Control method and device of multi-shaft driving variable pitch system and variable pitch driver

Abstract

The invention provides a control method and device of a multi-shaft driving variable pitch system and a variable pitch driver. The multi-shaft drive pitch system may include a plurality of pitch drivers for controlling a single blade. The control method may include: obtaining mode status words reflecting operation modes of the plurality of pitch drivers; according to the values of the mode state words of the multiple variable-pitch drivers and the running states of the multiple variable-pitch drivers, a control end and a following end are determined in the multiple variable-pitch drivers respectively, and the control end has variable-pitch control authority and sends a variable-pitch instruction to the following end in the synchronous control mode of the multiple variable-pitch drivers; the operation modes comprise an automatic mode, a manual mode and a forced manual mode, and the operation states comprise a normal state and a fault state. According to the control method disclosed by the embodiment of the invention, the problem that the system is paralyzed due to the failure of the main engine of the multi-shaft driving variable pitch system and cannot smoothly finish the pitch collection can be solved, the safety of the system is improved, and the safety of the wind generating set is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of wind power, and more specifically, to a control method, device and pitch drive of a multi-axis drive pitch system. Background Art

[0002] The dual-axis drive pitch system currently uses two methods to switch between master and slave drivers. The first solution is as follows: Communication configures the master-slave mode configuration bit in the driver control word. If one of the pitch drives is configured as the master mode, the other pitch drive must be configured as the slave mode. The two pitch drives will upload their respective status information to the main control system through communication. If the main pitch drive fails, the main control system will configure another normal pitch drive as the master mode, and then the wind turbine blades will perform emergency retracting operations under the control of a single pitch drive (and only a single motor is working) and finally return to a safe position. With this solution, once the driver fails, the fault information needs to be uploaded to the main control system through communication. After receiving the information from the driver, the main control system will make a decision, and then send the decision result to the driver through communication. The driver will start to perform fault protection actions only after receiving the command from the main control system. This control process takes a relatively long time, and the dynamic response performance of the system is poor when dealing with emergencies. In addition, when the master mode driver fails, whether another driver can normally switch from slave mode to master mode depends largely on whether the main control system and communication are normal, and the reliability of the system is poor.

[0003] The second solution is as follows: determine whether the driver is set as the master driver or the slave driver according to the setting value of the CAN communication node address; if the enable receiver can receive the enable signal and the enable transmitter can output the enable signal, the current master-slave setting remains unchanged; if the enable receiver cannot receive the enable signal, it sets itself to the master mode; if the enable transmitter cannot output the enable signal, it sets itself to the slave mode. If this solution is adopted, once the communication cannot be established or the hardware node jumps, there is a situation where the master-slave mode cannot be switched normally. In addition, this method is only applicable to the switching of the master-slave mode in the event of a fault, and cannot cope with the switching of the master-slave mode in other complex situations. In addition, the above two methods are limited to dual-axis drive variable pitch systems and cannot cope with mode switching under other types of multi-axis drives. Summary of the invention

[0004] In order to at least solve the above problems in the prior art, the present disclosure provides a control method, a device and a pitch drive of a multi-axis drive pitch system.

[0005] According to one aspect of the present disclosure, a control method for a multi-axis drive pitch system is provided, the multi-axis drive pitch system including multiple pitch drives for controlling a single blade, the control method including: obtaining a mode status word reflecting the operating mode of the multiple pitch drives; determining a control end and a follower end in the multiple pitch drives respectively according to the values ​​of the mode status words of the multiple pitch drives and the operating states of the multiple pitch drives, wherein the control end has pitch control authority and sends a pitch instruction to the follower end in a synchronous control mode of the multiple pitch drives, the operating modes include automatic mode, manual mode and forced manual mode, and the operating states include normal state and fault state.

[0006] Optionally, based on the values ​​of mode status words of multiple pitch drives and the operating states of multiple pitch drives, the step of respectively determining the control end and the follower end in multiple pitch drives may include: determining a pitch drive that is in a normal state and has a smaller value of the mode status word as the control end, and setting other pitch drives among the multiple pitch drives except the control end as the follower end, wherein the value of the mode status word corresponding to the automatic mode is greater than the value of the mode status word corresponding to the manual mode, and the value of the mode status word corresponding to the manual mode is greater than the value of the mode status word corresponding to the forced manual mode.

[0007] Optionally, the multiple pitch drives may be 2n pitch drives, where n is a positive integer, and the step of determining a pitch drive that is in a normal state and has a smaller value of a mode status word as a control end, and setting other pitch drives except the control end in the multiple pitch drives as follower ends may include: an n-level arbitration step, dividing the multiple pitch drives into a group of two, determining the pitch drives that are in a normal state and have a smaller value of a mode status word in each group as the n-level control end, and determining the n-level follower end accordingly; an n-1-level arbitration step, dividing 2n-1 n-level control ends into a group of two, and determining the pitch drive that has a smaller value of a mode status word in each group as the n-1-level control end, and determining the n-1-level follower end accordingly; repeating the above arbitration steps until a level 1 control end is obtained, and determining the level 1 control end as the control end with pitch control authority.

[0008] Optionally, when the values ​​of the mode status words in two pitch drives in any group are the same, the pitch drive with a smaller node address setting value in the two pitch drives can be determined as the control end of the corresponding level, wherein the node address setting value of each pitch drive is predetermined by a toggle switch of the multi-axis drive pitch system.

[0009] Optionally, after determining the follower end of level n or the follower end of level n-1, the value of the mode status word of the pitch drive determined as the follower end can be increased by a predetermined value; after determining the control end of level 1 as the control end with pitch control authority, the mode status words of multiple pitch drives are reset, wherein the predetermined value is greater than the value of the mode status word corresponding to the automatic mode.

[0010] Optionally, after the control end and the follower end are determined, in response to a failure of the pitch drive determined as the control end, the control end may be re-determined in the pitch drive determined as the follower end.

[0011] Optionally, after the control end and the follower end are determined, in response to failure of both the pitch drives determined as the control end and the follower end, each of the plurality of pitch drives may be controlled to shut down.

[0012] Optionally, after the control end and the follow end are determined, the control end and the follow end of the plurality of pitch drives may be re-determined in response to a switching of the operation mode of at least one of the plurality of pitch drives.

[0013] Optionally, the pitch change instruction may include at least one of a pitch change speed instruction, a pitch change start and stop instruction, and a brake instruction.

[0014] Optionally, the control method may be performed by a plurality of pitch drives.

[0015] According to a second aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions or programs, and when the instructions or programs are executed by a processor, the above control method is implemented.

[0016] According to a third aspect of the present disclosure, a control device for a multi-axis drive pitch system is provided, the multi-axis drive pitch system comprising multiple pitch drives for controlling a single blade, the control device comprising: a mode status word acquisition unit, for obtaining a mode status word reflecting the operating modes of the multiple pitch drives; a control authority determination unit, for respectively determining a control end and a follower end in the multiple pitch drives according to the values ​​of the mode status words of the multiple pitch drives and the operating states of the multiple pitch drives, wherein the control end has control authority and sends a pitch instruction to the follower end in a synchronous control mode of the multiple pitch drives, the operating modes comprising an automatic mode, a manual mode and a forced manual mode, and the operating states comprising a normal state and a fault state.

[0017] According to a fourth aspect of the present disclosure, a pitch drive of a multi-axis drive pitch system is provided, the pitch drive comprising a processor and a computer-readable storage medium, the computer-readable storage medium storing a program or instruction, and the above-mentioned control method is executed when the program or instruction is executed by the processor.

[0018] According to a fifth aspect of the present disclosure, a multi-axis drive pitch system is provided, which includes the above-mentioned pitch drive.

[0019] The control method and control device according to the embodiments of the present disclosure can reasonably and quickly determine the control rights among multiple pitch drives.

[0020] According to the control method and control device of the embodiments of the present disclosure, the multi-axis drive variable pitch system can promptly complete the control authority of the main control end and the follower end when an abnormality occurs, and immediately start to perform emergency pitch retraction operations. The system has good dynamic response performance and higher reliability, thereby ensuring the safety of the wind turbine generator set. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a block diagram showing a multi-axis drive pitch system according to an embodiment of the present disclosure.

[0022] Figure 2 is a flowchart illustrating a control method according to the first embodiment of the present disclosure.

[0023] Figure 3 is a flowchart illustrating a control method according to a second embodiment of the present disclosure.

[0024] Figure 4 FIG. 2 is a schematic diagram showing arbitration according to an embodiment of the present disclosure.

[0025] Figure 5 is a schematic diagram illustrating an arbitration result according to an embodiment of the present disclosure.

[0026] Figure 6 FIG. 4 is a flowchart showing an arbitration process when a pitch drive has no faults according to an embodiment of the present disclosure.

[0027] Figure 7 is a flowchart illustrating arbitration in the case where a pitch drive fails according to an embodiment of the present disclosure.

[0028] Figure 8 is a block diagram illustrating a control device according to an embodiment of the present disclosure.

[0029] Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar elements will be indicated by the same or similar reference numerals throughout the accompanying drawings. DETAILED DESCRIPTION

[0030] The following detailed description is provided to help gain a comprehensive understanding of the methods, devices and / or systems described herein. However, the order of operations described herein is only an example and is not limited to those orders set forth herein, but may be equivalently replaced or changed except for operations that must occur or be performed in a specific order. In addition, for greater clarity and simplicity, the description of content known in the art will be omitted or simplified.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by a person of ordinary skill in the art to which the present disclosure belongs after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be interpreted in an idealized or overly formal manner.

[0032] Unless otherwise specified, the same reference numerals generally refer to the same elements (e.g., components, steps, and methods). Reference numerals described in the previous embodiments may be omitted if they appear again in the subsequent embodiments. In addition, the technical features described in different or the same embodiments may be combined in any manner, as long as the combined embodiments or technical solutions are complete and can solve the technical problems of the present application or achieve the technical effects described or not described in the present disclosure but can be determined based on the above complete technical solutions. The terms used in the present disclosure are explained below.

[0033] Host: The main drive (i.e., main drive unit) in a multi-axis drive pitch system. The main drive refers to a drive or pitch drive in master mode. The main drive or master pitch drive can be specified in advance by software or hardware.

[0034] Slave: A slave drive (i.e., a slave drive unit) in a multi-axis drive pitch system. A slave drive refers to a drive or pitch in slave mode. A slave drive or slave pitch drive is a drive in slave mode and can be specified in advance by software or hardware.

[0035] Control end: A variable pitch drive selected from all drives (including master drives and slave drives) to process all signals of the master and slave machines. The control end controls the follower end to perform response operations. The default host and slave can become the control end of the present disclosure. The control end of the present disclosure can be determined according to the arbitration method of the present disclosure.

[0036] Follower end: The follower end obtains its own signal, passes the signal to the control end for processing, responds to the control end's instructions, and monitors the control end's operating status to see if the corresponding operation has been performed. If not, the follower end performs the operation itself. The control end of the present disclosure is determined based on the arbitration method of the present disclosure.

[0037] Synchronous mode: The master and slave drivers of a single blade in a multi-axis drive pitch system interact with each other, and the control end controls the follower end to respond.

[0038] Independent mode: In independent mode, the master and slave drivers of a single blade in the multi-axis drive pitch system interact with each other, and the follower end independently controls to eliminate the gap between the corresponding pitch motor and the gear of the pitch reducer (to facilitate the synchronous control of the three blades), without affecting the control of the pitch drive outside itself.

[0039] Figure 1 is a block diagram showing a multi-axis drive pitch system according to an embodiment of the present disclosure.

[0040] like Figure 1 As shown, the multi-axis drive pitch system 120 can be controlled by the main control system 110, and the multi-axis drive pitch system 120 can adjust the position of a single blade 200. The multi-axis drive pitch system 120 may include a plurality of pitch drivers 123. In addition, the multi-axis drive pitch system 120 may also include a pitch controller 121, a plurality of pitch motors 124, a pitch reducer 125, and a pitch bearing 126.

[0041] The main control system 110 can send pitch control words (which can be, for example, a 2-second pulse signal) and pitch enable information to the pitch controller 121 in the pitch system 120 for pitch control. The pitch controller 121 can feed back pitch system fault words, blade pitch actual position and other information to the main control system 110.

[0042] The pitch controller 121 may control the pitch driver 123 so that the pitch driver 123 drives the pitch motor 124 to a specified position.

[0043] The plurality of pitch drivers 123 may feed back the pitch position of a single blade 200 and the like to the pitch controller 121 , and feed back to the pitch controller 121 whether the single blade 200 has reached a designated position.

[0044] Multiple pitch drivers 123 can output control signals such as voltage signals, current signals, and brake signals to multiple pitch motors 124 to achieve control of multiple pitch motors 124. Multiple pitch motors 124 drive pitch reducers 125 (for example, multiple pitch reducers). The pitch reducer 125 drives the pitch bearing 126 through a toothed belt, thereby controlling a single blade 200 to rotate to a specified position.

[0045] The above-mentioned devices and components and their functions are known to those skilled in the art, so for the sake of simplicity, they will not be described in more detail here. The other two blades adopt similar control methods and will not be described here. Figure 2 Describe the control method of the present disclosure in detail, Figure 2 The control method shown can be performed by each pitch drive, but this is only an example. Figure 2 The execution subject of the control method shown is not particularly limited.

[0046] Figure 2 is a flowchart illustrating a control method according to the first embodiment of the present disclosure.

[0047] The control method according to the first embodiment of the present disclosure may include step S210 and step S220.

[0048] In step S210 , a mode status word reflecting the operation modes of the plurality of pitch drives is obtained.

[0049] As described above, the multiple pitch drives here are used to control a single blade, that is, the control method disclosed in the present invention is applicable to multi-axis drive pitch systems (including odd-axis drive pitch systems and even-axis drive pitch systems), for example, dual-axis, 4-axis, and 8-axis drive pitch systems, and may also be applicable to 3-axis, 5-axis, 7-axis, etc. drive pitch systems.

[0050] The operation modes of the pitch drive may include an automatic mode, a manual mode, a forced manual mode, etc. The value of the mode status word corresponding to the automatic mode is greater than the value of the mode status word corresponding to the manual mode, and the value of the mode status word corresponding to the manual mode is greater than the value of the mode status word corresponding to the forced manual mode. Accordingly, the value of the mode status word of the forced manual mode may be 0, the value of the mode status word of the manual mode may be 1, and the value of the mode status word of the automatic mode may be 2, however, the present disclosure is not limited thereto.

[0051] The smaller the value of the mode status word is, the higher the mode priority is. When the operation mode of the pitch drive changes, the mode status word changes accordingly. For example, when the pitch drive changes from automatic mode to manual mode, the mode status word changes from 2 to 1. The above values ​​are only examples and are not limited to this in specific implementation.

[0052] In step S220, according to the values ​​of the mode status words of the multiple pitch drives and the operating states of the multiple pitch drives, the control end and the follower end are respectively determined in the multiple pitch drives. The control end here refers to a pitch drive that has pitch control authority and sends a pitch instruction to the follower end in the synchronous control mode of the multiple pitch drives. The pitch instruction here may include at least one of a pitch speed instruction, a pitch start and stop instruction, and a brake instruction.

[0053] The operating state of the pitch drive may include a normal state and a fault state, and the operating state of the pitch drive may be determined by the status word of the pitch drive. That is, when the pitch drive changes from a normal state to a fault state, the status word of the pitch drive will also change accordingly. Specifically, a pitch drive in a normal state and with a smaller value of a mode status word may be determined as a control end, and other pitch drives except the control end among the multiple pitch drives may be set as follower ends.

[0054] As an example, the values ​​of multiple mode status words may be arbitrated first, and then the control end and the follower end may be determined in combination with the operation state of the corresponding driver. Alternatively, it may be determined first whether the pitch brake fails, and then the control end and the follower end may be determined according to the value of the mode status word.

[0055] Specifically, according to the values ​​of the mode status words of the plurality of pitch drives and the operating states of the plurality of pitch drives, the step of respectively determining the control end and the follower end in the plurality of pitch drives may include: determining the pitch drive in a normal state and having a smaller value of the mode status word as the control end, and setting the other pitch drives except the control end in the plurality of pitch drives as the follower end. Here, the smaller values ​​of the mode status words of the plurality of pitch drives include the case where at least two pitch drives have the same minimum value. In addition, if there are a plurality of pitch drives in a normal state and having a smaller value of the mode status word, one of them may be arbitrarily selected as the control end, and the remaining pitch drives are the follower ends.

[0056] The control method according to the embodiment of the present disclosure may be executed periodically, the control method according to the embodiment of the present disclosure may also be executed when the operating state of the pitch drive changes, or may be additionally executed when the operating state of the pitch drive changes on the basis of periodic execution.

[0057] When at least two of the multiple pitch drives are in a normal state and have the same value of the mode status word, the pitch drive with a smaller node address setting value among the at least two pitch drives can be determined as the control end, and the node address setting value of the pitch drive can be determined by an existing method, for example, it can be predetermined by a redundant switch of the multi-axis drive pitch system. According to the values ​​of the mode status words of the multiple pitch drives and the operating states of the multiple pitch drives, the steps of respectively determining the control end and the follower end in the multiple pitch drives may include: determining the pitch drive in a normal state, with a smaller mode status word value and a smaller node address value as the control end, and setting the other pitch drives except the control end in the multiple pitch drives as the follower end. Among them, different pitch drives have different node address values.

[0058] In addition, when at least two of the multiple pitch drives are in a normal state and have the same value of the mode status word, the pitch drive that is defaulted as the host (the pitch drive in the master mode) among the at least two pitch drives can be determined as the control end. If there are still multiple pitch drives that are defaulted as the host, any one of them can be determined as the control end.

[0059] The control method according to the embodiment of the present disclosure is particularly suitable for a single blade when the number of pitch drives meets 2. n That is, multiple pitch drives are 2 n There are pitch drives, n is a positive integer, for example, a 2-axis drive pitch drive and a 4-axis drive pitch drive, etc.

[0060] Figure 3 is a flowchart showing a control method according to a second embodiment of the present disclosure, Figure 4 is a schematic diagram showing arbitration according to an embodiment of the present disclosure, Figure 5 is a schematic diagram illustrating an arbitration result according to an embodiment of the present disclosure.

[0061] The control method according to the second embodiment of the present disclosure may include the specific steps of determining a pitch drive that is in a normal state and has a smaller value of a mode status word as a control end, and setting other pitch drives among the above-mentioned multiple pitch drives except the control end as follower ends (i.e., step S2211 and step S2212).

[0062] In step S2211, multiple pitch drives are divided into groups of two each, and the pitch drives in each group that are in normal state and have smaller mode status word values ​​are determined as the control ends of the n-level, and the follower ends of the n-level are determined accordingly (n-level arbitration).

[0063] For details, please refer to Figure 4 , the multi-axis drive pitch system may include 2 n The pitch drives (ie, drive units) are grouped in pairs, and each group of pitch drives has been pre-assigned as a master and a slave.

[0064] In step S2212, 2 n-1 The n-level control terminals are divided into two groups, and the variable pitch driver with a smaller mode status word value in each group is determined as the control terminal of the n-1 level, and the follower terminal of the n-1 level is determined accordingly (n-1 level arbitration). The above arbitration steps are repeated until the control terminal of level 1 is obtained, and the control terminal of level 1 is determined as the control terminal with the variable pitch control authority.

[0065] For details, please refer to Figure 4 , at level n, there are 2 npitch drives (i.e., drive units); at level n-1, there are 2 n-1 pitch drives (i.e., 2 after n-level arbitration n-1 Control terminals), and so on. There are 2 pitch drives in level 1 (i.e., 2 control terminals after level 3 arbitration). The control terminals can be determined in the pitch drives of each level respectively, so that the control terminal with pitch control authority can be determined in the 2 pitch drives of level 1. The control terminal determined in levels 2 to n is generally not the control terminal that ultimately has pitch control authority (unless the control terminal of level 1 fails, and then one control terminal is selected from the control terminals of levels 2 to n as the final control terminal). When grouping, the nodes can be grouped in pairs according to the above-mentioned node address values ​​in order.

[0066] It should be noted that for 3-axis, 5-axis, 6-axis, and 7-axis (does not meet 2 n ) and other multi-axis drive pitch systems, the unpaired pitch drives can be individually set as a group, and arbitration is performed separately with the arbitration results of the paired pitch drives (for example, for a 3-axis drive pitch system, two of them can be divided into a group, and then the third pitch drive is grouped together for arbitration). Unpaired pitch drives can also be arbitrated in a similar manner during the hierarchical arbitration process.

[0067] Similarly, when the values ​​of the mode status words in the two pitch drives of any group are the same, the pitch drive with the smaller node address setting value in the two pitch drives can be determined as the control end of the corresponding level. As described above, the node address setting values ​​of the multiple pitch drives can be increased in sequence, so a unique control end can be finally determined. After the unique control end is finally determined, all the remaining pitch drives can be set as follower ends.

[0068] In addition, after determining the follower end of level n or the follower end of level n-1, the value of the mode status word of the variable pitch drive determined as the follower end can be increased by a predetermined value, thereby facilitating the comparison of the size of the mode status word. After determining the control end of level 1 as the control end with the variable pitch control authority, the mode status words of multiple variable pitch drives are reset to facilitate the determination of control rights and control rights switching in subsequent cycles. The predetermined value here can be greater than the value of the mode status word corresponding to the automatic mode, that is, the predetermined value here can be greater than 2.

[0069] Reference Figure 5 As an example, the predetermined value may be 10, and the results of arbitration of different mode status words may be as follows: Figure 5 shown.

[0070] Taking the dual-axis drive variable pitch system as an example, the equivalent is Figure 4In the combination of the master drive unit n1 and the slave drive unit n2, the host and slave of the dual-axis drive variable pitch system exchange information (including functional signals and key instructions, etc.) through the high-speed CAN bus. The arbitrators of the host and slave (the arbitration algorithm corresponding to the above control method) arbitrate the control authority after obtaining the information, and independently complete the switching of the control end and the follower end between the host and the slave. The end that obtains the control authority controls the action of the follower end, so that the system can still respond in the event of a master-slave conflict or failure, and execute actions such as retracting the blades to ensure the safety of the wind turbine generator set.

[0071] After determining the control end and the follower end, in response to a failure of the pitch drive determined as the control end, the control end may be re-determined in the pitch drive determined as the follower end. As an example, the pitch drives other than the final control end in the previous level (level 2) of the last arbitration process may be determined as the control end (ensuring that the corresponding pitch drive does not have a failure), or arbitration may be performed again.

[0072] After determining the control end and the follower end, in response to the failure of the pitch drives determined as the control end and the follower end, each of the multiple pitch drives is controlled to shut down. If all the pitch drives fail, the pitch drives can be controlled to shut down. When there are many pitch drives, all the pitch drives can be controlled to shut down when the number of pitch drives that fail exceeds a preset threshold.

[0073] In addition to the operating state of the pitch drive, the operating mode of the pitch drive will also affect the priority of the pitch drive. After determining the control end and the follower end, in response to the switching of the operating mode of at least one of the multiple pitch drives, the control end and the follower end of the multiple pitch drives are re-determined. As described above, arbitration can be re-performed to re-determine the control end and the follower end of the multiple pitch drives, or the control end and the follower end can be re-determined in the original arbitration result. For example, one can be selected as the control end in the previous level pitch controller. After the operating mode is switched, the control end and the follower end can be re-determined after a delay to prevent torque oscillations caused by different acceleration and deceleration times, which will briefly trigger the drive to stop suddenly when the mode is switched. Therefore, adding a delay can avoid the drive from stopping suddenly.

[0074] Figure 6 is an arbitration flow chart showing a case where the pitch drive according to an embodiment of the present disclosure is fault-free, Figure 7 is a flowchart illustrating arbitration in the case where a pitch drive fails according to an embodiment of the present disclosure.

[0075] Reference Figure 6When there is no fault in the pitch drive or no pitch drive triggering fault, the arbitrator in the host can receive information from the slave, and the arbitrator in the slave can receive information from the host, each performs pattern-based arbitration (comparison), and then each obtains the control end and the follower end.

[0076] The mode with higher priority after arbitration (smaller value of mode status word) can obtain control authority. When the values ​​of mode status words are the same, the host obtains control authority (host priority) if there is no fault in the host, otherwise the slave obtains control authority. The drive in follow mode (follower end) will not enter mode control, and its abnormal signal can also be interacted with the control end, which processes the signal. At the same time, the follower end can check the status bit of the control end to determine whether the control end responds to the action.

[0077] When both the master and the slave fail, the master and the slave stop freely; when the master fails and the slave does not fail, the slave takes control; when the slave fails, the master takes control. In addition, the judgment of whether the variable pitch drive fails or not can also be performed before the size comparison of the mode status word.

[0078] The arbitration steps when the pitch drive fails may include steps S610, S620, S630, S640, S650, S660, S670 and S680. The drive failure may be divided into drive failure failure and non-drive failure failure.

[0079] In step S610, it is determined whether the main engine fails (a failure occurs in the main pitch drive).

[0080] In step S620, in response to the failure of the master machine, it is determined whether the slave machine has failed (a failure occurs in the slave pitch drive).

[0081] In step S630, in response to the failure of both the master and the slave, the master and the slave are controlled to coast to a stop.

[0082] In step S640 , in response to the master not failing, it is determined whether the slave has failed.

[0083] In step S670, in response to the fact that the master and the slave have not failed, the pitch drive (master or slave) having a smaller value of the mode status word is determined as the control end.

[0084] In step S660, in response to the host not failing and the slave failing, the host is determined as the control end.

[0085] In step S650, in response to the master failing and the slave not failing, the slave is determined as the control end.

[0086] In step S680, after the fault of the host is cleared, the host is determined as the control end. The above method can be used to determine the control end and the follower end of each group of pitch drives in each stage.

[0087] As an example, both the control end and the follower end can trigger the propeller. When the control end triggers the propeller, the control end triggers the propeller instruction: master-slave safety chain, alarm signal, power-off signal, propeller instruction, shaft fault failure, etc. When the control end receives the propeller operation instruction from any party, it will immediately execute the propeller instruction. The control end does not check the propeller instruction. In actual applications, the instruction can be a one-way, asynchronous instruction, and the control end only needs to check whether the brake and operating frequency of the follower end are following. When the follower end triggers the propeller instruction (the propeller instruction will be automatically transmitted to the control end to trigger its propeller action), the follower end checks whether the control end enters the propeller state. If the verification time exceeds the set time, the follower end reports the propeller instruction asynchronous fault and then automatically propels the propeller.

[0088] Figure 8 is a block diagram illustrating a control device according to an embodiment of the present disclosure.

[0089] The control device 700 according to an embodiment of the present disclosure may include a mode status word acquiring unit 710 and a control authority determining unit 720 .

[0090] The mode status word acquisition unit 710 can obtain the mode status word reflecting the operation mode of the plurality of pitch drives, and the control authority determination unit 720 can determine the control end and the follower end in the plurality of pitch drives according to the value of the mode status word of the plurality of pitch drives and the operation state of the plurality of pitch drives, wherein the control end refers to the pitch drive having the control authority and sending the pitch instruction to the follower end in the synchronous control mode of the plurality of pitch drives. The control device according to the embodiment of the present disclosure may include Figure 5 The master arbiter or slave arbiter is shown.

[0091] The control authority determination unit 720 may execute any one of the above steps, which will not be described in detail here.

[0092] The above has been referred to Figures 1 to 8 Systems such as control methods and devices according to embodiments of the present disclosure are described. However, it should be understood that the devices and systems shown in the accompanying drawings may be configured as software, hardware, firmware, or any combination of the above items to perform specific functions. For example, these systems and devices may correspond to dedicated integrated circuits, pure software codes, or modules that combine software and hardware. In addition, one or more functions implemented by these systems or devices may also be uniformly performed by components in physical entity devices (e.g., processors, clients, or servers, etc.).

[0093] The instructions stored in the computer-readable storage medium can be executed in an environment deployed in a computer device such as a client, a host, an agent device, a server, etc. It should be noted that the instructions can also be used to perform additional steps in addition to the above steps or perform more specific processing when performing the above steps. The contents of these additional steps and further processing have been described in reference to Figures 1 to 8 It is mentioned in the description of related systems and methods, so it will not be repeated here to avoid repetition.

[0094] It should be noted that the control method and control device according to the embodiments of the present disclosure can completely rely on the operation of computer programs or instructions to realize the corresponding functions, that is, each device corresponds to each step in the functional architecture of the computer program, so that the entire system is called through a special software package (for example, lib library) to realize the corresponding function.

[0095] On the other hand, when Figure 8 When the device shown is implemented in software, firmware, middleware or microcode, the program code or code segment for performing the corresponding operation can be stored in a computer-readable medium such as a storage medium, so that at least one processor or at least one computing device can perform the corresponding operation by reading and running the corresponding program code or code segment. In addition, the computer-readable medium or storage medium can cause the processor to execute the above-mentioned control method when the computer program is executed by the processor.

[0096] For example, according to an exemplary embodiment of the present disclosure, a computer device including a readable medium storing computer program instructions may be provided, wherein when the instructions are executed by at least one computing device, the at least one computing device is prompted to perform at least one of the above steps.

[0097] According to an embodiment of the present disclosure, a pitch drive of a multi-axis drive pitch system is provided. The pitch drive may include a processor and a computer-readable storage medium. The computer-readable storage medium stores a program or instruction. When the program or instruction is executed by the processor, the above-mentioned control method is executed.

[0098] According to an embodiment of the present disclosure, a multi-axis drive pitch system is provided, which may include the above-mentioned pitch drive. In addition, the multi-axis drive pitch system according to an embodiment of the present disclosure may also include a pitch controller, a pitch reducer, etc.

[0099] According to the control method and control device of the embodiments of the present disclosure, the multi-axis drive variable pitch system can promptly complete the control authority of the main control end and the follower end when an abnormality occurs, and immediately start to perform emergency pitch retraction operations. The system has good dynamic response performance and higher reliability, thereby ensuring the safety of the wind turbine generator set.

Claims

1. A control method for a multi-axis drive variable pitch system, characterized in that: The multi-axis drive pitch system includes a plurality of pitch drives for controlling a single blade, and the control method includes: obtaining a mode status word reflecting an operation mode of the plurality of pitch drives; According to the values ​​of the mode status words of the plurality of pitch drives and the operating states of the plurality of pitch drives, respectively determining the control end and the follower end in the plurality of pitch drives, Among them, the control end has pitch control authority and sends pitch instructions to the follower end in the synchronous control mode of the multiple pitch drives, the operating modes include automatic mode, manual mode and forced manual mode, and the operating status includes normal status and fault status.

2. The control method of the multi-axis drive pitch system according to claim 1, characterized in that: According to the values ​​of the mode status words of the plurality of pitch drives and the operating states of the plurality of pitch drives, the step of respectively determining the control end and the follower end in the plurality of pitch drives comprises: The pitch drive in a normal state and having a smaller value of the mode status word is determined as the control end, and the other pitch drives among the plurality of pitch drives except the control end are set as the following ends, The value of the mode status word corresponding to the automatic mode is greater than the value of the mode status word corresponding to the manual mode, and the value of the mode status word corresponding to the manual mode is greater than the value of the mode status word corresponding to the forced manual mode.

3. The control method of the multi-axis drive pitch system according to claim 2, characterized in that: The plurality of pitch drives are 2 n pitch drives, n is a positive integer, The step of determining a pitch drive in a normal state and having a smaller value of a mode status word as a control end, and setting other pitch drives among the plurality of pitch drives except the control end as follower ends comprises: n-level arbitration step, dividing the plurality of pitch drives into a group in pairs, determining a pitch drive in a normal state and having a smaller value of a mode status word in each group as a control end of the n-level, and determining a follower end of the n-level accordingly; n-1 level arbitration step, 2 n-1 The n-level control terminals are divided into a group in pairs, and the variable pitch driver with a smaller mode status word value in each group is determined as the control terminal of the n-1 level, and the follower terminal of the n-1 level is determined accordingly; The above arbitration steps are repeatedly performed until a level 1 control end is obtained, and the level 1 control end is determined as the control end having the pitch control authority.

4. The control method of the multi-axis drive pitch system according to claim 3, characterized in that: When the values ​​of the mode status words in two pitch drives of any group are the same, the pitch drive with the smaller node address setting value among the two pitch drives is determined as the control end of the corresponding level, wherein the node address setting value of each pitch drive is predetermined by the toggle switch of the multi-axis drive pitch system.

5. The control method of the multi-axis drive pitch system according to claim 4, characterized in that: After determining the following end of the nth stage or the following end of the n-1th stage, increasing the value of the mode status word of the pitch drive determined as the following end by a predetermined value; After determining the control end of level 1 as the control end with the pitch control authority, resetting the mode status words of the plurality of pitch drives, The predetermined value is greater than the value of the mode status word corresponding to the automatic mode.

6. The control method of a multi-axis drive pitch system according to any one of claims 1 to 5, characterized in that: After the control end and the follow end are determined, in response to a failure of the pitch drive determined as the control end, the control end is re-determined in the pitch drive determined as the follow end.

7. The control method of the multi-axis drive pitch system according to claim 6, characterized in that: After the control end and the follow end are determined, in response to the pitch drives determined to be the control end and the follow end both having failure faults, each of the plurality of pitch drives is controlled to shut down.

8. The control method of a multi-axis drive pitch system according to any one of claims 1 to 5, characterized in that: After the control end and the follow end are determined, in response to a switching of the operation mode of at least one of the plurality of pitch drives, the control end and the follow end of the plurality of pitch drives are re-determined.

9. The control method of a multi-axis drive pitch system according to claim 1, characterized in that: The pitch change instruction includes at least one of a pitch change speed instruction, a pitch change start / stop instruction, and a brake instruction.

10. The control method of a multi-axis drive pitch system according to claim 1, characterized in that: The control method is executed by the plurality of pitch drives.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions or programs, and when the instructions or programs are executed by a processor, the control method according to any one of claims 1 to 10 is implemented.

12. A control device for a multi-axis drive pitch system, characterized in that: The multi-axis drive pitch system includes a plurality of pitch drives for controlling a single blade, and the control device includes: A mode status word acquisition unit, which acquires a mode status word reflecting the operation mode of the plurality of pitch drives; a control authority determination unit, which determines a control terminal and a follower terminal in the plurality of pitch drives according to the values ​​of the mode status words of the plurality of pitch drives and the operating states of the plurality of pitch drives, respectively; Among them, the control end has control authority and sends pitch instructions to the follower end in the synchronous control mode of the multiple pitch drives, the operating modes include automatic mode, manual mode and forced manual mode, and the operating status includes normal status and fault status.

13. A variable pitch drive of a multi-axis drive variable pitch system, characterized in that: The invention comprises a processor and a computer-readable storage medium, wherein the computer-readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the control method according to any one of claims 1 to 10 is executed.

14. A multi-axis drive pitch system, characterized in that: Comprising a pitch drive according to claim 13.

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