Wind power blade transportation anti-overturning control method and transportation danger coefficient calculation method

Abstract

The application discloses a wind power blade transportation anti-overturning control method, which comprises the following steps: S1, determining a vehicle dangerous overturning line and inputting vehicle structure parameters; S2, reading sensor information in real time; S3, judging a vehicle running state; S4, calculating related parameters of a limit overturning state of the vehicle in a horizontal state, a low-speed running or parking state of the vehicle; S5, calculating related parameters of the limit overturning state of the vehicle in a high-speed running state; and S6, judging according to the values of five transportation danger coefficients respectively: when all the transportation danger coefficients η are less than or equal to 90%, the wind power blade transportation vehicle is in normal work, and the steps S2 to S6 are circularly performed; otherwise, a display issues a warning. The application also provides a calculation method of the transportation danger coefficient in the wind power blade transportation anti-overturning control. The application can help a driver to comprehensively understand a vehicle working condition, further improve the accuracy of a vehicle safety state judgment, and reduce the overturning phenomenon in the existing wind power blade transportation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power blade transportation, and in particular to a wind power blade transportation anti-tipping control method and a transportation risk coefficient calculation method. BACKGROUND

[0002] With the vigorous development of clean energy by the country, the development and utilization of clean energy are becoming more and more common. Among them, the development momentum of wind power generation in China is rapid, and the output of wind power generation equipment is large. However, due to the large size of the blades of the wind turbine, transportation is difficult.

[0003] The size of the blades of the wind turbine is generally thirty to forty meters or longer, up to more than 100 meters. According to the distribution of wind resources in China, wind farms are mostly located in plateau mountainous areas with complex terrain and low highway grade. The mountains are high and steep, and the roads are rugged. When the wind power blade transportation equipment is in use, it needs to realize multiple actions such as lifting, rotating, and variable pitch. The wind power blade transportation vehicle with lifting structure disclosed in the utility model patent with the authorization announcement number CN204895261U can realize lifting, rotating, and variable pitch actions by installing a wind power blade support device on the transportation vehicle.

[0004] However, the above-mentioned existing wind power blade transportation vehicle and equipment realize the lifting, rotating, and variable pitch actions of the wind power blade in the driving state of the transportation vehicle. In this process, the hydraulic outriggers are not fixed, and the vehicle chassis is not horizontal. Due to the large turning radius and the small mountainous transportation curvature, the use of the existing blade transportation equipment for transportation is prone to rollover.

[0005] The utility model patent with the authorization announcement number CN216231928U discloses a wind power blade transportation vehicle safety torque protection device. It determines the actual torque by collecting unit motion parameters (such as inclination angle, rotation angle, and other information) to determine the actual torque, and then compares the actual torque with the pre-stored safety position torque to determine whether the wind power blade bearing torque exceeds the safety range. This method can also protect the safety torque of the wind power blade to a certain extent and avoid rollover, but on the one hand, pre-storing the safety position torque requires a lot of work in advance, and the covered position is limited, and the data is also prone to errors, so the accuracy still needs to be improved. On the other hand, the vehicle driving state is variable, the vehicle speed changes all the time, and there are many mountainous transportation curves. The inertial force will also have a great impact. Therefore, if only one parameter is used to judge the safety state of the vehicle under different working conditions, there is a certain limitation, and the accuracy and reliability still need to be improved. SUMMARY

[0006] The purpose of the present application is to provide a wind turbine blade transportation anti-rollover control method to reduce the occurrence of rollover phenomenon in the existing wind turbine blade transportation. The purpose of the present application is also to provide a wind turbine blade transportation vehicle anti-rollover control transportation risk coefficient calculation method to determine whether the driving state of the vehicle is safe.

[0007] To solve the above problems, the present application adopts the following technical solutions:

[0008] The wind turbine blade transportation anti-rollover control method comprises the following steps:

[0009] Step S1, determine the vehicle dangerous overturning line and input the vehicle structure parameters; the vehicle structure parameters include the self-weight G1 of the wind turbine blade assembly, the self-weight G2 of the turntable plus the counterweight, the self-weight G3 of the chassis assembly, and the distance between each self-weight and the dangerous overturning line;

[0010] Step S2, read the sensor information: set a display control integrated host, a wind turbine blade rotation angle sensor, a wind turbine blade pitch angle sensor, a front wheel deflection angle sensor, and a vehicle speed sensor on the wind turbine blade transportation vehicle; the display control integrated host collects the wind turbine blade rotation angle sensor value β, the wind turbine blade pitch angle sensor value θ, the front wheel deflection angle sensor value α, and the vehicle speed sensor value v in real time;

[0011] Step S3, determine the vehicle driving state according to the vehicle speed sensor and the front wheel deflection angle sensor: when the vehicle is in a horizontal state and the vehicle is in a low-speed driving or parking state, enter step S4; when the vehicle is in a high-speed driving state, enter step S5;

[0012] Step S4, calculate the related parameters of the limit overturning state under the condition that the vehicle is in a horizontal state and the vehicle is in a low-speed driving or parking state: under this vehicle state, the wind turbine blade pitch action and the rotation action have corresponding limit overturning states respectively, and each corresponds to two different wind turbine blade transportation risk coefficients η;

[0013] Step S5, calculate the related parameters of the limit overturning state under the condition that the vehicle is in a high-speed driving state: under this vehicle state, the wind turbine blade pitch action, the rotation action, and the vehicle turning have corresponding limit overturning states respectively, and each corresponds to three different wind turbine blade transportation risk coefficients η;

[0014] Step S6, according to the values of the five transportation risk coefficients, respectively, when all transportation risk coefficients η ≤ 90%, the wind power blade transportation vehicle normal work, and the cycle repeats steps S2 to S6; when any one of the transportation risk coefficient 90% < η ≤ 95%, the display control integrated host computer display yellow warning; when any one of the transportation risk coefficient 95% < η < 100%, the display control integrated host computer display red warning, while cutting off the dangerous action circuit, buzzer ringing, and limit wind power blade transportation vehicle only to the safe direction of action, to prevent wind power blade transportation vehicle accident.

[0015] Optionally, step S1 determines the vehicle dangerous overturning line further comprises: the wind power blade transportation vehicle wheel formed by the rectangle four sides are determined as the front wheel overturning line, the rear wheel overturning line, the left wheel overturning line, the right wheel overturning line, wherein the same as the vehicle driving direction is the left and right wheel overturning line, and the front and rear wheel overturning line is perpendicular to the vehicle driving direction; for the wind power transportation unit, the wind power blade transportation vehicle belongs to the super long vehicle, the left wheel overturning line CD and the right wheel overturning line AB are both dangerous overturning line, which needs to be determined according to the wind power blade rotation angle information whether the left wheel overturning line CD or the right wheel overturning line AB is the dangerous overturning line.

[0016] Optionally, step S4 determines the related parameters of the limit overturning state further comprises: determining the limit pitch angle θ lim1 of the wind power blade, the limit rotation angle β lim1 of the wind power blade, respectively;

[0017] Specifically, the whole unit is left-right symmetrical, the overturning moment generated by the self weight of the upper installation is determined according to the following formula (1), the overturning moment generated by the self weight of the chassis is determined according to formula (2), and then the relative dangerous overturning line is determined according to formula (4):

[0018] M u = G1(r1|sinβ|-b)-G2(r2|sinβ|+b) (1)

[0019] M d = -G3b (2)

[0020] M t = M u + M d (3)

[0021] M t = G1[(ecosθ-t)|sinβ|-b]-G2(r2|sinβ|+b)-G3b (4)

[0022] determining the limit pitch angle θ lim1Cosine value: When the rotation angle β of the wind turbine blade is constant, and the wind turbine blade is pitching, under the extreme overturning state of the vehicle, let Mt = 0 in formula (4) to obtain the limit value of the pitch angle variation range of the wind turbine blade:

[0023]

[0024] Wherein, G1 is the self-weight of the wind turbine blade assembly, G2 is the self-weight of the turntable plus counterweight, G3 is the self-weight of the chassis assembly, b is the distance from the center of rotation to the dangerous overturning line, r1 is the horizontal distance from the center of gravity of the wind turbine blade to the center of rotation, r2 is the horizontal distance from the center of gravity of the turntable and counterweight to the center of rotation, e is the distance from the center of gravity of the wind turbine blade to the tail hinge point along the axial direction of the wind turbine blade, t is the horizontal distance from the tail hinge point to the center of rotation, Mu is the overturning moment of the superstructure self-weight, Md is the overturning moment of the chassis self-weight, Mt is the corresponding resultant overturning moment, θ is the angle between the wind turbine blade and the vehicle chassis plane, the pitch angle θ of the wind turbine blade takes the value range of (0°, 90°), β is the slewing angle of the wind turbine blade, that is, the angle between the projection of the wind turbine blade on the vehicle chassis plane and the longitudinal axis of the vehicle, the slewing angle β of the wind turbine blade takes the value range of (0°, 360°).

[0025] Determine the limiting slewing angle β of the wind turbine blade lim1 Sine value: With the pitch angle θ of the wind turbine blade constant, when the wind turbine blade is rotating, under the extreme overturning state of the vehicle, let Mt = 0 in formula (4) to obtain the limit value of the range of change of the rotation angle of the wind turbine blade:

[0026]

[0027] Optionally, when the vehicle is in a horizontal position, at low speed, or stationary, during the wind turbine blade lifting process, the cosine value of the wind turbine blade's pitch angle, cosθ, must be kept < cosθ. lim1 If so, the vehicle is in a safe condition;

[0028] On a flat road, with the vehicle traveling at low speed or stationary, during the rotation of the wind turbine blades, it is essential to ensure that the sine value of the rotation angle of the wind turbine blades is |sinβ| < |sinβ|. lim1 If |, then the vehicle is in a safe condition.

[0029] Optionally, step S5, determining the relevant parameters under the ultimate overturning state, further includes: determining the ultimate pitch angle θ of the wind turbine blades. lim2 Cosine value, limiting gyration angle β lim2 Sine value, maximum driving speed v lim ;

[0030] When the vehicle is determined to be in the driving state, the vehicle is determined to be in the steering state, and the vehicle is determined to be in the acceleration and deceleration driving state, the limit pitch angle or the limit rotation angle of the wind power blade is calculated, and the limit driving speed is further calculated;

[0031] The inertial forces of the self-weight G1 of the wind power blade assembly, the self-weight G2 of the turntable plus the counterweight, and the self-weight G3 of the chassis assembly exist, and when the vehicle is steering, the overturning moments relative to the left and right wheels are formed:

[0032]

[0033] Wherein, α is the steering angle, the value range of α is (-90°, 90°), when driving in a straight line, α=0, when turning left, α>0, and when turning right, α<0; a is the vehicle acceleration, h3 is the height of the vehicle chassis gravity center from the ground, h2 is the height of the turntable plus the counterweight gravity center, h3 is the height of the wind power blade from the ground, h3=h2+esinθ;

[0034] The formula M t = M u + M d + M a The overturning resultant moment relative to the dangerous overturning line is obtained:

[0035]

[0036] Determine the limit pitch angle θ of the wind power blade lim2 The cosine value: when the wind power blade rotation angle β is constant, the formula (6) Mt=0 is used to obtain the limit pitch angle cosine value of the position of the wind power blade:

[0037]

[0038] Determine the limit rotation angle β of the wind power blade lim2 The sine value: when the wind power blade pitch angle θ is constant, the formula (6) Mt=0 is used to obtain the limit rotation angle sine value of the position of the wind power blade:

[0039]

[0040] Determine the limit driving speed v of the wind power blade lim The formula (6) Mt=0 is used to obtain the limit acceleration of the position (θ, β, α) of the wind power blade:

[0041]

[0042] Then, the limit driving speed of the entire vehicle unit at the position (θ, β, α) is obtained:

[0043]

[0044] wherein s is the minimum braking distance of the vehicle.

[0045] The application also discloses a method for calculating the transport risk coefficient in the anti-overturning control of the wind turbine blade transportation.

[0046] The transport risk coefficient η of the vehicle in the driving state is the ratio of the current position of the wind turbine blade pitch angle cosine value, the rotation angle sine value or the vehicle speed to the corresponding parameter in the limit overturning state.

[0047] The absolute value of the five transport risk coefficients η is taken.

[0048] The driving state of the vehicle can be determined according to the values of the five transport risk coefficients η.

[0049] The application has the following advantages:

[0050] The real-time position information of the wind turbine blade can be detected by the sensors, the driving speed is included in the monitoring range, the safety degree of the wind turbine blade transportation unit is quantified by the multiple transport risk coefficients η, and the information measured by the sensors changes in real time, which is beneficial to the driver to comprehensively understand the working condition of the vehicle and further improves the judgment accuracy of the safety state of the vehicle.

[0051] The working condition of the vehicle is divided into two kinds, the transport risk coefficient calculation method of the two kinds of vehicle working conditions is provided, five transport risk coefficients η of the wind turbine blade are obtained, the rotation, pitch motion in the low speed or static state and the rotation, pitch, driving speed motion in the high speed state are respectively corresponding, the bearing moment of the wind turbine blade is judged according to the different transport risk coefficients η whether it exceeds the limited safety range, the moment is limited through the alarm when any transport risk coefficient η exceeds the safety range, the safety protection is provided for the transportation of the wind turbine blade, the judgment accuracy and reliability are effectively improved, the occurrence of the overturning disaster of the wind turbine blade transportation vehicle in the transportation process is greatly reduced, the wind turbine blade transportation vehicle can safely pass through various mountain roads, and the installation range of the wind power equipment is expanded. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 Fig. 1 is a schematic diagram of the overturning line of the wind turbine blade transportation vehicle;

[0053] Figure 2 Fig. 3 is a schematic diagram of the pitch motion force analysis of the wind turbine blade transportation vehicle;

[0054] Figure 3A force analysis diagram for a turning action of a wind blade transport vehicle;

[0055] Figure 4 A force analysis diagram for an inertial force when the wind blade transport vehicle turns;

[0056] Figure 5 A program flowchart of one embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the technical objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described below in combination with the accompanying drawings and specific embodiments. Figures 1-5 The technical solutions of the present application are further described below in combination with the accompanying drawings and specific embodiments.

[0058] Embodiment of the wind blade transport anti-rollover control method:

[0059] The wind blade transport anti-rollover control method comprises the following steps:

[0060] Step S1, determining a vehicle dangerous rollover line and inputting vehicle structure parameters;

[0061] The vehicle structure parameters comprise a wind blade assembly self-weight G1, a turntable plus a counterweight self-weight G2, a chassis assembly self-weight G3 and the distance between each self-weight and the dangerous rollover line;

[0062] Step S1 of determining the vehicle dangerous rollover line further comprises: determining the four sides of the rectangle formed by the wheels of the wind blade transport vehicle as a front wheel rollover line, a rear wheel rollover line, a left wheel rollover line and a right wheel rollover line, wherein the left and right wheel rollover lines are parallel to the vehicle driving direction, and the front and rear wheel rollover lines are perpendicular to the vehicle driving direction; for the wind blade transport vehicle, as shown in the accompanying drawings, the left wheel rollover line CD and the right wheel rollover line AB are both dangerous rollover lines, and specifically, it is necessary to determine whether the left wheel rollover line CD or the right wheel rollover line AB is the dangerous rollover line according to the wind blade turning angle information; Figure 1 In this embodiment, the right wheel rollover line AB is taken as the dangerous rollover line. Figure 1

[0063] In this embodiment, the right wheel rollover line AB is taken as the dangerous rollover line.

[0064] Step S2, reading sensor information: a display control integrated host, a wind blade turning angle sensor, a wind blade pitch angle sensor, a front wheel deflection angle sensor and a vehicle speed sensor are arranged on the wind blade transport vehicle; the display control integrated host collects the wind blade turning angle sensor value β, the wind blade pitch angle sensor value θ, the front wheel deflection angle sensor value α and the vehicle speed sensor value v in real time.

[0065] ​Step S3, judging the vehicle running state according to the vehicle speed sensor and the front wheel deflection angle sensor: when the vehicle is in a horizontal state and the vehicle is in a low-speed running or parking state, entering step S4; when the vehicle is in a high-speed running state, entering step S5.

[0066] Step S4, calculating the related parameters of the limit overturning state of the vehicle in the horizontal state and the low-speed running or parking state of the vehicle: in the vehicle state, the wind power blade pitching action and the turning action have corresponding limit overturning states respectively, and the transport risk coefficients η of the two wind power blades can be obtained.

[0067] As one of the embodiments of the present application, step S4 of determining the related parameters of the limit overturning state further comprises: respectively determining the limit pitching angle θ lim1 cosine value, limit turning angle β lim1 sine value;

[0068] Specifically, the whole unit is left-right symmetrical, the overturning moment generated by the self-weight of the upper installation is determined according to the following formula (1), the overturning moment generated by the self-weight of the chassis is determined according to formula (2), and then the overturning combined moment of the relative dangerous overturning line is determined according to formula (4) (the overturning moment refers to the moment formed by the working load or part of the load outside the overturning line relative to the overturning line, and the overturning combined moment refers to the total moment calculated based on the corresponding dangerous overturning line):

[0069] M u = G1(r1|sinβ|-b)-G2(r2|sinβ|+b) (1)

[0070] M d =-G3b (2)

[0071] M t =M u +M d (3)

[0072] M t =G1[(ecosθ-t)|sinβ|-b]-G2(r2|sinβ|+b)-G3b (4)

[0073] determining the limit pitching angle θ lim1 cosine value of the wind power blade: when the wind power blade performs the pitching action, the wind power blade turning angle β is constant, and in the limit overturning state of the vehicle, formula (4) Mt=0 is established, and the limit value of the change range of the wind power blade pitching angle is obtained:

[0074]

[0075] Wherein, G1 is the weight of the wind turbine blade assembly, G2 is the weight of the turntable plus the counterweight, G3 is the weight of the chassis assembly, b is the distance from the rotation center to the dangerous overturning line, r1 is the horizontal distance from the wind turbine blade weight center of gravity to the rotation center, r2 is the horizontal distance from the turntable and counterweight weight center of gravity to the rotation center, e is the distance from the wind turbine blade weight center to the blade tail hinge point along the wind turbine blade axial direction, t is the horizontal distance from the blade tail hinge point to the rotation center, Mu is the overturning moment of the upper-mounted weight, Md is the overturning moment of the chassis weight, Mt is the corresponding overturning resultant moment, θ is the included angle between the wind turbine blade and the vehicle chassis plane, the pitch angle θ of the wind turbine blade ranges from 0° to 90°, and β is the rotation angle of the wind turbine blade, that is, the included angle between the projection of the wind turbine blade on the vehicle chassis plane and the vehicle longitudinal axis (driving direction), and the rotation angle β of the wind turbine blade ranges from 0° to 360°.

[0076] In the horizontal state of the vehicle, and in the low-speed state or the parking state of the vehicle, the pitch angle cosine value cosθ of the wind turbine blade is ensured to be less than cosθ lim1 in the wind turbine blade lifting process, so that the vehicle is in a safe state (when the wind turbine blade rotates to a certain position, the wind turbine blade is more likely to overturn in the pitch process as the pitch angle of the wind turbine blade is smaller and closer to the vehicle chassis).

[0077] The limit rotation angle β of the wind turbine blade is determined. lim1 The sine value: in the vehicle limit overturning state, the wind turbine blade rotates when the pitch angle θ of the wind turbine blade is constant, formula (4) Mt = 0 is established, and the limit value of the change range of the wind turbine blade rotation angle is obtained.

[0078]

[0079] In the low-speed driving state or the parking state of the vehicle on a flat road, the rotation angle sine value |sinβ| of the wind turbine blade is ensured to be less than |sinβ lim1 | in the wind turbine blade rotation process, so that the vehicle is in a safe state (when the wind turbine blade pitches to a certain position, the wind turbine blade is more likely to overturn in the rotation process as the rotation angle of the wind turbine blade is larger and farther away from the vehicle longitudinal axis).

[0080] Step S5, the related parameters in the limit overturning state of the vehicle in the high-speed driving state are calculated: in the vehicle state, the wind turbine blade pitch action, the wind turbine blade rotation action and the vehicle turning each have a corresponding limit overturning state, and three wind turbine blade transportation danger coefficients η can be obtained.

[0081] As one of the embodiments of the application, the step S5 of determining the related parameters in the limit overturning state further comprises: respectively determining the limit pitch angle θ lim2 cosine value of the wind turbine blade and the limit rotation angle β lim2sin value, limit driving speed v lim ;

[0082] Specifically, when the vehicle is determined to be in driving state, the vehicle is determined to be in steering, and the vehicle is determined to be in acceleration and deceleration driving state, the limit pitch angle or limit rotation angle of the wind power blade is calculated, and the limit driving speed is further calculated;

[0083] The inertial force exists in the self-weight G1 of the wind power blade assembly, the self-weight G2 of the turntable plus the weight, and the self-weight G3 of the chassis assembly. When steering, the overturning moment relative to the left and right wheel overturning lines is formed:

[0084]

[0085] Wherein, α is the steering angle, and the value range of α is (-90°, 90°). When driving in a straight line, α=0, when turning left, α>0, and when turning right, α<0; a is the vehicle acceleration, h3 is the height of the vehicle chassis gravity center from the ground, h2 is the height of the gravity center of the turntable plus the weight, and h3 is the height of the wind power blade from the ground, h3=h2+esinθ;

[0086] The formula M t =M u +M d +M a The overturning resultant moment relative to the dangerous overturning line is obtained:

[0087]

[0088] Determination of the limit pitch angle θ of the wind power blade lim2 Sin value: when the rotation angle β of the wind power blade is constant, the formula (6) Mt=0 is used to obtain the limit pitch angle cosine value of the position of the wind power blade:

[0089]

[0090] Determination of the limit rotation angle β of the wind power blade lim2 Sin value: when the pitch angle θ of the wind power blade is constant, the formula (6) Mt=0 is used to obtain the limit rotation angle sine value of the position of the wind power blade:

[0091]

[0092] Determination of the limit driving speed v of the wind power blade lim : The formula (6) Mt=0 is used to obtain the limit acceleration of the position (θ, β, α) of the wind power blade:

[0093]

[0094] Then, the limit driving speed of the entire vehicle unit at the position (θ, β, α) is obtained:

[0095]

[0096] wherein s is the minimum braking distance of the vehicle.

[0097] Determine the transport risk coefficient η of the wind turbine blade at the current position:

[0098] Transport risk coefficient of the vehicle in low-speed driving or parking state

[0099]

[0100]

[0101] Transport risk coefficient of the vehicle in driving state

[0102]

[0103]

[0104]

[0105] Step S6, according to the values of the five transport risk coefficients in step S5, respectively judge: when all transport risk coefficients η≤90%, the wind turbine blade transport vehicle works normally, and the steps S2 to S6 are repeated; when any one of the transport risk coefficients is 90%<η≤95%, the display of the display control integrated host machine issues a yellow warning; when any one of the transport risk coefficients is 95%<η<100%, the display of the display control integrated host machine issues a red warning, at the same time, the dangerous action circuit is cut off, the buzzer buzzes, and the wind turbine blade transport vehicle is limited to only move in the safe direction to prevent accidents of the wind turbine blade transport vehicle.

[0106] The above embodiments are not limited in shape, material, structure, etc. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application are within the protection scope of the present application.

Claims

1. A method for preventing overturning during wind turbine blade transportation, characterized in that, Includes the following steps: Step S1: Determine the dangerous overturning line of the vehicle and input the vehicle structural parameters; the vehicle structural parameters include the self-weight of the wind turbine blade assembly G1, the self-weight of the turntable plus counterweight G2, the self-weight of the chassis assembly G3, and the distance between each of the weights and the dangerous overturning line. Step S2, Read sensor information: Set up an integrated display and control host, a wind turbine blade slewing angle sensor, a wind turbine blade pitch angle sensor, a front wheel yaw angle sensor, and a vehicle speed sensor on the wind turbine blade transport vehicle; the integrated display and control host collects the values ​​β, θ, α, α, and v of the wind turbine blade slewing angle sensor, wind turbine blade pitch angle sensor, front wheel yaw angle sensor, and vehicle speed sensor in real time. Step S3: Determine the vehicle's driving status based on the vehicle speed sensor and the front wheel yaw angle sensor: When the vehicle is level and in a low-speed driving or parked state, proceed to step S4; when the vehicle is in a high-speed driving state, proceed to step S5. Step S4: Calculate the relevant parameters of the ultimate overturning state when the vehicle is in a horizontal state, when the vehicle is traveling at low speed, or when it is parked. Under these vehicle conditions, the pitching and slewing movements of the wind turbine blades have corresponding ultimate overturning states, and each corresponds to a different wind turbine blade transportation hazard factor η. Step S5: Calculate the relevant parameters under the extreme overturning state when the vehicle is traveling at high speed: Under this vehicle state, the pitching motion of the wind turbine blade, the slewing motion, and the turning of the vehicle have corresponding extreme overturning states, and correspond to three different wind turbine blade transportation hazard factors η respectively. Step S6: Based on the values ​​of the five transportation hazard coefficients, a judgment is made: when all transportation hazard coefficients η≤90%, the wind turbine blade transport vehicle operates normally and repeats steps S2 to S6; when any one of the transportation hazard coefficients is 90%<η≤95%, the display of the integrated control host issues a yellow warning; when any one of the transportation hazard coefficients is 95%<η<100%, the display of the integrated control host issues a red warning, the dangerous action circuit is cut off, the buzzer sounds, and the wind turbine blade transport vehicle is restricted to moving only in a safe direction to prevent accidents from occurring.

2. The wind turbine blade anti-tipping control method according to claim 1, characterized in that, Step S1, determining the dangerous overturning line of the vehicle, further includes: defining the four sides of the rectangle formed by the wheels of the wind turbine blade transport vehicle as the front wheel overturning line, rear wheel overturning line, left wheel overturning line, and right wheel overturning line. Among them, the overturning lines that are in the same direction as the vehicle's travel are the left and right wheel overturning lines, and the overturning lines that are perpendicular to the vehicle's travel direction are the front and rear wheel overturning lines. For wind turbine transport units, wind turbine blade transport vehicles are extra-long vehicles, and both their left wheel overturning line CD and right wheel overturning line AB are dangerous overturning lines. Specifically, it is necessary to determine whether to use the left wheel overturning line CD or the right wheel overturning line AB as the dangerous overturning line based on the wind turbine blade rotation angle information.

3. The wind turbine blade anti-tipping control method according to claim 1 or 2, characterized in that, Step S4, determining the relevant parameters for the ultimate overturning state, further includes: determining the ultimate pitch angle θ of the wind turbine blades. lim1 Cosine value, limiting gyration angle β lim1 sine value; Specifically, the entire unit is symmetrical from left to right. The overturning moment generated by the self-weight of the superstructure is determined according to the following formula (1), the overturning moment generated by the self-weight of the chassis is determined according to formula (2), and then the resultant overturning moment relative to the dangerous overturning line is determined according to formula (4): M u =G1(r1|sinβ|-b)-G2(r2|sinβ|+b) (1) M d =-G3b (2) M t =M u +M d (3) M t =G1[(ecosθ-t)|sinβ|-b]-G2(r2|sinβ|+b)-G3b (4) Determine the limiting pitch angle θ of the wind turbine blade lim1 Cosine value: When the rotation angle β of the wind turbine blade is constant, and the wind turbine blade is pitching, under the extreme overturning state of the vehicle, let Mt = 0 in formula (4) to obtain the limit value of the pitch angle variation range of the wind turbine blade: Wherein, G1 is the self-weight of the wind turbine blade assembly, G2 is the self-weight of the turntable plus counterweight, G3 is the self-weight of the chassis assembly, b is the distance from the center of rotation to the dangerous overturning line, r1 is the horizontal distance from the center of gravity of the wind turbine blade to the center of rotation, r2 is the horizontal distance from the center of gravity of the turntable and counterweight to the center of rotation, e is the distance from the center of gravity of the wind turbine blade to the tail hinge point along the axial direction of the wind turbine blade, t is the horizontal distance from the tail hinge point to the center of rotation, Mu is the overturning moment of the superstructure self-weight, Md is the overturning moment of the chassis self-weight, Mt is the corresponding resultant overturning moment, θ is the angle between the wind turbine blade and the vehicle chassis plane, the pitch angle θ of the wind turbine blade takes the value range of (0°, 90°), β is the slewing angle of the wind turbine blade, that is, the angle between the projection of the wind turbine blade on the vehicle chassis plane and the longitudinal axis of the vehicle, the slewing angle β of the wind turbine blade takes the value range of (0°, 360°). Determine the limiting slewing angle β of the wind turbine blade lim1 Sine value: With the pitch angle θ of the wind turbine blade constant, when the wind turbine blade is rotating, under the extreme overturning state of the vehicle, let Mt = 0 in formula (4) to obtain the limit value of the range of variation of the rotation angle of the wind turbine blade:

4. The wind turbine blade anti-tipping control method according to claim 3, characterized in that: When the vehicle is level, at low speed, or stationary, during the lifting process of the wind turbine blades, ensure that the cosine value of the pitch angle of the wind turbine blades, cosθ, is less than cosθ. lim1 If so, the vehicle is in a safe condition; On a flat road, with the vehicle traveling at low speed or stationary, during the rotation of the wind turbine blades, it is essential to ensure that the sine value of the rotation angle of the wind turbine blades is |sinβ| < |sinβ|. lim1 If |, then the vehicle is in a safe condition.

5. The wind turbine blade anti-tipping control method according to claim 4, characterized in that, Step S5, determining the relevant parameters under the ultimate overturning state, further includes: determining the ultimate pitch angle θ of the wind turbine blades. lim2 Cosine value, limiting gyration angle β lim2 Sine value, maximum driving speed v lim ; Once the vehicle is in motion, turning, and accelerating or decelerating, calculate the limit pitch angle or limit yaw angle of the wind turbine blades, and further calculate the limit speed. The self-weight G1 of the wind turbine blade assembly, the self-weight G2 of the turntable plus counterweight, and the self-weight G3 of the chassis assembly all have inertial forces, which will generate overturning moments relative to the overturning lines of the left and right wheels when turning. Where α is the steering angle, and the value of α is in the range of (-90°, 90°). When driving straight, α = 0, when turning left, α > 0, and when turning right, α < 0; a is the vehicle acceleration, h3 is the height of the vehicle chassis center of gravity from the ground, h2 is the height of the turntable center of gravity with counterweight, and h3 is the height of the wind turbine blade from the ground, h3 = h2 + esinθ; From formula M t =M u +M d +M a The resultant overturning moment at the relatively dangerous overturning line is obtained as follows: Determine the limiting pitch angle θ of the wind turbine blade lim2 Cosine value: When the rotation angle β of the wind turbine blade is constant, let Mt = 0 in formula (6) to obtain the cosine value of the limiting pitch angle at the position of the wind turbine blade: Determine the limiting slewing angle β of the wind turbine blade lim2 Sine value: When the pitch angle θ of the wind turbine blade is constant, let Mt = 0 in formula (6) to obtain the sine value of the limiting rotation angle at the location of the wind turbine blade: Determine the limiting speed v of the wind turbine blade lim Setting formula (6) Mt=0, we obtain the limiting acceleration at the position (θ, β, α) of the wind turbine blade: Then, the maximum speed of the entire vehicle unit at its current position (θ, β, α) is obtained: Where s is the vehicle's minimum braking distance.

6. A method for calculating the transportation hazard factor in the anti-tipping control of wind turbine blade transportation, based on claim 5, characterized in that: The transportation hazard factor η when the vehicle is traveling at low speed or parked is the ratio of the cosine value of the pitch angle or the sine value of the rotation angle of the wind turbine blade at the current position to the corresponding parameter under the ultimate overturning state. The transportation hazard factor η under vehicle driving conditions is the ratio of the cosine value of the wind turbine blade pitch angle, the sine value of the slewing angle, or the vehicle speed to the corresponding parameter under the extreme overturning state at the current position. All five transportation hazard coefficients η mentioned above are absolute values.

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