A fan tower safety monitoring and early warning method and system

Abstract

The application provides a kind of fan tower safety monitoring system and early warning method and system, including the following processes: the inclination sensor, the shaking displacement sensor and the Beidou positioning directional monitoring unit arranged on the tower are used to obtain the basic inclination angle of the tower, the tower shaking amplitude and the tower top absolute displacement data;The basic inclination angle, tower shaking amplitude and tower top absolute displacement data are fused to monitor and warn the tower safety, the inclination sensor collects the basic inclination data, and combines with the shaking displacement sensor and the Beidou positioning directional monitoring unit to analyze, realizes the accurate early warning of inclination angle, the Beidou positioning directional sensor and the shaking displacement sensor are used to collect the absolute displacement of the tower and the tower shaking displacement, combined with the basic inclination sensor, realize the accurate monitoring and early warning of absolute displacement, tower inversion load and shaking relative displacement. Thus, multi-data fusion early warning is realized, and early warning is accurate and reliable.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower monitoring technology, specifically to a wind turbine tower safety monitoring and early warning method and system. Background Technology

[0002] With the transformation of the national energy structure and the increased emphasis on the development of new energy fields, the wind power industry has experienced rapid growth. The number of wind turbines has increased year by year, providing a considerable amount of green energy to society annually. However, the large-scale construction of wind farms has also led to frequent operational safety accidents. While wind power technology has advanced, especially with the widespread application of ultra-high flexible towers, these towers have also brought risks such as resonance and vortex-induced vibration. As existing turbines age, issues like tower bolt failure, foundation cracking, and uneven settlement have become the second most significant risk points after the failure of the wind turbine's safety chain. These safety hazards are a long and gradual process, difficult to detect accurately in the medium term. If they are not detected in time, they can lead to serious accidents such as tower collapse, resulting in significant economic losses and high risks of personal injury, with particularly prominent negative impacts. Therefore, the industry urgently needs online real-time monitoring of the safety and health status of wind turbine towers.

[0003] Currently, most tower safety monitoring focuses on the vibration or tilt of the tower itself, without simultaneously monitoring vibration, tilt, and swaying, or integrating the data from these factors. This results in fragmented monitoring data, hindering comprehensive judgment and leading to poor early warning accuracy. Furthermore, current tower vibration monitoring is based on acceleration sensors, monitoring the amplitude and frequency of tower acceleration, but it does not effectively monitor tower sway displacement. Summary of the Invention

[0004] This invention provides a method and system for safety monitoring and early warning of wind turbine towers, which can simultaneously monitor data such as the absolute displacement of the tower top, the amplitude of the tower top sway, and the tilt angle of the foundation, thereby achieving multi-data fusion early warning, which is accurate and reliable.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] When the wind turbine is stationary, the turbine head will cause the tower to tilt at a certain angle, resulting in the tower top not being in its actual vertical center position. According to mechanics of materials, when the wind turbine is stationary and the foundation is not tilted, the deformation displacement of the tower top can be expressed as:

[0007]

[0008] Where: y represents the horizontal deformation, G J d0 represents the weight of the nose cone, d0 represents the distance between the nose cone center and the tower center when the foundation is not tilted, and EI represents the tower bending stiffness.

[0009] When the foundation tilts in a certain direction, d0 will then be appended with the change in displacement of the tower top center caused by the foundation tilt. This value can be simplified to d Δ =H*tanθ, where H is the tower height and θ is the base tilt angle. The horizontal deformation displacement at the top of the tower can then be expressed as:

[0010]

[0011] When the wind turbine is running, the tower is simultaneously subjected to wind load. Therefore, the horizontal deformation displacement of the tower top at this time can be expressed as:

[0012]

[0013] In the above formula, the weight of the machine head G J When the foundation is tilted, the distance d0 between the tower center and the tower center, the tower bending stiffness EI, and the tower height H can be considered as fixed parameters during design and will not change. Therefore, when the wind load is constant, the absolute displacement of the tower top and the foundation tilt angle can be considered to have a linear relationship. When the absolute displacement of the tower top is large, the bending deformation is large, and thus the relative sway of the tower top will also be large. Therefore, the amplitude of the tower top sway can be considered to have a linear relationship with the absolute displacement of the tower top. Thus, the relationship between the absolute displacement of the tower top, the amplitude of the tower top sway, and the foundation tilt angle can be simplified as follows:

[0014] D j =K j *θ

[0015] D x =K*D j =K*K j *θ=K x *θ

[0016] Among them, D j K represents the absolute displacement at the top of the tower. j D is the relative coefficient of the absolute displacement of the tower top with respect to the tilt angle θ of the foundation. x K represents the amplitude of the sway at the top of the tower. x It is the relative coefficient of the relative displacement of the tower top with respect to the tilt angle θ of the foundation.

[0017] Therefore, the wind turbine tower safety monitoring and early warning method and system provided by the present invention simultaneously monitors the absolute displacement of the tower top, the amplitude of the tower top sway, and the foundation tilt angle, thereby achieving multi-data fusion early warning, which is accurate and reliable.

[0018] The wind turbine tower safety monitoring and early warning method provided by the present invention is characterized by including the following processes:

[0019] S1. Obtain the foundation tilt angle, tower sway amplitude, and absolute displacement data of the tower top;

[0020] S2, based on the absolute displacement D of the tower top during normal operation of the unit. j0 Tower sway amplitude D x0 Given the foundation tilt angle θ0, the relative coefficient K of the absolute displacement of the tower top with respect to the foundation tilt angle is calculated. j And the relative coefficient K of the tower sway amplitude with respect to the foundation tilt angle x The calculation formula is as follows:

[0021] D j0 =K j *θ0;

[0022] D x0 =K x *θ0;

[0023] S3. Integrate the foundation tilt angle, tower sway amplitude, and tower top absolute displacement data for tower safety monitoring and early warning, specifically including the following early warning process:

[0024] S3.1 Foundation Tilting Angle Early Warning: When the foundation tilt angle exceeds the early warning threshold, calculate the theoretical absolute displacement D of the tower top at that tilt angle. j理论 With respect to the theoretical sway amplitude D of the tower x理论 If the actual absolute displacement D at the top of the tower at this time j实际 The actual sway amplitude D of the tower x实际 Each is compared with the theoretical absolute displacement D at the top of the tower. j理论 Theoretical sway amplitude D of the tower x理论 If the deviation does not exceed 30%, the alarm for the foundation tilt angle is a normal warning; otherwise, the alarm is considered a false alarm and is rejected.

[0025] S3.2, Tower Top Absolute Displacement Early Warning: When the tower top absolute displacement exceeds the early warning threshold, the theoretical absolute displacement D of the tower top is calculated based on the monitored foundation tilt angle at that time. j理论 If the actual absolute displacement D at the top of the tower j实际 Theoretical absolute displacement D at the top of the tower j理论 If the deviation does not exceed 30%, the alarm will be switched from an absolute displacement over-limit alarm to a foundation tilt angle over-limit alarm. An alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the actual absolute displacement at the top of the tower, and the absolute displacement at the top of the tower exceeds the warning threshold.

[0026] S3.3 Tower Sway Amplitude Warning: When the tower sway amplitude exceeds the warning threshold, the theoretical tower sway amplitude D is calculated based on the monitored foundation tilt angle at that time. x理论 If the actual sway amplitude of the tower is D x实际 With respect to the theoretical sway amplitude D of the tower x理论When the deviation does not exceed 30%, the alarm will change from an alarm for excessive sway amplitude to an alarm for excessive foundation tilt angle. An alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the tower sway amplitude, and the tower sway amplitude exceeds the warning threshold.

[0027] The present invention also provides a wind turbine tower safety monitoring system for the aforementioned wind turbine tower safety monitoring and early warning method, the wind turbine tower safety monitoring system comprising:

[0028] Inclination sensors are installed on the tower foundation and monitor the foundation tilt data in real time.

[0029] A sway displacement sensor is installed at the top of the tower and monitors the tower's sway displacement and vibration acceleration in real time.

[0030] The Beidou positioning and orientation monitoring unit is located on the top of the cabin and monitors the position and trajectory data of the tower top in real time.

[0031] The data acquisition module is connected to the tilt sensor, the sway displacement sensor and the Beidou positioning and orientation monitoring unit, and the data acquisition module collects the monitoring data.

[0032] The host computer is connected to the data acquisition module. The data acquisition module forwards the monitoring data to the host computer, which then calculates, analyzes, stores, and issues early warnings based on the monitoring data.

[0033] The Beidou positioning and orientation monitoring unit includes a mobile station, a base station, and an antenna. The mobile station is connected to the antenna and is arranged on the top of the cabin, while the base station is installed in the booster station to achieve accurate positioning.

[0034] The monitoring module is provided in two sets, located at the bottom and top of the tower respectively. The acquisition module at the bottom of the tower is connected to the tilt sensor; the acquisition module at the top of the tower is connected to the sway displacement sensor and the Beidou positioning and orientation monitoring unit. Both sets of acquisition modules are connected to the host computer.

[0035] The host computer performs Fourier transform on the tower vibration acceleration data monitored by the sway displacement sensor to obtain the natural frequency of the tower during operation, and provides frequency deviation warning based on the natural frequency.

[0036] The host computer performs polar coordinate calculation and transformation on the tower sway displacement value monitored by the sway displacement sensor to determine the magnitude and direction of the tower sway, and calculates the tower sway amplitude.

[0037] The host computer calculates the absolute displacement of the tower top based on the monitoring data from the Beidou positioning and orientation monitoring unit, and then uses the absolute displacement of the tower top to calculate the load of the computer group, thereby realizing the monitoring of the load and the early warning of overload during the operation of the wind turbine.

[0038] Compared with the prior art, the beneficial effects of the present invention are: 1. The wind turbine tower safety monitoring system provided by the present invention simultaneously monitors the absolute displacement of the tower top, the amplitude of the tower top sway, and the foundation tilt angle through tilt sensors, sway displacement sensors, and Beidou positioning and orientation monitoring units, thereby realizing multi-data fusion early warning, which is accurate and reliable.

[0039] 2. The wind turbine tower safety monitoring and early warning method provided by the present invention collects foundation tilt data through an inclination sensor and combines it with a sway displacement sensor and a Beidou positioning and orientation monitoring unit for analysis to achieve accurate early warning of tilt angle.

[0040] 3. The wind turbine tower safety monitoring and early warning method provided by the present invention collects the absolute displacement and tower sway displacement (relative displacement of the tower) of the tower through Beidou positioning and orientation sensor and sway displacement sensor, and combines the foundation tilt angle sensor to realize accurate monitoring and early warning of absolute displacement, tower inversion load and sway relative displacement.

[0041] 4. The sway displacement sensor in the wind turbine tower safety monitoring system provided by this invention collects the acceleration of the tower's sway and calculates the relative displacement of the sway through integration. The sensor can simultaneously output the acceleration value and the magnitude of the relative sway. The acceleration value monitored by the sway sensor can be Fourier transformed to obtain the natural frequency of the wind turbine tower, and frequency deviation warnings can be issued based on the natural frequency. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the layout of the wind turbine tower safety monitoring system provided by the present invention;

[0043] Figure 2 The flowchart of the wind turbine tower safety monitoring and early warning method provided by the present invention;

[0044] In the diagram: 1- Tilt sensor, 2- Sway displacement sensor, 3- Beidou positioning and orientation monitoring unit, 4- Acquisition module, 5- Host computer, 6- Booster station. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0046] The schematic diagram of the wind turbine tower safety monitoring system layout provided in this invention for the wind turbine tower safety monitoring and early warning method is as follows: Figure 1 As shown. The wind turbine tower safety monitoring system includes tilt sensor 1, sway displacement sensor 2, Beidou positioning and orientation monitoring unit 3, data acquisition module 4, and host computer 5.

[0047] The tilt sensor is installed on the tower foundation and monitors the foundation tilt data in real time; the sway displacement sensor is installed on the top of the tower and monitors the tower sway displacement value and tower vibration acceleration in real time; the Beidou positioning and orientation monitoring unit is installed on the top of the nacelle and monitors the position trajectory data of the tower top in real time. Specifically, the Beidou positioning and orientation monitoring unit includes a mobile station, a base station and an antenna. The mobile station is connected to the antenna and is installed on the top of the nacelle. The base station is installed in the booster station 6 to achieve accurate positioning.

[0048] The data acquisition module is connected to the tilt sensor, sway displacement sensor, and BeiDou positioning and orientation monitoring unit, and collects monitoring data from each component. The host computer is also connected to the acquisition module, forwarding the monitoring data to it. The host computer calculates, analyzes, stores, and issues warnings based on the monitoring data. Specifically, the host computer is also located within the substation. In this embodiment, two sets of acquisition modules are provided, located at the bottom and top of the tower, respectively. The acquisition module at the bottom of the tower is connected to the tilt sensor via RS485; the acquisition module at the top of the tower is connected to the sway displacement sensor and BeiDou positioning and orientation monitoring unit via RS485. Both sets of acquisition modules are connected to the host computer via Modbus-TCP.

[0049] The host computer calculates the foundation tilt angle and uneven settlement, tower sway amplitude and natural frequency, as well as the absolute displacement and load at the top of the tower, based on the received foundation tilt data, tower sway displacement value and tower vibration acceleration data, and tower top position trajectory data.

[0050] Specifically, the tilt angle α of the foundation after uneven settlement is monitored by tilt sensors installed on the foundation. Initially, the tower is assumed to be on a horizontal surface. After a period of time, if the foundation develops a tilt angle, the amount of uneven settlement of the tower, H = D * sinα, can be estimated from the tower's diameter D.

[0051] A sway displacement sensor installed at the top of the tower monitors the tower's sway data and vibration acceleration. The vibration acceleration data is integrated to calculate the relative displacement. The sensor simultaneously outputs the acceleration value and the magnitude of the relative sway amplitude. A host computer establishes a polar coordinate system with the center of the tower top as the pole. The tower sway data is then calculated and transformed within this system. Based on the polar coordinate graph, the magnitude and direction of the tower sway can be determined, and the sway amplitude can be calculated for early warning. The acceleration data undergoes a Fourier transform to obtain the natural frequency variation trend during tower operation, and frequency deviation warnings are issued based on the natural frequency variation amplitude.

[0052] The Beidou positioning and orientation monitoring unit on the top of the nacelle monitors the position trajectory data of the tower top in real time. The host computer calculates the absolute displacement of the tower top relative to the center of the tower. Based on the absolute displacement of the tower top, the unit load can be deduced. The deduction formula is: Tower load = Tower stiffness * Tower displacement. This enables the monitoring of the load during the operation of the wind turbine and provides early warning of overload.

[0053] The wind turbine tower safety monitoring and early warning method provided in this embodiment is as follows: Figure 2 As shown, the process includes the following:

[0054] S1. Obtain the foundation tilt angle, tower sway amplitude, and absolute displacement data of the tower top;

[0055] The tower data is monitored by tilt sensors, sway displacement sensors and Beidou positioning and orientation monitoring units arranged on the tower. The data is then collected by the acquisition module and transmitted to the host computer to obtain the foundation tilt angle, tower sway amplitude and absolute displacement data of the tower top.

[0056] S2, based on the absolute displacement D of the tower top during normal unit operation. j0 Tower sway amplitude D x0 Given the foundation tilt angle θ0, the relative coefficient K of the absolute displacement of the tower top with respect to the foundation tilt angle is calculated. j And the relative coefficient K of the tower sway amplitude with respect to the foundation tilt angle x The calculation formula is as follows:

[0057] D j0 =K j *θ0;

[0058] D x0 =K x *θ0;

[0059] S3. Integrate the foundation tilt angle, tower sway amplitude, and tower top absolute displacement data for tower safety monitoring and early warning, specifically including the following early warning process:

[0060] S3.1 Foundation Tilting Angle Early Warning: When the foundation tilt angle exceeds the early warning threshold, calculate the theoretical absolute displacement D of the tower top at that tilt angle. j理论 With respect to the theoretical sway amplitude D of the tower x理论 If the actual absolute displacement D at the top of the tower at this time j实际 The actual sway amplitude D of the tower x实际 Each is compared with the theoretical absolute displacement D at the top of the tower. j理论 Theoretical sway amplitude D of the tower x理论 If the deviation does not exceed 30%, the alarm for the foundation tilt angle is a normal warning; otherwise, the alarm is considered a false alarm and is rejected.

[0061] S3.2, Tower Top Absolute Displacement Early Warning: When the tower top absolute displacement exceeds the early warning threshold, the theoretical absolute displacement D of the tower top is calculated based on the monitored foundation tilt angle at that time. j理论 If the actual absolute displacement D at the top of the tower j实际 Theoretical absolute displacement D at the top of the tower j理论 If the deviation does not exceed 30%, it can be considered that the cause of the large absolute displacement is due to the excessive foundation tilt angle. In this case, the alarm will be locked from the absolute displacement over-limit alarm to the foundation tilt angle over-limit alarm. The alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the actual absolute displacement of the tower top (indicating that it is not caused by the excessive foundation tilt angle) and the absolute displacement of the tower top exceeds the warning threshold.

[0062] The load can be calculated by the absolute displacement of the tower top, and the load over-limit warning can also be achieved by combining the foundation tilt angle. Specifically, when the monitored load exceeds the warning threshold, the same method as the tower top absolute displacement warning method is used to determine whether it is caused by the excessive foundation tilt angle.

[0063] S3.3 Tower Sway Amplitude Warning: When the tower sway amplitude exceeds the warning threshold, the theoretical tower sway amplitude D is calculated based on the monitored foundation tilt angle at that time. x理论 If the actual sway amplitude of the tower is D x实际 With respect to the theoretical sway amplitude D of the tower x理论 If the deviation does not exceed 30%, it can be considered that the cause of the large absolute displacement is due to the excessive foundation tilt angle. In this case, the alarm will change from the sway amplitude exceeding the limit alarm to the foundation tilt angle exceeding the limit alarm. The alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the tower sway amplitude, and the tower sway amplitude exceeds the warning threshold.

[0064] The tower safety monitoring and early warning provided by the present invention also includes: frequency offset early warning based on the inherent frequency.

Claims

1. A method for safety monitoring and early warning of wind turbine towers, characterized in that... Includes the following processes: S1. Obtain the foundation tilt angle, tower sway amplitude, and absolute displacement data of the tower top; S2. Based on the absolute displacement of the tower top during normal unit operation. Tower sway amplitude and foundation tilt angle The relative coefficient of the absolute displacement at the top of the tower with respect to the tilt angle of the foundation was calculated. and the relative coefficient of the tower sway amplitude with respect to the foundation tilt angle The calculation formula is as follows: ； ； S3. Integrate the foundation tilt angle, tower sway amplitude, and tower top absolute displacement data for tower safety monitoring and early warning, specifically including the following early warning process: S3.1 Foundation Tilting Angle Early Warning: When the foundation tilt angle exceeds the early warning threshold, the theoretical absolute displacement of the tower top is calculated at that tilt angle. Compared with the theoretical sway amplitude of the tower If the actual absolute displacement of the top of the tower at this time Actual sway amplitude of the tower Respectively compared with the theoretical absolute displacement at the top of the tower Theoretical sway amplitude of the tower If the deviation does not exceed 30%, the alarm when the foundation tilt angle exceeds the warning threshold is a normal warning; otherwise, the alarm when the foundation tilt angle exceeds the warning threshold is considered a false alarm and is removed. S3.2 Tower Top Absolute Displacement Early Warning: When the absolute displacement at the tower top exceeds the early warning threshold, the theoretical absolute displacement at the tower top is calculated based on the monitored foundation tilt angle at that time. If the actual absolute displacement of the top of the tower Theoretical absolute displacement from the top of the tower If the deviation does not exceed 30%, the alarm will be switched from absolute displacement over-limit alarm to foundation tilt angle over-limit alarm. An alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the actual absolute displacement of the tower top, and the absolute displacement of the tower top exceeds the warning threshold. S3.3 Tower Sway Amplitude Warning: When the tower sway amplitude exceeds the warning threshold, the theoretical tower sway amplitude is calculated based on the monitored foundation tilt angle at that time. If the actual sway amplitude of the tower Compared with the theoretical sway amplitude of the tower When the deviation does not exceed 30%, the alarm will change from the sway amplitude exceeding the limit alarm to the foundation tilt angle exceeding the limit alarm. An alarm will only be issued when the monitored foundation tilt angle is the same as the theoretical foundation tilt angle calculated based on the tower sway amplitude, and the tower sway amplitude exceeds the warning threshold.

2. A wind turbine tower safety monitoring system for the wind turbine tower safety monitoring and early warning method according to claim 1, characterized in that: The wind turbine tower safety monitoring system includes: Inclination sensors are installed on the tower foundation and monitor the foundation tilt data in real time. A sway displacement sensor is installed at the top of the tower and monitors the tower's sway displacement and vibration acceleration in real time. The Beidou positioning and orientation monitoring unit is located on the top of the cabin and monitors the position and trajectory data of the tower top in real time. The data acquisition module is connected to the tilt sensor, the sway displacement sensor and the Beidou positioning and orientation monitoring unit, and the data acquisition module collects the monitoring data. The host computer is connected to the data acquisition module. The data acquisition module forwards the monitoring data to the host computer, which then calculates, analyzes, stores, and issues early warnings based on the monitoring data.

3. The wind turbine tower safety monitoring system according to claim 2, characterized in that: The Beidou positioning and orientation monitoring unit includes a mobile station, a base station, and an antenna. The mobile station is connected to the antenna and is arranged on the top of the cabin, while the base station is installed in the booster station to achieve accurate positioning.

4. The wind turbine tower safety monitoring system according to claim 2, characterized in that: The acquisition module is provided in two sets, located at the bottom and top of the tower respectively. The acquisition module at the bottom of the tower is connected to the tilt sensor; the acquisition module at the top of the tower is connected to the sway displacement sensor and the Beidou positioning and orientation monitoring unit. Both sets of acquisition modules are connected to the host computer.

5. The wind turbine tower safety monitoring system according to claim 2, characterized in that: The host computer performs Fourier transform on the tower vibration acceleration data monitored by the sway displacement sensor to obtain the natural frequency of the tower during operation, and provides frequency deviation warning based on the natural frequency.

6. The wind turbine tower safety monitoring system according to claim 2, characterized in that: The host computer performs polar coordinate calculation and transformation on the tower sway displacement value monitored by the sway displacement sensor to determine the magnitude and direction of the tower sway, and calculates the tower sway amplitude.

7. The wind turbine tower safety monitoring system according to claim 2, characterized in that: The host computer calculates the absolute displacement of the tower top based on the monitoring data from the Beidou positioning and orientation monitoring unit, and then uses the absolute displacement of the tower top to calculate the load of the computer group to monitor the load during the operation of the wind turbine. At the same time, it combines the foundation tilt angle to realize the early warning of overload.

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