A method and system for monitoring the inclination angle and foundation settlement of a wind turbine nacelle

Abstract

The present invention discloses a method and system for monitoring the inclination angle and foundation settlement of a wind turbine nacelle. The method comprises the following steps: obtaining ground foundation data on the left side of the turbine rotor, optimizing to obtain turbine relative motion data and turbine foundation offset data; fusing and analyzing the turbine relative motion data and turbine foundation offset data with the turbine yaw angle and nacelle vibration data to obtain a turbine foundation image, thereby obtaining the actual relative position data of the turbine; repairing the singular point information in the actual relative position data of the turbine, determining its position in the turbine foundation image to obtain the absolute motion data of the turbine; calculating the turbine nacelle inclination angle and foundation settlement data based on the absolute motion data, the yaw angle, and the nacelle vibration data; and outputting the data, which is combined with the long-term operation data of the turbine to form a trend graph. The present invention can significantly improve data authenticity, enhance turbine stability, effectively reduce system components, and lower the overall cost of wind turbines.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine status monitoring, and in particular to a method and system for monitoring the inclination angle and foundation settlement of a wind turbine nacelle. Background Art

[0002] Currently, wind turbine nacelle tilt monitoring systems primarily rely on inclinometers located at the base of the turbine tower. These monitor the nacelle's tilt and transmit the data back to the turbine's main control system for optimization. However, due to the inclinometer's location at the base of the tower, the wind turbine's tower structure resembles a cantilever beam, resulting in greater forces and deformations at the nacelle relative to the base. Consequently, the inclination at the base of the tower cannot effectively reflect the inclination at the nacelle, resulting in poor data accuracy. Furthermore, during long-term operation, the turbine may be affected by various factors, potentially causing uneven settlement of the foundation structure. This also results in poor data accuracy, posing a significant safety hazard to turbine operation. To address the current challenges of nacelle tilt and foundation settlement monitoring, and to consider cost reduction, efficiency improvement, and system robustness, there is an urgent need to integrate these monitoring systems with other devices to achieve multi-sensor data fusion, reduce system components, improve data accuracy, and enhance turbine stability. Summary of the Invention

[0003] The first purpose of the present invention is to overcome the shortcomings of the existing technology and provide a method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle. By fusing and analyzing the data of multiple sensors, the data authenticity is greatly improved and the stability of the unit is improved. On the other hand, the system components are effectively reduced and the overall cost of the wind turbine is reduced.

[0004] The second object of the present invention is to provide a wind turbine nacelle inclination and foundation settlement monitoring system.

[0005] The first object of the present invention is achieved through the following technical solutions:

[0006] A method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle, comprising:

[0007] S1. Obtain the ground foundation data on the left side of the unit impeller direction, and perform filtering optimization on the data to obtain the unit relative motion data and unit foundation offset data;

[0008] S2. Fusing and analyzing the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain a unit basic image, and obtaining the unit's actual relative position data based on the unit basic image;

[0009] S3. Process and repair the singular point information in the actual relative position data of the crew, and determine its position in the crew basic image to obtain the absolute motion data of the crew at different positions on the ground;

[0010] S4. Calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data, yaw angle and cabin vibration data of the unit at different positions;

[0011] S5. Output the nacelle inclination and foundation settlement data of the unit at different positions, and combine them with the settlement data of the unit in long-term operation data to form a trend chart.

[0012] Furthermore, in step S1, the following operations are specifically performed:

[0013] A monitoring device is installed on the top of the unit cabin. The field of view of the monitoring device covers the left side of the cabin impeller direction. The monitoring device is used to perform a comprehensive scan of the area on the left side of the cabin impeller direction and to perform real-time imaging. The scanning area includes the plane position from the cabin to the tower base. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is subjected to a relaxed Kalman linear tracking algorithm based on prior constraints to remove the clutter and noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and then normalized.

[0014] Furthermore, the monitoring equipment includes a laser radar or a microwave radar.

[0015] Furthermore, in step S2, the following operations are specifically performed:

[0016] The unit relative motion data and unit basic offset data are fused with the unit's yaw angle and cabin vibration data, and then the data is processed by Kalman linear filtering to obtain the unit basic image, and the actual relative position data of the unit is obtained according to the unit basic image.

[0017] Furthermore, in step S5, the following operations are specifically performed:

[0018] The cabin inclination angle and foundation settlement data are output to the digital twin model of the unit, which is then displayed by the unit main control and the data is returned to the background SCADA system. At the same time, the cabin inclination angle and foundation settlement data are combined with the settlement data of the unit in long-term operation data to form a trend chart, which is convenient for the subsequent evaluation and prediction of the comprehensive settlement of the unit.

[0019] The second object of the present invention is achieved by the following technical solutions:

[0020] A wind turbine nacelle inclination angle and foundation settlement monitoring system, applied to the above-mentioned wind turbine nacelle inclination angle and foundation settlement monitoring method, comprises:

[0021] Monitoring equipment is used to obtain the ground basic data on the left side of the unit impeller direction, and filter and optimize the data to obtain the unit relative motion data and unit foundation offset data;

[0022] The actual relative position calculation module is used to fuse and analyze the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain the unit basic image, and obtain the unit actual relative position data based on the unit basic image;

[0023] The absolute motion calculation module is used to process and repair the singular point information in the actual relative position data of the unit, and determine its position in the unit's basic image to obtain the absolute motion data of the unit at different locations on the ground;

[0024] Inclination angle and foundation settlement calculation module, used to calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data of the unit at different positions, the unit yaw angle and the cabin vibration data;

[0025] The output module is used to output the nacelle inclination and foundation settlement data at different locations of the unit to the digital twin model of the unit. The digital twin model is displayed by the unit main control and the data is returned to the background SCADA system;

[0026] The trend graph drawing module is used to combine the cabin inclination and foundation settlement data of the unit at different positions with the settlement data of the unit in long-term operation data to form a trend graph.

[0027] Furthermore, the field of view of the monitoring equipment covers the left side of the cabin impeller direction, and it performs a comprehensive scan and real-time imaging of the area on the left side of the cabin impeller direction. The scanning area includes the plane position from the cabin to the tower base. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is subjected to a relaxed Kalman linear tracking algorithm based on prior constraints to remove the clutter and noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and then normalized.

[0028] Furthermore, the actual relative position calculation module specifically performs the following operations:

[0029] The unit relative motion data and unit basic offset data are fused with the unit's yaw angle and cabin vibration data, and then the data is processed by Kalman linear filtering to obtain the unit basic image, and the actual relative position data of the unit is obtained according to the unit basic image.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] 1. In the process of monitoring the nacelle inclination and foundation settlement, the present invention integrates and analyzes the data of multiple sensors, which greatly improves the authenticity of the data and enhances the stability of the unit. On the other hand, it effectively reduces system components and reduces the overall cost of the wind turbine generator set.

[0032] 2. The present invention can realize comprehensive monitoring of uneven settlement of wind turbines by long-term tracking and monitoring of foundation settlement and inclination of wind turbines, improve the comprehensive monitoring performance of the wind turbines, and form data analysis on the trend of uneven settlement of the wind turbines. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Flow chart of the method of the present invention.

[0034] Figure 2 This is a schematic diagram of the monitoring device of the present invention scanning an area.

[0035] Figure 3 Schematic diagram of imaging of the monitoring device of the present invention.

[0036] Figure 4 This is a flow chart of the processing algorithm of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] Example 1:

[0039] like Figure 1 As shown, this embodiment provides a method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle, comprising:

[0040] S1. Obtain the ground foundation data on the left side of the unit impeller direction, and perform filtering and optimization on the data to obtain the unit relative motion data and unit foundation offset data; specifically, perform the following operations:

[0041] like Figure 2 As shown, a monitoring device 1 is installed on the top of the unit cabin. The monitoring device is not limited to laser radar or microwave radar, etc., and the existing clearance scanning radar of the unit can be used. The main function is to scan the area. The field of view of the monitoring device covers the left side of the cabin impeller direction. The monitoring device is used instead of the inclinometer to perform comprehensive scanning of the area on the left side of the cabin impeller direction and real-time imaging, as shown in FIG. Figure 3As shown, the scanning area includes the plane position from the cabin to the tower base, and the three-dimensional coordinate information of the relative position of the cabin and the tower base is obtained. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is removed by using the relaxed Kalman linear tracking algorithm based on the prior constraint to remove the clutter noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and normalized. The processing algorithm is as follows Figure 4 shown.

[0042] S2. Fusing and analyzing the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain a unit basic image, and obtaining the unit's actual relative position data based on the unit basic image. Specifically, the following operations are performed:

[0043] The unit's relative motion data and basic offset data are fused with the yaw angle and cabin vibration data obtained from the unit's main control system to effectively improve data synchronization and authenticity. The data is then processed by Kalman linear filtering to obtain a basic image of the unit. Based on the basic image of the unit, the actual relative position data of the unit is obtained. The yaw angle is collected by the unit's angle sensor, and the cabin vibration data is obtained by the cabin acceleration sensor of the unit.

[0044] S3. Process and repair the singular point information in the actual relative position data of the crew, and determine its position in the crew basic image to obtain the absolute motion data of the crew at different positions on the ground;

[0045] S4. Calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data, yaw angle and cabin vibration data of the unit at different positions;

[0046] S5. Output the nacelle inclination and foundation settlement data of the unit at different positions, and combine them with the settlement data of the unit in long-term operation data to form a trend chart. Specifically, perform the following operations:

[0047] The cabin inclination angle and foundation settlement data are output to the digital twin model of the unit, which is then displayed by the unit main control and the data is returned to the background SCADA system. At the same time, the cabin inclination angle and foundation settlement data are combined with the settlement data of the unit in long-term operation data to form a trend chart, which is convenient for the subsequent evaluation and prediction of the comprehensive settlement of the unit.

[0048] Example 2:

[0049] This embodiment provides a wind turbine nacelle inclination angle and foundation settlement monitoring system, which is applied to the above-mentioned wind turbine nacelle inclination angle and foundation settlement monitoring method, including:

[0050] Monitoring equipment is used to obtain the ground basic data on the left side of the unit impeller direction, and filter and optimize the data to obtain the unit relative motion data and unit foundation offset data;

[0051] The actual relative position calculation module is used to fuse and analyze the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain the unit basic image, and obtain the unit actual relative position data based on the unit basic image;

[0052] The absolute motion calculation module is used to process and repair the singular point information in the actual relative position data of the unit, and determine its position in the unit's basic image to obtain the absolute motion data of the unit at different locations on the ground;

[0053] Inclination angle and foundation settlement calculation module, used to calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data of the unit at different positions, the unit yaw angle and the cabin vibration data;

[0054] The output module is used to output the nacelle inclination and foundation settlement data at different locations of the unit to the digital twin model of the unit. The digital twin model is displayed by the unit main control and the data is returned to the background SCADA system;

[0055] The trend graph drawing module is used to combine the cabin inclination and foundation settlement data of the unit at different positions with the settlement data of the unit in long-term operation data to form a trend graph.

[0056] Furthermore, the field of view of the monitoring equipment covers the left side of the cabin impeller direction, and it performs a comprehensive scan and real-time imaging of the area on the left side of the cabin impeller direction. The scanning area includes the plane position from the cabin to the tower base. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is subjected to a relaxed Kalman linear tracking algorithm based on prior constraints to remove the clutter and noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and then normalized.

[0057] Furthermore, the actual relative position calculation module specifically performs the following operations:

[0058] The unit relative motion data and unit basic offset data are fused with the unit's yaw angle and cabin vibration data, and then the data is processed by Kalman linear filtering to obtain the unit basic image, and the actual relative position data of the unit is obtained according to the unit basic image.

[0059] The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and invention concept of the present invention within the scope disclosed by the present invention, which falls within the scope of protection of the present invention.

Claims

1. A method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle, characterized in that: include, S1. Obtain the ground foundation data on the left side of the unit impeller direction, and perform filtering optimization on the data to obtain the unit relative motion data and unit foundation offset data; S2. Fusing and analyzing the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain a unit basic image, and obtaining the unit's actual relative position data based on the unit basic image; S3. Process and repair the singular point information in the actual relative position data of the crew, and determine its position in the crew basic image to obtain the absolute motion data of the crew at different positions on the ground; S4. Calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data, yaw angle and cabin vibration data of the unit at different positions; S5. Output the nacelle inclination and foundation settlement data of the unit at different positions, and combine them with the settlement data of the unit in long-term operation data to form a trend chart.

2. The method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle according to claim 1, characterized in that: In step S1, the following operations are specifically performed: A monitoring device is installed on the top of the unit cabin. The field of view of the monitoring device covers the left side of the cabin impeller direction. The monitoring device is used to perform a comprehensive scan of the area on the left side of the cabin impeller direction and to perform real-time imaging. The scanning area includes the plane position from the cabin to the tower base. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is subjected to a relaxed Kalman linear tracking algorithm based on prior constraints to remove the clutter and noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and then normalized.

3. The method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle according to claim 2, characterized in that: The monitoring equipment includes a laser radar or a microwave radar.

4. The method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle according to claim 1, characterized in that: In step S2, the following operations are specifically performed: The unit relative motion data and unit basic offset data are fused with the unit's yaw angle and cabin vibration data, and then the fused data are processed by Kalman linear filtering to obtain the unit basic image, and the actual relative position data of the unit is obtained according to the unit basic image.

5. The method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle according to claim 1, characterized in that: In step S5, the following operations are specifically performed: The cabin inclination angle and foundation settlement data are output to the digital twin model of the unit, which is then displayed by the unit main control and the data is returned to the background SCADA system. At the same time, the cabin inclination angle and foundation settlement data are combined with the settlement data of the unit in long-term operation data to form a trend chart, which is convenient for the subsequent evaluation and prediction of the comprehensive settlement of the unit.

6. A wind turbine nacelle inclination and foundation settlement monitoring system, characterized in that: The method for monitoring the inclination angle and foundation settlement of a wind turbine nacelle as claimed in any one of claims 1 to 5 comprises: Monitoring equipment is used to obtain the ground basic data on the left side of the unit impeller direction, and filter and optimize the data to obtain the unit relative motion data and unit foundation offset data; The actual relative position calculation module is used to fuse and analyze the unit relative motion data and unit basic offset data with the unit yaw angle and cabin vibration data to obtain the unit basic image, and obtain the unit actual relative position data based on the unit basic image; The absolute motion calculation module is used to process and repair the singular point information in the actual relative position data of the unit, and determine its position in the unit's basic image to obtain the absolute motion data of the unit at different locations on the ground; Inclination angle and foundation settlement calculation module, used to calculate the cabin inclination angle and foundation settlement data of the unit at different positions based on the absolute motion data of the unit at different positions, the unit yaw angle and the cabin vibration data; The output module is used to output the nacelle inclination and foundation settlement data at different locations of the unit to the digital twin model of the unit. The digital twin model is displayed by the unit main control and the data is returned to the background SCADA system; The trend graph drawing module is used to combine the cabin inclination and foundation settlement data of the unit at different positions with the settlement data of the unit in long-term operation data to form a trend graph.

7. The wind turbine nacelle inclination and foundation settlement monitoring system according to claim 6, characterized in that: The field of view of the monitoring equipment covers the left side of the cabin impeller direction. It performs a comprehensive scan and real-time imaging of the area on the left side of the cabin impeller direction. The scanning area includes the plane position from the cabin to the tower base. By obtaining the ground basic data on the left side of the unit impeller direction, the basic data is subjected to a relaxed Kalman linear tracking algorithm based on prior constraints to remove the clutter and noise interference data between frames in the image data. After processing the corresponding data, the data of each frame are jointly processed to obtain the relative motion data of the unit, and then normalized.

8. The wind turbine nacelle inclination and foundation settlement monitoring system according to claim 6, characterized in that: The actual relative position calculation module specifically performs the following operations: The unit relative motion data and unit basic offset data are fused with the unit's yaw angle and cabin vibration data, and then the fused data are processed by Kalman linear filtering to obtain the unit basic image, and the actual relative position data of the unit is obtained according to the unit basic image.

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