Wind speed compensation method and device based on floating wind turbine motion response and electronic equipment

Abstract

The application provides a wind speed compensation method and device based on floating wind turbine motion response and electronic equipment, and the method comprises the following steps: obtaining the measured wind speed at each time in a preset time period; obtaining the motion response of the floating wind turbine in multiple preset directions of the rectangular coordinate system at each time in the preset time period according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model and a first preset formula; and compensating the measured wind speed according to the motion response and a second preset formula to obtain the compensated wind speed at each time in the preset time period. Through the application, the problem that the complex motion response of the floating wind turbine in different directions is not considered in the related art, and it is difficult to accurately compensate the measurement wind speed deviation of the laser radar erected on the top of the floating wind turbine cabin is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wind power generation, and in particular to a wind speed compensation method and device based on floating wind turbine motion response and an electronic device. BACKGROUND

[0002] Laser radar wind measurement technology is related to wind resource assessment of wind field, wind speed and direction instructions of main control system, variable pitch control operation, etc. Accurate perception of wind speed and direction information plays a crucial role in efficient power generation and safety assurance of floating wind turbine. Floating wind turbine is subjected to wind load and wave load, and its six-degree-of-freedom motion is relatively complex and has great uncertainty. Compared with fixed wind turbine, the cabin laser radar on floating wind turbine is affected by the six-degree-of-freedom motion of the floating wind turbine platform, and may have wind measurement deviation and inaccuracy.

[0003] Currently, there is little research on laser radar wind measurement compensation for floating wind turbine. There are mainly two ways to compensate for the deviation of floating wind turbine six-degree-of-freedom motion on laser radar wind speed measurement, namely mechanical compensation and algorithm-based compensation. Mechanical compensation needs to design and implement a mechanical compensation system to adjust the laser radar wind measurement angle in real time to achieve motion compensation. Algorithm-based compensation has the advantage of not requiring additional hardware except for the floating body motion measurement system. One method is to design a new laser radar wind field reconstruction algorithm and apply it to floating laser radar to estimate the average wind speed and turbulence intensity. Another method is to simulate a three-dimensional wind field and propose a compensation algorithm, which can be used to measure the average wind speed. However, these methods are basically designed based on a single sea level simple floating body laser radar, without considering the influence of the six-degree-of-freedom motion of the floating wind turbine platform, and cannot compensate for the wind measurement deviation of the laser radar mounted on the top of the floating wind turbine cabin.

[0004] Therefore, the prior art has the problem of not considering the complex motion response of the floating wind turbine in different directions, and being difficult to accurately compensate for the measurement wind speed deviation of the laser radar mounted on the top of the floating wind turbine cabin. SUMMARY

[0005] The present application provides a wind speed compensation method and device based on floating wind turbine motion response and an electronic device to at least solve the problem in the related art that the complex motion response of the floating wind turbine in different directions is not considered, and it is difficult to accurately compensate for the measurement wind speed deviation of the laser radar mounted on the top of the floating wind turbine cabin.

[0006] According to an aspect of an embodiment of the present application, a wind speed compensation method based on floating wind turbine motion response is provided, which comprises:

[0007] obtaining the measurement wind speed at each time in a preset time period;

[0008] According to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, a plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time in the preset time period are obtained;

[0009] According to the plurality of motion responses and the second preset formula, the measured wind speed is compensated to obtain a compensated wind speed at each time in the preset time period.

[0010] According to another aspect of the embodiments of the present application, a wind speed compensation device based on motion responses of a floating wind turbine is also provided, and the device comprises:

[0011] The obtaining module is configured to obtain a measured wind speed at each time in a preset time period;

[0012] The first obtaining module is configured to obtain, according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, a plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time in the preset time period;

[0013] The compensation module is configured to compensate the measured wind speed according to the plurality of motion responses and the second preset formula to obtain a compensated wind speed at each time in the preset time period.

[0014] Optionally, the device further comprises:

[0015] The second obtaining module is configured to obtain, according to the measured wind speed, the compensated wind speed and a third preset formula, a compensation error;

[0016] The ending module is configured to end if the compensation error is less than a preset threshold value;

[0017] The loop module is configured to, if the compensation error is greater than or equal to the preset threshold value, take the compensated wind speed as the measured wind speed, and start to execute subsequent steps from the obtaining, according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, a plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time in the preset time period, until the compensation error is less than the preset threshold value, and then complete the compensation.

[0018] Optionally, the obtaining module comprises:

[0019] The obtaining unit is configured to obtain original wind speed measurement data;

[0020] The reconstructing unit is configured to reconstruct missing values in the original wind speed measurement data;

[0021] a deleting unit, configured to delete error values in the original wind speed measurement data;

[0022] a processing unit, configured to perform differential and filtering processing on the original wind speed measurement data according to a fourth preset formula and a preset differential operator, to obtain the measurement wind speed at each time point in the preset time period.

[0023] Optionally, the first obtaining module comprises:

[0024] an input unit, configured to input the measurement wind speed and the preset wave time history into the preset numerical simulation model of the floating wind turbine;

[0025] a first obtaining unit, configured to obtain, according to the preset numerical simulation model of the floating wind turbine, a response transfer function corresponding to the plurality of motion responses;

[0026] a second obtaining unit, configured to obtain, according to the response transfer function, the measurement wind speed, and the first preset formula, the plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time point.

[0027] Optionally, the plurality of motion responses comprise a surge motion response and a pitch motion response, and the compensating module comprises:

[0028] a third obtaining unit, configured to obtain, according to the surge motion response and a fifth preset formula, a surge motion velocity at each time point in the preset time period;

[0029] a determining unit, configured to determine, according to the pitch motion response, a pitch motion angle at each time point in the preset time period;

[0030] a fourth obtaining unit, configured to obtain, according to the surge motion velocity, the pitch motion angle, the measurement wind speed, and a second preset formula, the compensated wind speed at each time point in the preset time period.

[0031] Optionally, the second obtaining module comprises:

[0032] a selecting unit, configured to select a preset number of time points from all time points as sampling time points;

[0033] a fifth obtaining unit, configured to obtain, according to the measurement wind speed corresponding to the sampling time points, the compensated wind speed corresponding to the sampling time points, the preset number, and a third preset formula, the compensation error.

[0034] Optionally, the third obtaining unit comprises:

[0035] an acquisition sub-module, configured to acquire a time step of each time point;

[0036] determining a surge displacement at each time point in the preset time period according to the surge motion response;

[0037] obtaining the surge motion velocity at each time point in the preset time period according to the surge displacement at any adjacent time point, the time step and the fifth preset formula.

[0038] According to still another aspect of the embodiments of the present application, an electronic device is provided, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; the memory is configured to store a computer program; and the processor is configured to execute the method steps in any of the above embodiments by running the computer program stored in the memory.

[0039] According to still another aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program, wherein the computer program is configured to execute the method steps in any of the above embodiments when running.

[0040] In the embodiments of the present application, the measured wind speed at each time point in a preset time period is obtained; a plurality of motion responses of the floating wind turbine in a plurality of preset directions in a rectangular coordinate system at each time point in the preset time period are obtained according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model and a first preset formula; and the measured wind speed is compensated according to the plurality of motion responses and a second preset formula to obtain a compensated wind speed at each time point in the preset time period. The measured wind speed is obtained first; then the motion response of the floating wind turbine is calculated according to the measured wind speed and the preset floating wind turbine numerical simulation model; and finally, the measured wind speed is compensated according to the motion response. The main motion response of the floating wind turbine is obtained through numerical simulation of the floating wind turbine numerical simulation model, the influence of the motion response on the measured wind speed is considered, and then the measured wind speed is compensated according to the motion response to obtain a more accurate compensated wind speed. It is simple and easy to implement, and fills the technical gap of the current compensation of the measured wind speed of the machine cabin type laser radar of the floating wind turbine. The problem that the complex motion response of the floating wind turbine in different directions is not considered in the related art, and it is difficult to accurately compensate the measured wind speed deviation of the laser radar erected on the top of the machine cabin of the floating wind turbine is solved. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles behind the application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0043] Figure 1 is an optional floating wind turbine platform motion affected floating wind turbine laser radar wind measurement schematic diagram according to an embodiment of the present application;

[0044] Figure 2 is an optional flowchart of a wind speed compensation method based on floating wind turbine motion response according to an embodiment of the present application;

[0045] Figure 3 is an optional comparison diagram of reference wind speed, original wind speed and compensated wind speed under turbulent wind according to an embodiment of the present application;

[0046] Figure 4 is an optional comparison diagram of reference wind speed, original wind speed and compensated wind speed under sudden change wind according to an embodiment of the present application;

[0047] Figure 5 is an optional floating wind turbine laser radar wind measurement method with motion compensation function according to an embodiment of the present application;

[0048] Figure 6 is an optional structural block diagram of a wind speed compensation device based on floating wind turbine motion response according to an embodiment of the present application;

[0049] Figure 7 is an optional structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make those skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort should be within the scope of protection of the present application.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] The laser radar located at the top of the cabin of the floating wind turbine (referred to as floating wind turbine) is greatly affected by the platform motion, as shown in Figure 1 The floating wind turbine is affected by the wind, that is, the wind load, and the axis Z' of the floating wind turbine will be inclined by θ degrees to the Z axis, that is, the floating wind turbine has a motion response. The laser radar located at the top of the cabin of the floating wind turbine also changes position and orientation, and the laser emitted by the laser radar also changes direction, so that the laser radar has the phenomenon of inaccurate wind measurement. Moreover, in the actual working process of the floating wind turbine, the floating wind turbine will be simultaneously affected by the wind load and the wave load, and the motion mechanism of the floating wind turbine is more complex, and the motion response will also have greater uncertainty. Therefore, a wind speed compensation method is urgently needed to compensate for the wind measurement deviation caused by the motion response of the floating wind turbine to the laser radar, so that the measured wind speed is more accurate.

[0053] Based on the above, according to an aspect of an embodiment of the present application, a wind speed compensation method based on the motion response of the floating wind turbine is provided, as shown in Figure 2 The flow of the method can include the following steps:

[0054] Step S201, obtaining the measured wind speed at each time in a preset time period.

[0055] Optionally, the laser radar erected at the top of the cabin of the floating wind turbine is used to measure the field wind time history original data, wherein the field wind time history original data includes the original wind speed measurement data, that is, the measured wind speed V measure , of the laser radar at each time in a preset time period. The preset time period is set according to requirements, for example, 1 minute, 1 hour, 1 day, etc. The original wind speed measurement data is processed by a post-processing means to obtain the measured wind speed at each time in the preset time period. The post-processing means includes: deleting extreme values, supplementing missing values, etc.

[0056] Step S202, according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, a plurality of motion responses of the floating wind turbine in a plurality of preset directions of the rectangular coordinate system at each time in the preset time period are obtained.

[0057] Optionally, the floating wind turbine numerical simulation model is established based on a commonly used floating wind turbine coupling simulation method, that is, the preset floating wind turbine numerical simulation model. The measured wind speed and the preset wave time history are input as input signals into the preset floating wind turbine numerical simulation model, and the floating wind turbine is simulated in the full domain turbulent time domain, and the plurality of motion responses of the floating wind turbine in the plurality of preset directions of the rectangular coordinate system at each time, for example, the six-degree-of-freedom motion response at each time, are calculated through the first preset formula. Specifically, the wind load in the preset time period is simulated according to the measured wind speed, the preset wave time history can be a JONSWAP spectrum wave time history, the preset wave time history can change the wave height, thereby simulating the wave load in the preset time period, and the full domain turbulent time domain simulation of the floating wind turbine is realized in combination with the wind load and the wave load, wherein the six-degree-of-freedom motion includes surge, sway, heave, pitch, roll and yaw.

[0058] Step S203, according to the plurality of motion responses and the second preset formula, the measured wind speed is compensated to obtain the compensated wind speed at each time in the preset time period.

[0059] Optionally, the measured wind speed is compensated according to the plurality of motion responses, for example, the six-degree-of-freedom motion (surge, sway, heave, pitch, roll and yaw) responses and the second preset formula, to obtain the compensated wind speed at each time in the preset time period. true .

[0060] In the embodiment of the present application, the measured wind speed at each time in a preset time period is obtained; a plurality of motion responses of the floating wind turbine in a plurality of preset directions in a rectangular coordinate system at each time in the preset time period are obtained according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model and a first preset formula; and the measured wind speed is compensated according to the plurality of motion responses and a second preset formula to obtain the compensated wind speed at each time in the preset time period. The measured wind speed is obtained first; then the motion response of the floating wind turbine is calculated according to the measured wind speed and the preset floating wind turbine numerical simulation model; and finally, the measured wind speed is compensated according to the motion response. The numerical simulation is performed by using the floating wind turbine numerical simulation model to obtain the main motion response of the floating wind turbine, the influence of the motion response on the measured wind speed is considered, and then the measured wind speed is compensated according to the motion response to obtain a more accurate compensated wind speed. It is simple and easy to implement, and fills the technical gap of the current compensation of the measured wind speed of the machine cabin type laser radar of the floating wind turbine. The problem that the complex motion response of the floating wind turbine in different directions is not considered in the related art, and it is difficult to accurately compensate the measured wind speed deviation of the laser radar erected on the top end of the machine cabin of the floating wind turbine is solved.

[0061] As an optional embodiment, after obtaining the compensated wind speed at each time in the preset time period, the method further comprises:

[0062] A compensation error is obtained according to the measured wind speed, the compensated wind speed and a third preset formula;

[0063] If the compensation error is less than a preset threshold, the compensation of the measured wind speed is ended;

[0064] If the compensation error is greater than or equal to the preset threshold, the compensated wind speed is taken as the measured wind speed, and the subsequent steps are executed from obtaining the plurality of motion responses of the floating wind turbine in the plurality of preset directions in the rectangular coordinate system at each time in the preset time period according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, until the compensation error is less than the preset threshold, and then the compensation is completed.

[0065] Optionally, the average absolute percentage error (MAPE) is calculated according to the measured wind speed V measure , the compensated wind speed V true and a third preset formula, and the compensation error is used to evaluate the performance of the motion compensation algorithm.

[0066] If the compensation error is less than a preset threshold, the compensated wind speed V true is reasonable, and the compensation of the measured wind speed is ended. If the compensation error is greater than or equal to the preset threshold, the compensated wind speed is unreasonable, and the measured wind speed needs to be further compensated, and then the compensated wind speed V true is taken as the measured wind speed V measureAnd re-perform the above step S202 and step S203, and calculate the compensation error by using the compensation wind speed obtained by re-performing step S203 until the compensation error is less than the preset threshold, and then the compensation is completed.

[0067] In the embodiment of the application, the mean absolute percentage error (MAPE) is calculated by using the measured wind speed and the compensation wind speed, and whether the compensation wind speed is reasonable is determined by judging whether the mean absolute percentage error is less than a preset threshold. The method is simple and easy to implement, and the compensation wind speed is more accurate.

[0068] As an optional embodiment, the measured wind speed at each time point in a preset time period is obtained, including:

[0069] Obtaining original wind speed measurement data;

[0070] Reconstructing missing values in the original wind speed measurement data;

[0071] Deleting error values in the original wind speed measurement data;

[0072] According to a fourth preset formula and a preset differential operator, the original wind speed measurement data is differentiated and filtered to obtain the measured wind speed at each time point in a preset time period.

[0073] Optionally, the laser radar erected on the top of the floating wind turbine cabin is used to measure the field wind time history original data , that is, the original wind speed measurement data, and through post-processing means, the field wind time history original data is differentiated and filtered, the missing data is reconstructed, and the extreme values are removed to obtain the measured wind speed data.

[0074] The specific steps include: reconstructing missing values in the original wind speed measurement data . Deleting error values in the original wind speed measurement data . According to a fourth preset formula, for example, formula (1), and a preset differential operator s, the original wind speed measurement data is differentiated and filtered to obtain the measured wind speed V measure at each time point in a preset time period.

[0075]

[0076] In the embodiment of the application, the original wind speed measurement data is post-processed, including being differentiated and filtered, the missing data is reconstructed, and the extreme values are removed to obtain the measured wind speed data, which improves the accuracy of the measured wind speed V measure , and makes the final compensation wind speed more accurate.

[0077] As an optional embodiment, the plurality of motion responses of the floating wind turbine in a plurality of preset directions of the rectangular coordinate system at each time in the preset time period are obtained according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula, including:

[0078] The measured wind speed and the preset wave time history are input into the preset floating wind turbine numerical simulation model;

[0079] According to the preset floating wind turbine numerical simulation model, the response transfer function corresponding to the plurality of motion responses is obtained;

[0080] According to the response transfer function, the measured wind speed and the first preset formula, the plurality of motion responses of the floating wind turbine in a plurality of preset directions of the rectangular coordinate system at each time in the preset time period are obtained.

[0081] Optionally, the floating wind turbine numerical simulation model, that is, the preset floating wind turbine numerical simulation model, is established based on a commonly used floating wind turbine coupling simulation method. The measured wind speed V measure and the preset wave time history, for example, the JONSWAP spectrum wave time history, are input into the preset floating wind turbine numerical simulation model, and the global turbulent time domain simulation of the floating wind turbine is performed. The response transfer function Transf(v) corresponding to the preset floating wind turbine numerical simulation model at this time is obtained.

[0082] According to the response transfer function Transf(v), the measured wind speed V measure and the first preset formula, for example, formula (2), the plurality of motion responses of the floating wind turbine in a plurality of preset directions of the rectangular coordinate system at each time, for example, the six-degree-of-freedom motion response X(t) at each time, are calculated.

[0083] X(t)=V measure Transf(v) (2)

[0084] Wherein, t represents time, Transf(v) represents the response transfer function, and represents the motion response of the floating wind turbine under the action of a unit wind speed.

[0085] In the embodiments of the present application, the global turbulent time domain simulation of the floating wind turbine is performed, and the six-degree-of-freedom motion response of the floating wind turbine at each time is obtained, thereby providing a basis for subsequent compensation of the measured wind speed by using the plurality of motion responses.

[0086] As an optional embodiment, the plurality of motion responses include the surge motion response and the pitch motion response, and the measured wind speed is compensated according to the plurality of motion responses and the second preset formula to obtain the compensated wind speed at each time in the preset time period, including:

[0087] According to the surge motion response and the fifth preset formula, the surge motion velocity at each time in the preset time period is obtained;

[0088] According to the pitch motion response, a pitch motion angle at each time in a preset time period is determined.

[0089] According to the surge motion speed, the pitch motion angle, the measured wind speed, and a second preset formula, a compensated wind speed at each time in the preset time period is obtained.

[0090] Optionally, the multiple motion responses, for example, six-degree-of-freedom motion responses, include the surge motion response and the pitch motion response. In consideration of the influence of the six-degree-of-freedom motion responses on the wind speed measurement of the laser radar, it is believed by the present application that the surge motion response and the pitch motion response have the greatest influence on the wind speed measurement of the laser radar, and other motion responses have less influence on the wind speed measurement of the laser radar, which can be ignored. Therefore, the overall influence of the surge motion response and the pitch motion response on the wind speed measurement of the laser radar is mainly analyzed.

[0091] The surge motion response includes displacement of the floating wind turbine in the direction of the wind speed, for example, X surge (k) represents displacement of the floating wind turbine at time k. According to the displacement and a fifth preset formula, the surge motion speed V surge of the floating wind turbine can be calculated. The pitch motion response includes an angle of deviation of the floating wind turbine in the direction of the wind speed, for example, β represents the pitch motion angle of the floating wind turbine at different times.

[0092] According to the surge motion speed V surge , the pitch motion angle β, the measured wind speed V measure , and a second preset formula, for example, formula (3), a compensated wind speed V true at each time in a preset time period is obtained.

[0093]

[0094] In the embodiments of the present application, the surge motion response and the pitch motion response having the greatest influence on the wind speed measurement of the laser radar are considered, so that the calculation amount is reduced and the efficiency of compensating the measured wind speed is improved. According to the surge motion response and the pitch motion response, the measured wind speed deviation of the laser radar erected on the top of the floating wind turbine is compensated, so that the problem that the complex motion responses of the floating wind turbine in different directions are not considered in the prior art and it is difficult to accurately compensate the measured wind speed deviation of the laser radar erected on the top of the floating wind turbine is solved.

[0095] As an optional embodiment, according to the measured wind speed, the compensated wind speed, and a third preset formula, a compensation error is obtained, including:

[0096] A preset number of times are selected from all times as sampling times;

[0097] According to the measured wind speed corresponding to the sampling moment, the compensated wind speed corresponding to the sampling moment, the preset number, and the third preset formula, a compensation error is obtained.

[0098] Optionally, a preset number of time points, for example, N time points, are selected from all time points as sampling time points. According to the measured wind speed V measure corresponding to the N sampling time points, the compensated wind speed V true corresponding to the N sampling time points, the preset number N, and the third preset formula, for example, formula (4), a compensation error M is calculated.

[0099]

[0100] In the embodiments of the present application, by selecting a preset number of time points from all time points as sampling time points, and only calculating the compensation error corresponding to the sampling time points, the calculation amount is reduced, and the efficiency is improved.

[0101] As an optional embodiment, according to the surge motion response and the fifth preset formula, the surge motion speed at each time point in the preset time period is obtained, including:

[0102] Obtaining the time step of each time point;

[0103] According to the surge motion response, the surge displacement at each time point in the preset time period is determined;

[0104] According to the surge displacement of any adjacent time points, the time step, and the fifth preset formula, the surge motion speed at each time point in the preset time period is obtained.

[0105] Optionally, the time step of each time point is obtained, for example, the time step Δt of the k time point.

[0106] According to the surge motion response, the surge displacement at each time point in the preset time period is determined, for example, the surge displacement X surge (k) of the k time point, the surge displacement X surge (k+1) of the k+1 time point.

[0107] According to the surge displacement of any adjacent time points (for example, the k time point and the k+1 time point), for example, X surge (k) and X surge (k+1), the time step Δt, and the fifth preset formula, for example, formula (5), the surge motion speed V surge of the k time point is calculated.

[0108]

[0109] Similarly, the above process is repeated to calculate the surge motion speed V surge of each time point in the preset time period.

[0110] In the embodiments of the present application, the surge motion speed at each time point in a preset time period is calculated according to the surge displacement at any adjacent time point and the time step, thereby providing a basis for subsequent compensation of the measured wind speed by using multiple motion responses.

[0111] The effect of the above compensation method is proved by numerical simulation. According to the wind spectrum proposed by IEC 61400-1, a wind field is simulated as a target measurement wind field by using a turbulent wind simulator Turbsim and a sudden wind simulator IECWind. Among them, Turbsim generates a global wind field with a hub height of 90 m, an average wind speed of 18 m / s, a turbulence intensity of 14%, a wind shear exponent of 0.16, and a sampling interval of 0.1 m / s; IECWind generates an average wind speed of 13.4 m / s, and a sudden wind intensity of IEC A class wind turbine standard wind speed.

[0112] A high-precision wind turbine simulator OpenFast is used to build an aerodynamic-hydrodynamic-servo-elastic model of a floating wind turbine and a cabin-type laser radar wind measurement model to obtain the measured wind speed. Then the measured wind speed is taken as an input signal for global coupling simulation to obtain the platform motion response, and the final wind speed data after compensation is obtained by the motion compensation algorithm. Comparative simulation tests are carried out in the turbulent wind and sudden wind field, and according to the test data Figure 3 and Figure 4 The reference wind field data, the original wind measurement data without motion compensation algorithm and the compensated wind measurement data by using the motion compensation algorithm are compared to verify the effect of the method. Figure 3 is a comparison chart of the reference wind speed, the original wind speed and the compensated wind speed in the turbulent wind, Figure 4 is a comparison chart of the reference wind speed, the original wind speed and the compensated wind speed in the sudden wind, wherein reference represents the reference wind speed of the test, i.e. the true wind speed, original represents the wind speed obtained by the prior art, i.e. the wind speed without compensation of the measured wind speed, and with compensation represents the compensated wind speed after compensation of the measured wind speed by using the above method.

[0113] Compared with the prior art, the performance comparison results of the transformer fault diagnosis model are shown in the following table:

[0114]

[0115] According to the simulation comparison results, the floating wind turbine laser radar wind measurement method with motion compensation function can significantly improve the wind measurement accuracy compared with the method without motion compensation, and better wind measurement effect can be achieved in the turbulent wind and sudden wind conditions.

[0116] According to another aspect of the embodiments of the present application, a floating wind turbine laser radar wind measurement method with motion compensation function is also provided, as shown inFigure 5 As shown in the method, the steps include:

[0117] Start; actual wind speed measurement; data preprocessing (filtering, missing data filling, etc.); input the data after data preprocessing as an input signal into the numerical model of the floating wind turbine; perform floating platform motion response calculation, obtain radar motion speed in combination with relative position and data after data preprocessing; motion compensation algorithm; judge whether the result meets the expectation, if not, re-input the data after motion compensation algorithm compensation into the numerical model of the floating wind turbine; if yes, end.

[0118] In the embodiment of the application, the platform motion compensation algorithm based on numerical simulation results is adopted to realize laser radar wind measurement compensation, the algorithm is simple and efficient, the wind measurement precision is significantly improved, and wind speed information is provided for safe and stable operation of the floating wind turbine.

[0119] According to another aspect of the embodiment of the application, a wind speed compensation device based on floating wind turbine motion response is also provided for implementing the wind speed compensation method based on floating wind turbine motion response. Figure 6 According to an optional wind speed compensation device based on floating wind turbine motion response, a structure block diagram is shown in Figure 6 As shown in the device, the device can include:

[0120] The acquisition module 601 is configured to acquire a measured wind speed at each time in a preset time period.

[0121] The first obtaining module 602 is configured to obtain, according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model, and a first preset formula, a plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time in the preset time period.

[0122] The compensation module 603 is configured to compensate the measured wind speed according to the plurality of motion responses and a second preset formula, to obtain a compensated wind speed at each time in the preset time period.

[0123] It should be noted that the acquisition module 601 in this embodiment can be configured to perform the above step S201, the first obtaining module 602 in this embodiment can be configured to perform the above step S202, and the compensation module 603 in this embodiment can be configured to perform the above step S203.

[0124] The above module is used for obtaining the measured wind speed first; then calculating the motion response of the floating wind turbine according to the measured wind speed and the preset floating wind turbine numerical simulation model; and finally compensating the measured wind speed according to the motion response. The main motion response of the floating wind turbine is obtained through numerical simulation of the floating wind turbine numerical simulation model. The influence of the motion response on the measured wind speed is considered, and the measured wind speed is compensated according to the motion response, so that a more accurate compensated wind speed is obtained. The method is simple and easy to implement, and fills the technical gap of the current compensation of the floating wind turbine cabin type laser radar measured wind speed. The method solves the problem that the complex motion response of the floating wind turbine in different directions is not considered in the related art, and it is difficult to accurately compensate the measured wind speed deviation of the laser radar arranged on the top of the floating wind turbine cabin.

[0125] As an optional embodiment, the device further comprises:

[0126] The second obtaining module is configured to obtain a compensation error according to the measured wind speed, the compensated wind speed and a third preset formula.

[0127] The ending module is configured to end if the compensation error is less than a preset threshold.

[0128] The loop module is configured to execute the subsequent steps from obtaining the motion response of the floating wind turbine in each direction of the rectangular coordinate system in each time period according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula if the compensation error is greater than or equal to the preset threshold, and take the compensated wind speed as the measured wind speed, until the compensation error is less than the preset threshold, and then complete the compensation.

[0129] As an optional embodiment, the obtaining module comprises:

[0130] The obtaining unit is configured to obtain the original wind speed measurement data.

[0131] The reconstruction unit is configured to reconstruct the missing values in the original wind speed measurement data.

[0132] The deletion unit is configured to delete the error values in the original wind speed measurement data.

[0133] The processing unit is configured to perform differential and filtering processing on the original wind speed measurement data according to a fourth preset formula and a preset differential operator to obtain the measured wind speed at each time in the preset time period.

[0134] As an optional embodiment, the first obtaining module comprises:

[0135] The input unit is configured to input the measured wind speed and the preset wave time history into the preset floating wind turbine numerical simulation model.

[0136] The first obtaining unit is configured to obtain response transfer functions corresponding to the plurality of motion responses according to a preset floating wind turbine numerical simulation model.

[0137] The second obtaining unit is configured to obtain the plurality of motion responses of the floating wind turbine in a plurality of preset directions in a rectangular coordinate system at each time in a preset time period according to the response transfer functions, the measured wind speed, and a first preset formula.

[0138] As an optional embodiment, the plurality of motion responses include surge motion responses and pitch motion responses, and the compensation module includes:

[0139] The third obtaining unit is configured to obtain a surge motion velocity at each time in the preset time period according to the surge motion responses and a fifth preset formula.

[0140] The determining unit is configured to determine a pitch motion angle at each time in the preset time period according to the pitch motion responses.

[0141] The fourth obtaining unit is configured to obtain a compensated wind speed at each time in the preset time period according to the surge motion velocity, the pitch motion angle, the measured wind speed, and a second preset formula.

[0142] As an optional embodiment, the second obtaining module includes:

[0143] The selecting unit is configured to select a preset number of times from all the times as sampling times.

[0144] The fifth obtaining unit is configured to obtain a compensation error according to the measured wind speed corresponding to the sampling times, the compensated wind speed corresponding to the sampling times, the preset number, and a third preset formula.

[0145] As an optional embodiment, the third obtaining unit includes:

[0146] The obtaining sub-module is configured to obtain a time step of each time.

[0147] The determining sub-module is configured to determine a surge displacement of each time in the preset time period according to the surge motion responses.

[0148] The obtaining sub-module is configured to obtain a surge motion velocity of each time in the preset time period according to the surge displacement of any adjacent time, the time step, and a fifth preset formula.

[0149] It should be noted that the above modules and the examples and application scenarios realized by the corresponding steps are the same, but are not limited to the content disclosed in the above embodiments.

[0150] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described wind speed compensation method based on the motion response of a floating wind turbine is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0151] Figure 7 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703, and a communication bus 704. The processor 701, communication interface 702, and memory 703 communicate with each other via the communication bus 704.

[0152] Memory 703 is used to store computer programs;

[0153] When processor 701 executes a computer program stored in memory 703, it performs the following steps:

[0154] Obtain the measured wind speed at each moment within a preset time period;

[0155] Based on the measured wind speed, preset wave time history, preset floating wind turbine numerical simulation model and first preset formula, the multiple motion responses of the floating wind turbine in multiple preset directions in the rectangular coordinate system at each moment within the preset time period are obtained.

[0156] The measured wind speed is compensated based on multiple motion responses and a second preset formula to obtain the compensated wind speed at each moment within a preset time period.

[0157] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0158] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0159] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0160] As an example, such as Figure 7As shown, the memory 703 may include, but is not limited to, the acquisition module 601, the first obtaining module 602, and the compensation module 603 in the wind speed compensation device based on the motion response of the floating wind turbine. Furthermore, it may include, but is not limited to, other module units in the wind speed compensation device based on the motion response of the floating wind turbine, which will not be elaborated upon in this example.

[0161] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0162] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0163] Those skilled in the art will understand that Figure 7 The structure shown is for illustrative purposes only. The device that implements the wind speed compensation method based on the motion response of the floating wind turbine can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone), tablet computer, handheld computer, mobile internet device (MID), PAD, etc. Figure 7 This does not limit the structure of the aforementioned electronic devices. For example, the terminal device may also include components that are more advanced than those described above. Figure 7 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same ​ The different configurations shown.

[0164] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0165] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to store program code that executes a wind speed compensation method based on the motion response of a floating wind turbine.

[0166] Optionally, in the embodiment, the storage medium can be located on at least one of the plurality of network devices in the network shown in the above embodiment.

[0167] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps:

[0168] obtaining a measured wind speed at each time point in a preset time period;

[0169] obtaining a plurality of motion responses of the floating wind turbine in a plurality of preset directions of a rectangular coordinate system at each time point in the preset time period according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model and a first preset formula;

[0170] compensating the measured wind speed according to the plurality of motion responses and a second preset formula to obtain a compensated wind speed at each time point in the preset time period.

[0171] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments, which will not be repeated here.

[0172] Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk and various storage program codes.

[0173] In the description of the present specification, the description of the terms "the embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0174] Obviously, the above embodiments are only examples for clarity and do not limit the embodiments. Based on the above description, those skilled in the art can make other different forms of changes or variations. Here, all embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A wind speed compensation method based on floating wind turbine motion response, characterized in that, The method comprises: obtaining a measured wind speed at each time point in a preset time period; obtaining a plurality of motion responses of the floating wind turbine in a plurality of preset directions in a rectangular coordinate system at each time point in the preset time period according to the measured wind speed, a preset wave time history, a preset floating wind turbine numerical simulation model and a first preset formula; The first preset formula satisfies wherein, represents a six-degree-of-freedom motion response, the six-degree-of-freedom motion response being the plurality of motion responses, represents the measured wind speed, represents a response transfer function corresponding to the preset floating wind turbine numerical simulation model, t represents time; compensating the measured wind speed according to the plurality of motion responses and a second preset formula to obtain a compensated wind speed at each time point in the preset time period; The second preset formula satisfies wherein, represents the compensation wind speed, represents the measured wind speed, represents the surge motion speed, represents the pitch motion angle, the surge motion speed is determined according to the displacement of the floating wind turbine in the wind speed direction, the pitch motion angle is contained in the pitch motion response, the displacement of the floating wind turbine in the wind speed direction is contained in the surge motion response, and the surge motion response and the pitch motion response are contained in the six-degree-of-freedom motion response.

2. The method of claim 1, wherein, after the compensated wind speed at each time point in the preset time period is obtained, the method further comprises: obtaining a compensation error according to the measured wind speed, the compensated wind speed and a third preset formula; if the compensation error is less than a preset threshold, ending; if the compensation error is greater than or equal to the preset threshold, taking the compensated wind speed as the measured wind speed, and starting to perform subsequent steps from the step of obtaining the plurality of motion responses of the floating wind turbine in the plurality of preset directions in the rectangular coordinate system at each time point in the preset time period according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula until the compensation error is less than the preset threshold, and then completing the compensation.

3. The method of claim 2, wherein, The obtaining of the measured wind speed at each time point in the preset time period comprises: obtaining original wind speed measurement data; reconstructing missing values in the original wind speed measurement data; deleting error values in the original wind speed measurement data; differencing and filtering the original wind speed measurement data according to a fourth preset formula and a preset differential operator to obtain the measured wind speed at each time point in the preset time period.

4. The method of claim 3, wherein, The obtaining of the plurality of motion responses of the floating wind turbine in the plurality of preset directions in the rectangular coordinate system at each time point in the preset time period according to the measured wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula comprises: inputting the measured wind speed and the preset wave time history into the preset floating wind turbine numerical simulation model; obtaining a response transfer function corresponding to the plurality of motion responses according to the preset floating wind turbine numerical simulation model; obtaining the plurality of motion responses of the floating wind turbine in the plurality of preset directions in the rectangular coordinate system at each time point according to the response transfer function, the measured wind speed and the first preset formula.

5. The method of claim 4, wherein, The plurality of motion responses comprise a surge motion response and a pitch motion response, and the compensating of the measured wind speed according to the plurality of motion responses and the second preset formula to obtain the compensated wind speed at each time point in the preset time period comprises: obtaining a surge motion velocity at each time point in the preset time period according to the surge motion response and a fifth preset formula; determining a pitch motion angle at each time point in the preset time period according to the pitch motion response; obtaining the compensated wind speed at each time point in the preset time period according to the surge motion velocity, the pitch motion angle, the measured wind speed and the second preset formula.

6. The method of claim 2, wherein, The obtaining of the compensation error according to the measured wind speed, the compensated wind speed and the third preset formula comprises: Select a preset number of moments from all moments as sampling moments; According to the measurement wind speed corresponding to the sampling moment, the compensation wind speed corresponding to the sampling moment, the preset number and the third preset formula, the compensation error is obtained.

7. The method of claim 5, wherein, According to the surge motion response and the fifth preset formula, the surge motion speed of each moment in the preset time period is obtained, including: Obtaining the time step of each moment; According to the surge motion response, the surge displacement of each moment in the preset time period is determined; According to the surge displacement of any adjacent moment, the time step and the fifth preset formula, the surge motion speed of each moment in the preset time period is obtained.

8. A wind speed compensation device based on floating wind turbine motion response, characterized by, Including: The acquisition module is used for acquiring the measurement wind speed of each moment in the preset time period; The first obtaining module is used for obtaining the motion response of the floating wind turbine in multiple preset directions of the rectangular coordinate system at each moment in the preset time period according to the measurement wind speed, the preset wave time history, the preset floating wind turbine numerical simulation model and the first preset formula. The first preset formula satisfies wherein, represents a six-degree-of-freedom motion response, the six-degree-of-freedom motion response being the plurality of motion responses, represents the measured wind speed, represents a response transfer function corresponding to the preset floating wind turbine numerical simulation model, t represents time; a compensation module, configured to compensate the measured wind speed according to the multiple motion responses and a second preset formula to obtain a compensation wind speed at each time point in the preset time period; the second preset formula satisfies wherein, the compensation wind speed is represented by the measured wind speed is represented by a surge motion velocity is represented by a pitch motion angle is represented by, the surge motion velocity is determined according to a displacement of the floating wind turbine in the wind speed direction, the pitch motion angle is contained in a pitch motion response, the displacement of the floating wind turbine in the wind speed direction is contained in a surge motion response, and the surge motion response and the pitch motion response are contained in the six-degree-of-freedom motion response.

9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein, The processor, the communication interface and the memory complete the communication among each other through the communication bus, and the processor is characterized in that, The memory is used for storing a computer program; The processor is used for executing the method steps in any one of claims 1 to 7 by running the computer program stored on the memory.

10. A computer readable storage medium, characterized in that, The storage medium has a computer program stored therein, and the computer program is executed by the processor to realize the method steps in any one of claims 1 to 7.

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