Gondola rotation control device, gondola rotation control method and device

Abstract

The present disclosure provides a kind of pod rotation control device, pod rotation control method and device, belong to automatic control technical field.The pod rotation control device includes: controller, at least two frequency converters and at least two motors, the frequency converter with the motor one-to-one correspondence, the frequency converter is electrically connected with the corresponding motor, the controller is electrically connected with each frequency converter respectively;The controller is configured to control each frequency converter drive corresponding motor to rotate at target speed;The real-time torque of each motor is obtained, when the real-time torque is not less than set threshold, the frequency converter is controlled to make the motor that the real-time torque exceeds set threshold stop rotating.The present disclosure can improve the problem that part of motor is prone to overload when starting rotation support, improve the reliability of pod rotation control device.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automatic control, and in particular relates to a pod rotation control device, a pod rotation control method and device. BACKGROUND

[0002] The pod propulsion system is a kind of ship propulsion device, which generally comprises a rudder turning mechanism and a propeller. The rudder turning mechanism is connected to the propeller and the ship body. The propeller is used to provide power for the ship to sail. The rudder turning mechanism is used to transmit the power of the propeller to the ship body. A rotation control device is usually arranged on the ship body. The rotation control device is used to drive the rudder turning mechanism to rotate, so that the rudder turning mechanism can drive the propeller connected thereto to rotate, thereby realizing 360° full rotation of the rudder.

[0003] In the related art, the rotation control device generally comprises a plurality of motors and a controller. The controller is electrically connected to the plurality of motors. The plurality of motors are respectively engaged with the gear ring on the rotation support of the rudder turning mechanism through gears, so as to drive the rotation support to rotate. When the rudder needs to be turned, the controller outputs instructions to control the plurality of motors to act. The plurality of motors jointly drive the rotation support of the rudder turning mechanism to rotate, so as to drive the rudder turning mechanism and the propeller to rotate, thereby achieving the purpose of turning the rudder.

[0004] However, there is an assembly error between the gears of different motors and the gear ring. In the process of starting the motor, the gears controlled by part of the motors are first engaged with the gear ring on the rotation support, so that part of the motors bear most of the load, which easily leads to the problem of overloading of part of the motors, and even the situation of burning the motor. SUMMARY

[0005] The embodiments of the present disclosure provide a pod rotation control device, a pod rotation control method and device, which can improve the problem that part of the motors is easily overloaded when the rotation support is just started, and improve the reliability of the pod rotation control device. The technical solution is as follows:

[0006] The embodiments of the present disclosure provide a pod rotation control device, which comprises a controller, at least two frequency converters and at least two motors. The frequency converter corresponds to the motor one by one. The frequency converter is electrically connected to the corresponding motor. The controller is electrically connected to each frequency converter. The controller is configured to control each frequency converter to drive the corresponding motor to rotate at a target rotating speed. The real-time torque of each motor is obtained. When the real-time torque is not less than a set threshold, the frequency converter is controlled to stop the motor whose real-time torque exceeds the set threshold from rotating.

[0007] In an implementation form of the embodiment of the present disclosure, the controller is further configured to control each of the frequency converters to obtain an actual rotating speed of the corresponding motor, and output a speed changing instruction to each of the frequency converters based on a rotating speed difference between the actual rotating speed and the target rotating speed, so as to control the frequency converter to drive the corresponding motor to change speed until the rotating speed difference of each of the motors is within a set range.

[0008] In another implementation form of the embodiment of the present disclosure, the speed changing instruction comprises a speed increasing instruction and a speed decreasing instruction; the controller is further configured to output the speed decreasing instruction to the frequency converter when the rotating speed difference is outside the set range and the actual rotating speed is greater than the target rotating speed, so as to control the frequency converter to drive the corresponding motor to decrease speed; and output the speed increasing instruction to the frequency converter when the rotating speed difference is outside the set range and the actual rotating speed is less than the target rotating speed, so as to control the frequency converter to drive the corresponding motor to increase speed.

[0009] In another implementation form of the embodiment of the present disclosure, the set threshold is a product of a rated torque of the motor and a set coefficient, and the set coefficient ranges from 60% to 90%.

[0010] The embodiment of the present disclosure provides a control method for nacelle rotation, which is executed by the nacelle rotation control device as described above, and comprises: controlling each of the frequency converters to drive the corresponding motor to rotate at a target rotating speed; obtaining a real-time torque of each of the motors; and when the real-time torque is not less than a set threshold, controlling the frequency converter to stop the motor whose real-time torque exceeds the set threshold from rotating.

[0011] In another implementation form of the embodiment of the present disclosure, after the control of each of the frequency converters to drive the corresponding motor to rotate at the target rotating speed, the method further comprises: controlling each of the frequency converters to obtain an actual rotating speed of the corresponding motor; and outputting a speed changing instruction to each of the frequency converters based on a rotating speed difference between the actual rotating speed and the target rotating speed, so as to control the frequency converter to drive the corresponding motor to change speed until the rotating speed difference of each of the motors is within a set range.

[0012] In another implementation form of the embodiment of the present disclosure, the speed changing instruction comprises a speed increasing instruction and a speed decreasing instruction; and the outputting of the speed changing instruction to each of the frequency converters based on the rotating speed difference between the actual rotating speed and the target rotating speed, so as to control the frequency converter to drive the corresponding motor to change speed comprises: outputting the speed decreasing instruction to the frequency converter when the rotating speed difference is outside the set range and the actual rotating speed is greater than the target rotating speed, so as to control the frequency converter to drive the corresponding motor to decrease speed; and outputting the speed increasing instruction to the frequency converter when the rotating speed difference is outside the set range and the actual rotating speed is less than the target rotating speed, so as to control the frequency converter to drive the corresponding motor to increase speed.

[0013] In another implementation manner of the embodiment of the present disclosure, before the control of the frequency converter to drive the corresponding motor to rotate at the target rotating speed, the method further comprises: dividing the frequency converters into at least two groups, each group of the frequency converters comprising at least two of the frequency converters; and controlling each group of the frequency converters to drive the corresponding motor to rotate one by one, and when the torque of each motor exceeds the torque threshold, controlling each group of the frequency converters to stop driving the corresponding motor to rotate.

[0014] In another implementation manner of the embodiment of the present disclosure, the threshold is a product of the rated torque of the motor and a set coefficient, and the set coefficient ranges from 60% to 90%.

[0015] The embodiment of the present disclosure provides a control device for nacelle rotation, which comprises: a first control module for controlling each frequency converter to drive the corresponding motor to rotate at a target rotating speed; an acquisition module for acquiring the real-time torque of each motor; and a second control module for controlling the frequency converter to stop the motor with the real-time torque exceeding the set threshold from rotating when the real-time torque is not less than the set threshold.

[0016] The technical scheme provided by the embodiment of the present disclosure has at least the following beneficial effects:

[0017] The control device for nacelle rotation provided by the embodiment of the present disclosure comprises a controller, frequency converters and motors, the frequency converters and the motors correspond to each other, and the frequency converters and the corresponding motors are electrically connected, and the controller is electrically connected with each frequency converter. When it is necessary to control the rotation of the gear ring of the rotation support, the controller directly controls each frequency converter to enable the plurality of motors to rotate at the same time and apply a force to the gear ring. Due to the existence of assembly errors, the gears of some motors will first contact the gear ring, so that the torque of some motors bears the full torque of the driving rotation support, and the torque of some motors is very large. In this regard, the controller also acquires the real-time torque of each motor, and when the real-time torque exceeds the set threshold, the controller controls the frequency converter to stop the motor with overload from rotating, thereby avoiding the long-term overload of the motor. In this way, the gears that first contact the gear ring are not driven by the motor, and the remaining gears will gradually contact the gear ring under the driving of the motor, thereby achieving the purpose of simultaneously driving the gear ring to rotate by the plurality of motors and evenly distributing the torque of the plurality of motors, and improving the reliability of the control device for nacelle rotation. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a structural schematic diagram of a control device for a pod rotation provided by an embodiment of the present disclosure;

[0020] Figure 2 is a flowchart of a control method for a pod rotation provided by an embodiment of the present disclosure;

[0021] Figure 3 is a flowchart of another control method for a pod rotation provided by an embodiment of the present disclosure;

[0022] Figure 4 is a schematic diagram of a control device for a pod rotation provided by an embodiment of the present disclosure;

[0023] Figure 5 is a structural block diagram of a computer device provided by an embodiment of the present disclosure.

[0024] The various marks shown in the drawings are described as follows:

[0025] 10, controller;

[0026] 20, frequency converter;

[0027] 30, motor;

[0028] 40, slewing bearing. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in conjunction with the drawings.

[0030] Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings thereof by those having ordinary skills in the art to which the present disclosure belongs. The terms "first", "second", "third" and the like used in the present patent application specification and claims do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "a" and the like do not represent a quantity limitation, but represent the existence of at least one. "Including" or "containing" and the like mean that the elements or objects appearing before "including" or "containing" cover the elements or objects listed after "including" or "containing" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right", "top", "bottom" and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships may also be changed accordingly.

[0031] In the related art, the pod rotation control device generally comprises a controller, a plurality of motors and a plurality of frequency converters, and the frequency converters and the motors are connected one by one. Among them, the frequency converters include a main frequency converter and a plurality of slave frequency converters, and the motors also include a main motor corresponding to the main frequency converter and a plurality of slave motors corresponding to the slave frequency converters.

[0032] When the pod rotation control device controls the rotation of the gear of the slewing bearing, the controller first controls the main frequency converter to drive the main motor to work, and the slave frequency converter obtains the torque of the main motor from the main frequency converter, and then controls the other slave motors to work according to the torque of the main motor, so as to realize the purpose of balanced distribution of the torque of each motor, thereby improving the reliability of the pod rotation control device.

[0033] However, there is an assembly error between the gears of different motors and the gear rings. At the moment when the main motor is just started, if the main motor control gear is not meshed with the gear ring, the torque of the main motor at the moment of starting is the no-load torque. At this time, if the other slave motors work according to the no-load torque, the problem of insufficient torque applied to the gear ring by the motor will occur. If the main motor control gear is first meshed with the gear ring at the moment of starting, the torque of the main motor is easy to exceed the rated torque, so that the main motor bears most of the load. If the other slave motors still work according to the torque exceeding the rated torque, the problem of motor overload will easily occur, thereby reducing the reliability of the pod rotation control device.

[0034] Therefore, the embodiment of the present disclosure provides a pod rotation control device. Figure 1 is a structural schematic diagram of a pod rotation control device provided by the embodiment of the present disclosure. As shown in Figure 1 The pod rotation control device comprises a controller 10, at least two frequency converters 20 and at least two motors 30. The frequency converters 20 correspond to the motors 30 one by one, the frequency converters 20 are electrically connected with the corresponding motors 30, and the controller 10 is electrically connected with each frequency converter 20 respectively.

[0035] As shown in Figure 1 The controller 10 is configured to control each frequency converter 20 to drive the corresponding motor 30 to rotate at a target speed; obtain the real-time torque of each motor 30, and control the frequency converter 20 to stop the motor 30 whose real-time torque exceeds the set threshold value from rotating when the real-time torque is not less than the set threshold value.

[0036] The pod rotation control device provided by the embodiments of the present disclosure comprises a controller 10, a frequency converter 20 and a motor 30. The frequency converter 20 and the motor 30 correspond to each other, and the frequency converter 20 and the corresponding motor 30 are electrically connected. The controller 10 is electrically connected with each frequency converter 20. When the rotation of the gear ring of the rotation support needs to be controlled, the controller 10 directly controls each frequency converter 20 to make the plurality of motors 30 rotate simultaneously and apply a force to the gear ring. Due to the existence of assembly errors, the gears of some motors 30 will first contact the gear ring, so that the torque of the gears of some motors 30 bears the full torque of the driving rotation support 40, so that the torque of the gears of some motors 30 is very large. The controller 10 also acquires the real-time torque of each motor 30. When the real-time torque exceeds the set threshold, the frequency converter 20 is controlled to drive the overloaded motor 30 to stop rotating, so as to avoid the long-term overload of the motor 30. In this way, the gears that first contact the gear ring are not driven by the motor 30, and the remaining gears are gradually contacted with the gear ring under the driving of the motor 30, so as to realize the simultaneous driving of the gear ring by the plurality of motors 30 and the uniform distribution of the torque of the plurality of motors 30, and improve the reliability of the pod rotation control device.

[0037] Compared with the way of dividing the frequency converter 20 into a master frequency converter 20 and a slave frequency converter 20 in the related art, in the pod rotation control device provided by the embodiments of the present disclosure, all frequency converters 20 are directly controlled by the controller 10 to drive the corresponding motors 30 to work simultaneously. In this way, after the torque is acquired from the master frequency converter 20, each motor 30 is driven to work, and the problem that each motor 30 works under a lower torque condition and the torque applied to the gear ring is insufficient does not occur. Meanwhile, after the torque of each motor 30 exceeds the set threshold, the motor 30 is controlled to stop working, so as to improve the reliability of the pod rotation control device.

[0038] Due to the existence of interference, after the frequency converter 20 outputs the target rotating speed to control the motor 30 to work, the actual rotating speed of the motor 30 is different from the target rotating speed.

[0039] In the embodiments of the present disclosure, the controller 10 is also used to control each frequency converter 20 to acquire the actual rotating speed of the corresponding motor 30, and output a speed instruction to each frequency converter 20 based on the rotating speed difference between the actual rotating speed and the target rotating speed, so as to control the frequency converter 20 to drive the corresponding motor 30 to rotate at a variable speed until the rotating speed difference of each motor 30 is within the set range.

[0040] In the above implementation manner, the controller 10 also acquires the actual rotating speed of each motor 30 through the frequency converter 20, and determines the rotating speed difference by combining the actual rotating speed and the target rotating speed of the motor 30. Then, according to the rotating speed difference, the controller 10 controls the motor 30 to accelerate or decelerate, so as to maintain the rotating speed of the motor 30 within the set range, make each motor 30 work synchronously at a similar speed, and improve the reliability of the pod rotation control system.

[0041] Optionally, the variable speed instruction comprises a speed-up instruction and a speed-down instruction. The speed-up instruction is used to control the motor 30 to speed up, and the speed-down instruction is used to control the motor 30 to slow down.

[0042] When the controller 10 is further used to output a speed-down instruction to the frequency converter 20 to control the frequency converter 20 to drive the corresponding motor 30 to rotate at a slow speed when the speed difference value is outside the set range and the actual speed is greater than the target speed.

[0043] The set range can be determined based on the control accuracy of the motor 30. When the control accuracy of the motor 30 is required to be high, the set range can be 0-2% of the rated speed of the motor 30; when the control accuracy of the motor 30 is required to be moderate, the set range can be 0-5% of the rated speed of the motor 30; and when the control accuracy of the motor 30 is required to be low, the set range can be 0-10% of the rated speed of the motor 30.

[0044] For example, the target speed output by the frequency converter 20 to the motor 30 is n, the actual speed of the motor 30 is n1, and if n1>n and |n-n1| exceeds the set range. At this time, the controller 10 can output a speed-down instruction to the frequency converter 20 to control the frequency converter 20 to drive the corresponding motor 30 to rotate at a slow speed.

[0045] The speed-down instruction can comprise a speed-down coefficient, which can be determined according to the set range. When the range value of the set range is larger, the speed-down coefficient is smaller.

[0046] For example, when the set range is 0-2% of the rated speed of the motor 30, the speed-down coefficient can be 0.95-0.99; when the set range is 0-5% of the rated speed of the motor 30, the speed-down coefficient can be 0.91-0.94; and when the set range is 0-10% of the rated speed of the motor 30, the speed-down coefficient can be 0.8-0.9.

[0047] For example, if n1>n and |n-n1| exceeds the set range (0-2% of the rated speed), the speed-down coefficient can be 0.98, and the product of the speed-down coefficient and the target speed can be determined as the target speed after speed-down, i.e., the target speed after speed-down is 0.98n. The frequency converter 20 controls the motor 30 to rotate at a slow speed by taking 0.98n as the target speed after speed-down.

[0048] When the speed difference value is outside the set range and the actual speed is less than the target speed, a speed-up instruction is output to the frequency converter 20 to control the frequency converter 20 to drive the corresponding motor 30 to rotate at a high speed.

[0049] The speed-up instruction can comprise a speed-up coefficient, which can be determined according to the set range. When the range value of the set range is larger, the speed-up coefficient is larger.

[0050] For example, when the set range is 0-2% of the rated speed of the motor 30, the speed-up coefficient can be 1.01-1.05; when the set range is 0-5% of the rated speed of the motor 30, the speed-up coefficient can be 1.06-1.09; when the set range is 0-10% of the rated speed of the motor 30, the speed-up coefficient can be 1.1-1.2.

[0051] For example, when n1

[0052] Optionally, the threshold value is the product of the rated torque of the motor 30 and a set coefficient, and the set coefficient ranges from 60% to 90%.

[0053] For example, the set coefficient can be 75%, so that when the real-time torque of the motor 30 exceeds 75% of the rated torque, the motor 30 will be controlled to stop working, which can effectively avoid damage of the motor 30 due to overload.

[0054] In the embodiment of the present disclosure, the controller 10 can be a programmable logic controller (PLC). The PLC is a programmable memory in which instructions for performing logic operations, sequential control, timing, counting, and arithmetic operations are stored. The PLC controls the actions of various devices through digital or analog inputs and outputs.

[0055] The controller 10 and each frequency converter 20 are electrically connected through an Ethernet cable.

[0056] In the embodiment of the present disclosure, the steering mechanism can further include a torque limiter and a speed reducer. The torque limiter corresponds to the motor 30 one-to-one, and the speed reducer corresponds to the motor 30 one-to-one. The output shaft of each motor 30 is connected to the torque limiter, the torque limiter is further connected to the input shaft of the corresponding speed reducer, and the output shaft of the speed reducer is connected to the gear transmission. In this way, the power of the motor 30 can be transmitted to the gear through the torque limiter and the speed reducer in sequence, thereby driving the rotary support 40 to rotate.

[0057] Figure 2 is a flowchart of a control method of a pod slewing provided by an embodiment of the present disclosure. As shown in Figure 2 The control method of the pod slewing is executed by using the pod slewing control device as described above, and includes:

[0058] Step 101: control each frequency converter to drive the corresponding motor to rotate at a target rotating speed.

[0059] Step 102: acquire the real-time torque of each motor.

[0060] Step 103: when the real-time torque is not less than a set threshold, control the frequency converter to stop the motor whose real-time torque exceeds the set threshold from rotating.

[0061] The embodiment of the present disclosure provides a control method for nacelle rotation. First, the real-time torque of each motor is acquired. When the real-time torque exceeds a set threshold, the frequency converter is controlled to stop the motor that is overloaded from rotating, so as to avoid the motor from being overloaded for a long time. In this way, the gear that first contacts the gear ring is not driven by the motor, and the remaining gears will gradually contact the gear ring under the driving of the motor, so as to achieve the purpose of simultaneously driving the gear ring to rotate by multiple motors and uniformly distributing the torque of the multiple motors, and improve the reliability of the nacelle rotation control device.

[0062] Figure 3 is a flowchart of another control method for nacelle rotation provided by the embodiment of the present disclosure. As shown in the figure, the control method for nacelle rotation is executed by the nacelle rotation control device as described above, and includes the following steps. Figure 3

[0063] Step 210: divide the frequency converters into at least two groups.

[0064] Each group of frequency converters includes at least two frequency converters.

[0065] For example, as shown in the figure, the nacelle rotation control device includes four frequency converters. Any two of the four frequency converters can be taken as a group, and the remaining two frequency converters can be taken as another group. Figure 1

[0066] Step 220: control each group of frequency converters to drive the corresponding motor to rotate one by one, and when the torque of each motor exceeds a torque threshold, control each group of frequency converters to stop driving the corresponding motor to rotate.

[0067] The torque threshold can be 40% to 60% of the rated torque of the motor.

[0068] ​​In the above example, when controlling the operation of each group of frequency converters, the operation of the two frequency converters in one group is controlled first to drive the corresponding two motors. At the moment of motor starting, the torque of the motor is usually the no-load torque, and when the motor drives the gear into contact with the gear ring, the torque of the motor will increase instantaneously. Therefore, when the torque of the motor exceeds the torque threshold, it can be determined that the gear controlled by the motor has contacted the gear ring, and at this time the motor can be controlled to stop working. In this way, the operation of each group of motors is controlled in batches to ensure that at least one motor in each group drives the gear into engagement with the gear ring in the initial stage. In the subsequent process of driving all the motors to rotate at the target speed, at least two gears of the motors are in contact with the gear ring at the moment of starting, avoiding the situation that only a single motor drives the gear ring at the moment of starting, avoiding the motor from being easily overloaded and damaged, and improving the reliability of the nacelle slewing control device.

[0069] Step 230: controlling each frequency converter to drive the corresponding motor to rotate at a target speed.

[0070] The target speed can be 50% to 100% of the rated speed.

[0071] Step 231: acquiring the real-time torque of each motor.

[0072] In the embodiments of the present disclosure, the real-time torque of each motor is detected by the corresponding frequency converter in real time, and the corresponding real-time torque is transmitted to the controller after being detected by the frequency converter.

[0073] Step 232: when the real-time torque is not less than a set threshold, controlling the frequency converter to stop the motor whose real-time torque exceeds the set threshold.

[0074] In this way, when the real-time torque exceeds the set threshold, the frequency converter is controlled to stop the motor that is overloaded, avoiding the motor from being overloaded for a long time. The gear that contacts the gear ring first is not driven by the motor, and the remaining gears will gradually contact the gear ring under the drive of the motor, thereby achieving the purpose of driving the gear ring by multiple motors and uniformly distributing the torque of the multiple motors, and improving the reliability of the nacelle slewing control device.

[0075] In the embodiments of the present disclosure, while steps 231 to 232 are performed, steps 233 to 234 can also be performed, that is, steps 231 to 232 and steps 233 to 234 are independent steps.

[0076] Step 233: controlling each frequency converter to acquire the actual speed of the corresponding motor.

[0077] Step 234: based on the speed difference between the actual speed and the target speed, outputting a speed change instruction to each frequency converter to control the frequency converter to drive the corresponding motor to change speed until the speed difference of each motor is within a set range.

[0078] The speed change instruction includes a speed-up instruction and a speed-down instruction. The speed-up instruction is used to control the motor to speed up, and the speed-down instruction is used to control the motor to slow down.

[0079] In the embodiments of the present disclosure, step 234 can include:

[0080] When the speed difference is outside the set range and the actual speed is greater than the target speed, a speed-down instruction is output to the frequency converter to control the frequency converter to drive the corresponding motor to slow down.

[0081] The set range can be determined based on the accuracy of motor control. When the accuracy of motor control is required to be high, the set range can be 0-2% of the rated speed of the motor; when the accuracy of motor control is required to be moderate, the set range can be 0-5% of the rated speed of the motor; and when the accuracy of motor control is required to be low, the set range can be 0-10% of the rated speed of the motor.

[0082] For example, the target speed output by the frequency converter to the motor is n, the actual speed of the motor is n1, and if n1>n and |n-n1| exceeds the set range. At this time, the controller can output a speed-down instruction to the frequency converter to control the frequency converter to drive the corresponding motor to slow down.

[0083] When the speed difference is outside the set range and the actual speed is less than the target speed, a speed-up instruction is output to the frequency converter to control the frequency converter to drive the corresponding motor to speed up.

[0084] The speed-up instruction can include a speed-up coefficient, and the speed-up coefficient can be determined according to the set range. When the range of the set range is larger, the speed-up coefficient is larger.

[0085] For example, when the set range is 0-2% of the rated speed of the motor, the speed-up coefficient can be 1.01-1.05; when the set range is 0-5% of the rated speed of the motor, the speed-up coefficient can be 1.06-1.09; and when the set range is 0-10% of the rated speed of the motor, the speed-up coefficient can be 1.1-1.2.

[0086] For example, if n1

[0087] Optionally, the set threshold is the product of the rated torque of the motor and a set coefficient, and the set coefficient ranges from 60% to 90%.

[0088] Exemplarily, the setting coefficient can be 75%, so that when the real-time torque of the motor exceeds 75% of the rated torque, the motor is controlled to stop working, which can effectively avoid damage of the motor due to overload.

[0089] Figure 4 is a schematic view of a control device for a nacelle rotation provided by an embodiment of the present disclosure. As shown in the figure, the control device comprises: Figure 4

[0090] a first control module 301, configured to control each frequency converter to drive a corresponding motor to rotate at a target rotating speed.

[0091] a obtaining module 302, configured to obtain a real-time torque of each motor.

[0092] a second control module 303, configured to control the frequency converter to stop the motor whose real-time torque exceeds a setting threshold when the real-time torque is not less than the setting threshold.

[0093] Optionally, the control device further comprises a third control module 304, and the obtaining module 302 is further configured to control each frequency converter to obtain an actual rotating speed of the corresponding motor. The third control module is further configured to output a speed change instruction to each frequency converter based on a rotating speed difference between the actual rotating speed and the target rotating speed, so as to control the frequency converter to drive the corresponding motor to change rotating speed until the rotating speed difference of each motor is within a setting range.

[0094] Optionally, the speed change instruction comprises an acceleration instruction and a deceleration instruction; the third control module 304 is further configured to output the deceleration instruction to the frequency converter to control the frequency converter to drive the corresponding motor to decelerate when the rotating speed difference is outside the setting range and the actual rotating speed is greater than the target rotating speed, and output the acceleration instruction to the frequency converter to control the frequency converter to drive the corresponding motor to accelerate when the rotating speed difference is outside the setting range and the actual rotating speed is less than the target rotating speed.

[0095] Optionally, the control device further comprises a division module 305 and a fourth control module 306. The division module 305 is configured to divide the frequency converters into at least two groups, and each group of frequency converters comprises at least two frequency converters. The fourth control module 306 is configured to control each group of frequency converters to drive the corresponding motor to rotate one by one, and control each group of frequency converters to stop driving the corresponding motor to rotate when the torque of each motor exceeds a torque threshold.

[0096] Optionally, the setting threshold is a product of the rated torque of the motor and a setting coefficient, and the setting coefficient ranges from 60% to 90%.

[0097] Figure 5 is a structural block diagram of a computer device provided by an embodiment of the present disclosure. As shown in the figure, the computer device comprises a processor 501 and a memory 502. Figure 5

[0098] ​​The processor 501 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 501 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 501 can be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing of content to be displayed by the display screen. In some embodiments, the processor 501 can further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0099] The memory 502 can include one or more computer-readable storage media that can be non-transitory. The memory 502 can also include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction for being executed by the processor 501 to implement the control method of the nacelle rotation provided by the method embodiments in the present application.

[0100] In some embodiments, the computer device can further optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface 503 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 503 through a bus, a signal line, or a circuit board.

[0101] Those skilled in the art can understand that, Figure 5 The structure shown in the figure does not constitute a limitation on the computer device, and can include more or fewer components than those shown, or combine certain components, or adopt a different arrangement of components.

[0102] The embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing computer instructions for causing a computer to execute the control method of the nacelle rotation described in the above embodiments. For example, the computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0103] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, and the like.

[0104] The above is not intended to limit the present disclosure in any form, although the present disclosure has been disclosed as above through the embodiments, however, is not intended to limit the present disclosure, any person skilled in the art, without departing from the technical solution of the present disclosure, can make some changes or modifications to the equivalent embodiments of the equivalent changes by utilizing the technical content disclosed above, but as long as it does not deviate from the technical solution of the present disclosure, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present disclosure, all still belong to the scope of the technical solution of the present disclosure.

Claims

1. A pod slew control apparatus, characterised in that, The nacelle rotation control device comprises a controller (10), at least two frequency converters (20) and at least two motors (30), the frequency converter (20) corresponds to the motor (30), the frequency converter (20) is electrically connected with the corresponding motor (30), and the controller (10) is electrically connected with each frequency converter (20). The controller (10) is configured to control each frequency converter (20) to drive the corresponding motor (30) to rotate at a target speed; acquire the real-time torque of each motor (30), and when the real-time torque is not less than a set threshold, control the frequency converter (20) to stop the motor (30) whose real-time torque exceeds the set threshold from rotating, and the controller is also used to control each frequency converter to acquire the actual speed of the corresponding motor, and based on the speed difference between the actual speed and the target speed, output a speed change instruction to each frequency converter, control the frequency converter to drive the corresponding motor to rotate at a variable speed until the speed difference of each motor is within a set range, and the speed change instruction comprises a speed-up instruction and a speed-down instruction; when the speed difference is outside the set range and the actual speed is greater than the target speed, the controller outputs the speed-down instruction to the frequency converter to control the frequency converter to drive the corresponding motor to rotate at a reduced speed; when the speed difference is outside the set range and the actual speed is less than the target speed, the controller outputs the speed-up instruction to the frequency converter to control the frequency converter to drive the corresponding motor to rotate at an accelerated speed, and the set threshold is the product of the rated torque of the motor and a set coefficient, and the set coefficient ranges from 60% to 90%.

2. A control method of a nacelle rotation, characterized by, The control method is executed by using the nacelle rotation control device of claim 1, comprising: controlling each frequency converter to drive the corresponding motor to rotate at a target speed; acquiring the real-time torque of each motor; when the real-time torque is not less than a set threshold, controlling the frequency converter to stop the motor whose real-time torque exceeds the set threshold from rotating, and the set threshold is the product of the rated torque of the motor and a set coefficient, and the set coefficient ranges from 60% to 90%.

3. The control method according to claim 2, characterized by, After the control of each frequency converter to drive the corresponding motor to rotate at a target speed, the method further comprises: controlling each frequency converter to acquire the actual speed of the corresponding motor; based on the speed difference between the actual speed and the target speed, outputting a speed change instruction to each frequency converter to control the frequency converter to drive the corresponding motor to rotate at a variable speed until the speed difference of each motor is within a set range.

4. The control method according to claim 3, characterized by, The speed change instruction comprises a speed-up instruction and a speed-down instruction; and based on the speed difference between the actual speed and the target speed, outputting a speed change instruction to each frequency converter to control the frequency converter to drive the corresponding motor to rotate at a variable speed comprises: when the speed difference is outside the set range and the actual speed is greater than the target speed, outputting the speed-down instruction to the frequency converter to control the frequency converter to drive the corresponding motor to rotate at a reduced speed; when the speed difference is outside the set range and the actual speed is less than the target speed, outputting the speed-up instruction to the frequency converter to control the frequency converter to drive the corresponding motor to rotate at an accelerated speed. When the speed difference value is out of the set range and the actual speed is less than the target speed, the speed-up instruction is output to the frequency converter, and the frequency converter is controlled to drive the corresponding motor to accelerate rotation.

5. The control method according to any one of claims 2 to 4, characterized in that, Before the control of the frequency converters to drive the corresponding motors to rotate at the target speed, the method further comprises: The frequency converters are divided into at least two groups, and each group of the frequency converters comprises at least two frequency converters; Each group of the frequency converters is controlled to drive the corresponding motor to rotate one by one, and when the torque of each motor exceeds a torque threshold, each group of the frequency converters is controlled to stop driving the corresponding motor to rotate.

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