A Beidou-based offshore wind turbine safety monitoring system and monitoring method

Abstract

The present application relates to a Beidou-based offshore wind turbine safety monitoring system and a monitoring method thereof. The monitoring system includes a monitoring station receiver and a base station receiver; the monitoring station receiver includes a Beidou antenna, a monitoring station OEM board, an MCU and a monitoring station communication module connected in sequence; the base station receiver includes a Beidou main antenna, a Beidou sub-antenna, a base station OEM board, an edge solution platform and a base station communication module; the MCU is used to send the monitoring station raw data sent by the monitoring station OEM board to the monitoring station communication module, and the monitoring station communication module sends the monitoring station raw data to the edge solution platform through the base station communication module; the base station OEM board is used to collect the raw data of the Beidou main antenna and the raw data of the Beidou sub-antenna and transmit the raw data to the edge solution platform, and the edge solution platform is used to solve the wind turbine posture and wind turbine warning status and control the start and stop of the wind turbine to achieve high-precision warning of offshore wind turbines.

Description

Technical Field

[0001] The present application relates to the field of offshore wind turbine safety monitoring, and in particular to a Beidou-based offshore wind turbine safety monitoring system and a monitoring method thereof. Background Art

[0002] Offshore wind turbines typically come in monopile and semi-submersible configurations. Semi-submersible turbines utilize three buoys as a floating foundation, anchored by ship anchors. In extreme conditions, such as high winds, the three buoys can drift and sway dramatically with the sea surface, causing the turbine to tilt and the tower to swing excessively and tilt. In extreme cases, the tower can even bend, break, or even overturn and collapse. To address this, offshore wind turbines currently rely on inclination and vibration sensors to monitor the turbine's tilting and displacement trajectory, providing real-time early warning.

[0003] However, tilt sensors need to be installed at multiple elevations on the wind turbine tower, making installation difficult. Furthermore, the angle calculation requires quadratic integration, which can easily lead to cumulative errors. Vibration sensor measurement methods primarily use accelerometers to measure wind turbine tower vibrations. Dynamic displacement is obtained by performing quadratic integration on the de-noised acceleration data. However, due to unknown initial velocity and displacement, the results drift, and the displacement results cannot accurately reflect the tower's trajectory, resulting in low early warning accuracy. Summary of the Invention

[0004] In order to improve the early warning accuracy of the offshore wind turbine safety monitoring system, the present application provides a Beidou-based offshore wind turbine safety monitoring system and a monitoring method thereof.

[0005] This application provides a BeiDou-based offshore wind turbine safety monitoring system and monitoring method using the following technical solutions:

[0006] on the one hand

[0007] A BeiDou-based offshore wind turbine safety monitoring system includes a monitoring station receiver and a reference station receiver;

[0008] The monitoring station receiver includes a Beidou antenna, a monitoring station OEM board, an MCU and a monitoring station communication module connected in sequence. The Beidou antenna is used to be installed in the center of the wind turbine cabin;

[0009] The base station receiver includes a Beidou main antenna, a Beidou sub-antenna, and a base station OEM board, an edge solution platform, and a base station communication module connected in sequence. The Beidou main antenna and the Beidou sub-antenna are both installed on the three buoys of the wind turbine.

[0010] The monitoring station OEM board is used to process the data sent by the Beidou antenna to obtain the monitoring station raw data, and the MCU is used to send the monitoring station raw data to the monitoring station communication module, and the monitoring station communication module sends the monitoring station raw data to the edge solution platform through the reference station communication module;

[0011] The base station OEM board is used to collect the raw data of the Beidou main antenna and the Beidou secondary antenna and transmit the raw data to the edge solving platform. The edge solving platform is used to solve the wind turbine posture and wind turbine warning status, and the edge solving platform is used to electrically connect to the wind turbine control system through a serial interface to control the start and stop of the wind turbine.

[0012] Preferably, the monitoring station communication module is a monitoring station radio station.

[0013] Preferably, the base station communication module includes a base station radio and a Beidou short message device, the base station radio is used to communicate data with the monitoring station communication module; the Beidou short message device is used to realize communication between the base station receiver and the data server, and the Beidou short message device is used to transmit the wind turbine attitude solution results and wind turbine warning information back to the data server.

[0014] on the other hand

[0015] A monitoring method, applied to a BeiDou-based offshore wind turbine safety monitoring system as claimed in any one of the preceding claims, comprises the following steps performed in sequence:

[0016] S1: record the original data of Beidou main antenna as A, the original data of Beidou secondary antenna as B, and the original data of monitoring station as C;

[0017] S2 establishes a northeast celestial coordinate system: the X-axis points to due north, the Y-axis points to due east, the Z-axis points to the zenith, and the origin of the coordinate system is the center of the bottom of the wind turbine;

[0018] S3 coordinate system correction:

[0019] S31 position solution: perform double difference solution on data A and data B to obtain vector Perform double difference calculation on data A and data C to obtain vector

[0020] S32 attitude angle calculation: Use vector AB0 to calculate the attitude angle according to the following formula:

[0021]

[0022]

[0023]

[0024] According to the attitude angle, the base attitude correction is calculated as follows:

[0025]

[0026] In the above formula Represents the rotation matrix that rotates the coordinate system to the 0th rotation,

[0027]

[0028] AC = (x, y, z) obtained from the previous calculation is used as the initial coordinates of C;

[0029] S4 real-time solution: After the fan rotates for the i-th time, the attitude angle is calculated using the attitude angle solution formula in S32. Calculate the baseline AC i =(x i ,y i ,z i ); the base attitude rotation matrix is Press the AC i To calibrate the base posture:

[0030]

[0031] D i =AC' i -AC=(Δx i ,Δy i ,Δz i )

[0032] In the above formula, D i is the actual displacement of the ith time, (Δx i ,Δy i ,Δz i ) are the displacements in the east, north and sky directions respectively;

[0033] S5 warning judgment:

[0034] S51 displacement trajectory warning:

[0035]

[0036] If S i >k, the wind turbine tower is judged to have undergone excessive deformation, and the edge computing platform sends a command to the wind turbine control system to control the wind turbine speed. k is the wind turbine displacement threshold input into the edge computing platform in advance and is determined based on experience.

[0037] S52 tilt angle warning: When the attitude angle of the wind turbine base in three directions When it is greater than the threshold σ, an early warning is issued and the blade speed is controlled. σ is determined based on experience.

[0038] Preferably, the method further includes the step of transmitting the warning result back: transmitting the displacement trajectory warning result and the tilt angle warning result back to the cloud server through the Beidou short message device, and the cloud server displays the solution result.

[0039] In summary, this application includes at least one of the following beneficial technical effects:

[0040] 1. The monitoring system of this application is easy to install. It only requires installing the base station receiver on the three buoys of the wind turbine and the monitoring station receiver on the top of the wind turbine. There is no need for segmented installation.

[0041] 2. The base station receiver and the monitoring station receiver are close to each other, and the solution accuracy is high. Compared with inclination and acceleration sensors, the error does not accumulate over time, which improves the credibility of the warning information and allows for timely correction of the wind turbine attitude to prevent destructive damage to the wind turbine.

[0042] 3. Data collection, calculation and early warning in the system are all realized at the wind turbine end, which can simultaneously monitor the displacement of the wind turbine top and the wind turbine attitude angle, thus achieving high-precision early warning of the wind turbine;

[0043] 4. Directly intervene in the fan control system after an early warning occurs, respond quickly, and reduce the possibility of fan damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a structural schematic diagram of an offshore wind turbine safety monitoring system based on Beidou installed on a wind turbine in an embodiment of the present application.

[0045] Figure 2 This is a logic diagram of a monitoring method according to an embodiment of the present application.

[0046] Figure 3 This is a schematic diagram of the northeastern celestial coordinate system in this application, the original positions of the Beidou main antenna, Beidou sub-antenna and Beidou antenna, and the Beidou main antenna, Beidou sub-antenna and Beidou antenna after the i-th rotation.

[0047] Explanation of the accompanying symbols: 1. Beidou antenna; 2. Monitoring station radio; 3. Reference station radio; 4. Beidou short message equipment; 5. Beidou main antenna; 6. Beidou auxiliary antenna; 7. Wind turbine three-float; 8. Wind turbine tower; 9. Wind turbine cabin; 10. Monitoring station equipment; 101. Reference station equipment. DETAILED DESCRIPTION

[0048] The following is combined with Figure 1-3 This application is described in further detail.

[0049] Reference Figure 1The embodiment of the present application discloses a Beidou-based offshore wind turbine safety monitoring system including a monitoring station receiver and a reference station receiver.

[0050] The monitoring station receiver includes a BeiDou antenna 1, a monitoring station OEM board, an MCU and a monitoring station communication module which are connected in sequence.

[0051] Beidou antenna 1 is installed in the center of wind turbine nacelle 9. The monitoring station OEM board, MCU, and monitoring station communication module are all installed in monitoring station equipment 10, which is installed on the wind turbine. The monitoring station communication module is set as monitoring station radio 2.

[0052] The base station receiver includes the Beidou main antenna 5, the Beidou secondary antenna 6, and the base station OEM board, edge solution platform and base station communication module connected in sequence.

[0053] The Beidou main antenna 5 and Beidou secondary antenna 6 are both mounted on the wind turbine's third buoy 7. The base station OEM board, edge computing platform, and base station communication module are all installed in base station equipment 101, which is mounted on the wind turbine. The base station communication module includes the base station radio 3 and the Beidou short message device 4.

[0054] Reference Figure 2 The monitoring station OEM board is used to process the data sent by the Beidou antenna to obtain the original data of the monitoring station. The MCU is used to send the original data of the monitoring station to the monitoring station radio. The monitoring station radio sends the original data of the monitoring station to the edge solution platform through the base station radio.

[0055] The base station OEM board collects raw data from the BeiDou primary and secondary antennas and transmits it to the edge computing platform, which calculates wind turbine attitude and warning status. The edge computing platform is electrically connected to the wind turbine control system via a serial interface and sends warning signals to the control system to control wind speed.

[0056] The base station radio is used to communicate data with the monitoring station radio. The BeiDou short message device is used to enable communication between the base station receiver and the data server, and the BeiDou short message device is used to transmit wind turbine attitude solution results and wind turbine warning information back to the data server.

[0057] Reference Figure 3 The present application also discloses a monitoring method using the Beidou-based offshore wind turbine safety monitoring system, which specifically includes the following steps performed in sequence:

[0058] S1: For the sake of simplicity, the original data of the Beidou main antenna is recorded as A, the original data of the Beidou secondary antenna is recorded as B, and the original data of the monitoring station is recorded as C.

[0059] S2 establishes the northeast celestial coordinate system: the X-axis points to due north, the Y-axis points to due east, the Z-axis points to the zenith, and the origin of the coordinate system is the center of the bottom of the wind turbine.

[0060] S3 coordinate system correction: Because the AB line of the Beidou main antenna and Beidou secondary antenna is not completely aligned with the Y axis when they are installed, the coordinates need to be corrected according to the attitudes solved by the Beidou main antenna and Beidou secondary antenna.

[0061] S31 position solution: perform double difference solution on data A and data B to obtain vector Perform double difference calculation on data A and data C to obtain vector

[0062] S32 attitude angle calculation: Use vector AB0 to calculate the attitude angle according to the following formula:

[0063]

[0064]

[0065]

[0066] According to the attitude angle, the base attitude correction is calculated as follows:

[0067]

[0068] In the above formula Represents the rotation matrix that rotates the coordinate system to the 0th rotation,

[0069]

[0070] The AC=(x, y, z) obtained in the last calculation is used as the initial coordinate of C. After the coordinate system is calibrated, A is now used as the zero point of the coordinate system.

[0071] S4 real-time solution: After the fan rotates for the i-th time, the attitude angle is calculated using the attitude angle solution formula in S32.

[0072] φ i ,θ i , γ i The heading angle, roll angle, and pitch angle of the i-th rotation around the Z, Y, and X coordinate axes are respectively solved to obtain the baseline AC i =(x i ,y i ,z i ); the base attitude rotation matrix is Press the AC i To calibrate the base posture:

[0073]

[0074] D i =AC' i -AC=(Δx i ,Δy i ,Δz i )

[0075] In the above formula, D i is the actual displacement of the ith time, (Δx i ,Δy i ,Δz i ) are the displacements in the east, north and sky directions respectively;

[0076] S5 warning judgment:

[0077] S51 displacement trajectory warning:

[0078]

[0079] If S i >k, the wind turbine tower is judged to have undergone excessive deformation, and the edge computing platform sends a command to the wind turbine control system to control the wind turbine speed. k is the wind turbine displacement threshold input into the edge computing platform in advance and is determined based on experience.

[0080] S52 tilt angle warning: When the attitude angle of the wind turbine base in three directions When it is greater than the threshold σ, an early warning is issued and the edge solution platform sends a command to the fan control system to control the fan speed. σ is determined based on experience.

[0081] S6 warning result feedback: The displacement trajectory warning results and tilt angle warning results are transmitted back to the cloud server through the Beidou short message device, and the cloud server displays the solution results.

[0082] Figure 3 In the figure, XYZ is the northeast celestial coordinate system, referred to as the n system, Y points to the east, X points to the north, and Z points to the zenith. O is the center of the three buoys of the wind turbine, A is the Beidou main antenna, B is the Beidou secondary antenna, and C is the Beidou antenna; φ i ,θ i , γ i are the heading angle, roll angle, and pitch angle of the i-th rotation around the Z, Y, and X coordinate axes, respectively. i 、B i 、C i The positions of antennas A, B, and C after rotation. Since the wind turbine tower will bend, C i O is the curve, C' i C i The position after the base attitude is corrected.

[0083] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A monitoring method, based on the Beidou offshore wind turbine safety monitoring system, characterized by: The method comprises the following steps in sequence: S1. Record the original data of the Beidou main antenna as A, the original data of the Beidou secondary antenna as B, and the original data of the monitoring station as C; S2. Establish a northeast celestial coordinate system: the X-axis points to due north, the Y-axis points to due east, the Z-axis points to the zenith, and the origin of the coordinate system is the center of the bottom of the wind turbine; S3. Coordinate system correction: S31, position solution: double difference solution is performed on data A and data B to obtain vector , perform double difference calculation on data A and data C to obtain vector ; S32, attitude angle solution: using vector Calculate the attitude angle as follows: ； ； ； According to the attitude angle, the base attitude correction is calculated as follows: ； ； In the above formula Indicates that the coordinate system is transferred to The rotation matrix of the rotation, ； The last calculated , as the initial coordinates of C; S4, real-time solution: After the fan rotates for the i-th time, the attitude angle is calculated using the attitude angle solution formula in S32. , solve to get the baseline ; The base attitude rotation matrix is ; Press the formula To calibrate the base posture: ； ； In the above formula is the actual displacement of the ith time, They are the displacements in the east, north and sky directions respectively; S5. Early warning judgment: S51, displacement trajectory warning: ； like , then it is determined that the wind turbine tower has been deformed too much, and the edge solution platform sends a command to the wind turbine control system to control the wind turbine speed. To input the fan displacement threshold of the edge solution platform in advance, the value is obtained based on experience; S52, tilt angle warning: When the attitude angle of the wind turbine base in three directions Greater than threshold When the blade speed is controlled, an early warning is issued. Take the value based on experience; The BeiDou-based offshore wind turbine safety monitoring system includes a monitoring station receiver and a base station receiver; The monitoring station receiver comprises a Beidou antenna (1), a monitoring station OEM board, an MCU and a monitoring station communication module connected in sequence, wherein the Beidou antenna (1) is used to be installed at the center position of the wind turbine cabin (9); The base station receiver includes a Beidou main antenna (5), a Beidou auxiliary antenna (6), and a base station OEM board, an edge solution platform, and a base station communication module connected in sequence. The Beidou main antenna (5) and the Beidou auxiliary antenna (6) are both installed on the wind turbine three buoys (7); The monitoring station OEM board is used to process the data sent by the Beidou antenna (1) to obtain the monitoring station original data, the MCU is used to send the monitoring station original data to the monitoring station communication module, and the monitoring station communication module sends the monitoring station original data to the edge solution platform through the reference station communication module; The base station OEM board is used to collect raw data from the Beidou main antenna (5) and the Beidou auxiliary antenna (6) and transmit the raw data to the edge solution platform, the edge solution platform is used to solve the wind turbine attitude and wind turbine warning situation, and the edge solution platform is used to be electrically connected to the wind turbine control system through a serial interface to control the start and stop of the wind turbine.

2. The monitoring method according to claim 1, wherein: The base station communication module includes a base station radio (3) and a Beidou short message device (4). The base station radio (3) is used for data communication with the monitoring station communication module; the Beidou short message device (4) is used for realizing communication between the base station receiver and the data server, and the Beidou short message device (4) is used for transmitting the wind turbine attitude solution result and wind turbine warning information back to the data server.

3. The monitoring method according to claim 2, wherein: It also includes the step of transmitting the warning results back: the displacement trajectory warning results and the tilt angle warning results are transmitted back to the cloud server through the Beidou short message device, and the cloud server displays the solution results.

4. The monitoring method according to claim 1, wherein: The monitoring station communication module is a monitoring station radio (2).

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