Wind turbine generator distributed control system and method based on field bus master-slave configuration

Abstract

The invention discloses a wind turbine generator distributed control system and method based on field bus master-slave configuration. The system comprises a wind turbine generator master station controller, a cabin slave station controller, a transmission chain slave station controller, a variable pitch control system, a tower footing converter, a tower footing human-computer interface, a cabin human-computer interface and a field bus. The wind turbine generator master station controller is located on a wind turbine generator tower footing, is connected to the cabin field bus coupler from an optical port of the tower footing field bus coupler through an optical fiber, and is connected to the cabin slave station controller, the transmission chain slave station controller, the variable pitch control system and the cabin human-computer interface from a serial port of the cabin field bus coupler. And the tower footing converter and the tower footing man-machine interface are directly connected to a serial port of the master station field bus coupler through a field bus respectively. On the premise of guaranteeing the core technology intellectual property rights of main engine manufacturers and the safety performance of the whole machine, the non-core control function of the unit main control system is opened, and the problem of excessive dependence on the main engine manufacturers is effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of wind power generation, and particularly relates to a distributed control system and method for a wind turbine based on master-slave configuration of a fieldbus. Background Art

[0002] The control strategies, algorithms and program codes of the main control system of a wind turbine generator set have always been the primary key core technologies of the mainframe manufacturer and are not open to any wind farm or third-party operation and maintenance technicians. During the entire life cycle of the wind turbine generator set, it is not only inconvenient for the single-unit debugging of the unit subsystems and finding the causes of faults, but more importantly, any work such as function improvement, transformation, and upgrade is restricted by the mainframe manufacturer, seriously affecting the operation and maintenance of the wind turbine generator set. Summary of the Invention

[0003] Based on the above problems, the invention provides a distributed control system and method for a wind turbine based on master-slave configuration of a fieldbus. On the premise of protecting the core technology intellectual property rights of the mainframe manufacturer and the overall machine safety performance, the non-core control functions of the unit main control system are opened, effectively solving the over-dependence on the mainframe manufacturer.

[0004] In order to achieve the above object, the invention adopts the following technical solutions:

[0005] A distributed control system for a wind turbine based on master-slave configuration of a fieldbus includes a main controller of the wind turbine generator set, a nacelle slave controller, a drive train slave controller, a pitch control system, a tower base converter, a tower base human-machine interface, a nacelle human-machine interface and a fieldbus;

[0006] The main controller of the wind turbine generator set is located at the tower base of the wind turbine generator set, and is connected to the nacelle fieldbus coupler through the optical port of the fiber optic tower base fieldbus coupler, and then is respectively connected to the nacelle slave controller, the drive train slave controller, the pitch control system and the nacelle human-machine interface through the serial port of the nacelle fieldbus coupler; the tower base converter and the tower base human-machine interface are respectively directly connected to the serial port of the main station fieldbus coupler through the fieldbus.

[0007] A further improvement of the invention is that the main controller of the wind turbine generator set, the nacelle slave controller and the drive train slave controller are all embedded controllers, the operating system is a real-time Linux system, and the programming software is developed based on the Codesys programming environment, supporting IEC61131 and C language programming.

[0008] A further improvement of the invention is that the fieldbus protocol supports the use of CAN-bus, Profibus and EtherCAT standard industrial fieldbus protocols.

[0009] A further improvement of the present invention lies in that the main control program deployed inside the main station controller of the wind turbine is encrypted core code, which includes the aerodynamic model of the wind turbine and the torque-speed algorithm, the main state machine, the coordinated control with each slave station, as well as the data storage and recording functions, and can view and modify the state parameters of each subsystem remotely through the main controller or the human-machine interface at the tower base.

[0010] A further improvement of the present invention lies in that a standard serial communication cable is used from the nacelle field bus coupler to each slave station.

[0011] A further improvement of the present invention lies in that the nacelle slave station controller accesses wind speed, wind direction, voltage, current, rotational speed, oil pressure, oil temperature, ambient temperature, PCH, yaw counting signal acquisition, gearbox, generator cooling system, yaw control system, hydraulic station and main shaft, yaw mechanical brake system. The controller I / O interface is configured with digital quantity, analog quantity, and pulse counting modules and supports expansion. The corresponding control function algorithm program deployed internally is open-source code, and maintenance personnel can modify it after logging in according to their permissions, and optimize or transform the gearbox, generator cooling system, nacelle heating / cooling system, nacelle automatic fire protection system or yaw soft start system according to the operation requirements.

[0012] A further improvement of the present invention lies in that the drivetrain slave station controller is configured with digital quantity, analog quantity, and data acquisition modules and supports expansion, accesses the CMS condition monitoring system and lidar, reads the operation parameters of the nacelle controller, realizes online monitoring of blades, gearbox, generator, bolts and threshold overrun alarm, and transmits the alarm threshold to the main station controller of the tower base to realize drivetrain interlock protection shutdown.

[0013] A further improvement of the present invention lies in that the pitch control system includes a pitch driver, a pitch motor, a pitch backup power supply and a slave station field bus coupler, and realizes data interaction and control with the main control of the tower base main station through a pitch communication slip ring connected to the nacelle bus coupler; the pitch control system can also access the blade de-icing system and the blade lightning test system through the slave station field bus coupler according to the operation requirements.

[0014] A further improvement of the present invention lies in that the nacelle human-machine interface can log in according to permissions to view and modify the operation state parameters of each subsystem of the unit.

[0015] A distributed wind turbine control method for a wind turbine based on a field bus master-slave configuration includes:

[0016] Set the wind turbine to the debugging mode. After setting, the tower base main station controller and all slave station controllers exit the automatic power generation operation mode and conduct system single-body debugging as independent controllers respectively, directly read and write the I / O interface and drive the actuator without being affected by the main station controller; the debugging personnel can read the state parameters of all controllers of the unit through any position of the tower base human-machine interface or the nacelle human-machine interface.

[0017] In the debugging mode, the tower base human-machine interface is used as the operation interface to cooperate with the tower base master station controller and the converter for debugging. The debugging content includes the control of tower barrel lighting, ventilation and heat dissipation, the start / stop signal of the converter, torque setting, and the setting of protection thresholds for grid voltage and current signals. The nacelle human-machine interface is responsible for cooperating with the nacelle slave station controller, the drive train slave station controller, and the pitch control system for debugging.

[0018] After the debugging is completed, the debugging mode is exited through the permission setting of the tower base controller. After the software and hardware of all controllers are reset and initialized, the tower base master station controller and each slave station controller enter the standby state of the automatic power generation operation mode.

[0019] When the external acquisition signals of all slave station controllers received by the tower base master station controller meet the specified conditions, the startup state is set through the tower base human-machine interface or the nacelle human-machine interface. The control and operation parameter interaction are realized through bus communication and the clock synchronization is maintained. After the tower base master station controller controls the nacelle controller to perform wind yaw, a pitch command is sent to the pitch control system for control until the grid connection speed is reached, and a torque control command is sent to the converter, and finally the wind turbine enters the grid-connected power generation operation state. In the power generation operation state, the tower base controller coordinates and controls all slave station controllers, optimizes the power generation power, reduces the mechanical load borne by the unit, and maintains the optimal operation mode of the unit. When a fault trigger or parameter alarm occurs in the tower base master station controller or any one of the slave station controllers, it will cause a jump in the operation state, either quickly adjust the operation state of the unit or enter the shutdown state, and the main controller records the operation data according to the time stamp and generates a CSV file.

[0020] In the operation state, the tower base human-machine interface and the nacelle human-machine interface are used to view the operation parameters of each controller and perform normal shutdown.

[0021] Compared with the prior art, the present invention has at least the following beneficial technical effects:

[0022] The distributed control system and method for wind turbine based on fieldbus master-slave configuration provided by the present invention are directed at the current situation where the existing main control system of wind power, as the primary key core technology of the mainframe manufacturer, is encrypted into a "black box" and the source code is not open to the outside world. A distributed control system for wind turbines is developed based on fieldbus technology. This control system supports multiple slave stations to independently control the wind turbine subsystems. The program code other than the aerodynamic model, torque-speed algorithm, main state machine, coordinated control with each slave station, and data storage and recording functions of the main control system is deployed in the slave station controller in an open-source form. This not only retains the real-time performance of the coordinated control of the main control system of the wind turbine, but also makes it more convenient for static commissioning of the unit and troubleshooting. Especially when the wind turbine is carrying out adaptive function optimization, upgrading or transformation, the technical convenience and flexibility of this system are reflected, effectively solving the problem of excessive dependence on the mainframe manufacturer and reducing the operation and maintenance costs during the entire life cycle of the wind turbine. Brief Description of the Drawings

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a block diagram of the distributed control system for wind turbines based on fieldbus master-slave configuration. Detailed Embodiments

[0025] In the following text, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0026] In the description of the present invention, it should be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0027] It should also be further understood that the term " / and" as used in the specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0028] Various structural schematic diagrams according to the disclosed embodiments of the present invention are shown in the accompanying drawings. These drawings are not drawn to scale, in which for the purpose of clear expression, some details are enlarged and some details may be omitted. The shapes of various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art can design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0029] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Embodiment 1

[0031] The distributed control system of a wind turbine based on the master-slave configuration of the fieldbus provided by the present invention includes a main controller of the wind turbine, a slave controller of the nacelle, a slave controller of the drive train, a pitch control system, a converter at the tower base, a human-machine interface at the nacelle, a human-machine interface at the tower base, and a fieldbus.

[0032] The main controller of the wind turbine is located at the tower base of the wind turbine, and is connected to the fieldbus coupler at the nacelle through the optical port of the multi-mode optical fiber from the fieldbus coupler at the tower base, and then is respectively connected to the slave controller of the nacelle, the slave controller of the drive train, the pitch control system, and the human-machine interface at the nacelle through the serial port of the fieldbus coupler at the nacelle; the converter at the tower base and the human-machine interface at the tower base are respectively directly connected to the serial port of the main station fieldbus coupler through the fieldbus. The fieldbus protocol supports standard industrial fieldbus protocols such as CAN-bus, Profibus, EtherCAT, etc., and the communication rate ranges from 9.6 kbps to 12 Mbps according to the bus protocol. The special serial port communication cable of the fieldbus coupler at the nacelle uses a standard MPI / DP shielded cable, and the network connectors with programming interfaces at both ends of the cable facilitate technicians to access all control systems at any station. The bus terminal resistance switch on the network connector is turned to the "ON" position at the end of the node, one end is inserted into the 9-pin interface of the main station interface module of the fieldbus at the nacelle, and the other end is inserted into the 9-pin interface of each slave station bus coupler.

[0033] In this embodiment, for the distributed control system of the wind turbine based on the master-slave configuration of the fieldbus, the hardware configuration can be completed at the fieldbus coupler of any master / slave station node. If the CANopen and Profibus bus communication methods are adopted, the newly added variables need to be re-updated and mapped into the program code of the main controller of the wind turbine at the tower base; if the EtherCAT bus communication method is adopted, it has a hardware automatic scanning function to realize the direct expansion of the newly added system.

[0034] In this embodiment, both the master and slave station controllers are embedded controllers, the operating system is a real-time Linux system, and the programming software is developed based on the Codesys programming environment, supporting IEC61131 and C language programming. Among them, the main control program deployed inside the wind turbine master station controller is encrypted core code, which only includes functions such as the wind turbine aerodynamic model and torque-speed algorithm, the main state machine, coordinated control with each slave station, and data storage and recording, without deploying the control function program code of each subsystem of the wind turbine. The state parameters of each subsystem can be viewed and modified remotely through the main controller or the tower base human-machine interface, but modifying the program code of each subsystem is not allowed; the control program codes of the remaining nacelle slave station controller, drivetrain slave station controller, pitch control system, and tower base converter need to be written independently, and part of the program code is required to be open source.

[0035] In this embodiment, the nacelle slave station controller, drivetrain slave station controller, pitch control system, and nacelle human-machine interface are re-assigned IP addresses as independent slave stations; the I / O interfaces of the nacelle slave station controller and drivetrain slave station controller are configured with digital quantity, analog quantity, pulse counting modules, etc. and support expansion.

[0036] In this embodiment, each slave station controller can be connected to an online status monitoring system, a lidar blade de-icing system, and a blade lightning test system according to on-site requirements.

[0037] In this embodiment, when the hardware configuration of the fieldbus coupler at any master / slave station node is completed, if the CANopen and Profibus bus communication methods are adopted, the newly added variables need to be re-updated and mapped into the program code of the tower base wind turbine master station controller; if the EtherCAT bus communication method is adopted, it has a hardware automatic scanning function to achieve direct expansion of the newly added system.

[0038] The program code of the master station controller is encrypted core code, including the wind turbine aerodynamic model and torque-speed algorithm, the main state machine, and coordinated control with each slave station to call read / write instructions and global variables, and record operation data; the control program codes of the nacelle slave station controller, drivetrain slave station controller, pitch control system, and tower base converter are written independently, and the program code is open source; under normal operating conditions where the slave station controller is synchronized with the master controller in terms of clock, as a slave station, it independently controls its respective subsystems in a distributed control manner. In the shutdown static mode, it directly reads and writes the I / O interface and drives the actuator without being affected by the master station control, or can separately upgrade and optimize the program code; the tower base human-machine interface and the nacelle human-machine interface are also placed at the tower base and the nacelle as slave stations respectively, and are used as auxiliary means to remotely view and modify the state parameter records of each subsystem during the operation of the unit, and cooperate with the debugging of all slave station controllers in the shutdown static mode, but modifying the program code of each subsystem is not allowed.

[0039] Under all external conditions that meet the regulations, the master station and the slave stations remain within their normal operating ranges. Key parameter interactions are achieved through the bus to control the effective and safe operation of the wind turbine generator set, optimize the power generation as much as possible, reduce the mechanical loads borne by the unit, and ensure the best operation of the unit. When a fault trigger or parameter alarm occurs in the master controller or any slave station controller, it will cause a jump in the operating state, quickly adjust the operating state of the unit, and the master controller will record the operating data according to the time stamp and generate a CSV file.

[0040] Embodiment 2

[0041] The present invention is applied to the upgrade and transformation of the main control system of a 1.5MW doubly-fed wind turbine generator set that has been in operation for 15 years. The content of the transformation is to replace the original control system of the wind turbine generator set.

[0042] The original control system only has a master station controller, a pitch control system, a tower base converter, a tower base human-machine interface, and a nacelle remote interface module (slave station). The communication between the master station and the slave stations is Canopen communication, and there is no independent nacelle slave station controller or drive train slave station controller.

[0043] For the master station controller of the original control system, it is difficult to purchase relevant spare parts, has a low hardware configuration, and a slow operating speed. The nacelle remote interface module (slave station) can only accept instructions from the tower base master station controller and cannot independently execute control instructions.

[0044] The master station controller, the nacelle remote interface module (slave station), and the I / O module of the original control system are replaced with a domestic master controller, and a nacelle controller, a drive train controller, a nacelle human-machine interface, and a bus coupler are added. All controllers are domestic high-performance embedded controllers.

[0045] The master station controller of the original control system is installed at the tower base, and the communication with the original tower base human-machine interface and converter is retained. EtherCAT fast bus communication is used between the master station and all slave stations, and IP addresses and global variables are uniformly allocated. Among them, the tower base master station controller is connected to the nacelle controller, the drive train controller, and the nacelle human-machine interface through a bus coupler, fiber optic connection, and nacelle coupler respectively, and the original pitch system is retained.

[0046] The I / O module of the tower base master station controller collects the temperature and humidity signals at the tower base and controls the lighting, ventilation, and heat dissipation of the tower barrel, and collects the three-phase voltage and current signals of the internal power grid of the converter through EtherCAT communication.

[0047] The program of the tower base master station controller is encrypted core closed source code, which only includes functions such as the aerodynamic model and torque-speed algorithm of the wind turbine generator set, the main state machine, the coordinated control with each slave station, and data storage and recording.

[0048] The program algorithm of the main controller of the tower base abandons the original controller's look-up table control algorithm, and adopts the latest GH three-section algorithm with the optimal tip speed ratio algorithm for the low wind speed section, the optimal torque algorithm for the middle wind speed section, and the constant power algorithm for the high wind speed section, and dynamically adjusts the torque control command in combination with the air pressure value; the new version of the program code has the functions of high / low voltage ride-through and inertia frequency modulation.

[0049] The main controller of the tower base issues a control torque control command to the converter and receives the actual feedback value. When an emergency fault such as a grid fault occurs, the converter locks the torque command of the main controller, and the unit enters the high / low ride-through mode; when the grid frequency exceeds the limit, the main controller of the tower base predicts the inertia value according to the generating speed and torque value, and issues a torque control command to the converter, and the unit enters the inertia frequency modulation mode.

[0050] The nacelle slave controller accesses signals such as wind speed, wind direction, voltage, current, speed, oil pressure, oil temperature, ambient temperature, PCH, yaw count, safety chain, etc., and outputs to control subsystems such as the gearbox lubrication / cooling system, generator cooling system, yaw control system, hydraulic station, and main shaft and yaw mechanical brake system through the I / O module, and transmits the important signals collected as global variables to the main controller of the tower base through the EtherCAT communication via the bus coupler; the program code of the nacelle slave controller is an open-source program code, allowing maintenance personnel to log in according to their permissions and modify and edit the FB arbitrarily according to requirements, reducing the computing load of the tower base controller.

[0051] The drive train slave controller accesses the data of the drive train CMS and lidar and other online condition monitoring systems through the CANopen communication module, reads the operating parameters of the nacelle controller, and uses an algorithm of multi-parameter data fusion to extract the state characteristic values of the blades, gearbox, generator, bolts, and the blade clearance distance, etc. When the online condition monitoring and the blade clearance distance exceed the threshold, an alarm is issued. The drive train slave controller transmits the alarm threshold to the main station of the tower base controller through the EtherCAT communication via the bus coupler to achieve the drive train interlock protection shutdown.

[0052] The data fusion calculation of the drive train slave controller is completed in the drive train controller, and the program code is a closed-source program code, which not only reduces the computing load of the tower base controller, but also optimizes the resource utilization of the online condition monitoring system.

[0053] The described pitch control system includes a pitch driver (with an integrated pitch controller inside), a pitch motor, and a pitch backup power supply. The pitch control system, as an independent slave station, retains the original control algorithm, reallocates the IP address, and the three pitch drivers are connected in sequence in a "daisy chain" and connected to the main controller at the tower base through an EtherCAT communication via a pitch communication slip ring and a nacelle bus coupler to achieve data interaction and control with the main control of the main station at the tower base.

[0054] The state parameters of each subsystem can be remotely viewed and modified through the main controller or the human-machine interface at the tower base (nacelle), but the program codes of each subsystem are not allowed to be modified.

[0055] Embodiment 3

[0056] For the distributed control method of a wind turbine based on the master-slave configuration of the fieldbus provided by the present invention, in the shutdown state, the wind turbine is set to the debugging mode, and this mode can only be set by the operation permission of the tower base controller. After setting, the main controller at the tower base and all slave controllers exit the automatic power generation operation mode and conduct system single-body debugging as independent controllers respectively. They can directly read and write the I / O interfaces and drive the actuators without being affected by the main controller; the debugging personnel can read the state parameters of all controllers of the unit at any position of the human-machine interface at the tower base or the human-machine interface in the nacelle, but are not allowed to modify the program codes of each controller.

[0057] In the debugging mode, the human-machine interface at the tower base is responsible for cooperating with the main controller at the tower base and the converter debugging. The debugging contents include tower lighting, ventilation / heat dissipation control, converter start-stop model, torque setting, grid voltage and current signal protection threshold setting, etc. The human-machine interface in the nacelle is responsible for cooperating with the slave controller in the nacelle, the slave controller of the drive train, and the pitch control system debugging. The debugging contents include:

[0058] (1) The acquisition signals of all slave controllers;

[0059] (2) Safety chain test;

[0060] (3) Subsystems such as the lubrication / heat dissipation system of the drive gearbox, the heat dissipation system of the generator, the yaw control system, the hydraulic station, and the main shaft and yaw mechanical brake system;

[0061] (4) Reading the data characteristic values of the online condition monitoring system;

[0062] (5) Issuing pitch control commands to test the pitch adjustment rate and protection setting values in different shutdown modes.

[0063] After the debugging is completed, the debugging mode is exited through the permission setting of the tower base controller. After the software and hardware of all controllers are reset and initialized, the main controller at the tower base and each slave controller enter the standby state of the automatic power generation operation mode.

[0064] When the main controller of the tower base receives the external acquisition signals of all slave controllers that meet the specified conditions, it sets the startup state through the human-machine interface of the tower base or the nacelle. It realizes the interaction of control and operation parameters through bus communication and maintains clock synchronization. After the main controller of the tower base controls the nacelle controller to yaw the wind turbine, it sends a blade pitch opening command to the pitch control system until it reaches the grid-connected speed and sends a torque control command to the converter, and finally enters the grid-connected power generation operation state of the wind turbine. In the power generation operation state, the tower base controller coordinates and controls all slave controllers to optimize the power generation as much as possible, reduce the mechanical load borne by the unit, and maintain the optimal operation mode of the unit. When a fault trigger or parameter alarm occurs in the main controller of the tower base or any slave controller, it will cause a jump in the operation state, either quickly adjust the operation state of the unit or enter the shutdown state, and the main controller records the operation data according to the time stamp and generates a CSV file.

[0065] In the operation state, the human-machine interface of the tower base and the nacelle can only be used to view the operation parameters of each controller and perform normal shutdown, and are not allowed to change or set the operation parameters.

[0066] The above has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0067] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only to illustrate the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.

Claims

1. A distributed control system for a wind turbine based on a master-slave configuration of a fieldbus, characterized in that, It includes the main controller of the wind turbine generator set, the nacelle slave controller, the drive train slave controller, the pitch control system, the tower base converter, the tower base human-machine interface, the nacelle human-machine interface, and the fieldbus. The main controller of the wind turbine generator set is located at the tower base of the wind turbine generator set. It is connected to the nacelle fieldbus coupler through the optical port of the fiber optic tower base fieldbus coupler, and then is respectively connected to the nacelle slave controller, the drive train slave controller, the pitch control system, and the nacelle human-machine interface through the serial port of the nacelle fieldbus coupler. The tower base converter and the tower base human-machine interface are respectively directly connected to the serial port of the main station fieldbus coupler through the fieldbus.

2. The distributed control system of a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, characterized in that, The main controller of the wind turbine generator set, the nacelle slave controller, and the drive train slave controller are all embedded controllers. The operating system is the real-time Linux system. The programming software is developed based on the Codesys programming environment and supports IEC61131 and C language programming.

3. The distributed control system for a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, characterized in that, The fieldbus protocol supports the use of standard industrial fieldbus protocols such as CAN-bus, Profibus, and EtherCAT.

4. The distributed control system for a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, wherein, The main control program deployed inside the main controller of the wind turbine generator set is encrypted core code, which includes the aerodynamic model and torque-speed algorithm of the wind turbine generator set, the main state machine, the coordinated control with each slave station, as well as the data storage and recording functions. It can remotely view and modify the state parameters of each subsystem through the main controller or the tower base human-machine interface.

5. The distributed control system of a wind turbine based on the master-slave configuration of a fieldbus according to claim 1, wherein Standard serial communication cables are used from the nacelle fieldbus coupler to each slave station.

6. The distributed control system of a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, characterized in that, The nacelle slave controller accesses wind speed, wind direction, voltage, current, speed, oil pressure, oil temperature, ambient temperature, PCH, yaw counting signal acquisition, gearbox, generator cooling system, yaw control system, hydraulic station, and main shaft, yaw mechanical brake system. The controller I / O interface is configured with digital, analog, and pulse counting modules and supports expansion. The corresponding control function algorithm program deployed inside is open-source code. Maintenance personnel can modify it after logging in according to their permissions and optimize or transform the gearbox, generator cooling system, nacelle heating / cooling system, nacelle automatic fire protection system, or yaw soft start system according to the operation requirements.

7. The distributed control system of a wind turbine based on the master-slave configuration of a fieldbus according to claim 1, characterized in that, The drive train slave controller is configured with digital, analog, and data acquisition modules and supports expansion. It accesses the CMS condition monitoring system and lidar, reads the operating parameters of the nacelle controller, realizes on-line monitoring and threshold overrun alarm of the blades, gearbox, generator, and bolts, and transmits the alarm threshold to the main station of the tower base controller to realize drive train interlock protection shutdown.

8. The distributed control system for a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, characterized in that, The pitch control system includes a pitch driver, a pitch motor, a pitch backup power supply, and a slave station fieldbus coupler. It is connected to the nacelle bus coupler through a pitch communication slip ring to realize data interaction and control with the main control of the tower base main station. The pitch control system can also access the blade de-icing system and the blade lightning test system through the slave station fieldbus coupler according to the operation requirements.

9. The distributed control system for a wind turbine based on the master-slave configuration of the fieldbus according to claim 1, characterized in that, The nacelle human-machine interface can log in according to the permissions to view and modify the operating state parameters of each subsystem of the unit.

10. A distributed wind turbine control method for wind turbines based on the master-slave configuration of the fieldbus, characterized in that, This method is based on the distributed control system of the wind turbine generator set with master-slave configuration based on the fieldbus described in any one of claims 1 to 9, and includes: Set the wind turbine to the commissioning mode. After setting, the main controller at the tower base and all slave controllers exit the automatic power generation operation mode and conduct system unit commissioning as independent controllers respectively, directly read and write the I / O interface and drive the actuators without being affected by the main controller; the commissioning personnel can read the status parameters of all controllers of the unit through any position of the human-machine interface at the tower base or the human-machine interface in the nacelle; In the commissioning mode, the human-machine interface at the tower base serves as the operation interface and is responsible for cooperating with the main controller at the tower base and the converter commissioning. The commissioning contents include tower lighting, ventilation / heat dissipation control, converter start-stop model, torque setting, grid voltage and current signal protection threshold setting; the human-machine interface in the nacelle is responsible for cooperating with the slave controller in the nacelle, the slave controller of the drive train and the pitch control system commissioning; After the commissioning is completed, exit the commissioning mode through the permission setting of the tower base controller. After the software and hardware of all controllers are reset and initialized, the main controller at the tower base and each slave controller enter the standby state of the automatic power generation operation mode; When the main controller at the tower base receives that the external acquisition signals of all slave controllers meet the specified conditions, set the startup state through the human-machine interface at the tower base or the human-machine interface in the nacelle, realize the interaction of control and operation parameters through bus communication and keep the clock synchronized; after the main controller at the tower base controls the nacelle controller to achieve wind yaw, send a blade opening command to the pitch control system for control until the grid connection speed is reached, send a torque control command to the converter, and finally enter the grid-connected power generation operation state of the wind turbine; in the power generation operation state, the tower base controller coordinates and controls all slave controllers, optimizes the power generation power, reduces the mechanical load borne by the unit, and maintains the optimal operation mode of the unit; when a fault trigger or parameter alarm occurs in the main controller at the tower base or any one of the slave controllers, it will cause a jump in the operation state, either quickly adjust the operation state of the unit or enter the shutdown state, and the main controller records the operation data according to the timestamp and generates a CSV file; In the operation state, the human-machine interface at the tower base and the human-machine interface in the nacelle are called to view the operation parameters of each controller and normal shutdown.

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