Control method, device and pitch drive of a multi-axis drive pitch system

Abstract

The present disclosure provides a control method, device and pitch drive of a multi-axis drive pitch system. The multi-axis drive pitch system can include a plurality of pitch drives for controlling a single blade, and the control method can include: obtaining a mode status word reflecting an operation mode of the plurality of pitch drives; determining a control end and a following end in the plurality of pitch drives respectively according to a value of the mode status word of the plurality of pitch drives and an operation state of the plurality of pitch drives, the control end having a pitch control authority and sending a pitch instruction to the following end in a synchronous control mode of the plurality of pitch drives, the operation mode including an automatic mode, a manual mode and a forced manual mode, and the operation state including a normal state and a fault state. The control method according to the embodiment of the present disclosure can solve the problem that the system cannot be successfully completed to complete the pitching due to the failure of the host of the multi-axis drive pitch system, improve the safety of the system, and ensure the safety of the wind turbine generator set.

Description

Technical Field

[0001] This application relates to the field of wind power, and more specifically, to a control method, apparatus and pitch driver for a multi-shaft drive pitch system. Background Technology

[0002] The dual-shaft drive pitch system currently employs two methods for master-slave driver switching. The first method involves configuring the master-slave mode in the driver control word via communication. If one pitch driver is configured as the master, the other must be configured as the slave. Both drivers then transmit their status information to the master control system via communication. If the master pitch driver fails, the master control system will configure the other working pitch driver as the master. The turbine blades will then perform an emergency pitch retraction operation under the control of a single pitch driver (with only one motor operating at a time) and eventually return to a safe position. With this method, if a driver fails, the fault information must first be transmitted to the master control system via communication. The master control system, upon receiving the driver's information, will make a decision and then transmit the decision result back to the driver via communication. The driver will only begin fault protection actions after receiving the instruction from the master control system. This control process is relatively long, resulting in poor dynamic response performance when handling emergencies. Furthermore, when the master mode driver fails, whether the other driver can switch from slave mode to master mode normally depends to a large extent on whether the master control system is working properly and whether the communication is normal, resulting in poor system reliability.

[0003] The second approach is as follows: The driver is configured as a master or slave based on the CAN communication node address setting. If the enable receiver receives an enable signal and the enable transmitter outputs an enable signal, the current master / slave configuration remains unchanged. If the enable receiver does not receive an enable signal, the driver sets itself to master mode. If the enable transmitter does not output an enable signal, the driver sets itself to slave mode. However, this approach may fail to switch between master and slave modes properly if communication fails or a hardware node change occurs. Furthermore, this method is only suitable for switching between master and slave modes in fault situations and cannot handle switching in other complex scenarios. Additionally, both of these methods are limited to dual-axis drive pitch systems and cannot handle mode switching in other types of multi-axis drives. Summary of the Invention

[0004] In order to at least solve the above-mentioned problems in the prior art, this disclosure provides a control method, apparatus and pitch drive for a multi-axis driven pitch system.

[0005] According to one aspect of this disclosure, a control method for a multi-shaft drive pitch system is provided. The multi-shaft drive pitch system includes multiple pitch actuators for controlling individual blades. The control method includes: obtaining a mode status word reflecting the operating mode of the multiple pitch actuators; determining a control terminal and a follower terminal among the multiple pitch actuators based on the values ​​of the mode status words and the operating states of the multiple pitch actuators, wherein the control terminal has pitch control authority and sends pitch commands to the follower terminal in a synchronous control mode of the multiple pitch actuators, the operating modes include automatic mode, manual mode, and forced manual mode, and the operating states include normal state and fault state.

[0006] Optionally, the step of determining the control terminal and the follower terminal among the multiple pitch drives according to the values ​​of the mode status words of the multiple pitch drives and the operating status of the multiple pitch drives may include: determining the pitch drive in the normal state with a smaller value of the mode status word as the control terminal, and setting the other pitch drives among the multiple pitch drives other than the control terminal as the follower terminals, 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 can be 2n pitch drives, where n is a positive integer. The step of determining the pitch drive in normal state with the smaller mode status word value as the control end, and setting the other pitch drives in the multiple pitch drives other than the control end as the follower end, may include: an n-level arbitration step, in which the multiple pitch drives are divided into pairs, and the pitch drive in each group with the smaller mode status word value in normal state is determined as the n-level control end, and the n-level follower end is determined accordingly; an n-1 level arbitration step, in which the 2n-1 n-level control ends are divided into pairs, and the pitch drive in each group with the smaller mode status word value is determined as the n-1 level control end, and the n-1 level follower end is determined accordingly; repeating the above arbitration steps until a level 1 control end is obtained, and the level 1 control end is determined as the control end with pitch control authority.

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

[0009] Optionally, after determining the n-level follower or the (n-1)-level follower, the value of the mode status word of the pitch drive determined to be the follower can be increased by a predetermined value; after determining the level 1 control terminal as the control terminal 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 determining the control end and the follower end, in response to a failure in the pitch drive that was determined as the control end, the control end can be re-determined in the pitch drive that was determined as the follower end.

[0011] Optionally, after determining the control end and the follower end, each of the multiple pitch drives can be shut down in response to a failure of both the pitch drive determined as the control end and the follower end.

[0012] Optionally, after determining the control end and the follower end, the control end and the follower end of the multiple pitch drives can be re-determined in response to a switch in the operating mode of at least one of the multiple pitch drives.

[0013] Optionally, the pitch command may include at least one of the following: pitch speed command, pitch start / stop command, and brake command.

[0014] Optionally, the control method can be executed by multiple pitch drives.

[0015] According to a second aspect of this disclosure, a computer-readable storage medium is provided that stores instructions or programs that, when executed by a processor, implement the above-described control method.

[0016] According to a third aspect of this disclosure, a control device for a multi-shaft drive pitch system is provided. The multi-shaft drive pitch system includes multiple pitch actuators for controlling individual blades. The control device includes: a mode status word acquisition unit for acquiring mode status words reflecting the operating modes of the multiple pitch actuators; and a control authority determination unit for determining a control terminal and a follower terminal among the multiple pitch actuators based on the values ​​of the mode status words and the operating states of the multiple pitch actuators. The control terminal has control authority and sends pitch commands to the follower terminal in a synchronous control mode of the multiple pitch actuators. The operating modes include automatic mode, manual mode, and forced manual mode, and the operating states include normal state and fault state.

[0017] According to a fourth aspect of this disclosure, a pitch driver for a multi-axis drive pitch system is provided. The pitch driver includes a processor and a computer-readable storage medium storing a program or instructions that, when executed by the processor, perform the aforementioned control method.

[0018] According to a fifth aspect of this disclosure, a multi-shaft drive pitch system is provided, the multi-shaft drive pitch system including the pitch drive described above.

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

[0020] The control method and control device according to the embodiments of this disclosure enable the multi-axis drive pitch system to promptly complete the control authority of the master control end and the follower end when an abnormality occurs, and immediately start to execute the emergency pitch retraction operation. The system has good dynamic response performance, higher reliability, and ensures the safety of the wind turbine generator set. Attached Figure Description

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

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

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

[0024] Figure 4 This is a schematic diagram illustrating arbitration according to an embodiment of the present disclosure.

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

[0026] Figure 6 This is an arbitration flowchart illustrating a pitch drive without failure according to an embodiment of the present disclosure.

[0027] Figure 7 This is an arbitration flowchart illustrating an embodiment of the present disclosure in the event of a faulty pitch drive.

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

[0029] The present disclosure will be described in detail below with reference to the accompanying drawings, throughout which the same or similar elements will be indicated by the same or similar reference numerals. Detailed Implementation

[0030] The following detailed description is provided to aid in obtaining a full understanding of the methods, apparatus, and / or systems described herein. However, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein; equivalent substitutions or changes may be made, except for operations that must occur or be performed in a specific order. Furthermore, for clarity and conciseness, descriptions of content well-known in the art will be omitted or simplified.

[0031] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains upon understanding this disclosure. Unless expressly defined herein, terms (such as those defined in a general dictionary) shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field and in this disclosure, and shall not be interpreted in an idealized or overly formalistic 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 previous embodiments that reappear in later embodiments may be omitted. Furthermore, technical features described in different or the same embodiments can be combined in any way, as long as the combined embodiment or technical solution is complete and can solve the technical problems of this application or achieve the technical effects described or not described in this disclosure but which can be determined based on the complete technical solution described above. The terminology used in this disclosure is explained below.

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

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

[0035] Control end: The pitch driver selected from all drivers (including master and slave drivers) to process all signals from the master and slave. The control end controls the follower end to perform response operations. The default master and slave can both be the control end of this disclosure. The control end of this disclosure can be determined according to the arbitration method of this disclosure, etc.

[0036] Follower end: The follower end acquires its own signals, transmits the signals to the control end for processing, responds to the control end's commands, 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 this disclosure is determined according to the arbitration method of this disclosure, etc.

[0037] Synchronous mode: In a multi-axis drive pitch system, the master and slave drives of a single blade exchange information, and the control end controls the follower end to perform response actions.

[0038] Independent mode: In independent mode, the master and slave drives of a single blade in a multi-axis drive pitch system exchange information. The follower end is controlled independently to eliminate the backlash between the gears of the corresponding pitch motor and pitch reducer (facilitating the synchronous control of the three blades) and will not affect the control of the pitch drive outside itself.

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

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

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

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

[0043] Multiple pitch actuators 123 can feed back the pitch position of a single blade 200 to the pitch controller 121, and provide feedback to the pitch controller 121 on whether the single blade 200 has reached the specified 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 control the multiple pitch motors 124. The multiple pitch motors 124 drive pitch reducers 125 (e.g., multiple pitch reducers), and the pitch reducers 125 drive the pitch bearings 126 through toothed belts, thereby controlling the rotation of a single blade 200 to a specified position.

[0045] The aforementioned devices and components, and their functions, are known to those skilled in the art; therefore, for the sake of brevity, they will not be described in more detail here. The other two blades employ similar control methods, which will not be elaborated upon here either. The following will refer to... Figure 2 The control method of this disclosure is described in detail. Figure 2 The control method shown can be executed by each pitch drive, but this is just an example. Figure 2 The entity that performs the control method shown is not subject to any specific restrictions.

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

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

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

[0049] As described above, the multiple pitch actuators here are used to control a single blade. That is to say, the control method disclosed herein is applicable to multi-axis driven pitch systems (including odd-axis driven pitch systems and even-axis driven pitch systems), such as dual-axis, 4-axis, and 8-axis driven pitch systems, and can also be applied to 3-axis, 5-axis, and 7-axis driven pitch systems.

[0050] The pitch drive can operate in modes including automatic mode, manual mode, and forced manual mode. The value of the mode status word corresponding to automatic mode is greater than the value of the mode status word corresponding to manual mode, and the value of the mode status word corresponding to manual mode is greater than the value of the mode status word corresponding to forced manual mode. Accordingly, the value of the mode status word in forced manual mode can be 0, the value of the mode status word in manual mode can be 1, and the value of the mode status word in automatic mode can be 2; however, this disclosure is not limited thereto.

[0051] A smaller mode status word value indicates a higher mode priority. The mode status word changes accordingly when the pitch drive's operating mode changes; for example, when the pitch drive changes from automatic to manual mode, the mode status word changes from 2 to 1. The above values ​​are for illustrative purposes only and are not strictly limited to these in actual implementation.

[0052] In step S220, based on the values ​​of the mode status words of the multiple pitch drives and the operating status of the multiple pitch drives, a control terminal and a follower terminal are determined among the multiple pitch drives. Here, the control terminal refers to the pitch drive that has pitch control authority and sends pitch commands to the follower terminal in the synchronous control mode of the multiple pitch drives. The pitch commands may include at least one of pitch speed commands, pitch start / stop commands, and brake commands.

[0053] The operating state of a pitch drive can include a normal state and a fault state, which can be determined by the pitch drive's status word. That is, when a pitch drive changes from a normal state to a fault state, its status word will also change accordingly. Specifically, the pitch drive in the normal state with a smaller mode status word value can be designated as the control terminal, and the other pitch drives besides the control terminal can be designated as the follower terminals.

[0054] As an example, the values ​​of multiple mode status words can be arbitrated first, and then the control and follower terminals can be determined by combining the operating status of the corresponding drivers. Alternatively, it can be determined whether the pitch brake has failed, and then the control and follower terminals can be determined based on the values ​​of the mode status words.

[0055] Specifically, the step of determining the control terminal and the follower terminal among the multiple pitch drives based on the values ​​of their mode status words and their operating states may include: identifying the pitch drive in the normal state with the smaller mode status word value as the control terminal, and designating the other pitch drives besides the control terminal as follower terminals. Here, "smaller mode status word value among the multiple pitch drives" includes cases where at least two pitch drives have the same minimum value. Furthermore, if there are multiple pitch drives in the normal state with a smaller mode status word value, then one of them can be arbitrarily selected as the control terminal, and the remaining pitch drives as follower terminals.

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

[0057] When at least two pitch drives are in normal operation and have the same mode status word value, the pitch drive with the smaller node address setting value can be designated as the control terminal. The node address setting value of the pitch drive can be determined using existing methods, such as pre-determining it via a redundancy switch in a multi-axis drive pitch system. The steps of determining the control terminal and follower terminal among the multiple pitch drives based on their mode status word values ​​and operating states may include: designating the pitch drive in normal operation with a smaller mode status word value and a smaller node address value as the control terminal, and designating the other pitch drives besides the control terminal as follower terminals. Different pitch drives have different node address values.

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

[0059] The control method according to embodiments of this disclosure is particularly suitable for single-blade pitch actuators with a number of blades satisfying 2. n A multi-axis drive pitch actuator. That is, multiple pitch actuators for 2... n There are several pitch drives, where n is a positive integer, such as a 2-axis pitch drive and a 4-axis pitch drive.

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

[0061] The control method according to the second embodiment of this disclosure may include specific steps (i.e., steps S2211 and S2212) of determining a pitch driver that is in a normal state and has a smaller value of the mode state word as the control terminal and setting the other pitch drivers among the plurality of pitch drivers other than the control terminal as the follower terminals.

[0062] In step S2211, multiple pitch drives are divided into pairs and grouped together. The pitch drive in each group that is in normal state and has a smaller value of the mode state word is determined as the control terminal of level n, and the follower terminal of level n (arbitration of level n) is determined accordingly.

[0063] For details, please refer to Figure 4 The multi-axis drive pitch system may include 2 n Each pitch drive (i.e., drive unit) is divided into two groups of two, and each group of pitch drives has been pre-assigned as master and slave.

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

[0065] For details, please refer to Figure 4 At level n, there are 2 nThere are 2 pitch actuators (i.e., drive units); at stage n-1, there are a total of 2 n-1 One pitch drive (i.e., 2 after n-stage arbitration) n-1 (One control terminal), and so on. In Level 1, there are two pitch drivers (i.e., two control terminals after Level 3 arbitration). The control terminal can be determined from the pitch drivers in each level, thus identifying the control terminal with pitch control authority from the two pitch drivers in Level 1. The control terminals determined in Levels 2 through n are generally not the final control terminals with pitch control authority (unless the control terminal in Level 1 fails, in which case a control terminal from Levels 2 through n is selected as the final control terminal). During grouping, nodes can be grouped in pairs according to the above node address values ​​in sequence.

[0066] It should be noted that for 3-axis, 5-axis, 6-axis, and 7-axis (not meeting the 2) n In multi-axis drive pitch systems, such as those for 3-axis systems, unpaired pitch drives can be grouped separately and their arbitration results can be arbitrated individually against those of paired pitch drives (for example, in a 3-axis drive pitch system, two of the drives can be grouped together and then arbitrated against the third drive). Unpaired pitch drives can also be arbitrated in a similar manner during tiered arbitration.

[0067] Similarly, when the mode status word values ​​in any two pitch drives in a given group are the same, the pitch drive with the smaller node address setting can be designated as the control terminal for the corresponding level. As mentioned above, the node address settings of multiple pitch drives can be sequentially incremented, thus allowing for the final determination of a unique control terminal. After determining the unique control terminal, all other pitch drives can be set as follower terminals.

[0068] Furthermore, after determining the n-level or n-1-level follower, the mode status word value of the pitch drive identified as the follower can be increased by a predetermined value, thereby facilitating comparison of the mode status word values. After determining the level 1 control terminal as the control terminal with pitch control authority, the mode status words of multiple pitch drives are reset to facilitate control authority determination and control authority switching in subsequent cycles. This predetermined value can be greater than the value of the mode status word corresponding to the automatic mode; that is, the predetermined value can be greater than 2.

[0069] Reference Figure 5 As an example, the preset value can be 10, and the result of arbitration for different mode state words can be as follows: Figure 5 As shown.

[0070] Taking a dual-shaft drive pitch system as an example, it is equivalent to Figure 4The combination of the main drive unit n1 and the slave drive unit n1 enables the master and slave units of the dual-shaft drive pitch system to exchange information (including function signals and key commands) via a high-speed CAN bus. The arbitrator of the master and slave units (the arbitration algorithm corresponding to the above control method) arbitrates the control authority after acquiring the information, and independently completes the switching between the control end and the follower end between the master and slave units. The end that obtains the control authority controls the follower end to perform actions, so that the system can still respond and perform actions such as pitch retraction in the event of master-slave conflict or failure, thus ensuring the safety of the wind turbine generator set.

[0071] After the control and follower ends are determined, in response to a failure in the pitch drive that was determined as the control end, the control end can be re-determined from the pitch drive that was determined as the follower end. As an example, the pitch drive from the previous stage (stage 2) in the last arbitration process, other than the one determined as the final control end, can be determined as the control end (ensuring that the corresponding pitch drive is not faulty), and the arbitration can be repeated.

[0072] After determining the control and follower ends, in response to the failure of both the identified control and follower pitch drives, each of the multiple pitch drives is shut down. If all pitch drives fail, the entire pitch drive can be shut down. When there are many pitch drives, all pitch drives can be shut down if the number of failed pitch drives exceeds a preset threshold.

[0073] Besides the operating status of the pitch drive, its operating mode also affects its priority. After the control and follower ends are determined, in response to a switch in the operating mode of at least one of the pitch drives, the control and follower ends of the multiple pitch drives are re-determined. As mentioned above, arbitration can be performed again to re-determine the control and follower ends of the multiple pitch drives, or the control and follower ends can be re-determined based on the original arbitration result. For example, one of the previous stage pitch controllers can be selected as the control end. After an operating mode switch occurs, a delay can be made before re-determining the control and follower ends to prevent torque oscillations caused by different acceleration and deceleration times. A brief emergency stop of the drive will be triggered during the mode switch. Therefore, adding a delay can prevent the drive from stopping suddenly.

[0074] Figure 6 This is an arbitration flowchart illustrating a fault-free pitch drive according to an embodiment of the present disclosure. Figure 7 This is an arbitration flowchart illustrating an embodiment of the present disclosure in the event of a faulty pitch drive.

[0075] Reference Figure 6In the event that the pitch drive is fault-free or there is no pitch drive-triggered fault, the arbitrator in the master unit can receive information from the slave unit, and the arbitrator in the slave unit can receive information from the master unit. Each unit performs mode-based arbitration (comparison) and then obtains the control end and the follow end respectively.

[0076] After arbitration, the slave device with the higher mode priority (smaller mode status word value) gains control. When mode status word values ​​are the same, the master device gains control if it is fault-free (master priority); otherwise, the slave device gains control. A driver in follow mode (follower end) will not enter mode control, but its abnormal signals can be exchanged with the control end. The control end processes the signals, and the follower end can verify the control end's status bits to determine whether the control end should respond.

[0077] When both the master and slave units fail, both units shut down automatically. When the master unit fails but the slave unit does not, the slave unit gains control. When the slave unit fails, the master unit gains control. Furthermore, the failure of the pitch driver can be determined before comparing the size of the mode status word.

[0078] Arbitration procedures in the event of a pitch drive failure may include steps S610, S620, S630, S640, S650, S660, S670, and S680. Drive failures can be categorized into drive failure faults and non-drive failure faults.

[0079] In step S610, it is determined whether the main unit has failed (the main pitch drive has failed).

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

[0081] In step S630, in response to the failure of both the master and slave devices, the master and slave devices are controlled to shut down freely.

[0082] In step S640, in response to the fact that the master is not faulty, it is determined whether the slave is faulty.

[0083] In step S670, in response to the fact that neither the master nor the slave has failed, the pitch driver (master or slave) with the smaller value of the mode status word is determined as the control terminal.

[0084] In step S660, in response to the fact that the master device is not faulty and the slave device is faulty, the master device is determined to be the control terminal.

[0085] In step S650, in response to the failure of the master device and the fact that the slave device has not failed, the slave device is determined to be the control device.

[0086] In step S680, after the fault of the main unit is cleared, the main unit is identified as the control terminal. The above method can be used to determine the control terminal and the follower terminal of each pitch drive group in each stage.

[0087] As an example, both the control end and the follower end can trigger feathering. When the control end triggers feathering, the commands include: master-slave safety chain, alarm signal, power failure signal, feathering command, shaft failure, etc. When the control end receives a feathering command from either end, it immediately executes the feathering command. The control end does not perform feathering command verification; in practical applications, the commands can be unidirectional and asynchronous, and the control end only needs to verify whether the follower end's brake and operating frequency are synchronized. When the follower end triggers a feathering command (which will be automatically transmitted to the control end to trigger its feathering action), the follower end verifies whether the control end has entered feathering mode. If the verification time exceeds the set time, the follower end reports a feathering command asynchrony fault and then automatically feathers.

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

[0089] The control device 700 according to embodiments of the present disclosure may include a mode status word acquisition unit 710 and a control authority determination unit 720.

[0090] The mode status word acquisition unit 710 can acquire mode status words reflecting the operating modes of multiple pitch drives. The control authority determination unit 720 can determine the control terminal and the follower terminal among the multiple pitch drives based on the values ​​of the mode status words and the operating states of the multiple pitch drives. Here, the control terminal refers to the pitch drive that has control authority and sends pitch commands to the follower terminal in the synchronous control mode of the multiple pitch drives. The control device according to the embodiments of this disclosure may include Figure 5 The host arbitrator or slave arbitrator shown.

[0091] The control authority determination unit 720 can execute any of the steps mentioned above, which will not be elaborated here.

[0092] The above has been referred to Figures 1 to 8 Systems such as control methods and apparatus according to embodiments of this disclosure are described. However, it should be understood that the apparatuses and systems shown in the drawings can be configured as software, hardware, firmware, or any combination thereof to perform specific functions. For example, these systems and apparatuses may correspond to dedicated integrated circuits, pure software code, or modules combining software and hardware. Furthermore, one or more functions implemented by these systems or apparatuses may also be uniformly executed by components in a physical entity device (e.g., a processor, client, or server).

[0093] The instructions stored in the aforementioned computer-readable storage medium can be executed in environments deployed in computer devices such as clients, hosts, agent devices, and servers. It should be noted that the instructions can also be used to perform additional steps beyond those described above, or to perform more specific processing while executing the above steps. The details of these additional steps and further processing are already provided in the reference... Figures 1 to 8 As mentioned in the description of the relevant systems and methods, they 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 this disclosure can rely entirely 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 (e.g., a lib library) to realize the corresponding functions.

[0095] On the other hand, when Figure 8 When the apparatus shown is implemented as 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 perform the above-described control method when the computer program is executed by the processor.

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

[0097] According to embodiments of this disclosure, a pitch driver for a multi-axis drive pitch system is provided. The pitch driver may include a processor and a computer-readable storage medium storing a program or instructions that execute the above-described control method when the program or instructions are executed by the processor.

[0098] According to embodiments of this disclosure, a multi-shaft drive pitch system is provided, which may include the pitch driver described above. Furthermore, the multi-shaft drive pitch system according to embodiments of this disclosure may also include a pitch controller, a pitch reducer, etc.

[0099] The control method and control device according to the embodiments of this disclosure enable the multi-axis drive pitch system to promptly complete the control authority of the master control end and the follower end when an abnormality occurs, and immediately start to execute the emergency pitch retraction operation. The system has good dynamic response performance, higher reliability, and ensures the safety of the wind turbine generator set.

Claims

1. A control method of a multi-axis drive variable pitch system, characterized by, The multi-axis drive variable pitch system comprises a plurality of variable pitch drives for controlling a single blade, and the control method comprises: obtaining a mode state word reflecting an operating mode of the plurality of variable pitch drives; determining a control end and a following end in the plurality of variable pitch drives respectively according to a value of the mode state word of the plurality of variable pitch drives and an operating state of the plurality of variable pitch drives, wherein the control end has a variable pitch control authority and sends a variable pitch instruction to the following end in a synchronous control mode of the plurality of variable pitch drives, the operating mode comprises an automatic mode, a manual mode and a forced manual mode, and the operating state comprises a normal state and a fault state, wherein the step of determining the control end and the following end in the plurality of variable pitch drives respectively according to the value of the mode state word of the plurality of variable pitch drives and the operating state of the plurality of variable pitch drives comprises: determining a variable pitch drive in the normal state and having a smaller value of the mode state word as the control end, and setting other variable pitch drives in the plurality of variable pitch drives except the control end as the following end, the value of the mode state word corresponding to the automatic mode is greater than the value of the mode state word corresponding to the manual mode, and the value of the mode state word corresponding to the manual mode is greater than the value of the mode state word corresponding to the forced manual mode, The plurality of variable pitch drives is 2 n n is a positive integer, the variable pitch drive in normal state and having a smaller value of mode status word is determined as the control end, and the variable pitch drives other than the control end among the plurality of variable pitch drives are set as the follow-up end, and the step includes: n-stage arbitration step, the plurality of variable pitch drives are divided into a group two by two, the variable pitch drive in normal state and having a smaller value of mode status word among the variable pitch drives of each group is determined as the control end of n-stage, and the follow-up end of n-stage is determined accordingly; n-1-stage arbitration step, the two n-stage control ends are divided into a group two by two, and the variable pitch drive having a smaller value of mode status word among the variable pitch drives of each group is determined as the control end of n-1-stage, and the follow-up end of n-1-stage is determined accordingly; the arbitration step is repeatedly executed until the control end of 1-stage is obtained, and the control end of 1-stage is determined as the control end having the variable pitch control right. n-1 n is a positive integer, the variable pitch drive in normal state and having a smaller value of mode status word is determined as the control end, and the variable pitch drives other than the control end among the plurality of variable pitch drives are set as the follow-up end, and the step includes: n-stage arbitration step, the plurality of variable pitch drives are divided into a group two by two, the variable pitch drive in normal state and having a smaller value of mode status word among the variable pitch drives of each group is determined as the control end of n-stage, and the follow-up end of n-stage is determined accordingly; n-1-stage arbitration step, the two n-stage control ends are divided into a group two by two, and the variable pitch drive having a smaller value of mode status word among the variable pitch drives of each group is determined as the control end of n-1-stage, and the follow-up end of n-1-stage is determined accordingly; the arbitration step is repeatedly executed until the control end of 1-stage is obtained, and the control end of 1-stage is determined as the control end having the variable pitch control right.

2. The control method of a multi-axis drive pitch system according to claim 1, characterized in that, when the values of the mode state words in any one group of two variable pitch drives are the same, determining a variable pitch drive having a smaller node address setting value as the control end of the corresponding stage, wherein the node address setting value of each variable pitch drive is determined in advance through a shift switch of the multi-axis drive variable pitch system.

3. The control method of the multi-axis drive variable pitch system according to claim 2, wherein after determining the following end of the n stage or the following end of the n-1 stage, increasing the value of the mode state word of the variable pitch drive determined as the following end by a predetermined value; after determining the control end of the 1 stage as the control end having the variable pitch control authority, resetting the mode state words of the plurality of variable pitch drives, wherein the predetermined value is greater than the value of the mode state word corresponding to the automatic mode.

4. The control method of a multi-axis drive pitch system according to any one of claims 1 to 3, characterized by, after determining the control end and the following end, in response to a failure fault of the variable pitch drive determined as the control end, re-determining the control end in the variable pitch drive determined as the following end.

5. The control method of a multi-axis drive pitch system according to claim 4, characterized in that, after determining the control end and the following end, in response to failure faults of the variable pitch drives determined as the control end and the following end, controlling each of the plurality of variable pitch drives to stop.

6. The control method of a multi-axis drive pitch system according to any one of claims 1 to 3, characterized by, after determining the control end and the following end, in response to a switching of the operating mode of at least one of the plurality of variable pitch drives, re-determining the control end and the following end of the plurality of variable pitch drives.

7. The control method of a multi-axis drive pitch system according to claim 1, wherein, The variable pitch instruction comprises at least one of a variable pitch speed instruction, a variable pitch start-stop instruction and a brake instruction.

8. The control method of a multi-axis drive pitch system according to claim 1, wherein, The control method is executed by the plurality of variable pitch drives.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions or programs which, when executed by a processor, implement the control method according to any one of claims 1 to 8.

10. A control device of a multi-axis drive variable pitch system, characterized by, The multi-axis drive variable pitch system includes a plurality of variable pitch drives for controlling individual blades, and the control device includes: a mode status word acquisition unit that obtains a mode status word reflecting an operation mode of the plurality of variable pitch drives; a control authority determination unit that determines a control end and a following end in the plurality of variable pitch drives, respectively, according to a value of the mode status word of the plurality of variable pitch drives and an operation state of the plurality of variable pitch drives, wherein the control end has a control authority and transmits a variable pitch command to the following end in a synchronous control mode of the plurality of variable pitch drives, the operation mode includes an automatic mode, a manual mode, and a forced manual mode, and the operation state includes a normal state and a fault state, wherein the control authority determination unit is configured to determine a variable pitch drive in the normal state and having a smaller value of the mode status word as the control end, and set other variable pitch drives in the plurality of variable pitch drives except the control end as the following 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, The plurality of pitch drives is 2 n n is a positive integer, the control authority determination unit is further configured to perform the following steps: an n-level arbitration step of dividing the plurality of variable pitch drives into a group two by two, determining a variable pitch drive in the normal state and having a smaller value of the mode status word as an n-level control end in the variable pitch drives of each group, and accordingly determining an n-level following end; n-1 level arbitration step, 2 n-1 two two groups, and the value of the mode state word in each group of the pitch driver is determined as the n-1 level control end, and the n-1 level follow end is determined accordingly; repeating the above arbitration step until a 1-level control end is obtained, and determining the 1-level control end as the control end having a variable pitch control authority.

11. A pitch drive of a multi-axis drive pitch system, characterized in that A computer program product including a processor and a computer readable storage medium storing a program or instructions that, when executed by the processor, perform the control method according to any one of claims 1 to 8.

12. A multi-axis drive pitch system, characterized by, A variable pitch drive according to claim 11.

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