Wind turbine blade clearance monitoring method and system based on magnetic ranging

Abstract

The application discloses a kind of wind turbine blade clearance monitoring method and system based on magnetic ranging, electromagnetic transmitter is installed on blade tip, electromagnetic signal is emitted by electromagnetic transmitter;Magnetic ranging sensor is installed on tower drum, and the electromagnetic phase of blade tip is obtained by magnetic ranging sensor;Electromagnetic transmitter selects electromagnet to form electromagnetic field in blade tip range, electromagnetic signal is emitted by electromagnetic transmitter to magnetic ranging sensor, the electromagnetic phase of blade tip is obtained, based on the electromagnetic phase of blade tip obtained, data is comprehensively processed according to Poynting vector, after processing, it is transmitted to the main control of wind turbine, and the main control is optimized according to actual situation Paddle blade clearance.The application can effectively improve the data accuracy of blade clearance monitoring, reduce the difficulty and cost of blade clearance monitoring installation, and can effectively monitor the blade motion curve during the operation of wind turbine, ensure the accuracy and real-time of monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine blade clearance monitoring, in particular to a wind turbine blade clearance monitoring method, system, storage medium and computing device based on magnetic ranging. BACKGROUND

[0002] Due to the relative decrease in blade stiffness caused by the increase in deflection of long blades and the decrease in unit capacity price of wind turbines, the blade clearance and safety of large megawatt wind turbines have relatively decreased compared to previous models.

[0003] Currently, cabin-type blade clearance monitoring solutions and tower wall-type blade clearance monitoring solutions have been developed for this problem. However, due to the diversity of wind turbine operating environments, the sensor operation of the current mainstream laser blade clearance monitoring solution is greatly disturbed under strong interference conditions, and the data quality of the cabin-type laser blade clearance monitoring solution is poor under such working conditions. The tower wall-type clearance monitoring solution is relatively better than the cabin-type solution because the sensor monitoring distance is relatively short and the relative interference intensity is relatively weak. However, the tower wall-type blade clearance monitoring solution is installed at a tower wall height of 20m-40m from the ground, which has high installation difficulty and cost. However, the two solutions cannot effectively monitor the blade front curve during operation, mainly monitoring the point monitoring position, and have certain defects. SUMMARY

[0004] The first object of the present application is to overcome the shortcomings and deficiencies of the prior art, and to provide a wind turbine blade clearance monitoring method based on magnetic ranging, which can effectively improve the data accuracy of blade clearance monitoring, reduce the difficulty and cost of blade clearance monitoring installation, and effectively monitor the blade motion curve during wind turbine operation, ensuring the accuracy and real-time performance of monitoring.

[0005] The second object of the present application is to provide a wind turbine blade clearance monitoring system based on magnetic ranging.

[0006] The third object of the present application is to provide a storage medium.

[0007] The fourth object of the present application is to provide a computing device.

[0008] The first object of the present application is achieved by the following technical solution: a wind turbine blade clearance monitoring method based on magnetic ranging, comprising:

[0009] An electromagnetic transmitter is installed on the tip of the blade, and an electromagnetic signal is emitted by the electromagnetic transmitter;

[0010] A magnetic ranging sensor is installed on the tower drum, and the electromagnetic phase of the blade tip is obtained by the magnetic ranging sensor;

[0011] outputting a corresponding magnetic field with a corresponding electromagnetic phase and a specified field strength, establishing a phase distribution model of the electromagnetic transmitter based on the corresponding magnetic field, establishing a corresponding three-dimensional model according to the phase distribution model, and obtaining the distance between the blade tip and the magnetic ranging sensor;

[0012] According to the electric field intensity and the magnetic field intensity, the angle between the blade tip and the magnetic ranging sensor in the three-dimensional model is obtained by combining the concept of Poynting vector, and the distance in the three-dimensional model is projected to a distance component on a two-dimensional plane based on the angle;

[0013] Based on the obtained distance between the blade tip and the magnetic ranging sensor and the distance component on the two-dimensional plane, the perpendicular distance between the blade tip and the magnetic ranging sensor and the blade clearance at the current position are obtained, and the blade tip point on the corresponding three-dimensional model is formed.

[0014] Based on the point position of the blade tip point on the three-dimensional model, the interval range of the blade tip position is determined, and the Kalman filter is used to filter out interference points. If the blade tip point cannot be effectively connected to form a line during operation, and does not meet the blade rotation speed and blade turning direction, and is not in the corresponding motion curve, the point will be excluded in the interval.

[0015] The clear and consistent motion curve is obtained and transmitted to the main control of the wind turbine generator set. The main control optimizes the blade clearance according to the actual situation.

[0016] Further, the magnetic ranging sensor is installed at a position not less than 3m from the foundation of the wind turbine generator set and not higher than the blade tip. The magnetic ranging sensor is installed on the iron band of the tower cylinder diameter with a magnet, and the iron band on which the magnetic ranging sensor is installed is fixed on the tower cylinder wall. A group of electromagnetic transmitters are installed at intervals at the blade tip 1.5m to 15m, and if the impeller diameter is less than 90m, the installation can be stopped at the position of one sixth of the impeller diameter, and the number of installations is rounded down.

[0017] Further, after the wind turbine generator set is powered on, the blades are dragged back to the positions of 60°, 180° and 300° of the cabin angle phase angle, the magnetic ranging sensor starts working and records the magnetic field data, and the data is set as initial state data. After the data recording is completed, the blades are dragged back to the positions of 0°, 120° and 240° of the cabin angle phase angle to record the measurement positions, and the data is recorded as working state data to record the original measurement data.

[0018] Further, the expression of the phase distribution model is as follows:

[0019]

[0020] In the formula, ΦH is the magnetic field phase, ΦE is the electric field phase, w is the current variation frequency of the electromagnetic transmitter, r is the distance from the blade tip to the magnetic ranging sensor, ΔΦ is the electromagnetic field phase variation, and c is the speed of light.

[0021] Further, the angle between the blade tip of the three-dimensional model and the magnetic ranging sensor is calculated using the following formula:

[0022] The formula of the Poynting vector theory is:

[0023] The formula of the Poynting vector deformation is:

[0024] In the formula, θ is the angle between the blade tip of the three-dimensional model and the magnetic ranging sensor, s is the energy flow density, E is the electric field intensity, B is the magnetic field intensity, and μ0 is the vacuum permeability.

[0025] Further, in order to completely obtain the point position of the blade tip on the three-dimensional model without missing the transmission points of the blade, the sensor for capturing the moving points is not less than 2, the magnetic ranging sensors installed around the tower wall are not less than 3, and the monitoring angle of a single magnetic ranging sensor is not less than x represents the number of magnetic ranging sensors, and it is required that at least one magnetic ranging sensor can monitor the blade tip, and the data obtained by the multiple magnetic ranging sensors are combined to determine the interval range of the blade tip position.

[0026] Further, the Kalman filter is used to filter out the interference points from the original data, and whether the data is interference data is determined based on the blade tip position and the blade motion curve formed in the motion process. If the blade motion curve is clear and the motion curve is consistent with the theoretical direction, it is determined that the data of the blade clearance monitoring has no interference. According to the blade motion curve without interference data, curve fitting is performed, and the distance of the lowest point of the fitted curve is the actual blade clearance.

[0027] Further, after completing the blade clearance measurement, the blade clearance and the blade motion curve are output to the main control, the main control determines the interval and the curve direction of the two groups of blades according to the obtained data to verify the blade rotation speed and the blade direction, and after the verification is completed, the main control will optimize the blade clearance according to the actual situation.

[0028] Further, the top of the magnetic ranging sensor is provided with an icebreaking cap to prevent damage by ice blocks on the blade.

[0029] The second object of the application is achieved by the following technical scheme: a wind turbine generator unit blade clearance monitoring system based on magnetic ranging, which is used to realize the wind turbine generator unit blade clearance monitoring method based on magnetic ranging described above, and comprises:

[0030] An electromagnetic transmitter is installed on the blade tip, and the electromagnetic transmitter selects an electromagnet to form an electromagnetic field in the blade tip range;

[0031] A magnetic ranging sensor is installed on the tower drum to obtain the electromagnetic phase of the blade tip;

[0032] A data processing module outputs a corresponding magnetic field based on the corresponding electromagnetic phase and the specified field strength, establishes a phase distribution model of the electromagnetic transmitter based on the corresponding magnetic field, establishes a corresponding three-dimensional model according to the phase distribution model, and obtains the distance between the blade tip and the magnetic ranging sensor; according to the electric field strength and the magnetic field strength, the angle between the blade tip of the three-dimensional model and the magnetic ranging sensor is obtained by combining the Poynting vector concept, and the distance in the three-dimensional space is projected to a two-dimensional plane based on the angle to decompose into a distance component on the two-dimensional plane; based on the obtained distance between the blade tip and the magnetic ranging sensor and the distance component on the two-dimensional plane, the vertical distance between the blade tip and the magnetic ranging sensor and the current position of the blade clearance are obtained, and the blade tip point on the corresponding three-dimensional model is formed; based on the point position of the blade tip point on the three-dimensional model, the interval range where the blade tip position is located is determined, and the Kalman filtering algorithm is used to filter out interference points, and if the blade tip point cannot be effectively connected into a line during operation and does not meet the blade rotation speed and the blade turning direction, and is not in the corresponding motion curve, the point will be excluded in the interval;

[0033] An execution module obtains a clear motion curve consistent with the theoretical direction and transmits it to the main control of the wind turbine generator set, and the main control optimizes the blade clearance according to the actual situation.

[0034] The third object of the application is achieved by the following technical scheme: a storage medium stores a program, and the program is executed by a processor to realize the wind turbine generator set blade clearance monitoring method based on magnetic ranging.

[0035] The fourth object of the application is achieved by the following technical scheme: a computing device includes a processor and a memory for storing a processor-executable program, and the processor executes the program stored in the memory to realize the wind turbine generator set blade clearance monitoring method based on magnetic ranging.

[0036] Compared with the prior art, the application has the following advantages and beneficial effects:

[0037] 1. The blade motion curve during operation can be effectively measured, which is beneficial to the optimization control of the main control of the wind turbine generator set.

[0038] 2. The Poynting vector is used to capture the blade tip point in the motion process in the monitoring range.

[0039] 3. The installation difficulty and cost of the sensor are greatly reduced, and the operation and maintenance effect is improved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 This is a schematic diagram of the clearance monitoring principle of the method of the present invention.

[0041] Figure 2 Schematic diagram of the iron belt to complete the installation of the magnetic distance sensor.

[0042] Figure 3 Schematic diagram of the installation of the iron belt on the tower to complete the installation of the magnetic distance sensor.

[0043] Figure 4 Schematic diagram of the magnetic ranging blade clearance monitoring range.

[0044] Figure 5 Flowchart of the method of the present invention.

[0045] Figure 6 This is an architectural diagram of the system of the present invention. DETAILED DESCRIPTION

[0046] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0047] Example 1

[0048] like Figures 1 to 5 As shown, this embodiment discloses a method for monitoring the blade clearance of a wind turbine generator set based on magnetic ranging. First, a magnetic ranging sensor 1 is installed on the tower at a height of not less than 3m from the foundation of the wind turbine generator set and not higher than the tip of the blade. The magnetic ranging sensor 1 is installed on an iron belt 2 of the tower diameter using a magnet, and the iron belt 2 after the sensor installation is fixed to the tower wall to ensure that the sensor is stable and the preload force meets the corresponding requirements. In addition, to solve the problem of blade icing in winter, an icebreaker cap (not shown in the figure) can be added to the top of the magnetic ranging sensor 1 to prevent the magnetic ranging sensor 1 from being damaged by ice on the blade; a group of electromagnetic transmitters (not shown in the figure) are installed at an average of 1.5m from 1.5m to 15m from the blade tip. If the impeller diameter is less than 90m, it can be installed to a position of one-sixth of the impeller diameter, and the number of installations is rounded down. The electromagnetic transmitter selects an electromagnet to form an electromagnetic field in the blade tip range, and the electromagnetic transmitter transmits an electromagnetic signal to the magnetic ranging sensor 1 to obtain the electromagnetic phase of the blade tip. Based on the obtained electromagnetic phase of the blade tip, the data is comprehensively processed according to the Poynting vector. After processing, it is transmitted to the main control of the wind turbine generator set, and the main control performs pitch control to optimize the blade clearance according to the actual situation.

[0049] The data acquisition and processing process of this paper is as follows (see Figure 5 ), after the overall data processing is completed, multiple sensors can be used for mutual verification.

[0050] 1. After the wind turbine is powered on, the blades are pulled back to the positions of 60°, 180° and 300° of the cabin angle phase angle, the magnetic distance sensor starts working and records the magnetic field data, and the data is set as the initial state data; after the data recording is completed, the blades are pulled back to the measurement positions of 0°, 120° and 240° of the cabin angle phase angle, and the data is recorded as the working state data, and the original measurement data is recorded.

[0051] 2. The electromagnetic transmitter outputs corresponding magnetic fields with corresponding electromagnetic phases and specified field strengths according to corresponding requirements, and a phase distribution model of the electromagnetic transmitter is established based on the corresponding magnetic fields, and the expression of the phase distribution model is as follows:

[0052]

[0053] In the formula, ΦH is the magnetic field phase, ΦE is the electric field phase, w is the current variation frequency of the electromagnetic transmitter, r is the distance from the blade tip to the magnetic distance sensor, ΔΦ is the electromagnetic field phase variation, and c is the speed of light.

[0054] After the phase distribution model is completed, a corresponding three-dimensional model is established according to the phase distribution model, and the distance between the blade tip and the magnetic distance sensor is obtained.

[0055] 3. According to the electric field strength and the magnetic field strength, combined with the concept of Poynting vector, the following formula is used to obtain the angle between the blade tip of the three-dimensional model and the magnetic distance sensor, and based on the angle, the distance in the three-dimensional model is projected to the distance component on the two-dimensional plane.

[0056] Poynting vector theoretical formula:

[0057] Poynting vector deformation formula:

[0058] In the formula, θ is the angle between the blade tip of the three-dimensional model and the magnetic distance sensor, s is the energy flow density, E is the electric field strength, B is the magnetic field strength, and μ0 is the vacuum permeability.

[0059] 4. Based on the obtained distance between the blade tip and the magnetic distance sensor and the distance component on the two-dimensional plane, it can be known that the perpendicular distance between the blade tip and the magnetic distance sensor and the current position of the blade clearance form the blade tip point on the corresponding three-dimensional model.

[0060] 5. In order to completely obtain the point position of the blade tip point on the three-dimensional model, without missing the transmission point of the blade, the sensor for capturing the moving point is not less than 2, the magnetic distance sensor installed around the tower wall is not less than 3, and the monitoring angle of a single magnetic distance sensor is not less than X represents the number of magnetic ranging sensors, and requires that at least one magnetic ranging sensor can monitor the blade tip end, and the data obtained by the multiple magnetic ranging sensors are combined to determine the interval range in which the blade tip position is located.

[0061] 6. The original data is filtered by Kalman filtering to remove interference points, the original data interference points are removed, whether the interference data is based on the blade tip position is determined by the blade motion curve formed in the motion process, if the formed blade motion curve is clear and the motion curve is consistent with the theoretical direction, it is judged that the data of the blade clearance monitoring has no interference; the curve fitting is performed according to the blade motion curve without interference data, and the distance of the lowest point of the fitted curve is the actual blade clearance;

[0062] After the blade clearance measurement is completed, the blade clearance and the blade motion curve are output to the main control, the main control determines the interval of the two groups of blades and the curve direction according to the obtained data to determine the blade rotating speed and the blade rotating direction, and performs verification after the verification is completed, the main control will perform the variable pitch optimization of the blade clearance according to the actual situation.

[0063] Embodiment 2

[0064] The embodiment discloses a wind turbine generator unit blade clearance monitoring system based on magnetic ranging, which is used to realize the wind turbine generator unit blade clearance monitoring method based on magnetic ranging in the embodiment 1, as shown in the following formula: Figure 6 It includes:

[0065] An electromagnetic transmitter is installed on the blade tip end, and the electromagnetic transmitter selects an electromagnet to form an electromagnetic field in the blade tip range;

[0066] A magnetic ranging sensor is installed on the tower drum, which is used to obtain the electromagnetic phase of the blade tip end;

[0067] The data processing module outputs a corresponding magnetic field corresponding to the electromagnetic phase and the specified field strength, establishes a phase distribution model of the electromagnetic transmitter based on the corresponding magnetic field, establishes a corresponding three-dimensional model according to the phase distribution model, and obtains the distance between the blade tip and the magnetic ranging sensor; according to the electric field strength and the magnetic field strength, the angle between the blade tip of the three-dimensional model and the magnetic ranging sensor is obtained by combining the concept of Poynting vector, and the distance in the three-dimensional model is projected to a two-dimensional plane based on the angle to be decomposed into a distance component on the two-dimensional plane; based on the obtained distance between the blade tip and the magnetic ranging sensor and the distance component on the two-dimensional plane, the vertical distance between the blade tip and the magnetic ranging sensor and the current position of the blade clearance are obtained, and the blade tip point on the corresponding three-dimensional model is formed; the Kalman filter is used to filter out the interference points of the original data, the interference points of the original data are filtered out, whether the interference data is determined based on the blade tip position through the blade motion curve formed in the motion process, if the formed blade motion curve is clear and the motion curve is consistent with the theoretical direction, it is judged that the data of the blade clearance monitoring has no interference; curve fitting is performed according to the blade motion curve of the non-interference data, and the distance of the lowest point of the fitted curve is the actual blade clearance.

[0068] The execution module transmits the clear and consistent motion curve to the main control of the wind turbine generator set, and the main control optimizes the blade clearance according to the actual situation.

[0069] Specifically, because the main control requires that the control frequency is not lower than 20Hz, the frequency of the system needs to be higher than 50Hz in actual application.

[0070] Embodiment 3

[0071] The embodiment discloses a storage medium, which stores a program, and when the program is executed by a processor, the magnetic ranging-based wind turbine generator set blade clearance monitoring method in embodiment 1 is realized.

[0072] The storage medium in the embodiment can be a disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), a U disk, a mobile hard disk, and the like.

[0073] Embodiment 4

[0074] The embodiment discloses a computing device, which comprises a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored in the memory, the magnetic ranging-based wind turbine generator set blade clearance monitoring method in embodiment 1 is realized.

[0075] The computing device described in the embodiments can be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, a programmable logic controller (PLC), or other terminal device with processor function.

[0076] The above embodiments are preferred embodiments of the present application, but the embodiments of the present application are not limited to the above embodiments, and any changes, modifications, substitutions, combinations, simplifications, etc. made without departing from the spirit and principles of the present application should be equivalent replacement methods and should be included in the protection scope of the present application.

Claims

1. A wind turbine blade clearance monitoring method based on magnetic ranging, characterized in that: include: An electromagnetic transmitter is installed on the tip of the blade to transmit an electromagnetic signal; A magnetic distance sensor is installed on the tower to obtain the electromagnetic phase of the blade tip; The corresponding magnetic field is output with the corresponding electromagnetic phase and specified field strength. A phase distribution model of the electromagnetic transmitter is established based on the corresponding magnetic field. A corresponding three-dimensional model is established based on the phase distribution model to obtain the distance between the blade tip and the magnetic ranging sensor. Based on the electric and magnetic field intensities, the angle between the blade tip and the magnetic distance sensor in the 3D model is obtained by combining the Poynting vector concept. Based on this angle, the distance in the 3D solid is projected onto a 2D plane and decomposed into distance components on the 2D plane. Based on the acquired distance between the blade tip and the magnetic distance sensor and the distance component on the two-dimensional plane, the vertical distance between the blade tip and the magnetic distance sensor and the blade clearance at the current position are obtained, and the blade tip point is formed on the corresponding three-dimensional model; Based on the position of the blade tip point on the three-dimensional model, the interval range of the blade tip position is determined, and the interference points are filtered out using Kalman filtering. If the blade tip points cannot be effectively connected into a line during operation and do not conform to the blade speed and blade direction, and the points are not within the corresponding motion curve, they will be excluded from the interval; The obtained motion curve is clear and consistent with the theoretical direction and transmitted to the main control of the wind turbine generator set. The main control performs pitch adjustment and optimizes the blade clearance according to the actual situation.

2. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 1 is characterized in that: The magnetic distance measuring sensor is installed at a height of not less than 3m from the foundation of the wind turbine generator set and not higher than the tip of the blade. The magnetic distance measuring sensor is installed on an iron belt with the diameter of the tower using a magnet, and the iron belt with the magnetic distance measuring sensor installed is fixed to the tower wall; a group of electromagnetic transmitters are installed at equal intervals at 1.5m to 15m from the tip of the blade. If the impeller diameter is less than 90m, they can be installed at a position of one-sixth of the impeller diameter, and the number of installations is rounded down.

3. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 2 is characterized in that: After the wind turbine is powered on, the blades are dragged back to the nacelle angle phase angle positions of 60°, 180°, and 300°, and the magnetic ranging sensor starts working and records the magnetic field data, and the data is set as the initial state data; after the data recording is completed, the blades are dragged back to the nacelle angle phase angle positions of 0°, 120°, and 240° and recorded as measurement positions, the data is recorded as working state data, and the original measurement data is recorded.

4. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 3 is characterized in that: The expression of the phase distribution model is as follows: Where ΦH is the magnetic field phase, ΦE is the electric field phase, w is the current change frequency of the electromagnetic transmitter, r is the distance from the blade tip to the magnetic ranging sensor, ΔΦ is the electromagnetic field phase change, and c is the speed of light.

5. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 4 is characterized in that: The angle between the blade tip of the 3D model and the magnetic distance sensor is calculated using the following formula: Poynting vector theory formula: Poynting vector deformation formula: Where θ is the angle between the blade tip of the three-dimensional model and the magnetic ranging sensor, s is the energy flux density, E is the electric field intensity, B is the magnetic field intensity, and μ0 is the vacuum permeability.

6. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 5 is characterized in that: In order to fully obtain the position of the blade tip on the 3D model without missing the transmission point of the blade, at least 2 sensors are needed to capture the movement point. At least 3 magnetic distance sensors need to be installed around the tower wall. The monitoring angle of a single magnetic distance sensor should be no less than x represents the number of magnetic distance measuring sensors, and it is required that no less than one magnetic distance measuring sensor can monitor the tip of the blade. The data obtained by the monitored multiple magnetic distance measuring sensors are combined to determine the range of the blade tip position.

7. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 6, characterized in that: Kalman filtering is used to filter out interference points in the original data. The interference points of the original data are filtered out. Based on the blade tip position, the blade motion curve formed during the motion process is used to determine whether it is interference data. If the formed blade motion curve is clear and the motion curve is consistent with the theoretical direction, it is judged that the data of the blade clearance monitoring is free of interference; curve fitting is performed based on the blade motion curve of the interference-free data, and the distance to the lowest point of the fitted curve is the actual blade clearance.

8. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 7 is characterized in that: After completing the blade clearance measurement, the blade clearance and blade motion curve are output to the main control. The main control determines the spacing and curve direction of the two groups of blades based on the acquired data, and determines the blade speed and blade direction for verification. After the verification is completed, the main control will perform variable pitch to optimize the blade clearance according to the actual situation.

9. The wind turbine blade clearance monitoring method based on magnetic ranging according to claim 8, characterized in that: An ice-breaking cap is installed on the top of the magnetic distance sensor to prevent it from being damaged by ice blocks on the blades.

10. A wind turbine blade clearance monitoring system based on magnetic ranging is characterized by: A method for monitoring blade clearance of a wind turbine generator set based on magnetic ranging, for implementing any one of claims 1 to 9, comprising: An electromagnetic transmitter is installed on the blade tip. The electromagnetic transmitter selects an electromagnet to form an electromagnetic field within the blade tip range. Magnetic distance sensor, installed on the tower, used to obtain the electromagnetic phase of the blade tip; The data processing module outputs a corresponding magnetic field with a corresponding electromagnetic phase and a specified field strength, establishes a phase distribution model of the electromagnetic transmitter based on the corresponding magnetic field, establishes a corresponding three-dimensional model based on the phase distribution model, and obtains the distance between the blade tip and the magnetic ranging sensor; according to the electric field strength and the magnetic field strength, combined with the concept of Poynting vector, the angle between the blade tip and the magnetic ranging sensor in the three-dimensional model is obtained, and based on the angle, the distance in the three-dimensional solid is projected onto a two-dimensional plane and decomposed into distance components on the two-dimensional plane; based on the obtained distance between the blade tip and the magnetic ranging sensor and the distance components on the two-dimensional plane, the vertical distance between the blade tip and the magnetic ranging sensor and the blade clearance at the current position are obtained, forming a blade tip point on the corresponding three-dimensional model; based on the position of the blade tip point on the three-dimensional model, the interval range of the blade tip position is determined, and the Kalman filter algorithm is used to filter out interference points. If the blade tip points cannot be effectively connected into a line during operation and do not conform to the blade speed and blade direction, and the points that are not within the corresponding motion curve will be excluded from the interval; The execution module obtains a clear motion curve that is consistent with the theoretical direction and transmits it to the main control of the wind turbine generator set. The main control performs pitch adjustment and optimizes the blade clearance according to the actual situation.

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