Real-time monitoring method and device for blade clearance value and imbalance based on RTK technology

Abstract

The invention provides a blade clearance value and imbalance real-time monitoring method and device based on an RTK technology, and relates to the technical field of wind generating set monitoring. The method comprises the following steps: acquiring position coordinates and elevation information of RTK monitoring equipment on the top of a fan cabin and position coordinates and elevation information of RTK monitoring equipment on three blades of a fan by adopting an RTK technology; analyzing the correlation among the clearance distance, the elevation difference and the horizontal distance in the rotating process of the three blades of the fan; according to the mutual relation of the clearance distance, the elevation difference and the horizontal distance, the clearance distance of the three blades of the fan in the rotating process is calculated through a sampling statistics mechanism method; and according to the clearance distance, the balance state among the three blades of the fan is obtained. According to the invention, the clearance distance of the blade at each rotation position and the balance state of the impeller can be monitored in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator set monitoring, and in particular to a method and device for real-time monitoring of blade clearance value and imbalance based on RTK technology. Background Art

[0002] According to the principles of aerodynamics, the power of a wind turbine is proportional to the area of ​​the impeller and the cube of the wind speed. With the continuous development of wind power generation technology and the market, the single-unit capacity of wind turbines is required to continue to increase, resulting in the increasing size of wind turbine blades. At present, the impeller size of the largest capacity unit on land exceeds 230 meters, while the impeller diameter of the largest capacity unit at sea even reaches 300 meters; as the size of wind turbine blades increases, the enlarged blades will lead to greater safety hazards; in fact, based on the deviation of the simulation model, the inadequacy of the manufacturing process and the inadequate security measures, the safety problems caused by the blades include tower sweeping and tower collapse; in addition, for the mainstream three-blade units, the incoordination or deviation between the three blades will also cause the impeller to be unbalanced, thereby increasing the vibration of the unit, accelerating the wear and damage of the major components of the unit, affecting the service life of the major components, and then affecting the power generation of the unit. Therefore, in order to ensure the safe operation of wind turbines, it is necessary to monitor the blade clearance and impeller balance in real time. The blade clearance can be roughly understood as the distance between the blade and the wind turbine tower, and the impeller imbalance can be understood as whether the aerodynamic arrangement of the three blades is consistent, whether the impeller operates under the design parameters and remains consistent, and whether there is no abnormal jitter.

[0003] There are currently two main ways to monitor blade clearance, namely online and offline. The online method mainly involves installing detection equipment on the wind turbine for uninterrupted monitoring; the offline method mainly involves setting up the detection equipment at a certain distance from the wind turbine for observation for a period of time. Currently, there are three main online methods for blade clearance detection, and then judging the balance state of the blade; among them, method one is to install monitoring equipment at the bottom of the cabin for downward detection, such as installing lidar or video surveillance or machine vision. When the blade rotates to the tower position, the distance between the blade and the tower is detected through image recognition, machine vision or laser ranging, so as to judge whether the clearance value of the blade is within a safe range, and by detecting the difference in the clearance values ​​of the three blades, it is judged whether the blade has an imbalance problem, but laser and video surveillance or machine vision are easily affected by climate, resulting in reduced accuracy and effectiveness; method two is to install the detection equipment on the tip of the blade, To a certain extent, it solves the problem of insufficient detection effectiveness of Solution 1 when applied to large units, long blades, and severe weather such as rain, fog, and snow. However, during the power generation process of the wind turbine, when the blades change pitch, the monitoring equipment may no longer be aimed at the tower, and thus cannot detect the clearance distance of the blades. It is necessary to arrange multiple detection equipment at intervals for monitoring, which increases the cost and complexity of the solution. Method 3 is to install the monitoring equipment on the tower. In order to cope with the yaw of the wind turbine, it is necessary to install detection equipment on the circumference of the tower so that no matter which direction the wind turbine is facing, there are monitoring equipment facing the blades. However, this solution greatly increases the number of monitoring equipment. The above three methods can only detect the clearance value of the blade when the blade sweeps across the tower, and cannot perform real-time monitoring. When a clearance abnormality suddenly occurs before the blade rotates to the tower position, it cannot be monitored in time. Summary of the invention

[0004] In order to solve the technical problem that the existing method can only detect the clearance value of the blade when the blade sweeps the tower, and cannot be monitored in time when the clearance abnormality of the blade occurs before the blade rotates to the tower position, the embodiment of the present invention provides a method and device for real-time monitoring of the clearance value and imbalance of the blade based on RTK technology. The technical solution is as follows:

[0005] On the one hand, a blade clearance value and imbalance real-time monitoring method based on RTK technology is provided, and the method is implemented by a blade clearance value and imbalance real-time monitoring device based on RTK technology, and the method includes:

[0006] S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine;

[0007] S2. According to the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring equipment on the three blades of the wind turbine, by establishing a nacelle coordinate system and an impeller coordinate system, the mutual relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine is analyzed;

[0008] S3. According to the relationship between the clearance distance, elevation difference and horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan;

[0009] According to the relationship between the clearance value, the elevation difference and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including:

[0010] Obtain real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle;

[0011] The sampling time is set to 10 seconds; according to the sampling time, the real-time data is formed into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance;

[0012] According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0013] S4. Obtaining a balance state between three blades of the fan according to the clearance distance;

[0014] Wherein, obtaining the balance state between the three blades of the fan according to the clearance distance includes:

[0015] Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine;

[0016] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0017] On the other hand, a blade clearance value and imbalance real-time monitoring device based on RTK technology is provided, and the device is applied to a blade clearance value and imbalance real-time monitoring method based on RTK technology, and the device comprises:

[0018] The first acquisition unit is used to acquire the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine;

[0019] An analysis unit is used to analyze the relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine by establishing a nacelle coordinate system and an impeller coordinate system according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine;

[0020] A calculation unit, for calculating the clearance distance during the rotation of the three blades of the fan by adopting a sampling statistical mechanism method according to the mutual relationship between the clearance distance, the elevation difference and the horizontal distance;

[0021] According to the relationship between the clearance value, the elevation difference and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including:

[0022] Acquire real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle; wherein the real-time data includes: slant distance, horizontal distance, elevation difference and position coordinates;

[0023] Set the sampling time to 10 seconds; according to the sampling time, organize the real-time data into an array, and calculate the horizontal distance value corresponding to the minimum value of the elevation difference in the array; among them, the horizontal distance value corresponding to the minimum value of the elevation difference is the simplified horizontal distance;

[0024] According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0025] A second acquisition unit is used to acquire a balance state between three blades of the fan according to the clearance distance;

[0026] Wherein, obtaining the balance state between the three blades of the fan according to the clearance distance includes:

[0027] Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine;

[0028] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0029] On the other hand, a blade clearance value and imbalance real-time monitoring device based on RTK technology is provided, and the blade clearance value and imbalance real-time monitoring device based on RTK technology comprises: a processor; a memory, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, any one of the blade clearance value and imbalance real-time monitoring methods based on RTK technology is implemented.

[0030] On the other hand, a computer-readable storage medium is provided, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement any one of the above-mentioned methods for real-time monitoring of blade clearance value and imbalance based on RTK technology.

[0031] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0032] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine are analyzed; according to the clearance distance, elevation difference and horizontal distance, the clearance distance during the rotation of the three blades of the wind turbine is calculated by adopting a sampling statistical mechanism method; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0033] The embodiment of the present invention adopts RTK technology and is applicable around the clock, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance value and the balance state of the impeller when the blade sweeps across the tower, and can monitor the clearance value and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can view the deformation of the blade at different wind speeds and different positions and the rotation surface angles of different blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 It is a flow chart of a method for real-time monitoring of blade clearance value and imbalance based on RTK technology provided by an embodiment of the present invention;

[0036] Figure 2 It is a structural schematic diagram of a wind farm provided by an embodiment of the present invention in which one base station is set and RTK devices on all wind turbines are set as mobile stations;

[0037] Figure 3 It is a structural schematic diagram of an embodiment of the present invention in which an RTK device on the top of a wind turbine nacelle is set as a reference station and an RTK device on a blade is set as a mobile station;

[0038] Figure 4 It is a structural schematic diagram of an embodiment of the present invention in which all RTK devices on wind turbines are configured as mobile stations and connected to a public CORS network;

[0039] Figure 5 is a schematic diagram of a nacelle coordinate system and an impeller coordinate system provided by an embodiment of the present invention;

[0040] Figure 6 It is a relationship diagram of elevation difference, horizontal distance and clearance value provided by an embodiment of the present invention;

[0041] Figure 7 is a schematic diagram of the shape of a blade under different wind speeds provided by an embodiment of the present invention;

[0042] Figure 8 It is a structural schematic diagram of a 5 RTK real-time monitoring solution provided by an embodiment of the present invention;

[0043] Fig. 9 It is a design block diagram of a monitoring device provided by an embodiment of the present invention;

[0044] Fig.10 It is a block diagram of a blade clearance value and imbalance real-time monitoring device based on RTK technology provided by an embodiment of the present invention;

[0045] Fig.11 It is a structural schematic diagram of a blade clearance value and imbalance real-time monitoring device based on RTK technology provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0047] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0048] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0049] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0050] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0051] The embodiment of the present invention provides a blade clearance value and imbalance real-time monitoring method based on RTK technology, which can be implemented by a blade clearance value and imbalance real-time monitoring device based on RTK technology, and the blade clearance value and imbalance real-time monitoring device based on RTK technology can be a terminal or a server. Figure 1 The flowchart of the blade clearance value and imbalance real-time monitoring method based on RTK technology is shown. The processing flow of the method may include the following steps:

[0052] S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine.

[0053] Among them, RTK is a real-time dynamic measurement technology that provides high-precision error correction data through carrier phase observation; RTK technology can provide positioning results within the centimeter level accuracy range.

[0054] Among them, Real-Time Kinematic (RTK) technology is a high-precision satellite navigation and positioning technology. The core is to use the relative position difference between two or more global navigation satellite system receivers to correct the position data in real time. The RTK system usually consists of two key parts: the base station and the mobile station. The GNSS receiver of the base station is installed at a known precise position. It calculates real-time error data by receiving satellite signals and transmits the error information to the mobile station. The mobile station is installed on the target that needs to be positioned in real time. After receiving the error data transmitted by the base station, it combines its own GNSS signal to correct the positioning result in real time to achieve high-precision positioning. Through the high-precision carrier phase differential algorithm, RTK can currently reduce the error of traditional satellite positioning from a few meters to centimeters. RTK has been widely used in the fields of navigation and surveying and mapping.

[0055] Optionally, the specific implementation process of S1 includes:

[0056] According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine nacelle, and the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine, and the position coordinates and elevation information of the RTK monitoring device on each blade of the wind turbine are read through the RTK monitoring device.

[0057] In a feasible implementation manner, the wind farm reference station is set up in three ways; Figure 2 As shown in Scheme 1, a wind farm base station is established at a certain location in the entire wind farm, such as a booster station, and the RTK monitoring devices of all wind turbines are connected to the wind farm base station; for a single wind turbine, its three blades and the RTK monitoring devices arranged on the top of the wind turbine cabin are all set as mobile stations, and the elevation difference and horizontal distance between the mobile station on the blade and the mobile station on the top of the wind turbine cabin are calculated by reading the coordinate position and elevation information of the mobile station; Scheme 1 needs to consider the information transmission between the mobile station and the base station, that is, the coverage range of the base station.

[0058] Among them, Figure 3 In the second scheme shown, each wind turbine is independently equipped with its own base station, that is, the RTK monitoring equipment on the top of the wind turbine cabin is used as the base station, and the RTK monitoring equipment on the three blades of the wind turbine is used as the mobile station, and the horizontal distance and elevation difference between the three mobile stations and the base station are calculated; in the second scheme, since the base station and the mobile station are close to each other, the base station and the mobile station will have good information transmission conditions.

[0059] Among them, Figure 4 In the scheme three shown, no base station is established in the wind farm and the wind turbine. Instead, a continuously operating reference station (CORS) is used. That is, a nearby commercial base station is used. All RTK monitoring equipment arranged on the three blades of the wind turbine and on the top of the wind turbine cabin are set as mobile stations. By reading the position coordinates and elevation information of the mobile station, the elevation difference and horizontal distance between the mobile station on the blade and the mobile station on the top of the wind turbine cabin are calculated. Scheme three is suitable for areas where the wind turbine is located with a good network environment. This application adopts the setting method of scheme three to set up the base station of the wind farm; among them, if Figure 4 The figure shows a structural diagram of an embodiment of the present invention in which all RTK devices on wind turbines are configured as mobile stations and connected to a public CORS network.

[0060] Among them, for large-capacity units, in order to reduce the risk of blade sweeping the tower, the hub will have a certain elevation angle relative to the nacelle, generally 2°-8°; in order to analyze the relationship between the clearance value, elevation difference and horizontal distance during the blade rotation process, two sets of coordinate systems are established, including: Nacelle coordinate system and impeller coordinate system ;like Figure 5 FIG. 1 is a schematic diagram of a nacelle coordinate system and an impeller coordinate system provided by an embodiment of the present invention, wherein: The coordinate system takes the tower direction as the Z axis, the centerline of the cabin as the Y axis, and the horizontal direction of the cabin as the X axis; Coordinate system and The origin of the coordinate system coincides with the X-axis rotation of the coordinate system Angle; among them, around X-axis rotation of the coordinate system The angle is equal to the elevation angle of the hub relative to the nacelle; the origins of the two coordinate systems are located at the intersection of the three blades of the wind turbine.

[0061] S2. Based on the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring equipment on the three blades of the wind turbine, by establishing the cabin coordinate system and the impeller coordinate system, the relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine is analyzed.

[0062] Optionally, the specific implementation process of S2 may include S21-S25:

[0063] S21, establish a cabin coordinate system with the tower direction as the Z axis, the cabin centerline as the Y axis, and the cabin transverse direction as the X axis; according to the cabin coordinate system, obtain the coordinates of the RTK monitoring equipment on the cabin in the cabin coordinate system and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the cabin coordinate system;

[0064] Among them, the coordinates of the RTK monitoring equipment on the cabin in the cabin coordinate system are expressed as .

[0065] Among them, the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the cabin coordinate system are expressed as follows: .

[0066] S22, take the origin of the cabin coordinate system as the coordinate origin, and rotate around the X-axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system;

[0067] Among them, the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system are expressed as follows: .

[0068] S23. According to the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring devices on the three blades of the wind turbine is obtained, which is expressed by the following formula (1):

[0069] (1)

[0070] in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle;

[0071] The rotation of the blades is in the impeller coordinate system. of The projection in the plane is a circle, so constraints are set for the coordinates of the RTK monitoring equipment on the three blades of the wind turbine.

[0072] S24. Set the constraints of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system, which are expressed by the following formula (2)-formula (3):

[0073] (2)

[0074] (3)

[0075] Wherein, L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the fan and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system;

[0076] S25. Calculate the clearance distance, elevation difference and horizontal distance according to the constraint conditions; the clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4):

[0077] (4)

[0078] in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system;

[0079] The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5):

[0080] (5)

[0081] in, Indicates elevation difference; represents the Z-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Z represents the Z-axis coordinate of the blade RTK monitoring device in the cabin coordinate system;

[0082] The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6):

[0083] (6)

[0084] in, Indicates horizontal distance; Indicates the X-axis coordinate of the cabin RTK monitoring equipment in the cabin coordinate system; Indicates the Y-axis coordinate of the cabin RTK monitoring equipment in the cabin coordinate system;

[0085] Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain a simplified horizontal distance, which is expressed by the following formula (7):

[0086] (7)

[0087] Among them, when ,When the blade is located below the nacelle, the clearance distance is simplified to obtain a simplified clearance distance, which is expressed by the following formula (8):

[0088] (8)

[0089] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0090] In a feasible implementation, Figure 6 The figure shows a relationship between elevation difference, horizontal distance and clearance value provided by an embodiment of the present invention; for a unit with a hub having an elevation angle, the clearance distance changes with the change of the elevation difference during the rotation of the blades.

[0091] Among them, in order to reduce the complexity of the design of the fan blade clearance value and impeller imbalance monitoring system and improve the system operation speed, a sampling statistical mechanism method is adopted to obtain the clearance distance from the value of the horizontal distance parameter; because the rated speed of the fan impeller is generally between a few revolutions per minute and more than ten revolutions per minute, data can be counted every 10 seconds or 30 seconds.

[0092] S3. Based on the relationship between the clearance value, elevation difference and horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan.

[0093] Among them, according to the relationship between the clearance value, elevation difference and horizontal distance, the sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including:

[0094] Obtain real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle;

[0095] Among them, real-time data includes: slope distance, horizontal distance, elevation difference and position coordinates;

[0096] Set the sampling time to 10 seconds; according to the sampling time, organize the real-time data into an array, and calculate the horizontal distance value corresponding to the minimum value of the elevation difference in the array; among them, the horizontal distance value corresponding to the minimum value of the elevation difference is the simplified horizontal distance;

[0097] According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0098] Optionally, the process of calculating the clearance distance during the rotation of three blades of the fan according to the simplified horizontal distance in S3 includes:

[0099] According to the simplified horizontal distance and the simplified clearance distance formula, the clearance distance when the blade sweeps across the wind turbine tower is calculated and expressed by the following formula (9):

[0100] (9)

[0101] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0102] In a feasible implementation, according to formula (9), if the cabin RKT monitoring equipment is installed on the central axis of the cabin, When the blade is located below the nacelle and facing the tower, the elevation difference is the smallest, but the absolute value is the largest. The solution to the clearance distance can be converted into the solution to the horizontal distance, which can reduce the amount of calculation and improve the system response speed.

[0103] In a feasible implementation, the blades, especially the long blades and the flexible blades, will deform under high wind speeds, such as Figure 7 The figure shows a schematic diagram of the shape of a blade under different wind speeds provided by an embodiment of the present invention; under different wind speeds, the straight-line distance between the RTK monitoring equipment on the three blades and the origin of the coordinate system and the angle between the three blades and the y-axis in the impeller coordinate system will be affected, resulting in the direct calculation of the clearance distance being relatively cumbersome. The solution to the clearance distance can be converted into the solution of the horizontal distance, which can reduce the difficulty of the problem; because the horizontal distance between any two points can be solved according to the north coordinate and the east coordinate in the National 2000 coordinate system in the RTK monitoring equipment test.

[0104] S4. Obtain the balance state between the three blades of the fan according to the clearance distance.

[0105] Among them, according to the clearance distance, the balance state between the three blades of the fan is obtained, including:

[0106] Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine;

[0107] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0108] Optionally, the balance state between the three blades of the fan of S4 is expressed by the following formula (10):

[0109] (10)

[0110] in, Indicates the clearance distance of the RTK monitoring equipment on the first blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the second blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the third blade of the wind turbine; Indicates the clearance distance tolerance of the three blades of the fan.

[0111] Among them, the running trajectory of the blade can be drawn according to the real-time coordinates and elevation information of the RTK monitoring equipment on each blade of the wind turbine.

[0112] In a feasible implementation manner, the clearance distance when the blade sweeps across the tower and the balance state between the three blades can be monitored by using the method proposed in the present application.

[0113] Among them, Figure 8The figure shows a schematic diagram of the structure of a real-time monitoring solution of five RTK monitoring devices provided by an embodiment of the present invention. By adding one RTK monitoring device on the top of the cabin, the clearance distance of the blade at each rotation position can be monitored in real time.

[0114] Optionally, after the step of obtaining the balance state between the three blades of the fan according to the clearance distance in S4, the step further includes:

[0115] The method of adding RTK monitoring equipment is used to calculate the real-time clearance distance of each blade of the wind turbine, including:

[0116] Arrange two RTK monitoring devices on the top of the wind turbine nacelle, and obtain the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle through the National 2000 coordinate system; wherein, the two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, wherein the formed straight line coincides with the central axis of the nacelle;

[0117] Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine through the National 2000 coordinate system;

[0118] According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle.

[0119] Optionally, the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle is calculated and expressed by the following formula (11):

[0120] (11)

[0121] in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

[0122] In a feasible implementation, the real-time clearance distance of each blade of the wind turbine is calculated based on the distance between the projection of the RTK monitoring device of each blade on a straight line and the RTK monitoring device in the cabin, so that the clearance distance of the blade at each position and each time can be monitored; during the normal operation of the wind turbine, the elevation difference and clearance distance of the blade RTK monitoring device are collected at low wind speed and high wind speed respectively, and the clearance threshold corresponding to each elevation difference is set; the clearance distance collected during normal operation is used as a benchmark to determine whether the deviation of the clearance distance of the wind turbine during operation is within the tolerance range and whether it is lower than the threshold. If it is lower than the threshold, there is a risk of clearance sweeping the tower, and an alarm is given in time.

[0123] Among them, according to the blade clearance value and imbalance real-time monitoring method based on RTK technology proposed in this application, a fan blade clearance distance and impeller imbalance monitoring system can be designed; Fig. 9 The figure shows a design block diagram of a monitoring system provided by an embodiment of the present invention; wherein the system includes a stand-alone MCU, an RTK module, a communication module, an early warning module and a host computer software; the system can run independently, or multiple systems can be connected to a centralized control center for centralized control; wherein the system includes 4 or 5 RTK modules, which are used to transmit the data monitored by RTK to the stand-alone MCU module for processing; the communication module is used for communication between the RTK mobile station and the base station and between the stand-alone MCU and the centralized control center; the MCU is used for data processing and parameter setting, including RTK working mode and communication module parameters, etc., and calculates the horizontal distance, elevation difference, slant distance and clearance distance through the received RTK module monitoring data; the early warning module is used to judge whether the blades are rotating, whether the clearance distance is lower than a threshold, whether there is impeller imbalance and whether the rotation of the blades is within the tolerance range, etc. according to whether the clearance distance or elevation difference is changing; the host computer software is connected to the MCU to provide visual operation and graphic information display.

[0124] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine are analyzed; according to the clearance distance, elevation difference and horizontal distance, the clearance distance during the rotation of the three blades of the wind turbine is calculated by adopting a sampling statistical mechanism method; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0125] The embodiment of the present invention adopts RTK technology and is applicable around the clock, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance distance and the balance state of the impeller when the blade sweeps across the tower, and can monitor the clearance distance and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can view the deformation of the blade at different wind speeds and different positions and the rotation surface angles of different blades.

[0126] Fig.10 The block diagram of a real-time monitoring device for blade clearance value and imbalance based on RTK technology is shown according to an exemplary embodiment. The device is used in a real-time monitoring method for blade clearance value and imbalance based on RTK technology. Fig.10 The device includes a first acquisition unit 310, an analysis unit 320, a calculation unit 330 and a second acquisition unit 340. Wherein:

[0127] The first acquisition unit 310 is used to acquire the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0128] The analyzing unit 320 is used to analyze the relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine by establishing a nacelle coordinate system and an impeller coordinate system according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine;

[0129] The calculation unit 330 is used to calculate the clearance distance during the rotation of the three blades of the fan by using a sampling statistical mechanism method according to the mutual relationship between the clearance distance, the elevation difference and the horizontal distance;

[0130] According to the relationship between the clearance value, the elevation difference and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including:

[0131] Obtain real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle;

[0132] The sampling time is set to 10 seconds; according to the sampling time, the real-time data is formed into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance;

[0133] According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation;

[0134] A second acquisition unit 340 is used to acquire a balance state between three blades of the fan according to the clearance distance;

[0135] Wherein, obtaining the balance state between the three blades of the fan according to the clearance distance includes:

[0136] Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine;

[0137] The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

[0138] Optionally, the first acquiring unit 310 is configured to:

[0139] According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine cabin, and the position coordinates and elevation information of the wind turbine cabin are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine, and the position coordinates and elevation information of each blade of the wind turbine are read through the RTK monitoring device.

[0140] Optionally, the analysis unit 320 is configured to:

[0141] The nacelle coordinate system is established with the tower direction as the Z axis, the nacelle centerline as the Y axis, and the nacelle transverse direction as the X axis. According to the nacelle coordinate system, the coordinates of the RTK monitoring equipment on the nacelle in the nacelle coordinate system and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system are obtained;

[0142] Take the origin of the cabin coordinate system as the coordinate origin and rotate around the X-axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system;

[0143] According to the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring equipment on the three blades of the wind turbine is obtained, which is expressed by the following formula (1):

[0144] (1)

[0145] in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle;

[0146] The constraint conditions for setting the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system are expressed by the following formulas (2)-(3):

[0147] (2)

[0148] (3)

[0149] Wherein, L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the fan and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system;

[0150] According to the constraints, the clearance distance, elevation difference and horizontal distance are calculated; the clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4):

[0151] (4)

[0152] in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system;

[0153] The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5):

[0154] (5)

[0155] in, Indicates elevation difference; It represents the Z-axis coordinate of the cabin RTK monitoring device in the cabin coordinate system; Z represents the Y-axis coordinate of the blade RTK monitoring device in the cabin coordinate system;

[0156] The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6):

[0157] (6)

[0158] in, Indicates horizontal distance; Indicates the X-axis coordinate of the cabin RTK monitoring equipment in the cabin coordinate system; Indicates the Y-axis coordinate of the cabin RTK monitoring equipment in the cabin coordinate system;

[0159] Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain a simplified horizontal distance, which is expressed by the following formula (7):

[0160] (7)

[0161] Among them, when ,When the blade is located below the nacelle, the clearance distance is simplified to obtain a simplified clearance distance, which is expressed by the following formula (8):

[0162] (8)

[0163] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0164] Optionally, the process of calculating the clearance distance during the rotation of the three blades of the fan according to the simplified horizontal distance includes:

[0165] According to the simplified horizontal distance and the simplified clearance distance formula, the clearance distance when the blade sweeps across the wind turbine tower is calculated and expressed by the following formula (9):

[0166] (9)

[0167] in, represents the simplified clearance distance; Represents the simplified horizontal distance.

[0168] Optionally, the balance state between the three blades of the fan is expressed by the following formula (10):

[0169] (10)

[0170] in, Indicates the clearance distance of the first blade of the fan; Indicates the clearance distance of the second blade of the fan; Indicates the clearance distance of the third blade of the fan; Indicates the clearance distance tolerance of the three blades of the fan.

[0171] Optionally, after the step of obtaining the balance state between the three blades of the fan according to the clearance distance, the method further includes:

[0172] The method of adding RTK monitoring equipment is used to calculate the real-time clearance distance of each blade of the wind turbine, including:

[0173] Arrange two RTK monitoring devices on the top of the wind turbine nacelle, and obtain the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle through the National 2000 coordinate system; wherein, the two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, wherein the formed straight line coincides with the central axis of the nacelle;

[0174] Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine through the National 2000 coordinate system;

[0175] According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device of the wind turbine nacelle.

[0176] Optionally, the calculation of the distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device in the wind turbine nacelle is expressed by the following formula (11):

[0177] (11)

[0178] in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the RTK monitoring device in the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

[0179] The embodiment of the present invention first obtains the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; secondly, according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine, by establishing a cabin coordinate system and an impeller coordinate system, the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine are analyzed; according to the clearance distance, elevation difference and horizontal distance, the clearance distance during the rotation of the three blades of the wind turbine is calculated by adopting a sampling statistical mechanism method; finally, according to the clearance distance, the balance state between the three blades of the wind turbine is obtained.

[0180] The embodiment of the present invention adopts RTK technology and is applicable around the clock, avoiding the problem that the laser system or video system cannot be used in bad weather, and effectively solving the problem of limited detection distance; the embodiment of the present invention can monitor the clearance distance and the balance state of the impeller when the blade sweeps across the tower, and can monitor the clearance distance and the balance state of the impeller at various rotation positions in real time to meet the needs of blade monitoring; the embodiment of the present invention can draw the blade operation trajectory based on the real-time coordinates and elevation data of the blade monitored by RTK, and through trajectory comparison, it can view the deformation of the blade at different wind speeds and different positions and the rotation surface angles of different blades.

[0181] Fig.11 is a schematic diagram of the structure of a blade clearance value and imbalance real-time monitoring device based on RTK technology provided by an embodiment of the present invention, such as Fig.11 As shown, the blade clearance value and imbalance real-time monitoring equipment based on RTK technology may include the above Fig.10 The blade clearance value and imbalance real-time monitoring device based on RTK technology is shown. Optionally, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may include a first processor 2001 .

[0182] Optionally, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may also include a memory 2002 and a transceiver 2003 .

[0183] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0184] Combine the following Fig.11 The components of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology are specifically introduced:

[0185] The first processor 2001 is the control center of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology, which can be a processor or a general term for multiple processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (field programmable gate arrays, FPGAs).

[0186] Optionally, the first processor 2001 can perform various functions of the blade clearance value and imbalance real-time monitoring device 410 based on the RTK technology by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002.

[0187] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Fig.11 CPU0 and CPU1 are shown in FIG.

[0188] In a specific implementation, as an embodiment, the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology may also include multiple processors, such as Fig.11 The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0189] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled to be executed by the first processor 2001. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0190] Optionally, the memory 2002 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2002 may be integrated with the first processor 2001, or may exist independently, and may be connected to the first processor 2001 through the interface circuit ( Fig.11 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0191] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0192] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Fig.11 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0193] Optionally, the transceiver 2003 may be integrated with the first processor 2001, or may exist independently, and communicate with the blade clearance value based on the RTK technology through the interface circuit of the unbalance real-time monitoring device 410 ( Fig.11 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0194] It should be noted that Fig.11 The structure of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology shown in the figure does not constitute a limitation on the router. The actual knowledge structure identification device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0195] In addition, the technical effects of the blade clearance value and imbalance real-time monitoring device 410 based on RTK technology can refer to the technical effects of the blade clearance value and imbalance real-time monitoring method based on RTK technology described in the above method embodiment, which will not be repeated here.

[0196] It should be understood that the first processor 2001 in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0197] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0198] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0199] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0200] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0201] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0202] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0203] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0204] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0206] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0207] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0208] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A real-time monitoring method for blade clearance value and imbalance based on RTK technology, characterized in that: The method comprises: S1. Obtain the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; S2. According to the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring equipment on the three blades of the wind turbine, by establishing a nacelle coordinate system and an impeller coordinate system, the mutual relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine is analyzed; S3. According to the relationship between the clearance distance, elevation difference and horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan; According to the relationship between the clearance value, the elevation difference and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including: Obtain real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine cabin; The sampling time is set to 10 seconds; according to the sampling time, the real-time data is formed into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance; According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation; S4. Obtaining a balance state between three blades of the fan according to the clearance distance; Wherein, obtaining the balance state between the three blades of the fan according to the clearance distance includes: Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine; The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

2. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 1 is characterized in that: The step S1 of acquiring the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine includes: According to the setting method of the wind farm reference station, an RTK monitoring device is arranged on the top of the wind turbine nacelle, and the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle are read through the RTK monitoring device; an RTK monitoring device is arranged on each of the three blades of the wind turbine, and the position coordinates and elevation information of the RTK monitoring device on each blade of the wind turbine are read through the RTK monitoring device.

3. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 1 is characterized in that: The S2 analyzes the relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine by establishing a nacelle coordinate system and an impeller coordinate system based on the position coordinates and elevation information of the RTK monitoring equipment on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring equipment on the three blades of the wind turbine, including: S21, establish a cabin coordinate system with the tower direction as the Z axis, the cabin centerline as the Y axis, and the cabin transverse direction as the X axis; according to the cabin coordinate system, obtain the coordinates of the RTK monitoring equipment on the cabin in the cabin coordinate system and the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the cabin coordinate system; S22, take the origin of the cabin coordinate system as the coordinate origin, and rotate around the X-axis of the cabin coordinate system Angle, establish the impeller coordinate system; according to the impeller coordinate system, obtain the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; S23. According to the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the impeller coordinate system and the coordinates of the RTK monitoring devices on the three blades of the wind turbine in the nacelle coordinate system, the conversion relationship between the nacelle coordinate system and the impeller coordinate system of the RTK monitoring devices on the three blades of the wind turbine is obtained, which is expressed by the following formula (1): （1） in, Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the nacelle coordinate system; Indicates the coordinates of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system; Indicates the rotation angle; S24. Set the constraints of the RTK monitoring equipment on the three blades of the wind turbine in the impeller coordinate system, which are expressed by the following formula (2)-formula (3): （2） （3） Wherein, L represents the straight-line distance between the RTK monitoring equipment on the three blades of the wind turbine and the origin of the coordinate system; Indicates the angle between the three blades of the fan and the y-axis in the impeller coordinate system; x indicates the coordinate of the RTK monitoring device on the blade on the x-axis in the impeller coordinate system; y indicates the coordinate of the RTK monitoring device on the blade on the y-axis in the impeller coordinate system; z indicates the coordinate of the RTK monitoring device on the blade on the z-axis in the impeller coordinate system; S25. Calculate the clearance distance, elevation difference and horizontal distance according to the constraint conditions; wherein the clearance distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the tower wall, which is expressed by the following formula (4): （4） in, Indicates the clearance distance; Y indicates the Y-axis coordinate of the RTK monitoring device on the blade in the cabin coordinate system; Indicates the distance between the tower wall and the origin of the coordinate system; The elevation difference is the vertical distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (5): （5） in, Indicates elevation difference; represents the coordinate of the cabin RTK monitoring device on the Z axis in the cabin coordinate system; Z represents the coordinate of the blade RTK monitoring device on the Z axis in the cabin coordinate system; The horizontal distance is the horizontal distance between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine nacelle, which is expressed by the following formula (6): （6） in, Indicates horizontal distance; Indicates the coordinate of the cabin RTK monitoring equipment on the X-axis in the cabin coordinate system; Indicates the coordinate of the cabin RTK monitoring equipment on the Y axis in the cabin coordinate system; Among them, when When the blade is located below the nacelle, the calculation process of the horizontal distance is simplified to obtain a simplified horizontal distance, which is expressed by the following formula (7): （7） Among them, when ,When the blade is located below the nacelle, the clearance distance is simplified to obtain a simplified clearance distance, which is expressed by the following formula (8): （8） in, represents the simplified clearance distance; Represents the simplified horizontal distance.

4. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 1 is characterized in that: The process of calculating the clearance distance during the rotation of the three blades of the fan according to the simplified horizontal distance in S3 includes: According to the simplified horizontal distance and simplified clearance distance formula, the clearance distance when the blade sweeps across the wind turbine tower is calculated and expressed by the following formula (9): （9） in, represents the simplified clearance distance; Represents the simplified horizontal distance.

5. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 1 is characterized in that: The balance state between the three blades of the fan of S4 is expressed by the following formula (10): （10） in, Indicates the clearance distance of the RTK monitoring equipment on the first blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the second blade of the wind turbine; Indicates the clearance distance of the RTK monitoring equipment on the third blade of the wind turbine; Indicates the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

6. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 1 is characterized in that: After the step of obtaining the balance state between the three blades of the fan according to the clearance distance in S4, the method further includes: The method of adding RTK monitoring equipment is used to calculate the real-time clearance distance of each blade of the wind turbine, including: Arrange two RTK monitoring devices on the top of the wind turbine nacelle, and obtain the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle through the National 2000 coordinate system; wherein, the two RTK monitoring devices on the top of the wind turbine nacelle form a straight line, wherein the formed straight line coincides with the central axis of the nacelle; Place one RTK monitoring device on each of the three blades of the wind turbine, and obtain the coordinate information of each RTK monitoring device on the three blades of the wind turbine through the National 2000 coordinate system; According to the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle, the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle and the coordinate information of each RTK monitoring device on the three blades of the wind turbine, the real-time clearance distance of each blade of the wind turbine is calculated by calculating the distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device on the top of the wind turbine nacelle.

7. The real-time monitoring method for blade clearance value and imbalance based on RTK technology according to claim 6 is characterized in that: The distance between the projection of the RTK monitoring device on each blade on the straight line and the RTK monitoring device on the top of the wind turbine nacelle is calculated by the following formula (11): （11） in, Indicates the distance between the projection of the RTK monitoring device of each blade on the straight line and the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the first RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of the second RTK monitoring device on the top of the wind turbine nacelle; Indicates the coordinate information of each RTK monitoring device on the three blades of the wind turbine.

8. A blade clearance value and unbalance real-time monitoring device based on RTK technology, the blade clearance value and unbalance real-time monitoring device based on RTK technology is used to implement the blade clearance value and unbalance real-time monitoring method based on RTK technology as claimed in any one of claims 1 to 7, characterized in that: The device comprises: The first acquisition unit is used to acquire the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine cabin and the position coordinates and elevation information of the RTK monitoring devices on the three blades of the wind turbine; An analysis unit is used to analyze the relationship between the clearance distance, elevation difference and horizontal distance during the rotation of the three blades of the wind turbine by establishing a nacelle coordinate system and an impeller coordinate system according to the position coordinates and elevation information of the RTK monitoring device on the top of the wind turbine nacelle and the position coordinates and elevation information of the RTK monitoring device on the three blades of the wind turbine; A calculation unit, for calculating the clearance distance during the rotation of the three blades of the fan by adopting a sampling statistical mechanism method according to the mutual relationship between the clearance distance, the elevation difference and the horizontal distance; According to the relationship between the clearance value, the elevation difference and the horizontal distance, a sampling statistical mechanism method is used to calculate the clearance distance during the rotation of the three blades of the fan, including: Obtain real-time data between the RTK monitoring equipment on the three blades of the wind turbine and the RTK monitoring equipment on the top of the wind turbine cabin; The sampling time is set to 10 seconds; according to the sampling time, the real-time data is formed into an array, and the horizontal distance value corresponding to the minimum value of the elevation difference in the array is calculated; wherein the horizontal distance value corresponding to the minimum value of the elevation difference is a simplified horizontal distance; According to the simplified horizontal distance, calculate the clearance distance of the three blades of the fan during rotation; A second acquisition unit is used to acquire a balance state between three blades of the fan according to the clearance distance; Wherein, obtaining the balance state between the three blades of the fan according to the clearance distance includes: Set the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine; The balance state between the three blades of the wind turbine is obtained according to the clearance distance of the RTK monitoring equipment on the three blades of the wind turbine and the clearance distance tolerance of the RTK monitoring equipment on the three blades of the wind turbine.

9. A blade clearance value and imbalance real-time monitoring device based on RTK technology, characterized in that: The blade clearance value and imbalance real-time monitoring equipment based on RTK technology includes: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 7.

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