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CN-122014516-A - Automatic blade position calibration method, calibration device, electronic equipment and storage medium

CN122014516ACN 122014516 ACN122014516 ACN 122014516ACN-122014516-A

Abstract

The application discloses an automatic blade position calibration method, a calibration device, electronic equipment and a storage medium. The method comprises the steps of controlling a blade to run in a preset rotation direction after the blade runs to a limit switch position, sequentially passing through all proximity switches based on an induction stop block to obtain a trigger angle and a departure angle of each proximity switch, controlling the blade to run in the opposite direction, sequentially passing through all proximity switches based on the induction stop block to obtain the trigger angle and the departure angle of each proximity switch, obtaining all errors of the proximity switch based on all pre-learned trigger angles and all departure angles for each proximity switch, calculating an average value of all errors of all the proximity switches when absolute values of all the errors do not exceed corresponding intervals, calculating a difference value between a physical position angle and the average value of the limit switch, and calibrating the current position angle of the blade to be the difference value. The method provided by the embodiment of the application can realize automatic calibration of the blade position, saves labor cost and can quickly eliminate faults.

Inventors

  • CAO WENBIN
  • LIU JIANGTAO
  • CHEN MIN

Assignees

  • 阳光电源股份有限公司

Dates

Publication Date
20260512
Application Date
20260209

Claims (10)

  1. 1. A method for automatically calibrating blade position, the method comprising: After the paddle runs to the position of the limit switch, controlling the paddle to run in a preset rotation direction, and sequentially passing through one or more proximity switches in a paddle changing system based on an induction stop block on a paddle bearing to obtain a first trigger angle and a first departure angle of each proximity switch; controlling the paddle to run in the opposite direction of the preset rotation direction, and acquiring a second trigger angle and a second departure angle of each proximity switch based on the fact that the induction stop block sequentially passes through each proximity switch; for each proximity switch, based on a pre-learned third trigger angle, third departure angle, fourth trigger angle and fourth departure angle, acquiring a first error, a second error, a third error and a fourth error corresponding to the proximity switch, wherein the first error is a difference value between the first trigger angle and the third trigger angle, the second error is a difference value between the first departure angle and the third departure angle, the third error is a difference value between the second trigger angle and the fourth trigger angle, and the fourth error is a difference value between the second departure angle and the fourth departure angle; calculating average values of the first error, the second error, the third error and the fourth error of all the proximity switches under the condition that the absolute values of the first error, the second error, the third error and the fourth error do not exceed the corresponding preset intervals; calculating the difference value between the physical position angle of the limit switch and the average value; And calibrating the current position angle of the blade to be the difference value between the physical position angle of the limit switch and the average value.
  2. 2. The method according to claim 1, wherein the third trigger angle and the third exit angle are trigger angles and exit angles when the sensor stopper passes through the proximity switch during the pre-learning, and the fourth trigger angle and the fourth exit angle are trigger angles and exit angles when the sensor stopper passes through the proximity switch during the pre-learning, and the sensor stopper passes through the proximity switch during the reverse direction of the pre-learning.
  3. 3. The method for automatic calibration of blade position according to claim 1, wherein the preset interval is 0-4 °.
  4. 4. A method of automatically calibrating a position of a blade according to any of claims 1-3, wherein after the step of calibrating the current position angle of the blade to the difference between the physical position angle of the limit switch and the average value, the method further comprises: Controlling the paddle to run in a preset rotation direction, and acquiring a fifth trigger angle and a fifth departure angle of each proximity switch based on the fact that the induction stop blocks sequentially pass through the proximity switches; Controlling the paddle to run in the opposite direction of the preset rotation direction, and acquiring a sixth trigger angle and a sixth departure angle of each proximity switch based on the fact that the induction stop block sequentially passes through each proximity switch; For each proximity switch, acquiring a first deviation, a second deviation, a third deviation and a fourth deviation corresponding to the proximity switch, wherein the first deviation is a difference value between the fifth trigger angle and the third trigger angle, the second deviation is a difference value between the fifth departure angle and the third departure angle, the third deviation is a difference value between the sixth trigger angle and the fourth trigger angle, and the fourth deviation is a difference value between the sixth departure angle and the fourth departure angle; and judging that the calibration is successful when the absolute value of the first deviation, the absolute value of the second deviation, the absolute value of the third deviation and the absolute value of the fourth deviation do not exceed a preset threshold value, and judging that the calibration is failed otherwise.
  5. 5. The method for automatic calibration of blade position according to claim 4, wherein the preset threshold is 0.1 °.
  6. 6. A method for automatic calibration of blade position according to any one of claims 1 to 3, characterized in that, And under the condition that any one of the absolute value of the first error, the absolute value of the second error, the absolute value of the third error and the absolute value of the fourth error exceeds the preset interval, the automatic calibration is exited, and the blade is operated to the limit switch position.
  7. 7. A method of automatically calibrating a blade position according to any of claims 1-3, wherein the physical angular position of the limit switch is 91 °.
  8. 8. An automatic blade position calibration device, comprising: The first control module is used for controlling the paddles to run in a preset rotation direction after the paddles run to the limit switch position, and acquiring a first trigger angle and a first departure angle of each proximity switch on the basis that the induction stop blocks on the paddle bearings sequentially pass through one or more proximity switches in the paddle changing system; The second control module is used for controlling the paddle to run in the opposite direction of the preset rotation direction, and acquiring a second trigger angle and a second departure angle of each proximity switch based on the fact that the induction stop block sequentially passes through each proximity switch; The error acquisition module is used for acquiring a first error, a second error, a third error and a fourth error corresponding to the proximity switch based on a pre-learned third trigger angle, a third departure angle, a fourth trigger angle and a fourth departure angle, wherein the first error is a difference value between the first trigger angle and the third trigger angle, the second error is a difference value between the first departure angle and the third departure angle, the third error is a difference value between the second trigger angle and the fourth trigger angle, and the fourth error is a difference value between the second departure angle and the fourth departure angle; The first calculating module is used for calculating average values of the first error, the second error, the third error and the fourth error of all the proximity switches under the condition that the absolute value of the first error, the absolute value of the second error, the absolute value of the third error and the absolute value of the fourth error do not exceed respective corresponding preset intervals; the second calculation module is used for calculating the difference value between the physical position angle of the limit switch and the average value; And the calibration module is used for calibrating the current position angle of the blade into the difference value between the physical position angle of the limit switch and the average value.
  9. 9. A computer readable storage medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the blade position auto-calibration method according to any of claims 1-7.
  10. 10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the paddle position auto-calibration method of any of claims 1-7.

Description

Automatic blade position calibration method, calibration device, electronic equipment and storage medium Technical Field The application relates to the technical field of wind power generation, in particular to an automatic blade position calibration method, a calibration device, electronic equipment and a storage medium. Background A pitch system is arranged in the hub of the wind driven generator. In the pitch system, 3 motors are controlled by 3 drivers, and the motors are connected with the blades, so that the windward angle of the 3 blades is controlled. The detection of the blade angle is performed by the rotary transformer of the motor, when the rotary transformer fails, the blade can be retracted to the limit switch position, and the angle calculated by the rotary transformer cannot be considered to be the actual blade angle at the moment, so that the driver 0 correction operation is required after the failure is eliminated. The conventional maintenance mode needs to manually climb into the hub, manually open the propeller to a 0-degree position, calibrate 0 of the propeller blade, and re-learn the proximity switch after 0 calibration. In the case of an offshore wind turbine, personnel cannot get on the tower for various reasons such as weather, maritime management and the like, and only the wind turbine can be stopped at the moment, so that energy waste is caused. Therefore, an automatic calibration scheme for solving the problem that manual tower calibration 0 is not needed after the occurrence of the rotational failure is urgently needed. The statements made above merely serve to provide background information related to the present disclosure and may not necessarily constitute prior art. Disclosure of Invention The application aims to provide an automatic blade position calibration method, a calibration device, electronic equipment and a storage medium, which are used for solving the problem that in the related art, when a rotary transformer fails and a person cannot get on a tower to process, only a fan can be stopped, so that energy is wasted. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later. According to an aspect of an embodiment of the present application, there is provided a method for automatically calibrating a blade position, the method including: After the paddle runs to the position of the limit switch, controlling the paddle to run in a preset rotation direction, and sequentially passing through one or more proximity switches in a paddle changing system based on an induction stop block on a paddle bearing to obtain a first trigger angle and a first departure angle of each proximity switch; controlling the paddle to run in the opposite direction of the preset rotation direction, and acquiring a second trigger angle and a second departure angle of each proximity switch based on the fact that the induction stop block sequentially passes through each proximity switch; for each proximity switch, based on a pre-learned third trigger angle, third departure angle, fourth trigger angle and fourth departure angle, acquiring a first error, a second error, a third error and a fourth error corresponding to the proximity switch, wherein the first error is a difference value between the first trigger angle and the third trigger angle, the second error is a difference value between the first departure angle and the third departure angle, the third error is a difference value between the second trigger angle and the fourth trigger angle, and the fourth error is a difference value between the second departure angle and the fourth departure angle; calculating average values of the first error, the second error, the third error and the fourth error of all the proximity switches under the condition that the absolute values of the first error, the second error, the third error and the fourth error do not exceed the corresponding preset intervals; calculating the difference value between the physical position angle of the limit switch and the average value; And calibrating the current position angle of the blade to be the difference value between the physical position angle of the limit switch and the average value. In some embodiments of the present application, the third trigger angle and the third exit angle are trigger angles and exit angles when the paddle runs in the preset rotation direction and the sensing block passes the proximity switch during the pre-learning process, and the fourth trigger angle and the fourth exit angle are trigger angles and exit angles when the paddle runs in the opposite direction of the preset rotation direction an