θ+θ3-θ);

[0112] The formula for the minimum offset of the limit switch is:

[0113] The minimum offset of the limit switch at the first preset angle and the second preset angle = MIN(θ1-θ+θ4-θ, θ2-θ+θ3-θ);

[0114] The installation accuracy characteristic quantity of the limit switch is obtained based on the maximum offset value of the limit switch at the first preset angle and the second preset angle, the minimum offset value of the limit switch at the first preset angle and the second preset angle, the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the relationship between the installation accuracy of the limit switch.

[0115] The formula for the installation accuracy of limit switches is:

[0116] The installation accuracy characteristic of the limit switch = |maximum offset of the limit switch at the first preset angle and the second preset angle / minimum offset of the limit switch at the first preset angle and the second preset angle|*|((θ1+θ2) / 2-θ+(θ3+θ4) / 2-θ)|;

[0117] Determine whether the installation accuracy characteristic of the limit switch is less than the installation accuracy characteristic of the preset limit switch;

[0118] If so, the limit switch is determined to be installed correctly;

[0119] If not, the limit switch is determined to be installed incorrectly.

[0120] In this invention, to determine whether the limit switch is installed correctly, it is necessary to control N blades to change from a first preset angle to a second preset angle and then from the second preset angle back to the first preset angle. This ensures that any blade can pass its corresponding limit switch twice. Since the limit switch itself has a certain stroke, during the process of the blade changing from the first preset angle to the second preset angle, the encoder can obtain the first position value θ1 when the blade approaches the limit switch corresponding to the blade, and the second position value θ2 when the blade moves away from the limit switch corresponding to the blade. During the process of the blade changing from the first preset angle to the second preset angle, the encoder can obtain the third position value θ3 when the blade approaches the limit switch corresponding to the blade, and the fourth position value θ4 when the blade moves away from the limit switch corresponding to the blade.

[0121] After obtaining the first position value θ1, the second position value θ2, the third position value θ3, and the fourth position value θ4, the installation accuracy characteristic of the limit switch, which reflects whether the limit switch is installed correctly, can be obtained based on the relationship between the maximum and minimum limit switch offsets and the limit switch installation accuracy. The correct installation of the limit switch is determined by comparing its installation accuracy characteristic with a preset installation accuracy characteristic. If the installation accuracy characteristic is less than the preset value, the limit switch is installed correctly; if it is not less than the preset value, the limit switch is installed incorrectly. This method allows for more accurate determination of limit switch installation correctness, improving the safety and reliability of the determination process.

[0122] It should be noted that a single propeller blade may contain limit switches at angles of 3 degrees, 88 degrees (or 85 degrees), and 91 degrees. This invention only describes one such limit switch, while ensuring that all limit switches are installed correctly. For example, if the preset reference angle θ of the limit switch is 3 degrees, and the standard travel of the limit switch is 2.5-3.5 degrees, and if the measured first position value θ1 is 3.5 degrees, the second position value θ2 is 2.5 degrees, the third position value θ3 is 2.6 degrees, and the fourth position value θ4 is 3.6 degrees, then the installation accuracy characteristic of the limit switch is calculated as: |1.1 / -0.9|*|((3.5+2.5)|).

[0123] / 2-3+(3.6+2.6) / 2-3)|≈0.12. Assuming the preset limit switch installation accuracy characteristic is 0.1, then the limit switch installation accuracy characteristic is not less than the preset limit switch installation accuracy characteristic, indicating the limit switch is incorrectly installed. If the measured first position value θ1 is 3.5 degrees, the second position value θ2 is 2.5 degrees, the third position value θ3 is 2.5 degrees, and the fourth position value θ4 is 3.5 degrees, then the limit switch installation accuracy characteristic is calculated as |1 / -1|*|((3.5+2.5)).

[0124] / 2-3+(3.5+2.5) / 2-3)|=0. Assuming the installation accuracy characteristic of the preset limit switch is 0.1 at this time, the installation accuracy characteristic of the limit switch is less than the installation accuracy characteristic of the preset limit switch, and the limit switch is determined to be installed correctly.

[0125] It should also be noted that each limit switch corresponds to a sensor. The sensor's main function is to trigger the limit switch when the blade passes it during the pitching process. For example, at the limit switch's installation position θ, when pitching from a large angle to a small angle: as the blade approaches the limit switch, the sensor's feedback changes from false to true, and the trigger value θ1 is recorded; as the blade moves away from the limit switch, the sensor's feedback changes from true to false, and the trigger value θ2 is recorded; when pitching from a small angle to a large angle: as the blade approaches the limit switch, the sensor's feedback changes from false to true, and the trigger value θ3 is recorded; as the blade moves away from the limit switch, the sensor's feedback changes from true to false, and the trigger value θ4 is recorded. A schematic diagram of the blade triggering the limit switch during pitching is shown below. Figure 3 As shown.

[0126] As a preferred embodiment, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0127] Control N blades to operate in normal operation mode and / or normal shutdown mode and / or emergency shutdown mode;

[0128] Obtain the first speed of N blades when running in normal operation mode and / or the second speed when running in normal shutdown mode and / or the third speed when running in emergency shutdown mode;

[0129] Determine whether the first speed is equal to the preset first speed and / or determine whether the second speed is equal to the preset second speed and / or determine whether the third speed is equal to the preset third speed;

[0130] If the first speed is equal to the preset first speed and / or the second speed is equal to the preset second speed and / or the third speed is equal to the preset third speed, then it is determined that the N blades are operating normally, and the process proceeds to the step of determining the sum of the positional deviations between any two blades among the N blades in the current cycle.

[0131] In this invention, the propeller blades operate in three modes during pitch control: normal operation, normal shutdown, and emergency shutdown. Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, it is necessary to determine whether the blades are operating normally based on their speeds. The speed of the blades in each of the three modes is compared to a preset speed for that mode. If the speeds in all three modes are equal to the preset speeds, the blades are operating normally; if any speed in one mode is not equal to the preset speed, the blades are not operating normally. This method accurately determines whether the blades are operating normally, improving the accuracy of the judgment process.

[0132] It should be noted that during normal operation, the blades operate at three speeds: 1) normal operating pitch speed; 2) normal shutdown pitch speed; and 3) emergency shutdown pitch speed. The normal operating pitch speed refers to the pitch speed at which the wind turbine, when in a constant speed control range, adjusts the overall wind energy absorption through pitch control to ensure stable speed. Typically, the normal operating pitch speed is ±4°. The normal shutdown pitch speed is the pitch speed at which the turbine operates during normal shutdown when a general fault occurs. Typically, the normal shutdown speed is ±5°. The emergency shutdown pitch speed is the pitch speed at which the turbine operates during emergency shutdown when an emergency stop fault occurs. Typically, the emergency shutdown speed is ±7°.

[0133] In practical applications, the testing process is as follows:

[0134] 1) When the blades reciprocate between 0-89° and are in normal operating mode;

[0135] The controller execution cycle is 10ms, meaning it can execute 100 times per second. Initially, the pitch system is at 89°. Then, in each execution cycle, the pitch angle command value decreases by 100 times the normal operating speed, i.e., -4° / 100 per cycle, changing towards 0°. When the pitch angle command reaches 0°, it changes back towards 89° at 4° / 100 per cycle. It then checks whether the acquired blade speed matches the preset speed.

[0136] 2) During reciprocating operation, when executing the normal shutdown mode;

[0137] During normal operation, the blade speed changes from 5° / 100° per cycle to 89°. The system then checks whether the obtained blade speed matches the preset speed.

[0138] 3) When executing emergency stop mode during reciprocating operation;

[0139] During normal operation, the blade speed changes from 7° / 100° per cycle to 89°. The system then checks whether the obtained blade speed matches the preset speed.

[0140] In a preferred embodiment, the blade position synchronization determination also includes a PLC device, which is used to control the blade pitch based on the processor's control, and send the blade position and speed to the processor;

[0141] Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included:

[0142] Determine if the communication between yourself and the PLC device is normal;

[0143] If so, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

[0144] In this invention, because the PLC device controls the pitch of the propeller blades based on the processor's control and sends the blade position and speed to the processor, the processor needs to determine whether its communication with the PLC device is normal before determining the sum of the position deviations between any two blades out of N blades in the current cycle. If the communication is normal, the processor can then determine the sum of the position deviations between any two blades out of N blades in the current cycle. This improves the reliability and safety of the determination process.

[0145] It should be noted that in practical applications, a processor can determine whether its communication with the PLC is normal by using a heartbeat signal. For example, the processor and the PLC send signals that alternate between high and low levels with a period of 20ms. If the processor receives more than five level changes from the PLC, the communication between the processor and the PLC is considered normal. If the processor receives no level change from the PLC for 500ms, the communication between the processor and the PLC is considered abnormal.

[0146] In practical applications, if the processor determines that its communication with the PLC device is abnormal, it can control the alarm module to issue a corresponding alarm to remind the user, which makes it easier to maintain the abnormal communication between the processor and the PLC device in the future.

[0147] As a preferred embodiment, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0148] Determine the status of the safety chain, which includes: safety chain closed state and safety chain open state;

[0149] Determine whether the safety chain has failed based on its status;

[0150] If not, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

[0151] It is important to note that in wind turbine generator sets, the safety chain is the highest level of protection to ensure turbine safety. It is a hardware and software protection measure independent of the computer system. Employing a reverse logic design, it connects potential fault nodes that could severely damage the wind turbine generator set into a single loop. This loop primarily includes: the emergency stop button (main control cabinet at the base of the tower), generator overspeed, cable twisting switch, pitch system safety chain signal, emergency stop button (nacelle control cabinet), vibration switch, main shaft overspeed module, 24V power failure, grid connection switch closing signal, control module operating status, and main line closing signal. If any node in this loop breaks, the entire loop will be de-energized, the generator set will immediately shut down, the actuators will lose power, the generator set will instantly disconnect from the grid, and the main control system and pitch system will be disconnected, thus maximizing the generator set's safety. If the fault node is not restored, normal operation of the entire generator set will be impossible.

[0152] In this invention, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, it is necessary to ensure that the safety chain is in a closed state. This is because if the safety chain is open, the wind turbine cannot operate normally, making it impossible to accurately determine the sum of positional and velocity deviations between any two blades out of N blades, thus making it impossible to determine whether the blade positions are synchronized. This improves the reliability and safety of the determination process.

[0153] In practical applications, if it is determined that the security chain is in a broken state, the alarm module can be controlled to issue a corresponding alarm to remind the user, which makes it easier to maintain the security chain fault in the future.

[0154] As a preferred embodiment, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the method further includes:

[0155] Obtain the pitch current of N blades;

[0156] Determine whether each pitch current is less than the preset pitch current;

[0157] If so, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

[0158] In this invention, before determining the sum of positional deviations between any two blades out of N blades in the current cycle, it is necessary to ensure that the pitch current of the N blades is within a certain range. Therefore, after obtaining the pitch current of the N blades, it is compared with the preset pitch current. Based on the comparison result, it is determined whether the pitch current is normal. If it is normal, the process proceeds to the step of determining the sum of positional deviations between any two blades out of N blades in the current cycle. This improves the safety of the judgment process.

[0159] In practical applications, if the pitch current detection result is abnormal, the alarm module can be controlled to issue a corresponding alarm to remind the user, which makes it easier to maintain the pitch current abnormality in the future.

[0160] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a blade position synchronization determination device provided by the present invention. The device includes:

[0161] Memory 20 is used to store computer programs;

[0162] The processor 21 is used to implement the steps of the blade position synchronization determination method mentioned in the above embodiments when executing a computer program.

[0163] The blade position synchronization determination device provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0164] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0165] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the blade position synchronization determination method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the blade position synchronization determination method.

[0166] In some embodiments, the blade position synchronization determination device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0167] Those skilled in the art will understand that Figure 2 The structure shown does not constitute a limitation on the blade position synchronization determination device and may include more or fewer components than shown.

[0168] The blade position synchronization determination device provided in this embodiment corresponds to the above method, and therefore has the same beneficial effects as the above method. Therefore, for the embodiment of the blade position synchronization determination device, please refer to the description of the embodiment in the method section, which will not be repeated here.

[0169] The present invention also provides an embodiment of a blade system, including the blade position synchronization determination device as described above and N blades, wherein the blade position synchronization determination device is connected to the N blades, and N is an integer not less than 2.

[0170] The blade system provided in this embodiment corresponds to the method described above, and therefore has the same beneficial effects as the method described above. Therefore, for the embodiment of the blade system, please refer to the description of the embodiment in the method section, which will not be repeated here.

[0171] It should be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0172] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the synchronous position of a propeller blade, characterized in that, The processor used in the blade position synchronization determination device includes: Determine the sum of positional deviations between any two blades out of N blades in the current cycle, where N is an integer not less than 2; Determine the sum of the velocity deviations between any two blades out of the N blades in the current cycle; Determine whether the N blade positions are synchronized based on the sum of the position deviations and the sum of the velocity deviations; The determination of whether the N blade positions are synchronized based on the sum of the position deviations and the sum of the velocity deviations includes: Multiply the sum of the position deviations between any two blades in the current cycle by the sum of the velocity deviations between any two blades in the current cycle to obtain the characteristic values ​​of the position and velocity deviations of the N blades. Determine whether the characteristic values ​​of the position deviation and velocity deviation are less than a preset characteristic value; If so, then determine that the positions of the N blades are synchronized; If not, then the positions of the N blades are determined to be out of sync.

2. The blade position synchronization determination method as described in claim 1, characterized in that, Before determining whether the N blade positions are synchronized based on the sum of the position deviations and the sum of the velocity deviations, the method further includes: The sum of the position deviations and the sum of the velocity deviations are respectively subjected to low-pass filtering.

3. The blade position synchronization determination method as described in claim 2, characterized in that, Low-pass filtering is performed on the sum of the position deviations and the sum of the velocity deviations, respectively, including: The total position deviation after low-pass filtering is obtained based on the sum of the position deviations between any two blades among the N blades in the current cycle and the first preset filtering formula. The total speed deviation after low-pass filtering is obtained based on the sum of the speed deviations between any two blades among the N blades in the current cycle and the second preset filtering formula. The first preset filtering relationship is: The total position deviation after low-pass filtering = the total position deviation of the current cycle * 1 / 5 + the total position deviation of the previous cycle * 4 / 5; The second preset filtering relationship is: The total speed deviation after low-pass filtering = the total speed deviation of the current cycle * 1 / 5 + the total speed deviation of the previous cycle * 4 / 5.

4. The blade position synchronization determination method as described in claim 1, characterized in that, Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included: Determine the positions of the limit switches that correspond one-to-one with each of the N blades; Determine whether the installation of each limit switch is correct based on the position of each limit switch; If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

5. The blade position synchronization determination method as described in claim 4, characterized in that, The installation position of the limit switch is based on a preset angle θ. The determination of whether the installation of each limit switch is correct is based on its position, including: Control all N blades to pitch from a first preset angle to a second preset angle, and from the second preset angle to the first preset angle, wherein the first preset angle > the reference preset angle θ > the second preset angle; For any blade, during the process of the blade pitching from the first preset angle to the second preset angle, the encoder sequentially obtains the first position value θ1 and the second position value θ2 of the limit switch corresponding to the blade, and during the process of the blade pitching from the second preset angle to the first preset angle, the encoder sequentially obtains the third position value θ3 and the fourth position value θ4 of the limit switch corresponding to the blade. The maximum offset of the limit switch at the first preset angle and the second preset angle is obtained based on the relationship between the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the maximum offset of the limit switch. The minimum offset of the limit switch at the first preset angle and the second preset angle is obtained based on the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the relationship between the minimum offset of the limit switch. The maximum offset of the limit switch is expressed as follows: The maximum offset of the limit switch at the first preset angle and the second preset angle is MAX(θ1-θ+θ4-θ, θ2-θ+θ3-θ). The minimum offset of the limit switch is expressed as follows: The minimum offset of the limit switch at the first preset angle and the second preset angle is MIN(θ1-θ+θ4-θ, θ2-θ+θ3-θ). The installation accuracy characteristic quantity of the limit switch is obtained based on the maximum offset value of the limit switch at the first preset angle and the second preset angle, the minimum offset value of the limit switch at the first preset angle and the second preset angle, the first position value θ1, the second position value θ2, the third position value θ3, the fourth position value θ4, the reference preset angle θ, and the relationship between the installation accuracy of the limit switch. The formula for the installation accuracy of the limit switch is: The installation accuracy characteristic of the limit switch = |maximum offset of the limit switch at the first preset angle and the second preset angle / minimum offset of the limit switch at the first preset angle and the second preset angle|*|((θ1+θ2) / 2-θ+(θ3+θ4) / 2-θ)|; Determine whether the installation accuracy characteristic of the limit switch is less than the installation accuracy characteristic of the preset limit switch; If so, then the limit switch is determined to be installed correctly; If not, the limit switch is determined to be installed incorrectly.

6. The blade position synchronization determination method as described in claim 1, characterized in that, Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included: Control the N blades to operate in normal operation mode and / or normal shutdown mode and / or emergency shutdown mode; Obtain the first speed of N blades when operating in normal mode and / or the second speed when operating in normal shutdown mode and / or the third speed when operating in emergency shutdown mode; Determine whether the first speed and the preset first speed are equal and / or determine whether the second speed and the preset second speed are equal and / or determine whether the third speed and the preset third speed are equal; If the first speed is equal to the preset first speed and / or the second speed is equal to the preset second speed and / or the third speed is equal to the preset third speed, then it is determined that the N blades are operating normally, and the process proceeds to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

7. The blade position synchronization determination method as described in claim 1, characterized in that, The blade position synchronization determination also includes a PLC device, which is used to control the pitch of the blade based on the control of the processor, and send the position and speed of the blade to the processor; Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included: Determine whether the communication between itself and the PLC device is normal; If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

8. The blade position synchronization determination method as described in claim 1, characterized in that, Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included: Determine the state of the safety chain, which includes: a closed safety chain state and a disconnected safety chain state; Determine whether the security chain has failed based on its status. If not, proceed to the step of determining the sum of positional deviations between any two blades out of the N blades in the current cycle.

9. The blade position synchronization determination method as described in claim 1, characterized in that, Before determining the sum of positional deviations between any two blades out of N blades in the current cycle, the following steps are also included: Obtain the pitch current of N blades; Determine whether each pitch current is less than the preset pitch current; If so, proceed to the step of determining the sum of positional deviations between any two blades among the N blades in the current cycle.

10. A blade position synchronization determination device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the blade position synchronization determination method as described in any one of claims 1 to 9 when executing the computer program.

11. A blade system, characterized in that, It includes the blade position synchronization determination device as described in claim 10 and N blades, wherein the blade position synchronization determination device is connected to the N blades, and N is an integer not less than 2.

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