Method, apparatus and device for determining pitch of wind turbine blade

Abstract

A method for determining the pitch of a wind turbine blade. A first sensor (501) is provided on a blade root of a wind turbine, and at least one second sensor (502) is provided on a blade. The method comprises: obtaining a parameter of the current operating condition of a wind turbine, a first angular velocity collected by the first sensor (501) and at least one second angular velocity collected by the at least one second sensor (502); and, on the basis of target simulated blade pitch data, the first angular velocity and the at least one second angular velocity, determining first blade pitch data of the wind turbine, the first blade pitch data being used for representing the blade pitch of the wind turbine under the current operating condition, and the target simulated blade pitch data being matched with the parameter of the current operating condition. Thus, by means of the plurality of sensors mounted on the wind turbine blade and on the basis of the simulated blade pitch data corresponding to the current operating condition combined with the angular velocities collected by the sensors, the method reckons the blade pitch data capable of accurately reflecting the pitch of the wind turbine blade, allowing for more accurate and intelligent control on wind turbines. In addition, the present application further relates to an apparatus and device for determining the pitch of a wind turbine blade.

Description

Method, device and apparatus for determining the posture of wind turbine blades

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on July 31, 2023, with application number CN202310953423.4 and invention name “A method, device and apparatus for determining the posture of wind turbine blades”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of wind power generation, and in particular to a method, device and apparatus for determining the posture of a wind turbine blade. Background Art

[0003] As a wind power generation equipment, wind turbines are often deployed in harsh environments such as mountainous areas. Wind turbines are easily affected by strong winds and other impacts, causing blade deformation. In severe cases, they are prone to failures such as tower sweeping. It can be seen that accurately determining the posture of wind turbine blades is very important for the monitoring and control of wind turbines, which is related to the safe operation of wind turbines.

[0004] At present, it is common to add reflective elements inside the wind turbine blades and determine the posture of the wind turbine through laser reflection and image recognition. However, since the wind turbine has an elongated cavity structure, the reflective elements cannot be placed at the tip of the wind turbine blades. Therefore, the deformation of the tip of the wind turbine blades is difficult to obtain, that is, the posture of the wind turbine blades cannot be accurately determined.

[0005] Summary of the Invention

[0006] The present application provides a method, device and equipment for determining the posture of fan blades, which can accurately determine the posture of the fan blades and provide an accurate basis for the safe control of the fan.

[0007] In a first aspect, the present application provides a method for determining the posture of a wind turbine blade, wherein a first sensor is provided on a blade root of the wind turbine, and at least one second sensor is provided on a blade of the wind turbine, the method comprising:

[0008] Obtaining operating condition parameters of a current operating condition of the wind turbine, a first angular velocity acquired by the first sensor, and at least one second angular velocity acquired by at least one of the second sensors, wherein the operating condition parameters include at least one of the following parameters: wind speed, rotation speed, or pitch angle;

[0009] Based on the target simulated blade attitude data, the first angular velocity and at least one of the second angular velocities, the first blade attitude data of the wind turbine is determined, wherein the first blade attitude data is used to characterize the blade attitude of the wind turbine under the current operating conditions, and the target simulated blade attitude data matches the operating parameters of the current operating conditions.

[0010] In a second aspect, the present application further provides a system for determining the posture of a wind turbine blade, the system comprising a first sensor, at least one second sensor, and a controller, wherein the first sensor is disposed on a blade root of the wind turbine, and at least one second sensor is disposed on a blade of the wind turbine.

[0011] The first sensor is configured to collect a first angular velocity under a current operating condition of the wind turbine;

[0012] at least one second sensor, configured to collect at least one second angular velocity under the current operating condition;

[0013] The controller is used to execute the method provided in the first aspect above.

[0014] Optionally, the system further comprises a third sensor, which is arranged on the hub of the wind turbine.

[0015] The third sensor is used to collect a third angular velocity under the current working condition.

[0016] In a third aspect, the present application further provides a controller, comprising a processor and a memory:

[0017] The memory is used to store computer programs;

[0018] The processor is configured to execute the method provided in the first aspect according to the computer program.

[0019] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the first aspect.

[0020] It can be seen that this application has the following beneficial effects:

[0021] The present application provides a method for determining the attitude of a wind turbine blade, wherein a first sensor is provided on a blade root of the wind turbine, and at least one second sensor is provided on a blade of the wind turbine. The method may include: obtaining an operating parameter of a current operating condition of the wind turbine, a first angular velocity collected by the first sensor, and at least one second angular velocity collected by at least one second sensor, wherein the operating parameter includes at least one of the following parameters: wind speed, rotational speed, or pitch angle; determining first blade attitude data of the wind turbine based on target simulated blade attitude data, the first angular velocity, and the at least one second angular velocity, wherein the first blade attitude data is used to characterize the blade attitude of the wind turbine under the current operating condition, and the target simulated blade attitude data matches the operating parameter of the current operating condition. In this way, by installing multiple sensors on the blades of the wind turbine, the angular velocities of multiple points on the blades are collected in real time, and based on the simulated blade attitude data corresponding to the current operating condition, the first blade attitude data is calculated in combination with the collected angular velocities. The first blade attitude data can accurately reflect the blade attitude of the wind turbine under the current operating condition, thereby solving the problem that the current blade attitude of the wind turbine cannot be conveniently and accurately determined. The accurate blade attitude of the wind turbine makes the control of the wind turbine more accurate and intelligent, and provides a reliable data basis for better control of the wind turbine. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] FIG1 is a schematic diagram of blade deformation and a coordinate system of a wind turbine provided by an embodiment of the present application;

[0024] FIG2 is a schematic diagram of the installation of the sensor provided in an embodiment of the present application;

[0025] FIG3 is a flow chart of a method for determining the posture of a wind turbine blade provided in an embodiment of the present application;

[0026] FIG4 is a schematic diagram of angular velocity and pitch angle in different coordinate systems according to an embodiment of the present application;

[0027] FIG5 is a schematic structural diagram of a system for determining the posture of a wind turbine blade provided in an embodiment of the present application;

[0028] FIG6 is a schematic diagram of a fan blade when a sensor is wiredly connected according to an embodiment of the present application;

[0029] FIG7 is a schematic diagram of a fan blade during wireless communication of a sensor according to an embodiment of the present application;

[0030] FIG8 is a schematic diagram of a blade attitude testing system 800 implementing the method provided in an embodiment of the present application;

[0031] FIG9 is a schematic diagram showing the variation of the angular velocity of the three axes of the gyro sensor 1 installed at the blade root with the azimuth angle in an embodiment of the present application;

[0032] FIG10 is a schematic diagram showing how the angular velocity of the three axes of the gyro sensor 2 installed on the blade cross section changes with the azimuth angle in an embodiment of the present application. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the following further describes the embodiments of the present application in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present application and are not intended to limit the present application. In addition, it should be noted that, for ease of description, the drawings only show portions relevant to the present application, not all structures.

[0034] In the control of the wind turbine, the blade posture of the wind turbine is learned. When the blade posture indicates that the wind turbine may have a fault such as tower sweep, the wind turbine is controlled accordingly to ensure the safe operation of the wind turbine.

[0035] In traditional technology, the methods for determining the attitude of wind turbine blades include: Method 1, adding reflective elements inside the blades, and capturing the blade attitude through laser reflection and image recognition methods. Method 2, obtaining the blade attitude through load sensors and observation models, that is, by constructing an observation model that can reflect the mapping relationship between the load of the wind turbine and the blade structure, and inputting the load measured by the load sensor into the observation model, the observation model outputs the blade structure, and indirectly estimates the attitude of the blade. Both of the above methods have problems: in Method 1, since the wind turbine blades are slender cavity structures, the reflective elements cannot be placed in the middle and tip of the blades, so the attitude of the blade tip is difficult to obtain, resulting in the inability to accurately capture the overall attitude of the blade; in Method 2, it relies on the accuracy of the observation model, and the accuracy of the load sensor is prone to drift, so the blade attitude is difficult to obtain accurately, especially the blade attitude under more complex deformations.

[0036] Based on this, an embodiment of the present application provides a method for determining the attitude of a wind turbine blade, in which a first sensor is provided on the blade root of the wind turbine, and at least one second sensor is provided on the blade of the wind turbine. As an example, the method may include: obtaining operating parameters of the current operating condition of the wind turbine, a first angular velocity collected by a first sensor, and at least one second angular velocity collected by at least one second sensor, wherein the operating parameters include at least one of the following parameters: wind speed, rotational speed, or pitch angle; based on target simulated blade attitude data, the first angular velocity, and at least one second angular velocity, determining first blade attitude data of the wind turbine, the first blade attitude data being used to characterize the blade attitude of the wind turbine under the current operating condition, and the target simulated blade attitude data matching the operating parameters of the current operating condition. In this way, by installing multiple sensors on the blades of the fan, the angular velocities of multiple points on the blades are collected in real time, and based on the simulated blade attitude data corresponding to the current working conditions, combined with the collected angular velocities, the first blade attitude data is calculated. The first blade attitude data can accurately reflect the blade attitude of the fan under the current working conditions, solving the current problem of being unable to conveniently and accurately determine the attitude of the fan blades. The accurate fan blade attitude makes the control of the fan more accurate and intelligent, and provides a reliable data basis for better control of the fan.

[0037] In addition, the method may further include: controlling one or more subsystems of the wind turbine according to the first blade attitude data, for example, controlling one or more subsystems of the wind turbine to achieve a shutdown operation.

[0038] In the embodiments of this application, based on the dynamic characteristics of the fan's blade-impeller system, the impeller's own rotation and the characteristics of a sensor capable of collecting angular velocity (such as a gyroscope or inertial navigation sensor) are utilized. It is proposed to use the angular velocity collected by the sensor to identify the local coordinates of each section of the blade, and then calculate data that can characterize the blade's attitude through calculation. In the embodiments of this application, the installation location and number of sensors are specified, providing a reliable measurement method for determining the fan's blade attitude, which helps to verify the fan's load and safety margin.

[0039] To facilitate understanding of the specific implementation of the method for determining the posture of wind turbine blades provided in the embodiment of the present application, it will be described below with reference to the accompanying drawings.

[0040] Figure 1 is a schematic diagram of the blade deformation and coordinate system of a wind turbine. When the wind turbine blade is under no wind load, it is in a pre-bend state, as shown on the left side of Figure 1. When the wind turbine is under a certain wind speed, the impeller has a rotation speed Ω, and the blade will produce flapping, shimmy and torsional deformation, as shown on the right side of Figure 1. In Figure 1, the blade root coordinate system includes X B Axis, Y B Axis and Z B The axis and hub coordinate system includes XH Axis, Y H Axis and Z H Axis, the blade section coordinate system (also called unit coordinate system) includes X E Axis, Y E Axis and Z E Axis. Among them, the pre-bending state can be understood as the arrangement of the blade in a stationary state with the neutral axis in the flapping direction and away from the pitching line. The purpose is to increase the tower clearance (Clearance) and reduce the risk of the blade colliding with the tower after deformation. The pitching axis can be understood as a straight line from the center point of the blade root pitch circle to the blade side, perpendicular to the blade pitch circle plane, and the direction from the blade root to the blade tip is positive; the clearance can be understood as the distance between a certain section of the blade and the tower wall when the blade is in a deformed state. The flap direction (Flap-wise) can be understood as perpendicular to the direction of the rotor rotation plane, with the downwind direction being positive; the edge direction (Edge-wise) can be understood as parallel to the direction of the rotor rotation plane, with the clockwise direction being positive. The hub coordinate system (Rotor-hub System) refers to a coordinate system with the origin located at the center of the hub, which rotates with the impeller, and its X-axis coincides with the rotation axis of the impeller. The element coordinate system refers to the coordinate system of the blade section after deformation, which is achieved through a finite number of rotations from the initial state, and the Z axis is always perpendicular to the blade section.

[0041] In the embodiment of the present application, the number of sensors with the function of collecting angular velocity installed on the wind turbine and the installation positions of the sensors may include but are not limited to: (1) installing a first sensor on the blade root of the wind turbine, and (2) installing at least one second sensor on the blade of the wind turbine. Optionally, the number of sensors and the installation positions of the sensors may also include: (3) installing a third sensor at the center of the hub of the wind turbine. Among them, the second sensor can be installed near the tip and / or middle of the blade, where the blade is prone to deformation. The more second sensors are installed, the more abundant basis can be provided for accurately determining the blade posture. The angular velocity collected by the third sensor is used to more accurately determine the blade posture during the pitch change process of the wind turbine. When the wind turbine is not in the pitch change process, the blade posture can be determined without relying on the angular velocity collected by the third sensor.

[0042] Taking the gyroscope sensor as an example, as shown in FIG2 , the sensor with the function of collecting angular velocity installed in the embodiment of the present application can be installed at the center of the hub, the sensor No. 2 (i.e., the first sensor) can be installed on the inner surface of the blade root pitch circle, and the sensor No. 3 (i.e., a second sensor) can be installed on the outer skin of the blade, and its spanwise installation position is l1. Among them, there is a transformation matrix A between the blade root coordinate system and the blade cross-section coordinate system, so the angular velocity vector ω collected by the sensor No. 3 is E and the angular velocity vector collected by sensor 2 The conversion relationship between them can be expressed as: Optionally, the blades of the wind turbine may further include: sensor No. 4 (ie, another second sensor) whose installation position in the span direction is l2, and the selection of l1 and l2 is related to the cross-sectional position of the blade.

[0043] It should be noted that the subject implementing the method for determining the wind blade posture can be the system for determining the wind blade posture provided in the embodiments of the present application, such as a controller in the system for determining the wind blade posture, and the controller can be carried in an electronic device or a functional module of the electronic device. The electronic device mentioned above can be any device capable of implementing the method for determining the wind blade posture provided in the embodiments of the present application.

[0044] Figure 3 is a flow chart of a method for determining the attitude of a wind turbine blade, provided in an embodiment of the present application. This method can be applied to a system for determining the attitude of a wind turbine blade. In this method, a first sensor (see sensor 2 in Figure 2 ) is provided at the root of the wind turbine blade, and at least one second sensor (see sensor 3 in Figure 2 ) is provided on each wind turbine blade.

[0045] As shown in FIG3 , the method may include, for example, S101 to S102:

[0046] S101 , obtaining operating parameters of a current operating condition of a wind turbine, a first angular velocity collected by the first sensor, and at least one second angular velocity collected by at least one second sensor.

[0047] The operating parameter of the wind turbine's current operating condition may include at least one of the following parameters: wind speed, rotational speed, or pitch angle. Alternatively, the operating parameter of the current operating condition may be power determined based on directly acquired operating parameters (at least one of wind speed, rotational speed, or pitch angle).

[0048] The first sensor and the second sensor may be any sensor capable of collecting angular velocity, such as a gyroscope or an inertial navigation sensor.

[0049] The first and second sensors can be mounted on the blade's skin or web. The skin can be either the outer or inner surface. The skin can be understood as a composite reinforcement layer that maintains the blade's geometry, provides aerodynamic shape, and bears the majority of shear loads. The web can be, for example, a shear web, as shown in Figure 2.

[0050] The first and second sensors can be mounted on the blades by gluing or bolting, or by using wedge-shaped pads. The wedge-shaped pads are not directly connected to the blades, so to ensure the accuracy of the final blade posture, the angle of the wedges must be known and factored into the blade posture calculation.

[0051] The second sensor's installation location on the blade includes at least one of the following: the blade's tip or the blade's mid-section. Typically, the second sensor is installed adjacent to a location prone to deformation. Furthermore, under the same conditions, the more second sensors installed, the more accurate the blade's posture determination. The second sensor's installation location should ensure its stability. For example, a location on the blade with a curvature less than a preset value can be selected.

[0052] In a specific implementation, the first sensor and the controller in the system for determining the wind blade posture can interact in both wired and wireless ways. That is, the angular velocities acquired by the first and second sensors in S101 can be obtained in both wired and wireless ways. For a description of the system for determining the wind blade posture, see the embodiments shown in Figures 5 to 7 below.

[0053] As an example, for a wired interaction method, the process of obtaining a first angular velocity collected by a first sensor and at least one second angular velocity collected by at least one second sensor in S101 may include: first, the first sensor sends the first angular velocity to a data acquisition system via a data cable, and the second sensor sends the second angular velocity to the data acquisition system via a data cable; then, the data acquisition system sends the first angular velocity and the second angular velocity to a controller of a system for determining the attitude of a wind turbine blade. The controller of the system for determining the attitude of a wind turbine blade may be, for example, a computer system in a cabin, such as a laptop computer. The data acquisition system may then wirelessly send the first angular velocity and the second angular velocity to the computer system in the cabin.

[0054] As another example, for a wireless interaction method, each sensor is separately configured with a signal sending unit (such as an antenna) and a power supply module. The process of obtaining a first angular velocity collected by a first sensor and at least one second angular velocity collected by at least one second sensor in S101 may include: the first sensor sends the first angular velocity to the controller of the system for determining the posture of the wind blades through the signal sending unit, and the second sensor sends the second angular velocity to the controller of the system for determining the posture of the wind blades through the signal sending unit. The controller of the system for determining the posture of the wind blades may be, for example, a computer system in the cabin, such as a laptop computer. Then, the first sensor and the second sensor may send the first angular velocity and the second angular velocity to the computer system in the cabin wirelessly or over a network.

[0055] It can be seen that during the actual operation of the wind turbine, the operating parameters, the first angular velocity and at least one angular velocity under the current operating condition are obtained through S101, which prepares for determining the blade posture of the wind turbine under the current operating condition.

[0056] S102, based on the target simulated blade attitude data, the first angular velocity and at least one of the second angular velocities, determine the first blade attitude data of the wind turbine, wherein the first blade attitude data is used to characterize the blade attitude of the wind turbine under the current operating condition, and the target simulated blade attitude data matches the operating condition parameters of the current operating condition.

[0057] In order to realize the method provided by the embodiment of the present application, it is also necessary to obtain the simulated blade attitude data under various working conditions in advance. Among the multiple simulated blade attitude data, each simulated blade attitude data corresponds to a working condition. After S101, the target simulated blade attitude data that matches the working condition parameters of the current working condition can be determined from the multiple simulated blade attitude data, and the target simulated blade attitude data is used as the basis for solving the blade attitude data under the current working condition. For example, the maintenance form of the multiple simulated blade attitude data can be the mapping relationship (or trajectory relationship) between the simulated blade attitude data and the working condition parameters (i.e. at least one of wind speed, rotation speed or pitch angle). Then, based on the working condition parameters of the current working condition (i.e. at least one of wind speed, rotation speed or pitch angle, corresponding to the working condition parameters based on which the simulated blade attitude data is obtained), the corresponding mapping relationship can be matched from the maintained mapping relationship, thereby reading the simulated blade attitude data in the matched mapping relationship, which is recorded as the target simulated blade attitude data. For another example, the maintenance form of multiple simulated blade attitude data can also be a mapping relationship between simulated blade attitude data and power. Then, in one case, the operating condition parameter of the current working condition obtained by S101 is at least one of wind speed, rotation speed or pitch angle. The power corresponding to the current working condition can be calculated based on the operating condition parameter of the current working condition, and the corresponding mapping relationship can be matched from the maintained mapping relationship based on the power, so as to read the simulated blade attitude data in the matched mapping relationship and record it as the target simulated blade attitude data; in another case, the operating condition parameter of the current working condition obtained by S101 is power. The corresponding mapping relationship can be matched from the maintained mapping relationship based on the power, so as to read the simulated blade attitude data in the matched mapping relationship and record it as the target simulated blade attitude data.

[0058] As an example, the process of determining the above-mentioned multiple blade simulation attitude data may include: determining the simulation blade attitude data corresponding to each of the multiple working conditions based on the structural parameters of the fan, the aerodynamic parameters of the fan, and the working parameters of the multiple working conditions of the fan. The multiple blade simulation attitude data can be understood as the output of the simulation model. The input of the simulation model can be the structural parameters of the fan, the aerodynamic parameters of the fan, and the working parameters of the multiple working conditions of the fan. The simulation model can calculate the displacement of the blade section, the unit torsion angle and other parameters through the finite element method (Finite Element Method) and the blade element momentum theory (Blade element momentum theory), and output the blade simulation attitude data corresponding to each working condition. Among them, the finite element method is a numerical technique for solving the approximate solution of the boundary value problem of the partial differential equation. When solving, the entire problem area is decomposed, and each sub-area becomes a simple part. This simple part is called a finite element. The blade element momentum theory refers to the momentum theory and the force balance of the two-dimensional airfoil, so that the momentum equation is closed. Aerodynamic parameters may refer to parameters such as lift, drag, and pitch angle that characterize the aerodynamic performance of the wind turbine, and structural parameters may refer to parameters such as torsion angle, chord length, and profile correlation coefficient that characterize the structure of the wind turbine.

[0059] The simulated blade attitude data may be an initial transformation matrix, such as a direction cosine matrix.

[0060] In some implementations, S102 may include, for example: calculating first blade attitude data of the wind turbine based on the target simulated blade attitude data, the first angular velocity and at least one second angular velocity.

[0061] As an example, assume that the target simulated blade attitude data is the initial transformation matrix A0, A0 is a 3*3 matrix, and the second angular velocity is expressed as ω E , the first angular velocity is expressed as According to ω E and The conversion relationship The following equation (1) can be obtained:

[0062] In equation (1), t ij (i, j = 1, 2, 3) are the coefficients in the direction cosine matrix, and the following equation (2) is obtained:

[0063] According to the orthogonality condition of the transformation matrix, the coefficients in the direction cosine matrix are expanded to have the following relationship (3a) to (3f): t 11 t21 +t 12 t 22 +t 13 t 23 =0 (3d) t 11 t 31 +t 12 t 32 +t 13 t 33 =0 (3e) t 21 t 31 +t 22 t 32 +t 23 t 33 =0 (3f)

[0064] Taking A0 as the basis, by solving the above nonlinear algebraic equations (2) and (3a) to (3f), we can obtain the transformation matrix A shown in the following (4): Re :

[0065] The A Re That is, the first blade posture data in S102 can represent the blade posture of the wind turbine under the current working condition.

[0066] In some implementations, after S102 , in order to more vividly express the blade attitude under the current working condition, the first blade attitude data may be further processed to obtain data that can more accurately represent the blade attitude.

[0067] As an example, after S102 , the method may further include: calculating an angle set based on the first blade posture data, where the angle set is used to characterize the blade posture of the wind turbine under the current operating condition.

[0068] For example, the first blade posture data is a first direction cosine matrix, and the first direction cosine matrix is ​​a 3*3 matrix. Then, the angle set may be three Cardan angles or three Euler angles.

[0069] For the angle set to be three Cardan angles: α Re , β Re and γ Re , the specific solution results can be expressed as follows (5a), (5b) and (5c): β Re =arcsin(A Re (1,3)) (5b)

[0070] For the angle set to be three Euler angles: α Re , β Re and γ Re , the specific solution results can be expressed as follows (6a), (6b) and (6c): β Re =arccos(A Re (3,3)) (6b)

[0071] Among them, A Re (i, j) indicates t in (4) ij , for example, A Re (2, 3) indicates t in (4) 23 .

[0072] As another example, after S102, the method may further include: calculating the coordinates of the blade on the target axis (e.g., X-axis) of the blade root coordinate system based on the first blade posture data, wherein the coordinates are used to characterize the blade posture of the wind turbine under the current operating conditions.

[0073] For example, the first blade posture data is the first direction cosine matrix, which is a 3*3 matrix. Then, the position of the blade on the X-axis in the blade root coordinate system can be calculated by the following formula (7):

[0074] Wherein, N is the number of second sensors.

[0075] It can be seen that in this method, by installing multiple sensors on the blades of the fan, the angular velocities of multiple points on the blades are collected in real time, and based on the simulated blade attitude data corresponding to the current working conditions, combined with the collected angular velocities, the first blade attitude data is calculated. The first blade attitude data can accurately reflect the blade attitude of the fan under the current working conditions, solving the current problem of being unable to conveniently and accurately determine the attitude of the fan blades. The accurate fan blade attitude makes the control of the fan more accurate and intelligent, and provides a reliable data basis for better control of the fan.

[0076] In some other implementations, the blade attitude during the wind turbine pitch change process is an issue that may be focused on during the wind turbine control process. Therefore, the embodiment of the present application may also include a process for determining the blade attitude of the wind turbine during pitch change. In this implementation, in addition to the above-mentioned first sensor and second sensor, a third sensor may be set on the hub of the wind turbine. During the wind turbine pitch change process, the method further includes: S103, obtaining a third angular velocity collected by the third sensor under the current operating condition of the wind turbine; S104, determining the pitch angle based on the first angular velocity and the third angular velocity; S105, determining second blade attitude data based on the first blade attitude data and the pitch angle, the second blade attitude data being used to characterize the blade attitude of the wind turbine during pitch change under the current operating condition.

[0077] The third sensor may be arranged at a position on the surface of the hub of the wind turbine where a sensor can be installed. For example, the third sensor may be arranged at the center of the hub of the wind turbine.

[0078] For the specific implementation of S103, reference may be made to the description of the process of obtaining the first angular velocity and the second angular velocity in S101.

[0079] As an example, if the first blade attitude data is a first direction cosine matrix, then S104 may include: first determining a second direction cosine matrix A based on the first angular velocity and the third angular velocity P , then, based on A P Calculate the pitch angle θ p In this example, the second blade attitude data obtained in S105 may be the attitude angle of the blade.

[0080] For example, as shown in FIG4 , during the blade pitching process, as the pitch angle θ p The first angular velocity of the first sensor also changes with the change of . The third angular velocity is expressed as The first angular velocity is expressed as in, and The existing transformation relationship can be expressed as Then, according to the above transformation relationship, we can deduce θ p It should be noted that when the wind turbine does not reach full power, the pitch is not changed, θ p =0°.

[0081] In this example, the position of the blade on the X-axis of the blade root coordinate system can be expressed as:

[0082] Where N is the number of sensors. The torsional deformation of the blade in the blade root coordinate system can be expressed by the attitude angle, which can be expressed as: φ z =arccos(A Re (2,2))-θ p (9)

[0083] It can be seen that in the method provided by the embodiment of the present application, not only are multiple sensors installed on the blades of the wind turbine, but a third sensor is also installed at the center of the hub. The angular velocity of multiple points of the wind turbine is collected in real time by each sensor. Not only can the simulated blade attitude data corresponding to the current working condition be used as a basis, combined with the collected angular velocity, to deduce the first blade attitude data that can accurately reflect the blade attitude of the wind turbine under the current working condition, but also during the wind turbine pitch change process, the first blade attitude data and the third angular velocity collected by the third sensor are combined to determine the second blade attitude data that can accurately reflect the blade attitude of the wind turbine under the current working condition during the wind turbine pitch change process, thereby solving the current problem of being unable to conveniently and accurately determine the wind turbine blade attitude, making intelligent control of the wind turbine possible. In addition, the method can also control or adjust the subsystem of the wind turbine (such as the pitch change subsystem) according to the second blade attitude data.

[0084] In some other implementations, after S102, in order to ensure the accuracy of the first blade attitude data on which the wind turbine is controlled, the method may further include: verifying the first blade attitude data based on the verification data to obtain a verification result, which is used to indicate whether the first blade attitude data can accurately characterize the blade attitude of the wind turbine under the current operating conditions.

[0085] As an example, when the first blade posture data is a first direction cosine matrix, the verification data may be a verification direction cosine matrix calculated based on a configured Cardan angle or Euler angle.

[0086] If the configured Cardan angles are α, β, and γ, then the rotation matrix can be obtained as follows:

[0087] The calibration direction cosine matrix can be expressed as A=Tr1Tr2Tr3.

[0088] If the configured Euler angles are α, β, and γ, then the rotation matrix can be obtained as follows:

[0089] The calibration direction cosine matrix can be expressed as A=Tr1Tr2Tr3.

[0090] The verification process can be understood as: comparing the verification direction cosine matrix A with the first direction cosine matrix A Re is less than a preset difference threshold. If so, the verification result indicates that the first blade attitude data can accurately characterize the blade attitude of the wind turbine under the current operating conditions; otherwise, the verification result indicates that the first blade attitude data cannot characterize the blade attitude of the wind turbine under the current operating conditions.

[0091] It can be seen that this method not only provides a process that can conveniently determine the blade posture, but also can verify whether the first blade posture data calculated for characterizing the blade posture can accurately characterize the blade posture, making the subsequent control of the wind turbine based on the blade posture more reliable and intelligent.

[0092] Accordingly, an embodiment of the present application further provides a system 500 for determining the posture of a wind turbine blade. Referring to FIG5 , the system 500 may include at least a first sensor 501, at least one second sensor 502, and a controller 503. The first sensor 501 is disposed on the blade root of the wind turbine, and the at least one second sensor 502 is disposed on the blade of the wind turbine.

[0093] The first sensor 501 is used to collect a first angular velocity under the current operating condition of the wind turbine;

[0094] at least one second sensor 502, configured to collect at least one second angular velocity under the current operating condition;

[0095] The controller 501 is configured to execute the above method embodiment to determine the blade posture of the wind turbine.

[0096] For example, the controller 501 is specifically configured to obtain an operating condition parameter of a current operating condition of the wind turbine, a first angular velocity acquired by the first sensor, and at least one second angular velocity acquired by at least one second sensor, wherein the operating condition parameter includes at least one of the following parameters: wind speed, rotation speed, or pitch angle;

[0097] The controller 501 is specifically used to determine the first blade attitude data of the wind turbine based on the target simulated blade attitude data, the first angular velocity and at least one of the second angular velocity. The first blade attitude data is used to characterize the blade attitude of the wind turbine under the current operating conditions. The target simulated blade attitude data matches the operating parameters of the current operating conditions.

[0098] Optionally, the controller 501 is further used to determine the target simulated blade attitude data that matches the operating condition parameters of the current operating condition from a plurality of simulated blade attitude data, and each simulated blade attitude data in the plurality of simulated blade attitude data corresponds to one operating condition.

[0099] Optionally, the controller 501 is further configured to determine simulated blade attitude data corresponding to each of the multiple operating conditions based on structural parameters of the fan, aerodynamic parameters of the fan, and operating parameters of the multiple operating conditions of the fan.

[0100] Optionally, the controller 501 is further configured to calculate an angle set based on the first blade posture data, where the angle set is used to characterize the blade posture of the wind turbine under the current operating condition;

[0101] Alternatively, based on the first blade posture data, the coordinates of the blade on the target axis of the blade root coordinate system are calculated, and the coordinates are used to characterize the blade posture of the wind turbine under the current working condition.

[0102] Optionally, the system 500 further includes a third sensor, which is mounted on the hub of the wind turbine. During the pitch change process of the wind turbine, the controller 501 is further configured to:

[0103] Obtaining a third triangle speed collected by the third sensor under the current operating condition of the wind turbine;

[0104] determining a pitch angle based on the first angular velocity and the third angular velocity;

[0105] Second blade attitude data is determined based on the first blade attitude data and the pitch angle, and the second blade attitude data is used to represent the blade attitude of the wind turbine when the pitch is changed under the current working condition.

[0106] Optionally, the controller 501 is further configured to:

[0107] Get verification data;

[0108] The first blade posture data is verified based on the verification data to obtain a verification result, where the verification result is used to indicate whether the first blade posture data can accurately represent the blade posture of the wind turbine under the current operating condition.

[0109] Optionally, the controller 501 is specifically configured to:

[0110] receiving the first angular velocity and at least one second angular velocity sent by a data acquisition system of the wind turbine, wherein the data acquisition system is connected to the first sensor and at least one second sensor respectively through data cables;

[0111] Alternatively, the first angular velocity sent by the first sensor is received, and at least one second angular velocity sent by at least one second sensor is received, and both the first sensor and the at least one second sensor include a signal sending unit.

[0112] Optionally, the second sensor is mounted on the skin or web of the blade.

[0113] Optionally, the installation position of the second sensor on the blade includes at least one of the following positions: a tip position of the blade or a middle position of the blade.

[0114] Optionally, the first blade attitude data is a first direction cosine matrix, and the angle set includes three Cardan angles or three Euler angles.

[0115] Optionally, the first blade attitude data is a first direction cosine matrix, and the second blade attitude data is an attitude angle of the blade.

[0116] Optionally, the first blade posture data is a first direction cosine matrix, and the verification data is a verification direction cosine matrix calculated based on a configured Cardan angle or Euler angle.

[0117] Optionally, the controller 501 is further configured to control one or more subsystems of the wind turbine according to the first blade attitude data, for example, to control one or more subsystems of the wind turbine, thereby achieving a shutdown operation.

[0118] Optionally, the controller 501 is further configured to control or adjust a subsystem of the wind turbine (eg, a pitch subsystem) according to the second blade attitude data.

[0119] As an example, see Figure 6, which shows a schematic diagram of a wind turbine blade where the sensors installed on the wind turbine are wired sensors. Figure 6 includes: a gyro sensor 3 mounted on the hub (corresponding to the third sensor herein), a gyro sensor 1 mounted at the blade root (corresponding to the first sensor herein), a gyro sensor 21 mounted at the middle of the blade (corresponding to one of the second sensors herein), a gyro sensor 2N mounted at the blade tip (corresponding to another of the second sensors herein), where N is an integer greater than or equal to 1, a signal transmission cable 5, a hub 6, a data acquisition system 7, and a computer system 8. Computer system 8 can be, for example, a laptop computer 8. A wired connection means that each sensor is connected to data acquisition system 7 via a cable. Data acquisition system 7 transmits the collected signals to computer system 8 in the nacelle via wireless transmission methods such as Wi-Fi, or stores them locally on a memory card. Sensor 3 is mounted on the hub, and sensor 1 is mounted at the blade root. Sensor numbers on the blade increase from 21 to 2N from the blade root to the span. Data acquisition system 7 can also provide power for each sensor.

[0120] As another example, see Figure 7, which shows a schematic diagram of a wind turbine blade when the sensors installed on the wind turbine are wirelessly connected. Figure 7 includes: a gyroscope sensor 3 mounted on the hub (corresponding to the third sensor herein), a gyroscope sensor 1 mounted at the blade root (corresponding to the first sensor herein), a gyroscope sensor 21 mounted at the middle of the blade (corresponding to one of the second sensors herein), a gyroscope sensor 2N mounted at the blade tip (corresponding to another of the second sensors herein), a power supply module 5, a hub 6, and a computer system 7. Computer system 7 can be, for example, a laptop computer 7. In a wireless connection scenario, each sensor is individually configured with a signal transmission unit and a power supply module 5. The signal transmission unit (e.g., an antenna) transmits the signals collected by the sensor to the computer system 7 located in the nacelle via wireless or network communication. Each sensor's power supply module 5 is used to store a certain amount of electrical energy to power the sensor and its signal transmission unit. Power supply module 5 can be, for example, a thin solar panel film attached to the outer surface of the blade, a magnet-coil system mounted on the inner or outer surface of the blade, or a battery pack. The solar cell film can be attached to the pressure side of the blade, near the trailing edge, to reduce the aerodynamic impact on the wind turbine blade. The magnet-coil system can be installed along the chord length of the blade. As the blade rotates one revolution, the magnets within the magnet-coil system, under the influence of gravity, pass through the coils, generating an induced current that charges the capacitor. The battery pack can provide power for data acquisition and signal transmission for a limited period of time but requires periodic replacement.

[0121] It should be noted that the specific implementation method of the system 500 and the technical effects achieved can be found in the relevant description of the method provided in the embodiments of the present application.

[0122] In addition, embodiments of the present application further provide a controller capable of interacting with sensors on a wind turbine to execute the method provided in embodiments of the present application to determine the blade posture of the wind turbine. The sensors on the wind turbine include at least the first and second sensors mentioned in the above method embodiments, and may also include a third sensor.

[0123] In addition, an embodiment of the present application further provides a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the method provided by the embodiment of the present application.

[0124] To make the technical solution provided by the embodiments of the present application clearer, a specific scenario implementation is also provided in conjunction with Figure 8. As shown in Figure 8, the method for determining the attitude of a wind turbine blade in the embodiments of the present application can also be implemented by a blade attitude testing system 800 provided by the embodiments of the present application. The system 800 may include: a blade deformation simulation module 801, a blade attitude testing module 802, and a solution module 803.

[0125] Among them, the blade deformation simulation module 801 is mainly used to: estimate the deformation of the blade, input the theoretical aerodynamic parameters, structural parameters and working parameters of each working condition into the calculation model, calculate the displacement of the blade section, unit torsion angle and other parameters through the finite element method and blade element momentum theory, and output the initial direction cosine matrix (also called the initial conversion matrix) A0.

[0126] The blade attitude test module 802 is mainly used to implement sensor data acquisition and data transmission, for example, including the number of sensors, installation location determination, signal transmission method and data storage method. The specific implementation of the blade attitude test module 802 can be found in the relevant description of S101 above.

[0127] The solution module 803 is mainly used to process the test data based on A0 and reconstruct the direction cosine matrix A Re , the spatial position and torsional deformation of each cross-sectional position of the blade are calculated.

[0128] For the blade deformation simulation module 801, the executed steps may include: S11, obtaining wind speed, rotation speed and pitch angle under different working conditions; S12, inputting structural parameters and aerodynamic parameters; S13, calculating structural deformation; S14, obtaining A0.

[0129] For the blade attitude test module 802, the steps to be executed may include: S21, determining the lift N and installation position li of the gyroscope sensor; S22, judging whether the signal is transmitted by wire, if so, executing S23 to S24, otherwise executing S25 to S26; S23, connecting N sensors to the data acquisition system via cables; S24, the test data is transmitted wirelessly (such as wifi) to the cabin, or saved in the form of a storage card; S25, powering the sensor through a solar panel film, a magnet-coil system or a battery pack; S26, sending the data to the cabin via wireless transmission (such as wifi or an antenna).

[0130] For the solution module 803, the steps to be performed may include: S31, based on A0, extracting the angular velocity of the position of li and the blade root position sensor, and solving the matrix A Re ; S32, based on A Re Calculate the coordinates and deformation of the blade sensor installation section in the blade root coordinate system.

[0131] For example, assuming that the blade rotates continuously, described by the Cardan angle as α = 2°, β = 25°, γ = -5°, the direction cosine matrix A of the blade can be expressed as:

[0132] Through simulation, it is estimated that the direction cosine matrix A0 of the blade can be expressed as:

[0133] For a 90-meter-long blade, assume the turbine's current operating parameters include: wind speed 8 meters per second (m / s), rotational speed 10 revolutions per minute (rpm), pitch angle 0 degrees (°), a gyro sensor 1 installed at the blade root, and a gyro sensor 2 installed 70 meters along the blade span. The measurement value of gyro sensor 1 is The measurement value of gyro sensor 2 is ω = (0.9804, 0.0827, 0.3585) T Figure 9 shows the variation of the angular velocity of the three axes of the gyro sensor 1 installed at the root of the blade with the azimuth angle, and Figure 10 shows the variation of the angular velocity of the three axes of the gyro sensor 2 installed at the cross section of the blade with the azimuth angle. Based on the matrix A0, the reconstruction matrix A is obtained by solving Re It can be expressed as: A Re The blade posture can be represented. Optionally, the matrix A can be reconstructed Re , inversely calculate the Cardan angle: α Re =0.142°,β Re =25°,γ Re =-5°.

[0134] It should be noted that A can be used as A Re Verification data, verification A Re Can it accurately represent the blade posture? Similarly, α=2°, β=25°, γ=-5° can also be used as α Re =0.142°,β Re =25°,γ Re =-5° calibration data, calibration α Re =0.142°,β Re =25°,γ Re =-5° can accurately represent the blade posture.

[0135] It can be seen that through this embodiment, the blade posture of the wind turbine can be conveniently and accurately determined, providing a reliable basis for controlling the wind turbine.

[0136] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by means of software plus a general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment or certain parts of the embodiments of the present application.

[0137] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for system embodiments and device embodiments, since they are basically similar to method embodiments, the description is relatively simple. For relevant parts, refer to the partial description of the method embodiment. The device and system embodiments described above are merely schematic. The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without making any creative effort.

[0138] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. It should be noted that those skilled in the art may make several improvements and modifications without departing from the scope of protection of the present application, and such improvements and modifications should also be considered as within the scope of protection of the present application.

Claims

1. A method for determining the attitude of a wind turbine blade, wherein: A first sensor is arranged on a blade root of the fan, and at least one second sensor is arranged on a blade of the fan, and the method comprises: Obtaining operating condition parameters of the current operating condition of the wind turbine, a first angular velocity collected by the first sensor, and at least one second angular velocity collected by at least one of the second sensors, wherein the operating condition parameters include at least one of the following parameters: wind speed, rotation speed, or pitch angle; Based on the target simulation blade attitude data, the first angular velocity and at least one of the second angular velocities, the first blade attitude data of the wind turbine is determined, the first blade attitude data is used to characterize the blade attitude of the wind turbine under the current operating condition, and the target simulation blade attitude data matches the operating condition parameters of the current operating condition.

2. The method according to claim 1, wherein: The method further comprises: The target simulated blade attitude data matching the operating condition parameters of the current operating condition is determined from a plurality of simulated blade attitude data, each of the plurality of simulated blade attitude data corresponding to one operating condition.

3. The method according to claim 2, wherein: The process of determining the plurality of blade simulation posture data comprises: Based on the structural parameters of the fan, the aerodynamic parameters of the fan and the operating parameters of the fan under various operating conditions, the simulated blade attitude data corresponding to each of the various operating conditions are determined.

4. The method according to any one of claims 1 to 3, wherein: The method further comprises: Calculating an angle set based on the first blade posture data, wherein the angle set is used to characterize the blade posture of the wind turbine under the current working condition; Alternatively, based on the first blade posture data, the coordinates of the blade on the target axis of the blade root coordinate system are calculated, and the coordinates are used to characterize the blade posture of the wind turbine under the current working condition.

5. The method according to any one of claims 1 to 3, wherein: A third sensor is provided on the hub of the wind turbine, and during the pitch change process of the wind turbine, the method further comprises: Obtaining a third triangle speed collected by the third sensor under the current working condition of the fan; determining a pitch angle based on the first angular velocity and the third angular velocity; Second blade attitude data is determined according to the first blade attitude data and the pitch angle, and the second blade attitude data is used to characterize the blade attitude of the wind turbine when the pitch is changed under the current working condition.

6. The method according to any one of claims 1 to 3, wherein: The method further comprises: Get verification data; The first blade posture data is verified based on the verification data to obtain a verification result, wherein the verification result is used to indicate whether the first blade posture data can accurately characterize the blade posture of the wind turbine under the current working condition.

7. The method according to any one of claims 1 to 3, wherein: The obtaining of the first angular velocity acquired by the first sensor and at least one second angular velocity acquired by at least one of the second sensors comprises: Receiving the first angular velocity and at least one of the second angular velocity sent by a data acquisition system of the wind turbine, wherein the data acquisition system is respectively connected to the first sensor and at least one of the second sensors through data cables; Alternatively, the first angular velocity sent by the first sensor is received, and at least one second angular velocity sent by at least one second sensor is received, and both the first sensor and at least one second sensor include a signal sending unit.

8. The method according to any one of claims 1 to 3, wherein: The second sensor is mounted on the skin or web of the blade.

9. The method according to any one of claims 1 to 3, wherein: The installation position of the second sensor on the blade includes at least one of the following positions: a tip position of the blade or a middle position of the blade.

10. The method according to claim 4, wherein: The first blade posture data is a first direction cosine matrix, and the angle set includes three Cardan angles or three Euler angles.

11. The method according to claim 5, wherein: The first blade posture data is a first direction cosine matrix, and the second blade posture data is a posture angle of the blade.

12. The method according to claim 6, wherein: The first blade posture data is a first direction cosine matrix, and the verification data is a verification direction cosine matrix calculated based on the configured Cardan angle or Euler angle.

13. The method according to any one of claims 1 to 3, wherein: The method further comprises: The subsystem of the wind turbine is controlled according to the first blade posture data.

14. A system for determining the attitude of a wind turbine blade, wherein: The system comprises a first sensor, at least one second sensor and a controller, wherein the first sensor is arranged on a blade root of the wind turbine, and at least one second sensor is arranged on a blade of the wind turbine. The first sensor is used to collect a first angular velocity under the current working condition of the wind turbine; at least one of the second sensors, used to collect at least one second angular velocity under the current working condition; The controller is used to execute the method described in any one of claims 1 to 13.

15. The system of claim 14, wherein: The system further comprises a third sensor, wherein the third sensor is arranged on the hub of the wind turbine. The third sensor is used to collect a third angular velocity under the current working condition.

16. A computer-readable storage medium, wherein: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 13.

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