A blade root load detection device data calibration method, system and calibration terminal

Abstract

The application provides a kind of blade root load detection equipment data calibration method, system and calibration terminal, it is related to wind generating set blade root load detection technical field, obtains calibration flag bit by unit main controller;Set wind generating set parameter;Blade position is set, so that blade root load detection equipment exports the detection value under the influence of only gravity;Wind speed data is screened;If it meets the judgment condition, the screened data is coordinate transformed;The data after coordinate transformation is multiplied with the blade weight point converted into 3×1 matrix;Product is cross multiplied with the blade barycenter position converted into 3×1 matrix;Calibration coefficient is obtained by using the obtained converted load value and the blade root load detection equipment output value converted into 1×4 matrix left division.The application can realize the detection calibration of blade root load, obtain deviation value, and effectively correct, so that wind generating set meets the use requirement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine blade root load detection, and particularly relates to a blade root load detection equipment data calibration method and system and a calibration terminal. BACKGROUND

[0002] At present, the requirement for carbon emission is higher and higher, and the demand for clean energy is larger and larger. As an important new energy industry, after a period of development, the available land occupation of onshore wind resources is less and less, and high-power units are more and more favored by power plant manufacturers. At the same time, with the increasingly fierce market competition, the design direction of high-power low-cost units of various unit manufacturers is more and more obvious. The overall cost of wind turbine units is high, and the safe and stable operation is the primary goal. When the cost and safe operation conflict, using more advanced control strategy is an inevitable trend.

[0003] In the face of the rapidly changing wind farm environment, many unit manufacturers choose to reduce the load to reduce the cost of the unit. The load at the blade root of the unit is reduced first, and then there is a great demand for the detection equipment of the blade root load.

[0004] During the installation process, the output value of the blade root load detection equipment has deviation caused by the gravity of the blade, installation process, installation environment and the like. In order to eliminate such deviation, the blade root load needs to be detected and calibrated to obtain the deviation value and effectively correct the deviation, so that the wind turbine unit meets the use requirement. How to detect and calibrate the blade root load detection equipment is a technical problem to be solved at present. SUMMARY

[0005] The present application provides a blade root load detection equipment data calibration method, which can detect and calibrate the blade root load, obtain the deviation value, and effectively correct the deviation, so that the wind turbine unit meets the use requirement.

[0006] The blade root load detection equipment data calibration method comprises the following steps:

[0007] S101, acquiring the blade angle, wind speed, hub angle, blade root load detection equipment output value and blade root load detection equipment calibration flag bit through the unit main controller; and setting the wind turbine unit parameters;

[0008] S102, setting the blade position to make the blade root load detection equipment output the detection value of the blade only under the influence of gravity;

[0009] S103, screening the wind speed data;

[0010] If the judgment condition is not met, return to step 2; if the judgment condition is met, execute step 4;

[0011] S104, coordinate transformation is made to the screened blade angle, hub angle, nacelle tilt angle and hub cone angle;

[0012] S105, the blade angle, hub angle, nacelle tilt angle and hub cone angle after coordinate transformation are multiplied by the blade weight point converted into a 3x1 matrix; the product is cross-multiplied with the blade center of gravity position converted into a 3x1 matrix;

[0013] S106, the calibrated coefficient is obtained by dividing the converted load value by the blade root load detection device output value converted into a 1x4 matrix.

[0014] It should be further explained that the wind turbine parameters set in step 1 include the first blade, the second blade, the third blade weight, the center of gravity position, the hub to blade root distance, the nacelle tilt angle and the hub cone angle.

[0015] It should be further explained that step 2 further includes: when the wind speed is lower than 5m / s, rotating the first blade, the second blade and the third blade to the left horizontal position of the wind wheel respectively; opening the blades of the first blade, the second blade and the third blade to 0°, closing the blades to 90°, and repeating the above steps more than 6 times, and recording the blade angle.

[0016] It should be further explained that in step 3, the acquired wind speed data is filtered in real time to remove the situation that the blade root load detection device output value is inaccurate due to the influence of wind, so as to determine whether it is effective calibration data.

[0017] It should be further explained that step 4 further includes:

[0018] 4.1, the blade angle is rotated around the Z axis and converted into the blade root fixed coordinate system;

[0019]

[0020] In the formula is the blade angle value, is the numerical value after coordinate transformation of the blade angle value;

[0021] 4.2, the hub angle is rotated around the X axis and converted into the hub fixed coordinate system;

[0022]

[0023] In the formula is the hub angle value, is the numerical value after coordinate transformation of the hub angle value;

[0024] 4.3, the nacelle tilt angle is rotated around the Y axis and converted into the global coordinate system;

[0025]

[0026] wherein is the nacelle tilt value, is the nacelle tilt value after coordinate transformation;

[0027] 4.4, the hub cone angle around the Y axis rotation is converted to the global coordinate system;

[0028]

[0029] wherein is the hub cone angle value, is the hub cone angle value after coordinate transformation.

[0030] Further need to explain is, step 5 further includes: the blade weight is converted into 3 × 1 matrix;The blade center of gravity position is converted into 3 × 1 matrix;Two matrixes are crossed, and the crossed result is dotted with the value after coordinate system conversion in step 4;

[0031]

[0032]

[0033] wherein A_load is the load value after conversion only affected by gravity.

[0034] Further need to explain is, step 6 further includes: the converted load value is used to obtain the calibration coefficient by left division with the blade root load detection device output value converted into 1 × 4 matrix,

[0035]

[0036] is the calibration coefficient after calculation, is the blade root load detection device input value, and A_load is the load value after conversion only affected by gravity.

[0037] The application also provides a kind of blade root load detection device data calibration system, system includes: unit main controller, blade position setting module, wind speed acquisition and screening module, coordinate transformation module, conversion module and calculation module;

[0038] Unit main controller is used to obtain blade angle, wind speed, hub angle, blade root load detection device output value, blade root load detection device calibration flag bit, and set wind generating set parameter;

[0039] Blade position setting module is used to set blade position, so that blade root load detection device outputs the detection value of blade only affected by gravity;

[0040] Wind speed acquisition and screening module is used to screen wind speed data;

[0041] The coordinate transformation module is used for coordinate transformation of the screened blade angle, the hub angle, the nacelle tilt angle and the hub cone angle.

[0042] The conversion module is used for cross multiplication of the product of the blade weight point converted into a 3x1 matrix and the blade barycenter position converted into a 3x1 matrix.

[0043] The calculation module is used for obtaining the calibration coefficient by dividing the converted load value by the blade root load detection device output value converted into a 1x4 matrix.

[0044] The present application also provides a calibration terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the blade root load detection device data calibration method when executing the program.

[0045] From the above technical solutions, the present application has the following advantages:

[0046] In the blade root load detection device data calibration method and system provided by the present application, the blade angle, the wind speed, the hub angle, the blade root load detection device output value and the blade root load detection device calibration flag bit are obtained through the main controller of the wind turbine generator set, the wind turbine generator set parameters are set, the blade root load calibration state information list is constructed, and the blade root load calibration state information list is updated in real time. In this way, the present application can realize detection and calibration of the blade root load, obtain the deviation value, and effectively correct the deviation, so that the wind turbine generator set meets the use requirements. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0048] Fig. 1 The flowchart of the blade root load detection device data calibration method embodiment;

[0049] Fig. 2 The flowchart of the blade root load detection device data calibration method. DETAILED DESCRIPTION

[0050] As Figs. 1-2As shown, the drawings provided in the blade root load detection device data calibration method of the present application only illustrate the basic concept of the present application in a schematic manner, and the number, shape and size of the blades, blade roots and units in the method are not configured according to the actual implementation, and the type, number and proportion of the blades, blade roots and units in the actual implementation can be changed arbitrarily, and the layout type of the blades, blade roots and units can be more complex.

[0051] The blade root load detection device data calibration method of the present application can acquire and process related data based on artificial intelligence technology. The blade root load detection device data calibration method utilizes a digital computer for control and can extend to artificial intelligence, and the theory, method, technology and application device for perceiving the environment, acquiring knowledge and using the knowledge to obtain the best results.

[0052] As Fig. 1 A flowchart of a preferred embodiment of the blade root load detection device data calibration method of the present application is shown. The blade root load detection device data calibration method is applied to one or more calibration terminals, which is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions. The hardware thereof includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0053] The calibration terminal can be any electronic product that can interact with the user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), an interactive Internet Protocol Television (IPTV), a smart wearable device, etc.

[0054] The calibration terminal can also include network devices and / or user devices. The network devices include but are not limited to a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of hosts or network servers based on cloud computing.

[0055] The network in which the calibration terminal is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0056] The following will be described in combination with Figs. 1-2The leaf root load detection equipment data calibration method of the application can be applied to the calibration of the detection of the leaf root load, the trend of the deviation value is obtained, whether the leaf root load is in the range of the specification is evaluated, whether the deviation needs to be corrected, and the wind power generation is positively ensured.

[0057] The technical solutions in the embodiments of the application will be clearly and completely described with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0058] Please refer to Figs. 1-2 Figs. 1-2 The flowchart of the leaf root load detection equipment data calibration method in an embodiment is shown in the figure, and the method comprises the following steps:

[0059] S101, acquiring the blade angle, the wind speed, the hub angle, the output value of the leaf root load detection equipment, and the calibration flag bit of the leaf root load detection equipment through the main controller of the unit, and setting the parameters of the wind power generating set;

[0060] In the application, the main controller of the unit collects data in real time for analysis and processing when the leaf root load detection equipment of the wind power generating set is calibrated, and the data comprises the wind speed, the blade angle, the hub angle, the output value of the leaf root load detection equipment, and the calibration flag bit of the leaf root load detection equipment. The set parameters of the wind power generating set comprise the weights of the first blade, the second blade, and the third blade, the position of the center of gravity, the distance from the hub to the leaf root, the cabin inclination angle, and the hub cone angle.

[0061] S102, setting the blade position to make the leaf root load detection equipment output the detection value of the blade under the influence of gravity only;

[0062] The application can set the horizontal positions of the first blade, the second blade, and the third blade to the left or right side of the hub respectively, make the blade load be affected by gravity only, change the blade angle from the pitch-in to the pitch-out, and then from the pitch-out to the pitch-in, and repeat the above steps more than 6 times to ensure the accuracy of the data and record the values transmitted by the main controller of the unit in S101.

[0063] For example, when the wind speed is lower than 5 m / s, the first blade, the second blade, and the third blade are rotated to the horizontal position on the left side of the wind wheel respectively, the blade angles of the first blade, the second blade, and the third blade are changed from the pitch-out to 0° and from the pitch-in to 90° respectively, and the above steps are repeated more than 6 times, and the blade angles are recorded.

[0064] S103, screening the wind speed data; if the judgment condition is not met, returning to execute S102; if the judgment condition is met, executing S104;

[0065] Specifically, the accuracy of the collected data is judged, whether the wind speed data exceeds the calibration wind speed 5m / s is confirmed, if it exceeds the calibration wind speed, the data collection is re-performed, if it does not exceed the calibration wind speed, S104 is executed.

[0066] S104, the screened blade angle, hub angle, nacelle tilt angle and hub cone angle are coordinate transformed;

[0067] Specifically, the following sub-steps are included:

[0068] 4.1, the blade angle is rotated around the Z axis and converted to the blade root fixed coordinate system;

[0069]

[0070] In the formula is the blade angle value, is the numerical value of the blade angle value after coordinate transformation;

[0071] 4.2, the hub angle is rotated around the X axis and converted to the hub fixed coordinate system;

[0072]

[0073] In the formula is the hub angle value, is the numerical value of the hub angle value after coordinate transformation;

[0074] 4.3, the nacelle tilt angle is rotated around the Y axis and converted to the global coordinate system;

[0075]

[0076] In the formula is the nacelle tilt angle value, is the numerical value of the nacelle tilt angle value after coordinate transformation;

[0077] 4.4, the hub cone angle is rotated around the Y axis and converted to the global coordinate system;

[0078]

[0079] In the formula is the hub cone angle value, is the numerical value of the hub cone angle value after coordinate transformation;

[0080] S105, the blade angle, hub angle, nacelle tilt angle and hub cone angle after coordinate transformation are multiplied with the blade weight point converted into a 3x1 matrix; the product is cross-multiplied with the blade center of gravity position converted into a 3x1 matrix;

[0081] In the embodiment of the present application, the blade weight is converted into a 3x1 matrix; the blade center of gravity position is converted into a 3x1 matrix; the two matrices are cross-multiplied, and the cross-multiplied result is multiplied by the converted value of the coordinate system in S104;

[0082]

[0083]

[0084] In the formula, A_load is the converted load value affected only by gravity.

[0085] S106, the converted load value is divided by the output value of the blade root load detection device converted into a 1x4 matrix to obtain a calibration coefficient.

[0086] In the formula, the 1x4 matrix in the present example uses four input variables

[0087]

[0088] To calculate the calibration coefficient, A_load is the converted load value affected only by gravity.

[0089] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0090] The blade root load detection device data calibration method obtains the blade angle, wind speed, hub angle, blade root load detection device output value, and blade root load detection device calibration flag bit through the main controller of the unit; the wind turbine parameters are set, and the application information can be archived and stored;

[0091] A blade root load calibration state information list is constructed, and the blade root load calibration state information list is updated in real time;

[0092] A blade root load calibration state information operation interface is configured on the calibration terminal, so that the operator performs data addition, deletion, modification, and query in the blade root load calibration state information operation interface, inputs calibration process control instructions, and realizes the control of calibration. Eliminate the deviation of the output value of the blade root load detection device caused by the blade gravity, installation process, and installation environment during the installation process, and effectively correct the deviation, so that the wind turbine can meet the use requirements.

[0093] The following is an embodiment of a blade root load detection device data calibration system provided by the embodiments of the present disclosure, which belongs to the same inventive concept as the blade root load detection device data calibration method of each embodiment described above. Details not described in the embodiment of the blade root load detection device data calibration system can be referred to the embodiments of the blade root load detection device data calibration method described above.

[0094] The blade root load detection device data calibration system comprises a unit main controller, a blade position setting module, a wind speed acquisition and screening module, a coordinate transformation module, a conversion module and a calculation module.

[0095] The unit main controller is used to acquire the blade angle, the wind speed, the hub angle, the blade root load detection device output value and the blade root load detection device calibration flag, and set the wind turbine parameters.

[0096] The blade position setting module is used to set the blade position, so that the blade root load detection device outputs the detection value of the blade only under the influence of gravity.

[0097] The wind speed acquisition and screening module is used to screen the wind speed data; that is, the acquired wind speed data is screened to remove the situation that the blade root load detection device output value is inaccurate due to the influence of wind, so as to determine whether it is effective calibration data.

[0098] The coordinate transformation module is used to perform coordinate transformation on the screened blade angle, hub angle, nacelle tilt angle and hub cone angle.

[0099] The conversion module is used to multiply the coordinate-transformed blade angle, hub angle, nacelle tilt angle and hub cone angle by the blade weight point converted into a 3x1 matrix, and cross-multiply the product with the blade center of gravity position converted into a 3x1 matrix.

[0100] The calculation module is used to divide the converted load value by the blade root load detection device output value converted into a 1x4 matrix to obtain the calibration coefficient.

[0101] The units and algorithm steps of each example described in the embodiments disclosed in the blade root load detection device data calibration method and system provided by the present application can be realized by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been described in the above description. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0102] The flow diagrams and block diagrams illustrate the architectural, functional, and operational aspects of possible implementations of apparatuses, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0103] The computer program code for carrying out operations of the present disclosure can be written in one or more programming languages or combinations of languages including object oriented programming languages such as Java, Smalltalk, C++ or conventional procedural programming languages such as the "C" programming language or similar programming languages.

[0104] The foregoing description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A data calibration method for a leaf root load detection device, characterized in that the method... The method comprises the following steps: S101, obtaining the blade angle, wind speed, hub angle, output value of the blade root load detection device, and calibration flag bit of the blade root load detection device through the main controller of the wind turbine generator system; setting the parameters of the wind turbine generator system; S102, setting the blade position to make the blade root load detection device output the detection value of the blade only under the influence of gravity; S103, screening the wind speed data; if the judgment condition is not met, returning to step 2; if the judgment condition is met, executing step 4; S104, performing coordinate transformation on the screened blade angle, hub angle, nacelle tilt angle, and hub cone angle; S105, multiplying the coordinate-transformed blade angle, hub angle, nacelle tilt angle, and hub cone angle by the blade weight point converted into a 3x1 matrix; cross-multiplying the product by the blade center of gravity position converted into a 3x1 matrix; S106, dividing the obtained converted load value by the output value of the blade root load detection device converted into a 1x4 matrix to obtain the calibration coefficient; In step 3, the acquired wind speed data is screened in real time to remove the case where the output value of the blade root load detection device is inaccurate due to the influence of wind force, so as to determine whether it is effective calibration data.

2. The blade root load detection device data calibration method according to claim 1, wherein The parameters of the wind turbine generator system set in step 1 include the weights, center of gravity positions, hub-to-blade root distances, nacelle tilt angles, and hub cone angles of the first blade, the second blade, and the third blade.

3. The blade root load detection device data calibration method according to claim 1, wherein Step 2 further comprises: rotating the first blade, the second blade, and the third blade to the left horizontal position of the wind wheel when the wind speed is lower than 5 m / s; opening the first blade, the second blade, and the third blade to 0°, closing them to 90°, and repeating the above operations for more than 6 times, and recording the blade angle.

4. The blade root load detection device data calibration method according to claim 1, wherein Step 4 further comprises: 4.1, rotating the blade angle around the Z axis to the blade root fixed coordinate system; In the formula is a value of the blade angle, is a value of the blade angle after coordinate transformation; 4.2, rotating the hub angle around the X axis to the hub fixed coordinate system; In the formula is the wheel angle value, is the wheel angle value after coordinate transformation; 4.3, rotating the nacelle tilt angle around the Y axis to the global coordinate system; In the formula is the cabin inclination value, is the cabin inclination value after coordinate transformation; 4.4, rotating the hub cone angle around the Y axis to the global coordinate system; In the formula is the value of the hub cone angle, is the value of the hub cone angle after coordinate transformation.

5. A blade root load detection apparatus data calibration system characterized by, The system adopts the blade root load detection device data calibration method according to any one of claims 1 to 4; The system comprises: a main controller of the wind turbine generator system, a blade position setting module, a wind speed acquisition and screening module, a coordinate transformation module, a conversion module, and a calculation module; The main controller of the wind turbine generator system is used to obtain the blade angle, wind speed, hub angle, output value of the blade root load detection device, and calibration flag bit of the blade root load detection device, and set the parameters of the wind turbine generator system; The blade position setting module is used to set the blade position to make the blade root load detection device output the detection value of the blade only under the influence of gravity; The wind speed acquisition and screening module is used to screen the wind speed data; The coordinate transformation module is used to perform coordinate transformation on the screened blade angle, hub angle, nacelle tilt angle, and hub cone angle; The transformation module is used for multiplying the coordinate-transformed blade angle, the hub angle, the nacelle tilt angle, and the hub cone angle with the blade weight point transformed into a 3x1 matrix; and performing cross multiplication between the product and the blade center of gravity position transformed into a 3x1 matrix; The calculation module is used for obtaining the calibration coefficient by dividing the obtained transformed load value by the blade root load detection device output value transformed into a 1x4 matrix.

6. A calibration terminal comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the blade root load detection device data calibration method according to any one of claims 1 to 4 when executing the program.

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