CN111490591B - Upper layer controller, upper layer control system and upper layer control method of modularized wind power converter - Google Patents
Upper layer controller, upper layer control system and upper layer control method of modularized wind power converter Download PDFInfo
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- CN111490591B CN111490591B CN201910082605.2A CN201910082605A CN111490591B CN 111490591 B CN111490591 B CN 111490591B CN 201910082605 A CN201910082605 A CN 201910082605A CN 111490591 B CN111490591 B CN 111490591B
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The disclosure provides an upper controller, a control system and a control method for a modular wind power converter. The upper layer controller includes: a main processor; a first auxiliary processor configured to communicate with the main processor through a serial bus interface and to communicate with another upper controller through a control bus interface; and a second auxiliary processor configured to communicate with the main processor through a parallel bus interface, wherein, in case the upper controller is used to construct a multi-machine multi-network control system, the main processor is configured to execute only management logic for the wind power converter, and the second auxiliary processor synchronously communicates with the plurality of main controllers through the communication interface, so that each main controller realizes control logic for the corresponding plurality of converter modules through the plurality of slave controllers. According to the embodiment of the disclosure, the large-power capacity expansion of the wind power converter can be conveniently realized.
Description
Technical Field
The present disclosure relates to control of a wind power converter, and more particularly, to an upper controller, a multi-machine multi-network control system, and a multi-machine multi-network control method for a modular wind power converter.
Background
With the explosive growth of the grid-connected capacity of large-scale wind power plants, the single-machine capacity of the fan is continuously increased. The single-tube capacity of a commercial power electronic active device IGBT (insulated gate bipolar transistor) in the field of low-voltage fan converters is limited, and the requirement of rapid capacity increase is difficult to meet, so that a capacity expansion means needs to be adopted. The parallel connection of the converters is one of the main means for capacity expansion, and the main advantages thereof include: the modular design is beneficial to expanding the power capacity of the converter system, and the redundancy characteristic is good.
At present, for a multi-module converter system connected in parallel, the control modes can be classified into a centralized type, an equality type and a master-slave type according to the difference of the communication modes among the modules. The centralized control controls each module of the system by a centralized controller, and when there are many parallel modules, the controller is very complex, the reliability is not high, and it is difficult to ensure the compatibility of different parallel systems. The peer-to-peer control does not enable active power regulation and passive distribution of power based on droop control is difficult to achieve between fully isolated modules. The master-slave mode control uses a certain module as a master unit, is suitable for the condition that a certain module in a system plays a leading role, but is not suitable for a modular converter parallel system of wind power generation.
Therefore, a control technique for a parallel system of modular converters suitable for wind power generation is required.
Disclosure of Invention
In order to solve the above problem, the present disclosure provides an upper controller for a modular wind power converter, the upper controller comprising: a main processor; a first auxiliary processor configured to communicate with the main processor through a serial bus interface and to communicate with another upper controller through a control bus interface; and a second auxiliary processor configured to communicate with the main processor through a parallel bus interface, wherein, in case the upper controller is used to construct a multi-machine multi-grid control system, the main processor is configured to execute only management logic for the modular wind power converter, and the second auxiliary processor communicates synchronously with a plurality of main controllers through communication interfaces, such that each main controller implements control logic for a corresponding plurality of converter modules through a plurality of slave controllers.
The upper layer controller may function as a net-side upper layer controller. In addition, the upper controller can also be used as a machine side upper controller, and in this case, the first auxiliary processor can also be communicated with the wind turbine main control system through a field bus interface.
The present disclosure also provides a multi-machine multi-network control system for a modular wind power converter, the control system comprising: the network side upper layer controller; the machine side upper layer controller is communicated with the fan main control system through the field bus interface and communicated with the network side upper layer controller through the control bus interface; the system comprises a plurality of machine side main controllers, a plurality of machine side converter modules and a control logic module, wherein each machine side main controller is communicated with the machine side upper layer controller through a respective communication interface and synchronously communicated with the plurality of machine side slave controllers so as to realize the control logic of the plurality of machine side converter modules which are respectively controlled by the plurality of machine side slave controllers; and each network side master controller is communicated with the network side upper layer controller through a respective communication interface and synchronously communicated with the network side slave controllers so as to realize control logic of the network side converter modules respectively controlled by the network side slave controllers.
The present disclosure also provides a multi-machine multi-grid control method for a modular wind power converter, the method comprising:
after receiving a start command from the fan master control system through the field bus interface, the machine side upper layer controller forwards the start command to the network side upper layer controller through the control bus interface;
the network side upper layer controller transmits the starting command to a plurality of network side main controllers through communication interfaces of the network side upper layer controller, so that each network side main controller is synchronously communicated with a plurality of network side slave controllers which respectively control a plurality of network side converter modules through respective communication interfaces to control the plurality of network side converter modules to start and feed operation state data of the network side converter modules back to the machine side upper layer controller through the network side upper layer controller;
after receiving the running state data of the network side converter modules, the machine side upper layer controller issues the start command to a plurality of machine side main controllers through communication interfaces of the machine side upper layer controller, so that each machine side main controller synchronously communicates with a plurality of machine side slave controllers which respectively control the plurality of machine side converter modules through respective communication interfaces to control the plurality of machine side converter modules to start and feed the running state data of the machine side converter modules back to the machine side upper layer controller;
the machine side upper layer controller uploads all the collected running state data of the network side converter module and the collected running state data of the machine side converter module to the fan main control system, so that the fan main control system generates a motor torque given command and issues the motor torque given command to the machine side upper layer controller;
and the machine side upper layer controller distributes the motor torque given commands to the plurality of machine side main controllers in an average manner, so that each machine side main controller realizes motor torque control on the corresponding plurality of machine side converter modules through the plurality of machine side slave controllers.
For the parallel modular wind power converter system, the embodiment of the disclosure can adopt a three-layer control framework comprising an upper controller, a master controller and a slave controller, thereby conveniently realizing the high-power capacity expansion of the wind power converter. In the three-layer control architecture, the upper-layer controller can only execute necessary communication and management logic for the wind power converter, a control algorithm is not executed, and each master controller realizes the control logic for the corresponding converter modules through the slave controllers, so that the control task and the communication task are effectively decomposed, the problem of insufficient processor resources caused by the fact that the two tasks are executed by the same controller is solved, and the stability of the system is ensured.
Drawings
Fig. 1 is a block diagram of an upper level controller for a modular wind power converter according to an embodiment of the present disclosure;
FIG. 2 is an architecture diagram of a stand-alone single grid control system for a modular wind power converter according to one example of an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a multi-machine multi-grid control system for a modular wind power converter according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a multi-machine multi-grid control method for a modular wind power converter according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. These examples are illustrative only and are not to be construed as limiting the present disclosure.
For a parallel modular wind power converter system, embodiments of the present disclosure may employ a three-layer control architecture including an upper controller, a master controller, and a slave controller. In such a three-layer control architecture, the upper controller may only perform the necessary communication and management logic for the modular wind power converter, and not the control logic for the wind power converter; each master controller can realize the control logic of a plurality of corresponding converter modules through a plurality of slave controllers; each slave controller can bear the functions of local control, protection communication and the like of the corresponding converter module, and the slave controllers and the corresponding converter modules can form a complete modular unit together.
As shown in fig. 1, an upper controller 1 for a modular wind power converter according to an embodiment of the present disclosure may include a main processor 100, a first auxiliary processor 101, and a second auxiliary processor 102.
The first subsidiary processor 101 may communicate with the main processor 100 through a serial bus interface and may communicate with another upper controller through a control bus interface (CB). The second auxiliary processor 102 may communicate with the main processor 100 through a parallel bus interface.
In case that the upper controller 1 is used to construct a single-machine single-grid control system (described in detail with reference to fig. 2, hereinafter), the main processor 100 may execute core control logic (system control logic for the grid-side converter, dc regulated voltage, active power and reactive power control, high/low voltage ride through control in case of grid abnormality, etc.; system control logic for the machine-side converter, control of motor torque and rotation speed, etc.) for the modular wind power converter. The second auxiliary processor 102 may be in synchronous communication (e.g., pulse Width Modulation (PWM) time base synchronous communication) with a plurality of slave controllers that respectively control a plurality of converter modules in accordance with the core control logic via a communication interface 105.
On the other hand, in the case where the upper controller 1 is used to construct a multi-machine multi-grid control system (described in detail below with reference to fig. 3), the main processor 100 may perform only management logic for the modular wind power converter, and not control logic for the wind power converter. The second auxiliary processor 102 can communicate synchronously (e.g., PWM time base synchronous communication) with a plurality of master controllers via the communication interface 105 such that each master controller can implement control logic for a corresponding plurality of converter modules via a plurality of slave controllers.
The upper controller 1 of the above-described structure may be used as a network-side upper controller in a single-machine single-network or multi-machine multi-network control system.
When the upper controller 1 serves as a machine side upper controller in the control system, the first auxiliary processor 101 may also communicate with the fan main control system through a field bus interface (FB). The first auxiliary processor 101 can upload information such as running state data of the plurality of converter modules to the fan main control system, and is controlled by the fan main control system to complete maximum power tracking in cooperation with the fan main control system, so that normal power generation of the fan is realized. In order to ensure real-time performance of the first auxiliary processor 101 in communication with the fan master control system, the rate of communication through the serial bus interface may be at least 2 times the rate of communication through the FB.
According to embodiments of the present disclosure, the CB may be a Control Area Network (CAN) bus interface and the communication interface 105 may be a fiber optic interface.
In addition, the main processor 100 may perform remote data communication with the upper computer monitoring system, so that the upper computer monitoring system may monitor the operation state of each converter module.
As an example, the upper controller 1 may employ a quad core structure.
In particular, main processor 100 may be configured as a dual core architecture of a Digital Signal Processor (DSP) plus ARM. The DSP core may execute core control logic and/or management logic for the wind power converter. The ARM core can execute the functions of upper computer monitoring and remote data transmission, and can expand various communication interfaces, including an upper computer debugging and monitoring software interface based on the Ethernet, an RS 485 communication interface, an SD card interface for converter fault record storage and the like. Data can be exchanged between the ARM core and the DSP core through an internal shared memory, the anti-interference capacity is high, the data exchange speed is high, and real-time running state data of the wind power converter can be transmitted to an upper computer and a monitoring background through the ARM core and the Ethernet.
The first auxiliary processor 101 may employ, for example, an STM32 core. The STM32 core and the DSP core may communicate through an SPI (serial peripheral interface). The STM32 core may perform Profibus-DP communication with the wind turbine master control system. The STM32 core has a CAN bus interface, and CAN perform CAN bus communication between the machine side upper layer controller and the network side upper layer controller.
The second auxiliary processor 102 may employ, for example, an FPGA (field programmable gate array) core. The FPGA core and DSP core may communicate at high speed through uPP (universal parallel port) and may communicate at high speed with multiple master controllers or multiple slave controllers through communication interface 105 (e.g., fiber optic interface).
Fig. 2 shows an architecture of a single-machine single-grid control system for a modular wind power converter according to an example of an embodiment of the present disclosure, which is based on the above-described example quad-core structure of the upper-layer controller 1 and takes 4 power units (i.e., converter modules) on both grid sides as an example, but the present disclosure is not limited thereto.
In the single-machine single-network control system shown in fig. 2, the machine-side control system controls 4 machine-side power units (i.e., machine-side converter modules), and includes 1 machine-side upper controller and 4 slave controllers.
The machine side upper layer controller adopts the four-core structure of the above example. Data can be exchanged between the DSP serving as the main processor and the ARM double cores through a shared memory, the DSP core can execute core control logic of the wind power converter, and the ARM core can communicate with an upper computer monitoring system through the Ethernet, so that the upper computer monitoring system can monitor the running state of each power unit. The STM32 core serving as the first auxiliary processor can exchange data with the DSP core through SPI communication and exchange data with the fan main control system through Profibus-DP bus communication. The master FPGA as the second auxiliary processor can perform high-speed communication with the DSP core through the uPP parallel interface, and perform high-speed communication with the 4 slave controllers respectively controlling the 4 machine-side power units through the optical fiber interface. Thus, the master FPGA can send the modulation waves and the digital control signals calculated by the DSP core to the 4 slave controllers, and simultaneously receive analog signals such as current, voltage, temperature and the like of the 4 machine-side power units and some digital signals and transmit the analog signals and some digital signals to the DSP core. The main FPGA can also provide PWM time base for 4 slave controllers in a unified mode, and each slave controller is guaranteed to be synchronous, so that PWM driving signals of all machine side power units are synchronous, all machine side power units can stably run in parallel, internal high-frequency circulation is reduced, and system capacity expansion is facilitated.
Correspondingly, each slave controller can adopt the FPGA to carry out optical fiber communication with the master FPGA in the machine side upper layer controller, the modulation wave signal sent by the machine side upper layer controller is received and compared with the internally generated triangular carrier wave to generate the PWM pulse signal for controlling the IGBT of the corresponding machine side converter module, and meanwhile, the digital control signal sent by the machine side upper layer controller is received to control the action of components in the corresponding machine side converter module. In addition, each slave controller can collect analog signals such as current, voltage and temperature of the corresponding machine side converter module and some digital signals and upload the analog signals to the machine side upper layer controller.
The grid-side control system can adopt a control architecture similar to the machine side to control 4 grid-side power units (namely grid-side converter modules), and comprises 1 grid-side upper controller and 4 slave controllers. The network-side upper layer controller also adopts the four-core structure of the above example, and details are not described here. Furthermore, as shown in fig. 2, the net side control system may also control the brake unit. The braking unit is used for preventing the direct current bus from being in overvoltage and consuming redundant power on the bus so as to ensure the safety of a converter system.
The machine side upper layer controller and the network side upper layer controller CAN communicate through a CAN bus interface of an STM32 core, so that communication between machine network side control systems is realized.
Due to the limited resources and processing capabilities of 1 upper controller (for example, 1 FPGA core may manage 8 slave controllers at most), the single-machine single-network architecture as shown in fig. 2 may not meet the requirement for large power capacity expansion of the wind power converter. Therefore, a multi-machine multi-network architecture is needed to realize the large-power capacity expansion of the wind power converter. Fig. 3 schematically illustrates a multi-machine multi-grid control system for a modular wind power converter according to an embodiment of the present disclosure.
As shown in fig. 3, the multi-machine multi-network control system may include a machine-side upper layer controller, a network-side upper layer controller, m machine-side master controllers, and n network-side master controllers, where m and n are integers greater than 1.
The net-side upper layer controller may be configured in the structure described above with reference to fig. 1, with CB. The machine side upper controller may be configured in the structure described above with reference to fig. 1, having a CB and a FB, which may be connected with the fan main control system through the FB, and connected with the network side upper controller through the CB.
Each of the m machine-side master controllers may communicate with the machine-side upper controller through a respective communication interface (e.g., an optical fiber interface) and perform synchronous communication (e.g., PWM time base synchronous communication) with the plurality of machine-side slave controllers to implement control logic for a plurality of machine-side converter modules (not shown in the figure) respectively controlled by the plurality of machine-side slave controllers.
Each of the n network-side master controllers may communicate with a network-side upper controller via a respective communication interface (e.g., a fiber optic interface) and may communicate synchronously (e.g., PWM time-base synchronous communication) with the plurality of network-side slave controllers to implement control logic for a plurality of network-side converter modules (not shown) respectively controlled by the plurality of network-side slave controllers.
In the multi-machine multi-network control system shown in fig. 3, the machine-side upper layer controller may communicate with the fan master control system through the FB, and receive a start-stop command, a motor torque given command, and the like issued by the fan master control system. The machine side upper layer controller CAN forward a starting and stopping command and a reactive power command issued by the fan main control system to the network side upper layer controller through a CB (for example, a CAN bus interface), and simultaneously receive running state data of all network side converter modules fed back by the network side upper layer controller. The machine side upper layer controller can averagely distribute the motor torque given command issued by the fan main control system to the machine side main controllers 1 to m through the communication interface 105 (such as an optical fiber interface) of the machine side upper layer controller so as to execute a machine side control algorithm in the machine side main controllers 1 to m, and each machine side main controller can realize the motor torque control of a plurality of corresponding machine side converter modules through a plurality of machine side slave controllers. For example, each machine side master controller can perform frequency locking on data received from the machine side upper layer controller through the communication interface to generate a synchronous clock signal and generate a synchronous triangular wave signal, so that the synchronization of the machine side master controllers can be ensured. Each machine side master controller can send the calculated modulation wave signal to a plurality of machine side slave controllers controlled by the machine side master controller through a communication interface, so that the machine side slave controllers realize signal synchronization.
After receiving the start-stop command and the reactive power command forwarded by the machine side upper layer controller through the CB, the network side upper layer controller may equally distribute the reactive power command to the network side master controllers 1 to n through the communication interfaces 105 (e.g., optical fiber interfaces) thereof to execute a network side control algorithm in the network side master controllers 1 to n, so that each network side master controller controls the corresponding plurality of network side converter modules to transmit active power and reactive power to the grid through the plurality of network side slave controllers. For example, each network side master controller can perform frequency locking on data received from the network side upper layer controller through the communication interface to generate a synchronous clock signal and generate a synchronous triangular wave signal, so that the synchronization of the network side master controllers can be ensured. Each network side master controller can issue the calculated modulation wave signal to a plurality of network side slave controllers controlled by the network side master controller through a communication interface, so that the network side slave controllers realize signal synchronization.
According to the multi-machine multi-network control system architecture, the large-power capacity expansion of the wind power converter can be conveniently realized. Each machine side master controller can receive a motor torque given command distributed by the machine side upper layer controller through a respective communication interface (for example, an optical fiber interface), so that real-time response of a plurality of machine side master/slave controllers to torque control can be ensured. In addition, the machine side upper layer controller mainly executes communication with the fan main control system and the network side upper layer controller and manages all machine side converter modules, a control algorithm is not executed, and a plurality of machine side main controllers execute the machine side control algorithm, so that a control task and a communication task are effectively decomposed, the problem of insufficient processor resources caused by the fact that two tasks are executed by the same controller is solved, and the stability of the system is ensured.
The multi-machine multi-network control system shown in fig. 3 can implement the multi-machine multi-network control method for the modular wind power converter according to the embodiment of the present disclosure. A flow chart of the method is shown in fig. 4.
Referring to fig. 4, in step S401, after receiving a start command from a fan control system through an FB, the machine side upper controller may forward the start command to the network side upper controller through a CB (e.g., a CAN bus interface).
After receiving the start command, the network-side upper controller may issue the start command to the network-side master controllers 1 to n through the communication interfaces 105 (e.g., optical fiber interfaces) of the network-side upper controller in step S402, so that each network-side master controller performs synchronous communication (e.g., PWM time-base synchronous communication) with the network-side slave controllers respectively controlling the network-side converter modules through the respective communication interfaces to control the network-side converter modules to start, and feeds back the operating state data of the network-side converter modules after starting to the machine-side upper controller through the network-side upper controller.
After receiving the operation state data of the network-side converter modules, the upper controller on the machine side may issue the start command to the main controllers 1 to m through the communication interfaces 105 (e.g., optical fiber interfaces) of the upper controller on the machine side in step S403, so that each main controller on the machine side performs synchronous communication (e.g., PWM time-base synchronous communication) with the multiple sub controllers on the machine side respectively controlling the multiple converter modules through the respective communication interfaces to control the start of the converter modules on the machine side and feed back the operation state data of the converter modules on the machine side to the upper controller on the machine side.
In step S404, the machine-side upper controller may upload all the collected grid-side converter module operating state data and machine-side converter module operating state data to the fan main control system through the FB, so that the fan main control system may generate a motor torque given command and issue the motor torque given command to the machine-side upper controller.
In step S405, the upper layer controller may equally distribute the motor torque command to the master controllers 1 to m, so that each master controller realizes motor torque control of the corresponding converter modules via the slave controllers.
The multi-machine multi-network control method is a group control strategy, a fan main control system can be simulated into a power station layer to manage more converters, and application of the converters is expanded.
According to the embodiment of the disclosure, by means of a two-layer high-speed communication (for example, optical fiber communication) synchronization technology, all machine side converter modules and all grid side converter modules can achieve signal synchronization, so that the multi-machine multi-grid framework can be used for a common bus structure and an independent bus structure of a wind power converter. In addition, each upper controller can communicate with a plurality of main controllers through respective communication interfaces, the data exchange speed is high, the signal transmission real-time performance is good, and the fault protection logic of the whole converter system is convenient to realize. In this regard, the multi-machine multi-network control method may further include the following fault interlock control logic:
when a network side converter module controlled by any network side main controller fails, the network side main controller can transmit network side fault state data to a machine side upper layer controller through the network side upper layer controller, or when a machine side converter module controlled by any machine side main controller fails, the machine side main controller can transmit machine side fault state data to the machine side upper layer controller;
the machine side upper layer controller can generate a power limit request according to the number of fault converter modules contained in the received network side fault state data or machine side fault state data and upload the power limit request to the fan main control system, so that the fan main control system can adjust variable pitch through internal calculation load and generate a new motor torque given command to be issued to the machine side upper layer controller;
the machine side upper controller may redistribute the motor torque give to each machine side main controller according to the number of faulty converter modules and the received new motor torque give command.
The fault interlocking control logic can control the fan to stably operate, and the power generation loss caused by system halt due to the fault of the converter module is reduced.
According to the embodiment of the disclosure, in the above three-layer control architecture including the upper layer controller, the master controller and the slave controller, the multi-machine communication interruption and recovery can be managed by the upper layer controller. When communication through any communication interface (e.g., a fiber optic interface) in the three-tier control architecture is interrupted, the respective net-side or machine-side upper controller can send a power limit request to the main control system of the wind turbine. After the interrupted communication is resumed, the corresponding network-side or machine-side upper controller may send a resume power request to the blower main control system.
For example, when high-speed communication between a certain main controller and an upper controller is interrupted, the upper controller can send a power limiting request to a main control system of a fan in time after recognizing the communication interruption, wait for the main control system of the fan to limit power, and redistribute torque, and the main controller can rapidly cut off all converter modules controlled by the main controller after judging the communication interruption, so as to prevent the converter modules from being in an uncontrolled state. After the interrupted communication is recovered, the upper layer controller can send a power recovery request to the main control system of the fan in time after recognizing that the communication is recovered, and waits for the main control system of the fan to redistribute the torque so as to recover the operation of the whole converter system.
Some embodiments of the present disclosure are described above. It will be apparent to those skilled in the art that various modifications and variations can be made without departing from the principles of the disclosure, and these modifications and variations should also be considered to be within the scope of the disclosure.
Claims (10)
1. A multi-machine multi-network control method for a modular wind power converter is characterized by comprising the following steps:
after receiving a start command from the fan master control system through the field bus interface, the machine side upper layer controller forwards the start command to the network side upper layer controller through the control bus interface;
the network side upper layer controller transmits the starting command to a plurality of network side main controllers through communication interfaces of the network side upper layer controller, so that each network side main controller is synchronously communicated with a plurality of network side slave controllers which respectively control a plurality of network side converter modules through respective communication interfaces to control the plurality of network side converter modules to start and feed operation state data of the network side converter modules back to the machine side upper layer controller through the network side upper layer controller;
after receiving the running state data of the network side converter modules, the machine side upper layer controller issues the start command to a plurality of machine side main controllers through communication interfaces of the machine side upper layer controller, so that each machine side main controller synchronously communicates with a plurality of machine side slave controllers which respectively control the plurality of machine side converter modules through respective communication interfaces to control the plurality of machine side converter modules to start and feed the running state data of the machine side converter modules back to the machine side upper layer controller;
the machine side upper layer controller uploads the collected running state data of all the network side converter modules and the machine side converter module to the fan main control system, so that the fan main control system generates a motor torque given command and issues the motor torque given command to the machine side upper layer controller;
and the machine side upper layer controller distributes the motor torque given commands to the plurality of machine side main controllers in an average manner, so that each machine side main controller realizes motor torque control on the corresponding plurality of machine side converter modules through the plurality of machine side slave controllers.
2. The multi-machine multi-network control method according to claim 1, wherein the communication interface is an optical fiber interface, and the synchronous communication is Pulse Width Modulation (PWM) time base synchronous communication.
3. The multi-machine multi-network control method according to claim 1 or 2, further comprising:
when a network side converter module under the control of any network side main controller fails, the network side main controller transmits network side fault state data to a machine side upper layer controller through the network side upper layer controller, or when the machine side converter module under the control of any machine side main controller fails, the machine side main controller transmits machine side fault state data to the machine side upper layer controller;
the machine side upper layer controller generates a power limit request according to the network side fault state data or the number of fault converter modules contained in the machine side fault state data and uploads the power limit request to the fan main control system, so that the fan main control system adjusts variable pitch through internal calculation load and generates a new motor torque given command to be issued to the machine side upper layer controller;
and the machine side upper layer controller redistributes the motor torque given to each machine side main controller according to the number of the fault converter modules and the new motor torque given command.
4. The multi-machine multi-network control method according to claim 1 or 2,
when the communication through any one communication interface is interrupted, the corresponding network side upper layer controller or machine side upper layer controller sends a power limit request to the main control system of the fan;
and after the interrupted communication is recovered, the corresponding network side upper layer controller or the machine side upper layer controller sends a power recovery request to the main control system of the wind turbine.
5. An upper controller for implementing the multi-machine multi-network control method according to any one of claims 1 to 4, wherein the upper controller includes a machine-side upper controller and a network-side upper controller;
the machine side upper layer controller and the net side upper layer controller both comprise: a main processor; a first secondary processor configured to communicate with the primary processor through a serial bus interface; and a second secondary processor configured to communicate with the primary processor through a parallel bus interface;
the first auxiliary processor of the machine side upper layer controller is communicated with the first auxiliary processor of the network side upper layer controller through a control bus interface;
wherein, in case the upper controller is used to build a multi-machine multi-grid control system, the main processor is configured to execute only management logic for the modular wind power converter, and the second auxiliary processor is in synchronous communication with a plurality of main controllers through communication interfaces, such that each main controller implements control logic for a corresponding plurality of converter modules through a plurality of slave controllers.
6. The upper controller of claim 5, wherein the first auxiliary processor of the machine side upper controller is further configured to communicate with a wind turbine master control system via a fieldbus interface.
7. The upper level controller of claim 6, wherein a rate of communication through the serial bus interface is at least 2 times a rate of communication through the fieldbus interface.
8. The upper layer controller according to any one of claims 5 to 7, wherein the communication interface is a fiber interface and the synchronous communication is a Pulse Width Modulation (PWM) time base synchronous communication.
9. A multi-machine multi-network control system for a modular wind power converter is characterized by comprising: the upper level controller of claim 5;
the machine side upper layer controller is communicated with the fan main control system through a field bus interface and is communicated with the network side upper layer controller through the control bus interface;
the system comprises a plurality of machine side main controllers, a plurality of machine side converter modules and a control logic module, wherein each machine side main controller is communicated with the machine side upper layer controller through a respective communication interface and synchronously communicated with the plurality of machine side slave controllers so as to realize the control logic of the plurality of machine side converter modules which are respectively controlled by the plurality of machine side slave controllers; and
and each network side master controller is communicated with the network side upper layer controller through a respective communication interface and synchronously communicated with the network side slave controllers so as to realize the control logic of the network side converter modules respectively controlled by the network side slave controllers.
10. The multi-machine multi-network control system according to claim 9, wherein the communication interface is an optical fiber interface, and the synchronous communication is a Pulse Width Modulation (PWM) time base synchronous communication.
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