A dual-camera anti-shake system for a wind turbine nacelle
A wind turbine and camera technology, applied in wind turbines, monitoring of wind turbines, closed-circuit television systems, etc., can solve problems such as complex vibration of wind turbines, failure to meet accuracy requirements, overshoot and adjustment time cannot be satisfied at the same time, etc. Achieve the effect of solving jitter and reliable operation
Active Publication Date: 2019-11-15
INNER MONGOLIA UNIV OF TECH
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[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
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[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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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. The current invention and technology cannot solve the problem of complex, changeable and unpredictable jitter of fans: because the jitter of cameras and mobile robot vision systems is relatively simple, the existing anti-shake devices for cameras and mobile robot vision systems can only Satisfied to solve this simple jitter problem. The present invention adopts multi-sensor fusion technology and multi-channel motor cooperative control, can detect the direction and distance of jitter in real time, and obtain the optimal path of compensation and correction through calculation, and the present invention does not use the traditional PID control algorithm, but The model-free adaptive control algorithm is used to realize the cooperative control of multi-channel motors, so as to achieve the purpose of real-time detection, precise control, rapid correction, and video anti-shake.
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...
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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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