Method and apparatus for anomaly detection of a variable pitch system

Abstract

A method and apparatus for detecting anomalies in a pitch system are provided. The method for detecting anomalies in the pitch system includes: acquiring the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply providing power to the pitch motor during the pitch recovery process; determining whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process; or, determining whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value and / or the amount of change in the acquired motor temperature value.

Description

Technical Field

[0001] This disclosure generally relates to the field of wind power technology, and more specifically, to a method and apparatus for detecting anomalies in the pitch system of a wind turbine generator set. Background Technology

[0002] A primary function of the pitch system is to act as the main braking system for the wind turbine generator. The electric pitch system ensures the safe and stable operation of the wind turbine generator through various detection and control methods and multiple redundancy designs. Any shutdown will cause the pitch motor in the pitch system to release the brake and drive the blades to feather to the 89-degree position. Simultaneously, since the blade angle range of the pitch system is 0–89 degrees, when the blades feather to the 89-degree position, the pitch system needs to stop the pitch motor and apply the brake. This is to prevent the blades from slipping under gravity and rotating out of their limit positions. This brake protection is particularly important for pitch systems where the blades cannot rotate within the 0–360 degree range.

[0003] The braking function of the pitch motor in a pitch control system is achieved through an electromagnetic brake. An electromagnetic brake is an automated actuator that uses an electromagnet to generate an electromagnetic effect to achieve braking, primarily used for transmitting power and controlling motion in mechanical equipment. However, after prolonged operation, due to wear on the brake pads and the tendency for mechanical parts to wear or become contaminated with oil, electromagnetic brakes often experience slippage or delayed brake release. In severe cases, the brake may fail, affecting industrial production efficiency and creating numerous safety hazards. For a pitch control system, brake failure can cause the blades to rotate more than 90 degrees under gravity, exceeding their position limits and potentially damaging mechanical components within the hub.

[0004] Therefore, it is essential to test the performance of the pitch system, especially for early warning monitoring. Summary of the Invention

[0005] An exemplary embodiment of this disclosure provides a method and apparatus for detecting anomalies in a pitch system, which can conveniently and accurately detect whether the pitch system is abnormal.

[0006] According to a first aspect of the present disclosure, a method for detecting anomalies in a pitch system is provided, comprising: acquiring the motor temperature value of a pitch motor and / or the power supply voltage value of a backup power source providing power to the pitch motor during the pitch recovery process; determining whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process; or, determining whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value and / or the amount of change in the acquired motor temperature value.

[0007] Optionally, the step of determining whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process includes: determining the maximum and minimum ratios among the ratios corresponding to the multiple time points; and determining whether the pitch system is abnormal based on the ratio of the maximum ratio to the minimum ratio.

[0008] Optionally, the step of determining whether the pitch system is abnormal based on the ratio of the maximum ratio to the minimum ratio includes: determining that the brake valve of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a first preset range; determining that the blade of the pitch motor is stuck when the ratio of the maximum ratio to the minimum ratio is within a second preset range; determining that the incremental signal of the encoder of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a third preset range; and determining that the charger of the backup power supply is abnormal when the ratio of the maximum ratio to the minimum ratio is within a fourth preset range.

[0009] Optionally, the upper boundary value of the second preset range is less than or equal to the lower boundary value of the first preset range; the upper boundary value of the third preset range is less than or equal to the lower boundary value of the second preset range; and the upper boundary value of the fourth preset range is less than or equal to the lower boundary value of the third preset range.

[0010] Optionally, the step of determining whether the pitch system is abnormal based on the change in the acquired power supply voltage value and / or the change in the acquired motor temperature value includes: determining the maximum and minimum voltage values ​​among the acquired power supply voltage values, and determining the voltage change between the maximum and minimum voltage values; determining the maximum and minimum temperature values ​​among the acquired motor temperature values, and determining the temperature change between the maximum and minimum temperature values; and determining whether the pitch system is abnormal based on the ratio of the voltage change to the temperature change.

[0011] Optionally, the step of determining whether the pitch system is abnormal based on the ratio of the voltage change to the temperature change includes: if the ratio of the voltage change to the temperature change is within a fifth preset range and the temperature change is greater than a preset threshold, then the brake valve of the pitch motor is determined to be abnormal.

[0012] Optionally, the step of determining whether the pitch system is abnormal based on the change in the acquired power supply voltage value and / or the change in the acquired motor temperature value includes: determining the maximum voltage value and the minimum voltage value among the acquired power supply voltage values, and determining the voltage change between the maximum voltage value and the minimum voltage value; if the voltage change falls within a sixth preset range, determining that the pitch system is abnormal.

[0013] Optionally, the step of determining whether the pitch system is abnormal based on the change in the acquired power supply voltage value and / or the change in the acquired motor temperature value includes: determining the maximum and minimum temperature values ​​among the acquired motor temperature values, and determining the temperature change between the maximum and minimum temperature values; if the temperature change falls within a seventh preset range, determining that the pitch system is abnormal.

[0014] Optionally, the step of obtaining the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply that provides power to the pitch motor during the pitch recovery process includes: obtaining the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply at the beginning of the pitch recovery period, and the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply at the end of the pitch recovery period.

[0015] According to a second aspect of the present disclosure, an anomaly detection device for a pitch system is provided, comprising: a data acquisition unit configured to acquire the motor temperature value of the pitch motor and / or the power supply voltage value of a backup power supply providing power to the pitch motor during the pitch recovery process; and an anomaly identification unit configured to determine whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process; or, to determine whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value and / or the amount of change in the acquired motor temperature value.

[0016] Optionally, the anomaly identification unit is configured to: determine the maximum and minimum ratios among the ratios corresponding to the plurality of time points; and determine whether the pitch system is abnormal based on the ratio of the maximum ratio to the minimum ratio.

[0017] Optionally, the anomaly identification unit is configured to: determine that the brake valve of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a first preset range; determine that the blade of the pitch motor is stuck when the ratio of the maximum ratio to the minimum ratio is within a second preset range; determine that the incremental signal of the encoder of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a third preset range; and determine that the charger of the backup power supply is abnormal when the ratio of the maximum ratio to the minimum ratio is within a fourth preset range.

[0018] Optionally, the upper boundary value of the second preset range is less than or equal to the lower boundary value of the first preset range; the upper boundary value of the third preset range is less than or equal to the lower boundary value of the second preset range; and the upper boundary value of the fourth preset range is less than or equal to the lower boundary value of the third preset range.

[0019] Optionally, the anomaly identification unit is configured to: determine the maximum and minimum voltage values ​​among the acquired power supply voltage values, and determine the voltage change between the maximum and minimum voltage values; determine the maximum and minimum temperature values ​​among the acquired motor temperature values, and determine the temperature change between the maximum and minimum temperature values; and determine whether the pitch system is abnormal based on the ratio of the voltage change to the temperature change.

[0020] Optionally, the anomaly identification unit is configured to determine that the brake valve of the pitch motor is abnormal when the ratio of the voltage change to the temperature change is within a fifth preset range and the temperature change is greater than a preset threshold.

[0021] Optionally, the anomaly identification unit is configured to: determine the maximum and minimum voltage values ​​among the acquired power supply voltage values, and determine the voltage value change between the maximum and minimum voltage values; if the voltage value change falls within a sixth preset range, determine that the pitch system is abnormal.

[0022] Optionally, the anomaly identification unit is configured to: determine the maximum and minimum temperature values ​​among the acquired motor temperature values, and determine the temperature value change between the maximum and minimum temperature values; if the temperature value change falls within a seventh preset range, determine that the pitch system is abnormal.

[0023] Optionally, the data acquisition unit is configured to: acquire the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply during the start of the pitch recovery period, and the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply during the end of the pitch recovery period.

[0024] According to a third aspect of the present disclosure, a computer-readable storage medium storing a computer program is provided, which, when executed by a processor, causes the processor to perform the pitch system anomaly detection method as described above.

[0025] According to a fourth aspect of the present disclosure, an anomaly detection device for a pitch system is provided. The anomaly detection device includes: a processor; and a memory storing a computer program, wherein when the computer program is executed by the processor, it causes the processor to execute the anomaly detection method for the pitch system as described above.

[0026] The method and apparatus for detecting anomalies in a pitch system according to exemplary embodiments of this disclosure can conveniently and accurately detect whether the pitch system is abnormal without requiring hardware modifications to the wind turbine generator set's electrical equipment (e.g., no additional detection sensors are needed). Furthermore, it can pinpoint different abnormal conditions in the pitch system. This allows for early detection of pitch system anomalies, protecting the safety of the wind turbine generator set and facilitating maintenance personnel to prepare spare parts in advance, thus avoiding prolonged downtime of the wind turbine generator set due to serious pitch system failures.

[0027] Further aspects and / or advantages of the general concept of this disclosure will be set forth in part in the description which follows, and in part will be clear from the description or may be learned by practice of the general concept of this disclosure. Attached Figure Description

[0028] The above and other objects and features of exemplary embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings, which exemplarily illustrate the embodiments, wherein:

[0029] Figure 1 and Figure 2 An example of a blade angle variation curve is shown according to an exemplary embodiment of the present disclosure;

[0030] Figure 3 A schematic diagram of the structure of an electromagnetic brake for a pitch motor according to an exemplary embodiment of the present disclosure is shown.

[0031] Figure 4 An example is shown illustrating the voltage variation curve of a supercapacitor according to an exemplary embodiment of the present disclosure;

[0032] Figure 5 An example is shown illustrating the variation curve of the ratio of supercapacitor voltage to pitch motor temperature according to an exemplary embodiment of the present disclosure;

[0033] Figure 6Examples of curves showing the variation of the ratio of supercapacitor voltage to pitch motor temperature under different operating conditions according to exemplary embodiments of the present disclosure;

[0034] Figure 7 An example is shown of a temperature variation curve of a pitch motor according to an exemplary embodiment of the present disclosure;

[0035] Figure 8 A flowchart illustrating an anomaly detection method for a pitch system according to an exemplary embodiment of the present disclosure is shown.

[0036] Figure 9 A flowchart illustrating an anomaly detection method for a pitch system according to another exemplary embodiment of the present disclosure is shown;

[0037] Figure 10 Examples of temperature variation curves for a pitch motor and voltage variation curves for a supercapacitor according to exemplary embodiments of the present disclosure are shown.

[0038] Figure 11 A structural block diagram of an anomaly detection device for a pitch system according to an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0039] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, examples of which are illustrated in the drawings, wherein the same reference numerals always refer to the same parts. The embodiments will now be described with reference to the accompanying drawings in order to explain this disclosure.

[0040] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0041] It should be noted that the phrase "at least one of several items" in this disclosure refers to three parallel cases: "any one of the several items", "a combination of any number of the several items", and "all of the several items". For example, "including at least one of A and B" includes the following three parallel cases: (1) including A; (2) including B; (3) including A and B. As another example, "performing at least one of step one and step two" indicates the following three parallel cases: (1) performing step one; (2) performing step two; (3) performing both step one and step two.

[0042] In related technologies, the lack of feedback from detection contacts in the brake valve of the pitch motor makes fault identification and localization difficult. This is because while abnormalities in the brake valve (e.g., wear) typically manifest as slow pitch recovery speed and high motor current, other fault types, such as abnormal encoder incremental signals, mechanical propeller jamming, loose encoder wiring, abnormal brake relay, abnormal output of the speed setpoint analog module, and abnormal speed setpoint analog output wiring, can also lead to slow pitch recovery speed or high motor current. The resulting problems are: on-site troubleshooting is difficult, often requiring multiple analyses and component replacements to find the cause of the fault, leading to extended maintenance time and impacting generator output; malfunctioning brake valves cause blades to retract too slowly, and further deterioration can lead to complete blade jamming in the pitch system, endangering generator safety; excessively high motor temperatures can easily burn out the pitch motor; furthermore, if inspection is only performed after the brake valve is severely worn, the blades in the pitch system will retract too slowly or even jam, causing imbalance in the wind turbine blades and further increasing vibration and load on the wind turbine, severely affecting its mechanical lifespan.

[0043] In summary, performance testing of the pitch motor brake valve lacks relevant feedback contacts and detection quantities. Furthermore, solely testing the pitch motor current is easily confused with abnormal encoder incremental signals, brake relay malfunctions, mechanical jamming, and other phenomena, leading to inaccurate fault location. Moreover, data analysis reveals the following drawbacks of current conventional statistical methods:

[0044] Analyzing pitch motor current can easily lead to false detections or ineffective differentiation of operating conditions. This is because the stall current of a pitch motor is typically its maximum starting current; in other words, when friction or stall occurs, the current is roughly equivalent to the starting current, making it difficult to pinpoint the fault. Furthermore, the practical challenge in field troubleshooting lies in the difficulty and time-consuming nature of inspecting large or mechanical components. Additionally, the significant fluctuations in pitch motor current can easily cause false detections during data analysis, and the analysis algorithms are also quite complex.

[0045] Regarding the analysis of information such as pitch angle and pitch speed, an abnormality in the pitch motor brake valve, such as early wear, is mainly characterized by a slow change in the blade angle curve during pitch retraction, with the slope gradually decreasing. The corresponding phenomenon is a progressively slower pitch speed. However, this characteristic fault sometimes disappears after the wind turbine generator fault is reset, which can interfere with on-site troubleshooting. Figure 1 and Figure 2An example of the angle change curves of the three blades during propeller retraction according to an exemplary embodiment of the present disclosure is shown. The solid curve represents the angle change curve of two blades with the same angle, while the dashed curve corresponds to a blade whose angle change rate becomes increasingly slower, eventually leading to a gradual increase in the angle deviation of the three blades, ultimately triggering an "angle inconsistency fault." However, not all data presents such smooth curves. Furthermore, the timing and degree of wear during each propeller retraction process are different. Therefore, if a preset algorithm is used to detect whether the blade angle is a continuously changing curve, the parameters involved will inevitably change. For example, detecting whether the angle exhibits the characteristics of a quadratic function will inevitably involve various parameters such as the curve's opening size and curvature. Figure 2 The dashed curves in the image do not have very smooth angle changes. If we want to detect all kinds of situations, it will inevitably increase the complexity of the detection algorithm.

[0046] Furthermore, data such as pitch angle and pitch speed can be affected by encoder jumps or data fluctuations, impacting the test results. Since the pitch brake valve is located inside the pitch motor, inaccurate test results lead to unnecessary mechanical disassembly work and indirectly extend the downtime of the wind turbine generator.

[0047] Other detection methods, due to their complex algorithms, are inconvenient to implement in PLC programs, especially when repeated parameter adjustments are involved. This leads to repeated updates and iterations of the field program, indirectly impacting the stable operation of the wind turbine generator and the workload on site. The delays in the program update process also hinder timely optimization and correction of the program.

[0048] Figure 3 A schematic diagram of the structure of an electromagnetic brake for a pitch motor according to an exemplary embodiment of the present disclosure is shown.

[0049] See Figure 3 The electromagnetic brake may include: a brake disc 10, a brake flange 20, a brake armature 30, a fixing bolt 40, a motor shaft 50, a solenoid valve 60, a pressure spring 70, and a power supply cable 80. In this embodiment, the solenoid valve 60 is the brake valve.

[0050] Specifically, brake disc 10 refers to the brake pads of the electromagnetic brake, which have a circular structure; brake flange 20 is the fixing device for brake disc 10, and brake flange 20 is connected to the pitch motor by fixing bolts; brake armature 30 is the component that applies pressure to brake disc 10 when braking, and brake armature 30 is in contact with pressure spring 70; solenoid valve 60 is the electrical control unit of the electromagnetic brake, and its function is to generate magnetic force on brake armature 30 when it is necessary to release the brake.

[0051] The working process of the electromagnetic brake is as follows: When the solenoid valve 60 is de-energized, the brake armature 30 moves to the left and presses against the brake disc 10 under the action of the pressure spring 70. At the same time, since the left side of the brake disc 10 is fixed by the brake flange 20, the brake disc 10 cannot rotate under the action of pressure and friction. Therefore, the motor shaft 50 cannot rotate either. At this time, the electromagnetic brake is in the holding state. When the pitch drive receives the pitch speed command, it controls the brake to release after a certain delay. Under normal circumstances, the output port of the brake relay of the pitch drive outputs voltage and energizes the solenoid valve 60 through the power supply cable 80. After the solenoid valve 60 is energized, it generates electromagnetic force. Under the action of electromagnetic force, the brake armature 30 overcomes the elastic force of the pressure spring 70 and moves to the right. At this time, the brake armature 30 separates from the brake disc 10, and the brake disc 10 can rotate freely, thereby realizing the release of the brake.

[0052] This disclosure takes into account that: the core of the electromagnetic brake is the interaction between the electromagnetic force generated by the armature and the elastic force of the spring to achieve the brake release and engagement functions; according to Newton's second law, the action and reaction forces between two interacting objects are always equal in magnitude, opposite in direction, and act along the same straight line. When the electromagnetic brake is energized and released, the elastic force of the pressure spring 70 and the electromagnetic force reach equilibrium; according to Hooke's law, the elastic force generated by the pressure spring 70 (denoted as F1) is:

[0053] F1=fx (1)

[0054] Where f is the spring constant and x is the displacement of the spring;

[0055] The magnitude of the force generated by the electromagnetic coil (let's call it F2) is:

[0056] F2 = NI (2)

[0057] Where N is the number of turns of the electromagnetic coil, and I is the operating current of the electromagnetic coil;

[0058] According to Newton's third law, by combining equations (1) and (2), we can obtain:

[0059] NI=fx (3)

[0060] When the pitch motor is running, its force analysis is as follows:

[0061] (9550*p / n / R-fx)=ma (4)

[0062] Where 9550*p / n is the motor torque T, R is the rotation radius of the motor shaft, and T / R is the magnitude of the force output by the motor.

[0063] Therefore, when solenoid valve 60 malfunctions, the spring force decreases, resulting in a shorter release distance for brake armature 30. This causes a slight stall in the pitch motor during operation. According to T = 9550 * U * I / n, the brake valve opening malfunctions, and due to the increased resistance of brake disc 10, the output torque T of the pitch motor increases. Since the pitch motor speed remains relatively constant, the motor voltage U does not change significantly, leading to an increase in motor current. To simplify the detection algorithm and make it applicable to various situations, while reducing the influence of interference signals such as data jumps, this disclosure analyzes the operation process of the pitch system based on the law of conservation of energy, identifying key data characteristics, reducing algorithm complexity, and improving detection accuracy. For the pitch system, during the pitch retraction process, the following energy conservation formula applies:

[0064] Supercapacitor energy consumption = Pitch motor thermal energy + Pitch motor kinetic energy (5)

[0065] Right now:

[0066]

[0067] Here, the supercapacitor refers to the supercapacitor module, which serves as the backup power source for the pitch system, providing electrical energy to the pitch motor. Qx represents the heat energy generated by the pitch motor, and Qy represents the mechanical energy of the pitch motor. When the brake valve experiences early wear, the pitch motor is in a critical stall state, meaning its speed is still at the critical normal pitch recovery speed. Therefore, the mechanical energy of the pitch motor does not decrease, but the heat energy generated by the pitch motor increases. This ultimately leads to an increase in overall energy consumption, causing the voltage U of the supercapacitor to drop rapidly. Figure 4 It can be seen that as the rate of change of the blade angle gradually decreases, the voltage of the supercapacitor also decreases continuously.

[0068] Further analysis of equation (6) reveals that since Qy remains relatively constant while the capacitor voltage U (i.e., the backup power supply voltage) continuously decreases, the ratio of U to Qx will continuously decrease. Data analysis and verification confirm this. Figure 5 The curve shown in the figure represents the change of the ratio U / T, the supercapacitor voltage to the pitch motor temperature, over time. Figure 5 As can be seen, the ratio dropped rapidly, from 8.5 to 1.

[0069] Furthermore, this disclosure, combining the law of conservation of energy and the characteristics of different anomalies in the pitch system, compares and analyzes the U / T under other abnormal conditions, see [link to relevant documentation]. Figure 6Analysis revealed that the U / T drop during early wear of the brake valve was significantly higher than that under other operating conditions. Therefore, detecting this ratio allows for accurate identification of the operating status of the pitch motor's brake valve. Figure 7 As can be seen, the temperature change rate of the pitch motor when the brake valve is worn is much higher than that when the blade is stuck. In other words, the pitch motor temperature rises faster when the brake valve is worn (the slope of the curve is greater), which means that the energy consumption increases more when the brake valve is worn compared to when the blade is stuck.

[0070] Figure 8 A flowchart illustrating an anomaly detection method for a pitch system according to an exemplary embodiment of the present disclosure is shown.

[0071] As an example, the anomaly detection method for a pitch system according to an exemplary embodiment of this disclosure can be executed by the main controller or pitch controller of a wind turbine generator. It should be understood that it can also be executed by other entities, and this disclosure does not limit this.

[0072] Reference Figure 8 In step S100, the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply that provides power to the pitch motor are obtained during the pitch recovery process.

[0073] As an example, the type of backup power supply may include, but is not limited to, at least one of the following: supercapacitor, lead-acid battery, lithium-ion battery. As an example, the backup power supply may be inside the pitch control unit or outside the pitch motor.

[0074] As an example, the pitch control process can refer to releasing the brakes of the pitch system servo motor and driving the blades to a position of approximately 89 degrees. For example, any shutdown caused by any situation can cause the blades to be feathered to approximately 89 degrees. Feathering refers to the control process of turning the wind turbine blades to a position close to parallel with the wind direction (also known as a safe position, specifically approximately 89 degrees) after a wind turbine malfunctions.

[0075] In one embodiment, the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply can be obtained by sampling at certain intervals throughout the entire pitch recovery process.

[0076] In another embodiment, only the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power source collected at the beginning of the pitch recovery phase, and the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power source collected at the end of the pitch recovery phase, can be obtained. By using only the data from the start of pitch recovery, the completion of pitch recovery, or near completion for subsequent detection, the accuracy of the detection results can be guaranteed, and the amount of data processing can be effectively reduced.

[0077] According to exemplary embodiments of this disclosure, variables that are difficult to detect or have complex algorithms, such as blade angle, current, and speed, are converted into variables of the operating results of the pitch system based on the law of conservation of energy. This simplifies the algorithm and improves the portability and feasibility of the PLC program. Furthermore, since power supply voltage and motor temperature are data with large inertia, they will not be falsely detected due to data fluctuations during the detection process, nor will they be affected by the details and differences in the pitch system's retraction process. Therefore, the detection accuracy can be greatly improved.

[0078] In step S200, the pitch system is determined to be abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process; or, the pitch system is determined to be abnormal based on the amount of change in the acquired power supply voltage value and / or the amount of change in the acquired motor temperature value.

[0079] It should be understood that steps S100 and S200 can be performed for each blade. Specifically, in step S100, the motor temperature value of the pitch motor of each blade and / or the power supply voltage value of the backup power supply that provides power to the pitch motor can be obtained. Correspondingly, step S200 may include: determining whether the pitch system is abnormal based on the data corresponding to each blade (i.e., the motor temperature value and / or the power supply voltage value).

[0080] Step S200 may include step S201: determining whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process.

[0081] Step S200 may include step S202: determining whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value and the amount of change in the acquired motor temperature value.

[0082] Step S200 may include step S203: determining whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value.

[0083] Step S200 may include step S204: determining whether the pitch system is abnormal based on the amount of change in the acquired motor temperature value.

[0084] Exemplary embodiments of steps S201 to S204 will be described in detail below.

[0085] According to an exemplary embodiment of this disclosure, step S201 may include: calculating, for each of the plurality of time points, the ratio of the power supply voltage value U to the motor temperature value T (i.e., each time point corresponds to a U / T); and then, determining whether the pitch system is abnormal based on the ratio U / T corresponding to the plurality of time points. Further, the specific abnormality type (i.e., fault type) of the pitch system may be determined based on the ratio U / T corresponding to the plurality of time points.

[0086] As an example, the plurality of time points may include all data sampling time points throughout the entire paddle recovery process. As another example, the plurality of time points may only include: multiple data sampling time points during the beginning of the paddle recovery period, and multiple data sampling time points during the end of the paddle recovery period.

[0087] As an example, the maximum and minimum ratios among the ratios corresponding to the multiple time points can be counted; then, based on the maximum and minimum ratios, it can be determined whether the pitch system is abnormal. Furthermore, the type of abnormality in the pitch system can be determined based on the maximum and minimum ratios.

[0088] As an example, the ratio of the maximum ratio to the minimum ratio can be used to determine whether the pitch system is abnormal. Furthermore, the type of abnormality in the pitch system can be determined based on the ratio of the maximum ratio to the minimum ratio. Additionally, the difference between the maximum and minimum ratios can also be used to determine whether the pitch system is abnormal.

[0089] As an example, an abnormality in the brake valve of the pitch motor can be determined if the ratio of the maximum to the minimum ratio falls within a first preset range. As an example, the type of brake valve for the pitch motor may include, but is not limited to, an electromagnetic brake valve; this disclosure can also identify abnormalities in other types of brake valves. As an example, the cause of a brake valve abnormality may include brake valve wear.

[0090] As an example, if the ratio of the maximum ratio to the minimum ratio is within a second preset range, the blade jamming of the pitch motor can be determined.

[0091] As an example, if the ratio of the maximum ratio to the minimum ratio falls within a third preset range, it can be determined that the incremental signal of the encoder of the pitch motor is abnormal.

[0092] As an example, encoders have two types of signals: absolute signals and incremental signals. Absolute signals are used to measure angles, while incremental signals are used to calculate the pitch motor speed. An abnormal incremental signal can also lead to increased energy consumption of the motor.

[0093] As an example, if the ratio of the maximum ratio to the minimum ratio falls within a fourth preset range, it can be determined that the backup power supply charger is faulty.

[0094] As an example, if the ratio of the maximum ratio to the minimum ratio is within a preset normal range, it can be determined that the blades are properly retracting.

[0095] In addition, as an example, step S201 may include: if the ratio of the maximum ratio to the minimum ratio corresponding to each blade is within a preset normal range, determine that the pitch system is normally retracting the pitch.

[0096] As an example, the upper boundary value of the second preset range is less than or equal to the lower boundary value of the first preset range. As an example, the upper boundary value of the third preset range is less than or equal to the lower boundary value of the second preset range. As an example, the upper boundary value of the fourth preset range is less than or equal to the lower boundary value of the third preset range. For example, as shown in Table 1, the lower boundary of the first preset range can be 2; the upper boundary value of the second preset range can be 2, and the lower boundary can be 1.4; the upper boundary value of the third preset range can be 1.4, and the lower boundary can be 1.3; the upper boundary value of the fourth preset range can be 1.3, and the lower boundary can be 1.2; the upper boundary of the preset normal range can be 1.2. It should be understood that the boundaries of the above preset ranges can be reasonably set according to actual conditions and specific needs.

[0097] Table 1 Examples of Preset Ranges

[0098] Serial Number Corresponding preset range Reference value Testing conditions 1 r>2 8.5 Brake valve malfunction 2 2≥r>1.4 1.588235 Blade jamming propeller 3 1.4≥r>1.3 1.352941 Incremental signal anomaly 4 1.3≥r>1.2 1.285714 Charger malfunction 5 r≤1.2 1.073171 Normal stroke

[0099] This disclosure considers the following problems when determining brake valve malfunctions by judging whether the following conditions are met: the given pitch speed of the pitch motor is consistent with the actual rotational speed within a predetermined time; the temperature of the pitch motor continuously changes within a predetermined time; and the voltage of the supercapacitor of the pitch system continuously decreases within a predetermined time. These problems include: the need to acquire and process additional data to determine whether the given pitch speed is consistent with the actual rotational speed; and the inability to identify brake valve malfunctions when the given pitch speed is inconsistent with the actual rotational speed. Therefore, this disclosure proposes the above exemplary embodiments, which have low data processing requirements, low detection algorithm complexity, are easy to implement with a PLC, and improve real-time detection performance; they can accurately identify brake valve malfunctions under various conditions; and, without increasing the complexity of the detection algorithm, they can also detect other types of malfunctions in the pitch system.

[0100] Figure 9 A flowchart illustrating an anomaly detection method for a pitch system according to another exemplary embodiment of the present disclosure is shown.

[0101] Reference Figure 9 In step S301, the operating data of the wind turbine generator set is read. The operating data includes: the capacitor voltage of the supercapacitor, the motor temperature of the pitch motor, and the fault status / or operating status.

[0102] In step S302, during the unit shutdown process, the value of capacitor voltage / motor temperature is calculated, and the maximum and minimum values ​​among the calculated values ​​are statistically analyzed.

[0103] As an example, calculations and statistics can be continuously performed during the paddle retraction process; for instance, calculations and statistics can be performed every PLC cycle. As another example, calculations and statistics can be performed only at the start and end of paddle retraction.

[0104] In step S303, it is determined whether the paddle recovery is complete.

[0105] If it is determined in step S303 that the paddle recovery is not yet complete, return to step S302 to continue execution.

[0106] When it is determined in step S303 that the paddle collection is complete, step S304 is executed to calculate the ratio of the maximum value to the minimum value obtained from the statistics.

[0107] In step S305, it is determined whether the ratio of the maximum value to the minimum value is greater than 2.

[0108] When it is determined in step S305 that the ratio of the maximum value to the minimum value is greater than 2, step S306 is executed, and a brake valve abnormality warning is output.

[0109] When it is determined in step S305 that the ratio of the maximum value to the minimum value is less than or equal to 2, step S307 is executed to diagnose and analyze the remaining operating conditions.

[0110] According to an exemplary embodiment of this disclosure, an abnormal state of the brake valve can be detected in advance, and an alarm message can be issued, before the brake valve suffers severe wear, i.e., when the brake valve malfunctions but has not yet caused blade jamming.

[0111] Since detecting changes in the U / T ratio requires considering cases where the motor temperature is negative (below zero), and may also involve situations where the motor temperature is close to 0 degrees, equal to 0 degrees, or crosses 0 degrees, there is a certain probability that these conditions will interfere with the detection results. Therefore, this disclosure further simplifies the detection method:

[0112] like Figure 10 As shown, when the brake valve experiences early wear, the pitch motor temperature rises rapidly, and the supercapacitor voltage drops rapidly. Therefore, we can conclude that:

[0113]

[0114] Where U1 / T1 is the maximum ratio of capacitor voltage to motor temperature during the paddle retraction process, U1 is the capacitor voltage at the time point corresponding to the maximum ratio, and T1 is the motor temperature at the time point corresponding to the maximum ratio; U2 / T2 is the minimum ratio of capacitor voltage to motor temperature during the paddle retraction process. In equation (7), when the brake valve malfunctions, (T2-T1)>0, so the change in the denominator of the latter term is greater than the change in the denominator of the former term. Therefore, the algorithm can be simplified as follows:

[0115]

[0116] That is, the ratio between the change in capacitor voltage and the change in motor temperature can be calculated, and an appropriate threshold can be set for the change in motor temperature (e.g., 3 to 5°C).

[0117] According to an exemplary embodiment of this disclosure, step S202 may include: determining the maximum voltage value and the minimum voltage value among the acquired power supply voltage values, and determining the voltage value change between the maximum voltage value and the minimum voltage value (i.e., the difference between the maximum voltage value and the minimum voltage value); determining the maximum temperature value and the minimum temperature value among the acquired motor temperature values, and determining the temperature value change between the maximum temperature value and the minimum temperature value (i.e., the difference between the maximum temperature value and the minimum temperature value); and then determining whether the pitch system is abnormal based on the ratio of the voltage value change to the temperature value change.

[0118] As an example, if the ratio of voltage change to temperature change falls within the fifth preset range and the temperature change exceeds a preset threshold, it can be determined that the brake valve of the pitch motor is malfunctioning.

[0119] As an example, the fifth preset range can be greater than 2. As an example, the preset threshold can be an appropriate value between 3 and 5℃.

[0120] As an example, when the anomaly detection method of the pitch system according to an exemplary embodiment of the present disclosure is executed by the pitch controller, it is unaffected by DP communication interruption.

[0121] Since the pitch control system cannot detect when the main controller controls the pitch retraction, step S202 may include: continuously calculating the maximum value U of the capacitor voltage U. max Minimum value U min Outliers were filtered out during the statistical analysis; the maximum value of the motor temperature T was continuously counted. max Minimum value T min Outliers are filtered out during statistics; when the stop position proximity switch is triggered, (U) is calculated. max -U min ) / (T max -T min The value of ) if (U max -Umin ) / (T max -T min The value of ) is greater than 2, and at the same time (T) max -T min If the value of ) is greater than a certain set threshold, a brake valve abnormality warning will be triggered; otherwise, the brake valve will be considered normal. When the reset signal is triggered, the maximum and minimum values ​​will be initialized.

[0122] "Proximity switch triggered" means that the blade has reached a position of approximately 87 degrees. Once the blade position is greater than 87 degrees, or the proximity switch is triggered, the shutdown is complete.

[0123] As an example, when the anomaly detection method of the pitch system according to an exemplary embodiment of the present disclosure is executed by the main controller, step S202 may include: continuously counting the maximum value U of the capacitor voltage U. max Minimum value U min During the statistical analysis, outliers or values ​​indicating abnormal DP communication status are filtered out; the maximum value of motor temperature T is continuously calculated. max Minimum value T min During the statistical analysis, outliers or values ​​indicating abnormal DP communication status are filtered out; after the shutdown is completed, the calculation (U) is performed. max -U min ) / (T max -T min The value of ) if (U max -U min ) / (T max -T min The value of ) is greater than 2, and at the same time (T) max -T min If the value of ) is greater than a certain set threshold, a brake valve abnormality warning will be triggered; otherwise, the brake valve will be considered normal. When the reset signal is triggered, the maximum and minimum values ​​will be initialized.

[0124] As an example, for different operating conditions (U) max -U min ) / (T max -T min The value of ) was calculated, and the results are shown in Table 2. Table 2 shows that when the brake valve corresponding to shaft 2 is abnormal, the calculated result (U) for shaft 2... max -U min ) / (T max -T min The value was 2.717, while the calculation results for other cases were all less than 1, or even less than 0.1. Among them, when the pitch system was retracting normally, the capacitor voltage and motor temperature changes were not significant, and a threshold was set for the amount of temperature change. Therefore, the calculation result for normal pitch retraction was close to 0, and the value of 0 indicated that the amount of motor temperature change was less than 3℃.

[0125] Table 2. Ratio of voltage change to temperature change

[0126] category The ratio corresponding to axis 1 The ratio corresponding to axis 2 The ratio corresponding to axis 3 Brake valve malfunction 0.355455 2.717284 0.342857 Blade jamming propeller 0.059433 0.299 0.2675 Normal stroke 0 0 0 Charger malfunction 0.058421 0.800517 0.050169 Incremental signal anomaly 0.641143 0 0

[0127] The exemplary embodiments of this disclosure are simpler to implement and are unaffected by positive, negative, zero-crossing, or zero motor temperature values, thus avoiding false detections. Furthermore, by detecting changes in the pitch motor temperature, normal pitch retraction can be automatically eliminated, thus avoiding both false detections and situations where the pitch motor temperature is close to 0.

[0128] According to an exemplary embodiment of the present disclosure, step S203 may include: determining the maximum voltage value and the minimum voltage value among the acquired power supply voltage values, and determining the voltage value change between the maximum voltage value and the minimum voltage value; if the voltage value change falls within a sixth preset range, determining that the pitch system is abnormal.

[0129] As examples, abnormal brake valves, blade jamming, faulty backup power chargers, and abnormal backup power supply conditions can all lead to a drop in backup power voltage.

[0130] According to an exemplary embodiment of the present disclosure, step S204 may include: determining the maximum temperature value and the minimum temperature value among the acquired motor temperature values, and determining the amount of temperature change between the maximum temperature value and the minimum temperature value; if the amount of temperature change is within a seventh preset range, determining that the pitch system is abnormal.

[0131] As an example, abnormal brake valve, blade jamming, abnormal encoder signal, and high-frequency fluctuations in the given speed can all lead to an increase in the temperature of the pitch motor.

[0132] Furthermore, as an example, the anomaly detection method for a pitch system according to an exemplary embodiment of this disclosure may further include: outputting warning information indicating the pitch system anomaly when an anomaly is determined to be present in the pitch system. Additionally, the specific anomaly type of the pitch system may be further output.

[0133] When an early abnormality occurs in the brake valve, an early warning is issued upon detection, and maintenance personnel are notified to prepare and replace the affected parts. This helps prevent propeller jamming and prolonged downtime due to severe brake valve damage. Furthermore, it allows for precise fault location, reducing unnecessary on-site troubleshooting (such as disassembling the pitch motor). Additionally, it prevents the motor from overheating and burning out due to brake valve malfunction.

[0134] According to the exemplary embodiments of this disclosure, repeated adjustments to parameter thresholds and programs can be avoided, especially avoiding false detections and missed detections. At the same time, the detection algorithm is simplified to be applicable to various detection scenarios, making the program easier to implement in a PLC controller, while reducing the impact of interference signals such as data jumps.

[0135] According to an exemplary embodiment of this disclosure, the operation of the pitch system is analyzed based on the law of conservation of energy. Stable and reliable key data characteristics are identified, and the detection quantities are transformed from pitch angle and pitch speed to slowly changing result quantities. This reduces algorithm complexity, computational load, and detection accuracy, making it applicable to various changing characteristics and unaffected by interference fluctuations. It can also provide auxiliary judgment for other operating conditions. Since capacitor voltage and motor temperature are data with large changing inertia, false detections are not caused by data fluctuations during the detection process. Furthermore, the calculation process does not require pitch motor voltage or current, nor does it involve the influence of power factor, motor mechanical faults, encoder malfunctions, etc., thus improving detection accuracy. In the event of brake valve malfunction, accurate identification can be made, preventing pitch jamming in advance.

[0136] According to the exemplary embodiments of this disclosure, it is not necessary to install detection sensors in the brake valve of the pitch motor, nor is it necessary to make hardware modifications such as electrical equipment to the unit that is already generating electricity. The working status of the brake valve can be accurately detected simply by data analysis.

[0137] Figure 11 A structural block diagram of an anomaly detection device for a pitch system according to an exemplary embodiment of the present disclosure is shown.

[0138] Reference Figure 11 An anomaly detection device for a pitch system according to an exemplary embodiment of the present disclosure includes a data acquisition unit 100 and an anomaly identification unit 200.

[0139] Specifically, the data acquisition unit 100 is configured to acquire the motor temperature value of the pitch motor during the pitch recovery process and / or the power supply voltage value of the backup power supply that provides power to the pitch motor.

[0140] The anomaly identification unit 200 is configured to determine whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch recovery process; or, to determine whether the pitch system is abnormal based on the amount of change in the acquired power supply voltage value and / or the amount of change in the acquired motor temperature value.

[0141] As an example, the anomaly identification unit 200 may be configured to: determine the maximum and minimum ratios among the ratios corresponding to the plurality of time points; and determine whether the pitch system is abnormal based on the ratio of the maximum ratio to the minimum ratio.

[0142] As an example, the anomaly identification unit 200 may be configured to: determine that the brake valve of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a first preset range; determine that the blade of the pitch motor is stuck when the ratio of the maximum ratio to the minimum ratio is within a second preset range; determine that the incremental signal of the encoder of the pitch motor is abnormal when the ratio of the maximum ratio to the minimum ratio is within a third preset range; and determine that the charger of the backup power supply is abnormal when the ratio of the maximum ratio to the minimum ratio is within a fourth preset range.

[0143] As an example, the upper boundary value of the second preset range is less than or equal to the lower boundary value of the first preset range; the upper boundary value of the third preset range is less than or equal to the lower boundary value of the second preset range; and the upper boundary value of the fourth preset range is less than or equal to the lower boundary value of the third preset range.

[0144] As an example, the anomaly identification unit 200 may be configured to: determine the maximum and minimum voltage values ​​among the acquired power supply voltage values, and determine the voltage value change between the maximum and minimum voltage values; determine the maximum and minimum temperature values ​​among the acquired motor temperature values, and determine the temperature value change between the maximum and minimum temperature values; and determine whether the pitch system is abnormal based on the ratio of the voltage value change to the temperature value change.

[0145] As an example, the anomaly identification unit 200 may be configured to determine that the brake valve of the pitch motor is abnormal when the ratio of the voltage change to the temperature change is within a fifth preset range and the temperature change is greater than a preset threshold.

[0146] As an example, the anomaly identification unit 200 may be configured to: determine the maximum and minimum voltage values ​​among the acquired power supply voltage values, and determine the voltage value change between the maximum and minimum voltage values; and determine that the pitch system is abnormal if the voltage value change falls within a sixth preset range.

[0147] As an example, the anomaly identification unit 200 may be configured to: determine the maximum and minimum temperature values ​​among the acquired motor temperature values, and determine the amount of temperature change between the maximum and minimum temperature values; and determine that the pitch system is abnormal if the amount of temperature change falls within a seventh preset range.

[0148] As an example, the data acquisition unit 100 may be configured to: acquire the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply during the start of the pitch recovery period, and the motor temperature value of the pitch motor and / or the power supply voltage value of the backup power supply during the end of the pitch recovery period.

[0149] As an example, the anomaly detection device for the pitch system can be installed in the main controller or pitch controller of the wind turbine generator set.

[0150] It should be understood that the specific processing performed by the anomaly detection device of the pitch system according to the exemplary embodiments of this disclosure has been referenced. Figures 1 to 10 A detailed description has been provided, and the relevant details will not be repeated here.

[0151] It should be understood that the various units in the anomaly detection apparatus of the pitch system according to exemplary embodiments of the present disclosure may be implemented as hardware components and / or software components. Those skilled in the art, based on the processes performed by the defined various units, may implement the various units, for example, using a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC).

[0152] An exemplary embodiment of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform an anomaly detection method for a pitch system as described in the exemplary embodiment above. The computer-readable storage medium is any data storage device capable of storing data read from a computer system. Examples of computer-readable storage media include: read-only memory, random access memory, read-only optical disk, magnetic tape, floppy disk, optical data storage device, and carrier waves (such as data transmission via the Internet through wired or wireless transmission paths).

[0153] An anomaly detection apparatus for a pitch system according to an exemplary embodiment of the present disclosure includes: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform anomaly detection method for a pitch system as described in the exemplary embodiment above.

[0154] As an example, the anomaly detection device for the pitch system can be installed in the main controller or pitch controller of the wind turbine generator set.

[0155] While some exemplary embodiments of this disclosure have been shown and described, those skilled in the art will understand that modifications may be made to these embodiments without departing from the principles and spirit of this disclosure, which are defined by the claims and their equivalents.

Claims

1. A method of anomaly detection for a variable pitch system, the method comprising: The method comprises: obtaining a motor temperature value of a pitch motor in a pitch collection process and a power supply voltage value of a backup power supply providing power for the pitch motor; determining whether the pitch system is abnormal based on a ratio of the power supply voltage value and the motor temperature value at multiple time points in the pitch collection process, wherein the step of determining whether the pitch system is abnormal based on the ratio of the power supply voltage value and the motor temperature value at the multiple time points in the pitch collection process comprises: determining a maximum ratio and a minimum ratio in the ratios corresponding to the multiple time points; determining whether the pitch system is abnormal based on a ratio of the maximum ratio and the minimum ratio.

2. The abnormality detection method according to claim 1, characterized by, The step of determining whether the pitch system is abnormal based on the ratio of the maximum ratio and the minimum ratio comprises: in a case where the ratio of the maximum ratio and the minimum ratio belongs to a first preset range, determining that a brake valve of the pitch motor is abnormal; in a case where the ratio of the maximum ratio and the minimum ratio belongs to a second preset range, determining that a blade of the pitch motor is stuck; in a case where the ratio of the maximum ratio and the minimum ratio belongs to a third preset range, determining that an incremental signal of an encoder of the pitch motor is abnormal; in a case where the ratio of the maximum ratio and the minimum ratio belongs to a fourth preset range, determining that a charger of the backup power supply is abnormal.

3. The abnormality detection method according to claim 2, wherein an upper boundary value of the second preset range is less than or equal to a lower boundary value of the first preset range; an upper boundary value of the third preset range is less than or equal to a lower boundary value of the second preset range; an upper boundary value of the fourth preset range is less than or equal to a lower boundary value of the third preset range.

4. The abnormality detection method according to claim 1, characterized by, The step of obtaining the motor temperature value of the pitch motor in the pitch collection process and the power supply voltage value of the backup power supply providing power for the pitch motor comprises: obtaining the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply at a pitch collection start period and the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply at a pitch collection end period.

5. An anomaly detection method of a variable pitch system, characterized by, The method comprises: obtaining a motor temperature value of a pitch motor in a pitch collection process and a power supply voltage value of a backup power supply providing power for the pitch motor; determining whether the pitch system is abnormal based on a change amount of the obtained power supply voltage value and a change amount of the obtained motor temperature value, wherein the step of determining whether the pitch system is abnormal based on the change amount of the obtained power supply voltage value and the change amount of the obtained motor temperature value comprises: determining a maximum voltage value and a minimum voltage value in the obtained power supply voltage value and determining a voltage value change amount between the maximum voltage value and the minimum voltage value; determining a maximum temperature value and a minimum temperature value in the obtained motor temperature value and determining a temperature value change amount between the maximum temperature value and the minimum temperature value; determining whether the pitch system is abnormal based on a ratio of the voltage value change amount and the temperature value change amount.

6. The abnormality detection method according to claim 5, characterized by, The step of determining whether the pitch system is abnormal based on the ratio of the voltage value change amount and the temperature value change amount comprises: In a case where the ratio of the voltage value variation amount to the temperature value variation amount belongs to a fifth preset range and the temperature value variation amount is greater than a preset threshold, it is determined that the brake valve of the pitch motor is abnormal.

7. The abnormality detection method according to claim 5, characterized by, The step of obtaining the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply providing power for the pitch motor during the pitch collection process comprises: obtaining the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply at a pitch collection start period and the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply at a pitch collection end period.

8. An anomaly detection method of a variable pitch system, characterized by, comprises: obtaining the motor temperature value of the pitch motor or the power supply voltage value of the backup power supply providing power for the pitch motor during the pitch collection process; determining whether the pitch system is abnormal based on the variation amount of the obtained power supply voltage value or the variation amount of the obtained motor temperature value, wherein the step of determining whether the pitch system is abnormal based on the variation amount of the obtained power supply voltage value or the variation amount of the obtained motor temperature value comprises: determining a maximum voltage value and a minimum voltage value in the obtained power supply voltage value, and determining a voltage value variation amount between the maximum voltage value and the minimum voltage value; in a case where the voltage value variation amount belongs to a sixth preset range, it is determined that the pitch system is abnormal, or determining a maximum temperature value and a minimum temperature value in the obtained motor temperature value, and determining a temperature value variation amount between the maximum temperature value and the minimum temperature value; in a case where the temperature value variation amount belongs to a seventh preset range, it is determined that the pitch system is abnormal.

9. The abnormality detection method according to claim 8, characterized by, The step of obtaining the motor temperature value of the pitch motor or the power supply voltage value of the backup power supply providing power for the pitch motor during the pitch collection process comprises: obtaining the motor temperature value of the pitch motor or the power supply voltage value of the backup power supply at a pitch collection start period and the motor temperature value of the pitch motor or the power supply voltage value of the backup power supply at a pitch collection end period.

10. An anomaly detection apparatus of a variable pitch system, characterized by, comprises: a data acquisition unit configured to obtain the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply providing power for the pitch motor during the pitch collection process; an abnormality identification unit configured to determine whether the pitch system is abnormal based on the ratio of the power supply voltage value to the motor temperature value at multiple time points during the pitch collection process, wherein the abnormality identification unit is configured to: determine a maximum ratio and a minimum ratio in the ratios corresponding to the multiple time points; and determine whether the pitch system is abnormal based on the ratio of the maximum ratio to the minimum ratio.

11. An anomaly detection apparatus of a variable pitch system, characterized by comprising: comprises: a data acquisition unit configured to obtain the motor temperature value of the pitch motor and the power supply voltage value of the backup power supply providing power for the pitch motor during the pitch collection process; an abnormality identification unit configured to determine whether the pitch system is abnormal based on the variation amount of the obtained power supply voltage value and the variation amount of the obtained motor temperature value, wherein the abnormality identification unit is configured to: determine a maximum voltage value and a minimum voltage value in the obtained power supply voltage value, and determine a voltage value variation amount between the maximum voltage value and the minimum voltage value; determine a maximum temperature value and a minimum temperature value among the obtained motor temperature values, and determine a temperature value variation between the maximum temperature value and the minimum temperature value; determine whether the variable pitch system is abnormal based on a ratio of the voltage value variation to the temperature value variation.

12. An anomaly detection apparatus of a variable pitch system, characterized by comprising: comprise: a data acquisition unit configured to acquire a motor temperature value of a variable pitch motor in a pitch collecting process or a power supply voltage value of a backup power supply providing power for the variable pitch motor; an abnormality identification unit configured to determine whether the variable pitch system is abnormal based on a variation of the acquired power supply voltage value or a variation of the acquired motor temperature value, wherein the abnormality identification unit is configured to: determine a maximum voltage value and a minimum voltage value among the obtained power supply voltage values, and determine a voltage value variation between the maximum voltage value and the minimum voltage value; in a case where the voltage value variation belongs to a sixth preset range, determine that the variable pitch system is abnormal, or, determine a maximum temperature value and a minimum temperature value among the obtained motor temperature values, and determine a temperature value variation between the maximum temperature value and the minimum temperature value; in a case where the temperature value variation belongs to a seventh preset range, determine that the variable pitch system is abnormal.

13. A computer readable storage medium storing a computer program, characterized in that, The computer program, when executed by a processor, causes the processor to perform the abnormality detection method of the variable pitch system according to any one of claims 1 to 9.

14. An anomaly detection apparatus of a variable pitch system, characterized by comprising: The abnormality detection device comprises: a processor; a memory storing a computer program, which, when executed by the processor, causes the processor to perform the abnormality detection method of the variable pitch system according to any one of claims 1 to 9.

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