Yaw anti-backlash control system and anti-backlash method

Abstract

The invention relates to the technical field of yaw control system modification, in particular to a yaw anti-backlash control system and an anti-backlash method. The brake control loop controls brake release of the yaw motor in groups and sends a closing command to enter the signal conduction loop; the yaw soft start loop sends a start command through the wiring terminal according to a closing signal corresponding to the signal conduction loop, and the yaw motor set is started; the yaw motor set outputs forward rotation power or reverse rotation power to the yaw driving gear according to the operation condition, so that the yaw driving gear is tightly meshed with the yaw brake disc gear. By means of the yaw clearance eliminating function, the yaw driving gear and the yaw brake disc gear are tightly meshed, the clearance between the yaw driving gear and the yaw brake disc gear is eliminated, vibration and sliding caused by the clearance are avoided, large torque and impact can be borne through tight gear meshing, the bearing capacity of a yaw system is enhanced, the yaw system can cope with worse working conditions, and the service life of the yaw system is prolonged. The reliability of the yaw system is improved, and the fault maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of yaw control system modification, in particular to a yaw backlash elimination control system and a backlash elimination method. Background Art

[0002] In the field of wind power generation, the yaw system is a key component for ensuring efficient wind turbine operation. Its function is to control the rotor to always face the wind direction and maximize wind energy utilization. However, existing yaw control systems have problems when facing harsh operating conditions such as high wind turbulence. The abnormal impact caused by high wind turbulence can cause the nacelle to slip, which in turn can cause faults such as excessive vibration, affecting the safe and stable operation of the wind turbine. During the yaw process, the existing system's yaw motor is uniformly controlled by a single circuit, which can only achieve unidirectional rotation of the yaw drive gear, with limited vibration reduction and backlash elimination. Extensive modification of the entire system and circuits would be time-consuming, labor-intensive, and costly, and the system would require prolonged downtime for maintenance, affecting actual production progress on site.

[0003] Therefore, there is a need for a yaw clearance elimination control system and clearance elimination method that is easy to operate, reliable and effective to improve, can keep the yaw system in a more stable state, can effectively resist external impacts such as strong wind turbulence, reduce cabin slip and vibration, and improve the safety of wind turbine operation. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the invention.

[0005] In view of the above-mentioned existing technologies, in the traditional mode, the yaw motor group is uniformly controlled by a single circuit, which can only realize unidirectional rotation of the yaw drive gear, and the vibration reduction and clearance elimination effects are general. The cost of large-scale modification of the entire system and circuit is too high and difficult to achieve.

[0006] Therefore, the technical problem to be solved by the present invention is to design a yaw clearance elimination control system and clearance elimination method that can flexibly replace sensitive elements and set sensitivity and zero point bias by software, so as to realize flexible application in multiple scenarios of power system monitoring and meet the needs of the existing environment.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a yaw clearance elimination control system, comprising:

[0008] Brake control circuit, which controls the yaw motor brake release in groups and transmits the closing command into the signal transmission circuit;

[0009] The yaw soft start circuit sends a start command through the terminal block according to the corresponding closing signal of the signal transmission circuit, and the yaw motor group starts;

[0010] The yaw motor group outputs forward and reverse power to the yaw drive gear according to the operating conditions, so that the yaw drive gear and the yaw brake disc gear are tightly engaged.

[0011] As an improvement of the present invention,

[0012] The brake control circuits are grouped into a first brake control circuit and a second brake control circuit;

[0013] One end of the first brake control loop and the second brake control loop is connected to the output voltage source, and the other end is electrically connected to the release end module, and the release end module signal is connected to the release contactor.

[0014] As an improvement of the present invention,

[0015] The signal transmission circuit includes an on-off protection module, one end of which is electrically connected to the output voltage source and the other end is connected to the shunt switch group;

[0016] The output end of the shunt switch group is connected to the yaw soft start circuit through the terminal.

[0017] As an improvement of the present invention,

[0018] The yaw soft start circuit is connected to the yaw signal circuit through the terminal block to receive the soft start voltage;

[0019] The yaw soft start circuit is connected to the bypass contact module and the operation monitoring module through the wiring terminals.

[0020] As an improvement of the present invention,

[0021] The yaw soft start circuit is connected to the motor group on-off circuit through the wiring terminal;

[0022] The motor group on-off circuit is grouped to set the yaw motor response assembly, the input end of the yaw motor response assembly is connected to the yaw soft start circuit, and the output end is connected to the yaw motor group.

[0023] As an improvement of the present invention,

[0024] A yaw motor control module and a yaw motor contactor are provided in the yaw motor response assembly;

[0025] The yaw motor control module signal is connected to the yaw motor contactor.

[0026] A backlash elimination method, comprising:

[0027] The yaw signal circuit is pre-powered, and the yaw soft start circuit enters the standby state;

[0028] The PLC determines the yaw angle and selects the required brake control circuit;

[0029] The brake control circuit is closed, the yaw soft start circuit is connected, and a signal is sent to the yaw motor group;

[0030] The yaw motor group controls the yaw drive gear to rotate forward or reverse, engaging the yaw brake disc gear.

[0031] As an improvement of the present invention,

[0032] When the PLC determines that the yaw angle requires the yaw drive gear to rotate forward, it closes the first brake control circuit after 1 second;

[0033] The first brake control circuit is closed, and the release end module releases the first brake and unlocks the first set of yaw drive gears.

[0034] The first brake control circuit corresponds to the closing of the switch in the shunt switch group;

[0035] The yaw soft start circuit connects the yaw motor group to control the first group of yaw drive gears to rotate forward.

[0036] As an improvement of the present invention,

[0037] When the PLC determines that the yaw angle requires the yaw drive gear to be reversed, the second brake control circuit is closed after 1 second;

[0038] The second brake control circuit is closed, and the release end module releases the second brake to unlock the second set of yaw drive gears;

[0039] The second brake control circuit corresponds to the closing of the switch in the shunt switch group;

[0040] The yaw soft start circuit connects the yaw motor group to control the second group of yaw drive gears to reverse.

[0041] The beneficial effects of the present invention are as follows: through the yaw clearance eliminating function, the yaw drive gear and the yaw brake disc gear are tightly engaged, the gap between the two is eliminated, and vibration and slippage caused by the gap are avoided. The tight gear engagement can withstand greater torque and impact, thereby enhancing the load-bearing capacity of the yaw system, enabling it to cope with more severe working conditions, improving the reliability of the yaw system, and reducing the failure maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0043] Figure 1 Schematic diagram of the brake control circuit architecture of the yaw anti-backlash control system in the present invention.

[0044] Figure 2 Schematic diagram of the release end module and the peripheral circuit architecture of the release contactor of the yaw anti-backlash control system in the present invention.

[0045] Figure 3 Schematic diagram of the coordination architecture of the signal transmission circuit and the yaw soft start circuit of the yaw anti-backlash control system in the present invention.

[0046] Figure 4 This is a structural diagram of the internal circuit of the yaw motor response assembly of the yaw anti-backlash control system in the present invention.

[0047] Figure 5 This is a structural diagram of the yaw motor unit main circuit of the yaw anti-backlash control system in the present invention. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0049] Example 1

[0050] Reference Figures 1 to 5 , this embodiment provides a yaw anti-backlash control system.

[0051] The brake control circuit 1 divides the electromagnetic brake used to lock the yaw motor group 3 into two groups, corresponding to the motor group on the left side of the cabin centerline (group 1) and the motor group on the right side of the cabin centerline (group 2).

[0052] When the yaw action is completed, the control system controls the release of the two sets of electromagnetic brakes according to the recorded direction of the last yaw action, thereby unlocking the operation of the entire yaw motor group 3.

[0053] If the direction of the last yaw action was clockwise, the control system first releases the electromagnetic brake of the first motor group to enable it to rotate forward, and then releases the electromagnetic brake of the second motor group to ensure reverse rotation through the wiring mode of different phase sequences of the preset value.

[0054] When the electromagnetic brake is released, the control system sends a closing command to the signal transmission circuit 11, providing a start signal for the yaw soft start circuit 2. The yaw soft start circuit 2 receives the closing signal from the signal transmission circuit 11 and determines which group of the yaw motor groups 3 to start based on the signal.

[0055] According to the closing signal, the yaw soft start circuit 2 sends a start command through the terminal to start the yaw motor group 3. If the closing signal is clockwise, the yaw soft start circuit 2 starts the first motor group to rotate forward. If the closing signal is counterclockwise, the second motor group will rotate in the reverse direction.

[0056] The yaw motor group 3 rotates forward or reverse according to the start command, and outputs power to the yaw drive gear respectively. The two corresponding yaw drive gears are responsible for forward rotation and reverse rotation, respectively. They can tightly engage the central yaw brake disc gear from different directions as needed.

[0057] Through the precise control of the yaw motor group 3, the yaw drive gear and the yaw brake disc gear gradually approach and tightly engage with each other, eliminating the gap between the two and completing the yaw clearance elimination function. In this embodiment, the brake control circuit 1, the yaw soft start circuit 2 and the yaw motor group 3 work together to achieve tight engagement between the yaw drive gear and the yaw brake disc gear, effectively reducing cabin slip and vibration and improving the operating stability of the wind turbine.

[0058] Example 2

[0059] Reference Figures 1 to 4 This embodiment is based on the previous embodiment, and differs from the previous embodiment in that:

[0060] Brake control circuit 1 is grouped into a first brake control circuit 12 and a second brake control circuit 13, corresponding to the two motors in yaw motor assembly 3. The inputs of first and second brake control circuits 12 and 13 are connected to a 400V voltage source, while the outputs of the other ends are connected to a release module 14, which controls the release of the electromagnetic brake.

[0061] The closing command signals sent by the first brake control circuit 12 and the second brake control circuit 13 through the output terminals can enter the release terminal module 14. The release terminal module 14 receives the corresponding signals and sends a command to the release contactor 15 to release the electromagnetic brake.

[0062] Signal transmission circuit 11 includes a switch protection module 111, which protects the entire circuit from faults such as overload and short circuit. The input of switch protection module 111 is electrically connected to a 400V voltage source, and the output is connected to a shunt switch group 112. Shunt switch group 112 distributes the voltage of signal transmission circuit 11 to different branches. Shunt switch group 112 itself includes two sets of switches, numbered 116k3 and 116k2, corresponding to the two motor groups in yaw motor group 3.

[0063] The yaw soft-start circuit 2 is connected to the yaw signal circuit 21 via terminals ST and A1 to receive the soft-start voltage. It is also connected to the bypass contact module 22 and the operation monitoring module 23 via terminals TOR and RUN to implement bypass control and operational status monitoring of the yaw motor group 3. The yaw soft-start circuit 2 is connected to the motor group on / off circuit 24 in groups via terminals 2T1, 4T2, and 6T3 to control the on / off of the yaw motor.

[0064] The motor group on / off circuit 24 is grouped into two yaw motor response assemblies 25. Each yaw motor response assembly 25 corresponds to the first group of controlled motors and the second group of controlled motors in the yaw motor group 3. The input of the yaw motor response assembly 25 is connected to the yaw soft-start circuit 2, and the output is connected to the yaw motor group 3.

[0065] A yaw motor control module 251 is provided in the yaw motor response assembly 25 for receiving control signals and controlling the speed and direction of the yaw motor group 3 according to the signals. The signal of the yaw motor control module 251 is connected to the yaw motor contactor 252 for controlling the on and off of the yaw motor group 3.

[0066] When the control system sends a closing command, the closing command enters the signal transmission circuit 11 through the brake control circuit 1 and transmits the signal to the yaw soft start circuit 2. After receiving the closing signal, the yaw soft start circuit 2 inputs the motor group on-off circuit 24, and realizes the on-off and steering speed control of the yaw motor group 3 through the yaw motor response assembly 25 connected to the motor group on-off circuit 24.

[0067] This embodiment achieves precise control of the yaw anti-backlash function through the coordinated work of modules such as the brake control circuit 1, the signal transmission circuit 11, the yaw soft start circuit 2, and the yaw motor response assembly 25, thereby effectively improving the operating stability and safety of the wind turbine.

[0068] Example 3

[0069] Reference Figures 1 to 5 This embodiment is based on the previous embodiment, and differs from the previous embodiment in that:

[0070] Before the yaw backlash elimination function is activated, the yaw signal circuit 21 pre-powers the yaw soft-start circuit 2, placing it in a standby state, ready to receive control signals. The PLC determines the current yaw angle and selects either the first brake control circuit 12 or the second brake control circuit 13 as needed.

[0071] When the control system sends a closing command, the brake control circuit 1 performs a closing operation, connects the yaw soft start circuit 2, and sends a signal to the yaw motor group 3 through the yaw soft start circuit 2. The yaw motor group 3 is divided into two different motor groups. Under the signal transmission of the yaw soft start circuit 2, the forward and reverse rotation engagement of the yaw drive gears corresponding to the two motor groups is achieved.

[0072] The first brake control circuit 12 and the second brake control circuit 13 control the yaw motor group 3 in groups. When the PLC determines that the current yaw angle requires the yaw drive gear to be reversed, the first brake control circuit 12 is closed 1 second later, and the release end module 14 releases the first brake to unlock the first group of yaw drive gears, thereby ensuring that the subsequent first group of yaw motors can operate normally.

[0073] The first brake control circuit 12 corresponds to the closing of the 116k3 switch in the shunt switch group 112. After the 116k3 switch is closed, the circuit can be connected to the yaw soft start circuit 2. After receiving the signal, the yaw soft start circuit 2 turns on the yaw motor group 3 to control the first group of yaw drive gears to rotate forward.

[0074] When the PLC determines that the current yaw angle requires the yaw drive gear to reverse, the second brake control circuit 13 is closed after 1 second, and the release end module 14 releases the second brake to unlock the second set of yaw drive gears, thereby ensuring that the subsequent second set of yaw motors can operate normally.

[0075] The second brake control circuit 12 corresponds to the closing of the 116k2 switch in the shunt switch group 112. After the 116k2 switch is closed, the circuit can be connected to the yaw soft start circuit 2. After receiving the signal, the yaw soft start circuit 2 turns on the yaw motor group 3 to control the second group of yaw motors to operate normally.

[0076] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A yaw anti-backlash control system, characterized by: Brake control circuit (1), group control yaw motor brake release, and transmit the closing command to the signal transmission circuit (11); The yaw soft start circuit (2) sends a start command through the wiring terminal according to the corresponding closing signal of the signal transmission circuit (11), and the yaw motor group (3) starts; The yaw motor group (3) outputs forward or reverse power to the yaw drive gear according to the operating conditions, so that the yaw drive gear is meshed with the yaw brake disc gear.

2. The yaw anti-backlash control system according to claim 1, characterized in that: The brake control circuit (1) is divided into a first brake control circuit (12) and a second brake control circuit (13); One end of the first brake control circuit (12) and the second brake control circuit (13) is connected to the output voltage source, and the other end is electrically connected to the release end module (14), and the release end module (14) is signal-connected to the release contactor (15).

3. The yaw anti-backlash control system according to claim 2, characterized in that: The signal transmission circuit (11) includes an on-off protection module (111), one end of the on-off protection module (111) is electrically connected to the output voltage source, and the other end is connected to the shunt switch group (112); The output end of the shunt switch group (112) is connected to the yaw soft start loop (2) through a wiring terminal.

4. The yaw anti-backlash control system according to claim 1, characterized in that: The yaw soft start circuit (2) is connected to the yaw signal circuit (21) via a terminal block to receive a soft start voltage; The yaw soft start loop (2) is connected to the bypass contact module (22) and the operation monitoring module (23) through the connection terminals.

5. The yaw anti-backlash control system according to any one of claims 1 to 4, characterized in that: The yaw soft start circuit (2) is connected to the motor group on-off circuit (24) through the wiring terminal; The motor group on-off circuit (24) is grouped to set the yaw motor response assembly (25), the input end of the yaw motor response assembly (25) is connected to the yaw soft start circuit (2), and the output end is connected to the yaw motor group (3).

6. The yaw anti-backlash control system according to claim 5, characterized in that: A yaw motor control module (251) and a yaw motor contactor (252) are provided in the yaw motor response assembly (25); The yaw motor control module (251) is connected to the yaw motor contactor (252) by signal.

7. A backlash elimination method, characterized in that: The yaw anti-backlash control system according to claim 6, and The yaw signal circuit (21) is pre-powered, and the yaw soft start circuit (2) enters a standby state; The PLC determines the yaw angle and selects the required brake control circuit (1); The brake control circuit (1) is closed, the yaw soft start circuit (2) is connected, and a signal is sent to the yaw motor group (3); The yaw motor groups (3) are grouped to control the yaw drive gear to rotate forward or reverse, and engage the yaw brake disc gear.

8. The backlash elimination method according to claim 7, characterized in that: When the PLC determines that the yaw drive gear needs to rotate forward, it closes the first brake control circuit (12) after 1 second; The first brake control circuit (12) is closed, and the release end module (14) releases the first brake to unlock the first set of yaw drive gears. The first brake control circuit (12) corresponds to the closing of a switch in the shunt switch group (112); The yaw soft start circuit (2) connects to the yaw motor group (3) to control the first group of yaw drive gears to rotate forward.

9. The backlash elimination method according to claim 8, characterized in that: When the PLC determines that the yaw drive gear needs to be reversed, the second brake control circuit (13) is closed after 1 second; The second brake control circuit (13) is closed, and the release end module (14) releases the second brake to unlock the second set of yaw drive gears; The second brake control circuit (12) corresponds to the closing of the switch in the shunt switch group (112); The yaw soft start circuit (2) connects to the yaw motor group (3) to control the second group of yaw drive gears to rotate in reverse.

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