Rotary transformer fault detection method and related device
By acquiring the rotation data of the pitch motor and using preset judgment logic and position deviation to determine the fault of the resolver, the problem of position deviation caused by the slippage of the resolver installation angle was solved, and timely and accurate detection of resolver faults and improvement of system safety were achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-09
- Publication Date
- 2026-03-24
AI Technical Summary
In wind power generation systems, the installation angle slippage of the rotary transformer causes the rotor position information of the pitch motor fed back by the pitch drive to deviate from the true value, resulting in pitch motor control misalignment, and even dangerous situations such as reverse reversal and overspeed.
By acquiring the rotation data of the pitch motor, using preset judgment logic and the number of consecutive times the position deviation exceeds the threshold, a comprehensive judgment is made as to whether the resolver has a fault caused by the slippage of the resolver installation angle. The second position information is estimated by combining a sensorless algorithm to improve accuracy.
It can detect slip faults in rotary transformers in a timely and accurate manner, avoid dangerous situations such as reverse rotation and overspeed of pitch motors, improve system safety and fault response speed, and reduce costs.
Smart Images
Figure CN121720516A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wind power generation technology, and in particular to a method and related apparatus for detecting faults in a rotary transformer. Background Technology
[0002] In wind power systems, pitch drives are used to control the pitch angle of wind turbine blades and are a crucial component for ensuring the safe operation of the turbine. Pitch drives typically use resolvers to provide feedback on the position information of the pitch motor rotor.
[0003] When the pitch drive feeds back the rotor position information of the pitch motor, it uses the resolver mounting angle. In actual operation, the resolver mounting angle can slip, causing the rotor position information of the pitch motor fed back by the pitch drive to deviate from the true value. This can lead to inaccurate control of the pitch motor, and even dangerous situations such as reverse rotation, overspeed, or uncontrollable behavior.
[0004] Therefore, timely and accurate detection of rotary transformer faults caused by resolver installation angle slippage is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0005] In view of the above problems, this application provides a method and related apparatus for detecting faults in rotary transformers, so as to achieve timely and accurate detection of slip faults in rotary transformers. The specific solution is as follows:
[0006] The first aspect of this application provides a method for detecting faults in a rotary transformer, comprising:
[0007] The rotation data of the pitch motor is acquired; the rotation data includes at least a first position information and a second position information; the first position information is obtained based on the detection of the rotary transformer; the second position information is estimated based on the operating data of the pitch motor.
[0008] If, based on the rotation data, it is determined that the operating status of the pitch motor does not meet the preset judgment logic, the position deviation between the first position information and the second position information is calculated.
[0009] If the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number, it is determined that the rotary transformer has a slippage fault.
[0010] In one possible implementation, the rotational data further includes the rotational acceleration of the pitch motor;
[0011] The step of determining that the operating status of the pitch motor does not meet the preset judgment logic based on the rotation data includes:
[0012] When the continuous reverse running time of the pitch motor is greater than the reverse time threshold and the rotational acceleration during reverse is greater than the acceleration threshold, the operating condition of the pitch motor is determined to meet the preset judgment logic; when the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, the operating condition of the pitch motor is determined to not meet the preset judgment logic.
[0013] In one possible implementation, calculating the positional deviation between the first position information and the second position information includes:
[0014] Estimate the speed range of the pitch motor;
[0015] If the minimum value in the specified rotational speed range is greater than the rotational speed threshold, the position deviation between the first position information and the second position information is calculated.
[0016] In one possible implementation, the process of determining the second position information and / or the rotational speed range includes:
[0017] Obtain the operating data of the pitch motor;
[0018] A non-intrusive estimation operation is performed on the operating data to obtain the second position information and / or rotational speed range.
[0019] In one possible implementation, the process of determining the number of consecutive times the position deviation exceeds the position deviation threshold includes:
[0020] If the position deviation exceeds the position deviation threshold, the number of resolver slip operations is accumulated to obtain the number of consecutive times the position deviation exceeds the position deviation threshold; if the position deviation does not exceed the position deviation threshold, the number of resolver slip operations is cleared.
[0021] In one possible implementation, the preset number of times is less than 100.
[0022] And / or, the inversion time threshold is less than or equal to 100ms;
[0023] And / or, the acceleration threshold is 4° / s 2 -9° / s 2 ;
[0024] And / or, the position deviation threshold is 25°-50°.
[0025] In one possible implementation, if the operating condition of the pitch motor is determined to meet a preset judgment logic, the rotary transformer fault detection method further includes:
[0026] It was determined that the rotary transformer had a slippage fault.
[0027] A second aspect of this application provides a rotary transformer fault detection device, comprising:
[0028] An acquisition module is used to acquire rotation data of the pitch motor; the rotation data includes at least first position information and second position information; the first position information is obtained based on the detection of the rotary transformer; the second position information is estimated based on the operating data of the pitch motor.
[0029] The calculation module is used to calculate the position deviation between the first position information and the second position information when it is determined from the rotation data that the operating status of the pitch motor does not meet the preset judgment logic.
[0030] The determination module is used to determine that the rotary transformer has a slip fault when the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number.
[0031] A third aspect of this application provides a pitch driver, including at least one processor and a memory connected to the processor, wherein:
[0032] The memory is used to store computer programs;
[0033] The processor is used to execute the computer program so that the pitch drive can implement the above-described rotary transformer fault detection method.
[0034] A fourth aspect of this application provides a wind power pitch system, including a pitch motor and the aforementioned pitch driver, wherein the pitch motor is connected to the pitch driver.
[0035] By employing the above technical solution, this application provides a method and related apparatus for detecting resolver faults. In this application, a comprehensive judgment is made based on preset judgment logic and the number of consecutive occurrences of position deviation exceeding a position deviation threshold to determine whether a resolver fault due to resolver installation angle slippage exists. Since the second position information required for calculating the position deviation is estimated based on the operating data of the pitch motor, it has high accuracy. Therefore, even when the resolver installation angle slips by a small angle, the resolver slippage fault can be detected promptly and accurately. Attached Figure Description
[0036] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0037] Figure 1A flowchart of a rotary transformer fault detection method provided in this application;
[0038] Figure 2 A flowchart of another rotary transformer fault detection method provided in this application;
[0039] Figure 3 A flowchart of another method for detecting faults in a rotary transformer provided in this application;
[0040] Figure 4 A flowchart of a method for calculating position deviation provided in this application;
[0041] Figure 5 A flowchart of yet another method for detecting faults in a rotary transformer provided in this application;
[0042] Figure 6 This is a schematic diagram of the structure of a fault detection device provided in this application. Detailed Implementation
[0043] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.
[0044] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.
[0045] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.
[0046] In wind power systems, the pitch drive, which controls the pitch angle of the wind turbine blades via the pitch motor, is a crucial component ensuring the safe operation of the turbine. The pitch drive typically uses a resolver (or resolver for short) to provide feedback on the position information of the pitch motor rotor. When providing this feedback, the pitch drive utilizes the resolver's mounting angle. This mounting angle serves as a reference angle; it is used to calculate the actual angle of the pitch motor rotor, thus obtaining the rotor position information. This rotor position information can be expressed as the rotor angle.
[0047] In actual operation, due to reasons such as loose installation, the resolver mounting angle may slip, causing the pitch motor rotor position information detected and fed back by the pitch drive to deviate from the true value. This can lead to pitch motor control malfunctions, and even dangerous situations such as reverse rotation, overspeed, or uncontrollable behavior. Currently, when using the pitch drive to feed back the pitch motor rotor position information, fault detection of the resolver signal is mostly based on the signal quality of the resolver (such as signal amplitude and signal-to-noise ratio), and the detection of resolver faults caused by resolver mounting angle slippage is not performed.
[0048] Therefore, in this application, a preset judgment logic enables timely and accurate detection of resolver slippage faults when the resolver mounting angle slips significantly. Furthermore, the presence of a resolver fault due to resolver mounting angle slippage can be determined by the number of consecutive occurrences of position deviation exceeding a position deviation threshold. Since the second position information required for calculating the position deviation is estimated based on the operating data of the pitch motor, it has high accuracy. Therefore, even when the resolver mounting angle slips slightly, resolver slippage faults can be detected promptly and accurately.
[0049] Based on the above, one embodiment of this application provides a method for detecting faults in a rotary transformer, wherein the executing entity can be a pitch drive. (See reference...) Figure 1 A method for detecting faults in a rotary transformer may include:
[0050] S11. Obtain the rotation data of the pitch motor.
[0051] In practical scenarios, the pitch driver provides three-phase power and drive information to the pitch motor, which then controls the pitch angle of the wind turbine blades based on the drive from the pitch driver. The rotational data of the pitch motor refers to some rotational data during its operation. This rotational data includes at least first position information and second position information. The first position information is obtained based on the position detected by the resolver; that is, the resolver detects the position information of the pitch motor rotor and outputs this position information to the pitch driver. The position information output by the resolver is the first position information, which may include the resolver feedback angle, which is the rotor angle of the pitch motor detected by the resolver.
[0052] The second position information is estimated based on the operating data of the pitch motor, and the algorithm used for estimation can be a sensorless algorithm. By using the pitch motor characteristic information such as back electromotive force, current value, inductance value, and flux linkage component during the operation of the pitch motor, the second position information is estimated using a sensorless algorithm. The second position information may include a sensorless estimated angle, which is the rotor angle of the pitch motor estimated using the sensorless algorithm.
[0053] Sensorless algorithms can be such as:
[0054] Sliding mode control algorithm: By designing a specific sliding surface, the system state reaches the sliding surface within a finite time and slides along the sliding surface to the equilibrium point. In sensorless control of permanent magnet synchronous pitch motors, the sliding mode observer estimates the back electromotive force by designing a suitable sliding surface, and then extracts the rotor position information to obtain the second position information.
[0055] High-frequency square wave signal injection method: By injecting a high-frequency square wave voltage signal into the stator windings of the pitch motor, a high-frequency back electromotive force is generated using the salient pole characteristics of the pitch motor. By detecting the induced high-frequency current signal, phase information containing rotor position information is extracted to obtain the second position information.
[0056] Nonlinear flux linkage control: Based on the voltage equation of the permanent magnet synchronous pitch motor, the stator flux linkage is obtained by integrating the back electromotive force, and then the flux linkage component generated by the stator winding is subtracted to obtain the permanent magnet flux linkage component. The rotor position information is then extracted to obtain the second position information.
[0057] It should be noted that the sliding mode control algorithm is mainly used when the pitch motor speed is in the medium-to-high speed range (above 10% of the rated speed), the high-frequency square wave signal injection method is mainly used when the pitch motor speed is between 0 speed and low speed range (below 10% of the rated speed), and the nonlinear flux linkage control algorithm can be used in the entire speed range, that is, there are no requirements on the pitch motor speed.
[0058] In this embodiment, there are two sets of position information. One set is measured by a position sensor (such as a rotary transformer), and the other set is calculated by a sensorless algorithm. Since the sensorless algorithm can be directly programmed into the pitch drive without the need for physical sensors, this embodiment can save a position sensor and the corresponding encoder, thereby saving device costs.
[0059] In one implementation, the rotation data may include, in addition to the first position information and the second position information, the target speed, actual speed and rotational acceleration of the pitch motor.
[0060] The target speed refers to the speed that the pitch motor needs to reach, calculated by the pitch actuator, while the actual speed refers to the speed during the actual rotation of the pitch motor. The actual speed is calculated based on either the first or second position information. Specifically, the first speed can be obtained by differentiating the rotor angle in the first position information, i.e., by calculating the first speed using the position information detected by the resolver. Alternatively, the second speed can be obtained by differentiating the rotor angle in the second position information, i.e., by calculating the second speed using the estimated second position information. If the difference between the first and second position information is small, such as less than a certain threshold, the first speed calculated based on the first position information is used as the actual speed. This is because a small difference between the first and second position information indicates that the current resolver installation angle has not slipped, the resolver's detection result is accurate, and the deviation of the speed calculated using the actual detection data from the resolver will be slightly smaller than the deviation of the speed estimated using a sensorless algorithm; therefore, the first speed is used as the actual speed.
[0061] If the difference between the first and second position information is significant, such as exceeding a certain threshold, then the second rotational speed calculated based on the second position information is used as the actual rotational speed. This is because there may be inaccurate detection results of the resolver due to slippage of the resolver mounting angle. The sensorless algorithm is not affected by the slippage of the resolver mounting angle, so its calculation accuracy is higher. Therefore, the second rotational speed is used as the actual rotational speed.
[0062] Rotational acceleration can be obtained by sensors or calculated from the actual rotational speed, depending on the actual configuration.
[0063] In addition, other data can be added to the rotation data according to actual needs, and the content of the rotation data can be configured according to the actual scenario.
[0064] S12. If the operating status of the pitch motor does not meet the preset judgment logic based on the rotation data, calculate the position deviation between the first position information and the second position information.
[0065] The preset judgment logic is a limiting condition characterizing the rapid reversal of the pitch motor, and its specific content can be configured according to actual conditions. Rapid reversal can be reflected by rotational acceleration. In one practical approach, the preset judgment logic may include: the pitch motor reversing for a certain period of time and the rotational acceleration during reversal exceeding a threshold.
[0066] To determine whether the operating status of the pitch motor meets the preset judgment logic based on the rotation data, one implementation includes the following rotation data: the target speed, the actual speed, and the rotational acceleration of the pitch motor. For a detailed explanation of the target speed, the actual speed, and the rotational acceleration, please refer to the corresponding descriptions above.
[0067] In one implementation, determining that the operating status of the pitch motor does not meet a preset judgment logic based on rotation data includes:
[0068] When the continuous reverse running time of the pitch motor is greater than the reverse time threshold and the rotational acceleration during reverse is greater than the acceleration threshold, the operating condition of the pitch motor is determined to meet the preset judgment logic; when the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, the operating condition of the pitch motor is determined to not meet the preset judgment logic.
[0069] In practice, the reverse rotation detection result of the pitch motor can be determined based on the target speed and the actual speed. If the reverse rotation detection result is reverse, the continuous reverse rotation running time of the pitch motor can be obtained.
[0070] In real-world scenarios, if the target rotational speed and the actual rotational speed are opposite in magnitude (e.g., one is positive and the other is negative), it indicates that the theoretically required direction of rotation of the pitch motor is opposite to the actual direction of rotation. This is considered a reversal, and the reversal detection result is confirmed as reverse rotation. The duration of the reversal is then monitored. The duration of the reversal can be defined as the total time during which the target rotational speed and the actual rotational speed are opposite in magnitude.
[0071] If the target speed and the actual speed are the same, such as both being positive or both being negative, it means that the theoretically required direction of rotation of the pitch motor is the same as the actual direction of rotation of the pitch motor. It is considered that the pitch motor has not reversed, and the reversal detection result is no reversal.
[0072] If the pitch motor reverses, continue to determine whether the rotational acceleration during the reversal is greater than the acceleration threshold.
[0073] The acceleration threshold is obtained based on actual testing. Since the rotational acceleration of the pitch motor is not significant when it experiences overshoot and reverses under controlled conditions, and only becomes large when the pitch motor is uncontrolled and reverses, the acceleration threshold in this embodiment is not set very high. The acceleration threshold is mainly affected by the pitch motor structure (i.e., whether it is a surface-mounted permanent magnet synchronous pitch motor or an embedded permanent magnet synchronous pitch motor). The larger the reverse angle of an embedded permanent magnet synchronous pitch motor, the greater the maximum acceleration value that can be achieved. In one example, the maximum acceleration of a surface-mounted permanent magnet synchronous pitch motor during reverse is approximately 10° / s². 2 The embedded permanent magnet synchronous pitch motor can achieve a maximum acceleration of 25° / s² during reverse rotation. 2 To ensure the acceleration threshold is compatible with both surface-mounted and embedded permanent magnet synchronous pitch motors, and to improve the accuracy and efficiency of the judgment, the acceleration threshold can be set to 4° / s². 2 -9° / s 2 For example, 5° / s 2 .
[0074] In this embodiment, after obtaining the rotational acceleration during reversal, the rotational acceleration can be compared with the acceleration threshold to obtain a judgment result. The judgment result is divided into three cases: "rotational acceleration is greater than the acceleration threshold", "rotational acceleration is equal to the acceleration threshold", and "rotational acceleration is less than the acceleration threshold".
[0075] When the continuous reverse running time of the pitch motor is greater than the reverse time threshold and the rotational acceleration during reverse is greater than the acceleration threshold, the operating condition of the pitch motor is determined to meet the preset judgment logic; when the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, the operating condition of the pitch motor is determined to not meet the preset judgment logic.
[0076] The reversal time threshold is configured according to actual conditions. In real-world scenarios, to protect the pitch motor and wind turbine, the reversal time threshold is generally no more than 100ms, i.e., the reversal time threshold is less than or equal to 100ms, to prevent the blades from opening to a negative angle and causing blade sweeping of the tower.
[0077] In this embodiment, the pitch drive uses two judgment logics (fast judgment logic (specifically referring to the aforementioned preset judgment logic) and angle deviation judgment logic) to determine whether the resolver has experienced a slippage fault. The fast judgment logic is implemented as follows:
[0078] When the resolver mounting angle slips significantly (approximately 180° for surface mount machines and generally greater than 50° for embedded machines; the specific angle depends on the structure and magnetic field distribution of the permanent magnet synchronous pitch motor), the pitch motor may reverse, overspeed, and become uncontrollable. In this situation, millisecond-level fault reporting can be achieved by judging the pitch motor's reverse rotation and acceleration magnitude. Therefore, when the pitch motor reverses for a certain period and the rotational acceleration during reversal exceeds a threshold, a resolver fault caused by resolver mounting angle slippage will be triggered.
[0079] In this embodiment, when the continuous reverse operation time of the pitch motor exceeds a reverse time threshold and the rotational acceleration during reverse operation exceeds an acceleration threshold, it indicates that the condition of "the pitch motor reversing for a certain period of time and the rotational acceleration during reverse operation exceeding the threshold" is met. At this point, it is determined that the operating condition of the pitch motor meets the preset judgment logic. Simultaneously, it also indicates the presence of a resolver fault due to resolver mounting angle slippage. Therefore, in one implementation, when the operating condition of the pitch motor meets the preset judgment logic, it can be determined that the resolver has a slippage fault, and further, it can be determined that the resolver fault is caused by resolver mounting angle slippage.
[0080] In this embodiment, when using the continuous running time of reverse rotation and the rotational acceleration during reverse rotation to detect slip faults and resolver faults, the required detection time is very short. Therefore, resolver faults caused by large-angle slippage of the resolver mounting angle can be detected quickly.
[0081] If the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, it indicates that the condition of "the pitch motor reverses for more than a certain period of time and the rotational acceleration during reverse exceeds the threshold" is not met. In this case, it is determined that the operating status of the pitch motor does not meet the preset judgment logic.
[0082] Among them, the continuous reverse operation time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, including three cases:
[0083] 1. The continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold, and the rotational acceleration during reverse is greater than the acceleration threshold;
[0084] 2. The continuous reverse running time of the pitch motor is greater than the reverse time threshold, and the rotational acceleration during reverse is less than or equal to the acceleration threshold.
[0085] 3. The continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold, and the rotational acceleration during reverse is less than or equal to the acceleration threshold.
[0086] When it is determined that the operating condition of the pitch motor does not meet the preset judgment logic, it indicates that the resolver mounting angle has not slipped significantly. At this point, it is necessary to further determine whether the resolver mounting angle has slipped slightly. In determining whether the resolver mounting angle has slipped slightly, the angle deviation judgment logic in this application embodiment is required. The implementation principle of the angle deviation judgment logic is as follows:
[0087] When the resolver installation angle slips at other angles, the system can report slippage faults and resolver faults by judging whether the positional deviation between the first position information and the second position information exceeds a threshold.
[0088] In this embodiment, it is necessary to calculate the position deviation between the first position information and the second position information. Specifically, this can be the angle difference between the resolver feedback angle in the first position information and the sensorless estimation angle in the second position information.
[0089] S13. If the number of consecutive times the position deviation exceeds the position deviation threshold is greater than the preset number, it is determined that the rotary transformer has a slip fault.
[0090] In practical scenarios, because the second position information is the rotor position of the pitch motor calculated imperceptibly based on the motor's own characteristics, this position information will not have a large error. However, if the resolver installation angle deviates, the first position information calculated by the resolver will show a fixed deviation. Therefore, the threshold number of resolver slip cycles used when determining slip faults based on position deviation, i.e., the preset number, does not need to be very large. In one implementation, the preset number is less than 100 cycles, and generally a few dozen cycles are sufficient, mainly to prevent unknown interference. In addition, the position deviation threshold is determined based on the number of pole pairs of the pitch motor, such as 25°-50°.
[0091] In this embodiment, if the number of consecutive times the position deviation exceeds the position deviation threshold is greater than the preset number, it indicates that the first position information calculated by the rotary transformer has a fixed deviation for a continuous number of times. It can also be deduced that the rotary transformer installation angle has a deviation, that is, the rotary transformer installation angle has slipped, which in turn causes the rotary transformer to have a slip fault.
[0092] In one implementation, the process of determining the number of consecutive times the position deviation exceeds the position deviation threshold includes:
[0093] If the position deviation exceeds the position deviation threshold, the number of resolver slip operations is accumulated to obtain the number of consecutive times the position deviation exceeds the position deviation threshold; if the position deviation does not exceed the position deviation threshold, the number of resolver slip operations is cleared.
[0094] In practice, after calculating the position deviation, if the calculated position deviation exceeds the position deviation threshold, the number of rotational slips will be accumulated; otherwise, it will be cleared to zero. The statistical result of the number of rotational slips is the number of consecutive times the position deviation exceeds the position deviation threshold.
[0095] If the position deviation exceeds the position deviation threshold multiple times in a row, a fault will be reported in the resolver due to the resolver installation angle slippage, and then the resolver slippage count will be reset to zero.
[0096] It should be noted that in the angle deviation judgment logic, since it is necessary to determine whether the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number, a certain amount of time is required. Therefore, the time required to determine the slip fault through the angle deviation judgment logic is greater than the time required to determine the slip fault through the fast judgment logic. Furthermore, when the slip fault is determined through the fast judgment logic, the angle deviation judgment logic will also likely determine the slip fault at the same time. However, since the fast judgment logic requires less time, in this embodiment, after obtaining the rotation data of the pitch motor, the fast judgment logic can be used first to determine whether a resolver fault caused by resolver installation angle slip occurs. If not, the angle deviation judgment logic continues to be used to determine whether a resolver fault caused by resolver installation angle slip occurs, specifically as follows: Figure 2 As shown.
[0097] In another implementation, such as Figure 3 As shown, the fast judgment logic and the angle deviation judgment logic can be executed in parallel. That is, either of these two strategies can be used to determine the resolver fault caused by the resolver installation angle slippage.
[0098] In this embodiment, a comprehensive judgment is made based on preset judgment logic and the number of consecutive times the position deviation exceeds the position deviation threshold to determine whether there is a fault in the resolver caused by the slippage of the resolver mounting angle. Since the second position information required to calculate the position deviation is estimated based on the operating data of the pitch motor, it has high accuracy. Therefore, even when the resolver mounting angle slips by a small angle, the slippage fault of the resolver can be detected in a timely and accurate manner.
[0099] Furthermore, this embodiment enhances system safety: by adding a resolver slip fault detection logic, dangerous situations such as pitch motor reversal and overspeed caused by resolver slip can be effectively avoided. When the wind force is very strong and exceeds the blade's tolerance limit, the pitch drive will retract the blades. If a resolver fault such as slip occurs during the retraction process, the blades will become uncontrollable, and may even switch from retraction to opening. If the slip fault can be detected in time, the blades can still be retracted to a safe position. That is, even when a slip fault exists, open-loop retraction can still be performed, reducing the damage caused by equipment failure and achieving a safe response for the pitch system.
[0100] In addition, this embodiment can improve the fault response speed: for abnormal situations such as pitch motor reversal, a fast judgment logic is adopted, which can trigger the fault response in milliseconds.
[0101] In addition, the rotary transformer fault detection method in this application embodiment is highly adaptable: this method is applicable to different types of permanent magnet synchronous pitch motors (surface mounters, embedded motors, etc.), and can accurately determine faults under different reduction ratios, speeds, and other conditions, thus possessing versatility.
[0102] In addition, the rotary transformer fault detection method in this application embodiment can save costs: it reduces the dependence on additional hardware and lowers the system deployment and maintenance costs.
[0103] Based on any of the above embodiments, refer to Figure 4 Calculating the positional deviation between the first position information and the second position information can include:
[0104] S21. Estimate the speed range of the pitch motor.
[0105] In this embodiment, in order to avoid errors in calculating the position deviation between the first position information and the second position information, it is necessary to meet the condition that the speed range of the pitch motor cannot be too low. This is because when the pitch motor is running at extremely low speeds, the error of the sensorless algorithm is large. Therefore, in order to avoid misjudging slip faults caused by this error, it is necessary to ensure that the speed range of the pitch motor is not at extremely low speeds.
[0106] When estimating the speed range of the pitch motor, the same sensorless algorithm can be used as described above for estimating the second position information. In this case, the process of determining the second position information and / or the speed range includes:
[0107] Acquire the operating data of the pitch motor, perform a seamless estimation operation on the operating data, and obtain the second position information and / or speed range.
[0108] The operating data of the pitch motor can be characteristic information of the pitch motor such as back electromotive force, current value, inductance value and flux linkage component. By inputting this into the sensorless algorithm, the second position information and / or speed range can be obtained.
[0109] S22. When the minimum value in the rotational speed range is greater than the rotational speed threshold, calculate the position deviation between the first position information and the second position information.
[0110] In this embodiment, the speed threshold is an extremely low speed threshold, which is determined according to the actual configuration, such as 50 r / min.
[0111] If the minimum value in the speed range is greater than the speed threshold, it means that the current speed range is not in the extremely low speed range. At this time, the position deviation between the first position information and the second position information can be calculated.
[0112] In this embodiment, limiting the speed range of the pitch motor can avoid misjudgment of slip faults caused by the algorithm error without position sensors, thereby improving the accuracy of slip fault judgment.
[0113] Based on any of the above embodiments, the presence of a resolver fault can also be determined based on the signal quality of the first position information. Specifically, refer to... Figure 5 It can include:
[0114] S31. Obtain the rotation data of the pitch motor.
[0115] S32, Detect the signal quality of the first position information.
[0116] The signal quality of the first location information can be the signal amplitude, signal-to-noise ratio, etc. Specifically, the signal amplitude and signal-to-noise ratio can be calculated using the formulas for calculating the signal amplitude and signal-to-noise ratio to obtain the signal quality.
[0117] S33. Determine whether the signal quality is greater than the signal quality threshold. If yes, proceed to step S34; otherwise, proceed to step S36.
[0118] In this embodiment, when the signal quality is less than or equal to the signal quality threshold, it indicates that the resolver has a resolver fault, and a resolver fault can be reported. When the signal quality is greater than the signal quality threshold, it is further determined whether there is a resolver fault caused by resolver installation angle slippage. If not, it indicates that the resolver is normal.
[0119] S34. If the operating status of the pitch motor does not meet the preset judgment logic based on the rotation data, calculate the position deviation between the first position information and the second position information.
[0120] S35. If the number of consecutive times the position deviation exceeds the position deviation threshold is greater than the preset number, it is determined that the rotary transformer has a slip fault.
[0121] It should be noted that the specific implementation of steps S34 and S35 can be found in the corresponding descriptions above.
[0122] S36. It was determined that the rotary transformer had a resolver fault.
[0123] In this embodiment, after slip fault detection, the presence of resolver fault is determined based on signal quality. If resolver fault exists, it can be quickly identified so that corresponding maintenance operations can be performed.
[0124] Based on the embodiments of the above-described rotary transformer fault detection method, another embodiment of this application provides a rotary transformer fault detection device, referring to... Figure 6 It can include:
[0125] The acquisition module 101 is used to acquire the rotation data of the pitch motor; the rotation data includes at least first position information and second position information; the first position information is obtained based on the detection of the rotary transformer; the second position information is estimated based on the operating data of the pitch motor.
[0126] The calculation module 102 is used to calculate the position deviation between the first position information and the second position information when the operating status of the pitch motor is determined to be inconsistent with the preset judgment logic based on the rotation data.
[0127] The determination module 103 is used to determine that the rotary transformer has a slip fault when the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number.
[0128] In one implementation, the rotation data also includes: the rotational acceleration of the pitch motor;
[0129] The calculation module 102 includes:
[0130] The judgment submodule is used to determine the preset judgment logic of the operating condition of the pitch motor when the continuous reverse running time of the pitch motor is greater than the reverse time threshold and the rotational acceleration during reverse is greater than the acceleration threshold; and to determine the operating condition of the pitch motor is not satisfied when the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold.
[0131] In one implementation, the calculation module 102 includes:
[0132] The estimation submodule is used to estimate the speed range of the pitch motor;
[0133] The calculation submodule is used to calculate the position deviation between the first position information and the second position information when the minimum value in the speed range is greater than the speed threshold.
[0134] One implementation further includes: a data processing module, used to determine the second position information and / or rotational speed range, specifically used for:
[0135] Acquire the operating data of the pitch motor, perform a seamless estimation operation on the operating data, and obtain the second position information and / or speed range.
[0136] One implementation further includes: a frequency analysis module, used to determine the number of consecutive times the position deviation exceeds a position deviation threshold; the frequency analysis module is specifically used for:
[0137] If the position deviation exceeds the position deviation threshold, the number of resolver slip operations is accumulated to obtain the number of consecutive times the position deviation exceeds the position deviation threshold; if the position deviation does not exceed the position deviation threshold, the number of resolver slip operations is cleared.
[0138] In one implementation, the preset number of times is less than 100.
[0139] And / or, the inversion time threshold is less than or equal to 100ms;
[0140] And / or, the acceleration threshold is 4° / s 2 -9° / s 2 ;
[0141] And / or, the position deviation threshold is 25°-50°.
[0142] In one implementation, the determining module 103 is further used for:
[0143] If the operating condition of the pitch motor meets the preset judgment logic, it is determined that the rotary transformer has a slip fault.
[0144] In this embodiment, a comprehensive judgment is made based on preset judgment logic and the number of consecutive times the position deviation exceeds the position deviation threshold to determine whether there is a fault in the resolver caused by the slippage of the resolver mounting angle. Since the second position information required to calculate the position deviation is estimated based on the operating data of the pitch motor, it has high accuracy. Therefore, even when the resolver mounting angle slips by a small angle, the slippage fault of the resolver can be detected in a timely and accurate manner.
[0145] It should be noted that the working process of each module and sub-module in this embodiment is described in the corresponding descriptions in the above embodiments, and will not be repeated here.
[0146] Based on the embodiments of the above-described rotary transformer fault detection method and apparatus, another embodiment of this application provides a pitch drive, including at least one processor and a memory connected to the processor, wherein:
[0147] Memory is used to store computer programs;
[0148] The processor is used to execute computer programs to enable the pitch drive to implement the aforementioned rotary transformer fault detection method.
[0149] Based on the above-described embodiment of the pitch drive, another embodiment of this application provides a wind power pitch system, including a pitch motor and the aforementioned pitch drive, wherein the pitch motor is connected to the pitch drive. The specific structure is described in the corresponding description above.
[0150] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the rotary transformer fault detection methods provided in this application.
[0151] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the rotary transformer fault detection methods provided in this application.
[0152] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the accompanying drawings of the device embodiments provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0154] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0155] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).
Claims
1. A method for detecting faults in a rotary transformer, characterized in that, include: Obtain the rotation data of the pitch motor; The rotation data includes at least first position information and second position information; The first position information is obtained based on rotary transformer detection; The second position information is estimated based on the operating data of the pitch motor; If, based on the rotation data, it is determined that the operating status of the pitch motor does not meet the preset judgment logic, the position deviation between the first position information and the second position information is calculated. If the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number, it is determined that the rotary transformer has a slippage fault.
2. The method for detecting faults in a rotary transformer according to claim 1, characterized in that, The rotation data also includes: the rotational acceleration of the pitch motor; The step of determining that the operating status of the pitch motor does not meet the preset judgment logic based on the rotation data includes: When the continuous reverse running time of the pitch motor is greater than the reverse time threshold and the rotational acceleration during reverse is greater than the acceleration threshold, the operating condition of the pitch motor is determined to meet the preset judgment logic; when the continuous reverse running time of the pitch motor is less than or equal to the reverse time threshold or the rotational acceleration during reverse is less than or equal to the acceleration threshold, the operating condition of the pitch motor is determined to not meet the preset judgment logic.
3. The method for detecting faults in a rotary transformer according to claim 1, characterized in that, The calculation of the positional deviation between the first position information and the second position information includes: Estimate the speed range of the pitch motor; If the minimum value in the specified rotational speed range is greater than the rotational speed threshold, the position deviation between the first position information and the second position information is calculated.
4. The method for detecting faults in a rotary transformer according to claim 3, characterized in that, The process of determining the second position information and / or the rotational speed range includes: Obtain the operating data of the pitch motor; A non-sensory estimation operation is performed on the operating data to obtain the second position information and / or rotational speed range.
5. The method for detecting faults in a rotary transformer according to claim 1, characterized in that, The process of determining the number of consecutive times the position deviation exceeds the position deviation threshold includes: If the position deviation exceeds the position deviation threshold, the number of resolver slip operations is accumulated to obtain the number of consecutive times the position deviation exceeds the position deviation threshold; if the position deviation does not exceed the position deviation threshold, the number of resolver slip operations is cleared.
6. The method for detecting faults in a rotary transformer according to claim 2, characterized in that, The preset number of times is less than 100; And / or, the inversion time threshold is less than or equal to 100ms; And / or, the acceleration threshold is 4° / s 2 -9° / s 2 ; And / or, the position deviation threshold is 25°-50°.
7. The method for detecting faults in a rotary transformer according to claim 1, characterized in that, If the operating condition of the pitch motor is determined to meet the preset judgment logic, the rotary transformer fault detection method further includes: It was determined that the rotary transformer had a slippage fault.
8. A rotary transformer fault detection device, characterized in that, include: The acquisition module is used to acquire rotation data of the pitch motor; the rotation data includes at least first position information and second position information. The first position information is obtained based on the detection of the rotary transformer; the second position information is estimated based on the operating data of the pitch motor. The calculation module is used to calculate the position deviation between the first position information and the second position information when it is determined from the rotation data that the operating status of the pitch motor does not meet the preset judgment logic. The determination module is used to determine that the rotary transformer has a slip fault when the number of consecutive times the position deviation exceeds the position deviation threshold is greater than a preset number.
9. A pitch drive, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the pitch drive to implement the rotary transformer fault detection method as described in any one of claims 1 to 7.
10. A wind power pitch control system, characterized in that, It includes a pitch motor and a pitch drive as described in claim 9, wherein the pitch motor is connected to the pitch drive.