Simulation model and simulation method for variable pitch system of wind generating set

Abstract

The invention relates to a simulation model and a simulation method for a variable pitch system of a wind generating set. The simulation model comprises an input interface, a variable pitch mode switching subsystem, a plurality of working mode subsystems and a motor control subsystem, the input interface is used for receiving input control information of the variable pitch system; the variable pitch mode switching subsystem is used for switching and calling the corresponding working mode subsystem in the plurality of working mode subsystems according to the control information; the working mode subsystems are used for determining rotating speed information of a variable-pitch motor according to control information of the variable-pitch system; and the motor control subsystem is used for calculating the current of the variable-pitch motor according to the torque information and the rotating speed information included in the control information of the variable-pitch system, adjusting the current of the variable-pitch motor according to the calculated current, and driving the variable-pitch motor to operate. The current of the variable-pitch motor can be simulated, the variable-pitch operation mode is switched according to the change condition of the input quantity, and the field operation data of the variable-pitch system under different working conditions are truly simulated.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a simulation model and simulation method, computing equipment and storage medium for a variable pitch system of a wind turbine generator set. Background Art

[0002] The variable pitch system plays an important role in regulating the power of the unit and ensuring safe shutdown in the wind turbine. When designing the variable pitch system, mainstream wind turbine manufacturers mainly perform variable pitch device selection calculations based on the torque and speed requirements in the blade root Mz direction under various working conditions generated during blade simulation. However, this cannot truly reflect the variable pitch motor, and the current load simulation data cannot simulate the current of the variable pitch motor and the actual operating state of the motor under overload conditions. Therefore, there is a certain deviation between the actual variable pitch system design and the blade simulation load data. In the current variable pitch system design, there is no independent variable pitch simulation system to simulate the on-site operating data and truly restore the on-site operating conditions. It can only build a test platform and simulate the on-site wind conditions through physical objects to deduce the variable pitch operating state. This simulation method consumes manpower and material resources (building a test platform and organizing experiments) and is extremely inconvenient. Summary of the invention

[0003] In view of the above problems in the prior art, the present application provides a wind turbine pitch system simulation model and simulation method, computing equipment and storage medium, so as to simulate the current condition of the pitch motor and the actual operating state of the motor in the event of an overload.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a wind turbine pitch system simulation model, including: an input interface, a pitch mode switching subsystem, multiple working mode subsystems, and a motor control subsystem;

[0005] Wherein, the input interface is used to: receive input control information of the pitch control system;

[0006] The pitch mode switching subsystem is used to: switch and call a corresponding working mode subsystem among the multiple working mode subsystems according to the control information;

[0007] The multiple working mode subsystems are used to: determine the speed information of the pitch motor according to the control information of the pitch system;

[0008] The motor control subsystem is used to calculate the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjust the current of the pitch motor according to the calculated current, and drive the pitch motor to operate.

[0009] From the above, the present application can simulate the current of the pitch motor according to the torque information included in the input control information of the pitch system and the speed information of the pitch motor determined by multiple working mode subsystems; the present application can switch the operating mode of the pitch system according to the changes in the input quantity, and truly simulate the on-site operating data of the pitch system under different working conditions, thereby improving the overlap between the design and the simulation; the control information of the pitch system in the present application can also be on-site operating data, which is poured back into the model to simulate the on-site operating conditions, providing an important basis for solving on-site problems and providing a verification platform for the optimization of control strategies.

[0010] A second aspect of the present application provides a wind turbine generator set pitch control system simulation method, comprising:

[0011] Receive control information of the pitch control system input through the input interface;

[0012] The pitch mode switching subsystem switches and calls corresponding working mode subsystems in the plurality of working mode subsystems according to the control information;

[0013] Determining the speed information of the pitch motor according to the control information of the pitch system through multiple working mode subsystems;

[0014] The motor control subsystem calculates the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjusts the current of the pitch motor according to the calculated current, and drives the pitch motor to operate.

[0015] A third aspect of the present application provides a computing device, including:

[0016] processor, and

[0017] A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor executes any of the methods described in the second aspect above.

[0018] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, wherein when the program instructions are executed by a computer, the computer implements any of the methods described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a wind turbine pitch system simulation model provided in an embodiment of the present application;

[0020] Figure 2 It is a three-closed-loop principle diagram provided by an embodiment of the present application;

[0021] Figure 3It is a structural schematic diagram of a computing device provided in an embodiment of the present application.

[0022] It should be understood that the size and shape of each block diagram in the above structural diagram are for reference only and should not constitute an exclusive interpretation of the embodiment of the present invention. The relative position and inclusion relationship between the blocks presented in the structural diagram are only schematic representations of the structural association between the blocks, and do not limit the physical connection method of the embodiment of the present invention. DETAILED DESCRIPTION

[0023] The technical solution provided by the present application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of the present application are mainly to illustrate the possible implementation methods of the technical solution of the present application and should not be interpreted as the only limitation on the technical solution of the present application. It is known to those of ordinary skill in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. In case of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0025] [Implementation example of wind turbine pitch system simulation model]

[0026] The first embodiment of the present application provides a wind turbine generator set pitch control system simulation model, such as Figure 1 As shown, it includes: an input interface, a pitch mode switching subsystem, multiple working mode subsystems, and a motor control subsystem;

[0027] Wherein, the input interface is used to: receive input control information of the pitch control system;

[0028] The pitch mode switching subsystem is used to: switch and call a corresponding working mode subsystem among the multiple working mode subsystems according to the control information;

[0029] The multiple working mode subsystems are used to: determine the speed information of the pitch motor according to the control information of the pitch system;

[0030] The motor control subsystem is used to calculate the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjust the current of the pitch motor according to the calculated current, and drive the pitch motor to operate.

[0031] Specifically, the simulation model is a variable pitch system, which can be connected to the main control system and the variable pitch motor of the variable pitch system, obtain control information from the main control system of the variable pitch system through the input interface, and after being processed by the variable pitch mode switching subsystem, multiple working mode subsystems and the motor control subsystem, the motor control subsystem drives the variable pitch motor to operate.

[0032] In some embodiments, Figure 1 As shown, the input interface includes a bus input interface and a digital quantity input interface;

[0033] The bus input interface is used to receive input first control information of the pitch control system, where the first control information includes one or more of the following:

[0034] Enable signal, given position signal, segmented propeller retraction command signal, anti-vortex enable signal, anti-vortex set position signal;

[0035] The digital quantity input interface is used to receive second control information of the pitch system, where the second control information includes one or more of the following:

[0036] External safety chain signal, resolver fault signal, pitch motor torque signal.

[0037] Specifically, the bus input interface may be connected to a host computer of the pitch control system, that is, a main control system of the wind turbine, and the first control information is input by the main control system of the wind turbine.

[0038] The digital input interface is the feedback point of the system's external sensors and equipment. The resolver fault signal is the resolver feedback at the tail of the motor. The torque signal applied by the variable pitch motor is the torque sequence proposed from the simulation load and can be transmitted through the model's interface.

[0039] Specifically, (1) Enable Signal

[0040] Definition: The enable signal is a logic signal, usually a digital signal (high or low), used to enable or disable the pitch control system.

[0041] Function: When the enable signal is activated (usually high level), the pitch control system can accept instructions from the main control system and perform corresponding actions. If the enable signal is not activated (usually low level), the pitch control system will be in a waiting state and will not perform any action.

[0042] Application scenarios: The enable signal is usually used for safety purposes, such as shutting down the pitch system in an emergency or preventing accidental movement during maintenance.

[0043] (2) Set Position Signal (can be given by blade simulation)

[0044] Definition: The given position signal is the instruction received by the pitch control system, indicating the specific angle that the blade should reach.

[0045] Function: The main control system calculates the ideal blade angle based on factors such as wind speed and direction, and sends this angle as a given position signal to the pitch control system. The pitch control system will adjust the blade angle based on this signal.

[0046] Application scenario: During normal operation, the main control system continuously updates the given position signal to ensure that the blades are always at the best angle to capture wind energy.

[0047] (3) Segmented Furling Command Signal

[0048] Definition: The segmented blade retraction command signal refers to a command signal that requires the blade angle to be adjusted gradually rather than immediately in certain special circumstances, such as strong winds or emergency shutdown.

[0049] Function: This signal is usually used to avoid excessive mechanical stress caused by sudden changes in blade angle under extreme conditions. The segmented retraction command can gradually adjust the blade angle according to the predetermined step size until a safe position is reached.

[0050] Application scenarios: In high wind speeds or system failures, the segmented blade retraction command signal can reduce the stress on the blades and mechanical structure and protect the system from damage.

[0051] (4) Anti-Vortex Enable Signal

[0052] Definition: The anti-vortex enable signal is a logic signal used to activate or disable the anti-vortex control function.

[0053] Function: Vortex excitation refers to the periodic separation of airflow generated by blades under certain conditions (such as low wind speed), which causes blade vibration. The anti-vortex excitation enable signal is used to start or stop the control strategy for vortex excitation.

[0054] Application scenario: When conditions that may cause vortex excitation are detected, the anti-vortex excitation enable signal will be activated and the corresponding control strategy will be started to reduce or eliminate vortex-induced vibration.

[0055] (5) Anti-Vortex Set Position

[0056] Definition: The anti-vortex setting position refers to the specific angle to which the blades need to be adjusted in the anti-vortex mode.

[0057] Function: When the anti-vortex-induced vibration enable signal is activated, the pitch control system will adjust the blade angle according to the anti-vortex-induced vibration setting position to reduce or eliminate vortex-induced vibration.

[0058] Application scenario: Under low wind speed conditions, if vortex-induced vibration is detected, the pitch control system will adjust the blade angle according to the anti-vortex-induced vibration setting position to avoid or reduce vortex-induced vibration, thereby protecting the blades and mechanical structure.

[0059] (6) External safety chain signal

[0060] The external safety chain is an independent safety loop in a wind turbine generator set used to protect the entire system. When the system detects any situation that may cause danger, the safety chain will be triggered, causing the wind turbine to shut down immediately to avoid possible damage or accidents. This includes but is not limited to overspeed, over-vibration, power grid failure, etc. Once the safety chain is triggered, the wind turbine must be manually reset before it can be restarted.

[0061] (7) Resolver fault signal

[0062] Resolvers are sensors used to measure the angle of rotation and are often used to detect the pitch angle of wind turbine blades. A resolver fault signal means that the resolver sensor has failed and cannot accurately measure the angular position of the blades. This situation may cause the pitch control system to lose precise control of the blade position, thus affecting the safe operation of the wind turbine. Therefore, when a resolver fault is detected, measures are usually taken to stop the wind turbine operation until the problem is resolved.

[0063] (8) Pitch motor applies torque signal

[0064] The pitch motor is the actuator responsible for changing the blade angle. The applied torque signal refers to the torque applied by the pitch motor during the blade angle adjustment process. This signal is critical to controlling the precise position of the blade. By monitoring the torque, the control system can ensure that the blade moves in the intended manner and can detect any obstacles or abnormal conditions that may hinder the normal movement of the blade. For example, if an abnormally high torque demand is detected, this may be caused by a mechanical failure or external resistance, and the system may take protective measures.

[0065] In some embodiments, the second control information of the pitch system input by the digital quantity input interface may further include a limit switch signal.

[0066] Specifically, in the pitch system, the limit switch is used to monitor the maximum and minimum positions of the blade rotation to prevent the blade from exceeding the predetermined safe angle range. If the blade is detected to have touched the limit switch, it indicates that the blade may have reached its physical limit position. At this time, the pitch system will trigger a protection mechanism, and the pitch system will stop driving the pitch motor (that is, the pitch system stops working), preventing the blade from continuing to move to avoid damage.

[0067] Because, in the simulation model, the present application can verify the protective effect of the variable pitch system by simulating the action signal triggered by the limit switch. Specifically, the limit switch signal is input through the digital input interface, and the variable pitch mode switching subsystem does not call the working mode subsystem in any mode after receiving the limit switch signal, and any subsequent subsystem does not work.

[0068] In summary, these signals are an integral part of the wind turbine control system, and they work together to ensure that the wind turbine can operate safely and efficiently under various conditions. Through these signals, the control system can flexibly respond to different operating conditions, such as normal operation, strong wind conditions, system maintenance, etc., to ensure the stability and reliability of the system. If any of these signals indicates a problem, the control system will take appropriate measures to ensure the safe state of the wind turbine.

[0069] In some embodiments, Figure 1 As shown, the multiple working mode subsystems include multiple of a normal mode subsystem, an open-loop propeller retracting mode subsystem, a closed-loop propeller retracting mode subsystem, and an anti-vortex excitation mode subsystem;

[0070] Wherein, the pitch mode switching subsystem is used to: when the external safety chain signal is normal and the enable signal is received, determine to call the normal mode subsystem; when the resolver fault signal is received, determine to call the open-loop pitch retracting mode subsystem; when the enable signal is lost or the external safety chain signal is disconnected, determine to call the closed-loop pitch retracting mode subsystem; when the anti-vortex excitation enable signal is received, determine to call the closed-loop pitch retracting mode subsystem;

[0071] The normal mode subsystem is used to: determine the speed information of the pitch motor according to the given position signal input by the bus input interface;

[0072] The open-loop pitch retracting mode subsystem is used to: obtain a preset open-loop speed to determine the speed information of the pitch motor;

[0073] The closed-loop pitch-retracting mode subsystem is used to: determine the speed information of the pitch motor according to the segmented pitch-retracting command signal input by the bus input interface;

[0074] The anti-vortex excitation mode subsystem is used to determine the rotation speed information of the variable pitch motor according to the anti-vortex excitation setting position signal input by the bus input interface.

[0075] In some embodiments, the normal mode subsystem is specifically used to:

[0076] Acquire a given position according to the given position signal;

[0077] Get the current position of the paddle;

[0078] The current position and the given position are subjected to PID operation to calculate the speed information of the variable pitch motor;

[0079] The anti-vortex-induced mode subsystem is specifically used for:

[0080] Acquire the anti-vortex excitation setting position according to the anti-vortex excitation setting position signal;

[0081] Get the current position of the paddle;

[0082] The current position and the anti-vortex setting position are subjected to PID operation to calculate the rotation speed information of the variable pitch motor.

[0083] In some embodiments, Figure 1 As shown, the torque information included in the control information of the pitch system is the torque signal applied by the pitch motor included in the second control information.

[0084] Specifically, the mode switching subsystem can execute the switching of the four working modes of the variable pitch propeller through internal logic processing according to the information changes of the bus input interface and the digital input interface, that is, call the subsystem of the corresponding working mode.

[0085] Among them, the internal logic processing includes: logic processing of the enable signal, external safety chain signal, resolver fault signal, and limit switch signal. If the resolver fault signal triggers the call of the open-loop propeller retraction mode, if the enable signal is disconnected or the external safety chain signal is disconnected, the closed-loop propeller retraction mode is called, if the anti-vortex enable triggers the call of the anti-vortex excitation mode, if the enable signal triggers the call of the normal mode.

[0086] Specifically, the normal mode subsystem corresponds to the normal operating mode of the variable pitch system, which is mainly used under normal wind speed conditions. The main control system calculates the optimal blade angle based on the data of the wind speed sensor, and sends this angle as a given position signal to the variable pitch system. The motor then adjusts the blade angle according to the instructions of the main control system to optimize energy capture. At this time, the enable signal must be in an activated state to allow the variable pitch system to respond to control instructions.

[0087] In this regard, the normal mode subsystem proposed in the present application may include a sensor (such as a position sensor, a speed sensor, etc.) and a controller (such as a PID controller).

[0088] The workflow of the normal mode subsystem is as follows:

[0089] (1) Receiving a given position signal: When the pitch control system is in a controlled state (i.e., when the external safety chain is normal and the master control is enabled), the given position signal from the master control system is received through the bus input interface. This signal contains the ideal blade angle calculated by the master control system based on the current wind speed and other operating conditions.

[0090] (2) Position error calculation: The controller (such as PID controller) in the normal mode subsystem reads the actual position of the current blade (provided by the position sensor) and compares it with the given position signal to calculate the position error.

[0091] (3) PID control: Based on the position error, the PID controller calculates the speed signal that needs to be adjusted. The PID controller adjusts the control output through three parameters: proportional (P), integral (I) and differential (D) to ensure that the blade can reach the given position smoothly.

[0092] (4) Speed ​​signal feedback: The speed signal output by the PID controller is transmitted to the motor control subsystem. The motor control subsystem adjusts the motor current according to this signal (and the pitch motor torque signal input from the digital input interface) to make the motor run at the required speed.

[0093] Specifically, the closed-loop pitch retraction mode subsystem corresponds to the emergency pitch retraction mode of the variable pitch system, which is mainly used when encountering extreme weather conditions (such as strong winds, thunderstorms, etc.) or system failures. The variable pitch system controls the motor to quickly respond to the segmented pitch retraction command signal and quickly adjust the blades to a safe position (usually the feathering position, that is, the blades are parallel to the wind direction) to reduce mechanical stress.

[0094] The working process of the closed-loop propeller retraction mode subsystem is as follows:

[0095] (1) Detecting the safety chain status: When the external safety chain signal is disconnected, the system detects the safety chain disconnection event.

[0096] (2) Detecting the enable signal status: If the pitch enable signal is lost, the system detects that the enable signal is invalid.

[0097] (3) Starting the closed-loop propeller retraction mode: When one of the above two situations is detected, the mode switching subsystem will call the closed-loop propeller retraction mode subsystem.

[0098] (4) Receiving segmented blade retraction instructions: The closed-loop blade retraction mode subsystem receives a segmented blade retraction instruction signal from the bus interface that contains information on adjusting the blade angle in stages.

[0099] (5) PID control: The PID controller in the closed-loop retracting mode subsystem calculates the required speed signal based on the segmented retracting command signal and sends it to the motor control subsystem. The motor control subsystem adjusts the motor current based on the speed signal output by the PID controller and drives the motor to operate, so that the blades are gradually retracted to the predetermined feathering position.

[0100] Specifically, the open-loop retracting mode subsystem corresponds to the emergency retracting mode of the variable pitch system, which is mainly used when the resolver fails and cannot provide feedback signals to the control system normally. At this time, the resolver fault signal is fed back through the external input signal, and the control mode switching subsystem calls the variable pitch open-loop retracting mode subsystem. The open-loop mode subsystem sends instructions to the motor control subsystem according to the preset speed value. The motor control subsystem controls the motor operation according to the input set open-loop speed instruction and the load data of the external signal (that is, the torque signal applied by the variable pitch motor), performs the retracting action, and completes the variable pitch operation simulation of the resolver fault condition. Since it works in open-loop mode, the motor control subsystem no longer relies on position feedback, but drives the motor according to the preset speed value.

[0101] Specifically, the anti-vortex-excitation mode subsystem corresponds to the anti-vortex-excitation mode of the variable pitch system, which is mainly used when the blades may generate vortex-excitation vibrations under low wind speed conditions, leading to mechanical fatigue and noise problems. At this time, after the mode switching subsystem receives the main control anti-vortex-excitation command from the bus, the mode switching subsystem will call the anti-vortex-excitation mode. The anti-vortex-excitation mode subsystem will deviate from the current position according to the anti-vortex-excitation setting position input by the bus (that is, the specific angle or position to which the blades need to be adjusted), and run through the internal PID module to calculate the appropriate motor speed signal to the motor control subsystem, which drives the motor according to the speed signal to move the blades to the anti-vortex-excitation setting position. During this process, the motor control subsystem will continuously monitor the motor's current, speed, and position to ensure that the blades can reach the specified position accurately.

[0102] Among them, the anti-vortex-induced mode subsystem proposed in the present application may include a sensor (such as a position sensor, etc.) and a controller (such as a PID controller).

[0103] Specifically, the motor control subsystem proposed in the present application may include a controller (such as a PID controller) and sensors (current sensor, position sensor, speed sensor, etc.).

[0104] The PID controller in the motor control subsystem can compare the speed information of the variable pitch motor given by the normal mode subsystem, the open-loop retracting mode subsystem, the closed-loop retracting mode subsystem, and the anti-vortex-induced mode subsystem with the rotor speed signal fed back by the motor, and output the current command signal after adjusting the speed loop control. The deviation between the current command signal and the current fed back by the variable pitch motor is calculated as the input signal of the current loop. The output signal of the current loop is converted into the three-phase current on the stator side of the motor through coordinate transformation, and then the three-phase alternating current with variable frequency and amplitude is generated through the space vector pulse width modulation (SVPWM) circuit to control the motor speed and torque to the desired value. In this process, the blade root load data in the balde simulation data can be used as an external input signal and given to the torque of the motor, so that the simulation of the variable pitch system in the normal mode can be completed according to the given position and torque.

[0105] For the motor control subsystem in the above modes, three closed-loop control loops are formed during the control process: speed closed loop, position closed loop and current closed loop. Figure 2 As shown:

[0106] Speed ​​closed loop: The actual speed of the motor is monitored by a speed sensor, compared with the set speed, and the power of the motor is adjusted to maintain a consistent speed.

[0107] Position closed loop: The actual position of the blade is detected by a position sensor (such as an encoder), compared with the target position, and the motor action is adjusted to achieve the set position.

[0108] Current closed loop: The motor control subsystem controls the speed and torque of the motor by regulating the current. The motor current is monitored by a current sensor and compared with the required current to form a current closed loop.

[0109] In some embodiments, Figure 1 As shown, it also includes: an output interface;

[0110] The output interface is used to output the motor current, motor position and motor torque during the control process of the motor control subsystem. Specifically, the motor current, motor position and motor torque during the control process are output to the main control system of the pitch control system.

[0111] Specifically, the motor current is obtained through a current sensor of the motor control subsystem, the motor position is obtained through a position sensor, and the motor torque is obtained through a speed sensor.

[0112] In summary, the wind turbine variable pitch system simulation model proposed in this application is used for variable pitch system design simulation. The torque and speed of the blade root Mz in the simulation load data can be input into the speed and torque requirements of the variable pitch motor to simulate the current of the variable pitch motor; the variable pitch operation mode can be switched according to the change of the input quantity, and the field operation data of the variable pitch system under normal power generation conditions and extreme conditions, fault conditions and anti-vortex excitation mode can be truly simulated, and the torque of the variable pitch motor, the current of the variable pitch motor, and the angle of the blades can be fed back, thereby improving the overlap between the design and the simulation; the field operation data can also be fed back into the model to simulate the field operation conditions, provide an important basis for solving field problems, and provide a verification platform for the optimization of control strategies.

[0113] [Embodiment of the wind turbine pitch system simulation method of the present application]

[0114] Based on the above wind turbine pitch system simulation model, the present application proposes a wind turbine pitch system simulation method, including:

[0115] Receive control information of the pitch control system input through the input interface;

[0116] The pitch mode switching subsystem switches and calls corresponding working mode subsystems in the plurality of working mode subsystems according to the control information;

[0117] Determining the speed information of the pitch motor according to the control information of the pitch system through multiple working mode subsystems;

[0118] The motor control subsystem calculates the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjusts the current of the pitch motor according to the calculated current, and drives the pitch motor to operate.

[0119] In some embodiments, the input interface includes a bus input interface and a digital quantity input interface;

[0120] Inputting control information of the pitch system through the input interface bus includes: receiving first control information of the pitch system input through the bus input interface and receiving second control information of the pitch system input through the digital quantity input interface bus;

[0121] The first control information includes one or more of the following:

[0122] Enable signal, given position signal, segmented propeller retraction command signal, anti-vortex enable signal, anti-vortex set position signal;

[0123] The second control information includes one or more of the following:

[0124] External safety chain signal, resolver fault signal, pitch motor torque signal.

[0125] In some embodiments, the multiple working mode subsystems include multiple of a normal mode subsystem, an open-loop propeller retracting mode subsystem, a closed-loop propeller retracting mode subsystem, and an anti-vortex excitation mode subsystem;

[0126] The pitch mode switching subsystem switches and calls corresponding working mode subsystems in a plurality of working mode subsystems according to the control information, including:

[0127] When the external safety chain signal is normal and the enable signal is received, it is determined to call the normal mode subsystem;

[0128] When receiving the resolver fault signal, it is determined to call the open-loop propeller retracting mode subsystem;

[0129] When the enable signal is lost or the external safety chain signal is disconnected, it is determined to call the closed-loop propeller retracting mode subsystem;

[0130] When receiving the anti-vortex excitation enable signal, it is determined to call the closed-loop propeller retracting mode subsystem;

[0131] Determining the speed information of the pitch motor according to the control information of the pitch system through multiple working mode subsystems includes:

[0132] Determining the speed information of the pitch motor according to the given position signal input by the bus input interface through the normal mode subsystem;

[0133] Obtaining a preset open-loop speed through the open-loop pitch retracting mode subsystem to determine the speed information of the pitch motor;

[0134] Determining the speed information of the variable pitch motor according to the segmented pitch retraction command signal inputted from the bus input interface by the closed-loop pitch retraction mode subsystem;

[0135] The speed information of the variable pitch motor is determined by the anti-vortex excitation mode subsystem according to the anti-vortex excitation setting position signal input by the bus input interface.

[0136] [Embodiment of the computing device of the present application]

[0137] Figure 3 900 is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device executes each optional embodiment of the wind turbine variable pitch system simulation method described above. The computing device may be a terminal, or a chip or chip system inside the terminal. Figure 3 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0138] It should be understood that Figure 3 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0139] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit inside the processor 910, or an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0140] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via the bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0141] It should be understood that in the embodiment of the present application, the processor 910 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 910 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0142] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a nonvolatile random access memory. For example, the processor 910 may also store information on the device type.

[0143] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0144] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0145] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0147] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0149] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0151] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0152] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0153] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0154] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0155] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0156] In addition, the words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0157] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed accordingly. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0158] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0159] References to "one embodiment" or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the particular features, structures, or characteristics can be combined in any appropriate manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0160] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the scope of protection of the present application.

Claims

1. A wind turbine pitch control system simulation model, characterized in that: include: Input interface, pitch mode switching subsystem, multiple working mode subsystems, motor control subsystem; Wherein, the input interface is used to: receive input control information of the pitch control system; The pitch mode switching subsystem is used to: switch and call a corresponding working mode subsystem among the multiple working mode subsystems according to the control information; The multiple working mode subsystems are used to: determine the speed information of the pitch motor according to the control information of the pitch system; The motor control subsystem is used to calculate the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjust the current of the pitch motor according to the calculated current, and drive the pitch motor to operate.

2. The simulation model according to claim 1, characterized in that: The input interface includes a bus input interface and a digital quantity input interface; The bus input interface is used to receive input first control information of the pitch control system, where the first control information includes one or more of the following: Enable signal, given position signal, segmented propeller retraction command signal, anti-vortex enable signal, anti-vortex set position signal; The digital quantity input interface is used to receive second control information of the pitch system, where the second control information includes one or more of the following: External safety chain signal, resolver fault signal, pitch motor torque signal.

3. The simulation model according to claim 2, characterized in that: The multiple working mode subsystems include multiple ones of a normal mode subsystem, an open-loop propeller retracting mode subsystem, a closed-loop propeller retracting mode subsystem, and an anti-vortex excitation mode subsystem; Wherein, the pitch mode switching subsystem is used to: when the external safety chain signal is normal and the enable signal is received, determine to call the normal mode subsystem; when the resolver fault signal is received, determine to call the open-loop pitch retracting mode subsystem; when the enable signal is lost or the external safety chain signal is disconnected, determine to call the closed-loop pitch retracting mode subsystem; when the anti-vortex excitation enable signal is received, determine to call the closed-loop pitch retracting mode subsystem; The normal mode subsystem is used to: determine the speed information of the pitch motor according to the given position signal input by the bus input interface; The open-loop pitch retracting mode subsystem is used to: obtain a preset open-loop speed to determine the speed information of the pitch motor; The closed-loop pitch-retracting mode subsystem is used to: determine the speed information of the pitch-changing motor according to the segmented pitch-retracting command signal input by the bus input interface; The anti-vortex excitation mode subsystem is used to determine the rotation speed information of the variable pitch motor according to the anti-vortex excitation setting position signal input by the bus input interface.

4. The simulation model according to claim 3, characterized in that: The normal mode subsystem is specifically used for: Acquire a given position according to the given position signal; Get the current position of the paddle; The current position and the given position are subjected to PID operation to calculate the speed information of the variable pitch motor; The anti-vortex-induced mode subsystem is specifically used for: Acquire the anti-vortex excitation setting position according to the anti-vortex excitation setting position signal; Get the current position of the paddle; The current position and the anti-vortex setting position are subjected to PID operation to calculate the rotation speed information of the variable pitch motor.

5. The simulation model according to claim 2, characterized in that: The torque information included in the control information of the pitch system is a torque signal applied by the pitch motor included in the second control information.

6. The simulation model according to claim 1, characterized in that: Also includes: Output interface; The output interface is used to output the motor current, motor position and motor torque during the control process of the motor control subsystem.

7. A wind turbine pitch control system simulation method, characterized in that: include: Receive control information of the pitch control system input through the input interface; The pitch mode switching subsystem switches and calls corresponding working mode subsystems in the plurality of working mode subsystems according to the control information; Determining the speed information of the pitch motor according to the control information of the pitch system through multiple working mode subsystems; The motor control subsystem calculates the current of the pitch motor according to the torque information and the speed information included in the control information of the pitch system, adjusts the current of the pitch motor according to the calculated current, and drives the pitch motor to operate.

8. The method according to claim 7, characterized in that The input interface includes a bus input interface and a digital quantity input interface; Inputting control information of the pitch system through the input interface bus includes: receiving first control information of the pitch system input through the bus input interface and receiving second control information of the pitch system input through the digital quantity input interface bus; The first control information includes one or more of the following: Enable signal, given position signal, segmented propeller retraction command signal, anti-vortex enable signal, anti-vortex set position signal; The second control information includes one or more of the following: External safety chain signal, resolver fault signal, pitch motor torque signal.

9. The method according to claim 8, characterized in that The multiple working mode subsystems include multiple ones of a normal mode subsystem, an open-loop propeller retracting mode subsystem, a closed-loop propeller retracting mode subsystem, and an anti-vortex excitation mode subsystem; The pitch mode switching subsystem switches and calls corresponding working mode subsystems in a plurality of working mode subsystems according to the control information, including: When the external safety chain signal is normal and the enable signal is received, it is determined to call the normal mode subsystem; When receiving the resolver fault signal, it is determined to call the open-loop propeller retracting mode subsystem; When the enable signal is lost or the external safety chain signal is disconnected, it is determined to call the closed-loop propeller retracting mode subsystem; When receiving the anti-vortex excitation enable signal, it is determined to call the closed-loop propeller retracting mode subsystem; Determining the speed information of the pitch motor according to the control information of the pitch system through multiple working mode subsystems includes: Determining the speed information of the pitch motor according to the given position signal input by the bus input interface through the normal mode subsystem; Obtaining a preset open-loop speed through the open-loop pitch retracting mode subsystem to determine the speed information of the pitch motor; Determining the speed information of the variable pitch motor according to the segmented pitch retraction command signal inputted from the bus input interface by the closed-loop pitch retraction mode subsystem; The speed information of the variable pitch motor is determined by the anti-vortex excitation mode subsystem according to the anti-vortex excitation setting position signal input by the bus input interface.

10. A computing device, characterized in that include: processor, and A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor is caused to execute the method according to any one of claims 7 to 9.

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