A wind turbine blade working surface polishing path optimization method

Abstract

The application provides a wind turbine blade working surface polishing path optimization method, which comprises the following steps: S1, identifying the geometric properties of the blade working surface and dividing the sub-processing domain; S2, determining the curvature analysis of the corresponding blade working surface according to each sub-processing domain in S1; S3, combining the curvature analysis of each blade working surface obtained in S2 to form the overall curvature; and S4, obtaining the polishing optimal path according to the overall curvature obtained in S3 and the principle of the path planning with the minimum curvature gradient and no repetition.

Description

Technical Field

[0001] This invention relates to the field of processing technology for the working surface of wind turbine blades, and specifically to a method for optimizing the grinding and polishing path of the working surface of wind turbine blades. Background Technology

[0002] The massive blades of a wind turbine play a central role in generating electricity, and the working surface of the blade is key to its performance. Under the same wind conditions, blades with a specific shape can absorb more wind force and rotate more times, thus increasing the power generation efficiency of the wind turbine.

[0003] The working blades of large and super-large wind turbines can be over 100m long and over 5m wide; the working area of ​​a single blade is over 500 square meters. According to current technical requirements, under the support of the frame, the blade material is fixed to the frame in a certain spiral curve, and then the working surface of the blade is ground and polished to form a qualified product that meets the design requirements.

[0004] Existing grinding and polishing processes involve first grinding with a grinding head, followed by polishing with a polishing head, until the design requirements are met; or using multiple machines to achieve near-synchronous grinding and polishing. Regardless of the process, the blades are processed sequentially from one end to the other according to their spatial position, without considering the changes in geometric properties due to spatial position. This results in the blades not following the optimal path during grinding, leading to a longer grinding and polishing time. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to propose an optimized method for the grinding and polishing path of wind turbine blade working surfaces, thereby resolving the problems mentioned in the background section.

[0006] This invention is achieved through the following technical solution:

[0007] A method for optimizing the grinding and polishing path of the working surface of a wind turbine blade, the method comprising the following steps:

[0008] S1. Identify the geometric properties of the blade working surface and divide it into sub-machining domains;

[0009] S2. Based on each sub-processing domain in S1, determine the corresponding blade working surface and perform curvature analysis.

[0010] S3. Combine the curvature analysis of each blade working surface obtained in S2 to form the overall curvature;

[0011] S4. Based on the overall curvature obtained in S3, and according to the principle of minimum curvature gradient and no repetition in path planning, obtain the optimal grinding and polishing path.

[0012] In the above technical solution, step S1 can convert the solid model of the blade into a geometric model, and then into a mathematical model; then through steps S2 and S3, the curvature of the working surface of the blade can be calculated; finally, based on the obtained curvature and the principle of minimum curvature gradient, the path used by the blade head during adjustment can be minimized, and the path can be free of repetition, thereby calculating the minimum path required for grinding and polishing the blade surface.

[0013] In some embodiments, the method for dividing sub-processing domains in S1 includes:

[0014] S101. The contact surface between the working surface of the blade and the direction of the wind is set as an illusory plane. The maximum intersection surface between the illusory plane and the blade is set as the windward projection surface. The maximum intersection surface between the windward projection surface and the blade is set as the horizontal projection surface. The windward projection surface and the horizontal projection surface constitute the Cartesian coordinate system of the blade profile.

[0015] S102. Using the horizontal projection plane in S101 as a reference, the blade surface is divided into multiple rows of rectangular sub-processing domains.

[0016] In the above technical solution, the windward projection surface determined by the above method is the reference surface. Since the outer peripheral surface of the blade that is perpendicular to the windward projection surface is the first surface to come into contact with the wind force, the higher the processing accuracy of this surface, the more the blade can rotate under the same wind force, thus making the wind turbine more efficient. Therefore, the selection of this reference surface can improve the processing accuracy of the blade.

[0017] In some embodiments, the curvature of the working surface of the S2 blade is obtained by means of:

[0018] S201. Express the blade working surface expression of the sub-processing domain in a display form;

[0019] S202. The working curve is obtained by connecting the plane parallel to the horizontal projection plane with the expression of the blade working surface.

[0020] S203. Select feature points on the working curve obtained in S202;

[0021] S204. The curvature is calculated based on the feature points in S203.

[0022] That is, for all sub-processing domains, there is These are combined to form the overall curvature matrix.

[0023] In some embodiments, the non-repeating path planning is obtained through the following calculation method:

[0024]

[0025] in, As the degree of influence factor;

[0026] in, This is the qth independent factor affecting processing time.

[0027] In some embodiments, after step S4, step S5 is further included to simulate and verify the path planning.

[0028] According to another aspect of the present invention, a calculation device suitable for optimizing the grinding and polishing path of wind turbine blade working surface is proposed.

[0029] At least one processor; and,

[0030] A memory communicatively connected to at least one of the processors; wherein,

[0031] The memory stores instructions that can be executed by at least one of the processors, which enable the at least one processor to perform a method for optimizing the polishing path of a wind turbine blade working surface as described in any of the preceding claims.

[0032] In the above technical solution, to better operate and process the method, the method is stored in memory, and the processor executes the stored method. It should be noted that the principle and effect of each step have been described above and will not be elaborated upon here.

[0033] According to another aspect of the present invention, a computer-readable storage medium is provided, storing a computer program that, when executed by a processor, implements a method for optimizing the grinding and polishing path of a wind turbine blade working surface as described in any of the preceding claims.

[0034] In the above technical solution, to better operate and use the method, the method is stored in a computer-readable storage medium and implemented using a processor. It should be noted that the principle and effect of each step have been described above and will not be elaborated upon here. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the method for optimizing the grinding and polishing path of the working surface of a wind turbine blade according to the present invention.

[0036] Figure 2 This is a schematic diagram showing the relationship between the windward projection plane and the horizontal projection plane of the present invention and the position of the wind turbine blades.

[0037] Figure 3 This is a schematic diagram of the machining area of ​​the wind turbine blade of the present invention.

[0038] Figure 4 This is a schematic diagram showing the working curve and the location of feature points of the wind turbine blade of the present invention.

[0039] The above figures include the following reference numerals:

[0040] Windward projection surface 101, horizontal projection surface 102, blade working surface 201, sub-machining area 301, working curve 302, feature point 303, machining path 304. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0042] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0043] A method for optimizing the grinding and polishing path of the working surface of a wind turbine blade, the method comprising the following steps:

[0044] S1. Identify the geometric properties of the blade working surface 201 and divide it into sub-machining domains 301;

[0045] S2. Based on each sub-processing domain 301 in S1, determine the corresponding blade working surface 201 and perform curvature analysis.

[0046] S3. Based on the curvature analysis of each blade working surface 201 obtained in S2, combine them to form the overall curvature;

[0047] S4. Based on the overall curvature obtained in S3, and according to the principle of minimum curvature gradient and no repetition in path planning, obtain the optimal grinding and polishing path.

[0048] In the above technical solution, step S1 converts the solid model of the blade into a geometric model, and then into a mathematical model; then, through steps S2 and S3, the curvature of the working surface 201 of the blade can be calculated; finally, based on the obtained curvature and the principle of minimum curvature gradient, the path used by the blade head during adjustment can be minimized, and the path is not repeated, thereby calculating the minimum path required for grinding and polishing the blade surface. Since the minimum path is used, the time required for grinding and polishing the blade surface can be reduced.

[0049] In some embodiments, the method for dividing the sub-processing domain 301 in S1 includes:

[0050] S101, the contact surface between the blade working surface 201 and the incoming wind direction is set as an imaginary plane. The surface where this imaginary plane intersects the blade at its maximum extent is set as the windward projection surface 101. The surface perpendicular to the windward projection surface 101 and intersecting the blade at its maximum extent is set as the horizontal projection surface 102. The windward projection surface 101 and the horizontal projection surface 102 constitute a Cartesian coordinate system for the blade profile. The blade is thus placed in the Cartesian coordinate system, with the blade width (or thickness) direction as X, the blade length direction as Y, and the blade height direction as Z. The origin of the coordinate system is selected at the blade mounting end. A horizontal ridge line is obtained from the widest point of the blade working surface 201, parallel to the horizontal plane. A vertical ridge line is obtained from a plane along the length direction and perpendicular to the horizontal plane. The two ridge lines form the boundary of the blade working surface and the domain defined in the coordinate system.

[0051] S102. Using the horizontal projection plane 102 in S101 as a reference, the blade surface is divided into multiple rows of rectangular sub-processing domains 301.

[0052] In the above technical solution, the windward projection surface 101 determined by the above method is the reference surface. Since the outer peripheral surface of the blade that is perpendicular to the windward projection surface 101 is the first surface to come into contact with the wind force, the higher the processing accuracy of this surface, the more the blade can rotate under the same wind force, thereby making the power generation efficiency of the wind turbine higher. Therefore, the selection of this reference surface can improve the processing accuracy of the blade.

[0053] In some embodiments, the curvature of the working surface 201 of the S2 blade is obtained by means of:

[0054] S201, Express the blade working surface 201 expression of each sub-processing domain 301 in a display form;

[0055] S202. The working curve 302 is obtained by connecting the plane parallel to the horizontal projection plane 102 with the expression of the working surface 201 of the blade.

[0056] S203. Select feature point 303 on the working curve 302 obtained in S202;

[0057] S204. The curvature is calculated based on feature point 303 in S203.

[0058] The expression for the blade working surface 201 of the sub-processing domain 301 in step S201 is obtained through the following calculation method:

[0059]

[0060] and -----(Formula 1)

[0061] In the above formula: L0 is the length of the blade base; L is the working length of the blade; W is the total height of the blade; R is the number of sub-processing domains divided within the working surface of the blade according to certain rules. Let be the mathematical expression for the i-th sub-processing domain in the YZO plane.

[0062] For any sub-processing domain 301i, based on the geometric characteristics of its working surface, multiple planes with an equidistant distance of m can be set parallel to the horizontal projection plane 102 (e.g., Figure 4 As shown), ensure .

[0063] The row spacing I is determined based on the instantaneous working range and machining accuracy requirements of the tool head. I is the effective grinding and polishing width, and M is the maximum instantaneous working height of the grinding and polishing head.

[0064] Additionally, the horizontal movement step of the tool head:

[0065] When the blade working surface 201 of each sub-processing domain 301 is expressed in display form, the working curve 302 is obtained by aligning it with the horizontal projection plane 102 and the surface to be processed on the blade. The curvature of the feature point 303 on the working curve 302 of each sub-processing domain 301 is then calculated using the following formula:

[0066] In the formula, The first derivative of the function in Equation 1 It is the second derivative of the function in Equation 1.

[0067] like Figure 4 As shown, a working curve 302 is provided in a plane parallel to XOY. The functional expression of the working curve 302 is: Then at feature point 303 The curvature at that point is:

[0068] If there are parametric expressions:

[0069] The curvature formula then becomes:

[0070] A global curvature set matrix is ​​formed within the domain 201 of all blade working surfaces, and the distribution and variation patterns of the curvature set matrix are analyzed and compared.

[0071] like Figure 4 As shown, taking the first sub-processing domain 301 as an example, there are three working rows corresponding to three working curves 302, and each working curve 302 has at least three feature points 303 selected, resulting in a total of nine feature points 303 on the working curves 302. The formula for calculating the curvature of a working curve 302 at a certain feature point 303 is as follows:

[0072]

[0073] The curvature of the nine feature points 303 is represented by a matrix as follows:

[0074]

[0075] That is, for all sub-processing domains 301, there is These are combined to form the overall curvature matrix.

[0076] According to the principle of minimizing curvature gradient, when a certain sub-working domain 301 is about to finish grinding and polishing, it should proceed to the next sub-working domain 301 according to the path planning, such as... Figure 3 As shown. During the planning phase, there may be multiple choices for the next sub-work domain, which should satisfy the principles of "minimum curvature gradient + shortest path + no repeated paths":

[0077] Right now ; ----Equation 2

[0078] ----Formula 3

[0079] Further explanation: Equation 2 indicates that when selecting paths between two adjacent sub-work areas, the sub-work area with the closest curvature is selected as the next grinding and polishing object, and the curvature difference is no greater than [value missing]. ,and The determination of is made through calculation after the sub-work domain is divided. Equation 2 also represents non-repeated grinding and polishing; Equation 3 represents the optimization of the shortest path.

[0080] According to the principle of minimum curvature gradient, when a certain sub-processing domain 301 is about to finish grinding and polishing, it should enter the next sub-processing domain 301 according to processing path 304, such as... Figure 3 As shown. During the planning phase, the next sub-processing domain 301 may have multiple choices, which should satisfy the principles of "minimum curvature gradient + shortest path + no repeated paths".

[0081] Therefore, the objective function is to use the shortest polishing time for the blade working surface (201mm).

[0082] Objective function:

[0083] In the formula, the objective function is to select the optimal grinding and polishing path within the entire working surface domain of the blade, which is related to the running trajectory of the grinding and polishing tool head; As the degree of influence factor; The time used for polishing within the q-th sub-work domain.

[0084] Using the curvature obtained above as a constraint:

[0085] Constraints include decision variables, which should be non-negative. In addition, to ensure a more accurate calculation of the grinding and polishing time for the shortest blade working surface 201, decision variables also include robot adjustment, tool head debugging, trial grinding and polishing, and path selection, thereby making the calculation of the grinding and polishing time for the shortest blade working surface 201 more accurate.

[0086] like Figure 3 As shown, after step S4, step S5 is also included to simulate and verify the path planning. That is, by using programming on the machine, based on the determined sub-processing domain 301, the optimal travel path of the tool head is verified according to the planned goals and conditions. After successful verification, mass production can be carried out, which can improve the processing efficiency and yield of blade polishing.

[0087] Another embodiment:

[0088] A calculation device for optimizing the grinding and polishing path of wind turbine blade working surface.

[0089] At least one processor; and,

[0090] A memory communicatively connected to at least one of the processors; wherein,

[0091] The memory stores instructions that can be executed by at least one of the processors, which enable the at least one processor to perform a method for optimizing the polishing path of a wind turbine blade working surface as described in any of the preceding claims.

[0092] In the above technical solution, to better operate and process the method, the method is stored in memory, and the processor executes the stored method. It should be noted that the principle and effect of each step have been described above and will not be elaborated upon here.

[0093] Another embodiment:

[0094] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for optimizing the grinding and polishing path of the working surface of a wind turbine blade as described above.

[0095] In the above technical solution, to better operate and use the method, the method is stored in a computer-readable storage medium and implemented using a processor. It should be noted that the principle and effect of each step have been described above and will not be elaborated upon here.

[0096] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for optimizing the grinding and polishing path of a wind turbine blade working surface, characterized in that, The method includes the following steps: S1. Identify the geometric properties of the blade working surface and divide it into sub-machining domains; The method for dividing sub-processing domains in S1 includes: S101. The contact surface between the working surface of the blade and the direction of the wind is set as an imaginary plane. The maximum intersection surface between the imaginary plane and the blade is set as the windward projection surface. The maximum intersection surface between the windward projection surface and the blade is set as the horizontal projection surface. The windward projection surface and the horizontal projection surface constitute the Cartesian coordinate system of the blade profile. S102. Using the horizontal projection plane in S101 as a reference, the blade surface is divided into multiple rows and columns of rectangular sub-processing areas, with the sub-processing areas in adjacent columns arranged vertically and horizontally. S2. Perform curvature analysis on the blade working surface determined according to each sub-processing domain in S1. The curvature of the working surface of the S2 blade is obtained by means of: S201. Determine the blade working surface expression for the sub-processing domain; The expression for the blade working surface of the sub-processing domain in step S201 is obtained through the following calculation method: ； and --Formula 1; In the above formula: L0 is the length of the blade base; L is the working length of the blade; W is the total height of the blade; R is the number of sub-machining domains divided within the defined domain of the blade working surface according to certain rules; Here is the mathematical expression for the i-th sub-processing domain in the YZO plane, where the YZO plane is the windward projection surface; S202. The working curve is obtained by intersecting the plane parallel to the horizontal projection plane with the expression of the blade working surface. S203. Select feature points on the working curve obtained from S202; S204. The curvature is calculated based on the feature points in S203. The curvature formula is: ； In the formula, The second derivative of the function in Equation 1, The first derivative of the function in Equation 1; S3. Combine the curvature matrices of each blade working surface obtained in S2 to form the overall curvature matrix; S4. Based on the overall curvature matrix obtained in S3, the optimal grinding and polishing path is obtained according to the principle of minimizing curvature gradient and non-repetition path planning.

2. The method for optimizing the grinding and polishing path of the working surface of a wind turbine blade according to claim 1, characterized in that, The number of feature points selected on the working curve shall not be less than three.

3. The method for optimizing the grinding and polishing path of the working surface of a wind turbine blade according to claim 1, characterized in that, Following step S4, step S5 is also included to simulate and verify the path planning.

4. A computational device suitable for optimizing the grinding and polishing path of wind turbine blade working surface, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, which are executed to enable at least one of the processors to perform a method for optimizing the polishing path of a wind turbine blade working surface as described in any one of claims 1 to 3.

5. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for optimizing the grinding and polishing path of the working surface of a wind turbine blade according to any one of claims 1 to 3.

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