Development And Wind Turbine Control Application Of Soft Motion Controller Based On Embedded PLC

Motion control technology is an important branch of modern automatic controltechnology, it plays an increasingly important role in the industrial production. In recentyears, with the rapid development of microelectronics and power electronics technology,motion control system is developing to the direction of universalization, intelligence andminiaturization. Motion control technology represented by open motion control structurewill become the mainstream of motion control technology development in the future.This paper is based on MW-class wind turbine PLC control system localizationproject. Open universal motion controller based on PC have high requirements of workenvironment and can not guarantee the reliability waste of PC resources, maintenanceproblems. To overcome these shortcomings, a soft motion controller based on embeddedPLC is implemented. It can achieve real-time control function of the original hardwarecontroller. Complex system control is implemented by simple function call to thesoftware function block. Speed or positioning adjustment device can be configured bymodifying configuration file. Upper software and motion control strategy (algorithm) canbe customized.The software and hardware of system is designed in a portable way. Hardwareplatform of the motion controller is self-realization embedded PLC. The PLC hasmodular structure, including CPU module, digital signal I/O module, analog signal I/Omodule, power module, CAN module, fiber optic module and so on. Software has layeredarchitecture. Algorithm module is implemented in the system software layer, motioncontrol function library which open to customer secondary development is implementedbased on the IEC61131-3standard. The real-time multitasking VxWorks system is used inthe embedded operating system. Standard data interface that can conduct data interactionby variable name or standard address is implemented to simplify the code of secondarydevelopment effort and reduce the workload. A variety of control structures are designedto meet control needs of location and speed. User can select straight line, secondary sineand sine-straight interpolation methods.The motion controller is used in large wind turbine pitch control system withsecondary development to meet application requirements of the wind turbine in the field.