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Dual-path camera anti-shaking system for engine room of wind-driven generator

A technology for wind turbines and cameras, which is applied to wind turbines, wind turbine monitoring, closed-circuit television systems, etc., can solve the problems of complex fan jitter, unsatisfactory control effects of traditional control algorithms, and inability to meet accuracy requirements. dithering effect

Active Publication Date: 2017-05-31
INNER MONGOLIA UNIV OF TECH
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Problems solved by technology

[0010] 2. Since the wind turbine has a certain installation height, the wind turbine itself will vibrate to a certain extent. Coupled with the influence of various weather changes, the vibration of the wind turbine will become more complicated. Therefore, directly in the wind turbine cabin Installing a camera does not achieve the purpose of real-time video surveillance and infrared image fault detection
[0011] 3. The present invention involves the coordinated control of multi-channel motors, and the control accuracy has high requirements. The traditional PID control algorithm cannot meet the requirements of the present invention in terms of overshoot and adjustment time, and cannot meet the expected accuracy requirements
The invention adopts an improved model-free adaptive control algorithm (Improved Model Free Adaptive Control, MFA) to realize the control of multi-channel motors, and solves the problem that the control effect of the traditional control algorithm (PID) is not ideal

Method used

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  • Dual-path camera anti-shaking system for engine room of wind-driven generator
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  • Dual-path camera anti-shaking system for engine room of wind-driven generator

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Embodiment Construction

[0046] Step 1: The vibration data m of the wind turbine nacelle in the X-axis direction and the Y-axis direction are detected by the first vibration sensor and the second vibration sensor 1 、m 2 , m 1 、m 2 respectively represent the movement of the base along the X-axis and Y-axis directions, and the rotation angle θ of the fan nacelle along the X-axis direction and the Y-axis direction is detected by the inertial measurement unit 1 , θ 2 and acceleration δ 1 ,δ 2 , the inertial measurement unit includes a three-axis accelerometer and gyroscope module. θ 1 , θ 2 ,δ 1 ,δ 2 Represent the rotation angle and acceleration of the base along the X-axis and Y-axis directions, respectively. The vibration information obtained by the detection sensor is transmitted to the main controller. After the calculation of the main controller, it is judged whether the vibration of the fan nacelle occurs. If vibration occurs, correction and compensation are performed; Compute judgments u...

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Abstract

The invention discloses a dual-path camera anti-shaking system for an engine room of a wind-driven generator, belongs to the technical field of wind power generation devices, and aims to solve the problem, which cannot be solved by existing inventions and technologies, of complex, changeable and unpredictable shakes of a fan. The shaking condition of a camera and mobile robot vision system is relatively simple, so that simple shake problems can be solved by an existing anti-shaking device for the camera and mobile robot vision system only. According to the dual-path camera anti-shaking system, a multi-sensor fusion technology and collaborative control over multiple paths of motors are adopted, and the shaking direction and distance can be detected and returned in real time to calculate an optimal path for compensation and correction; moreover, a conventional PID (proportion integration differentiation) control algorithm is not adopted by the invention, and instead, a model-free self-adaptive control algorithm is adopted to implement collaborative control over the multiple paths of motors to fulfill the aims of real-time detection, accurate control, rapid correction and video anti-shaking.

Description

technical field [0001] The invention discloses a dual-channel camera anti-shake system for a wind power generator nacelle, which belongs to the technical field of wind power generation devices. Background technique [0002] Wind power is an emerging clean energy, which has been vigorously developed in my country, especially in the central and western regions. But at the same time, the problem that fan failures cannot be detected in time also follows. In order to solve this problem, one solution is to install a video surveillance device to monitor the specific operating conditions in the wind turbine cabin and realize the monitoring of the working conditions of the wind turbine. However, since the wind turbine is installed in the wild and has a certain installation height, The fan nacelle will swing at a certain angle, and due to various harsh environments and weather, this swing will present complex working conditions. Therefore, the video picture obtained by directly insta...

Claims

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Application Information

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IPC IPC(8): H04N5/232H04N7/18F03D17/00
CPCH04N7/181H04N23/685
Inventor 齐咏生孟学斌李永亭王林刘利强
Owner INNER MONGOLIA UNIV OF TECH
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