The individual pitch drive system of large-scale wind turbines was analysed in this article. In this pitch system, the induction motor, three-stage planetary gearbox, and motor vector control were adopted. In order to investigate the system dynamic behaviour, its non-linear dynamical model was established, mainly including three parts: induction motor model in d— q frame, dynamic model of three-stage planetary gears, and transmission shaft model. The dynamic responses of gearbox—blade subsystem and motor—gearbox—blade system were analysed in detail, respectively. Then, the pitch system control model was established in which rotor flux field-oriented vector control and double close-loop servo control with speed and position feedback were employed. In simulation, the algorithm TR-BDF2 was adopted to solve the dynamic equations. The research results show that the deviation between the pitch angle and its command value is very small in steady state, pitch speed and acceleration fluctuations appear when impact effect is produced due to gear backlash, and the different blade may have different variable pitch speed and acceleration in some pitch region. The research results give a reasonable explanation for running mechanism of the individual pitch system and are helpful for optimization design and control for the individual blade pitch control system used in large-scale wind turbines.
Research on five-phase induction motor system control with third harmonic current injection
