Wind power variable pitch system and method

Abstract

The invention discloses a wind power variable pitch system and method, and belongs to the technical field of wind power variable pitch. The control module, the driving module and the energy storage and supply module are arranged on the variable-pitch motor; the control module sends a control signal and transmits the control signal to the driving module, the driving module converts the control signal into a driving signal, and the driving signal is used for driving the variable pitch motor to rotate and adjusting the angle of a wind wheel; the energy storage and supply module is used for storing and releasing energy, and the energy is used for feathering of the blades. A plurality of independent components are tightly integrated on the variable-pitch motor, so that the compactness and high integration level of equipment are realized; through a layered control strategy, external instruction changes are quickly responded, meanwhile, stable operation of the motor is kept, rotation of the variable-pitch motor and accurate control over the variable-pitch angle are achieved, and the operation requirements of the wind driven generator are met.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power pitch control, and in particular to a wind power pitch control system and method. Background Art

[0002] As a clean and renewable energy form, wind power generation has been widely used and developed. Wind turbines are mainly composed of wind turbines, wind rotors, variable pitch motors, etc. The variable pitch motor is responsible for controlling the angle of the wind rotor to maximize the capture of wind energy.

[0003] At present, common wind turbine pitch motors usually consist of independent controllers, drivers, and energy storage devices (such as supercapacitors). The controller is responsible for monitoring parameters such as wind speed and direction, and controlling the rotation and pitch angle of the motor according to a preset algorithm. The driver is responsible for driving and controlling the motor to achieve precise pitch operation. The energy storage device can provide additional power support to enhance the stability and reliability of the system.

[0004] However, there are some problems with existing wind turbine variable pitch motors. First, since the controller, driver, and energy storage device are designed and installed independently, the structure of the entire system is relatively complex, and the installation and maintenance costs are high. Secondly, the connection and communication between independent components also face certain technical challenges, which may reduce the response speed and stability of the system. In addition, the existing preset algorithms have poor accuracy in driving and controlling the motor. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the above problems and / or the problems existing in the prior art, the present invention is proposed.

[0007] Therefore, a first object of the present invention is to provide a wind power pitch control system, which can tightly integrate multiple independent components on a pitch control motor to achieve compactness and high integration of the equipment.

[0008] To solve the above technical problems, the present invention provides the following technical solutions: a wind power variable pitch system, comprising a variable pitch motor; and a control module, a drive module and an energy storage and supply module arranged on the variable pitch motor; the control module sends a control signal and transmits the control signal to the drive module, the drive module converts the control signal into a drive signal, and the drive signal is used to drive the variable pitch motor to rotate and adjust the wind wheel angle; the energy storage and supply module is used to store and release energy, and the energy is used for blade feathering.

[0009] As a preferred solution of the wind power pitch control system of the present invention, the control module, the drive module and the energy storage and supply module can be detachably installed on the housing of the pitch control motor, and the control module, the drive module and the energy storage and supply module can wrap the pitch control motor.

[0010] As a preferred solution of the wind power pitch control system of the present invention, the control module includes a main control unit and a position loop, the main control unit sends a reference position instruction and transmits the reference position instruction to the position loop, the position loop compares the reference position instruction with the actual position of the pitch control motor and forms position error data, and amplifies the position error data to generate a speed reference signal.

[0011] As a preferred solution of the wind pitch system of the present invention, the driving module includes a speed loop, which receives a speed reference signal and compares the speed reference signal with the actual speed of the pitch motor to form speed error data, and converts the speed error data into a current reference signal, and the current reference signal is a direct-axis current component in a rotating coordinate system.

[0012] As a preferred solution of the wind power pitch control system of the present invention, the driving module also includes a current loop, which receives a current reference signal and compares the current reference signal with the actual direct-axis current of the pitch control motor to form current error data, and converts the current error data into a voltage command in a rotating coordinate system.

[0013] As a preferred solution of the wind power variable pitch system of the present invention, it also includes a Park conversion module, which receives the voltage command in the rotating coordinate system and converts the voltage command in the rotating coordinate system into a voltage command in a two-phase stationary coordinate system.

[0014] As a preferred solution of the wind power variable pitch system of the present invention, it also includes an SVPWM module, which receives voltage instructions in a two-phase stationary coordinate system and generates a PWM signal. The SVPWM module then converts direct current into three-phase alternating current according to the PWM signal and drives the variable pitch motor.

[0015] As a preferred solution of the wind variable pitch system of the present invention, it also includes a speed and position feedback module, which is used to collect the actual speed signal and actual position signal of the variable pitch motor, and transmit the actual speed signal and actual position signal to the control module.

[0016] As a preferred solution of the wind variable pitch system of the present invention, it also includes a Clark transformation module and a Park inverse transformation module; the Clark transformation module receives the three-phase current signal of the variable pitch motor and converts it into a current signal of a two-phase stationary coordinate system; the Park inverse transformation module receives the current signal of the two-phase stationary coordinate system and converts it into a current signal of a rotating coordinate system, and feeds back the current signal of the rotating coordinate system to the driving module.

[0017] The second object of the present invention is to provide a wind power pitch control method, which can quickly respond to changes in external commands through a layered control strategy, while maintaining stable operation of the motor, and achieve precise control of the rotation of the pitch motor and the pitch angle to adapt to the operating requirements of the wind turbine.

[0018] To solve the above technical problems, the present invention provides the following technical solutions: a wind power pitch control method, comprising issuing a reference position command; comparing the reference position command with the actual position of the pitch motor and generating a speed reference signal; comparing the speed reference signal with the actual speed of the pitch motor and generating a current reference signal; comparing the current reference signal with the actual direct-axis current and generating a voltage command in a rotating coordinate system; converting the voltage command in the rotating coordinate system into a voltage command in a two-phase stationary coordinate system; generating a PWM signal from the voltage command; converting direct current into three-phase alternating current according to the PWM signal and driving the pitch motor.

[0019] The beneficial effects of the present invention are: multiple independent components are tightly integrated on the pitch motor to achieve compactness and high integration of the equipment; through a layered control strategy, it can quickly respond to changes in external commands while maintaining stable operation of the motor, thereby achieving precise control of the rotation of the pitch motor and the pitch angle to meet the operating requirements of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0021] Figure 1 This is the structural diagram of the wind turbine pitch system.

[0022] Figure 2 This is the connection diagram of the wind turbine pitch system. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0026] Furthermore, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0027] Example 1

[0028] Reference Figure 1 , which is the first embodiment of the present invention, provides a wind power variable pitch system, including a variable pitch motor 100, a control module 200, a drive module 300 and an energy storage and supply module 400.

[0029] Specifically, the variable pitch motor 100 is responsible for controlling the angle of the wind rotor to capture wind energy to the greatest extent.

[0030] The control module 200, the drive module 300 and the energy storage and supply module 400 are arranged on the pitch motor 100. The energy storage and supply module 400 of this embodiment is a supercapacitor. The shape of the supercapacitor is arc-shaped. The supercapacitor is wrapped under the shell of the pitch motor 100, and the control module 200 and the drive module 300 are arranged above the shell of the pitch motor 100. The independent control module 200, the drive module 300 and the energy storage and supply module 400 are tightly integrated on the pitch motor 100 to achieve compactness and high integration of the equipment.

[0031] When in use, the control module 200 sends a control signal and transmits the control signal to the drive module 300. The drive module 300 converts the control signal into a drive signal, and the drive signal is used to drive the variable pitch motor 100 to rotate and adjust the wind wheel angle; the energy storage and supply module 400 is used to store and release energy, and the energy is used for blade feathering.

[0032] Example 2

[0033] This is the second embodiment of the present invention, which is basically the same as the first embodiment, except that the energy storage and power supply module 400 is composed of a group of lithium-ion batteries, which have higher energy density and longer cycle life and are suitable for use in wind power variable pitch systems. The lithium-ion battery pack is designed as a modular structure, which can be easily installed on the housing of the variable pitch motor 100 and can be managed and controlled by the control module 200.

[0034] In this embodiment, the control module 200, the drive module 300 and the energy storage and supply module 400 are integrated in the same manner as in Embodiment 1, and are all tightly integrated on the pitch motor 100, thereby achieving compactness and high integration of the equipment.

[0035] The beneficial effect of this embodiment is that by using lithium-ion batteries as energy storage and power supply modules, the energy density and cycle life of the energy storage system are improved, while the compactness and high integration of the system are maintained, meeting the high performance requirements of the wind power variable pitch system for the energy storage device.

[0036] Example 3

[0037] See also Figure 1 and Figure 2 , which is the third embodiment of the present invention, and this embodiment is based on embodiment 1.

[0038] Specifically, the control module 200, the drive module 300 and the energy storage and supply module 400 can be detachably mounted on the housing of the pitch motor 100, and the control module 200, the drive module 300 and the energy storage and supply module 400 can wrap the pitch motor 100. The control module 200, the drive module 300 and the energy storage and supply module 400 are all installed in a modular manner, which is convenient for maintenance and upgrading and improves the flexibility of the system.

[0039] Preferably, the control module 200 includes a main control unit 201 and a position loop 202. The main control unit 201 sends a reference position instruction (Position_Ref) and transmits the reference position instruction to the position loop 202 (Position Loop). The position loop 202 compares the reference position instruction with the actual position (Position(θ)) of the pitch motor 100, and forms position error data through a proportional (P) controller, and amplifies the position error data and generates a speed reference signal (Speed_Ref). This speed reference signal represents the target speed that the pitch motor 100 needs to achieve in order to reach the target position on time. The proportional (P) controller is a prior art and will not be described in detail here.

[0040] Preferably, the driving module 300 includes a speed loop 301 (Speed ​​Loop), which receives a speed reference signal and compares the speed reference signal with the actual speed of the pitch motor 100, and processes the speed error data through a proportional integral (PI) controller, and converts the speed error data into a current reference signal (Iq_Ref), which is a direct-axis current component in a rotating coordinate system, and is directly related to the torque of the pitch motor 100. The proportional integral (PI) controller is a prior art and will not be described in detail here.

[0041] Preferably, the drive module 300 also includes a current loop 302 (CurrentLoop), which receives a current reference signal and compares the current reference signal with the actual direct axis current of the pitch motor 100, and processes it through another proportional integral (PI) controller to form current error data, and converts the current error data into a voltage command (Vd, Vq) in a rotating coordinate system. Through the hierarchical control of the speed loop 301 and the current loop 302, precise control of the speed and current of the pitch motor 100 is achieved, and the response speed and stability of the system are enhanced.

[0042] Preferably, it further comprises a Park conversion module 500, which receives a voltage command in a rotating coordinate system and converts the voltage command in the rotating coordinate system into a voltage command (Vα, Vβ) in a two-phase stationary coordinate system, thereby simplifying the control algorithm and improving the control accuracy.

[0043] Furthermore, it also includes an SVPWM module 600, which receives a voltage command in a two-phase stationary coordinate system and generates a PWM signal, and the SVPWM module 600 converts the DC power into a three-phase AC power (Va, Vb, Vc) according to the PWM signal and drives the variable pitch motor 100. The efficiency and response speed of the variable pitch motor 100 are improved.

[0044] Furthermore, a speed and position feedback module 700 is included, which is used to collect the actual speed signal and the actual position signal of the pitch motor 100, and transmit the actual speed signal and the actual position signal to the control module 200. The speed and position feedback module 700 collects the actual speed and position signals and provides them to the control module 200 to form a closed-loop control, thereby improving the control accuracy and stability of the system.

[0045] Furthermore, it also includes a Clark transformation module 800 and a Park inverse transformation module 900; the Clark transformation module 800 receives the three-phase current signal (Ia, Ib, Ic) of the pitch motor 100 and converts it into a current signal (Iα, Iβ) of a two-phase stationary coordinate system; the Park inverse transformation module 900 receives the current signal of the two-phase stationary coordinate system and converts it into a current signal (Id, Iq) of a cyclotron coordinate system, and feeds back the current signal of the cyclotron coordinate system to the drive module 300. The Clark transformation module 800 and the Park inverse transformation module 900 are used for the transformation of current signals, providing more precise current control and enhancing the stability of the system.

[0046] The speed and position feedback module 700 also transmits the position signal to the Park inverse transformation module 900, and the Park inverse transformation module 900 also transmits the position signal to the Park transformation module 500, thereby forming a closed-loop control and improving the control accuracy and stability of the system.

[0047] Example 4

[0048] See also Figure 1 and Figure 2 , which is the fourth embodiment of the present invention, and is based on embodiments 1 to 3. This embodiment provides a wind power pitch control method.

[0049] S100: issuing a reference position instruction;

[0050] S200: Compare the reference position command with the actual position of the pitch motor 100 and generate a speed reference signal;

[0051] S300: Compare the speed reference signal with the actual speed of the pitch motor 100 and generate a current reference signal;

[0052] S400: Compare the current reference signal with the actual direct axis current and generate a voltage command in a rotating coordinate system;

[0053] S500: converting the voltage command in the rotating coordinate system into the voltage command in the two-phase stationary coordinate system;

[0054] S600: Generate a PWM signal from a voltage command;

[0055] S700: Converting direct current into three-phase alternating current according to the PWM signal and driving the pitch motor 100 .

[0056] Based on the above, the beneficial effects of the present invention are:

[0057] 1. The independent control module 200, the drive module 300 and the energy storage and supply module 400 are tightly integrated on the pitch motor 100 to achieve compactness and high integration of the equipment.

[0058] 2. Through the hierarchical control strategy, the system can quickly respond to changes in external commands while maintaining stable operation of the pitch motor 100. The position loop 202 provides the final target, the speed loop 301 ensures that the pitch motor 100 can move at the correct speed, and the current loop 302 ensures that the pitch motor 100 can generate enough torque to achieve this speed. In this way, the rotation and pitch angle of the pitch motor 100 can be precisely controlled to meet the operating requirements of the wind turbine.

[0059] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0060] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0061] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A wind power variable pitch system, characterized in that: include: Pitch motor (100); and a control module (200), a drive module (300) and an energy storage and supply module (400) arranged on the pitch motor (100); The control module (200) sends a control signal and transmits the control signal to the drive module (300); the drive module (300) converts the control signal into a drive signal, and the drive signal is used to drive the variable pitch motor (100) to rotate and adjust the wind wheel angle; the energy storage and supply module (400) is used to store and release energy, and the energy is used for blade feathering.

2. The wind power variable pitch system according to claim 1, characterized in that: The control module (200), the drive module (300) and the energy storage and supply module (400) can all be detachably mounted on the housing of the variable pitch motor (100), and the control module (200), the drive module (300) and the energy storage and supply module (400) can wrap the variable pitch motor (100).

3. The wind power variable pitch system according to claim 1 or 2, characterized in that: The control module (200) comprises a main control unit (201) and a position loop (202), wherein the main control unit (201) sends a reference position instruction and transmits the reference position instruction to the position loop (202), and the position loop (202) compares the reference position instruction with the actual position of the pitch motor (100) to form position error data, and amplifies the position error data to generate a speed reference signal.

4. The wind power variable pitch system according to claim 3, characterized in that: The drive module (300) comprises a speed loop (301), wherein the speed loop (301) receives a speed reference signal and compares the speed reference signal with the actual speed of the pitch motor (100) to form speed error data, and converts the speed error data into a current reference signal, wherein the current reference signal is a direct axis current component in a rotating coordinate system.

5. The wind power variable pitch system according to claim 4, characterized in that: The drive module (300) further comprises a current loop (302), wherein the current loop (302) receives a current reference signal and compares the current reference signal with an actual direct-axis current of the pitch motor (100) to form current error data, and converts the current error data into a voltage command in a rotating coordinate system.

6. The wind power variable pitch system according to claim 5, characterized in that: It also includes a Park conversion module (500), which receives a voltage instruction in a rotating coordinate system and converts the voltage instruction in the rotating coordinate system into a voltage instruction in a two-phase stationary coordinate system.

7. The wind power variable pitch system according to claim 6, characterized in that: It also includes an SVPWM module (600), which receives a voltage instruction in a two-phase stationary coordinate system and generates a PWM signal, and the SVPWM module (600) converts direct current into three-phase alternating current according to the PWM signal and drives the variable pitch motor (100).

8. The wind power variable pitch system according to claim 7, characterized in that: It also includes a speed and position feedback module (700), which is used to collect the actual speed signal and the actual position signal of the variable pitch motor (100), and transmit the actual speed signal and the actual position signal to the control module (200).

9. The wind power variable pitch system according to claim 8, characterized in that: Also includes a Clark transform module (800) and a Park inverse transform module (900); The Clark transformation module (800) receives the three-phase current signal of the pitch motor (100) and converts it into a current signal of a two-phase stationary coordinate system; The Park inverse transformation module (900) receives the current signal of the two-phase stationary coordinate system and converts it into the current signal of the cyclotron coordinate system, and feeds back the current signal of the cyclotron coordinate system to the driving module (300); The speed and position feedback module (700) also transmits the position signal to the Park inverse transformation module (900), and the Park inverse transformation module (900) also transmits the position signal to the Park transformation module (500).

10. A wind power pitch control method, characterized in that: include: Issue reference position instructions; Comparing the reference position command with the actual position of the pitch motor (100) and generating a speed reference signal; Comparing the speed reference signal with the actual speed of the pitch motor (100) and generating a current reference signal; Compare the current reference signal with the actual direct-axis current and generate a voltage command in a rotating coordinate system; Convert the voltage command in the rotating coordinate system into the voltage command in the two-phase stationary coordinate system; Generate PWM signal from voltage command; The direct current is converted into three-phase alternating current according to the PWM signal and drives the pitch motor (100).

Images