Method for determining the recalibration of a blade load sensor and related device

Abstract

The application discloses a kind of blade load sensor recalibration determination method and related equipment.The blade load sensor recalibration determination method includes: obtaining the first data point of m blade, each first data point includes when the maximum blade face out of direction load value of blade and the minimum tower clearance value of blade when the blade wheel azimuth is in the first preset azimuth angle range;According to the first data point of m, the first relationship between the maximum blade face out of direction load value and the minimum tower clearance value of blade is fitted;According to the deviation between the relationship coefficient of first relationship and second relationship;When the deviation is higher than preset deviation threshold, the blade load sensor of blade is recalibrated.According to the embodiment of the application, the blade load sensor can be recalibrated in time to eliminate load drift when the blade load sensor occurs load drift.And accurate positioning is needed for recalibration of blade load sensor, reduce the number of recalibration, reduce the cost of recalibration.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wind power, and particularly relates to a determination method for re-calibration of a blade load sensor and related equipment. BACKGROUND

[0002] At present, a blade load sensor is usually arranged on each blade of a wind turbine to measure the out-of-plane direction load of the blade.

[0003] With the continuous operation of the wind turbine, the blade load sensor will be prone to a measurement load drift problem after long-time operation. At present, in order to avoid the measurement load drift, the blade load sensor needs to be re-calibrated regularly.

[0004] When the re-calibration period is too long, the measurement load drift will occur between two calibration periods, thereby affecting the normal operation of the unit, reducing the power generation, and even possibly causing a failure risk; and when the re-calibration period is set to be short, since each re-calibration takes time and effort, and the wind condition is relatively harsh, the normal operation of the unit will also be affected, the power generation will be reduced, and a large amount of human resources and costs will be consumed in the re-calibration process. SUMMARY

[0005] The embodiments of the application provide a determination method for re-calibration of a blade load sensor and related equipment, which can solve the technical problem that the blade load sensor needs to be re-calibrated regularly, but the calibration period is difficult to determine.

[0006] In a first aspect, the embodiments of the application provide a determination method for re-calibration of a blade load sensor, and the method comprises the following steps.

[0007] m first data points of a blade are acquired, each first data point comprising a maximum out-of-plane direction load value of the blade and a minimum tower clearance value when a blade azimuth angle is in a first preset azimuth angle range; m is an integer greater than 1;

[0008] A relationship between the maximum out-of-plane direction load value and the minimum tower clearance value of the blade is fitted according to the m first data points, to obtain a first relationship between the maximum out-of-plane direction load value and the minimum tower clearance value of the blade;

[0009] A deviation between a relationship coefficient of the first relationship and a relationship coefficient of a second relationship is determined according to the first relationship and the second relationship; the second relationship is a relationship between the maximum out-of-plane direction load value and the minimum tower clearance value of each blade on the blade wheel obtained by fitting the maximum out-of-plane direction load value and the minimum tower clearance value of each blade on the blade wheel;

[0010] When the deviation is higher than a preset deviation threshold, the blade load sensor of the blade is re-calibrated.

[0011] In some embodiments, before the m first data points of the blade are acquired, the method further comprises:

[0012] A plurality of second data points respectively corresponding to different blades on the impeller are respectively acquired, the second data points of the different blades being maximum impeller out-of-plane direction load values and minimum tower clearance values of the blades when the impeller azimuth angle is in different azimuth angle ranges;

[0013] According to the plurality of second data points respectively corresponding to the different blades, a relationship between the maximum impeller out-of-plane direction load values and the minimum tower clearance values is fitted to obtain a second relationship.

[0014] In some embodiments, the plurality of second data points respectively corresponding to the different blades on the impeller are respectively acquired, specifically comprising:

[0015] A plurality of second original data points respectively corresponding to the different blades on the impeller are respectively acquired;

[0016] From the plurality of second original data points, second original data points in which neither the tower clearance sensor nor the blade load sensor is abnormal are selected to obtain the plurality of second data points.

[0017] In some embodiments, the first relationship and the second relationship are both linear relationships; and according to the first relationship and the second relationship, a deviation between a relationship coefficient of the first relationship and a relationship coefficient of the second relationship is determined, specifically comprising:

[0018] A first slope and a first intercept in the first relationship are determined according to the first relationship;

[0019] A second slope and a second intercept in the second relationship are determined according to the second relationship;

[0020] A slope difference value is determined according to the first slope and the second slope, and an intercept difference value is determined according to the first intercept and the second intercept.

[0021] In some embodiments, when the deviation is higher than a preset deviation threshold, the blade load sensor of the blade is recalibrated, comprising:

[0022] When the slope difference value is greater than a preset slope deviation range and / or the intercept difference value is greater than a preset intercept deviation range, the blade load sensor of the blade is recalibrated.

[0023] In some embodiments, the first preset azimuth angle range is (60°-Δφ, 60°+Δφ), (180°-Δφ, 180°+Δφ) or (300°-Δφ, 300°+Δφ).

[0024] In a second aspect, the embodiments of the present application provide a determination device for recalibration of a blade load sensor, comprising:

[0025] The first obtaining module is configured to obtain m first data points of the blade, each data point comprising a maximum blade out-of-plane load value and a minimum tower clearance value of the blade when the blade pitch angle is in a first preset pitch angle range; m is an integer greater than 1;

[0026] The first fitting module is configured to fit a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade according to the m first data points, to obtain a first relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade.

[0027] The first determining module is configured to determine a deviation between a relationship coefficient of the first relationship and a relationship coefficient of a second relationship according to the first relationship and the second relationship; the second relationship is a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value obtained by fitting the maximum blade out-of-plane load value and the minimum tower clearance value of each blade on the blade wheel.

[0028] The second determining module is configured to determine to re-calibrate the blade load sensor of the blade when the deviation is higher than a preset deviation threshold.

[0029] In a third aspect, an embodiment of the present application provides a wind turbine generator, which comprises:

[0030] a tower;

[0031] a generator;

[0032] a blade wheel comprising a plurality of blades and a hub connected to the plurality of blades;

[0033] a plurality of groups of blade load sensors, each group of blade load sensors being arranged on a corresponding blade;

[0034] a blade wheel azimuth angle sensor arranged on the hub;

[0035] a tower clearance sensor arranged on the tower;

[0036] a controller in communication connection with the plurality of groups of blade load sensors, the blade wheel azimuth angle sensor and the tower clearance sensor, and configured to implement the determination method for re-calibration of the blade load sensor as described above.

[0037] In a fourth aspect, an embodiment of the present application provides a determination device for re-calibration of a blade load sensor, which comprises a processor and a memory storing computer program instructions;

[0038] The processor is configured to implement the determination method for re-calibration of the blade load sensor as described above when executing the computer program instructions.

[0039] In a fifth aspect, the embodiments of the present application provide a computer storage medium, which stores computer program instructions. When the computer program instructions are executed by a processor, the computer program instructions realize the determination method for recalibration of a blade load sensor.

[0040] Compared with the prior art, the determination method for recalibration of a blade load sensor provided by the embodiments of the present application can detect the blade out-of-plane load value and the tower clearance value when the impeller of the wind turbine rotates and the azimuth angle of the impeller is in a first preset azimuth angle range, and determine the maximum blade out-of-plane load value and the minimum tower clearance value of the blade in the range as first data points. After m data points of a certain blade are obtained, the corresponding relationship between the maximum blade out-of-plane load value and the minimum tower clearance value in the m data points, i.e., a first relationship, can be fitted. According to a second relationship between the maximum blade out-of-plane load value and the minimum tower clearance value, which is obtained by the wind turbine in advance, the deviation between the relationship coefficients of the first relationship and the relationship coefficients of the second relationship can be calculated after the relationship coefficients of the first relationship and the relationship coefficients of the second relationship are determined. When the deviation is higher than a preset deviation threshold, it indicates that the blade load sensor of the blade has a problem of load drift due to long-time operation in the current state, and the blade load sensor of the blade needs to be recalibrated to eliminate the load drift in time when the blade load sensor of the blade has a load drift. After the first relationship corresponding to each blade on the impeller is determined respectively, it can be determined whether the blade load sensor on each blade needs to be recalibrated, thereby avoiding recalibration of the blade load sensor of the blade that does not have a load drift, reducing the number of recalibrations, and reducing the cost of recalibration. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments of the present application will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0042] Figure 1 is a structural schematic diagram of the determination method for recalibration of a blade load sensor provided by an embodiment of the present application;

[0043] Figure 2 is a flow schematic diagram of the determination method for recalibration of a blade load sensor provided by another embodiment of the present application;

[0044] Figure 3 is an impeller azimuth angle schematic diagram provided by an embodiment of the present application;

[0045] Figure 4Fig. 1 is a structural schematic diagram of a determination device for re-calibration of a blade load sensor according to an embodiment of the present application;

[0046] Figure 5 Fig. 2 is a hardware structural schematic diagram of a determination device for re-calibration of a blade load sensor according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain the present application, but not to limit the present application. The present application can be implemented without some of the specific details described below. The following description of the embodiments is merely provided to give a better understanding of the present application by showing examples of the present application.

[0048] It should be noted that, in this document, the terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0049] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.

[0050] Currently, a blade load sensor is usually arranged on each blade of a wind turbine to measure the load in the outboard direction of the blade. With the continuous operation of the wind turbine, the blade load sensor will easily produce a measurement load drift problem after a long time of operation.

[0051] Whether the measurement result of the load sensor drifts is difficult to be identified by conventional means, and generally needs to be judged by a field group controller based on big data. In the related art, a large amount of data is required to judge whether the load sensor drifts, and the field group controller must be relied on. It is difficult to judge the effectiveness of the data on site without configuring the field group controller.

[0052] In order to avoid the measurement load drift, the current common method is generally to periodically calibrate the blade load sensor for the wind turbine generator set. The calibration period depends on the sensor quality, working environment, installation level and other factors, and can be set to one month to one year.

[0053] When the recalibration period is too long, the measurement load drift is likely to occur between two calibration periods, thereby affecting the normal operation of the unit, resulting in reduced power generation, and even possibly causing safety risks; and when the recalibration period is set to be short, since each recalibration consumes time and effort, and requires harsh wind conditions, the normal operation of the unit is also affected, resulting in reduced power generation, and a large amount of human resources is also consumed in the calibration process.

[0054] In order to solve the above technical problems, the embodiment of the present application provides a blade load sensor recalibration determination method and related equipment. First, the blade load sensor recalibration determination method provided by the embodiment of the present application is introduced.

[0055] Figure 1 The structure schematic diagram of the blade load sensor recalibration determination method provided by the embodiment of the present application is shown. The blade load sensor recalibration determination method comprises:

[0056] S110, acquiring m first data points of the blade, each first data point comprising a maximum blade out-of-plane load value and a minimum tower headroom value of the blade when the blade wheel azimuth angle is in a first preset azimuth angle range; m is an integer greater than 1;

[0057] S120, fitting the relationship between the maximum blade out-of-plane load value and the minimum tower headroom value of the blade according to the m first data points, to obtain a first relationship between the maximum blade out-of-plane load value and the minimum tower headroom value of the blade;

[0058] S130, determining the deviation between the relationship coefficient of the first relationship and the relationship coefficient of the second relationship according to the first relationship and the second relationship; the second relationship is a relationship between the maximum blade out-of-plane load value and the minimum tower headroom value obtained by fitting the maximum blade out-of-plane load value and the minimum tower headroom value of each blade on the blade wheel;

[0059] S140, recalibrating the blade load sensor of the blade when the deviation is higher than a preset deviation threshold.

[0060] In the wind turbine generator set, a plurality of blades are usually arranged on the blade wheel, and the included angle between the plurality of blades is consistent. The following takes three blades arranged on the blade wheel as an example for description.

[0061] Please refer to Figure 3, the angle between every two blades on the impeller is 120°. In order to represent the current position of each blade, the blade position can be positioned by the impeller azimuth angle. When the blades rotate clockwise, the blades can be numbered and the angle between blade 1 and the vertical axis of the impeller is taken as the impeller azimuth angle. For example, when the impeller azimuth angle is 0°, it means that blade 1 is vertically upward at this moment, and when the impeller azimuth angle is 120°, it means that blade 1 rotates 120° from the vertically upward direction, and at this moment, blade 3 is vertically upward. Similarly, when the impeller azimuth angle is 240°, it means that blade 2 is vertically upward.

[0062] In this embodiment, when the wind turbine generator set is running in real time, the out-of-impeller-plane direction load value and the tower clearance value of the blade can be detected when the impeller azimuth angle is in the first preset azimuth angle range, and the maximum out-of-impeller-plane direction load value and the minimum tower clearance value of the blade in this range are determined as the first data points. After obtaining m data points of a certain blade, the corresponding relationship between the maximum out-of-impeller-plane direction load value and the minimum tower clearance value in the m data points, i.e. the first relationship, can be fitted. According to the second relationship between the maximum out-of-impeller-plane direction load value and the minimum tower clearance value, which is obtained by the set in advance, the deviation between the relationship coefficients of the first relationship and the relationship coefficients of the second relationship can be calculated after the relationship coefficients of the first relationship and the relationship coefficients of the second relationship are determined. When the deviation is higher than the preset deviation threshold, it means that the blade load sensor of the blade has a problem of measuring load drift due to long-time running in the current state, and the blade load sensor of the blade needs to be recalibrated to eliminate the load drift in time when the blade load sensor of the blade has a load drift. After determining the first relationship corresponding to each blade on the impeller respectively, it can be determined whether the blade load sensor on each blade needs to be recalibrated, so as to avoid recalibrating the blade load sensor that does not need to be recalibrated, reduce the number of recalibration, and reduce the cost of recalibration.

[0063] In S110, when the wind turbine generator set is running in real time, the plurality of blades on the set are rotating continuously. The current impeller azimuth angle of the set can be detected by the impeller azimuth angle sensor, and the current position of each blade can be determined according to the current impeller azimuth angle. It can be understood that when the impeller azimuth angle is in the first preset azimuth angle range every time the impeller rotates one circle, the maximum out-of-impeller-plane direction load value and the minimum tower clearance value can be detected by the blade load sensor and the tower clearance sensor as the first data points in this circle. When the impeller rotates m circles, m first data points can be obtained by continuously detecting the blades.

[0064] It can be understood that the first preset azimuth angle range is preset in the unit, when the impeller azimuth angle detected by the impeller azimuth sensor is in the first preset azimuth angle range, the out-of-impeller-face direction load value of the blade can be detected by the blade load sensor arranged on the blade, and the tower clearance value can be detected by the tower clearance sensor arranged on the tower of the unit.

[0065] It should be noted that the tower clearance value refers to the distance between the blade and the tower when the blade runs to the bottom range. Therefore, the first preset azimuth angle range is the azimuth angle range of the blade to be detected when the blade runs to the bottom range.

[0066] Since the impeller azimuth angle is in the first preset azimuth angle range, the blade load sensor and the tower clearance sensor can detect a plurality of out-of-impeller-face direction load value data and tower clearance value data when the blade moves. The unit can select the maximum out-of-impeller-face direction load value from the plurality of out-of-impeller-face direction load value data, and select the minimum tower clearance value from the plurality of tower clearance value data. The maximum out-of-impeller-face direction load value and the minimum tower clearance value can be used as the first data point of the blade.

[0067] It can be understood that the maximum out-of-impeller-face direction load value is the maximum value of the plurality of out-of-impeller-face direction load values detected when the impeller azimuth angle is in the first preset azimuth angle range. The minimum tower clearance value is the minimum value of the plurality of tower clearance values detected when the impeller azimuth angle is in the first preset azimuth angle range. That is, the position of the blade corresponding to the maximum out-of-impeller-face direction load value and the position corresponding to the minimum tower clearance value can be the same position, or can be different positions.

[0068] As an optional embodiment, please refer to Figure 2 Before S110, the above-mentioned can further include:

[0069] S210, respectively acquiring a plurality of second data points corresponding to different blades on the impeller, the second data point of different blades being the maximum out-of-impeller-face direction load value and the minimum tower clearance value of the blade when the impeller azimuth angle is in different azimuth angle ranges;

[0070] S220, fitting the relationship between the maximum out-of-impeller-face direction load value and the minimum tower clearance value according to the plurality of second data points corresponding to different blades, to obtain a second relationship.

[0071] In the embodiment, before the re-calibration detection of the blade load sensors of the unit, the unit needs to be controlled to run for a period of time, and the second data points corresponding to each blade in the period of time are acquired. The second relationship can be fitted according to the second data points. The second relationship can represent the relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the unit in the normal running state. Then, when the unit is running in real time, the deviation between the first relationship fitted according to the m first data points and the second relationship can be used to determine whether the blade load sensors need to be re-calibrated, so as to determine the blade load sensors that need to be re-calibrated in the plurality of blade load sensors, reduce the unnecessary calibration times, and reduce the calibration cost.

[0072] In S210, before the m first data points of the blade are acquired in real time and it is determined whether the blade load sensors need to be re-calibrated, the unit can be controlled to run for a period of time. And a plurality of second data points of each blade on the impeller in the running time are acquired.

[0073] For any blade on the impeller, when the impeller rotates 1 circle in the running time, the blade can detect a plurality of out-of-plane load values of the impeller and a plurality of tower clearance values through the blade load sensor and the tower clearance sensor when the blade azimuth angle is in the corresponding azimuth angle range, and determine the maximum out-of-plane load value of the impeller and the minimum tower clearance value as the second data points. That is, one blade can determine one second data point when the impeller rotates 1 circle.

[0074] If the impeller rotates n circles, each blade on the impeller can determine n second data points. Three blades can determine 3n second data points.

[0075] It can be understood that for each blade, when the blade azimuth angle is in the corresponding azimuth angle range, the blade should run in the bottom range. For example, taking blade 1 as an example, when the blade azimuth angle is 180°, it means that the blade 1 is vertically downward, and the corresponding blade azimuth angle range of the blade 1 can be an angle range including 180°, for example, 175°-185°.

[0076] When the blade azimuth angle is between 175° and 185°, the blade 1 runs in the bottom range at this time, and the tower clearance sensor can detect a plurality of tower clearance values when the blade 1 runs from the 175° position to the 185° position, and determine the minimum tower clearance value. The blade load sensor can detect a plurality of out-of-plane load values of the impeller when the blade 1 runs from the 175° position to the 185° position, and determine the maximum out-of-plane load value of the impeller.

[0077] As an optional embodiment, S210 can further include:

[0078] S310, respectively acquiring a plurality of second original data points corresponding to different blades on the impeller respectively;

[0079] S320, selecting second original data points in which the tower clearance sensor and the blade load sensor are both normal from the plurality of second original data points to obtain a plurality of second data points.

[0080] In the embodiment, a plurality of second original data points corresponding to different blades can be acquired when the impeller rotates. By screening the second original data points, abnormal data points can be screened out to obtain a plurality of second data points required for fitting the second relationship. Screening the second original data points can make the second data points for fitting the first relationship be data points when the sensor is normally operated, thereby improving the accuracy of the fitted first relationship.

[0081] In S310, each blade on the impeller can run to the bottom range once and determine a corresponding second data point when the impeller rotates one circle. That is, the impeller can determine a second data point equal to the number of blades when the impeller rotates one circle.

[0082] When the impeller rotates n circles, 3n second original data points can be determined by 3 blades on the impeller.

[0083] In S320, after a plurality of second original data points determined by different blades on the impeller, second original data points in which the tower clearance sensor and the blade load sensor are both normal can be selected from the plurality of second original data points.

[0084] For each blade on the impeller, the blade face-out direction load on the blade is within the normal load range and the tower clearance value between the blade and the tower is also within the normal clearance range when the unit is normally operated. For 3n second original data points obtained after the impeller rotates n circles, the maximum blade face-out direction load value and the minimum tower clearance value in each second original data point can be screened to screen out the maximum blade face-out direction load value not within the normal load range and the minimum tower clearance value not within the normal clearance range. When a certain maximum blade face-out direction load value is abnormal or a certain minimum tower clearance value is abnormal, the corresponding second original data point can be screened out as a data abnormal second original data point. The second original data point with normal data obtained after screening can be used as the second data point for fitting the second relationship.

[0085] It can be understood that the above screening method can be to pre-set the normal range of the blade face-out direction load value and the normal range of the tower clearance value, and screen the values in each second original data point. It can also be to manually screen the second original data points with abnormal values by manual screening.

[0086] In S220, after the impeller rotates n times and a plurality of second data points corresponding to different blades are obtained, the maximum impeller out-of-plane load values and the minimum tower clearance values in the plurality of second data points can be fitted to obtain a fitting result, and the fitting result is taken as the second relationship. For example, by linear fitting the maximum impeller out-of-plane load values and the minimum tower clearance values, a linear fitting result L can be obtained.

[0087] It can be understood that in the linear fitting process, the plurality of maximum impeller out-of-plane load values can be taken as the parameter x, the plurality of minimum tower clearance values can be taken as the parameter y, and the regression equation obtained by linear fitting is:

[0088] L: y = a * x + b.

[0089] In S120, after the impeller rotates at least m times and m first data points are obtained, the m maximum impeller out-of-plane load values and the m minimum tower clearance values in the m first data points can be fitted to obtain a first relationship representing the relationship between the maximum impeller out-of-plane load values and the minimum tower clearance values. For example, by linear fitting the maximum impeller out-of-plane load values and the minimum tower clearance values, a corresponding linear fitting result can be obtained.

[0090] In S130, after the m first data points of the blades are obtained in the recalibration process and the corresponding first relationship is fitted, a second relationship stored in advance can be obtained. The relationship coefficients of the first relationship and the second relationship are determined respectively.

[0091] When the impeller normally rotates m times, each blade corresponds to a plurality of maximum impeller out-of-plane load values and a plurality of minimum tower clearance values. After fitting the maximum impeller out-of-plane load values and the minimum tower clearance values of all blades, a fitting corresponding relationship of the maximum impeller out-of-plane load values and the minimum tower clearance values, i.e., a second relationship, can be determined.

[0092] After the relationship coefficients of the first relationship and the second relationship are determined, the deviation between the two relationship coefficients can be calculated.

[0093] As an optional embodiment, the first relationship and the second relationship are both linear relationships, and S130 can further include:

[0094] S410, determining a first slope and a first intercept in the first relationship according to the first relationship;

[0095] S420, determining a second slope and a second intercept in the second relationship according to the second relationship;

[0096] S430, determining a slope difference value according to the first slope and the second slope, and determining an intercept difference value according to the first intercept and the second intercept.

[0097] In the embodiment, when the first relationship and the second relationship are both linear relationships, the relationship coefficients of the first relationship and the second relationship can be represented by slopes and intercepts respectively. The deviation between the relationship coefficients can include a deviation between the slopes of the two relationships and a deviation between the intercepts of the two relationships. By calculating the slope difference value and the intercept difference value respectively, the deviation between the relationship coefficients of the first relationship and the relationship coefficients of the second relationship can be determined.

[0098] In S410, the first relationship and the second relationship can be linear relationships. The first relationship is a corresponding relationship between m maximum blade out-of-plane direction load values and m minimum tower clearance values in the m first data points of the blade in the calibration detection process. The second relationship is a corresponding relationship between maximum blade out-of-plane direction load values and minimum tower clearance values in the plurality of second data points on the plurality of blades in the previous operation process of the unit.

[0099] The fitted first relationship and the fitted second relationship can both be represented in the form of a regression equation. The two parameters in the regression equation are the slope and the intercept of the regression equation.

[0100] For example, the regression equation of the first relationship can be represented as:

[0101] L1: y = a1*x + b1;

[0102] The regression equation of the second relationship can be represented as:

[0103] L2: y = a2*x + b2;

[0104] After the first relationship is fitted, the first slope a1 and the first intercept b1 in the first relationship can be determined.

[0105] In S420, after the second relationship is fitted, the second slope a2 and the second intercept b2 in the second relationship can be determined in the same way as the first slope and the first intercept in the first relationship are determined.

[0106] In S430, after the first slope and the second slope are determined, the absolute value of the slope difference value of the first slope and the second slope can be calculated. After the first intercept and the second intercept are determined, the absolute value of the intercept difference value of the first intercept and the second intercept can also be calculated. For example, the slope difference value is |(a1-a2)|, and the intercept difference value is |(b1-b2)|.

[0107] In S140, after determining the deviation between the relationship coefficients of the first relationship and the second relationship, the deviation can be compared with a preset deviation threshold. When the deviation is higher than the preset deviation threshold, it can be determined that the sensing data of the blade load sensor on the blade is abnormal, and the blade load sensor of the blade needs to be recalibrated. When the deviation is lower than the preset deviation threshold, it can be determined that the sensing data of the blade load sensor on the blade is normal data, and the blade load sensor does not need to be recalibrated.

[0108] It should be noted that in the above first relationship, the m first data points are all first data points on the same blade. The plurality of second data points in the second relationship include second data points measured by a plurality of blades on the impeller. Therefore, when the deviation between the first relationship and the second relationship is higher than the preset deviation threshold, it can be determined that the detection data of the blade load sensor on the blade corresponding to the first data point is abnormal, and the blade load sensor needs to be recalibrated. During the rotation of the impeller, for each blade, the maximum impeller out-of-plane load value and the minimum tower clearance value corresponding to the blade can be detected by the blade load sensor on the blade and the tower clearance sensor on the tower.

[0109] When the number of blades on the impeller is 3, after the impeller rotates m times, each blade of the 3 blades can determine m first data points corresponding to the blade and fit the first relationship corresponding to the blade. According to the first relationship corresponding to each blade and the second relationship calculated in advance, whether each blade needs to be recalibrated for the blade load sensor can be determined separately.

[0110] As an optional embodiment, S140 can further include:

[0111] S510, recalibrating the blade load sensor of the blade when the slope difference is greater than the preset slope deviation range and / or the intercept difference is greater than the preset intercept deviation range.

[0112] In this embodiment, after calculating the slope difference and the intercept difference, the preset slope deviation range and the preset intercept deviation range can be obtained. When either of the two conditions that the slope difference is greater than the preset slope deviation range and the intercept difference is greater than the preset intercept deviation range is met, it can be determined that the blade load sensor of the blade has load drift, and the blade load sensor needs to be recalibrated.

[0113] In S510, when the first relationship and the second relationship are both linear relationships, the deviation between the relationship coefficients includes the slope deviation and the intercept deviation. The preset deviation threshold can include the preset slope deviation range and the preset intercept deviation range, respectively.

[0114] When the slope deviation and the intercept deviation are calculated, if one of the slope deviation and the intercept deviation exceeds the corresponding preset deviation range, it can be indicated that the deviation between the relationship coefficients of the first relationship and the second relationship is higher than the preset deviation threshold. That is, when the slope deviation is higher than the preset slope deviation range or the intercept deviation is higher than the preset intercept deviation range, it can be indicated that the deviation between the relationship coefficients of the first relationship and the second relationship is higher than the preset deviation threshold. Correspondingly, when the slope deviation and the intercept deviation are both lower than the corresponding deviation threshold, it can be determined that the deviation between the relationship coefficients is lower than the preset deviation threshold.

[0115] As an optional embodiment, the first preset azimuth angle range can be (60°-Δφ, 60°+Δφ), (180°-Δφ, 180°+Δφ) or (300°-Δφ, 300°+Δφ).

[0116] When the impeller azimuth angle is 60°, the blade 2 is vertically downward; when the impeller azimuth angle is 180°, the blade 1 is vertically downward; and when the impeller azimuth angle is 300°, the blade 3 is vertically downward. Therefore, when the first preset azimuth angle range is (60°-Δφ, 60°+Δφ), the blade 2 is in the bottom region; when the first preset azimuth angle range is (180°-Δφ, 180°+Δφ), the blade 1 is in the bottom region; and when the first preset azimuth angle range is (300°-Δφ, 300°+Δφ), the blade 3 is in the bottom region. Wherein, Δφ can be set according to the detection performance of the tower clearance sensor. For example, within the first preset azimuth angle range (180°-Δφ, 180°+Δφ), the moving range of the rotation angle of the blade 1 is 2Δφ, that is, within the time required for the blade 1 to move 2Δφ, the tower clearance sensor needs to detect a plurality of tower clearance values.

[0117] When the impeller rotates the kth circle, the maximum value of the plurality of impeller out-of-plane direction load values detected by the blade 1 in the circle is M k1 , and the minimum value of the plurality of tower clearance values is C k1 ; the maximum value of the plurality of impeller out-of-plane direction load values detected by the blade 2 in the circle is M k2 , and the minimum value of the plurality of tower clearance values is C k2 ; the maximum value of the plurality of impeller out-of-plane direction load values detected by the blade 3 in the circle is M k3 , and the minimum value of the plurality of tower clearance values is C k3 . Wherein, k is a positive integer.

[0118] When the impeller rotates n circles, the data set of the second data points detected by the blade 1, the blade 2 and the blade 3 is (Mni, Cni) (i=1, 2, 3);

[0119] From the above data set, second data points in which both the tower clearance sensor and the blade load sensor are normal can be screened out to form a sample Y, which is used to train the model.

[0120] A linear fitting result L of Mni and Cni can be generated according to the maximum impeller out-of-plane direction load value and the minimum tower clearance value in the sample Y.

[0121] The slope and intercept of the linear fitting result L can be determined according to the regression equation of the linear fitting result L, and are taken as the second slope and the second intercept in the second relationship.

[0122] After the second slope a2 and the second intercept b2 are determined, a preset slope deviation range and a preset intercept deviation range can be determined according to each second data point in the sample Y. For example, the maximum impeller out-of-plane direction load value and the minimum tower clearance value in each second data point are taken as the values of the x parameter and the y parameter respectively, and are substituted into y = a2x + b2. When the value of a2 is determined as the second slope, the sample intercept b1 corresponding to each second data point is calculated respectively. After a plurality of sample intercepts b1 are determined, the difference between each sample intercept b1 and the second intercept b2 is calculated respectively, and the maximum difference is taken as the preset intercept deviation range.

[0123] Similarly, the maximum impeller out-of-plane direction load value and the minimum tower clearance value in each second data point are taken as the values of the x parameter and the y parameter respectively, and are substituted into y = ai x + b2. When the value of b2 is determined as the second intercept, the sample slope ai corresponding to each second data point is calculated respectively. After a plurality of sample slopes ai are determined, the difference between each sample slope ai and the second slope a2 can be calculated respectively, and the maximum difference is taken as the preset slope deviation range.

[0124] When the unit is running in real time, m first data points determined when a single blade rotates m times can be obtained, and whether the blade load sensor of the blade needs to be recalibrated is determined according to the first relationship fitted by the m first data points of the blade. The following takes blade 1 as an example for illustration.

[0125] When the impeller rotates 1 time, if the first preset azimuth angle range is (180°-Δφ, 180°+Δφ), it indicates that blade 1 passes through the bottom region, and at this time the first data point (M1, C1) of blade 1 can be obtained. After the impeller rotates m times, m first data points of blade 1 can be obtained. According to the maximum impeller out-of-plane direction load value and the minimum tower clearance value in the m first data points, a linear fitting relationship corresponding to blade 1 can be generated by linear fitting, and the slope and intercept in the linear fitting relationship are determined as the first slope and the first intercept corresponding to blade 1.

[0126] After the slope difference of the first slope and the second slope is calculated, it can be judged whether the slope difference is greater than a preset slope deviation range, and when the slope difference is greater than or equal to the preset slope deviation range, it can be determined that the sensing data of the blade load sensor on the blade is abnormal, and the blade load sensor of the blade 1 is recalibrated.

[0127] Similarly, after the intercept difference of the first intercept and the second intercept is calculated, it can be judged whether the intercept difference is greater than a preset intercept deviation range, and when the intercept difference is greater than or equal to the preset intercept deviation range, it can be determined that the sensing data of the blade load sensor on the blade is abnormal, and the blade load sensor of the blade 1 is recalibrated.

[0128] Based on the determination method of the blade load sensor recalibration provided in the above embodiments, the application also provides a specific implementation of a determination device of the blade load sensor recalibration. Please refer to the following embodiments.

[0129] Firstly, referring to Figure 4 The determination device 400 of the blade load sensor recalibration provided in the embodiments of the application includes the following modules:

[0130] The first acquisition module 401 is configured to acquire m first data points of the blade, each data point including a maximum blade out-of-plane load value and a minimum tower clearance value of the blade when the blade position angle is in a first preset position angle range; m is an integer greater than 1;

[0131] The first fitting module 402 is configured to fit the relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade according to the m first data points, to obtain a first relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade;

[0132] The first determination module 403 is configured to determine the deviation between the relationship coefficient of the first relationship and the relationship coefficient of the second relationship according to the first relationship and the second relationship; the second relationship is a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value obtained by fitting the maximum blade out-of-plane load value and the minimum tower clearance value of each blade on the blade wheel;

[0133] The second determination module 404 is configured to determine to recalibrate the blade load sensor of the blade when the deviation is higher than a preset deviation threshold.

[0134] In the embodiment, when the wind turbine generator set is running in real time, the blade out-of-plane direction load value and the tower clearance value of the blade can be detected when the blade azimuth angle is in a first preset azimuth angle range, and the maximum blade out-of-plane direction load value and the minimum tower clearance value of the blade in the range are determined as first data points. After m data points of a certain blade are obtained, the corresponding relationship between the maximum blade out-of-plane direction load value and the minimum tower clearance value in the m data points, i.e., a first relationship, can be fitted. According to a second relationship between the maximum blade out-of-plane direction load value and the minimum tower clearance value, which is obtained by pre-fitting the wind turbine generator set, the deviation between the relationship coefficients of the first relationship and the relationship coefficients of the second relationship can be calculated after the relationship coefficients of the first relationship and the relationship coefficients of the second relationship are determined. When the deviation is higher than a preset deviation threshold, it indicates that the blade load sensor of the blade has a problem of measuring load drift due to long-time running in the current state, and the blade load sensor of the blade needs to be recalibrated to eliminate the load drift in time when the blade load sensor of the blade has a load drift. After the first relationship corresponding to each blade on the impeller is determined respectively, it can be determined whether the blade load sensor on each blade needs to be recalibrated, thereby avoiding recalibration of the blade load sensor that does not need to be recalibrated, and saving various resources and costs consumed by recalibration.

[0135] As an implementation manner of the present application, in order to pre-fittingly generate the second relationship, the determination apparatus 400 for recalibrating the blade load sensor can further include:

[0136] A second acquisition module is configured to acquire a plurality of second data points corresponding to different blades on the impeller respectively, the second data points of different blades being the maximum blade out-of-plane direction load value and the minimum tower clearance value of the blade when the blade azimuth angle is in different azimuth angle ranges;

[0137] A second fitting module is configured to fit the relationship between the maximum blade out-of-plane direction load value and the minimum tower clearance value according to the plurality of second data points corresponding to different blades respectively, to obtain the second relationship.

[0138] As an implementation manner of the present application, in order to screen the sensor data without abnormality, the second acquisition module can further include:

[0139] An acquisition unit is configured to acquire a plurality of second original data points corresponding to different blades on the impeller respectively;

[0140] A screening unit is configured to select, from the plurality of second original data points, second original data points in which both the tower clearance sensor and the blade load sensor are normal, to obtain the plurality of second data points.

[0141] As an implementation form of the present application, in order to determine the deviation between the relationship coefficients, the first determining module 403 can further include:

[0142] The first determining unit is configured to determine the first slope and the first intercept in the first relationship according to the first relationship.

[0143] The second determining unit is configured to determine the second slope and the second intercept in the second relationship according to the second relationship.

[0144] The third determining unit is configured to determine the slope difference value according to the first slope and the second slope, and determine the intercept difference value according to the first intercept and the second intercept.

[0145] As an implementation form of the present application, in order to determine whether the blade load sensor of the blade needs to be recalibrated, the second determining module 404 can further include:

[0146] The recalibration unit is configured to recalibrate the blade load sensor of the blade when the slope difference value is greater than the preset slope deviation range and / or the intercept difference value is greater than the preset intercept deviation range.

[0147] The determination device 400 for recalibrating the blade load sensor provided by the embodiments of the present application can implement each step in the method embodiments described above, and thus will not be described here again.

[0148] The embodiments of the present application also provide a wind turbine generator, which includes a tower, a generator and an impeller. The impeller includes a plurality of blades and a hub connected to the plurality of blades. The wind turbine generator further includes a plurality of groups of blade load sensors respectively arranged on the plurality of blades, an impeller azimuth angle sensor arranged on the hub, a tower clearance sensor arranged on the tower, and a controller.

[0149] The controller can be in communication connection with the plurality of groups of blade load sensors, the impeller azimuth angle sensor and the tower clearance sensor respectively, so as to receive the out-of-plane direction load value of the impeller, the impeller azimuth angle and the tower clearance value respectively. The controller can implement each step in the determination method embodiment of the recalibration of the blade load sensor. Figures 1 to 2

[0150] Figure 5 A hardware structure schematic diagram of the determination device for recalibrating the blade load sensor provided by the embodiments of the present application is shown.

[0151] The determination device for recalibrating the blade load sensor can include a processor 501 and a memory 502 having computer program instructions stored therein.

[0152] ​In particular, the processor 501 can include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to perform the operations of the embodiments of the present application.

[0153] The memory 502 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 502 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or DVD), a tape drive, a USB drive, or a combination of two or more of these. The memory 502 can include removable or non-removable (or fixed) media, where appropriate. The memory 502 can be internal or external to the integrated gateway disaster recovery device, where appropriate. In particular embodiments, the memory 502 is non-volatile, solid-state memory.

[0154] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to the aspects of the present disclosure.

[0155] The processor 501 implements the determination method of the blade load sensor re-calibration in any of the above embodiments by reading and executing the computer program instructions stored in the memory 502.

[0156] In one example, the determination device of the blade load sensor re-calibration can further include a communication interface 503 and a bus 510. Wherein, as shown in the figure, the processor 501, the memory 502, the communication interface 503 are connected through the bus 510 and complete the communication between each other. Figure 5

[0157] The communication interface 503 is mainly used to realize the communication between each module, device, unit and / or equipment in the embodiments of the present application.

[0158] ​Bus 510 includes hardware, software, or both, coupling components of blade load sensor recalibration determining apparatus to each other in communication. For example, but not limited to, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or combination of two or more of these. Where suitable, bus 510 can include one or more buses. Although particular buses are described and shown in the embodiments of the present application, the present application contemplates any suitable bus or interconnect.

[0159] The blade load sensor recalibration determining apparatus can be based on the above embodiments, thereby realizing the blade load sensor recalibration determining method and device described in combination Figures 1 to 4 The blade load sensor recalibration determining apparatus can be based on the above embodiments, thereby realizing the blade load sensor recalibration determining method and device described in combination

[0160] In addition, in combination with the blade load sensor recalibration determining method in the above embodiments, the embodiments of the present application can provide a computer storage medium to realize. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize any one of the blade load sensor recalibration determining methods in the above embodiments, and can achieve the same technical effects, to avoid repetition, which will not be described here. Among them, the above computer readable storage medium can include a non-transitory computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, etc., which is not limited here.

[0161] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of simplicity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0162] The functional blocks shown in the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memory, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0163] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the examples, or in an order different from the examples, or several steps can be performed simultaneously.

[0164] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0165] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method of determining a blade load sensor recalibration, characterized in that, The method comprises: acquiring m first data points of the blade, each of the first data points comprising a maximum blade out-of-plane load value and a minimum tower clearance value of the blade when the blade pitch angle is in a first preset pitch angle range; m is an integer greater than 1; fitting a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade according to the m first data points to obtain a first relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade; determining a deviation between a relationship coefficient of the first relationship and a relationship coefficient of a second relationship according to the first relationship and the second relationship; the second relationship is a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value obtained by fitting the maximum blade out-of-plane load value and the minimum tower clearance value of each blade on the blade wheel; the first relationship and the second relationship are both linear relationships, and the relationship coefficients of the first relationship and the second relationship are slopes and intercepts; the deviation between the relationship coefficients of the first relationship and the second relationship is a slope difference and an intercept difference; when the deviation is higher than a preset deviation threshold, recalibrating the blade load sensor of the blade.

2. The method of claim 1, wherein, Before the acquiring m first data points of the blade, the method further comprises: respectively acquiring a plurality of second data points corresponding to different blades on the blade wheel respectively, the second data points of different blades being the maximum blade out-of-plane load value and the minimum tower clearance value of the blade when the blade pitch angle is in different pitch angle ranges; fitting a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value according to the plurality of second data points corresponding to different blades respectively to obtain a second relationship.

3. The method of claim 2, wherein: The acquiring a plurality of second data points corresponding to different blades on the blade wheel respectively specifically comprises: respectively acquiring a plurality of second original data points corresponding to different blades on the blade wheel respectively; selecting second original data points in which neither the tower clearance sensor nor the blade load sensor is abnormal from the plurality of second original data points to obtain a plurality of second data points.

4. The method of claim 1, wherein, The first relationship and the second relationship are both linear relationships; and the determining a deviation between a relationship coefficient of the first relationship and a relationship coefficient of a second relationship according to the first relationship and the second relationship specifically comprises: determining a first slope and a first intercept in the first relationship according to the first relationship; determining a second slope and a second intercept in the second relationship according to the second relationship; determining a slope difference according to the first slope and the second slope, and determining an intercept difference according to the first intercept and the second intercept.

5. The method of claim 4, wherein, The recalibrating the blade load sensor of the blade when the deviation is higher than a preset deviation threshold comprises: when the slope difference is greater than a preset slope deviation range and / or the intercept difference is greater than a preset intercept deviation range, recalibrating the blade load sensor of the blade.

6. The method of claim 1, wherein: The first preset pitch angle range is (60°-Δφ, 60°+Δφ), (180°-Δφ, 180°+Δφ) or (300°-Δφ, 300°+Δφ).

7. A determination device for a blade load sensor recalibration, characterized in that, The determination device for recalibrating the blade load sensor comprises: The first obtaining module is configured to obtain m first data points of the blade, each of the data points comprising a maximum blade out-of-plane load value and a minimum tower clearance value of the blade when the blade pitch angle is in a first preset pitch angle range; m is an integer greater than 1; The first fitting module is configured to fit a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade according to the m first data points, to obtain a first relationship between the maximum blade out-of-plane load value and the minimum tower clearance value of the blade; The first determining module is configured to determine a deviation between a relationship coefficient of the first relationship and a relationship coefficient of a second relationship according to the first relationship and the second relationship; the second relationship is a relationship between the maximum blade out-of-plane load value and the minimum tower clearance value obtained by fitting the maximum blade out-of-plane load value and the minimum tower clearance value of each blade on the blade wheel; the first relationship and the second relationship are both linear relationships, the relationship coefficients of the first relationship and the second relationship are slopes and intercepts, and the deviation between the relationship coefficients of the first relationship and the second relationship is a slope difference and an intercept difference; The second determining module is configured to determine to recalibrate the blade load sensor of the blade when the deviation is higher than a preset deviation threshold.

8. A wind power unit, characterized in that The wind turbine generator set comprises: a tower; a generator; a blade wheel comprising a plurality of blades and a hub connected to the plurality of blades; a plurality of groups of blade load sensors respectively arranged on the plurality of blades; a blade wheel azimuth angle sensor arranged on the hub; a tower clearance sensor arranged on the tower; a controller in communication connection with the plurality of groups of blade load sensors, the blade wheel azimuth angle sensor and the tower clearance sensor, and configured to implement the determination method of the blade load sensor recalibration according to any one of claims 1 to 6.

9. A determination device for a blade load sensor recalibration, characterized in that, The determination device of the blade load sensor recalibration comprises a processor and a memory storing computer program instructions; The processor implements the determination method of the blade load sensor recalibration according to any one of claims 1 to 6 when executing the computer program instructions.

10. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the determination method of the blade load sensor recalibration according to any one of claims 1 to 6.

Images