Control device and control method based on variable pitch system

Abstract

The present invention discloses a control device based on a variable pitch system and a control method thereof, which relates to the field of wind power technology, and includes: a front cabin, three groups of mounting seats arranged on the front cabin, each group of the mounting seats is provided with a planetary gear assembly, and an assembly sleeve installed with the planetary gear assembly, the assembly sleeve is used to connect the head of the wind turbine blade; and also includes three groups of differential drive assemblies arranged on the inner wall of the front cabin, each group of the differential drive assemblies is placed under the corresponding planetary gear assembly and used to drive it; each group of the differential drive assemblies includes a support frame fixed on the front cabin, which is used to drive the driven power ring gear to rotate. The present invention has the characteristics of fast response speed, stable and reliable performance by introducing a differential drive assembly into the variable pitch system of wind turbine blades, and can adapt to the adaptive adjustment made by wind turbine blades in different environments.

Description

Technical Field

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

[0002] One of the main functions of the variable pitch system is to control the speed of the wind rotor by controlling the angle of the blades, thereby controlling the output power of the wind turbine. It ensures the safe and stable operation of the wind turbine through a variety of detection and control methods and multiple redundant designs.

[0003] For example, the variable pitch system gravity return control method and device disclosed in Chinese patent application No. 201710084269.6 records that when the blade is located in the first plane, the weight of the blade is a positive number. At this time, under the action of gravity, the blade pitch angle will change in the return direction, that is, the gravity at this time will promote the return operation of the blade. When the blade is in the second plane, the variable pitch motor is controlled to hold the brake, thereby preventing the blade from opening the blade under the action of gravity.

[0004] In actual use, the effective use of gravity is indeed achieved by braking and opening the variable pitch motor under single control. However, when other environmental factors act, the inherent braking and opening methods are powerless. Therefore, a control device based on a variable pitch system and a control method thereof are designed. Summary of the invention

[0005] The purpose of the present invention is to provide a control device based on a pitch control system and a control method thereof. By introducing a differential drive component in the wind turbine blade pitch control system, the device has the characteristics of fast response speed, stable and reliable performance, and can adapt to the adaptive adjustment of wind turbine blades in different environments. At the same time, the self-locking characteristics of the structure will break the original balance when the system is shut down due to a fault, in a harsh environment, or when the speed changes exceed the set situation. The abnormal power is blocked, and the safety performance is further improved.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a control device based on a variable pitch system, comprising: a front cabin, three groups of mounting seats arranged on the front cabin, each group of the mounting seats is provided with a planetary gear assembly, and an assembly sleeve installed with the planetary gear assembly, the assembly sleeve is used to connect the head of the wind turbine blade; also includes three groups of differential drive assemblies arranged on the inner wall of the front cabin, each group of the differential drive assemblies is placed under the corresponding planetary gear assembly and is used to drive it; each group of the differential drive assemblies includes a support frame fixed to the front cabin, and a second power shaft rotatably connected to the support frame, and also includes a driven power ring gear, and a connecting frame installed on the driven power ring gear, and a worm gear transmission assembly is arranged on the connecting frame; an auxiliary motor is arranged on the end of the driven power ring gear away from the driven power ring gear, and the output shaft end of the auxiliary motor is provided with a first power shaft, and the opposite ends of the first power shaft and the second power shaft respectively penetrate the driven power ring gear and the connecting frame and are connected to the worm gear transmission assembly; and a moving gear assembly arranged on the inner wall of the front cabin, used to drive the driven power ring gear to rotate.

[0007] Preferably, the worm gear transmission assembly includes three groups of turbine assemblies arranged in a ring shape on a connecting frame, each group of turbine assemblies includes two rotatable mounting shafts distributed up and down, a worm gear body is installed in the middle of the two mounting shafts, and spur gears are arranged at both ends of the two mounting shafts and meshing with each other; it also includes two worm bodies respectively arranged at the opposite ends of the second power shaft and the first power shaft, and each of the worm bodies is meshed with the corresponding worm gear body for transmission.

[0008] Preferably, the moving gear assembly includes a mounting plate fixed on the inner wall of the front cabin, and a driving motor fixed on the mounting plate, and the output shaft of the driving motor is connected to a driving wheel meshing with the driven power gear ring.

[0009] Preferably, the planetary gear assembly includes an extension shaft, the top of the second power shaft is fixedly connected to the bottom of the extension shaft, used to drive the extension shaft to rotate, and a connecting rod fixed to the mounting seat in an annular distribution, a fixed gear ring is fixed on the connecting rod, and the top of the extension shaft passes through the fixed gear ring and is fixedly mounted with a mounting frame through a mounting cap; a plurality of gears are distributed in an annular manner around the mounting frame, each of the gears is meshed with the fixed gear ring for transmission, and an inner gear ring is arranged on the inner wall of the assembly sleeve, and each of the gears is meshed with the inner gear ring for transmission, used to drive the assembly sleeve where the inner gear ring is located to rotate, thereby realizing variable pitch of wind turbine blades.

[0010] Preferably, a point sensing structure is also provided on the support frame, and the pitch position of the corresponding wind turbine blade at different angles is displayed by the pressure change of the point sensing structure; the point sensing structure includes a mounting frame, and the mounting frame is installed on the support frame with left and right limit positions, and a cam fixed on the outer wall of the extension shaft, the cam is arranged inside the mounting frame and limited therewith, and a transmission sleeve fixed on the extension shaft, and the outer wall of the transmission sleeve is connected to a limit step at both ends; the mounting frame is vertically provided with a telescopically movable transmission rod through an extension rod, and a limit rod is provided at the end of the transmission rod close to the transmission sleeve, and the limit rod is installed with the limit step, and an induction circuit board fixed on the side wall of the support frame, and a pressure sensor is provided at the end of the transmission rod away from the limit rod and acts on the induction circuit board.

[0011] Preferably, it also includes a rear cabin, which is rotatably connected to the front cabin, and a driving system arranged inside the rear cabin, which is used to drive the front cabin and the wind turbine blades to rotate. An angle sensor is provided at the connection between the rear cabin and the front cabin, which is used to sense the rotation angle of the front cabin in real time.

[0012] Preferably, it also includes a central processing unit arranged inside the rear cabin of the machine, which is used to record the value change of the lower limit rod pressure sensor corresponding to the angle sensor value in real time.

[0013] A control method for a variable pitch system is applied to the aforementioned control device based on the variable pitch system, and the control method comprises:

[0014] S1: By setting a differential drive assembly, the differential drive assembly serves as an intermediate link connecting the first power shaft and the second power shaft;

[0015] S2: When the auxiliary motor is not working, there is no speed difference between the second power shaft and the first power shaft, that is, the wind turbine blades are powered by the dynamic gear assembly, and the corresponding driving motor works to drive the driving wheel to rotate, and drives the driven power ring gear to rotate, so that the extension shaft, the driven power ring gear, the connecting frame and the first power shaft rotate as a whole;

[0016] S3: When the front cabin rotates relative to the rear cabin, when the wind turbine blades act as resistance or assistance at different positions, the second power shaft undergoes adaptive speed changes. At this time, the auxiliary motor drives the first power shaft to rotate to adapt to and adjust the speed change of the second power shaft to achieve stable operation;

[0017] S4: In the event of a shutdown caused by a fault, a harsh environment, or a speed change that exceeds the set situation, the original balance will be broken. When the wind turbine blades drive the second power shaft where the extension shaft is located to change abnormally, the rotation of the first power shaft cannot adapt to it, and its corresponding worm body drives its worm wheel body to rotate. Since the two spur gears are engaged with each other, the spur gears drive the lower worm wheel body to rotate. When the lower worm wheel body cannot drive the first power shaft where the lower worm body is located to rotate, the abnormal power is blocked, and the abnormal operation of the wind turbine blades is restricted.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention introduces a planetary gear assembly and a differential drive assembly into the wind turbine blade pitch control system. The planetary gear assembly realizes that the annularly distributed small gears drive the external teeth to rotate, thereby realizing the pitch control operation of the wind turbine blades. The operation process under this structure is more stable and efficient. As for the differential drive assembly, it has the characteristics of fast response speed, stable and reliable performance, and can adapt to the adaptive adjustment of the wind turbine blades in different environments. At the same time, the self-locking characteristics of the structure will break the original balance when the shutdown is caused by a fault, in a harsh environment, or when the speed changes exceed the set situation. The abnormal power is blocked, and the safety performance is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the first disassembled structure of the present invention;

[0022] Figure 3 for Figure 2 A schematic diagram of a second perspective stereoscopic structure;

[0023] Figure 4 It is a schematic diagram of the enlarged structure of the point position sensing structure of the present invention;

[0024] Figure 5 for Figure 2 A schematic diagram of a third-perspective stereoscopic structure;

[0025] Figure 6 It is a schematic diagram of the structure of the planetary gear assembly of the present invention;

[0026] Figure 7 This is a schematic diagram of a second disassembled structure of the present invention;

[0027] Figure 8 for Figure 7 A schematic diagram of a second perspective stereoscopic structure;

[0028] Fig. 9 for Figure 7A schematic diagram of the front view structure of

[0029] Fig.10 It is a schematic diagram of the three-dimensional structure of the differential drive assembly of the present invention;

[0030] Fig.11 This is a schematic diagram of the pre-assembly of a wind turbine blade according to the present invention.

[0031] In the figure: 111, front cabin; 112, mounting seat;

[0032] 211, assembly sleeve; 213, inner gear ring; 214, mounting frame; 215, gear; 216, connecting rod; 217, mounting cap; 218, fixed gear ring;

[0033] 311, point sensing structure; 3111, transmission sleeve; 3112, limit step; 3113, transmission rod; 3114, limit rod; 3115, support frame; 3116, installation frame; 3117, cam; 3118, induction circuit board; 611, extension shaft;

[0034] 7111, driven power ring gear; 7112, connecting frame; 7113, auxiliary motor; 7115, worm gear body; 7116, mounting shaft; 7118, spur gear; 7119, worm gear body; 7120, driving motor; 7121, driving wheel; 7123, mounting plate;

[0035] 7130, first power shaft; 7131, second power shaft;

[0036] 811. Wind turbine blades;

[0037] 1011. Rear cabin. DETAILED DESCRIPTION

[0038] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. The following describes various embodiments of the present invention in detail in conjunction with the drawings.

[0039] Example 1

[0040] See also Figures 1 to 11The present invention preferably provides a technical solution: a control device based on a variable pitch system, comprising: a front cabin 111, three sets of mounting seats 112 arranged on the front cabin 111, each set of mounting seats 112 is provided with a planetary gear assembly, and an assembly sleeve 211 installed with the planetary gear assembly, the assembly sleeve 211 is used to connect the head of the wind turbine blade 811; it also includes three sets of differential drive assemblies arranged on the inner wall of the front cabin 111, each set of differential drive assemblies is placed under the corresponding planetary gear assembly and is used to drive it; each set of differential drive assemblies includes a support frame 3115 fixed on the front cabin 111, and a second power shaft rotatably connected to the support frame 3115 7131, also includes a driven power ring gear 7111, and a connecting frame 7112 installed on the driven power ring gear 7111, on which a worm gear transmission assembly is arranged; an auxiliary motor 7113 is arranged at the end of the driven power ring gear 7111 away from the driven power ring gear 7111, and the output shaft end of the auxiliary motor 7113 is provided with a first power shaft 7130, and the opposite ends of the first power shaft 7130 and the second power shaft 7131 respectively penetrate the driven power ring gear 7111 and the connecting frame 7112 and are connected to the worm gear transmission assembly; and a moving gear assembly is arranged on the inner wall of the front cabin 111, for driving the driven power ring gear 7111 to rotate.

[0041] Furthermore, the worm gear transmission assembly includes three groups of turbine assemblies arranged in a ring shape on the connecting frame 7112, each group of turbine assemblies includes two rotatable mounting shafts 7116 distributed up and down, a worm gear body 7115 is installed in the middle of the two mounting shafts 7116, and spur gears 7118 are arranged at both ends of the two mounting shafts 7116 and meshing with each other; it also includes two worm bodies 7119 respectively arranged at the opposite ends of the second power shaft 7131 and the first power shaft 7130, and each worm body 7119 is meshed with the corresponding worm wheel body 7115 for transmission.

[0042] Furthermore, the moving gear assembly includes a mounting plate 7123 fixed on the inner wall of the front cabin 111, and a driving motor 7120 fixed on the mounting plate 7123, and the output shaft of the driving motor 7120 is connected to a driving wheel 7121 that meshes with the driven power ring gear 7111.

[0043] In this application, a planetary gear assembly and a differential drive assembly are introduced into the wind turbine blade pitch control system. First, the planetary gear assembly and the annularly distributed pinions drive the external teeth to rotate, thereby realizing the pitch control operation of the wind turbine blade 811. The operation process under this structure is more stable and efficient.

[0044] Considering that the high-altitude operation of wind turbine blades will be affected by various factors, some of which are resistance to the blades and some of which are assisting factors, just like the gravity factor in the background technology, the variable pitch control generated by the wind turbine blades 811 is also dynamically changing. Through the further arranged differential drive assembly, the differential drive assembly serves as an intermediate link connecting the first power shaft 7130 and the second power shaft 7131. When the moving gear assembly works, the corresponding drive motor 7120 works to drive the driving wheel 7121 to rotate, thereby driving the driven power ring gear 7111 to rotate;

[0045] First, for the differential drive assembly, it has the characteristics of fast response speed, stable and reliable performance. It uses several sets of worm gear transmission assemblies for connection. Specifically, Figure 1 , 3 As shown in FIG. 10 , the driving motor 7120 drives the driving wheel 7121 to rotate and then drives the driven power ring gear 7111 to rotate, which serves as a key power source, and then drives the extension shaft 611 to rotate. The worm gear transmission assembly is provided with three groups, which can complete the torque transmission more stably, such as Fig.10 Each turbine assembly consists of two worm gear bodies 7115 and spur gears 7118 fixed at both ends of the worm gear bodies 7115, which mesh with each other and form a whole, and act on two worm bodies 7119. For example, the structure of one set of worm gear bodies 7115 and worm bodies 7119 is that the worm gear body 7115 cannot drive the worm body 7119 to rotate, but the worm body 7119 can drive the worm gear body 7115 to rotate. Based on this characteristic, multiple operating modes will be generated;

[0046] When the second power shaft 7131 at both ends of the differential drive assembly rotates at the same speed as the first power shaft 7130, that is, the wind turbine blade 811 is in a normal operating process without being affected by external factors, the extension shaft 611, the slave power ring gear 7111, the connecting frame 7112 and the first power shaft 7130 rotate as a whole, wherein the worm body 7119, the worm wheel body 7115 and the spur gear 7118 all remain relatively stationary;

[0047] When the second power shaft 7131 and the first power shaft 7130 change speed relative to each other, that is, when gravity acts as an assist or resistance to the blades, the speed of the wind turbine blades 811 changes at a set position, and the first power shaft 7130 where the auxiliary motor 7113 is located is controlled and set to follow and adjust to meet the operating conditions of the differential drive assembly, that is, the two spur gears 7118 are always engaged with each other, thereby effectively utilizing gravity;

[0048] In the event of a shutdown caused by a fault, a harsh environment, or a speed change that exceeds the set situation, the original balance will be broken. For example, when the extension shaft 611 rotates at high speed, its corresponding worm body 7119 drives its worm wheel body 7115 to rotate. Since the two spur gears 7118 are meshed with each other, the spur gears 7118 drive the lower worm wheel body 7115 to rotate. When the lower worm wheel body 7115 is unable to drive the first power shaft 7130 where the lower worm body 7119 is located to rotate, the power is blocked. At this time, the overall connecting frame 7112, differential drive assembly and second power shaft 7131 use the first power shaft 7130 where the auxiliary motor 7113 is located as power output to ensure normal operation.

[0049] Example 2

[0050] As another embodiment of the present invention, the planetary gear assembly includes an extension shaft 611, the top of the second power shaft 7131 is fixedly connected to the bottom of the extension shaft 611, and is used to drive the extension shaft 611 to rotate, and a connecting rod 216 fixed to the mounting seat 112 in a ring-shaped distribution, a fixed gear ring 218 is fixed on the connecting rod 216, and the top of the extension shaft 611 passes through the fixed gear ring 218 and is fixedly installed with a mounting frame 214 through a mounting cap 217, a plurality of gears 215 are distributed in a ring around the mounting frame 214, each gear 215 is meshed with the fixed gear ring 218 for transmission, and an inner gear ring 213 is arranged on the inner wall of the assembly sleeve 211, and each gear 215 is meshed with the inner gear ring 213 for transmission, and is used to drive the assembly sleeve 211 where the inner gear ring 213 is located to rotate, thereby realizing pitch change of the wind turbine blade 811.

[0051] In this embodiment, if Figure 1 , 5 As shown in FIG6 , the fixed gear ring 218 is fixed and arranged on the inner wall of the mounting seat 112. When the extension shaft 611 rotates to drive the mounting frame 214 to rotate, each gear 215 rotates around the fixed gear ring 218 while rotating. Due to the meshing transmission between the inner gear ring 213 and the gear 215, the assembly sleeve 211 is driven to rotate stably and efficiently, thereby driving the wind turbine blade 811 to change the pitch.

[0052] Example 3

[0053] As another embodiment of the present invention, a point sensing structure 311 is further provided on the support frame 3115, and the pitch position of the corresponding wind turbine blade 811 at different angles is displayed by the pressure change of the point sensing structure 311; the point sensing structure 311 includes a mounting frame 3116, the mounting frame 3116 is mounted on the support frame 3115 with left and right limit positions, and a cam 3117 fixed to the outer wall of the extension shaft 611, the cam 3117 is arranged inside the mounting frame 3116 and is limited thereto, and a transmission sleeve fixed on the extension shaft 611 3111, the outer wall of the transmission sleeve 3111 is connected to the limiting step 3112 at both ends; the installation frame 3116 is vertically installed with a telescopic and movable transmission rod 3113 through an extension rod, and a limiting rod 3114 is set at the end of the transmission rod 3113 close to the transmission sleeve 3111, and the limiting rod 3114 is installed with the limiting step 3112, as well as an induction circuit board 3118 fixed on the side wall of the support frame 3115, and a pressure sensor is set at the end of the transmission rod 3113 away from the limiting rod 3114 and acts on the induction circuit board 3118.

[0054] Furthermore, it also includes a rear cabin 1011, which is rotatably connected to the front cabin 111, and a driving system arranged inside the rear cabin 1011, which is used to drive the front cabin 111 and the wind turbine blades 811 to rotate. An angle sensor is provided at the connection between the rear cabin 1011 and the front cabin 111, which is used to sense the rotation angle of the front cabin 111 in real time.

[0055] Furthermore, it also includes a central processing unit arranged inside the rear cabin 1011, which is used to record the value changes of the pressure sensor of the lower limit rod 3114 corresponding to the angle sensor value in real time.

[0056] In this embodiment, as other implementations of the present invention, Figure 1 and 4 As shown, a point sensing structure 311 is further provided on the extension shaft 611. Under this structure, the rotation of the extension shaft 611 can drive the transmission sleeve 3111 to rotate. Under the limiting action of the limiting step 3112 and the limiting rod 3114, the transmission rod 3113 can be driven to move up and down relative to the sensing circuit board 3118, so that the pressure at its end changes. The extension shaft 611 drives the cam 3117 to rotate. Since the cam 3117 can move within the installation frame 3116, the installation frame 3116 is forced to move back and forth left and right, so that the pressure sensor at the end of the transmission rod 3113 moves horizontally at different positions of the sensing circuit board 3118, forming different pressure values ​​at different positions, as shown in FIG. Fig.11 An angle sensor is further provided at the connection between the rear cabin 1011 and the front cabin 111, so that the corresponding pitch state of the wind turbine blade 811 can be obtained visually when the front cabin 111 rotates at different angles.

[0057] A control method for a variable pitch system is applied to the control device based on the variable pitch system, and the control method comprises:

[0058] S1: By setting a differential drive assembly, the differential drive assembly serves as an intermediate link connecting the first power shaft 7130 and the second power shaft 7131;

[0059] S2: When the auxiliary motor 7113 is not working, there is no speed difference between the second power shaft 7131 and the first power shaft 7130, that is, the wind turbine blade 811 is powered by the moving gear assembly, and the corresponding driving motor 7120 works to drive the driving wheel 7121 to rotate, and drives the driven power ring gear 7111 to rotate, so that the extension shaft 611, the driven power ring gear 7111, the connecting frame 7112 and the first power shaft 7130 rotate as a whole;

[0060] S3: When the front cabin 111 rotates relative to the rear cabin 1011, when the wind turbine blades 811 act as resistance or assistance due to gravity at different positions, the second power shaft 7131 undergoes adaptive speed changes. At this time, the auxiliary motor 7113 drives the first power shaft 7130 to rotate to adapt to and adjust the speed change of the second power shaft 7131 to achieve stable operation;

[0061] S4: In the event of a shutdown caused by a fault, a harsh environment, or a speed change that exceeds the set situation, the original balance will be broken. When the wind turbine blade 811 drives the second power shaft 7131 where the extension shaft 611 is located to change abnormally, the rotation of the first power shaft 7130 cannot adapt to it, and its corresponding worm body 7119 drives its worm wheel body 7115 to rotate. Since the two spur gears 7118 are engaged with each other, the spur gears 7118 drive the lower worm wheel body 7115 to rotate. When the lower worm wheel body 7115 cannot drive the first power shaft 7130 where the lower worm body 7119 is located to rotate, the abnormal power is blocked, and the abnormal operation of the wind turbine blade 811 is restricted.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. There are many ways of detachable installation, for example, it can be through the method of plug-in and snap-on matching, and for example, through the method of bolt connection, etc.

[0063] The above clearly and completely describes the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation.

[0064] The specific description of the present invention in the above embodiments is only used to further illustrate the present invention and cannot be understood as limiting the scope of protection of the present invention. Technical engineers in this field may make some non-essential improvements and adjustments to the present invention based on the contents of the above invention, which fall within the scope of protection of the present invention.

Claims

1. A control device based on a pitch control system, characterized in that: include: A front cabin (111), three groups of mounting seats (112) arranged on the front cabin (111), each group of the mounting seats (112) being provided with a planetary gear assembly and an assembly sleeve (211) mounted with the planetary gear assembly, the assembly sleeve (211) being used to connect the head of a wind turbine blade (811); and also comprising three groups of differential drive assemblies arranged on the inner wall of the front cabin (111), each group of the differential drive assemblies being placed under a corresponding planetary gear assembly and used to drive the same; Each group of the differential drive components comprises a support frame (3115) fixed on the front cabin (111), and a second power shaft (7131) rotatably connected to the support frame (3115), and also comprises a driven power ring gear (7111), and a connecting frame (7112) mounted on the driven power ring gear (7111), and a worm gear transmission assembly is arranged on the connecting frame (7112); An auxiliary motor (7113) is arranged at the end of the driven power ring gear (7111) away from the driven power ring gear (7111), and a first power shaft (7130) is arranged at the output shaft end of the auxiliary motor (7113), and the opposite ends of the first power shaft (7130) and the second power shaft (7131) respectively penetrate the driven power ring gear (7111), the connecting frame (7112), and are connected to the worm gear transmission assembly; And a moving gear assembly arranged on the inner wall of the front cabin (111) is used to drive the driven power ring gear (7111) to rotate.

2. The control device based on the pitch system according to claim 1, characterized in that: The worm gear transmission assembly includes three groups of turbine assemblies arranged in a ring shape on a connecting frame (7112), each group of turbine assemblies includes two rotatable installation shafts (7116) distributed up and down, a worm wheel body (7115) is installed in the middle of the two installation shafts (7116), and spur gears (7118) are arranged at both ends of the two installation shafts (7116) and meshing with each other; it also includes two worm main bodies (7119) respectively arranged at the opposite ends of the second power shaft (7131) and the first power shaft (7130), and each of the worm main bodies (7119) is meshed with the corresponding worm wheel body (7115) for transmission.

3. The control device based on the pitch system according to claim 1, characterized in that: The moving gear assembly comprises a mounting plate (7123) fixed on the inner wall of the front cabin (111), and a driving motor (7120) fixed on the mounting plate (7123), wherein the output shaft of the driving motor (7120) is connected to a driving wheel (7121) meshing with a driven power ring gear (7111).

4. The control device based on the pitch system according to claim 1, characterized in that: The planetary gear assembly comprises an extension shaft (611), the top of the second power shaft (7131) is fixedly connected to the bottom of the extension shaft (611) for driving the extension shaft (611) to rotate, and a connecting rod (216) fixed to the mounting seat (112) and distributed in an annular shape, a fixed gear ring (218) being fixed on the connecting rod (216), and the top of the extension shaft (611) passes through the fixed gear ring (218) and is fixedly mounted with a mounting frame (214) through a mounting cap (217); A plurality of gears (215) are distributed in an annular pattern around the mounting frame (214), each of the gears (215) meshing with a fixed gear ring (218) for transmission, and an inner gear ring (213) arranged on the inner wall of the assembly sleeve (211), and each of the gears (215) meshing with the inner gear ring (213) for transmission, so as to drive the assembly sleeve (211) where the inner gear ring (213) is located to rotate, thereby realizing pitch change of the wind turbine blade (811).

5. The control device based on the pitch system according to claim 4, characterized in that: The support frame (3115) is also provided with a point position sensing structure (311), and the variable pitch position of the corresponding wind turbine blade (811) at different angles is displayed through the pressure change of the point position sensing structure (311); The point position sensing structure (311) comprises a mounting frame (3116), the mounting frame (3116) being mounted on a support frame (3115) with left and right limit positions, a cam (3117) fixed to an outer wall of the extension shaft (611), the cam (3117) being arranged inside the mounting frame (3116) and limited therewith, and a transmission sleeve (3111) fixed on the extension shaft (611), the outer wall of the transmission sleeve (3111) being connected at both ends with a limit step (3112); The installation frame (3116) is vertically installed with a telescopically movable transmission rod (3113) through an extension rod, a limit rod (3114) is arranged at the end of the transmission rod (3113) close to the transmission sleeve (3111), the limit rod (3114) is installed with a limit step (3112), and a sensing circuit board (3118) is fixed on the side wall of the support frame (3115), and a pressure sensor is arranged at the end of the transmission rod (3113) away from the limit rod (3114) and acts on the sensing circuit board (3118).

6. The control device based on the pitch system according to claim 1, characterized in that: The invention also comprises a rear cabin (1011), the rear cabin (1011) being rotatably connected to the front cabin (111), and a driving system arranged inside the rear cabin (1011) for driving the front cabin (111) and the wind turbine blades (811) to rotate. An angle sensor is arranged at the connection between the rear cabin (1011) and the front cabin (111) for sensing the rotation angle of the front cabin (111) in real time.

7. The control device based on the pitch system according to claim 6, characterized in that: It also includes a central processing unit arranged inside the rear cabin (1011) and used for recording in real time the value change of the pressure sensor of the lower limit rod (3114) corresponding to the angle sensor value.

8. A control method for a pitch system, applied to the control device based on the pitch system according to claims 1 to 7, characterized in that: The control method comprises: S1: By setting a differential drive assembly, the differential drive assembly serves as an intermediate link connecting the first power shaft (7130) and the second power shaft (7131); S2: When the auxiliary motor (7113) is not working, there is no speed difference between the second power shaft (7131) and the first power shaft (7130), that is, the wind turbine blade (811) is powered by the driven gear assembly, and the corresponding drive motor (7120) works to drive the driving wheel (7121) to rotate, and drives the driven power ring gear (7111) to rotate, so that the extension shaft (611), the driven power ring gear (7111), the connecting frame (7112) and the first power shaft (7130) rotate as a whole; S3: When the front cabin (111) rotates relative to the rear cabin (1011), when the wind turbine blades (811) act as resistance or assistance at different positions, the second power shaft (7131) undergoes adaptive speed changes. At this time, the auxiliary motor (7113) drives the first power shaft (7130) to rotate to adapt to and adjust the speed change of the second power shaft (7131) to achieve stable operation; S4: When the machine is shut down due to a fault, in a harsh environment, or when the speed changes exceed the set conditions, the original balance will be broken. When the wind turbine blades (811) drive the second power shaft (7131) where the extension shaft (611) is located to change abnormally, the rotation of the first power shaft (7130) cannot adapt to it, and its corresponding worm body (7119) drives its worm wheel body (7115) to rotate. Since the two spur gears (7118) are meshed with each other, the spur gears (7118) drive the lower worm wheel body (7115) to rotate. When the lower worm wheel body (7115) cannot drive the first power shaft (7130) where the lower worm body (7119) is located to rotate, the abnormal power is blocked, and the abnormal operation of the wind turbine blades (811) is restricted.

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