A full-scale static test method for wind turbine blades

Abstract

The present application relates to the technical field of wind power blade static test, and particularly relates to a full-size static test method for wind power blade, which comprises the following steps: S1: obtaining real-time position information and real-time pose information of each loading point of the blade; S2: measuring real-time direction of loading force of each loading point of the blade; S3: obtaining normal direction of the blade of each loading point in the deformation process of the blade through the real-time position information and real-time pose information of the blade in step S1; an included angle theta is formed between the real-time direction of the loading force and the normal direction of the blade; S4: calculating the real-time bending moment distribution of the blade and the compensation value of the loading force of each static loading support through the loading force value of the static loading support, the real-time loading direction of each loading point and the included angle theta, and adjusting the loading force of the static loading support according to the compensation value. The present application can improve the test efficiency and reduce the test difficulty.

Description

A full-size static test method for wind turbine blades Technical Field

[0001] This invention relates to the field of static testing technology for wind turbine blades, and more particularly to a full-size static testing method for wind turbine blades. Background Technology

[0002] With the advancement of national energy conservation and emission reduction policies, green and environmentally friendly energy has become a key development direction for the future. Wind energy, as a pollution-free and renewable green energy source, has enormous development potential, especially for coastal islands, remote mountainous areas, grasslands, pastures, and rural and border regions far from the power grid or difficult for the grid to reach in the short term. It is of great significance as a reliable way to solve energy problems for production and daily life. Wind energy has the advantages of low energy consumption, environmental friendliness, and large reserves. The utilization of wind energy is usually achieved by converting wind energy into electrical energy through wind turbines, thus generating electricity using wind power. Wind turbine blades are one of the core components of wind turbines, and wind power generation requires wind turbine blades.

[0003] Wind turbine blades have complex shapes and operate in harsh environments, subjected to various complex loads during operation. Therefore, static testing of wind turbine blades before use is crucial. The following patents in the prior art relate to static testing of wind turbine blades:

[0004] 1. The invention patent with patent number "201810114583.9" and patent name "A Precise Visual Measurement Method for Three-Dimensional Displacement of Leaf Tip" involves attaching a marker circle to the tip of the blade to be measured, setting up a three-dimensional measurement device with a visual sensor, calibrating the parameters of a single camera, transforming all camera coordinate systems to a global coordinate system with the help of a laser tracker, detecting the sub-pixel image coordinates of the center point of the marker circle on the leaf tip using various image algorithms, and finally obtaining the three-dimensional coordinates of the center point of the marker circle on the leaf tip in the global coordinate system before and after static loading using the principle of stereo vision reconstruction. The displacement of the leaf tip in each dimension is calculated using the three-dimensional coordinate values ​​before and after loading.

[0005] This patent solves the problems of inaccurate measurement and limited measurement range of three-dimensional deformation at the blade tip in static loading tests of wind turbine blades. However, this patent requires the construction of multiple additional supports and can only measure the displacement of the blade tip, making the testing equipment complex and the detection range quite limited.

[0006] 2. The invention patent with patent number "202110766870.X" and patent name "A Precise Measurement Device for the Spatial Angle of Wire Rope and Wind Turbine Blade in Full-Scale Static Loading Test of Wind Turbine Blade" includes static loading and angle measurement. It can quickly and accurately calculate the loading angle of the wire rope when the blade deforms, realize real-time tracking of the three-dimensional spatial trajectory data of the blade's spatial torsion, and the measurement process is simple and the results are reliable.

[0007] However, the clamp position in this patent requires three wire sensors, has a long preparation time, needs to be fixed to an external bracket, requires the introduction of a calculation algorithm, and requires the data results to be screened, making the detection equipment and detection process in this patent quite complex.

[0008] Meanwhile, as can be seen from the above, the current static test of wind turbine blades usually uses several wire sensors or a total station to measure the deformation of the blade during the static test, and it is difficult to conduct a comprehensive inspection of the blade. When a total station is used to measure deformation, the measurement personnel need to have certain experience and it takes a lot of time to measure the blade position at each loading stage, which will greatly extend the test time and test efficiency of the blade static test.

[0009] In conclusion, designing a testing method that can perform omnidirectional static testing of blades without the need for multiple wire sensors is an urgent problem to be solved. Summary of the Invention

[0010] To address the aforementioned problems, this invention provides a full-scale static testing method for wind turbine blades. By setting multiple loading points on the blade and simultaneously applying loads, a full-scale static test of the blade can be achieved. This method can measure the position information and pose information of each loading point on the blade, resulting in high testing efficiency, high testing accuracy, and low testing difficulty.

[0011] To achieve the above objectives, the present invention proposes the following technical solution: a full-size static test method for wind turbine blades, comprising setting multiple loading points on the blade and simultaneously loading the multiple loading points using a static loading bracket, the static test including the following steps:

[0012] S1: Obtain the real-time position and pose information of each loading point on the blade;

[0013] S2: Real-time measurement of the direction of the loading force at each loading point of the blade;

[0014] S3: Obtain the blade normal at each loading point during blade deformation using the real-time blade position and pose information obtained in step S1; the real-time direction of the loading force measured in step S2 forms an angle θ with the blade normal.

[0015] S4: Calculate the real-time bending moment distribution of the blade and the compensation value of the loading force of each static loading support by using the loading force value of the static loading support, the real-time loading direction of each loading point and the included angle θ. The tester adjusts the loading force of the static loading support according to the compensation value.

[0016] Preferably, the acquisition of real-time position information and real-time pose information of each loading point of the blade in step S1 includes the following steps:

[0017] S11: A blade clamp is set at each loading point of the blade and an RTK data monitoring module is installed on the blade clamp. The position information of each loading point of the blade is measured through the RTK data monitoring module.

[0018] S12: Set up an RTK base station to eliminate the positioning error of the RTK data monitoring module;

[0019] S13: Set up a central calculation software module to receive the position information of each loading point measured by the RTK data monitoring module and the positioning error information sent by the RTK base station, and calculate the real-time position information and real-time pose information of each loading point of the blade.

[0020] Preferably, the real-time direction of the loading force at each loading point of the blade in step S2 is obtained through the following steps:

[0021] S21: Measure the position information of the rope exit point of the fixed pulley on the static loading support using a total station or distance sensor;

[0022] S22: The central calculation software module inputs the position information of the rope exit point of the fixed pulley in advance;

[0023] S23: The central calculation software module combines the real-time position and pose information of the blade in step S1 to solve for the direction of the wire rope between the blade clamp and the fixed pulley, that is, the real-time direction of the loading force at each loading point.

[0024] Preferably, the real-time direction of the loading force at each loading point and the blade normal are projected onto a plane coordinate system, and the included angle θ in step S3 is obtained in the plane coordinate system.

[0025] Preferably, the real-time bending moment of the blade in step S4 is: FLcosθ; where F is the target loading force value of the blade, and L is the distance from each loading point to the blade root.

[0026] Preferably, the compensation value F2 of the static loading support in step S4 is obtained by the following formula:

[0027] F2 = F x -F1

[0028] Among them, F x F1 is the actual applied force value of the blade, and F2 is the target applied force value of the blade.

[0029] Preferred, F x The calculation method is as follows:

[0030] F x Lcosθ=F1L;

[0031]

[0032] Preferably, when the blade is subjected to static testing, the winch on the static loading support applies loading tension to the blade clamps at each loading point simultaneously via a wire rope. At this time, the blade deforms under the multi-point loading force.

[0033] Preferably, the RTK data monitoring module uses WGS84 coordinates or CGCS2000 coordinates. In step S13, the real-time position information and real-time pose information of each loading point of the blade are calculated, specifically including:

[0034] S131: The central calculation software module uses the three-parameter method or the seven-parameter method to transform the WGS84 coordinates or CGCS2000 coordinates into the blade three-dimensional coordinate system;

[0035] S132: Displays the real-time position and pose of each loading point on the blade in the three-dimensional coordinate system of the blade through the central solution software module.

[0036] Preferably, two RTK data monitoring modules are horizontally spaced on the blade clamp at each loading point of the blade; the central calculation software module adopts an adaptive filtering algorithm.

[0037] The beneficial effects of this invention are:

[0038] 1. This invention enables full-size static testing of blades by setting multiple loading points on the blade and simultaneously loading multiple loading points, thereby improving testing efficiency and accuracy.

[0039] 2. The present invention uses a single loading point dual RTK data monitoring module for measurement, which can not only measure the position information of each loading point of the blade, but also measure the pose information of each loading point of the blade.

[0040] 3. The RTK data monitoring module is easy to install, requiring no long preparation time or complicated preparation work, and no surveying experience is required from the testers. The results can be displayed through the corresponding calculation software, which improves the testing efficiency and reduces the testing difficulty.

[0041] 4. The central calculation module can use the data and information measured by the RTK data monitoring module to calculate the real-time bending moment distribution of the blade and the compensation value of the tension at each loading point of the blade. It can assist testers in adjusting the output tension of the static loading support to ensure the load accuracy and positioning accuracy of the blade static test. Attached Figure Description

[0042] Figure 1 is a schematic diagram of the blade loading point position calculation provided in an embodiment of the present invention.

[0043] Figure 2 is a top view of the blade static test provided in an embodiment of the present invention.

[0044] Figure 3 is a schematic diagram of the direction of the loading force and the blade normal provided in an embodiment of the present invention.

[0045] Reference numerals in the attached diagram: 1. Central calculation software module; 2. RTK data monitoring module; 3. RTK base station; 4. Static loading support; 5. Rope exit point of fixed pulley; 6. Blade clamp; 7. Wire rope; 8. Test base. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to Figures 1-3 and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0047] A full-size static test method for wind turbine blades involves setting multiple loading points on the blade and simultaneously loading these points using a static loading bracket 4. Specifically, a winch on the static loading bracket 4 applies a loading tension to the blade clamps 6 at each loading point via a wire rope 7. Under the combined loading forces at multiple points, the blade deforms. As shown in Figures 2 and 3, the blade is placed on a test base 8. D1 is the initial position of the blade, D2 is the position after deformation, D3 is the blade normal at the loading point, and D4 is the actual loading force direction at the loading point.

[0048] Static testing includes the following steps:

[0049] S1: Obtain the real-time position and pose information of each loading point on the blade;

[0050] S11: A blade clamp 6 is set at each loading point of the blade and an RTK data monitoring module 2 is installed on the blade clamp 6. Two RTK data monitoring modules 2 are set horizontally at intervals on the blade clamp 6 at each loading point of the blade. The position information of each loading point of the blade is measured by the RTK data monitoring module 2.

[0051] S12: Set up RTK base station 3 to eliminate the positioning error of RTK data monitoring module 2;

[0052] S13: The central calculation software module 1 is configured to receive the position information of each loading point measured by the RTK data monitoring module 2 and the positioning error information sent by the RTK base station 3. After calculation, the real-time position and pose information of each loading point on the blade are obtained. The central calculation software module 1 employs adaptive filtering to perform lossless filtering on the acquired measurement data. The RTK data monitoring module 2 uses WGS84 coordinates or CGCS2000 coordinates.

[0053] S131: Central solution software module 1 uses the three-parameter method or the seven-parameter method to transform WGS84 coordinates or CGCS2000 coordinates into the blade three-dimensional coordinate system;

[0054] S132: The real-time position and pose of each loading point on the blade in the three-dimensional coordinate system are displayed through the central calculation software module 1. Since each blade fixture 6 is equipped with two sets of high-precision RTK data monitoring modules 2, the central calculation software module 1 can calculate the pose information of the blade fixture 6.

[0055] S2: Real-time measurement of the direction of the loading force at each loading point on the blade; specifically:

[0056] S21: Measure the position information of the rope exit point 5 of the fixed pulley on the static loading support 4 using a total station or distance sensor;

[0057] S22: The central calculation software module 1 inputs the position information of the fixed pulley rope exit point 5 in advance;

[0058] S23: The central calculation software module 1 combines the real-time position information and real-time pose information of the blade in step S1 to solve for the direction of the wire rope 7 between the blade clamp 6 and the fixed pulley, that is, the real-time direction of the loading force at each loading point.

[0059] S3: Obtain the blade normal at each loading point during blade deformation using the real-time blade position and pose information from step S1; the real-time loading force direction measured in step S2 forms an angle θ with the blade normal; as shown in Figure 3, using XOZ plane coordinates, project the actual loading force direction D4 and the blade normal D3 onto the XOZ plane coordinates, and the actual loading force direction D4 and the blade normal D3 form a projection on this plane, obtaining the angle θ in step S3 through the projection of the actual loading force direction D4 and the blade normal D3; similarly, the angle θ in the other two plane coordinate systems can be obtained.

[0060] S4: The real-time bending moment distribution of the blade and the compensation value of the loading force of each static loading support 4 are calculated by the loading force value of the static loading support 4, the real-time loading direction of each loading point and the included angle θ. The tester adjusts the loading force of the static loading support 4 according to the compensation value.

[0061] Wherein, the real-time bending moment of the blade is FLcosθ; where F is the target loading force value of the blade, and L is the distance from each loading point to the blade root.

[0062] The compensation value of the load on the statically loaded support 4 is F2, which is obtained by the following formula:

[0063] F2 = F x -F1

[0064] Among them, F x F1 is the actual applied force value of the blade, and F2 is the target applied force value of the blade.

[0065] Because an angle θ exists during actual loading, while there is no interference from the angle θ during theoretical loading, F is derived from this. x The calculation method is as follows:

[0066] F x Lcosθ=F1L;

[0067]

[0068] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0069] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for full-size static testing of wind turbine blades, characterized in that, Multiple loading points are set on the blade and the static loading bracket (4) is used to load the multiple loading points simultaneously. The static test includes the following steps: S1: Obtain the real-time position information and real-time pose information of each loading point on the blade; S2: Real-time measurement of the direction of the loading force at each loading point of the blade; S3: Obtain the blade normal at each loading point during blade deformation using the real-time position and pose information of the blade in step S1; the real-time direction of the loading force measured in step S2 forms an angle θ with the blade normal; S4: Calculate the real-time bending moment distribution of the blade and the compensation value of the loading force of each static loading support (4) using the loading force value of the static loading support (4), the real-time loading direction of each loading point, and the angle θ; the tester adjusts the loading force of the static loading support (4) according to the compensation value; the acquisition of the real-time position and pose information of each loading point of the blade in step S1 includes the following steps Step: S11: Set up a blade clamp (6) at each loading point of the blade and install an RTK data monitoring module (2) on the blade clamp (6). Measure the position information of each loading point of the blade through the RTK data monitoring module (2); S12: Build an RTK base station (3) to eliminate the positioning error of the RTK data monitoring module (2); S13: Set up a central calculation software module (1) to receive the position information of each loading point measured by the RTK data monitoring module (2) and the positioning error information sent by the RTK base station (3). Calculate the real-time position information and real-time pose information of each loading point of the blade.

2. The full-size static test method for wind turbine blades according to claim 1, characterized in that, The real-time direction of the loading force at each loading point of the blade in step S2 is obtained through the following steps: S21: Measure the position information of the rope exit point (5) of the fixed pulley on the static loading support (4) by using a total station or distance sensor; S22: Input the position information of the rope exit point (5) of the fixed pulley in advance into the central calculation software module (1); S23: Combine the real-time position information and real-time pose information of the blade in step S1 to solve for the direction of the wire rope (7) between the blade clamp (6) and the fixed pulley, that is, the real-time direction of the loading force at each loading point.

3. The full-size static test method for wind turbine blades according to claim 2, characterized in that, Project the real-time direction of the loading force at each loading point and the blade normal onto the plane coordinate system, and obtain the included angle θ from step S3 in the plane coordinate system.

4. The method for full-size static testing of wind turbine blades according to any one of claims 1-3, characterized in that, The real-time bending moment of the blade in step S4 is: Where F is the target loading force value of the blade, and L is the distance from each loading point to the blade root.

5. The full-size static test method for wind turbine blades according to claim 4, characterized in that, The compensation value of the loading force of the static loading support (4) mentioned in step S4 It can be obtained through the following formula: ,in, This represents the actual applied force value on the blade. This represents the target applied force value for the blade.

6. The full-size static test method for wind turbine blades according to claim 5, characterized in that, The calculation method is as follows: 。 7. The full-size static test method for wind turbine blades according to claim 6, characterized in that, When the blade is subjected to static testing, the winch on the static loading bracket (4) applies loading tension to the blade clamps (6) at each loading point simultaneously via the wire rope (7). At this time, the blade deforms under the multi-point loading force.

8. The full-size static test method for wind turbine blades according to claim 7, characterized in that, The RTK data monitoring module (2) uses WGS84 coordinates or CGCS2000 coordinates. The real-time position information and real-time pose information of each loading point of the blade are obtained by calculation in step S13. Specifically, it includes: S131: The central calculation software module (1) uses the three-parameter method or the seven-parameter method to convert the WGS84 coordinates or CGCS2000 coordinates into the three-dimensional coordinate system of the blade; S132: The central calculation software module (1) displays the real-time position and real-time pose of each loading point of the blade in the three-dimensional coordinate system of the blade.

9. The full-size static test method for wind turbine blades according to claim 8, characterized in that, Two RTK data monitoring modules (2) are horizontally spaced on the blade clamp (6) at each loading point of the blade; the central solution software module (1) adopts an adaptive filtering algorithm.

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