Control method and controller of multi-shaft driving variable pitch system

Abstract

The invention provides a control method and a controller of a multi-shaft drive variable pitch system. The multi-shaft driving variable-pitch system comprises a plurality of variable-pitch motors which are arranged in pairs and used for controlling variable pitch of a single blade, and the variable-pitch motors comprise the first variable-pitch motor and the second variable-pitch motor. The control method comprises the following steps: acquiring a first cross coupling compensation value according to a first speed feedback value of a first variable-pitch motor and a second speed feedback value of a second variable-pitch motor; and on the basis of the given rotating speed and the first cross coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are sequentially carried out on the first variable-pitch motor and the second variable-pitch motor, so that the rotating speed of the first variable-pitch motor and the rotating speed of the second variable-pitch motor are synchronously controlled, when the rotating speed of the first variable-pitch motor and the rotating speed of the second variable-pitch motor are synchronously controlled, the integral term of speed-based closed-loop control of the first variable-pitch motor is superposed to the input end of torque-based closed-loop control of the second variable-pitch motor.

Description

Technical Field

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

[0002] The synchronization of multi-axis drive motors mainly includes the synchronization of controlled variables such as speed, position, and torque. There are three different interpretations of "synchronization": (1) complete synchronization, that is, keeping the controlled variables of all motors in the synchronization system completely consistent; (2) proportional synchronization, that is, keeping the controlled variables of all motors in the synchronization system in a certain proportional relationship; (3) differential synchronization, that is, keeping the controlled variables of all motors in the synchronization system in a constant differential relationship. The synchronization strategy can be divided into mechanical synchronization and electrical synchronization. Mechanical synchronization is to achieve the synchronization of controlled variables through mechanical devices such as shafts, chains, gears, and cams. Based on different control structures, the electrical synchronization control strategies mainly include parallel synchronization control, master-slave synchronization control, virtual spindle synchronization control, cross-coupling synchronization control, and deviation coupling synchronization control.

[0003] At present, the existing multi-axis drive pitch control system mainly uses parallel synchronous control, master-slave synchronous control and cross-coupling synchronous control of dual-axis synchronous drive. The existing AC motor multi-axis drive technology for electric pitch control is generally parallel synchronization or master-slave synchronization. Parallel synchronous control is also called master reference synchronous control. Multiple actuators that need to be synchronously controlled track the same set ideal input and are controlled separately to achieve synchronous drive.

[0004] The shortcomings of this control method are: each motor is controlled separately, there is no coupling or communication between them, the disturbance of the motor will not be fed back to other motors, the synchronization accuracy and anti-disturbance of the system are not ideal, and it cannot meet the requirements of dual-axis synchronous pitch control. In addition, if one of the axes is disturbed, the resulting synchronization error can only be reduced by adjusting the axis itself, and the other axes will not respond to it. Summary of the invention

[0005] In order to at least solve the above problems in the prior art, the present disclosure provides a control method and a controller for a multi-axis drive pitch system.

[0006] One of the objectives of the present disclosure is to provide a control method for a multi-axis drive pitch system that can improve control delay and anti-interference capabilities.

[0007] According to a first aspect of the present disclosure, a control method for a multi-axis drive pitch system is provided, the multi-axis drive pitch system comprising a plurality of pitch motors arranged in pairs for controlling the pitch of a single blade, the plurality of pitch motors comprising a first pitch motor and a second pitch motor, the control method comprising: obtaining a first cross-coupling compensation value according to a first speed feedback value of the first pitch motor and a second speed feedback value of the second pitch motor; performing speed-based closed-loop control and torque-based closed-loop control on the first pitch motor and the second pitch motor in sequence based on a given speed and the first cross-coupling compensation value, so as to synchronously control the speeds of the first pitch motor and the second pitch motor, wherein, when synchronously controlling the speeds of the first pitch motor and the second pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the second pitch motor.

[0008] According to an embodiment of the present disclosure, the multiple pitch motors also include a third pitch motor and a fourth pitch motor, and the control method may further include: obtaining a second cross-coupling compensation value based on a third speed feedback value of the third pitch motor and a fourth speed feedback value of the fourth pitch motor; performing speed-based closed-loop control and torque-based closed-loop control on the third pitch motor and the fourth pitch motor in sequence based on a given speed and a second cross-coupling compensation value, so as to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, wherein, when synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor and the input end of the torque-based closed-loop control of the fourth pitch motor, respectively.

[0009] According to an embodiment of the present disclosure, the speed-based closed-loop control of the first pitch motor may include proportional-integral control, and the speed-based closed-loop control of each of the second pitch motor, the third pitch motor, and the fourth pitch motor may include proportional control.

[0010] According to an embodiment of the present disclosure, the torque-based closed-loop control of each of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor may include proportional-integral control.

[0011] According to an embodiment of the present disclosure, the step of obtaining a first cross-coupling compensation value based on the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor may include: performing proportional-integral adjustment on the difference between the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor to obtain the first cross-coupling compensation value, and the step of obtaining a second cross-coupling compensation value based on the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor may include: performing proportional-integral adjustment on the difference between the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor to obtain the second cross-coupling compensation value.

[0012] According to an embodiment of the present disclosure, based on a given speed and a first cross-coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are performed on the first pitch motor and the second pitch motor in sequence, respectively, to synchronously control the speeds of the first pitch motor and the second pitch motor, and the step may include: performing proportional-integral adjustment on the difference between the given speed and the sum of the first speed feedback value of the first pitch motor and the first cross-coupling compensation value to obtain a first torque value; performing proportional-integral adjustment based on the difference between the first torque value and the torque feedback value of the first pitch motor to obtain a first control current of the first pitch motor; performing proportional-integral adjustment on the difference between the sum of the given speed and the first cross-coupling compensation value and the second speed feedback value of the second pitch motor to obtain a second torque value; performing proportional-integral adjustment on the difference between the sum of the second torque value and the integral term and the torque feedback value of the second pitch motor to obtain a second control current of the second pitch motor.

[0013] According to an embodiment of the present disclosure, the third pitch motor and the fourth pitch motor are sequentially subjected to speed-based closed-loop control and torque-based closed-loop control based on a given speed and a second cross-coupling compensation value, respectively, to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the steps of: performing proportional-integral adjustment on the difference between the given speed and the sum of the third speed feedback value and the second cross-coupling compensation value of the third pitch motor to obtain a third torque value; performing proportional-integral adjustment on the difference between the sum of the third torque value and the integral term and the torque feedback value of the third pitch motor to obtain a third control current of the third pitch motor; performing proportional-integral adjustment on the difference between the sum of the given speed and the second cross-coupling compensation value and the fourth speed feedback value of the fourth pitch motor to obtain a fourth torque value; performing proportional-integral adjustment on the difference between the sum of the fourth torque value and the integral term and the torque feedback value of the fourth pitch motor to obtain a fourth control current of the fourth pitch motor.

[0014] According to a second aspect of the present disclosure, a control method for a multi-axis drive pitch system is provided, the multi-axis drive pitch system comprising a plurality of pitch motors arranged in pairs for controlling the pitch of a single blade, the plurality of pitch motors comprising a first pitch motor, a second pitch motor, a third pitch motor and a fourth pitch motor, the control method comprising: obtaining a first cross-coupling compensation value according to a first speed feedback value of the first pitch motor and a second speed feedback value of the second pitch motor; obtaining a second cross-coupling compensation value according to a third speed feedback value of the third pitch motor and a fourth speed feedback value of the fourth pitch motor; and performing speed-based closed-loop control on the first pitch motor and the second pitch motor in sequence based on a given speed and the first cross-coupling compensation value. Control and torque-based closed-loop control are performed, and based on the given speed and the second cross-coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are performed on the third pitch motor and the fourth pitch motor in turn, so as to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, wherein, when synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor, and the integral term of the speed-based closed-loop control of the second pitch motor is superimposed on the input end of the torque-based closed-loop control of the fourth pitch motor.

[0015] According to a third 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 fourth aspect of the present disclosure, a controller for a multi-axis drive pitch system is provided, the controller comprising a processor and a memory, the memory storing programs or instructions, and the above-mentioned control method is executed when the programs or instructions are executed by the processor.

[0017] According to the control method and controller of the multi-axis drive pitch system of the embodiment of the present disclosure, the number of axes of the multi-axis drive pitch system can be expanded to 4 axes, 6 axes, 2n (n is a positive integer greater than or equal to 4), etc., instead of being limited to dual-axis drive. At the same time, the interactivity between the axes of the multi-axis drive pitch system is enhanced, and the synchronization performance of the multi-axis drive pitch system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a control principle block diagram showing master-slave synchronous control;

[0019] Figure 2 is a flow chart showing a control method of a multi-axis drive pitch system according to a first embodiment of the present disclosure;

[0020] Figure 3is a control principle block diagram showing a master-slave forced integral control according to an embodiment of the present disclosure;

[0021] Figure 4 is a flow chart showing a control method of a multi-axis drive pitch system according to a second embodiment of the present disclosure;

[0022] Figure 5 is a control principle block diagram showing master-slave forced integration and cross-coupling control according to a first embodiment of the present disclosure;

[0023] Figure 6 is a control principle block diagram showing master-slave forced integration and cross-coupling control according to a second embodiment of the present disclosure;

[0024] Figure 7 is a flow chart showing a control method of a multi-axis drive pitch system according to a third embodiment of the present disclosure;

[0025] Figure 8 is a flow chart showing a control method of a multi-axis drive pitch system according to a fourth embodiment of the present disclosure;

[0026] Fig. 9 Detailed description is a flow chart showing a control method of a multi-axis drive pitch system according to a fifth embodiment of the present disclosure.

[0027] 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

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Master-slave integral forcing: Taking dual-axis synchronous drive as an example, the integral component of the active axis speed controller is coupled to the input end of the driven axis torque controller, that is, the control component of the active axis is used to control the driven axis.

[0032] Cross-coupling synchronous control: Multiple actuators that need to be synchronously controlled track the same set ideal input, and at the same time, the synchronization error between the outputs of each actuator is considered in each actuator control channel to achieve synchronous drive.

[0033] Speed ​​control: A control method that uses the deviation between the given speed and the real-time feedback speed for feedback control.

[0034] Torque deviation: Taking dual-axis synchronous drive as an example, the deviation between the real-time torque of the active shaft and the real-time torque of the driven shaft.

[0035] PID (Proportional Integral Differential) control: The proportion (P), integral (I), and differential (D) of the deviation between the given value and the actual output value are linearly combined to form a control quantity to control the controlled object. PI control means that the differential term in PID control is zero.

[0036] The multi-axis drive pitch system generally includes a pitch controller, a pitch drive, a pitch motor, a pitch reducer and a pitch bearing. The pitch controller can control the pitch drive to control the blade to move to a specified position. The pitch drive can feed back the pitch position of a single blade to the pitch controller, and feed back to the pitch controller whether the single blade has reached the specified position. The pitch drive can output control signals such as voltage signals, current signals, and brake signals to the pitch motor to control the pitch motor. The pitch motor drives the pitch reducer, and the pitch reducer drives the pitch bearing through a toothed belt, thereby controlling the rotation of a single blade to a specified position.

[0037] The multi-axis drive pitch system according to an embodiment of the present disclosure includes a plurality of pitch motors arranged in pairs for controlling the pitch of a single blade, and the plurality of pitch motors include a first pitch motor and a second pitch motor. As an example, the plurality of pitch motors may also include a third pitch motor and a fourth pitch motor. The number of pitch motors for controlling the pitch of a single blade is not subject to a specific setting, but the number may be 2n, where n is a positive integer greater than or equal to 1.

[0038] Figure 1 is a control block diagram showing master-slave type synchronous control.

[0039] The characteristic of master-slave synchronous control is to use the existing differences between the objects to allow the high-response speed system to track the active end as the slave end to achieve the purpose of master-slave motion. However, if a disturbance occurs to a certain axis during the operation of the system, although its following error can still be minimized through the control strategy, due to the lack of coupling between the axes, the synchronization error formed after the combination of the axes is not necessarily the smallest. There is only a one-way connection between the master motor and any slave motor, and the slave motors are independent of each other, so the anti-interference ability of the system is not ideal. The synchronization performance of master-slave synchronization mainly depends on the ability of the slave motor to follow the master motor, but there is an irremovable delay from the master motor to the slave motor. Therefore, in theory, master-slave synchronization does not take into account the synchronization error after the combination of the axes very well, and the synchronization control behavior is one-way, which is difficult to meet the needs of dual-axis synchronous pitch control.

[0040] like Figure 1 As shown, based on a given speed, multiple pitch motors are sequentially subjected to speed-based closed-loop control (implemented by a speed controller) and torque-based closed-loop control (implemented by a torque controller) to synchronously control the speeds of the multiple pitch motors. The given speed of each pitch motor may be the same. For ease of description, only speed-based and torque-based closed-loop controls are shown in the accompanying drawings, but the outer loop may also include position-based closed-loop control, that is, the multi-axis drive pitch according to an embodiment of the present disclosure may also be a torque-speed-position three-loop control system from the inside to the outside.

[0041] Figure 2 is a flow chart showing a control method of a multi-axis drive pitch system according to a first embodiment of the present disclosure; Figure 3 is a control principle block diagram showing a master-slave forced integral control according to an embodiment of the present disclosure; Figure 4 is a flow chart showing a control method of a multi-axis drive pitch system according to a second embodiment of the present disclosure; Figure 5 is a control principle block diagram showing master-slave forced integration and cross-coupling control according to a first embodiment of the present disclosure; Figure 6 is a control principle block diagram showing master-slave forced integration and cross-coupling control according to a second embodiment of the present disclosure; Figure 7is a flow chart showing a control method of a multi-axis drive pitch system according to a third embodiment of the present disclosure; Figure 8 is a flow chart showing a control method of a multi-axis drive pitch system according to a fourth embodiment of the present disclosure; Fig. 9 Detailed description is a flow chart showing a control method of a multi-axis drive pitch system according to a fifth embodiment of the present disclosure.

[0042] Reference Figure 2 According to the first embodiment of the present disclosure, the control method of the multi-axis drive pitch system may include step S210 and step S220.

[0043] In step S210, a first cross-coupling compensation value is acquired according to a first speed feedback value of the first pitch motor and a second speed feedback value of the second pitch motor.

[0044] The step S210 of acquiring the first cross-coupling compensation value according to the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor may include: performing proportional integral (PI) adjustment on the difference between the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor to obtain the first cross-coupling compensation value. The speed feedback value may be obtained through a corresponding speed sensor. As an example, the speed feedback value may be obtained through a resolver. In addition, in addition to the speed (angular velocity), the angular position of the motor may also be obtained through a resolver.

[0045] As an example, the difference between the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor can be input into a cross-coupling controller (PI controller), and the cross-coupling controller can determine the first cross-coupling compensation value that minimizes the speed difference between the two through a proportional integral algorithm. Here, the first pitch motor can be a master motor, and the second pitch motor can be a slave motor, and both the master motor and the slave motor can be set by software.

[0046] In step S220, based on the given speed and the first cross-coupling compensation value, the first pitch motor and the second pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor and the second pitch motor. When synchronously controlling the speeds of the first pitch motor and the second pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the second pitch motor. The given speed may be an output value of the outer loop position controller.

[0047] As mentioned above, speed can be fed back via a resolver. Although not shown, torque can be fed back via a Hall sensor.

[0048] Reference Figure 3For the active shaft (corresponding to the first pitch motor), the difference between the given speed and the feedback speed is input to the first speed controller (active shaft speed controller), the integral component or integral term of the first speed controller is superimposed on the input end of the second torque controller, the first speed controller outputs a torque reference value, the difference between the torque reference value and the feedback torque is input to the first torque controller, and the first torque controller performs PI adjustment on it to obtain the first control current. For the convenience of description, Figure 3 A cross-coupling controller is not shown, but will be described in detail later in conjunction with the control of the cross-coupling compensation value.

[0049] In addition to the input of the second torque controller, the control method of the driven shaft is similar to that of the driving shaft. The difference between the given speed and the feedback speed is input to the second speed controller (driven shaft speed controller), and the second speed controller outputs a torque reference value. The difference between the sum of the torque reference value and the integral term of the first speed controller and the feedback torque is input to the second torque controller, and the second torque controller performs PI regulation on it to obtain a second control current. Feedback on the torque can be performed on the output side of the power part (motor power converter). Both the first power part and the second power part can be power converters.

[0050] Furthermore, the first speed controller may include a proportional-integral controller, and the second speed controller may include a proportional controller, thereby making them have a faster response speed.

[0051] Reference Figure 7 Based on a given speed and a first cross-coupling compensation value, the first pitch motor and the second pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor and the second pitch motor. The steps may include step S221, step S222, step S223 and step S224.

[0052] In step S221, proportional-integral regulation is performed on the difference between the given rotational speed and the sum of the first speed feedback value and the first cross-coupling compensation value of the first pitch motor to obtain a first torque value.

[0053] Reference Figure 5 The difference between the given speed and the sum of the first speed feedback value of the first pitch motor and the first cross-coupling compensation value is input to the first speed controller (proportional-integral speed controller of the active shaft). The first speed controller performs proportional-integral adjustment on the input to obtain a torque reference value (i.e., a first torque value).

[0054] In step S222, proportional-integral adjustment is performed based on the difference between the first torque value and the torque feedback value of the first variable pitch motor to obtain a first control current of the first variable pitch motor.

[0055] Reference Figure 5 The difference between the first torque value and the torque feedback value of the first pitch motor is input to the first torque controller (proportional integral torque controller of the active shaft), and the first torque controller outputs the corresponding control current.

[0056] In step S223, proportional-integral adjustment is performed on the difference between the sum of the given rotational speed and the first cross-coupling compensation value and the second speed feedback value of the second pitch motor to obtain a second torque value.

[0057] Reference Figure 5 The difference between the given speed and the sum of the second speed feedback value of the second pitch motor and the first cross-coupling compensation value is input to the second speed controller (proportional-integral speed controller of the driven shaft). The second speed controller performs proportional-integral adjustment on the input to obtain a torque reference value (i.e., a second torque value).

[0058] In step S224, proportional-integral adjustment is performed on the difference between the sum of the second torque value and the integral term and the torque feedback value of the second pitch motor to obtain a second control current of the second pitch motor.

[0059] Reference Figure 5 The difference between the second torque value and the torque feedback value of the second variable pitch motor, plus the integral term output by the first speed controller, is input into the second torque controller (proportional integral torque controller of the active shaft), and the second torque controller outputs the corresponding control current.

[0060] When the multi-axis drive pitch system also includes a third pitch motor and a fourth pitch motor for controlling the same blade, the third pitch motor and the fourth pitch motor can also be controlled in a similar manner, for example, the integral term of the first speed controller is superimposed on the input of the third torque controller and the input of the fourth torque controller. As an example, the integral term of the first speed controller can be superimposed on the input of the third torque controller, and the integral term of the second speed controller can be superimposed on the input of the fourth torque controller. In addition, the third pitch motor and the fourth pitch motor can also be controlled by cross-coupling.

[0061] When the plurality of pitch motors further include a third pitch motor and a fourth pitch motor, refer to Figure 4 According to an embodiment of the present disclosure, the control method of the multi-axis drive pitch system also includes step S230 and step S240.

[0062] In step S230, a second cross-coupling compensation value is obtained according to a third speed feedback value of the third pitch motor and a fourth speed feedback value of the fourth pitch motor.

[0063] The step of obtaining the second cross-coupling compensation value according to the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor may include: performing proportional integral adjustment on the difference between the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor to obtain the second cross-coupling compensation value. Similar to the method of obtaining the first cross-coupling compensation value, the difference between the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor may be adjusted by proportional integral (PI) to obtain the second cross-coupling compensation value. As described above, the speed feedback value may be obtained by a corresponding speed sensor, and the speed feedback value may be obtained by a resolver. In addition, in addition to the speed (angular velocity), the angular position of the motor may also be obtained by a resolver.

[0064] For example, the difference between the third speed feedback value of the third pitch motor and the fourth speed feedback value of the fourth pitch motor can be input into a cross-coupling controller (PI controller), and the cross-coupling controller can determine the second cross-coupling compensation value that minimizes the speed difference between the two by a proportional integral algorithm. Here, the third pitch motor and the fourth pitch motor can both be slave motors of the first pitch motor. In addition, the third pitch motor can be a slave motor of the first pitch motor as the main motor, and the fourth pitch motor can be a slave motor of the second pitch motor. The master-slave relationship between the motors can be set by software and / or hardware (for example, a redundant switch). The master-slave relationship is a relative relationship, and a follow-up relationship may also exist between the second pitch motor, the third pitch motor, and the fourth pitch motor as slave motors of the first pitch motor.

[0065] In step S240, based on the given speed and the second cross-coupling compensation value, the third pitch motor and the fourth pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor. When synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor and the input end of the torque-based closed-loop control of the fourth pitch motor.

[0066] Reference Figure 8 , based on a given speed and a second cross-coupling compensation value, the third pitch motor and the fourth pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, which may include steps S241, S242, S243 and S244.

[0067] In step S241, proportional-integral adjustment is performed on the difference between the given rotational speed and the sum of the third speed feedback value of the third pitch motor and the second cross-coupling compensation value to obtain a third torque value.

[0068] Reference Figure 5 , the difference between the given speed and the sum of the third speed feedback value of the third pitch motor and the second cross-coupling compensation value is input to the third speed controller (proportional-integral speed controller of the driven shaft). The third speed controller performs proportional-integral adjustment on the input amount to obtain a torque reference value (i.e., the third torque value). As an example, the third speed controller may include a proportional controller, so that the third speed controller has a faster response speed.

[0069] In step S242, proportional-integral adjustment is performed on the difference between the sum of the third torque value and the integral term and the torque feedback value of the third variable pitch motor to obtain a third control current of the third variable pitch motor.

[0070] Reference Figure 5 The difference between the sum of the third torque value and the integral term of the first speed controller and the torque feedback value of the third variable pitch motor is input into the third torque controller (proportional integral torque controller of the driven shaft), and the third torque controller outputs the corresponding control current, which is converted by the third power part to obtain the third control current.

[0071] In step S243, proportional-integral adjustment is performed on the difference between the sum of the given rotational speed and the second cross-coupling compensation value and the fourth speed feedback value of the fourth pitch motor to obtain a fourth torque value.

[0072] Reference Figure 5 , the difference between the given speed and the sum of the fourth speed feedback value of the fourth pitch motor and the second cross-coupling compensation value is input to the fourth speed controller (proportional-integral speed controller of the driven shaft). The fourth speed controller performs proportional-integral adjustment on the input amount to obtain a torque reference value (i.e., a fourth torque value). As an example, the fourth speed controller may include a proportional controller, thereby having a faster response speed.

[0073] In step S244, proportional-integral adjustment is performed on the difference between the sum of the fourth torque value and the integral term and the torque feedback value of the fourth variable pitch motor to obtain a fourth control current of the fourth variable pitch motor.

[0074] Reference Figure 5 The difference between the sum of the fourth torque value and the integral term of the first speed controller and the torque feedback value of the fourth variable pitch motor is input into the fourth torque controller (proportional integral torque controller of the driven shaft), and the fourth torque controller outputs the corresponding control current, and the fourth control current is obtained after conversion by the fourth power part.

[0075] When the multiple pitch motors of the multi-axis drive pitch system also include a fifth pitch motor, a sixth pitch motor, etc., the integral term of the first speed controller can be superimposed on the input end of the fifth torque controller, the sixth torque controller, etc.

[0076] The speed-based closed-loop control of the first pitch motor may include proportional-integral control, and the speed-based closed-loop control of each of the second pitch motor, the third pitch motor, and the fourth pitch motor may include proportional control. The torque-based closed-loop control of each of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor may include proportional-integral control.

[0077] As mentioned above, the master-slave relationship of the motor is a relative relationship, and different master-slave relationships can be presented in different dimensions. Figure 5 and Figure 6 In the dimensions of N11, N12, N21, N22..., N11 is the active axis and N12 is the driven axis of N11. The two axes adopt a cross-coupling control method, and the torque deviation between N11 and N12 is coupled to the input of the speed controller of N11 and N12 through a cross-coupling controller. The control method of N21 and N22 is similar. In the dimensions of N1, N2..., N1 is the active axis and N2 is the driven axis. The master-slave forced integral method is used for coupling control. The integral component of the speed control of N11 is coupled to the input of the torque controller of N21, and the integral component of the speed control of N12 is coupled to the input of the torque controller of N22.

[0078] For details, please refer to Fig. 9 According to an embodiment of the present disclosure, the control method of the multi-axis drive pitch system may include step S910, step S920 and step S930.

[0079] In step S910, a first cross-coupling compensation value is acquired according to a first speed feedback value of the first pitch motor and a second speed feedback value of the second pitch motor.

[0080] In step S920, a second cross-coupling compensation value is obtained according to a third speed feedback value of the third pitch motor and a fourth speed feedback value of the fourth pitch motor.

[0081] The method for obtaining the first cross-coupling compensation value and the second cross-coupling compensation value is as described above, and will not be repeated here.

[0082] In step S930, based on the given speed and the first cross-coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are performed on the first pitch motor and the second pitch motor in sequence, respectively, and based on the given speed and the second cross-coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are performed on the third pitch motor and the fourth pitch motor in sequence, respectively, so as to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor. When synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor, and the integral term of the speed-based closed-loop control of the second pitch motor is superimposed on the input end of the torque-based closed-loop control of the fourth pitch motor.

[0083] Reference Figure 6 , the integral term of the first speed controller is superimposed on the input end of the third torque controller, and the integral term of the second speed controller is superimposed on the input end of the fourth torque controller. In addition, the control method of other speed controllers or torque controllers is similar to the control method of the corresponding controllers mentioned above, which will not be repeated here.

[0084] When the multiple pitch motors of the multi-axis drive pitch system also include a fifth pitch motor, a sixth pitch motor..., etc., the integral term of the first speed controller can be superimposed on the fifth torque controller, the seventh torque controller..., the 2m-1th torque controller, and the integral term of the second speed controller can be superimposed on the sixth torque controller, the eighth torque controller..., the 2mth torque controller, where m is a positive integer greater than or equal to 4.

[0085] The above has been referred to Figures 1 to 9 Control methods and systems 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.).

[0086] 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 9It is mentioned in the description of the related method, so it will not be repeated here to avoid repetition.

[0087] It should be noted that the control method according to the embodiment 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 functions.

[0088] On the other hand, when the various controllers shown in the accompanying drawings are 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.

[0089] 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.

[0090] According to an embodiment of the present disclosure, a controller of a multi-axis drive pitch system is provided, and the controller may include a processor and a memory, wherein the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the above control method is executed. The controller may be a control unit or a control module in the pitch drive, and each of the steps described above may be executed by the control unit or the control module in the pitch drive.

[0091] The control method and controller of the multi-axis drive pitch system according to the embodiments of the present disclosure can improve control delay and anti-interference capabilities.

[0092] According to the control method and controller of the multi-axis drive pitch system of the embodiment of the present disclosure, the number of axes of the multi-axis drive pitch system can be expanded to 4 axes, 6 axes, 2n (n is a positive integer greater than or equal to 4), etc., instead of being limited to dual-axis drive. At the same time, the interactivity between the axes of the multi-axis drive pitch system is enhanced, and the synchronization performance of the multi-axis drive pitch system is improved.

Claims

1. A control method for a multi-axis drive variable pitch system, It is characterized in that The multi-axis drive pitch system includes a plurality of pitch motors arranged in pairs for controlling the pitch of a single blade, the plurality of pitch motors including a first pitch motor and a second pitch motor, and the control method includes: Acquire a first cross-coupling compensation value according to a first speed feedback value of the first variable pitch motor and a second speed feedback value of the second variable pitch motor; Based on a given speed and the first cross-coupling compensation value, speed-based closed-loop control and torque-based closed-loop control are performed on the first pitch motor and the second pitch motor in sequence to synchronously control the speeds of the first pitch motor and the second pitch motor. Wherein, when synchronously controlling the rotational speeds of the first pitch motor and the second pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the second pitch motor.

2. The control method of the multi-axis drive pitch system according to claim 1, It is characterized in that The plurality of pitch motors further include a third pitch motor and a fourth pitch motor, and the control method further includes: Acquire a second cross-coupling compensation value according to a third speed feedback value of the third variable pitch motor and a fourth speed feedback value of the fourth variable pitch motor; Based on the given speed and the second cross-coupling compensation value, the third pitch motor and the fourth pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor, Among them, when synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor and the input end of the torque-based closed-loop control of the fourth pitch motor, respectively.

3. The control method of the multi-axis drive pitch system according to claim 2, It is characterized in that The speed-based closed-loop control of the first pitch motor includes proportional-integral control, and the speed-based closed-loop control of each of the second pitch motor, the third pitch motor, and the fourth pitch motor includes proportional control.

4. The control method of the multi-axis drive pitch system according to claim 3, It is characterized in that The torque-based closed-loop control of each of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor includes proportional-integral control.

5. The control method of the multi-axis drive pitch system according to claim 2, It is characterized in that The step of obtaining a first cross-coupling compensation value according to a first speed feedback value of the first pitch motor and a second speed feedback value of the second pitch motor comprises: performing proportional-integral adjustment on a difference between the first speed feedback value of the first pitch motor and the second speed feedback value of the second pitch motor to obtain the first cross-coupling compensation value; The step of obtaining a second cross-coupling compensation value according to the third speed feedback value of the third variable pitch motor and the fourth speed feedback value of the fourth variable pitch motor includes: performing proportional-integral adjustment on the difference between the third speed feedback value of the third variable pitch motor and the fourth speed feedback value of the fourth variable pitch motor to obtain the second cross-coupling compensation value.

6. The control method of the multi-axis drive pitch system according to claim 1, It is characterized in that The steps of sequentially performing speed-based closed-loop control and torque-based closed-loop control on the first pitch motor and the second pitch motor based on a given speed and the first cross-coupling compensation value to synchronously control the speeds of the first pitch motor and the second pitch motor include: Performing proportional-integral regulation on the difference between the given speed and the sum of the first speed feedback value of the first variable pitch motor and the first cross-coupling compensation value to obtain a first torque value; Performing proportional-integral regulation based on a difference between the first torque value and a torque feedback value of the first variable pitch motor to obtain a first control current of the first variable pitch motor; Performing proportional-integral adjustment on a difference between a sum of the given rotational speed and the first cross-coupling compensation value and a second speed feedback value of the second pitch motor to obtain a second torque value; Proportional-integral regulation is performed on the difference between the sum of the second torque value and the integral term and the torque feedback value of the second pitch motor to obtain a second control current of the second pitch motor.

7. The control method of the multi-axis drive pitch system according to claim 2, It is characterized in that The steps of sequentially performing speed-based closed-loop control and torque-based closed-loop control on the third pitch motor and the fourth pitch motor based on the given speed and the second cross-coupling compensation value to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor include: Performing proportional-integral adjustment on a difference between the given speed and a sum of a third speed feedback value of the third variable pitch motor and the second cross-coupling compensation value to obtain a third torque value; Performing proportional-integral adjustment on a difference between a sum of the third torque value and the integral term and a torque feedback value of the third variable pitch motor to obtain a third control current of the third variable pitch motor; Performing proportional-integral adjustment on a difference between a sum of the given rotational speed and the second cross-coupling compensation value and a fourth speed feedback value of the fourth variable pitch motor to obtain a fourth torque value; A proportional-integral adjustment is performed on the difference between the sum of the fourth torque value and the integral term and the torque feedback value of the fourth variable pitch motor to obtain a fourth control current of the fourth variable pitch motor.

8. A control method for a multi-axis drive variable pitch system, It is characterized in that The multi-axis drive pitch system includes a plurality of pitch motors arranged in pairs for controlling the pitch of a single blade, the plurality of pitch motors including a first pitch motor, a second pitch motor, a third pitch motor and a fourth pitch motor, and the control method includes: Acquire a first cross-coupling compensation value according to a first speed feedback value of the first variable pitch motor and a second speed feedback value of the second variable pitch motor; Acquire a second cross-coupling compensation value according to a third speed feedback value of the third variable pitch motor and a fourth speed feedback value of the fourth variable pitch motor; Based on a given speed and the first cross-coupling compensation value, the first pitch motor and the second pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence, and based on the given speed and the second cross-coupling compensation value, the third pitch motor and the fourth pitch motor are respectively subjected to speed-based closed-loop control and torque-based closed-loop control in sequence to synchronously control the speeds of the first pitch motor, the second pitch motor, the third pitch motor, and the fourth pitch motor, Among them, when synchronously controlling the speeds of the first pitch motor, the second pitch motor, the third pitch motor and the fourth pitch motor, the integral term of the speed-based closed-loop control of the first pitch motor is superimposed on the input end of the torque-based closed-loop control of the third pitch motor, and the integral term of the speed-based closed-loop control of the second pitch motor is superimposed on the input end of the torque-based closed-loop control of the fourth pitch motor.

9. A computer-readable storage medium, It is 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 controller for a multi-axis drive pitch system, It is characterized in that The controller includes a processor and a memory, wherein the memory 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 8 is executed.

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