Wind-solar narrow field fan hoisting construction method

Abstract

The invention relates to the technical field of wind power plant construction, and discloses a wind-solar narrow field fan hoisting construction method which comprises the following steps: arranging a real-time dynamic positioning module and an inertial measurement unit; presetting a virtual stable anchor point, and resolving a deviation vector between the real-time spatial position of the hoisting component and the virtual stable anchor point by the control system; according to the invention, the conversion from passive swing suppression to active disturbance cancellation is realized, the traditional open-loop operation is converted into a closed-loop control process, and under the conditions of high wind speed and narrow space, the control efficiency is improved. Therefore, the collision risk between the component and the photovoltaic facility is avoided, and the installation precision is ensured.

Description

TECHNICAL FIELD

[0001] The application relates to a wind turbine hoisting construction method in a wind-solar co-site narrow site, and belongs to the technical field of wind power plant construction. BACKGROUND

[0002] At present, the safety regulations of hoisting construction of large components have formed a mature consensus in the engineering field. The consensus highly depends on two basic premises, namely a stable ground foundation and a smooth weather window. The core risk control means is a passive safety mode. When encountering adverse weather conditions such as strong winds, the standard operating procedure is to limit operation or even stop operation and passively wait for the weather to improve. However, in the wind-solar co-site project, the sequence arrangement of the completed photovoltaic facilities makes the above-mentioned traditional premise no longer applicable. When the wind turbine hoisting is carried out subsequently, the construction faces double technical limitations that are mutually restrictive. On the one hand, the narrow space for operation caused by the completed photovoltaic array increases the risk of collision between the hoisted components and the existing facilities. On the other hand, the construction period is often accompanied by a strong wind season. If the traditional passive safety mode is followed, a large amount of downtime will be caused, resulting in a delay in the construction period.

[0003] To cope with such limitations, the skilled person in the art has tried to make improvements along the conventional lines by adding cable wind ropes or sliding ropes for passive stabilization. However, in the narrow site densely covered with photovoltaic facilities, the lack of sufficient anchor points and operation space makes it difficult to implement this method. Another approach, which is to strengthen wind speed monitoring and refine the start-stop standards, still does not deviate from the category of passive avoidance and cannot solve the problem of sudden gusts causing a large swing of the components when operating at a critical wind speed. To solve the above-mentioned problems, other control ideas have been disclosed in the field, but their focus is often on parameter adjustment or path planning based on environmental prediction, rather than solving the problem of real-time dynamic disturbance. The Chinese invention patent with the authorization announcement number CN120004135B discloses a high-power wind turbine hoisting control system and method based on a low-temperature environment and a narrow site. The core of this scheme is to dynamically adjust the power parameters of the hoisting equipment by constructing a temperature prediction model and to optimize the hoisting path to avoid low-temperature sensitive areas. However, the technical idea of this scheme is still essentially focused on the pre-adjustment of the power performance of the equipment and the planning avoidance of the hoisting path. Its purpose is to solve the influence of low temperature on the power system, but it fails to provide a closed-loop control means to actively offset the real-time spatial position deviation of the hoisting component under high-frequency wind disturbance. When sudden gusts cause a transient swing of the component, this scheme lacks a mechanism to actively lock the spatial coordinates of the component through reverse motion of the hoisting arm. Such a swing has a high collision risk in the restricted space adjacent to the photovoltaic facilities, which makes the field face the technical limitation that the operation efficiency and safety are difficult to balance in reality.

[0004] Therefore, how to provide a construction method capable of actively resisting wind disturbance in a wind-solar co-site narrow site, and realizing continuous hoisting of wind turbines under high precision and high safety constraints, becomes a technical problem to be solved by the present application. SUMMARY

[0005] The present application provides a wind-solar co-site narrow site wind turbine hoisting construction method, which mainly aims to solve the problem that the existing passive construction method cannot balance operation safety, installation precision and construction efficiency under the dual constraints of space limitation and dynamic wind disturbance.

[0006] To achieve the above-mentioned purpose, the present application provides a wind-solar co-site narrow site wind turbine hoisting construction method, which is applied in a narrow site where photovoltaic facilities have been built, and utilizes a main crane hoisting component including a rotary drive motor and an amplitude hydraulic cylinder. The method is executed by a control system, which includes: Step 101, arranging a real-time dynamic positioning module and an inertial measurement unit on the hoisting component, and setting a reference station on the ground; Step 102, pre-setting a target three-dimensional coordinate of the hoisting component in space in the control system as a virtual stable anchor point; Step 103, the control system uses the data of the real-time dynamic positioning module and the inertial measurement unit to calculate the real-time spatial position of the hoisting component, and compares the real-time spatial position with the virtual stable anchor point to calculate the deviation vector; Step 104, when the deviation vector exceeds the pre-set threshold, the control system actively sends a reverse motion control instruction to the rotary drive motor and amplitude hydraulic cylinder of the main crane, the reverse motion control instruction is opposite in direction to the direction of the deviation vector and matches the amplitude of the deviation vector in the magnitude of motion, and drives the boom and rotary mechanism of the main crane to offset the wind disturbance, so that the hoisting component is locked near the virtual stable anchor point.

[0007] Preferably, the real-time dynamic positioning module is a high-frequency real-time dynamic RTK positioning module, the reference station is an RTK reference station, and the inertial measurement unit is used to capture the instantaneous roll, pitch and acceleration changes of the hoisting component; in step 103, the control system calculates the real-time spatial position based on the data measured by the high-frequency real-time dynamic RTK positioning module and the inertial measurement unit.

[0008] Preferably, in step 104, the pre-set threshold is a safe deviation distance; the condition for the control system to execute the reverse motion control instruction is , wherein, is the three-dimensional coordinate of the real-time spatial position, is the three-dimensional coordinate of the virtual stable anchor point, The safety deviation distance is a deviation distance; the reverse motion control instruction specifically comprises: when it is monitored that the deviation vector is decomposed into a horizontal swing component in a preset local coordinate system, instructing the reverse rotation of the rotation driving motor; and when it is monitored that the deviation vector is decomposed into a radial swing component in the local coordinate system, instructing the reverse luffing of the luffing hydraulic cylinder.

[0009] Preferably, the method further comprises, before step 101, performing a construction coordination planning and protection step, which comprises: step 401, formulating a coordination mechanism combining time peak-shifting and space isolation to avoid conflicts between hoisting operations and photovoltaic facility operation and maintenance; step 402, taking covering protection measures for the built photovoltaic components in an influence area around the wind turbine foundation; and step 403, setting up flexible anti-collision isolation measures between the photovoltaic facility supports adjacent to the hoisting area.

[0010] Preferably, the method further comprises, before step 101, performing an adaptive transportation and hoisting preparation step, which comprises: step 501, for the width-limited in-site transportation channel, adopting a segmented transportation process for the overlength and overweight components of the blade and tower drum as hoisting components; and step 502, evaluating the minimum operation radius and turning radius of the main crane and auxiliary crane, and selecting a device combination scheme suitable for narrow site operation.

[0011] Preferably, in step 103, the frequency of the control system in solving the real-time spatial position is not less than 100 Hz.

[0012] Preferably, the control system is a dedicated PLC; and the control system is configured to perform steps 103 and 104 in high-frequency cycles.

[0013] Preferably, in step 401, the time peak-shifting is to ensure that the hoisting operation time is in a non-operation and maintenance period of the photovoltaic facility; and the space isolation is to demarcate a physical isolation zone in the hoisting operation influence area and prohibit non-operation personnel and vehicles from entering.

[0014] Preferably, in step 402, the influence area is a range of 15 m to 25 m around the wind turbine foundation, and the covering protection measure is to lay a flexible buffer pad on the surface of the photovoltaic component; and in step 403, the flexible anti-collision isolation measure is to hang an anti-collision net between the photovoltaic supports.

[0015] Preferably, the method further comprises, while step 104 is performed, monitoring the verticality deviation of the hoisting component installation in real time; and in step 104, when the control system generates the reverse motion control instruction, the control system further corrects the reverse motion control instruction through a proportional-integral-derivative control algorithm according to the monitored verticality deviation of the hoisting component installation.

[0016] Compared with the prior art, the present application has the following beneficial effects: 1. Through the cooperative perception of high-frequency real-time dynamic positioning module and inertial measurement unit, combined with synchronous solution and reverse motion control of crane slewing drive motor and luffing hydraulic cylinder, an active dynamic stabilization mechanism is established, which makes the hoisting system stable in space position and attitude when encountering sudden gusts and other dynamic disturbances, and the continuity of the operation process avoids the delay of the construction period caused by passive waiting for static weather window.

[0017] 2. By defining the preset installation track points as virtual stable anchor points in space, and driving the motion actuators of the crane based on the real-time position deviation vector, the traditional open-loop hoisting operation relying on artificial vision and experience is converted into a closed-loop control process with accurate spatial coordinates as the reference. The crane is no longer passive to carry disturbances, but actively corrects the deviation through high-frequency composite fine-tuning actions, so that the actual trajectory of the component converges to the preset trajectory, ensuring the installation accuracy required by the wind turbine tower connection process.

[0018] 3. The controller calculates the deviation in real time and drives the slewing mechanism and luffing mechanism to perform composite reverse motion, the technical essence is to actively offset the external disturbance in three-dimensional space, rather than passively suppress the swing that has occurred. This active offset mechanism controls the swing amplitude of large hoisting components within a threshold when passing through the narrow space adjacent to the existing photovoltaic facility, thereby avoiding the risk of rigid collision caused by uncontrollable component swing due to gusts. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 The system interaction timing diagram of the hoisting operation closed-loop control of the present application; Fig. 2 The technical factor analysis diagram for realizing safe and precise hoisting of the present application; Fig. 3 The system deployment and control logic diagram for active compensation hoisting of the present application. DETAILED DESCRIPTION

[0020] In order for those skilled in the art to better understand the method claimed in the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments, but it should be understood that the following description is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application.

[0021] The application provides a wind and light same field narrow field fan hoisting construction method, which is applied to a narrow field where photovoltaic facilities have been built. The working condition is similar to the challenges of platform space limitation, dynamic environment disturbance and high collision risk faced by offshore wind turbine construction in physical constraints. The core of the method is to change the traditional passive land hoisting operation which relies on static weather window into a closed-loop control process which actively counteracts wind disturbance by referring to the principle of dynamic compensation at sea. The method includes two main stages: one is to perform construction coordination planning, protection and adaptive transportation preparation before the hoisting operation starts, to establish a static physical safety foundation for subsequent operations; the second is to enable an active compensation system based on real-time dynamic sensing and inverse motion control during the hoisting execution process, to real-time offset wind disturbance and control the stability and precision of the hoisting component in the narrow space. In the preparation stage of the method, considering that photovoltaic facilities are densely arranged in the operation field, it is necessary to solve the problem of space conflict and protection of existing facilities. Therefore, the construction coordination planning and protection steps are performed, which include formulating time staggering and space isolation mechanism. The time staggering is specifically arranging the hoisting operation time in the non-maintenance period of the photovoltaic facilities, and the space isolation is specifically setting a physical isolation belt in the influence area of the hoisting operation, for example, in the range of 15m to 25m around the fan foundation, to prohibit non-operation personnel and vehicles from entering; at the same time, in the influence area, the photovoltaic components are protected by covering type protection measures, which can be specifically flexible buffer pads laid on the surface of the photovoltaic components; and flexible anti-collision isolation measures are arranged between the photovoltaic facility supports adjacent to the hoisting area, which can be specifically anti-collision nets hung to absorb and buffer potential slight touch. In order to solve the transportation problem of large components in the narrow channel with a width of only 4-5m, the adaptive transportation and hoisting preparation steps are further included. For the super-long and super-heavy components such as blades and tower tubes which are hoisting components, the segmented transportation process is adopted, and the minimum operation radius and turning radius of the main crane and auxiliary crane are evaluated by simulation or field measurement, and the equipment combination scheme suitable for narrow field operation is selected. After the above preparation work is completed to ensure the static environment safety and operation accessibility, the dynamic hoisting operation stage of the method is entered. The stage is executed by a control system, which is preferably a dedicated PLC to ensure the stability and high frequency response capability of industrial level. In step 101, the hoisting component is provided with a sensing device, for example, a tower section or a blade to be hoisted, which specifically includes a high-frequency real-time dynamic RTK positioning module and an inertial measurement unit (IMU), and an RTK reference station is arranged near the base of the crane or at a known coordinate point on the ground. The inertial measurement unit is used to capture the instantaneous roll, pitch and acceleration changes of the hoisting component at high frequency, to make up for the deficiency of the RTK positioning update rate. In step 102, in the control system, the target three-dimensional coordinates of the hoisting component in space are preset according to the design drawings and the installation procedure , which is called virtual stable anchor point as the reference in the hoisting process.

[0022] After the hoisting operation begins, the system executes steps 103 and 104 in a high-frequency loop. In step 103, the control system performs real-time state calculations at a frequency of no less than 100Hz to ensure that transient disturbances caused by sudden gusts of wind can be captured. Based on the data measured collaboratively by the high-frequency real-time dynamic RTK positioning module and the inertial measurement unit, the control system calculates the real-time spatial position of the hoisted component using an internal fusion algorithm, such as Kalman filtering. Immediately afterwards, the system compares the real-time spatial position with the preset virtual stable anchor point to calculate the three-dimensional deviation vector; in step 104, the system performs active compensation decision-making and control; the system calculates the magnitude of the deviation vector and compares it with a preset threshold, i.e., the safe deviation distance. Compare; the The value is determined based on the on-site working conditions, namely the minimum safe clearance between the hoisted component and the nearest photovoltaic facility; when the judgment condition is met... When triggered, it indicates that wind disturbance has caused the component to deviate from the safe range. The control system immediately sends a reverse motion control command to the main crane's motion actuators, namely the slewing drive motor and the luffing hydraulic cylinder. The generation logic of this command is as follows: the control system decomposes the three-dimensional deviation vector into a local coordinate system with the main crane boom as the reference. When the deviation vector is detected to be decomposed into a horizontal swing component, the slewing drive motor is instructed to perform reverse slewing; when the deviation vector is detected to be decomposed into a radial swing component, the luffing hydraulic cylinder is instructed to perform reverse luffing, i.e., retraction or extension. The reverse motion control command is opposite to the direction of the deviation vector in the direction of motion, and its motion magnitude, motor speed, and hydraulic cylinder stroke are calculated by an algorithm to match the amplitude of the deviation vector. In other words, To ensure installation accuracy, especially in high-precision processes such as tower docking, this method also includes real-time monitoring of the verticality deviation of the hoisting components using data from the inertial measurement unit while executing step 104. When generating the aforementioned reverse motion control command, the control system also uses this verticality deviation as input, and corrects and fine-tunes the command through a proportional-integral-derivative (PID) control algorithm. In this way, through closed-loop control of high-frequency sensing-deviation calculation-active reverse drive, the system drives the boom and slewing mechanism of the main crane to actively counteract wind disturbances, suppressing the swaying of the hoisting components within a threshold and locking them with high precision near the virtual stable anchor point. This controls the risk of collision between the components and the photovoltaic facilities in a narrow space and helps to ensure installation accuracy.

[0023] Embodiment 1: In a wind and light co-site project in the northwest region, the wind turbine blade needs to be hoisted during the spring wind period from March to May. The objective constraints of the work site are that the photovoltaic array has covered most of the area around the wind turbine site, and the available equipment access road width is only 4.5m. The hoisting operation area is narrow, and it is not possible to lay a conventional cable wind rope or a sliding rope for auxiliary stabilization. During the operation period, the average wind speed monitored on site fluctuates between 5m / s and 7m / s, but is frequently accompanied by sudden gusts of wind with a speed of 11m / s. Before the hoisting operation is performed, the construction coordination planning and protection steps have been completed, including covering protection of adjacent photovoltaic components and using a segmented transportation process to transport the blade to the site. When the hoisting operation starts, the main crane lifts a piece of blade, i.e. the hoisting component, off the ground. At this time, the high-frequency real-time dynamic RTK positioning module and the inertial measurement unit installed near the blade hoisting point, as well as the RTK reference station set on the ground, have all started and are transmitting data to a PLC as a control system in real time. The control system has pre-set the three-dimensional coordinates of the virtual stable anchor point where the blade will hover in the air and be ready to dock .

[0024] When the blade is hoisted to the installation height and adjacent to the already built photovoltaic facility support, a sudden gust of wind with a speed of 11m / s comes from the rear of the blade, causing the blade to produce a composite swing trend of eastward translation and away from the crane. At the moment when the blade body has not yet produced a large displacement, the inertial measurement unit arranged on the hoisting component has captured the abnormal acceleration and attitude change caused by the disturbance at a high frequency of 100Hz. At the same time, the positioning data of the RTK module also shows a high-speed deviation trend. In step 103, the control system immediately calculates the real-time spatial position of the blade and compares it with the virtual stable anchor point to calculate a rapidly increasing deviation vector pointing to the east and radially outward from the crane. In step 104, the control system determines that the amplitude of the deviation vector has exceeded the pre-set safe deviation distance , which is set to 0.2m in this working condition. The control system immediately actively sends reverse motion control instructions to the motion execution mechanism of the main crane. Specifically, the instruction rotary drive motor executes a small reverse rotation to the west at an angular velocity matching the horizontal component of the deviation vector. The instruction variable amplitude hydraulic cylinder executes a small reverse variable amplitude, i.e. the boom is retracted, at a speed matching the radial component of the deviation vector. These two reverse motion instructions automatically issued by the control system are in the opposite direction to the direction in which the wind pushes the blade, thereby canceling the wind disturbance in three-dimensional space. The objective result is that the blade does not appear uncontrollable large amplitude swing in traditional hoisting when it encounters strong wind, but only high-frequency small-amplitude vibration near the virtual stable anchor point, and then restores stability. The blade safely passes through the narrow space between the wind turbine tower and the adjacent photovoltaic facility support in a controlled state and completes the docking installation with the rim.

[0025] Example 2: This example quantitatively compares the dynamic stability of a hoisting component using the method of the present application (sample group of the present application) and a hoisting component using traditional passive hoisting (control group 1) under simulated wind disturbance through a controlled physical scale test platform; the test platform includes a 1:20 scale main crane model equipped with a slewing drive motor and a luffing hydraulic cylinder that can be driven by a PLC (as a control system), a suspended hoisting component model simulating the mass and wind area of a blade, and an array of industrial fans capable of generating controllable wind speed and wind pressure; a separate high-precision laser tracker is used to externally collect the real-time three-dimensional spatial position of the hoisting component model as objective benchmark data for comparison and verification; the test setup is as follows: a unified virtual stable anchor point is preset in the control system, with coordinates of , unit: meters (m); high-frequency real-time dynamic RTK positioning modules and inertial measurement units consistent with the specific embodiment are arranged on the hoisting component model, and an RTK reference station is set up on the ground at the test site; on the test platform , an simulated photovoltaic facility collision boundary is set at a coordinate of 0.4 m; during the test, the fan array is used to simulate three different intensity instantaneous gust conditions, namely condition A (peak wind speed 6 m / s), condition B (peak wind speed 9 m / s), and condition C (peak wind speed 12 m / s); control group 1 uses passive locking, i.e., the slewing and luffing mechanisms of the main crane remain locked after the hoisting component is suspended and do not perform active compensation; the sample group of the present application enables closed-loop active compensation control method, the control system calculates the deviation vector and sends high-frequency reverse motion control instructions, and the safe deviation distance is set to 0.1 m; during the test, the maximum horizontal deviation amplitude of the hoisting component model during the disturbance, the root mean square error (RMSE) after stabilization, and the operation time required to achieve docking with the target point (i.e., stabilization within 0.02 m of the anchor point) are recorded by the laser tracker under each condition; for condition C, because the offset of control group 1 is too large, in order to protect the test platform, when the deviation vector amplitude of control group 1 reaches the 0.4 m collision boundary, the test for this group is terminated; the test is repeated 5 times and the average value is taken, and the key data is shown in Table 1.

[0026] Table 1: Comparison test data table of hoisting component stability under different wind disturbance conditions The test data shows that, under the working condition A (6 m / s), the maximum deviation amplitude (0.38 m) of the control group 1 has approached the collision boundary of 0.4 m, while the deviation (0.07 m) of the sample group of the application is suppressed in a smaller range; as the wind disturbance intensity increases to the working condition B (9 m / s), the deviation (0.76 m) of the control group 1 has exceeded the safe range, while the deviation (0.13 m) of the sample group of the application is still less than the safe boundary; under the gust of the working condition C (12 m / s), the passive mode of the control group 1 fails, leading to touching the boundary, while the sample group of the application offsets most of the wind disturbance through high-frequency reverse motion control instructions, so that the maximum deviation (0.19 m) is still locked between the safe deviation distance (0.1 m) and the collision boundary (0.4 m), and can be stabilized near the anchor point within 41 s The test data shows that, under the working condition A (6 m / s), the maximum deviation amplitude (0.38 m) of the control group 1 has approached the collision boundary of 0.4 m, while the deviation (0.07 m) of the sample group of the application is suppressed in a smaller range; as the wind disturbance intensity increases to the working condition B (9 m / s), the deviation (0.76 m) of the control group 1 has exceeded the safe range, while the deviation (0.13 m) of the sample group of the application is still less than the safe boundary; under the gust of the working condition C (12 m / s), the passive mode of the control group 1 fails, leading to touching the boundary, while the sample group of the application offsets most of the wind disturbance through high-frequency reverse motion control instructions, so that the maximum deviation (0.19 m) is still locked between the safe deviation distance (0.1 m) and the collision boundary (0.4 m), and can be stabilized near the anchor point within 41 s

[0027] Example 3: This example is used to compare the method of the application, i.e. the sample group of the application, with the conventional stop and wait method, i.e. the control group 2, in terms of construction efficiency during a 30-day construction period in the northwest region during the spring wind period in Example 1; both groups aim to complete the installation of one wind turbine, and the required working hours for single machine installation are calculated as 120 hours; the control group 2 strictly follows the conventional land hoisting safety regulations, i.e. immediately stops all hoisting operations when the on-site monitoring shows that the sustained wind speed is greater than 7 m / s or the instantaneous gust is greater than 9 m / s; the sample group of the application applies the closed-loop active compensation control method of the application, and the upper limit of its operation is determined according to the test data of Example 2, i.e. it can operate when the wind speed is less than 12 m / s; based on the meteorological data statistics of the 30-day period in the field, the total available working hours in this period are 300 hours, among which the time when the wind speed exceeds the operation threshold of the control group 2 accumulates to 210 hours, accounting for 70% of the total available working hours, and the time when the wind speed exceeds the operation threshold of the sample group of the application, i.e. greater than 12 m / s, accumulates to 15 hours, accounting for 5% of the total available working hours; the construction efficiency of the two groups is compared as shown in Table 2 below.

[0028] Table 2: Comparison table of work efficiency of different construction methods The test data shows that, in a 30-day period, the actual effective working hours of the control group 2 are only 90 hours, which is not enough to complete the 120-hour installation task, resulting in a delay in the construction period, while the actual effective working hours of the sample group of the application in the same period reach 285 hours, which can complete the installation operation on about the 13th day, and the operation continuity of the sample group of the application is not interrupted due to the conventional wind speed limit.

[0029] Example 4: This example combines Figs. 1 to 3 to explain a wind and light co-site narrow site wind turbine hoisting construction method, such as Fig. 1As shown, the process begins with the construction personnel starting the system and inputting parameters, the control system is initialized, including deploying the RTK positioning module and IMU, setting up the ground RTK reference station and pre-setting the virtual stable anchor point coordinates, after the lifting operation starts, the system enters a high-frequency real-time control cycle, in this cycle, the sensor module continuously transmits real-time position and attitude data to the control system, the control system calculates the deviation vector accordingly, and actively sends reverse motion control instructions to the main lifting device, the main lifting device executes compensation actions, finally makes the lifting member stable to the position, and completes the work after the construction personnel confirms.

[0030] As shown in Fig. 2 To achieve safe, accurate and efficient lifting in narrow field of wind and light, the figure is decomposed from five key dimensions: in the method dimension, it relies on closed-loop control process, active disturbance cancellation, reverse motion control instruction and PID control algorithm correction, in the measurement and perception dimension, it relies on high-frequency calculation such as ≥100Hz, real-time dynamic positioning module RTK, inertial measurement unit IMU, ground reference station and pre-set virtual stable anchor point; In the machine dimension, the core equipment includes the control system PLC and the slewing drive motor and luffing hydraulic cylinder of the main crane, in the preparation dimension, it includes construction coordination planning covering time peak shifting and space isolation, photovoltaic covering protection such as buffer pad, flexible anti-collision isolation such as anti-collision net, segmented transportation and evaluation of equipment operation radius, in the environment constraint dimension, it clearly defines the challenges to be overcome, namely narrow operation space, existing photovoltaic facilities, wind disturbance and sudden gust, and high collision risk caused thereby.

[0031] As shown in Fig. 3 In the narrow field with photovoltaic facilities on both sides, the RTK reference station is set beside the base of the main crane, and the control system PLC is also deployed near the base. During the lifting process, the lifting member is installed with an RTK module and an inertial measurement unit IMU. These sensors are used to sense the actual position of the lifting member in real time and compare it with the virtual stable anchor point in space, so as to calculate the deviation vector. When the lifting member is disturbed by wind and deviates from the anchor point, the control system PLC will actively send reverse motion control instructions to drive the slewing drive motor and luffing hydraulic cylinder of the main crane to execute compensation actions to offset the disturbance. At the same time, the system always monitors the minimum safety clearance between the lifting member and the photovoltaic facilities to ensure the safety of the operation.

[0032] In example 5, before the lifting operation starts, the control system needs to be calibrated for parameters, and the safety deviation distance Calibration; Before hoisting operations, the main crane is positioned in the standard operating position, and a laser rangefinder or RTK equipment is used to accurately measure the minimum safe clearance between the most recently constructed photovoltaic facility support structure and the blade as a typical hoisting component along the hoisting path. In a specific working condition, the measurement obtained The safety deviation distance is 0.8m; to achieve a balance between response sensitivity and avoiding frequent malfunctions of the system under small disturbances, the safety deviation distance is... Set to 25% of the minimum safe clearance, and obtain The value is 0.2m; this value is written into the threshold judgment module of the control system as the basis for triggering the reverse motion control command in step 104; secondly, a sensor fusion algorithm for calculating the real-time spatial position is deployed; the inertial measurement unit (IMU) can provide high-frequency acceleration and angular velocity data at 100Hz, but it has integral drift, while the high-frequency real-time dynamic RTK positioning module can provide low-frequency absolute position data at 10Hz without cumulative error; the control system uses a Kalman filter algorithm to fuse the two data; the execution steps of the algorithm are: the first step (prediction), the control system uses the previous moment State estimate and current time Acceleration data input from the IMU is used to predict the current moment through kinematic equations. The first step (update) involves the real-time spatial position prediction; the second step (update) involves the control system calculating the residual between the predicted value and the RTK measurement value when a new frame of RTK absolute position data arrives; the third step (correction) involves correcting the real-time spatial position predicted in the first step based on the residual and the Kalman gain to obtain the current time. The estimated value The fused data stream is fed into step 103 at a frequency of 100Hz for bias vector calculation.

[0033] Finally, the parameters of the proportional-integral-derivative PID control algorithm are tuned to determine the proportional coefficient of the PID controller. Integral coefficient and differential coefficients Three key parameters were calibrated on-site using the critical oscillation method. The calibration process involved lifting a 50-ton standard counterweight, whose moment of inertia was close to that of a typical lifting component. and Set to 0 to only increase The value of the proportional coefficient is recorded until the system, specifically manifested as the controlled oscillation of the counterweight, reaches a critical oscillation state with equal amplitude; the proportional coefficient value at this point is recorded. and critical oscillation period According to the Ziegler-Nichols tuning rules, the calibration values ​​of the PID parameters are calculated, and the calculation relationship is as follows: , , ; write the set of calibration parameters into the PID algorithm module of the control system, so that the controller can generate reverse motion control instructions matching in magnitude for driving the slewing drive motor and the luffing hydraulic cylinder according to the deviation vector solved in step 103 and the perpendicularity deviation monitored in step 104, thereby completing the calibration of the key parameters of the control algorithm.

[0034] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A method for hoisting wind turbines in narrow sites with existing photovoltaic facilities, the method being applied to such sites, utilizing a main hoisting device comprising a rotary drive motor and a variable-amplitude hydraulic cylinder, the method being executed by a control system, characterized in that... include: Step 101: Install real-time dynamic positioning modules and inertial measurement units on the hoisting components, and set up a reference station on the ground; Step 102: Pre-set the target three-dimensional coordinates of the hoisting component in space in the control system as a virtual stable anchor point; Step 103: The control system uses data from the real-time dynamic positioning module and the inertial measurement unit to calculate the real-time spatial position of the hoisting component, and compares the real-time spatial position with the virtual stable anchor point to calculate the deviation vector. Step 104: When the deviation vector exceeds the preset threshold, the control system actively sends a reverse motion control command to the slewing drive motor and luffing hydraulic cylinder of the main crane. The reverse motion control command is opposite to the direction of the deviation vector in the direction of motion and matches the magnitude of the deviation vector in the magnitude of motion. It drives the boom and slewing mechanism of the main crane to counteract the wind disturbance and lock the hoisting component near the virtual stable anchor point.

2. The method for hoisting and constructing wind turbines in narrow sites with simultaneous wind and solar power installations according to claim 1, characterized in that, The real-time dynamic positioning module is a high-frequency real-time dynamic RTK positioning module, the base station is an RTK base station, and the inertial measurement unit is used to capture the instantaneous tilt, pitch and acceleration changes of the hoisting components at high frequency; in step 103, the control system calculates the real-time spatial position based on the data measured collaboratively by the high-frequency real-time dynamic RTK positioning module and the inertial measurement unit.

3. The method for hoisting and constructing wind turbines in narrow sites with simultaneous wind and solar power installations according to claim 1, characterized in that, In step 104, the preset threshold is a safe deviation distance; the condition for the control system to execute the reverse motion control command is... ,in, The three-dimensional coordinates of the real-time spatial location. The three-dimensional coordinates of the virtual stable anchor point. To ensure a safe deviation distance, the reverse motion control commands specifically include: when the deviation vector is detected to be decomposed into a horizontal swing component in a preset local coordinate system, the rotary drive motor is commanded to rotate in the reverse direction; when the deviation vector is detected to be decomposed into a radial swing component in the local coordinate system, the luffing hydraulic cylinder is commanded to luff in the reverse direction.

4. The method for hoisting and constructing wind turbines in narrow sites with simultaneous wind and solar power installations according to claim 1, characterized in that, The method also includes performing construction coordination planning and protection steps before performing step 101. The construction coordination planning and protection steps include: step 401, establishing a coordination mechanism that combines time staggering and spatial isolation; step 402, taking covering protection measures for the existing photovoltaic modules in the affected area around the wind turbine foundation; and step 403, setting up flexible anti-collision isolation measures between the photovoltaic facility supports adjacent to the hoisting area.

5. The method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation according to claim 1, characterized in that, The method also includes performing adaptive transportation and hoisting preparation steps before performing step 101. The adaptive transportation and hoisting preparation steps include: step 501, adopting a segmented transportation process for ultra-long and ultra-heavy components such as blades and towers that are hoisting components for the limited width of the on-site transportation channel; step 502, evaluating the minimum operating radius and turning radius of the main hoist and auxiliary hoist, and selecting an equipment combination scheme that is suitable for operation in narrow spaces.

6. The method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation according to claim 1, characterized in that, In step 103, the frequency at which the control system calculates the real-time spatial position is not less than 100Hz.

7. The method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation according to claim 2, characterized in that, The control system is a dedicated PLC; the control system is configured to execute steps 103 and 104 in a high-frequency cyclic manner.

8. The method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation according to claim 4, characterized in that, In step 401, time staggering is to ensure that the hoisting operation is carried out during the non-maintenance period of the photovoltaic facilities; spatial isolation is to delineate a physical isolation zone in the area affected by the hoisting operation, prohibiting non-operation personnel and vehicles from entering.

9. A method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation, as described in claim 4, is characterized in that... In step 402, the affected area is within 15m to 25m around the wind turbine foundation, and the covering protection measure is to lay a flexible buffer pad on the surface of the photovoltaic module; in step 403, the flexible anti-collision isolation measure is to hang anti-collision nets between the photovoltaic supports.

10. The method for hoisting and constructing a wind turbine in a narrow site with simultaneous wind and solar power installation according to claim 1, characterized in that, The method also includes real-time monitoring of the verticality deviation of the hoisting component installation while performing step 104; in step 104, when the control system generates the reverse motion control command, it also corrects the reverse motion control command based on the monitored verticality deviation of the hoisting component installation through a proportional-integral-derivative control algorithm.

Images