CN115306637A - Variable pitch drive system, variable pitch driver and master-slave motor drive method - Google Patents

Abstract

The invention discloses a pitch drive system, pitch drive and a master-slave motor drive method, wherein the master-slave motor drive method comprises: a master speed control unit and a slave speed control unit respectively outputting a master given current command and a slave given current The command is sent to the frequency compensation unit; the frequency compensation unit generates the frequency compensation command according to the received master given current command and the slave given current command, and outputs the frequency compensation command to the slave speed control unit; the slave speed control unit according to the received The frequency compensation command performs frequency compensation on the generated slave frequency deviation command, and outputs the slave given current command according to the compensated slave frequency deviation command. The technical scheme of the present invention can improve the transient response and steady-state response of the dual-motor pitch drive.

Description

Pitch drive system, pitch drive and master-slave motor drive method

technical field

The invention relates to the technical field of pitch control, in particular to a pitch drive system, a pitch drive and a master-slave motor drive method.

Background technique

At present, wind turbines usually use dual motors to output torque to the gear system to drive the blades to execute the pitch command. However, the current dual motor drive control scheme does not take into account the characteristics of the gear system. The propeller drive system causes severe impact, which in turn affects the overall service life of the wind turbine.

Contents of the invention

The main purpose of the present invention is to provide a master-slave motor drive method, aiming to solve the problem of poor transient response and steady-state response of the dual-motor pitch drive.

In order to achieve the above object, the master-slave motor driving method proposed by the present invention is applied to the pitch driver, and the pitch driver includes a master motor controller, a slave motor controller and a frequency compensation unit, and the master motor controller includes a A master speed control unit that outputs a master given current command, the slave motor controller includes a slave speed control unit for outputting a slave given current command, and the frequency compensation unit is connected to the master speed control unit and the slave speed control unit respectively unit connection, the master-slave motor drive method includes:

The master speed control unit and the slave speed control unit respectively output the master given current command and the slave given current command to the frequency compensation unit;

The frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, and outputs the frequency compensation command to the slave speed control unit;

The slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command.

Optionally, the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, specifically:

The frequency compensation unit subtracts the master given current command from the slave given current command, and generates a frequency compensation command according to the result of the subtraction.

Optionally, the slave position speed unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, specifically:

The slave position control unit performs addition calculation on the received frequency compensation command and the generated slave frequency deviation command, and uses the addition calculation result as the compensated slave frequency deviation command.

Optionally, the master-slave motor driving method also includes:

The frequency compensation unit also outputs frequency compensation instructions to the main speed control unit;

The main speed control unit performs frequency compensation on the generated main frequency deviation command according to the received frequency compensation command, and outputs the main given current command to the main current control unit according to the compensated main frequency deviation command;

The main current control unit controls the main motor to work according to the received main given current command and main feedback current command.

Optionally, the main speed control unit performs frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, specifically:

The main speed control unit subtracts the received frequency compensation command from the generated main frequency deviation command, and uses the result of the subtraction as the compensated main frequency deviation command.

Optionally, the master-slave motor driving method also includes:

The main position control unit generates a main given frequency command and outputs it to the main speed control unit according to the given position command and the feedback position command.

Optionally, the master-slave motor driving method also includes:

The master position control unit also outputs the generated master given frequency command as a slave given frequency command to the slave speed control unit.

The present invention also proposes a pitch driver for realizing the above-mentioned master-slave motor driving method, the pitch driver comprising:

The main motor controller includes: a main speed control unit, the main speed control unit is used to output a main given current command;

The slave motor controller includes: a slave speed control unit for outputting a slave given current command; and,

A frequency compensation unit, the frequency compensation unit is respectively connected with the master speed control unit and the slave speed control unit to access the master given current command and the slave given current command; the frequency compensation unit is used for Generate a frequency compensation command according to the received master given current command and the slave given current command, and output the frequency compensation command to the slave speed control unit, so that the slave speed control unit according to Performing frequency compensation on the generated slave frequency deviation command for the received frequency compensation command;

The slave speed control unit is further configured to output a slave given current command to the slave current control unit according to the compensated slave frequency deviation command.

Optionally, the frequency compensation unit includes:

A subtraction module, configured to respectively access the master given current command and the slave given current command, and to output the calculation result after subtracting the master given current command and the slave given current command ;

The frequency compensation generation module is used to access the calculation result of the subtraction module, and generate a corresponding frequency compensation command according to the calculation result of the subtraction module, and then output it to the slave speed control unit.

Optionally, the frequency compensation unit is also configured to output a frequency compensation instruction to the main speed control unit;

The main speed control unit is also used to perform frequency compensation on the generated main frequency deviation command according to the received frequency compensation command, and output the main given current command according to the compensated main frequency deviation command.

Optionally, the main motor controller also includes:

The main current control unit is used to control the operation of the main motor according to the main given current command output by the main speed control unit and the received main feedback current command.

Optionally, the slave motor controller also includes:

The slave current control unit is used to control the slave motor to work according to the slave given current command output from the slave speed control unit and the received slave feedback current command.

Optionally, the main motor controller also includes:

The main speed control unit is used to generate a main given frequency command and output it to the main speed control unit according to the received given position command and the feedback position command.

Optionally, the master speed control unit is further configured to output the generated master given frequency command as a slave given frequency command to the slave speed control unit.

The present invention also proposes a pitch drive system, the pitch drive comprising:

main motor;

from the motor; and,

As in the pitch driver mentioned above, the pitch driver is respectively connected to the main motor and the slave motor, and the pitch driver is used to control the operation of the master motor and the slave motor respectively.

The technical solution of the present invention makes the main speed control unit and the slave speed control unit respectively output the main given current command and the slave given current command to the frequency compensation unit; the frequency compensation unit receives the master given current command and the slave given current command, generate a frequency compensation command, and output the frequency compensation command to the slave speed control unit; and, according to the received frequency compensation command, the slave speed control unit performs frequency compensation on the generated slave frequency deviation Frequency deviation command, the output is from the given current command. The master-slave motor driving method of the present invention can keep the torque and speed of the slave motor consistent with the master motor at all times, so that the dual-motor pitch drive system can have no impact in the transient response and steady-state response when encountering a sudden change Smooth operation, thus avoiding the impact and vibration caused by sudden changes in working conditions, thereby solving the problem of poor transient response and steady-state response of the dual-motor pitch drive, and can effectively improve the service life and reliability of the wind turbine.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is a schematic flow chart of an embodiment of the master-slave motor driving method of the present invention;

Fig. 2 is a structural schematic diagram of an embodiment of the pitch drive of the present invention;

Fig. 3 is a structural schematic diagram of another embodiment of the pitch drive of the present invention;

Fig. 4 is a schematic structural diagram of an embodiment of the pitch drive system of the present invention.

Explanation of reference numbers:

label name label name 10 main motor controller twenty two from the current control unit 11 main speed control unit 30 frequency compensation unit 12 main current control unit 31 Subtraction module 13 master position control unit 32 Frequency Compensation Generation Module 20 from the motor controller 40 main motor twenty one From the speed control unit 50 from the motor

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In addition, in the present invention, descriptions such as "first", "second" and so on are used for description purposes only, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

The invention proposes a master-slave motor driving method.

Due to the large gap between the gears in the gear system, when encountering sudden changes in conditions such as start-up, reversing, sudden acceleration and deceleration, and sudden load changes, the corresponding working conditions of the two gears are not the same. Load, one gear overload, and at this time the speed characteristics of the two motors under the same torque are inconsistent, which will cause severe impact and vibration to the pitch drive system. When the wind turbine is actually running, especially when it is running at sea, because the load is wind resistance, the working conditions encountered are more complex and sudden. However, due to the poor transient response and steady-state response of the existing dual-motor pitch drive, It cannot cope with the shock and vibration brought by complex and sudden working conditions, which will also affect the safety and service life of the wind turbine.

In view of the above problems, referring to Fig. 1 to Fig. 4, in one embodiment, the master-slave motor driving method includes:

Step S100, the master speed control unit and the slave speed control unit respectively output the master given current command and the slave given current command to the frequency compensation unit;

The execution subject of the master-slave motor driving method of the present invention may be a pitch driver, and the pitch driver is used to control the operation of the two motors in the pitch drive system. The pitch driver can be integrated with two motor controllers corresponding to the two motors. The two motor controllers can communicate with each other through CAN communication. The two motor controllers can be configured under the configuration of the main control unit in the pitch driver. , one of which is used as the master motor controller, and the other is used as the slave motor controller. The master motor controller can include a master speed control unit for outputting a master given current command, and the slave motor controller can include a master speed control unit for outputting a slave given current command. command from the speed control unit. Correspondingly, the motor controlled by the master motor controller is the master motor, and the motor controlled by the slave motor controller is the slave motor. In this embodiment, a frequency compensation unit may also be provided in the pitch driver, and the frequency compensation unit may be connected to the master speed control unit and the slave speed control unit respectively.

The host controller may at least include a main speed control unit, and the main speed control unit may subtract the input main given frequency command and the feedback frequency command of the main motor through the subtraction module to obtain the frequency deviation of the main motor, that is, the main Frequency deviation command, and the main frequency deviation command can be output to the speed loop module to output torque command (current command) after speed closed-loop processing such as proportional and integral control through the speed loop module, that is, the main given current command to the frequency compensation unit and main current control unit. The slave machine controller may at least include a slave speed control unit, and the slave speed control unit may subtract the input slave given frequency command and the feedback frequency command of the slave motor through the subtraction module to obtain the frequency deviation of the slave motor, that is From the frequency deviation command, it can be output from the frequency deviation command to the speed loop module, so as to output the torque command (current command) after the speed closed-loop processing such as proportional and integral control through the speed loop module, that is, from the given current command to the frequency compensation unit and slave current control unit.

Step S200, the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, and outputs the frequency compensation command to the slave speed control unit;

When the pitch drive system encounters a sudden change of working conditions and the corresponding working conditions of the two gears are not the same, the speed characteristics of the two motors of the master motor and the slave motor will be reflected in their respective feedback frequencies, for example: the corresponding to the no-load gear The motor feedback frequency command will be much higher than the motor feedback frequency command corresponding to the gear under normal working conditions; the motor feedback speed corresponding to the overloaded gear will be much lower than the feedback speed of the motor under the normal working condition of the gear. Therefore, the inconsistent master and slave given current commands generated according to the abnormal master and slave feedback current commands under sudden conditions, and then respectively control the master and slave motors, is the transient response of the dual-motor pitch drive. and the main reason for the poor steady-state response.

In the solution of this application, the frequency compensation unit is set to respectively access the master given current command and the slave given current command. The frequency compensation unit can calculate the input master given current command and slave given current command accordingly, and then determine the torque difference between the slave motor torque and the master motor torque according to the calculation results, and can further calculate the torque The difference is converted into a corresponding frequency command, that is, a frequency compensation command, and then output to the slave speed control unit for speed compensation to the slave speed control unit.

Step S300 , the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command.

The slave speed control unit can adjust the slave frequency deviation command generated by itself according to the received frequency compensation command, so that the adjusted slave frequency deviation command can be increased or decreased correspondingly, and the adjusted frequency The deviation command is output to the speed loop module as a compensated slave frequency deviation command, which is converted into a new slave given current command by the speed loop module and then output to the frequency compensation unit and the slave current control unit. The slave current control unit can subtract the received slave given current command and the slave feedback current command output from the motor feedback to obtain the slave current deviation command, and can convert the slave current deviation command into the corresponding The PMW signal is then output to the slave motor drive circuit, so that the slave motor drive circuit can correspondingly output corresponding AC power to the slave motor, so as to control the slave motor to work. At this time, the frequency compensation unit still determines that there is a torque difference between the torque of the slave motor and the torque of the master motor according to the calculation results of the new slave given current command and the master given current command, then repeat the above steps until the slave motor torque is determined There is no torque difference between the torque and the torque of the master motor, that is, the torque of the slave motor is the same as that of the master motor, that is, the new slave given current command is equal to the master given current command.

In this way, the torque and speed of the slave motor can always be consistent with the main motor, so that when encountering a sudden change in working conditions, the dual-motor pitch drive system can run smoothly without impact in the transient response and steady-state response, thus avoiding the The shock and vibration caused by the sudden change of working conditions solve the problem of poor transient response and steady-state response of the dual-motor pitch drive, and can effectively improve the service life and reliability of the wind turbine.

Referring to Figures 1 to 4, in an embodiment, in step S200, the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, specifically:

The frequency compensation unit subtracts the master given current command from the slave given current command, and generates a frequency compensation command according to the result of the subtraction.

In this embodiment, the frequency compensation unit may include a subtraction module and a frequency compensation generation module. Among them, the subtraction module can be respectively connected to the master given current command and the slave given current command, and used to subtract the two to obtain the subtraction calculation result representing the difference between the master motor torque and the slave motor torque output frequency compensation generation Module; the corresponding PI algorithm can be pre-stored in the frequency compensation generation module to generate and output the corresponding frequency compensation command to the slave speed control unit according to the subtraction calculation result, so as to realize the frequency compensation of the slave frequency deviation command.

1 to 4, in an embodiment, in step S300, the slave position speed unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, specifically:

The slave speed control unit adds the received frequency compensation command and the generated slave frequency deviation command, and uses the addition calculation result as the compensated slave frequency deviation command.

In this embodiment, the slave speed control unit may include a subtraction module, an addition module and a speed loop module connected in sequence. Among them, the subtraction module can be used to generate the slave frequency deviation command and output it to the addition module; the addition module is used to add the input slave frequency deviation command and frequency compensation command, and can use the addition result as the compensated slave frequency deviation command Output to the speed loop module. It should be noted that when the master given current command is greater than the slave given current command, the frequency compensation command can be regarded as a positive frequency command, so that the compensated slave frequency offset command can be greater than the slave frequency offset command before compensation; When the master given current command is smaller than the slave given current command, the frequency compensation command can be regarded as a negative frequency command, so that the compensated slave frequency offset command can be smaller than the slave frequency offset command before compensation; when the master given current command When equal to the given current command, the frequency compensation command can be adjusted as a zero frequency command, so that the compensated slave frequency offset command can be equal to the slave frequency offset command before compensation.

Referring to Figures 1 to 4, in one embodiment, the master-slave motor driving method further includes:

Step 400, the frequency compensation unit also outputs the frequency compensation command to the main speed control unit;

Since it is found in actual tests that it takes a certain amount of time to achieve the same torque of the master and slave motors only through the frequency compensation of the slave motor controller, it cannot be well applied to wind power generation scenarios where wind resistance changes rapidly such as at sea. To solve this problem, the master-slave motor driving method of the present application also enables the frequency compensation unit to send the generated frequency compensation command to the master speed control unit, so that the master motor controller can use the frequency compensation command to perform corresponding frequency compensation on the master motor at the same time.

Step 500, the main speed control unit performs frequency compensation on the generated main frequency deviation command according to the received frequency compensation command, and outputs the compensated main given current command to the main current control unit according to the compensated main frequency deviation command ;

The main speed control unit can adjust the main frequency deviation command generated by itself according to the received frequency compensation command, so that the adjusted main frequency deviation command can be increased or decreased correspondingly, and the adjusted frequency The deviation command is output to the speed loop module as the main frequency deviation command after compensation, so as to be converted into a new main given current command by the speed loop module and then output to the frequency compensation unit and the main current control unit. In this case, the frequency compensation unit still determines that there is a torque difference between the torque of the master motor and the torque of the slave motor according to the calculation results of the new master given current command and the new slave given current command, then repeat the above steps until it is determined The new main given current command is equal to the new main given current command.

Step 600, the main current control unit controls the main motor to work according to the received main given current command and main feedback current command.

In this embodiment, the main current control unit can subtract the received main given current command and the main feedback current command output by the main motor feedback to obtain the main current deviation command, and can calculate the main current deviation through the current loop module The command is converted into a corresponding PMW signal and then output to the main motor drive circuit, so that the main motor drive circuit can output corresponding AC power to the main motor, thereby realizing the control of the main motor.

The master-slave motor driving method of the present invention performs frequency compensation on the master speed control unit and the slave speed control unit at the same time, so that when encountering a sudden change of working conditions, the torque and speed of the master motor and the slave motor can quickly reach the same level, which is conducive to improving the speed of the present invention. The adaptability of the technical solution to wind power generation scenarios where wind resistance changes rapidly such as at sea.

Optionally, in step 500, the main speed control unit performs frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, specifically:

The main speed control unit subtracts the received frequency compensation command from the generated main frequency deviation command, and uses the result of the subtraction as the compensated main frequency deviation command.

In this embodiment, the main speed control unit may include two subtraction modules (hereinafter referred to as the first subtraction module and the second subtraction module respectively) and a speed loop module connected in sequence. Among them, the first subtraction module can be used to generate the main frequency deviation command and output it to the second subtraction module; the second subtraction module is used to subtract the main frequency deviation command and frequency compensation command received, and can use the subtraction result as compensation The final main frequency deviation command is output to the speed loop module, so as to realize the frequency compensation of the main speed control unit. It should be noted that when the main given current command is greater than the main given current command, the main frequency offset command after compensation can be greater than the main frequency deviation command before compensation; when the main given current command is smaller than the main given current command, The main frequency offset instruction after compensation can be smaller than the main frequency offset instruction before compensation; when the main given current instruction is equal to the main given current instruction, the main frequency offset instruction after compensation can be equal to the main frequency offset before compensation instruction.

Referring to Figures 1 to 4, in one embodiment, the master-slave motor driving method further includes:

Step S700, the main position control unit generates a main given frequency command according to the given position command and the feedback position command and outputs it to the main speed control unit,

In this embodiment, the main position control unit can obtain a given position instruction from an upper control device or an upper control module, and can obtain a feedback position instruction from a position sensor such as an encoder in the main motor. The main position control unit can subtract the given position command and the feedback position command through the subtraction module, output the subtraction calculation result to the position loop module to multiply the position gain, and output the multiplication calculation result as the main given frequency command to The main speed control unit realizes the position closed-loop control of the main motor.

Optionally, the master-slave motor driving method also includes:

In step S800, the master position control unit also outputs the generated master given frequency command as a slave given frequency command to the slave speed control unit.

In this embodiment, the slave motor controller adopts the design of no position loop. The slave motor controller is used to access the master given frequency command from the master motor controller to output to the slave speed control unit as a slave given frequency command, so as to realize the speed closed-loop control of the slave motor. Such a setting is beneficial to improve the consistency of the master motor and the slave motor.

The present invention also proposes a pitch driver, which includes: a master motor controller 10, a slave motor controller 20 and a frequency compensation unit 30, the pitch driver is used to implement the above-mentioned master-slave motor driving method, the master From the specific steps of the motor driving method, referring to the above-mentioned embodiments, since this pitch drive adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not repeat them here. A repeat.

Wherein, the master motor controller 10 includes: a master speed control unit 11, the master speed control unit 11 is used to output a master given current command; the slave motor controller 20 includes: a slave speed control unit 21, the slave speed control unit 21 is used to output from the given current command; and, the frequency compensation unit 30, the frequency compensation unit 30 is respectively connected with the master speed control unit 11 and the slave speed control unit 21 to access the master given current command and the slave given current command; the frequency compensation unit 30 is configured to generate a frequency compensation command according to the received master given current command and the slave given current command, and output the frequency compensation command to the slave speed control unit 21, so that the slave speed control unit 21 performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command; the slave speed control unit 21 is also used to perform frequency compensation according to The compensated slave frequency deviation command is output to the slave given current command to the slave current control unit 22 . In one embodiment, the master motor controller 10 can also include a master speed control unit 11 and a master current control unit 12, the slave motor controller 20 can also include a slave current control unit 22, the master speed control unit 11, the master current control unit and The functions of the slave current control unit 22 can also refer to the above-mentioned embodiments, and details are not repeated here.

Optionally, the frequency compensation unit 30 includes:

A subtraction module 31, configured to respectively access the master given current command and the slave given current command, and to output the subtraction after subtracting the master given current command and the slave given current command. Calculation results;

The frequency compensation generating module 32 is configured to access the subtraction calculation result, and generate a corresponding frequency compensation instruction according to the subtraction calculation result and output it to the slave speed control unit 21 .

Among them, the subtraction module 31 can respectively access the main given current command and the slave given current command, and use it to subtract the two to obtain the subtraction calculation result representing the difference between the torque of the main motor 40 and the torque of the slave motor 50. Frequency compensation generation module 32; the corresponding PI algorithm can be pre-stored in the frequency compensation generation module 32, so as to generate and output the corresponding frequency compensation command to the slave speed control unit according to the subtraction calculation result, so as to realize the frequency compensation of the slave frequency deviation command. In another optional embodiment, the frequency compensation generation module 32 can also output the frequency compensation instruction to the master speed control unit 11 simultaneously, so as to perform frequency compensation on the master speed control unit 11 and the slave speed control unit 21 at the same time.

Optionally, the frequency compensation unit 30 is also configured to output a frequency compensation command to the main speed control unit 11;

The main speed control unit 11 is also used to perform frequency compensation on the generated main frequency deviation command according to the received frequency compensation command, and output the main given current command according to the compensated main frequency deviation command.

The main speed control unit 11 can adjust the main frequency deviation command generated by itself according to the received frequency compensation command, so that the adjusted main frequency deviation command can be correspondingly increased or decreased, and the adjusted The frequency deviation command is output to the speed loop module as a compensated main frequency deviation command, which is converted into a new main given current command by the speed loop module and then output to the frequency compensation unit 30 and the main current control unit 12 . In this case, the frequency compensation unit 30 still determines that there is a torque difference between the torque of the master motor 40 and the torque of the slave motor 50 according to the calculation results of the new master given current command and the new slave given current command, then repeat the above steps , until it is determined that the new main given current command is equal to the new main given current command.

Optionally, the main motor controller 10 also includes:

The main current control unit 12 is configured to control the operation of the main motor 40 according to the main given current command output by the main speed control unit 11 and the received main feedback current command.

The main current control unit 12 can subtract the received main given current command and the main feedback current command output by the main motor 40 to obtain the main current deviation command, and can convert the main current deviation command into The corresponding PMW signal is then output to the main motor drive circuit, so that the main motor drive circuit can correspondingly output corresponding AC power to the main motor 40 , so as to control the operation of the main motor 40 .

Optionally, the slave motor controller 20 also includes:

The slave current control unit 22 is configured to control the slave motor 50 to work according to the slave given current command output from the slave speed control unit 21 and the received slave feedback current command.

The slave current control unit 22 can subtract the received given current command from the feedback current command output from the motor 50 to obtain a slave current deviation command, and can convert the slave current deviation command into The corresponding PMW signal is then output to the slave electric drive circuit, so that the slave electric drive circuit can correspondingly output corresponding AC power to the slave motor 50 , so as to control the slave motor 50 to work.

Optionally, the main motor controller 10 also includes:

The main position control unit 13 is configured to generate a main given frequency command and output it to the main speed control unit 11 according to the received given position command and the feedback position command.

The main position control unit 13 can obtain a given position instruction from an upper control device or an upper control module, and can obtain a feedback position instruction from a position sensor such as an encoder in the main motor 40 . The main position control unit 13 can subtract the given position command and the feedback position command through the subtraction module, output the subtraction calculation result to the position loop module to multiply the position gain, and output the multiplication calculation result as the main given frequency command to the main speed control unit 11, so as to realize the position closed-loop control of the main motor 40.

Optionally, the master speed control unit 11 is further configured to output the generated master given frequency command to the slave speed control unit 21 as a slave given frequency command.

In this embodiment, the slave motor controller 20 adopts a design without a position loop. The slave motor controller 20 is used to receive a master given frequency command from the master motor controller 10 to output to the slave speed control unit 21 as a slave given frequency command, so as to realize the speed closed-loop control of the slave motor 50 . Such setting is beneficial to improve the consistency between the master motor 40 and the slave motor 50 .

The present invention also proposes a pitch drive system, which includes a main motor, a slave motor, and a pitch drive. The specific structure of the pitch drive refers to the above-mentioned embodiments, since the pitch drive system adopts all the above-mentioned implementations All the technical solutions of the above-mentioned embodiments, therefore at least have all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, and will not be repeated here.

Wherein, the pitch driver is respectively connected with the main motor and the slave motor, and the pitch driver is used to respectively control the operation of the master motor and the slave motor. Specifically, the pitch driver can also include a main motor drive circuit and a slave motor drive circuit. The main motor drive circuit can output corresponding AC power to the main motor according to the PWM signal output by the main motor controller, so as to drive the main motor to drive the main reducer. Work; the slave motor drive circuit can output corresponding AC power to the slave motor according to the PWM signal output from the slave motor controller, so as to drive the slave motor to drive the slave reducer to work.

The above descriptions are only optional embodiments of the present invention, and do not limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect Application in other related technical fields is included in the patent protection scope of the present invention.

Claims (15)

1. A master-slave motor driving method is applied to a pitch drive, and is characterized in that the pitch drive comprises a main motor controller, a slave motor controller and a frequency compensation unit, the main motor controller comprises a main speed control unit used for outputting a main given current command, the slave motor controller comprises a slave speed control unit used for outputting a slave given current command, and the frequency compensation unit is respectively connected with the main speed control unit and the slave speed control unit, and the master-slave motor driving method comprises the following steps:

the master speed control unit and the slave speed control unit respectively output a master given current instruction and a slave given current instruction to the frequency compensation unit;

the frequency compensation unit generates a frequency compensation command according to the received main given current command and the slave given current command and outputs the frequency compensation command to the slave speed control unit;

the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, and outputs a slave given current command according to the compensated slave frequency deviation command.

2. The master-slave motor driving method according to claim 1, wherein the frequency compensation unit generates a frequency compensation command according to the received master given current command and slave given current command, specifically:

the frequency compensation unit performs subtraction operation on the main given current instruction and the auxiliary given current instruction, and generates a frequency compensation instruction according to the subtraction calculation result.

3. The master-slave motor driving method according to claim 1, wherein the slave position-velocity unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command, specifically:

the slave position control unit adds the received frequency compensation command and the generated slave frequency deviation command, and takes the addition result as the compensated slave frequency deviation command.

4. The master-slave motor driving method according to claim 1, further comprising:

the frequency compensation unit also outputs a frequency compensation command to the main speed control unit;

the main speed control unit carries out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction, and outputs a main given current instruction to the main current control unit according to the compensated main frequency deviation instruction;

and the main current control unit controls the main motor to work according to the received main given current command and the main feedback current command.

5. The master-slave motor driving method according to claim 4, wherein the master speed control unit performs frequency compensation on the generated master frequency deviation command according to the received frequency compensation command, specifically:

and the main speed control unit performs subtraction calculation on the received frequency compensation command and the generated main frequency deviation command, and takes the subtraction calculation result as the compensated main frequency deviation command.

6. The master-slave motor driving method according to any one of claims 1 to 5, further comprising:

and the main position control unit generates a main given frequency command according to the given position command and the feedback position command and outputs the main given frequency command to the main speed control unit.

7. The master-slave motor driving method of claim 6, further comprising:

the master position control unit also outputs the generated master given frequency command to the slave speed control unit as a slave given frequency command.

8. A pitch drive for implementing the master-slave motor driving method according to any one of claims 1-7, wherein the pitch drive comprises:

a main motor controller comprising: a main speed control unit for outputting a main given current command;

a slave motor controller comprising: a slave speed control unit for outputting a slave given current instruction; and (c) a second step of,

the frequency compensation unit is respectively connected with the master speed control unit and the slave speed control unit so as to access the master given current instruction and the slave given current instruction; the frequency compensation unit is used for generating a frequency compensation command according to the received main given current command and the received slave given current command and outputting the frequency compensation command to the slave speed control unit so that the slave speed control unit performs frequency compensation on the generated slave frequency deviation command according to the received frequency compensation command;

the slave speed control unit is also used for outputting a slave given current instruction to the slave current control unit according to the compensated slave frequency deviation instruction.

9. The pitch drive of claim 8, wherein said frequency compensation unit comprises:

the subtraction module is used for respectively accessing the master given current instruction and the slave given current instruction, and outputting a calculation result after performing subtraction calculation on the master given current instruction and the slave given current instruction;

and the frequency compensation generation module is used for accessing the calculation result of the subtraction module, generating a corresponding frequency compensation instruction according to the calculation result of the subtraction module and outputting the frequency compensation instruction to the slave speed control unit.

10. The pitch drive of claim 8 wherein said frequency compensation unit is further configured to output a frequency compensation command to a main speed control unit;

the main speed control unit is also used for carrying out frequency compensation on the generated main frequency deviation instruction according to the received frequency compensation instruction and outputting a main given current instruction according to the compensated main frequency deviation instruction.

11. The pitch drive of claim 8, wherein said primary motor controller further comprises:

and the main current control unit is used for controlling the main motor to work according to the main given current instruction output by the main speed control unit and the received main feedback current instruction.

12. The pitch drive of claim 8 wherein said slave motor controller further comprises:

and the slave current control unit is used for controlling the slave motor to work according to the slave given current command output by the slave speed control unit and the received slave feedback current command.

13. The pitch drive of any one of claims 8-12, wherein said primary motor controller further comprises:

and the main speed control unit is used for generating a main given frequency command according to the received given position command and the feedback position command and outputting the main given frequency command to the main speed control unit.

14. The pitch drive of claim 13 wherein said master speed control unit is further configured to output the generated master given frequency command to the slave speed control unit as a slave given frequency command.

15. A pitch drive system, characterized in that the pitch drive comprises:

a main motor;

a slave motor; and the number of the first and second groups,

a pitch drive according to any one of claims 8-14, connected to the master motor and the slave motor, respectively, for controlling the operation of the master motor and the slave motor, respectively.

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