Method and system for determining yaw heading of a wind turbine

Abstract

A method for determining the yaw heading of a wind turbine is provided. θ 航向 The method and associated system for a wind turbine having a tower and a nacelle, the nacelle including a nose cone and rotor at the top of the tower. The method includes configuring a single Global Navigation Satellite System (GNSS) receiver at a fixed azimuth relative to the nacelle. The GNSS geographic location of the wind turbine's tower-top pivot point (TPP), and the angular offset of the rover receiver relative to the nacelle's centerline axis are determined. β 漫游器 Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector () north of the line between the TPP and the rover receiver. This is determined by the angle () and the angular offset of the rover receiver (). β 漫游器 Calculate the difference between the heading and the yaw ( θ 航向 ).

Description

Technical Field

[0001] This topic generally relates to wind turbines, and more particularly to methods and systems for accurately determining the yaw heading of a wind turbine hub. Background Technology

[0002] Wind power is considered one of the cleanest and most environmentally friendly energy sources available today, and wind turbines have received increasing attention in this area. A modern wind turbine typically consists of a tower, generator, gearbox, nacelle, and one or more rotor blades. The rotor blades capture kinetic energy from the wind using the known airfoil principle and transfer this kinetic energy through rotation to rotate a shaft that connects the rotor blades to the gearbox, or, if no gearbox is used, directly to the generator. The generator then converts the mechanical energy into electrical energy, which can be deployed to the public power grid.

[0003] Yaw heading is a critical operating parameter for wind turbines and is essential for referencing prevailing wind direction, addressing loading conditions in the longitudinal or lateral directions, and for wind-up tracking of cables.

[0004] Global Navigation Satellite System (GNSS) sensing methods are known and practiced for providing yaw heading using two GNSS rover sensors with azimuth tracking antennas. Through the independent tracking capability of each sensor, the heading vector between each sensor can be determined and associated with the yaw heading.

[0005] Other traditional methods for yaw tracking include using an encoder and magnetometer sensor on the yaw drive motor.

[0006] Traditional yaw determination methods either lack accuracy and precision (encoder and magnetometer sensors) or require the use of additional sensors (two GNSS rover sensors) that increase system cost and complexity.

[0007] Furthermore, as hub size and height continue to increase with the size and capacity of wind turbines, the steel tower supporting the hub becomes an increasingly important component. Factors such as tower base settlement, flange component slack, tower section displacement or structural loads, operational loads, environmental loads, and other variable conditions all affect tower integrity and lifespan. Over time, monitoring and tracking reaction loads on the tower is crucial for managing / controlling operating parameters and maintenance practices to ensure tower integrity and lifespan. Additionally, monitoring and tracking tower deflection is a useful tool for operational control of mechanical loads and power capture.

[0008] During periods of no-load or vacant operation, the top of the tower acts as a neutral pivot point, the unbiased orientation of the tower top around which the nacelle (including the nose and rotor) rotates. Over time, the aforementioned loads and other conditions affecting the tower can cause this pivot point to deflect backward, left, right, or torsionally. Long-term variations in the pivot point (which may be permanent deflections) are indicators of changes in the tower structure and / or foundation over time. Short-term variations in the pivot point are indicators of oscillating motion of the tower from rotor and / or drivetrain loads.

[0009] The desired outcome is to accurately establish the known geographic reference orientation for the tower top pivot point and track its changes over time. This information will be useful for monitoring the integrity of the steel structure and tower foundation, as well as controlling and managing structural and operational loads that may generate sway and reduce the lifespan of the tower and other wind turbine components. Modeling methods can be applied using the deflection of the tower top pivot point to determine the forward / backward and left / right deflection of the tower top, as well as the associated reaction loads.

[0010] This invention addresses certain shortcomings of conventional systems and provides a method and system for determining altitude accuracy of yaw heading by identifying a virtual center (pivot point) at the top of the tower and by utilizing a single GNSS sensor, which is less complex than conventional dual-sensor GNSS systems. Summary of the Invention

[0011] Aspects and advantages of the invention will be set forth in part in the description which follows, or may be apparent from the description, or may be learned by practice of the invention.

[0012] According to an aspect of the invention, a method for determining the yaw heading of a wind turbine is provided. i 航向 The method involves a wind turbine having a tower and a nacelle, the nacelle including a nose cone and rotor located at the top of the tower. The method includes positioning a single Global Navigation Satellite System (GNSS) rover receiver at a fixed azimuth relative to the nacelle so as to move / rotate (“yaw”) with the nacelle. The GNSS geographic location (“geographic location”) of the wind turbine’s tower top pivot point (TPP) and the angular offset of the rover receiver relative to the nacelle’s centerline axis are determined. β 漫游器 Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the line between the TPP and the rover receiver. This method is based on angular vectors ( ) and angular offset of the roamer receiver ( β 漫游器 Calculate the difference between the heading and the yaw ( i 航向 ).

[0013] The term “geographic location” is used in this article to include coordinates on a fixed geographic grid, such as the latitude and longitude coordinates of a global grid.

[0014] In a particular embodiment, the GNSS geolocation of the TPP is determined by performing one or more partial or complete 360-degree yaw scans of the cabin and recording the geolocation signals received by the rover receiver during the yaw scans. The geolocation signals are converted into a circular plot by a controller, and the radius (r) of the circular plot is determined, which is the distance between the rover receiver and the TPP. Based on the GNSS geolocation of the rover receiver and the radius (r), the controller determines the GNSS geolocation of the TPP.

[0015] The rover receiver can be located at any desired orientation on the nacelle or on a component attached to the nacelle. For example, the rover can be located on an arm at the top and rear of the nacelle, extending at a predetermined fixed distance (x) from the nacelle's centerline axis. The GNSS geographic location of the TPP along the centerline axis is calculated based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis. Then, based on... β 漫游器 = sin −1 The relationship between (x / r) is used to determine the angular offset of the rovers' receiver. β 漫游器 ), and determine the yaw heading based on the following relationship ( i 航向 ): i 航向 = (angular vector( )) - ( β 漫游器 ).

[0016] In one embodiment, the rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein the GNSS geographic location of the rovers relative to the base station is determined based on the absolute global latitude and longitude of the fixed base station directly supplied to the rovers.

[0017] Yaw scans may include multiple 360-degree yaw scans, each having at least one yaw scan in the positive direction and at least one yaw scan in the opposite negative direction. These yaw scans may be performed during low wind speeds to minimize the transient wind loads that could cause tower deflection during the yaw scan.

[0018] Various environmental and structural loading factors can induce temporary or permanent deformation of the tower, and this method may need to take these deformations into account when determining the radius of the yaw scan (and therefore the geographic location of the TPP). For example, a tower deformation correction factor can be applied to correct for tower deformation caused by the weight overhang of the rotor and nacelle relative to the vertical axis of the tower. Another tower deformation correction factor can be applied to correct for thermal tower deformation caused by the temperature difference between the exposed and shaded sides of the tower. Yet another tower deformation correction factor can be applied to correct for tower deformation caused by transient loads (such as wind loads) applied to the tower or nacelle. A total tower deformation correction factor that considers weight overhang deformation, thermal deformation, and load deformation can be applied.

[0019] The method may also include determining the geographical location of the TPP multiple times within a fixed time period and determining the total trajectory or displacement vector of the TPP within that time period. The total trajectory or displacement vector can be used for one or more of the following: determining tower integrity, predicting tower life, load management, tower maintenance, or changes in operation and maintenance procedures to reduce tower deformation.

[0020] This invention also covers a method for determining the yaw heading of a wind turbine. i 航向 The system comprises a wind turbine with a tower and a nacelle, the nacelle including the nose and rotor at the top of the tower. The system includes a single Global Navigation Satellite System (GNSS) rover receiver positioned relative to the nacelle (e.g., on the nacelle or on a component attached to the nacelle) to move / rotate (“yaw”) with the nacelle. A controller communicates with the rover receiver and is configured to perform the following operations: determine the GNSS geographic location (“geographic location”) of the tower top pivot point (TPP); determine the angular offset of the rover receiver relative to the centerline axis of the nacelle. β 漫游器 ); Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver; determine the angular vector relative to north between the TPP and the rover receiver ( ); and according to the angular vector ( ) and angular offset of the roamer receiver ( β 漫游器 Calculate the difference between the heading and the yaw ( i 航向 ).

[0021] In various embodiments of the system, the controller is configured to perform any or a combination of the functions discussed above with respect to the method embodiments of the present invention.

[0022] In a particular embodiment, the rover receiver is located at a predetermined fixed distance (x) from the centerline axis of the cabin at the top and rear of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is determined by the controller based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

[0023] In one embodiment of the system, the rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein the controller is configured to determine the rovers’ GNSS geographic location relative to the base station based on the absolute global latitude and longitude of the fixed base station directly supplied to the rovers.

[0024] The invention will be further supported and described with reference to the following description and the appended claims. The accompanying drawings, which are incorporated and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0025] Technical Solution 1. A method for determining the yaw heading of a wind turbine. i 航向 The method, wherein the wind turbine has a tower and a nacelle, the nacelle including a nose cone and a rotor at the top of the tower, the method comprising: A single rovers receiver for the Global Navigation Satellite System (GNSS) is positioned at a fixed location relative to the cabin. Determine the GNSS geographic location (“geographic location”) of the top pivot point (TPP) of the wind turbine tower; Determine the angular offset of the rovers receiver relative to the centerline axis of the cabin. β 漫游器 ); Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the line between the TPP and the rover receiver. );and According to the angle vector ( ) and the angular offset of the roamer receiver ( β 漫游器 The difference between the two is used to calculate the yaw heading. i 航向 ).

[0026] Technical Solution 2. The method according to Technical Solution 1, wherein the GNSS geographical location of the TPP is determined by the following: Perform one or more partial or complete 360-degree yaw scans of the cabin and record the geographic location signals received by the rover receiver during the yaw scans; The controller converts the geographic location signal into a circular map and determines the radius (r) of the circular map, where the radius (r) is the distance between the roamer receiver and the TPP; and The GNSS geographic location of the TPP is determined via the controller based on the GNSS geographic location of the roamer receiver and the radius (r).

[0027] Technical Solution 3. The method according to Technical Solution 2, wherein the rovers receiver is located at the top and rear of the cabin at a predetermined fixed distance (x) from the centerline axis of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is calculated based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

[0028] Technical Solution 4. The method according to Technical Solution 3, wherein the angular offset of the roamer receiver ( β 漫游器 )based on β 漫游器 = sin −1 The relationship between (x / r) is determined, and the yaw heading ( i 航向 This is determined based on the following relationship: i 航向 = (angular vector( )) - ( β 漫游器 ).

[0029] Technical Solution 5. The method according to Technical Solution 2, wherein the rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein the GNSS geographical location of the rovers relative to the base station is determined based on the absolute global latitude and longitude of the fixed base station directly supplied to the rovers.

[0030] Technical Solution 6. The method according to Technical Solution 2, wherein the yaw scan includes multiple 360-degree yaw scans, the multiple 360-degree yaw scans having at least one yaw scan in the positive direction and at least one yaw scan in the opposite negative direction.

[0031] Technical Solution 7. The method according to Technical Solution 2, wherein the multiple 360-degree yaw scans of the nacelle are performed during low wind speeds in order to minimize the instantaneous wind loads that could cause the tower to deflect during the yaw scans.

[0032] Technical Solution 8. The method according to Technical Solution 1, wherein, before determining the geographical location of the TPP, a tower deformation correction factor is applied to the radius from the yaw scan.

[0033] Technical Solution 9. The method according to Technical Solution 7, wherein the tower deformation correction factor corrects tower deformation caused by any one or a combination of the following: weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by temperature difference between the sides of the tower; or tower deformation caused by instantaneous load applied to the tower or the nacelle.

[0034] Technical Solution 10. The method according to Technical Solution 1 further includes determining the geographical location of the TPP multiple times within a fixed time period and determining the total trajectory or displacement vector of the TPP.

[0035] Technical Solution 11. The method according to Technical Solution 10 further includes evaluating the total trajectory or displacement vector for one or more of the following purposes: determining tower integrity, predicting tower life, load management, tower maintenance, or changes in operation and maintenance procedures to reduce tower deformation.

[0036] Technical Solution 12. A method for determining the yaw heading of a wind turbine. i 航向 The system includes a wind turbine having a tower and a nacelle, the nacelle including a nose cone and a rotor at the top of the tower, the system comprising: A single rovers receiver for the Global Navigation Satellite System (GNSS) at a fixed azimuth relative to the cabin; A controller, which communicates with the roamer receiver, is configured to perform the following operations: Determine the GNSS geographic location (“geographic location”) of the tower top pivot point (TPP); Determine the angular offset of the rovers receiver relative to the centerline axis of the cabin. β 漫游器 ); Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the TPP and the rover receiver. );and According to the angle vector ( ) and the angular offset of the roamer receiver ( β 漫游器 The difference between the two is used to calculate the yaw heading. i 航向 ).

[0037] Technical Solution 13. The system according to Technical Solution 12, wherein the GNSS geographic location of the TPP is determined by performing one or more partial or complete 360-degree yaw scans of the cabin and recording geographic location signals received by the rover receiver during the yaw scans; the controller is configured to convert the geographic location signals into a circular map and determine the radius (r) of the circular map, the radius (r) being the distance between the rover receiver and the TPP; and the GNSS geographic location of the TPP is determined based on the GNSS geographic location of the rover receiver and the radius (r).

[0038] Technical Solution 14. The system according to Technical Solution 13, wherein the rover receiver is located at the top and rear of the cabin at a predetermined fixed distance (x) from the centerline axis of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is determined by the controller based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

[0039] Technical Solution 15. The system according to Technical Solution 14, wherein the controller is configured to be based on β 漫游器 =sin −1 The relationship between (x / r) determines the angular offset of the roamer receiver. β 漫游器 ), and determine the yaw heading based on the following relationship ( i 航向 ): i 航向 = (angular vector( )) - ( β 漫游器 ).

[0040] Technical Solution 16. The system according to Technical Solution 14, wherein the rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein the controller is configured to determine the GNSS geographic location of the rovers relative to the base station based on the absolute global latitude and longitude of the fixed base station directly supplied to the rovers.

[0041] Technical Solution 17. The system according to Technical Solution 13, wherein the controller is further configured to apply a tower deformation correction factor to the radius based on one or more of the following before determining the geographic location of the TPP: the weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by the temperature difference between the sides of the tower; and tower deformation caused by instantaneous loads applied to the tower or nacelle.

[0042] Technical Solution 18. The system according to Technical Solution 13, wherein the controller is further configured to evaluate the total trajectory or displacement vector of the TPP over time and implement one or more correction actions for the wind turbine based on the evaluation. Attached Figure Description

[0043] The complete and feasible disclosure of the invention, including its best mode, is set forth in the description with reference to the accompanying drawings, which are intended for those skilled in the art. Figure 1 The figure shows a perspective view of an embodiment of a wind turbine configured with the system and method according to the present invention; Figure 2 This is a schematic view of a cabin equipped with a single sensor to perform an embodiment of the method of the present invention; Figure 3 This is a schematic view depicting the method steps according to an embodiment of the present invention; Figure 4 These are illustrated views depicting further method steps according to embodiments of the present invention; Figure 5 These are illustrated views depicting further method steps according to embodiments of the present invention; Figure 6 These are illustrated views depicting further method steps according to embodiments of the present invention; and Figure 7 These are illustrated views depicting other method steps according to embodiments of the present invention. Detailed Implementation

[0044] Reference will now be made in detail to embodiments of the invention, one or more of which are illustrated in the accompanying drawings. Each example is provided by way of explanation, not limitation, of the invention. Indeed, it will be apparent to those skilled in the art that various modifications and variations may be made to the invention without departing from its scope or spirit. For example, a feature illustrated or described in part as one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, the invention is intended to cover such modifications and variations and their equivalents as fall within the scope of the appended claims.

[0045] Generally, this subject matter relates to a method and associated system for determining the yaw heading of a wind turbine hub using a single GNSS sensor in conjunction with tracking the geographic location of a pivot point at the top of a wind turbine tower, where the pivot point is essentially the neutral, unbiased azimuth of the tower top around which the nacelle (including the nose and rotor) rotates. As described herein, the location and deflection of the tower top pivot point (TPP) also provide valuable information for analyzing and correcting for permanent and transient deformations of the tower.

[0046] Now refer to the attached diagram, Figure 1 The illustration shows a perspective view of one embodiment of a wind turbine 10 configured with a system 58 for practicing various methods according to the present disclosure. As shown, the wind turbine 10 generally includes a tower 12, a nacelle 14 mounted on the tower 12, and a rotor 16 coupled to the nacelle 14. The rotor 16 includes a rotatable hub 18 and at least one rotor blade 20 coupled to and extending outward from the hub 18. For example, in the illustrated embodiment, the rotor 16 includes three rotor blades 20. However, in alternative embodiments, the rotor 16 may include more or fewer than three rotor blades 20. Each rotor blade 20 may be spaced apart around the hub 18 to facilitate rotation of the rotor 16, thereby enabling kinetic energy to be converted from wind energy into usable mechanical energy, and subsequently into electrical energy. For example, the hub 18 may be rotatably coupled to a generator positioned within the nacelle 14 to allow the generation of electrical energy.

[0047] For the purposes of this disclosure, the term "nacelle" is used herein to include engine head components (e.g., drivetrain components, generators, etc.) and hub components located within the nacelle housing.

[0048] refer to Figure 1 and Figure 2 A single GNSS rover receiver 24 is mounted at a fixed, predetermined azimuth on the nacelle 14. The rover receiver 24 communicates directly or indirectly with the controller 66. In the depicted embodiment, the rover receiver 24 also communicates with a fixed base station 40, as described in more detail below. The controller 66 may be a local controller associated with a single wind turbine 10, a field-level controller associated with multiple wind turbines 10 within a wind farm, or a remote controller located, for example, in a remote control / monitoring facility. The controller 66 is configured to perform various processes, as described in more detail below, for determining the geographic location of the TPP 22 of the wind turbine tower 12 and the yaw heading of the hub 18.

[0049] GNSS systems can utilize any available satellite-based positioning system, such as GPS, GLONASS, Galileo, NavIC, and BeiDou. In some embodiments, GNSS systems may also employ real-time kinematics (RTK) techniques to enhance the accuracy of the azimuth data derived from the GNSS system. RTK techniques are known to those skilled in the art. Generally, the distance between the satellite navigation receiver (rover receiver 24) and the satellite can be calculated from the time required for the signal to travel from the satellite to the receiver. The accuracy of the resulting distance measurement depends on the receiver's ability to accurately process the signal from the satellite and additional error sources such as unmitigated ionospheric and tropospheric delay errors, multipath errors, satellite clock errors, and ephemeris errors.

[0050] RTK technology uses the carrier wave of a satellite signal as its signal. RTK uses a fixed base station 40 and a roamer 24 to send correction data to a roamer receiver 24 and reduce the roamer's azimuth error. The base station 40 rebroadcasts the phase of the carrier wave it observes, and the roamer 24 compares its own phase measurement with the phase received from the base station. This allows the roamer receiver 24 to calculate its relative azimuth to the base station 40 with high accuracy (typically within a few millimeters). Therefore, the accuracy of the roamer receiver 24's geographic location is substantially the same as the calculated azimuth of the base station 40. Essentially, the base station 40 is located at a known surveyed position (reference azimuth), and the roamer receiver 24 is fixed relative to the base station 40.

[0051] As mentioned, alternatively, the rover's geographic location can be based on the absolute global latitude and longitude orientation provided directly to the rover from (multiple) GNSS satellites.

[0052] refer to Figure 2 and Figure 4 The rover receiver 24 may be located at any desired location on the nacelle, on a component attached to the nacelle, or on any other structure fixed relative to the nacelle for movement / rotation (“yaw”) with the nacelle, such as at the top and rear end of the nacelle 14 on a component (e.g., an arm). The rover receiver extends at a predetermined fixed distance 32 (“x”) from the centerline axis 38 of the nacelle. The rover receiver 24 may be mounted to extend outward from the side of the nacelle 14, as depicted in the figure. In order to determine the geographic location of the TPP 22 based on the GNSS geographic location of the rover receiver 24, it is reasonable to assume that the TPP 22 is located on the centerline 38 of the nacelle 14 (or within an acceptable margin).

[0053] refer to Figure 2 to Figure 4 Various method embodiments include performing one or more partial or complete 360-degree yaw scans 28 of the cabin 14 and recording geolocation signals received by the rover receiver 24 during the yaw scans 28. For example... Figure 3 As described, a yaw scan may include multiple 360-degree yaw scans 28, having one or more yaw scans 28 in the positive direction and one or more yaw scans 28 in the opposite negative direction. Alternatively, all yaw scans may be performed in the same direction. Yaw scans should be performed under low wind speed conditions.

[0054] The controller 66 converts the geographic location signal from the roamer receiver 24 into a circular map 30 and determines the radius "r" of the circular map 36. Figure 3 The radius 36 corresponds to the distance from the rover receiver 24 to the TPP 22 of the wind turbine tower 12. The controller 66 then uses the length of the radius 36 and the geographic location of the rover receiver 24 to calculate the geographic location of the TPP 22. For example, refer to... Figure 4 Given the distance "x" 32 between the rovers receiver 24 and the centerline axis 38 of the cabin 14, and assuming that the TPP is located on the centerline axis 38 at a linear distance "y" 34 from "x" 32, the length of "y" 34 can be easily solved using the following relationship of a right triangle: r 2 = x 2 + y 2 Once the values ​​of "x" and "y" are determined, the precise geographic location of TPP 22 relative to the roaming receiver 24 can then be easily determined. The latitude and longitude variations (x and y) relative to the known geographic location of the roaming receiver 24 will give the geographic location of TPP.

[0055] Figure 6 The yaw heading of hub 18 according to various aspects of the present invention is depicted. i 航向 The determination of ) is as follows. While determining the TPP as discussed above, the angular offset of the roamer receiver is determined based on the following relationship ( β 漫游器 ): β 漫游器 = sin −1 (x⁄r). Based on the GNSS geographic location of TPP and the GNSS geographic location of rover receiver 24, determine the angle vector north of the line between TPP and rover receiver (x⁄r). This method is based on angular vectors ( ) and angular offset of the roamer receiver ( β 漫游器 Calculate the difference between the heading and the yaw ( i 航向 ): i 航向 = (angular vector( )) - ( β 漫游器).

[0056] exist Figure 6 The text describes the yaw heading. i 航向 ) Determined example. In the depiction on the left, the angular vector relative to north ( The angle was determined to be 030°, and the angular offset ( β 漫游器 The angle was determined to be 30°. Therefore, from i 航向 = (angular vector( )) - ( β 漫游器 ) Calculated yaw heading ( i 航向 )for:( i 航向 ) = 030° - 30° = 000° (North).

[0057] In the depiction on the right, the angular vector relative to north ( ) was determined to be 060°, and the angular offset ( β 漫游器 The angle was determined to be 30°. Therefore, from i 航向 = (angular vector( )) - ( β 漫游器 ) Calculated yaw heading ( i 航向 )for:( i 航向 = 060° -30° = 030°.

[0058] refer to Figure 7 Certain factors acting on the tower 12 can cause permanent or transient deformation within the tower 12, which can affect the accuracy of the initial determination of the radius 36 of the yaw scan 28. For example, the center of mass of the nacelle 14 (including the nose section and hub 18) is typically not aligned with the centerline 45 of the nacelle 14, but rather overhangs toward the hub 18, thus creating a permanent moment arm on the tower 12. When the yaw scan 28 is performed, the tower can continuously “tilt” toward the hub 18 (due to…) Figure 6 (Indicated by the dashed arrow in the diagram). If this "tilt" is disregarded, the radius 36 of the yaw scan 29 will reduce the amount of "tilt". The degree of "tilt" can be determined empirically or through modeling of the nacelle 14 and the tower 12. The cantilever tower deformation correction factor 44 (td) can be calculated. (悬伸) And apply it to the radius 36 of the yaw scan 28 to give the corrected radius 36.

[0059] Still referencing Figure 7The temperature difference between the two sides of tower 12 can cause thermal deformation of tower 12. The temperature difference caused by solar heating on one side of the tower, compared to the shaded side, can lead to expansion on the heated side and tilting of the tower towards the shaded side. The degree of thermal deformation can be determined empirically or through modeling and is used to calculate the thermal tower deformation correction factor 46(td). (热) The correction factor is applied to the radius 36 of the yaw scan 28 to give the corrected radius 36.

[0060] Still referencing Figure 7 The instantaneous load on the nacelle 14 caused by wind can also lead to deformation of the tower 12, causing the tower to tilt away from the wind direction. The degree of wind load deformation can be determined empirically or through modeling and used to calculate the wind tower deformation correction factor 50(td). (风) The correction factor is applied to the radius 36 of the yaw scan 28 to give the corrected radius 36.

[0061] All deformation correction factors 44, 46 and 50 can be combined into a total deformation factor 42, which is applied to the radius 36 of the yaw scan 28 to give a corrected radius 36.

[0062] refer to Figure 5 Embodiments of this method may further include determining the geographic location of the TPP multiple times within a fixed time period as described above, and determining the total displacement trajectory of the TPP within that time period, which can be represented by a vector. Multiple TPPs form a total displacement trajectory, which can be combined into a total displacement vector 60 within the monitored time period, the total displacement vector 60 having a left-right component 64 and a front-back component 62. As mentioned above, the displacement of the TPP over time can indicate various factors affecting tower deformation and serve as a reference for tower deflection measurement results. Changes in TPP caused by tower deformation may be the result of foundation settlement, seismic movement, tower shell / flange relaxation, early structural failure, and others. Based on the movement of the TPP, tower displacement caused by loads applied to the tower from the rotor and turbine head, as well as environmental influences, can be accurately measured and reported. The total displacement vector 60 or displacement trajectory of the TPP can be used to assess / determine various tower characteristics, including determination of tower integrity, tower life prediction (longevity), load management, tower maintenance, or changes in operation and maintenance procedures to reduce tower deformation. Based on any one or more of these characteristics, the method includes implementing control actions or procedures to counteract any negative impact on the overall operation of the tower or wind turbine.

[0063] Further aspects of the invention are provided by the subject matter of the following provisions: Clause 1: A method for determining the yaw heading of a wind turbine ( i 航向A method for a wind turbine having a tower and a nacelle, the nacelle including a nose cone and a rotor at the top of the tower, the method comprising: configuring a single Global Navigation Satellite System (GNSS) rover receiver at a fixed azimuth relative to the nacelle; determining the GNSS geographic location (“geographic location”) of the tower top pivot point (TPP) of the wind turbine; and determining the angular offset of the rover receiver relative to the centerline axis of the nacelle. β 漫游器 Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rovers receiver, determine the angular vector north of the line between the TPP and the rovers receiver. ); and according to the angular vector ( ) and angular offset of the roamer receiver ( β 漫游器 Calculate the difference between the heading and the yaw ( i 航向 ).

[0064] Clause 2: The method described in accordance with the foregoing clause, wherein the GNSS geolocation of the TPP is determined by: performing one or more partial or complete 360-degree yaw scans of the cabin and recording the geolocation signals received by the rover receiver during the yaw scans; converting the geolocation signals into a circular map via a controller and determining the radius (r) of the circular map, which is the distance between the rover receiver and the TPP; and determining the GNSS geolocation of the TPP via the controller based on the GNSS geolocation of the rover receiver and the radius (r).

[0065] Clause 3: The method described in any of the foregoing clauses, wherein the rover receiver is located at a predetermined fixed distance (x) from the centerline axis of the cabin at the top and rear of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is calculated based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

[0066] Clause 4: The method described under any of the foregoing clauses, wherein, based on β 漫游器 = sin −1 The relationship between (x / r) determines the angular offset of the rovers' receiver. β 漫游器 ), and determine the yaw heading based on the following relationship ( i 航向 ): i 航向 = (angular vector( )) - ( β 漫游器 ).

[0067] Clause 5: The method described in any of the preceding clauses, wherein the rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein the GNSS geographic location of the rovers relative to the base station is determined based on the absolute global latitude and longitude azimuth of the fixed base station directly supplied to the rovers.

[0068] Clause 6: The method described under any of the foregoing clauses, wherein the yaw scan comprises multiple 360-degree yaw scans having at least one yaw scan in the positive direction and at least one yaw scan in the opposite negative direction.

[0069] Clause 7: The method described in any of the foregoing clauses, wherein multiple 360-degree yaw scans of the nacelle are performed during low wind speeds in order to minimize the instantaneous wind loads that could cause deflection of the tower during the yaw scans.

[0070] Clause 8: The method described in accordance with any of the preceding clauses, wherein the tower deformation correction factor is applied to the radius from the yaw scan before determining the geographic location of the TPP.

[0071] Clause 9: The method described in any of the preceding clauses, wherein the tower deformation correction factor corrects for tower deformation caused by any one or a combination of the following: weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by temperature difference between the sides of the tower; or tower deformation caused by instantaneous loads applied to the tower or nacelle.

[0072] Clause 10: The method described under any of the foregoing clauses also includes determining the geographic location of the TPP multiple times within a fixed time period and determining the total trajectory or displacement vector of the TPP within that time period.

[0073] Clause 11: The methods described under any of the foregoing clauses shall also include assessing the total trajectory or displacement vector for one or more of the following purposes: determination of tower integrity, prediction of tower life, load management, tower maintenance, or changes in operation and maintenance procedures to reduce tower deformation.

[0074] Clause 12: A method for determining the yaw heading of a wind turbine ( i 航向 The system comprises: a wind turbine having a tower and a nacelle, the nacelle including a nose and rotor at the top of the tower; a single rover receiver for a Global Navigation Satellite System (GNSS) at a fixed azimuth relative to the nacelle; and a controller communicating with the rover receiver, the controller being configured to: determine the GNSS geographic location (“geographic location”) of the pivot point (TPP) at the top of the tower; and determine the angular offset of the rover receiver relative to the centerline axis of the nacelle. β漫游器 Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the TPP and the rover receiver. ); and according to the angular vector ( ) and angular offset of the roamer receiver ( β 漫游器 Calculate the difference between the heading and the yaw ( i 航向 ).

[0075] Clause 13: In any of the preceding clauses, the system wherein the GNSS geolocation of the TPP is determined by performing one or more partial or complete 360-degree yaw scans of the cabin and recording geolocation signals received by the rover receiver during the yaw scans; the controller is configured to convert the geolocation signals into a circular map and determine the radius (r) of the circular map, which is the distance between the rover receiver and the TPP; and the GNSS geolocation of the TPP is determined based on the GNSS geolocation of the rover receiver and the radius (r).

[0076] Clause 14: In any of the preceding clauses, the rovers receivers are located at a predetermined fixed distance (x) from the centerline axis of the cabin at the top and rear of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is determined by the controller based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

[0077] Clause 15: In any system described in the foregoing clauses, wherein the controller is configured to be based on β 漫游器 = sin −1 The relationship between (x / r) determines the angular offset of the rovers' receiver. β 漫游器 ), and determine the yaw heading based on the following relationship ( i 航向 ): i 航向 = (angular vector( )) - ( β 漫游器 ).

[0078] Clause 16: A system according to any of the preceding clauses, wherein a rovers receiver communicates with a fixed base station receiver that sends correction data to the rovers receiver, wherein a controller is configured to determine the GNSS geographic location of the rovers relative to the base station based on the absolute global latitude and longitude azimuth of the fixed base station directly supplied to the rovers.

[0079] Clause 17: In any of the preceding clauses, the controller is further configured to apply a tower deformation correction factor to the radius based on one or more of the following before determining the geographic location of the TPP: the weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by the temperature difference between the sides of the tower; and tower deformation caused by the instantaneous load applied to the tower or nacelle.

[0080] Clause 18: In any of the preceding clauses, the controller is further configured to evaluate the total trajectory or displacement vector of the TPP over time and to implement one or more corrective actions for the wind turbine based on the evaluation.

[0081] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any incorporated methods. The patentability of the invention is defined by the claims and may include other examples that would occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. A method for determining the yaw heading (θ) of a wind turbine. 航向 The method, wherein the wind turbine has a tower and a nacelle, the nacelle including a nose cone and a rotor at the top of the tower, the method comprising: A single rovers receiver for the Global Navigation Satellite System (GNSS) is positioned at a fixed location relative to the cabin. Determine the GNSS geographic location ("geographic location") of the top pivot point (TPP) of the wind turbine tower; Determine the angular offset (β) of the rovers receiver relative to the centerline axis of the cabin. 漫游器 ); Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the line between the TPP and the rover receiver. );and According to the angle vector ( ) and the angular offset (β) of the roamer receiver 漫游器 The difference between θ and θ is used to calculate the yaw heading. 航向 ), The GNSS geographic location of the TPP is determined as follows: Perform multiple partial or full 360-degree yaw scans of the cabin and record the geographic location signals received by the rover receiver during the yaw scans; The controller converts the geographic location signal into a circular map and determines the radius (r) of the circular map, where the radius (r) is the distance between the roamer receiver and the TPP; and Based on the GNSS geographic location of the rovers receiver and the radius (r), the GNSS geographic location of the TPP is determined via the controller, and The yaw scan of the nacelle is performed during low wind speeds to minimize the instantaneous wind loads that could cause the tower to deflect during the yaw scan.

2. The method according to claim 1, wherein, The rovers' receivers are located at the top and rear of the cabin at a predetermined fixed distance (x) from the centerline axis of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is calculated based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

3. The method according to claim 2, wherein, The angular offset (β) of the roamer receiver 漫游器 )based on The relationship is determined, and the yaw heading (θ) 航向 This is determined based on the following relationship: θ 航向 = (angular vector( )) - (β 漫游器 ).

4. The method according to claim 1, wherein, The robot receiver communicates with a fixed base station receiver that sends correction data to the robot receiver, wherein the GNSS geographic location of the robot relative to the base station is determined based on the absolute global latitude and longitude of the fixed base station directly supplied to the robot.

5. The method according to claim 1, wherein, The multiple 360-degree yaw scans include at least one yaw scan in the positive direction and at least one yaw scan in the opposite negative direction.

6. The method according to claim 1, wherein, Before determining the geographic location of the TPP, a tower deformation correction factor is applied to the radius from the yaw scan.

7. The method according to claim 6, wherein, The tower deformation correction factor corrects for tower deformation caused by any one or a combination of the following: weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by temperature difference between the sides of the tower; or tower deformation caused by instantaneous load applied to the tower or the nacelle.

8. The method according to claim 1 further includes determining the geographical location of the TPP multiple times within a fixed time period and determining the total trajectory or displacement vector of the TPP.

9. The method of claim 8, further comprising evaluating the total trajectory or displacement vector for one or more of the following purposes: determining tower integrity, predicting tower life, load management, tower maintenance, or changes in operation and maintenance procedures to reduce tower deformation.

10. A method for determining the yaw heading (θ) of a wind turbine. 航向 The system includes a wind turbine having a tower and a nacelle, the nacelle including a nose cone and a rotor at the top of the tower, the system comprising: A single rovers receiver for the Global Navigation Satellite System (GNSS) at a fixed azimuth relative to the cabin; A controller, which communicates with the roamer receiver, is configured to perform the following operations: Determine the GNSS geographic location ("geographic location") of the tower top pivot point (TPP); Determine the angular offset (β) of the rovers receiver relative to the centerline axis of the cabin. 漫游器 ); Based on the GNSS geographic location of the TPP and the GNSS geographic location of the rover receiver, determine the angular vector north of the TPP and the rover receiver. );and According to the angle vector ( ) and the angular offset (β) of the roamer receiver 漫游器 The difference between θ and θ is used to calculate the yaw heading. 航向 ), Specifically, the GNSS geographic location of the TPP is determined by performing multiple partial or full 360-degree yaw scans of the cabin and recording the geographic location signals received by the rover receiver during the yaw scans. The controller is configured to convert the geographic location signals into a circular map and determine the radius (r) of the circular map, where the radius (r) is the distance between the rover receiver and the TPP. Furthermore, based on the GNSS geographic location of the rover receiver and the radius (r), the GNSS geographic location of the TPP is determined. The yaw scan of the nacelle is performed during low wind speeds to minimize the instantaneous wind loads that could cause the tower to deflect during the yaw scan.

11. The system according to claim 10, wherein, The rovers' receivers are located at the top and rear of the cabin at a predetermined fixed distance (x) from the centerline axis of the cabin, wherein the GNSS geographic location of the TPP along the centerline axis is determined by the controller based on the radius (r), distance (x), and determined distance (y) of the TPP along the centerline axis.

12. The system according to claim 11, wherein, The controller is configured to be based on The relationship determines the angular offset (β) of the roamer receiver. 漫游器 The yaw heading (θ) is determined based on the following relationship. 航向 ): θ 航向 = (angular vector( )) - (β 漫游器 ).

13. The system according to claim 11, wherein, The robot receiver communicates with a fixed base station receiver that sends correction data to the robot receiver, wherein the controller is configured to determine the robot's GNSS geographic location relative to the base station based on the absolute global latitude and longitude of the fixed base station directly supplied to the robot.

14. The system according to claim 11, wherein, The controller is also configured to apply a tower deformation correction factor to the radius based on one or more of the following before determining the geographic location of the TPP: the weight overhang of the nacelle relative to the vertical axis of the tower; thermal tower deformation caused by the temperature difference between the sides of the tower; and tower deformation caused by instantaneous loads applied to the tower or nacelle.

15. The system according to claim 11, wherein, The controller is also configured to evaluate the total trajectory or displacement vector of the TPP over time and implement one or more correction actions for the wind turbine based on the evaluation.

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