A method for monitoring the inclination of a wind turbine tower

Abstract

The present invention discloses a method for monitoring the inclination of a wind turbine tower, which is applied to the technical field of wind power generation. The present invention can simply and clearly obtain the dynamic inclination of the entire wind turbine tower, determine whether the offsets of adjacent towers are consistent based on the angle of the obtained offset vector, and merge towers with consistent offsets. Workers only need to compare the data of the original displacement sensor with the current data to obtain the inclination of the tower, and the method has higher visualization. As long as the data of the displacement sensor changes, a set of tower inclination data can be obtained, which greatly simplifies the calculation or collection process and lays a good foundation for the research on the inclination of the wind turbine tower.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and more particularly to a method for monitoring the inclination of a wind turbine tower. Background Art

[0002] The wind turbine tower primarily serves as a support structure for the wind turbine. The tower itself bears complex and variable loads, including its own weight, wind thrust, and impeller torque. Furthermore, influenced by meteorological and geological factors, the tower, acting as an elastic rigid body, experiences a certain degree of sway during wind turbine operation. Over long-term operation, the tower base can sink due to factors such as tower sway, causing the tower to tilt. Excessive tower tilt can affect the proper operation of the wind turbine and, in severe cases, can even lead to safety accidents. Therefore, developing a method for calculating wind turbine tower inclination is crucial.

[0003] In the existing technology, the offset is obtained by changing the sensor data. However, since the inclination change of the wind turbine tower is nonlinear, there is a deviation between the offset measured by the sensor and the actual offset. At the same time, a large amount of calculation is required to obtain the tower inclination, which poses a huge obstacle to the research on the inclination of the wind turbine tower.

[0004] Therefore, how to provide a wind turbine tower inclination monitoring method that can improve measurement accuracy and simplify calculation is a problem that those skilled in the art urgently need to solve. Summary of the Invention

[0005] In view of this, the present invention provides a method for monitoring the inclination of a wind turbine tower to solve the technical problems in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A method for monitoring the inclination of a wind turbine tower, comprising the following steps:

[0008] Using spatial geometric relationships, the equation of the initial spatial circular plane at the connection of each tower section is obtained, and the original coordinates of the feature points on the initial spatial circular plane are selected;

[0009] Obtaining the equation of the second space circular plane at the connection of each tower section under the action of external force, and determining the tracking coordinates corresponding to the original coordinates according to each second space circular plane;

[0010] Obtaining an offset vector of the feature point according to the original coordinates and the tracking coordinates, and calculating the consistency of the offset vector;

[0011] Each tower section is divided into different offset segments according to the offset consistency calculation to obtain the dynamic inclination of the tower.

[0012] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the initial spatial circular plane equation at the connection of each tower section is obtained as follows:

[0013]

[0014] Among them, c represents the distance between the current connection point and the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained based on the tower and c.

[0015] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the second space circular plane equation at the connection of each tower section is expressed as:

[0016]

[0017] Among them, c1 represents the distance from the current connection to the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained according to the tower and c; a and b represent the tracking coordinates corresponding to the initial spatial circular plane (0, 0).

[0018] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, an offset vector of a feature point is obtained according to the original coordinates and the tracking coordinates, and the consistency of the offset vector is specifically determined as follows:

[0019] Get the original coordinate vector according to the original coordinates Calculate the tracking coordinate vector based on the tracking coordinates

[0020] From the order of external force on each section of the tower, the original coordinate vector is obtained and tracking coordinate vectors

[0021] According to the original coordinate vector and tracking coordinate vector Calculate the offset angle of each tower section; divide the tower into sections based on the offset angle at a preset threshold.

[0022] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the inclination of each i-th tower section is

[0023] The specific formula for the shift angle is as follows:

[0024] in is the original coordinate vector and is the tracking coordinate vector

[0025] Each tower section is divided into different offset segments based on the offset consistency calculation, and the dynamic inclination is obtained respectively. The specific steps include:

[0026] Each section of the tower is numbered from bottom to top as 1, 2, 3, ..., n, where n represents the number of tower sections.

[0027] Calculate the coefficient of consistency, Obtain the consistency coefficient matrix; where α represents the maximum threshold allowed for inclination, which is determined based on the actual tower stiffness; θ i Indicates the inclination of the i-th tower section; θ i+1 Indicates the inclination of the i+1th tower section;

[0028] The dynamic tilt is represented in terms of a consistency coefficient matrix.

[0029] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the consistency coefficient matrix is expressed as

[0030] y n-1,n Indicates the consistency between the n-1th section and the nth section of the tower.

[0031] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the specific steps of dynamic inclination are:

[0032] Simplifying the consistency coefficient matrix;

[0033] The dynamic tower inclination is calculated based on the simplified consistency coefficient matrix.

[0034] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the consistency coefficient matrix is simplified by inverting the 0 elements and replacing consecutive 0 elements with one 0; if there are d consecutive 0 elements,

[0035]

[0036] Among them, the number of elements in A decreases by d.

[0037] Optionally, in the above-mentioned method for monitoring the inclination of a wind turbine tower, the dynamic inclination is expressed as

[0038] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a method for monitoring the inclination of a wind turbine tower, which can simply and clearly obtain the dynamic inclination of the entire wind turbine tower, determine whether the offsets of adjacent towers are consistent based on the angle of the offset vector, and merge towers with consistent offsets. The staff only needs to compare the data of the original displacement sensor with the current data to obtain the inclination of the tower, and the visualization is higher. As long as the data of the displacement sensor changes, a set of tower inclination data can be obtained, which greatly simplifies the calculation or collection process and lays a good foundation for the study of the inclination of the wind turbine tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0040] Figure 1 is a flow chart of the method of the present invention;

[0041] Figure 2 is a cross-sectional view of the tower of the present invention;

[0042] Figure 3 This is a schematic diagram of the tower under normal conditions of the present invention;

[0043] Figure 4 It is a schematic diagram of the tower in an inclined state according to the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] An embodiment of the present invention discloses a method for monitoring the inclination of a wind turbine tower, which can simply and clearly obtain the dynamic inclination of the entire wind turbine tower, determine whether the offsets of adjacent towers are consistent based on the angle of the obtained offset vector, and merge towers with consistent offsets. The staff only needs to compare the data of the original displacement sensor with the current data to obtain the inclination of the tower, and the visualization is more advanced. As long as the data of the displacement sensor changes, a set of tower inclination data can be obtained, which greatly simplifies the calculation or collection process and lays a good foundation for the study of the inclination of wind turbine towers.

[0046] The embodiment of the present invention discloses a method for monitoring the inclination of a wind turbine tower. Figure 1 The specific steps are as follows:

[0047] S101 uses spatial geometric relationships to obtain the initial spatial circular plane equation at the connection of each tower section and selects the original coordinates of the feature points on the initial spatial circular plane;

[0048] S102: obtaining a second spatial circular plane equation at each tower section connection under the action of an external force, and determining a tracking coordinate corresponding to the original coordinate based on each second spatial circular plane;

[0049] S103 obtains an offset vector of the feature point according to the original coordinates and the tracking coordinates, and calculates the consistency of the offset vector;

[0050] S104 divides each tower section into different offset segments based on offset consistency calculation to obtain the dynamic inclination of the tower.

[0051] Specifically, based on the geometric relationship, it is necessary to lay displacement sensors at the tower connection, at least three such as Figure 2 As shown; according to the laying position of the displacement sensor, the expression of the plane formed by the displacement sensor is determined, the center of the circle is determined as the feature point, the second plane expression is obtained under the action of external force, and the tracking coordinates of the feature point are obtained at the same time; the offset angle is calculated according to the vector of the feature point, and the inclination of each tower section is obtained according to the offset angle; the dynamic inclination of each tower section is obtained in real time according to the change of the displacement sensor data.

[0052] In order to further optimize the above technical solution, the initial spatial circular plane equation at the connection of each tower section is obtained as follows:

[0053]

[0054] Among them, c represents the distance between the current connection point and the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained based on the tower and c.

[0055] Specifically, the angle between the tower's periphery and the ground, as well as the distance from the connection point to the ground, can be used to determine the radius of the circle corresponding to the displacement sensor plane based on trigonometric functions, or can be obtained by measurement when the sensor is installed.

[0056] In order to further optimize the above technical solution, the equation of the second space circle plane at the connection of each tower section is expressed as follows:

[0057]

[0058] Among them, c1 represents the distance from the current connection to the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained according to the tower and c; a and b represent the tracking coordinates corresponding to the initial spatial circular plane (0, 0).

[0059] In order to further optimize the above technical solution, the offset vector of the feature point is obtained according to the original coordinates and the tracking coordinates. The specific steps for consistency of the offset vector are as follows:

[0060] Get the original coordinate vector according to the original coordinates Calculate the tracking coordinate vector based on the tracking coordinates

[0061] From the order of external force on each section of the tower, the original coordinate vector is obtained and tracking coordinate vector

[0062] According to the original coordinate vector and tracking coordinate vector Calculate the offset angle of each tower section; divide the tower into sections based on the offset angle at a preset threshold.

[0063] Specifically, the tower inclination can be obtained more accurately based on the number of displacement sensors set, and the precise layout of the sensors can be achieved based on consistency judgment. For example, the layout of sensors can be increased between tower connections where the inclination changes greatly, further reducing the sensor layout cost and improving the measurement accuracy. The layout can be reduced between tower connections where the inclination changes little.

[0064] In order to further optimize the above technical solution, the specific formula for the offset angle of each i-section tower is as follows:

[0065] in is the original coordinate vector and is the tracking coordinate vector.

[0066] In order to further optimize the above technical solution, each tower section is divided into different offset segments according to the offset consistency calculation, and the dynamic inclination is obtained respectively. The specific steps include:

[0067] Each section of the tower is numbered from bottom to top as 1, 2, 3, ..., n, where n represents the number of tower sections.

[0068] Calculate the coefficient of consistency, Obtain the consistency coefficient matrix; where α represents the maximum threshold allowed for inclination, which is determined based on the actual tower stiffness; θ i Indicates the inclination of the i-th tower section; θ i+1 Indicates the inclination of the i+1th tower section;

[0069] The dynamic tilt is represented in terms of a consistency coefficient matrix.

[0070] Specifically, if Figure 3-4 As shown, the offset segments divided according to the calculated consistency coefficient matrix are beneficial to the laying of displacement sensors during the construction of other wind turbine towers, instead of setting displacement sensors at the tower connection in the existing technology, thereby achieving precise laying of sensors.

[0071] In order to further optimize the above technical solution, the consistency coefficient matrix is expressed as

[0072]

[0073] y n-1,n Indicates the consistency between the n-1th section and the nth section of the tower.

[0074] For example, the consistency coefficient matrix is expressed as A = [0, 0, 1, 1, 1, 0, 1, 0], which means that the wind turbine tower has a total of nine sections; among which, the first section, the second section and the third section have the same inclination, the third section and the fourth section have different inclinations, and so on.

[0075] In order to further optimize the above technical solution, the specific steps of the dynamic inclination are as follows:

[0076] Simplifying the consistency coefficient matrix;

[0077] The dynamic tower inclination is calculated based on the simplified consistency coefficient matrix.

[0078] Furthermore, it is also feasible to directly express the inclination change of the entire tower according to the obtained consistency coefficient matrix without simplification.

[0079] The consistency coefficient matrix can also be used for sensor layout on other towers.

[0080] Furthermore, taking the consistency coefficient matrix represented as A = [0,0,1,1,1,0,1,0] as an example, the simplified result is

[0081] A=[0,1,1,1,1,1,1];

[0082] In order to further optimize the above technical solution, the consistency coefficient matrix is simplified, the 0 elements are inverted, and the consecutive 0 elements are replaced by one 0; if there are d consecutive 0 elements, then

[0083]

[0084] Among them, the number of elements in A decreases by d.

[0085] Furthermore, taking the consistency coefficient matrix represented as A = [0,0,1,1,1,0,1,0] as an example, the simplified result is

[0086]

[0087] In order to further optimize the above technical solution, the dynamic inclination is expressed as

[0088] θ = [θ1, θ3, θ4, θ5, θ6, θ6, θ8, θ8].

[0089] Furthermore, based on the output inclination, it can be known that the inclination changes of the first and second tower sections are the same, the changes of the sixth and seventh sections are the same, and the changes of the eighth and ninth sections are the same.

[0090] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0091] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for monitoring the inclination of a wind turbine tower, characterized in that: The specific steps are as follows: Using spatial geometric relationships, the equation of the initial spatial circular plane at the connection of each tower section is obtained, and the original coordinates of the feature points on the initial spatial circular plane are selected; Obtaining the equation of the second space circular plane at the connection of each tower section under the action of external force, and determining the tracking coordinates corresponding to the original coordinates according to each second space circular plane; Obtaining an offset vector of the feature point according to the original coordinates and the tracking coordinates, and calculating the consistency of the offset vector; Each tower section is divided into different offset segments based on the offset consistency calculation to obtain the dynamic inclination of the tower; Each tower section is divided into different offset segments based on the offset consistency calculation, and the dynamic inclination is obtained respectively. The specific steps include: Each section of the tower is numbered from bottom to top as 1, 2, 3, ..., n, where n represents the number of tower sections. Calculate the consistency coefficient, Obtain the consistency coefficient matrix; where α represents the maximum threshold allowed for inclination, which is determined based on the actual tower stiffness; θ i Indicates the inclination of the i-th tower section; θ i+1 Indicates the inclination of the i+1th tower section; The dynamic tilt is represented according to the consistency coefficient matrix; The consistency coefficient matrix is expressed as y n-1,n Indicates the consistency between the n-1th section and the nth section of the tower; The specific steps of dynamic inclination are: Simplifying the consistency coefficient matrix; The dynamic tower inclination is calculated based on the simplified consistency coefficient matrix; The consistency coefficient matrix is simplified by inverting the 0 elements and replacing consecutive 0 elements with a single 0; if there are d consecutive 0 elements, then Among them, the number of elements in A decreases by d; The dynamic tilt is expressed as 2. A method for monitoring the inclination of a wind turbine tower according to claim 1, characterized in that: The initial spatial circular plane equation expression for each tower section connection is: Among them, c represents the distance between the current connection point and the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained based on the tower and c.

3. The method for monitoring the inclination of a wind turbine tower according to claim 1, wherein: The equation of the second space circle plane at each tower section connection is: Among them, c1 represents the distance from the current connection to the ground, which is obtained through sensor data; R represents the radius of the current circular plane, which is obtained according to the tower and c; a and b represent the tracking coordinates corresponding to the initial spatial circular plane (0, 0).

4. A method for monitoring the inclination of a wind turbine tower according to claim 1, characterized in that: The offset vector of the feature point is obtained based on the original coordinates and the tracking coordinates. The specific steps for consistency of the offset vector are as follows: Get the original coordinate vector according to the original coordinates Calculate the tracking coordinate vector based on the tracking coordinates From the order of external force on each section of the tower, the original coordinate vector is obtained and tracking coordinate vector According to the original coordinate vector and tracking coordinate vector Calculate the offset angle of each tower section; divide the tower into sections based on the offset angle at a preset threshold.

5. The method for monitoring the inclination of a wind turbine tower according to claim 1, wherein: The specific formula for the offset angle of each i-section tower is as follows: in is the original coordinate vector and is the tracking coordinate vector.

Images