Method and device for monitoring the tower clearance of a wind turbine

Abstract

Provided are a tower clearance monitoring method and device for a wind turbine generator. The tower clearance monitoring method for the wind turbine generator includes: obtaining position coordinate data of multiple points on a blade of the wind turbine generator measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically installed at the bottom of a nacelle of the wind turbine generator; determining a clearance value of the blade to the tower based on the position coordinate data; and performing clearance protection on the wind turbine generator based on the clearance value. The tower clearance monitoring method and device for the wind turbine generator according to the exemplary embodiments of the present disclosure can improve the tower clearance protection effect of the wind turbine generator.

Description

Technical Field

[0001] This disclosure relates to the field of wind power generation technology. More specifically, this disclosure relates to a method and apparatus for monitoring the clearance of a wind turbine tower. Background Technology

[0002] With the development of wind power technology and the increasing energy efficiency requirements, and facing the industry challenge of "equal pricing for wind and thermal power," lightweight blade design is an effective measure to reduce blade costs. Longer, more flexible, and lighter blades are the future development trend of turbine blades. However, the proportion of wind farms in onshore wind areas with complex terrain and wind conditions that exceed the original wind turbine standard design is increasing. Due to meteorological conditions such as cold waves and typhoons, wind speed and direction change drastically, causing the turbine to bear large wind loads in a short period of time, resulting in increased blade deformation and instantaneous insufficient clearance. Therefore, there is an urgent need for low-cost and high-reliability tower clearance monitoring products to accurately and effectively monitor tower clearance in real time, and to take corresponding control and protection measures for clearance changes caused by complex terrain and wind conditions to ensure the safe operation of the turbine.

[0003] Existing airspace measurement technologies, such as video-based airspace measurement based on image recognition, lack good environmental adaptability in low-light conditions at night; airspace measurement systems based on laser ranging technology have limited application boundaries in special weather conditions such as heavy fog; and methods of deploying ranging or sensing sensors such as infrared, cameras, radar, and electromagnetic sensors on towers are difficult to deploy due to the need for yaw synchronization of the unit, have high maintenance costs, and are complex to integrate, which is not conducive to rapid batch implementation. Summary of the Invention

[0004] According to an exemplary embodiment of this disclosure, a method for monitoring the airspace clearance of a wind turbine tower is provided, comprising: acquiring position coordinate data of multiple points on the blades of the wind turbine measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine; determining the airspace clearance value from the blades to the tower based on the position coordinate data; and performing airspace protection on the wind turbine based on the airspace clearance value.

[0005] Optionally, the plurality of points may include points at preset intervals within a preset range of the blade, and the preset range may include the range on the blade from a preset distance from the blade tip to the blade tip.

[0006] Optionally, the step of determining the clearance value from the blade to the tower of the wind turbine based on the position coordinate data may include: obtaining the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane; for each of the plurality of points, subtracting the uncorrected clearance value from a first distance and adding it to a second distance to obtain the measured clearance value for each point; determining the measured clearance value with the smallest value among the measured clearance values ​​as the clearance value from the blade to the tower, wherein the first distance is the distance between the installation position of the millimeter-wave radar on the blade tip plane and the center of the tower, and the second distance is the radius of the tower on the cross-section of the plane perpendicular to the tower at each point.

[0007] Optionally, the tower clearance monitoring method may further include: determining a three-dimensional rectangular coordinate system with the center of the top section of the wind turbine tower as the origin, the left side facing the rotor as the positive x-axis, the rotor direction as the positive y-axis, and the gravity direction as the positive z-axis; determining the y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional rectangular coordinate system as the first distance; and using the formula... and Calculate the second distance, where y b Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. L represents the diameter of the cross-section at the base of the tower. blade H represents the blade length. tower Indicates the tower height.

[0008] Optionally, the position coordinate data is the coordinate data of a point on the blade in a Cartesian coordinate system, wherein the Cartesian coordinate system takes the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis. The step of obtaining the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data includes: for each of the plurality of points, using the specified dimension data in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0009] Optionally, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system takes the impeller direction as the positive x-axis and the gravity direction as the positive y-axis. The step of obtaining the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data may include: for each of the plurality of points, taking the x-coordinate in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0010] Optionally, the step of providing airspace protection for the wind turbine generator set based on the airspace value may include: determining a superimposed blade angle value based on the airspace value; and determining a minimum blade angle limit for airspace protection based on the current blade angle value of the wind turbine generator set and the superimposed blade angle value.

[0011] Optionally, the step of acquiring the position coordinate data of multiple points on the blades of the wind turbine generator obtained by millimeter-wave radar measurement may include: determining whether the wind turbine generator is in a millimeter-wave airspace failure state; when it is determined that the wind turbine generator is not in the millimeter-wave airspace failure state, acquiring the position coordinate data of the multiple points, wherein the millimeter-wave airspace failure state includes at least one of the following: abnormal communication between the millimeter-wave airspace system and the generator, loss of millimeter-wave radar heartbeat signal, and abnormal equipment status flag bit of millimeter-wave radar.

[0012] According to an exemplary embodiment of the present disclosure, a tower clearance monitoring device for a wind turbine generator set is provided, comprising: a data acquisition unit configured to acquire position coordinate data of multiple points on the blades of the wind turbine generator set measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator set; a clearance determination unit configured to determine the clearance value from the blades to the tower based on the position coordinate data; and a clearance protection unit configured to perform clearance protection on the wind turbine generator set based on the clearance value.

[0013] Optionally, the plurality of points may include points at preset intervals within a preset range of the blade, and the preset range may include the range on the blade from a preset distance from the blade tip to the blade tip.

[0014] Optionally, the clearance determination unit may be configured to: obtain the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane; for each of the plurality of points, subtract the uncorrected clearance value from a first distance and add it to a second distance to obtain the measured clearance value for each point; determine the measured clearance value with the smallest value among the measured clearance values ​​as the clearance value from the blade to the tower, wherein the first distance is the distance between the installation position of the millimeter-wave radar on the blade tip plane and the center of the tower, and the second distance is the radius of the tower on the cross-section of the plane perpendicular to the tower at each point.

[0015] Optionally, the tower clearance monitoring device may further include a distance determination unit, configured to: determine a three-dimensional rectangular coordinate system with the center of the top section of the wind turbine tower as the origin, the left side facing the rotor as the positive x-axis, the rotor direction as the positive y-axis, and the gravity direction as the positive z-axis; determine the y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional rectangular coordinate system as the first distance; and use the formula... and Determine the second distance, where y b Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. L represents the diameter of the cross-section at the base of the tower. blade H represents the blade length. tower Indicates the tower height.

[0016] Optionally, the position coordinate data may be the coordinate data of a point on the blade in a Cartesian coordinate system. The Cartesian coordinate system may have the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis. The clearance determination unit may be configured to: for each of the plurality of points, use the specified dimension data in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0017] Optionally, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system can be with the impeller direction as the positive x-axis and the gravity direction as the positive y-axis. The clearance determination unit can be configured to: for each of the plurality of points, use the x-coordinate in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0018] Optionally, the airspace protection unit can be configured to: determine a superimposed blade angle value based on the airspace value; and determine a minimum blade angle limit for airspace protection based on the current blade angle value of the wind turbine generator and the superimposed blade angle value.

[0019] Optionally, the data acquisition unit may be configured to: determine whether the wind turbine generator is in a millimeter-wave airspace failure state; when it is determined that the wind turbine generator is not in the millimeter-wave airspace failure state, acquire the position coordinate data of the plurality of points, wherein the millimeter-wave airspace failure state includes at least one of the following: abnormal communication between the millimeter-wave airspace system and the generator, loss of millimeter-wave radar heartbeat signal, and abnormal equipment status flag bit of millimeter-wave radar.

[0020] According to an exemplary embodiment of the present disclosure, a tower clearance monitoring system for a wind turbine generator set is provided, comprising: a millimeter-wave radar, eccentrically mounted at the bottom of the nacelle of the wind turbine generator set, for measuring the position coordinate data of multiple points on the blades of the wind turbine generator set; and an electronic device, including the tower clearance monitoring device of the present disclosure.

[0021] According to an exemplary embodiment of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure.

[0022] According to an exemplary embodiment of the present disclosure, an electronic device is provided, comprising: at least one processor; and at least one memory storing a computer program, which, when executed by the at least one processor, implements a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure.

[0023] According to an exemplary embodiment of the present disclosure, a computer program product is provided, the instructions in which can be executed by a processor of a computer device to perform a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure.

[0024] According to an exemplary embodiment of the present disclosure, a method and apparatus for monitoring the air clearance of a wind turbine tower first acquires position coordinate data of multiple points on the blades of the wind turbine measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine. Then, based on the position coordinate data, the air clearance value from the blades to the tower is determined, and air clearance protection is performed on the wind turbine based on the air clearance value, thereby improving the air clearance protection effect on the wind turbine tower.

[0025] Further aspects and / or advantages of the general concept of this disclosure will be set forth in part in the description which follows, and in part will be clear from the description or may be learned by practice of the general concept of this disclosure. Attached Figure Description

[0026] The above and other objects and features of exemplary embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings, which exemplarily illustrate the embodiments, wherein:

[0027] Figure 1 A flowchart illustrating a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure is shown.

[0028] Figure 2 A schematic diagram illustrating the principle of a wind turbine tower clearance monitoring method according to an exemplary embodiment of the present disclosure. Figure 1 ;

[0029] Figure 3 A schematic diagram illustrating the principle of a wind turbine tower clearance monitoring method according to an exemplary embodiment of the present disclosure. Figure 2 ;

[0030] Figure 4 A schematic diagram illustrating the principle of a wind turbine tower clearance monitoring method according to an exemplary embodiment of the present disclosure. Figure 3 ;

[0031] Figure 5 A schematic diagram illustrating the principle of a wind turbine tower clearance monitoring method according to an exemplary embodiment of the present disclosure. Figure 4 ;

[0032] Figure 6 A block diagram of a tower clearance monitoring device for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0033] Figure 7 A block diagram of a tower clearance monitoring system for a wind turbine generator according to an exemplary embodiment of the present disclosure is shown; and

[0034] Figure 8 A schematic diagram of the hardware structure of an electronic device according to an exemplary embodiment of the present disclosure is shown. Detailed Implementation

[0035] Exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings, examples of which are illustrated in the drawings, wherein the same reference numerals always refer to the same components. The embodiments will be described below with reference to the accompanying drawings in order to explain the present disclosure.

[0036] Existing airspace measurement technologies, such as video-based airspace measurement using image recognition, lack good environmental adaptability in low-light conditions like nighttime. Airspace systems based on laser ranging technology have limited application in adverse weather conditions like heavy fog. Methods involving the deployment of infrared, camera, radar, and electromagnetic ranging or sensing sensors on the control tower are hampered by difficulties in deployment and maintenance due to the need for yaw synchronization with the generator set, and complex integration hinders rapid mass implementation. The scheme of deploying airspace measurement sensors at the bottom of the nacelle requires installation on the centerline, a location with limited space and is difficult to implement. Most airspace measurement technologies can only achieve threshold protection, with accuracy needing improvement, and cannot perform tiered control based on airspace values, such as early pitch adjustment to increase generator airspace value or shutdown protection.

[0037] This disclosure provides a tower clearance monitoring technology for wind turbine generators based on millimeter-wave radar ranging technology (hereinafter referred to as "millimeter-wave clearance"). It has the advantages of low cost and high reliability. At the same time, the industry technology is relatively mature, and the system integration and installation and commissioning are relatively convenient and quick, which is conducive to rapid batch implementation. Its related beam characteristics can cover a large angle range and have good environmental adaptability, which can ensure all-weather operation. For millimeter-wave airspace clearance, after the millimeter-wave radar is installed at a preset position and angle, the radar beam is directed at the oblique front of the tower at a fixed angle. When the blade sweeps across the front of the tower, the radar beam is reflected by the blade. Based on the distance measured when the radar beam hits the blade, the distance from each part of the blade to the tower is accurately calculated through the airspace clearance calculation model. The minimum value in the blade tip area is taken as the final airspace clearance value. The unit senses the severity of the airspace clearance risk based on the real-time airspace clearance value. With the goal of minimizing power generation loss and the most reliable safety control, different control strategies are used to actively overcome the airspace clearance risk of the unit under extreme operating conditions, ensuring the reliable operation of the unit. With the implementation of long and flexible blades, the wind turbine can better capture wind energy and thus increase power generation, making lightweight blades an important means to pursue the optimal LCoE (Levelized Cost of Energy). Meanwhile, millimeter-wave airspace clearance combines sensor technology and control technology to form a complementary advantage. Under the premise of reliable sensor devices and high recognition rate, sensor-based airspace control and protection schemes are applied. When the sensor fails or is severely affected by the environment, the protection scheme based on software control technology is automatically switched, so as to achieve direct measurement, precise control, and a balance between safety and power generation.

[0038] Figure 1 A flowchart illustrating a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure is shown. Figures 2-5 A schematic diagram illustrating the principle of a method for monitoring the tower clearance of a wind turbine generator according to an exemplary embodiment of the present disclosure is shown.

[0039] Reference Figure 1 In step S101, the position coordinate data of multiple points on the blades of the wind turbine generator set, measured by millimeter-wave radar, are acquired. The millimeter-wave radar is eccentrically mounted at the bottom of the nacelle of the wind turbine generator set. For example, as... Figure 2 As shown, the millimeter-wave radar 1 is eccentrically mounted on the left front side of the bottom of the nacelle 3 (standing in the nacelle facing the impeller direction, the same applies below). The mounting surface is kept horizontal. Then, the pitch, roll and pointing attitude of the millimeter-wave radar are adjusted so that the radar beam is directed at the oblique front direction of the tower at a fixed angle. Figure 2 The number 2 in the diagram indicates a generator. Figure 2 In the diagram, (a) represents the left view, (b) represents the top view, and (c) represents the front view. Furthermore, the millimeter-wave radar can also be eccentrically mounted, for example, on the right front side of the nacelle bottom or at the rear of the nacelle. In this disclosure, the example of the millimeter-wave radar eccentrically mounted on the left front side of the nacelle bottom of the wind turbine generator set will be used for illustration.

[0040] To ensure the overall stability and reliability of operation, an installation interface for a pre-embedded flange can be reserved in advance at the bottom of the nacelle. The millimeter-wave radar can be connected to the nacelle through a bracket. The bracket can meet the functions of support and angle adjustment, and is equipped with a hand hole to meet the requirements of on-site operation and maintenance.

[0041] In an exemplary embodiment of this disclosure, the plurality of points may include points spaced at preset intervals within a preset range of the blade, and the preset range may include the range on the blade from a preset distance from the blade tip to the blade tip.

[0042] In an exemplary embodiment of this disclosure, the position coordinate data may be the coordinate data of a point on the blade in a Cartesian coordinate system, wherein the Cartesian coordinate system may have the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis.

[0043] In an exemplary embodiment of this disclosure, the Cartesian coordinate system may have the impeller direction as the positive x-axis and the gravity direction as the positive y-axis.

[0044] Furthermore, the position coordinate data can be the coordinate data of a point on the blade in a three-dimensional Cartesian coordinate system. For example, the three-dimensional Cartesian coordinate system can have the impeller direction as the positive x-axis, the gravity direction as the positive y-axis, and the left side facing the impeller as the positive z-axis. Alternatively, the three-dimensional Cartesian coordinate system can have the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis. The Cartesian coordinate system can have the millimeter-wave radar installation location as the origin, or it can have other locations as the origin, such as, but not limited to, the center of the circle at the top of the tower section.

[0045] In an exemplary embodiment of this disclosure, when acquiring the position coordinate data of multiple points on the blades of a wind turbine generator obtained by millimeter-wave radar measurement, it can first be determined whether the wind turbine generator is in a millimeter-wave airspace failure state. Then, if it is determined that the wind turbine generator is not in the millimeter-wave airspace failure state, the position coordinate data of the multiple points can be acquired. Here, the millimeter-wave airspace failure state may include at least one of the following: abnormal communication between the millimeter-wave airspace system and the generator, loss of millimeter-wave radar heartbeat signal, or abnormal equipment status flag bit of the millimeter-wave radar.

[0046] In addition, when the millimeter-wave airspace fails, the effective airspace value cannot be calculated and the airspace protection strategy cannot be executed. It is necessary to switch to the failure protection control logic and protect the unit by limiting the fixed pitch angle.

[0047] In step S102, the clearance value from the blade to the tower is determined based on the position coordinate data.

[0048] In an exemplary embodiment of this disclosure, when determining the clearance value from the blade to the tower of the wind turbine based on the location coordinate data, the uncorrected clearance value from each of the plurality of points to the tower can first be obtained from the location coordinate data. For each of the plurality of points, the uncorrected clearance value is subtracted from a first distance and added to a second distance to obtain the measured clearance value for each point. Then, the measured clearance value with the smallest value among the measured clearance values ​​is determined as the clearance value from the blade to the tower. Here, the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane (e.g., ...). Figure 3 In b), the first distance is the distance between the installation location of the millimeter-wave radar on the blade tip plane and the center of the tower (e.g., Figure 3 y in lidar The second distance is the radius of the cross-section of the tower at each point on a plane perpendicular to the tower (e.g., Figure 3 y in b ).exist Figure 3 In the diagram, 1 represents millimeter-wave radar, 2 represents generator, 3 represents nacelle, 4 represents blade, 5 represents the boundary of the millimeter-wave radar's illumination area, 6 represents blade tip plane, 7 represents the effective illumination area of ​​the millimeter-wave radar, 8 represents radar normal, 9 represents radar signal reflection point, 10 represents the top cross-section circle of the tower, 11 represents the blade tip plane cross-section circle of the tower, 12 represents the bottom cross-section circle of the tower, and 13 represents hub. Figure 3 In the diagram, (a) represents the left view, (b) represents the top view, and (c) represents the front view. Figure 3In this context, Δclearance is the difference between the second distance and the first distance, representing the value used to correct the uncorrected net clearance. 'b' represents the uncorrected net clearance, and 'c' represents the net clearance value. real This represents the final real-time net air volume.

[0049] Since the measured clearance value for each point is the distance between that point and the tower wall on the blade tip plane, while the uncorrected clearance value is the distance between that point and the installation position of the laser rangefinder on the blade tip plane, there is a certain distance error between the two. This is because the tower is a cylinder with a relatively small top diameter and a relatively large bottom diameter, and its cross-section in the left and front views is a trapezoid. Furthermore, the laser rangefinder is not installed on the tower wall. There is a certain distance error between the tower wall and the installation position of the laser rangefinder on the blade tip plane. By subtracting the uncorrected clearance value from the first distance and adding it to the second distance, the aforementioned distance error can be eliminated, thus improving the accuracy of the measured clearance value.

[0050] In an exemplary embodiment of this disclosure, a three-dimensional Cartesian coordinate system can also be determined, with the center of the cross-section at the top of the wind turbine tower as the origin, the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis. The y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional Cartesian coordinate system is determined as the first distance, and the distance is determined by formula... and Calculate the second distance. Here, y b Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. L represents the diameter of the cross-section at the base of the tower. blade H represents the blade length. tower Indicates the tower height.

[0051] For example, such as Figure 3 As shown, a coordinate system is established with the center of the top section of the tower as the origin, the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis. Figure 3 In the unit coordinate system, the millimeter-wave radar installation location coordinates (x lidar y lidar ,0), the blade length is L blade Define z = L blade The blade tip plane has a diameter of [missing information - likely a diameter value]. The diameter of the circular cross-section at the bottom of the tower is The diameter of the tower at the blade tip plane is The tower height is H towerThe impeller's plane of rotation is parallel to the xz plane.

[0052] like Figure 3 As shown, the angle between the normal of the millimeter-wave radar in the yz plane and the z-axis is the radar elevation angle β. The transmission angle of the millimeter-wave radar is, for example, ±9° along the normal, and the effective illumination area is, for example, ±6° along the normal. The angle between the normal in the xz plane and the z-axis is the radar deflection angle α (α and β are determined based on the unit's geometric parameters to ensure that the effective illumination area covers the ideal range of the airspace, while minimizing interference from the tower area and reducing the data processing load of the filtering algorithm). It should be understood that the transmission angle and effective illumination area of ​​the millimeter-wave radar vary depending on the performance of the millimeter-wave radar.

[0053] In an exemplary embodiment of this disclosure, when the position coordinate data is the coordinate data of a point on the blade in a Cartesian coordinate system, wherein the Cartesian coordinate system has the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis, when obtaining the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, a specified dimension data in the position coordinate data can be used as the uncorrected clearance value from each point to the tower for each of the plurality of points.

[0054] In an exemplary embodiment of this disclosure, when the rectangular coordinate system is set with the impeller direction as the positive x-axis and the gravity direction as the positive y-axis, when obtaining the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, the x-coordinate in the position coordinate data can be used as the uncorrected clearance value from each point to the tower for each of the plurality of points.

[0055] As an example, the blade coordinate information measured by millimeter-wave radar is represented in a radar coordinate system with the millimeter-wave radar installation position as the origin, the impeller direction as the positive x-axis, and the gravity direction as the positive z-axis. During the process of the blade entering and leaving the effective illumination area, the millimeter-wave radar continuously measures the position information of several reflection points on the blade. These reflections are presented as scattered points based on the strength of the reflected signals. The raw data is obtained by superimposing these scattered points, then filtered and fitted to derive an equation representing the blade's geometry. Based on the actual blade length, the coordinate information of each position on the blade is derived through integration. From a predetermined distance from the blade tip (e.g., but not limited to, 5 meters, 6 meters, 10 meters, 12 meters, 15 meters, etc.) to the blade tip position, the coordinate information of one blade is output at predetermined intervals (e.g., but not limited to, 0.1 meters, 0.2 meters, 0.5 meters, 0.8 meters, 1 meter, etc.). Based on the blade coordinate information data measured by millimeter-wave radar, and combined with information such as the installation location of millimeter-wave radar and unit configuration, the distance from different points on the blade to the tower is calculated, where the distance of the minimum point is the clearance value.

[0056] exist Figure 4 In the diagram, 1 represents millimeter-wave radar, 2 represents generator, 3 represents nacelle, 4 represents blade, 6 represents blade tip plane, and 13 represents hub. Figure 4 In the diagram, blade coordinate 1 (e.g., the coordinates of a point on the blade 14.5 meters from the blade tip) is (Blade_X1, Blade_Y1), and blade coordinate n is (Blade_X... n Blade_Y n The blade coordinates 30 (for example, the coordinates of a point on the blade 0.1 meters from the tip) are (Blade_X). 30 Blade_Y 30 ).

[0057] Depend on Figure 4 It can be seen that the calculated value b (i.e., the uncorrected clearance value) is the X coordinate of the blade relative to the radar coordinate system (n = 1~30), as shown in formula (1). Figure 3 We know that the coordinates of point A are (0, b+y). lidar Point B is the point where the y-value of the projection of the blade tip plane and the tower section onto the xy plane is the maximum, with coordinates (0, y). b ,0), where the y-coordinate of point B is calculated according to formula (2). b Then the net airspace value c at each point n The calculation method is shown in formula (3).

[0058] b = Blade_X n (1)

[0059]

[0060] C n =OA-OB=b+y lidar -y b (3)

[0061] exist Figure 5 In this diagram, 1 represents millimeter-wave radar, 2 represents generator, 3 represents nacelle, 4 represents blade, 6 represents blade tip plane, and 13 represents hub. Figure 5 As shown, the tower can be approximated as an isosceles trapezoid. We obtain the geometric relations of isosceles trapezoids. As shown in formula (4).

[0062]

[0063] Final net air value c n The calculation method is shown in formula (5).

[0064]

[0065] Using formula (5), based on the Blade_X measured by the millimeter-wave clearance... n (n = 1 ~ 30) Calculate the clearance c from the blade to the tower. n Output the minimum value c within 15 meters of the leaf tip. real c real ≈ Min(c1,c2,c3,...,c 30 ).

[0066] Furthermore, when the position coordinate data is the coordinate data of a point on the blade in a Cartesian coordinate system with the origin at a location other than the millimeter-wave radar installation location, the uncorrected clearance value from each of the plurality of points to the tower can be determined based on the coordinate data of the point on the blade and the distance between the millimeter-wave radar installation location and the origin.

[0067] The above explains the calculation principle of the net clearance value. Based on this principle, different specific implementation methods can be derived in practical applications by transforming trigonometric function formulas, etc.

[0068] In step S103, the wind turbine generator set is protected against air traffic based on the air traffic clearance value.

[0069] In an exemplary embodiment of this disclosure, when performing airspace protection on the wind turbine generator set based on the airspace value, a superimposed blade angle value can be determined first based on the airspace value, and then a minimum blade angle limit for airspace protection can be determined based on the current blade angle value of the wind turbine generator set and the superimposed blade angle value.

[0070] For example, based on the real-time net air value c real The unit can implement the airspace protection strategy as follows: when the airspace function is enabled, the pitch control is enabled, the speed and pitch angle meet certain conditions, and the millimeter-wave airspace is normal, a preset superimposed pitch angle value is obtained based on the current airspace value, and the sum of the current pitch angle and the superimposed pitch angle is used as the minimum pitch angle limit for airspace protection.

[0071] In summary, the tower clearance monitoring method for wind turbine generators according to the exemplary embodiments of this disclosure makes system integration and installation and commissioning relatively convenient and quick, facilitating rapid batch implementation. Its related beam characteristics can cover a wide angle range, exhibiting good environmental adaptability and ensuring all-weather, 24 / 7 operation. Based on the accurate real-time clearance value obtained from the clearance value calculation model, different control strategies are used to actively overcome clearance risks of wind turbine generators under extreme operating conditions, ensuring reliable unit operation. Simultaneously, the combination of sensor technology and control technology creates complementary advantages. Under the premise of normal sensor operation, a sensor-based clearance control and protection scheme is applied; when the sensor fails, a software-based control protection scheme is automatically switched, achieving direct measurement, precise control, and a balance between safety and power generation.

[0072] Furthermore, according to exemplary embodiments of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed, implements a method for monitoring the tower clearance of a wind turbine generator according to exemplary embodiments of the present disclosure.

[0073] In an exemplary embodiment of this disclosure, the computer-readable storage medium may carry one or more programs that, when executed, perform the following steps: acquiring position coordinate data of multiple points on the blades of a wind turbine generator obtained by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator; determining the clearance value from the blades to the tower based on the position coordinate data; and providing clearance protection for the wind turbine generator based on the clearance value.

[0074] Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In embodiments of this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a computer program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof. A computer-readable storage medium can be included in any apparatus; it can also exist independently without being assembled into that apparatus.

[0075] Furthermore, according to exemplary embodiments of the present disclosure, a computer program product is also provided, wherein the instructions in the computer program product are executable by a processor of a computer device to perform a method for monitoring the tower clearance of a wind turbine generator according to exemplary embodiments of the present disclosure.

[0076] The above has been combined Figures 1 to 5 A method for monitoring the tower clearance of a wind turbine generator according to exemplary embodiments of the present disclosure has been described. Hereinafter, reference will be made to... Figure 6 A tower clearance monitoring device and its unit for a wind turbine generator set according to exemplary embodiments of the present disclosure will be described.

[0077] Figure 6 A block diagram of a tower clearance monitoring device for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0078] Reference Figure 6 The tower clearance monitoring device for wind turbine generators includes a data acquisition unit 61, a clearance determination unit 62, and a clearance protection unit 63.

[0079] The data acquisition unit 61 is configured to acquire position coordinate data of multiple points on the blades of the wind turbine generator set measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator set.

[0080] In an exemplary embodiment of this disclosure, the position coordinate data may be the coordinate data of a point on the blade in a Cartesian coordinate system, wherein the Cartesian coordinate system takes the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis.

[0081] In an exemplary embodiment of this disclosure, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system can have the impeller direction as the positive x-axis and the gravity direction as the positive y-axis.

[0082] In an exemplary embodiment of this disclosure, the plurality of points may include points spaced at preset intervals within a preset range of the blade, and the preset range may include the range on the blade from a preset distance from the blade tip to the blade tip.

[0083] In an exemplary embodiment of this disclosure, the data acquisition unit 61 may be configured to: determine whether the wind turbine generator set is in a millimeter-wave airspace failure state; when it is determined that the wind turbine generator set is not in the millimeter-wave airspace failure state, acquire the position coordinate data of the plurality of points, wherein the millimeter-wave airspace failure state includes at least one of the following: abnormal communication between the millimeter-wave airspace system and the generator set, loss of millimeter-wave radar heartbeat signal, and abnormal equipment status flag bit of millimeter-wave radar.

[0084] The clearance determination unit 62 is configured to determine the clearance value from the blade to the tower based on the position coordinate data.

[0085] In an exemplary embodiment of this disclosure, the clearance determination unit 62 may be configured to: obtain the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, where the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane; for each of the plurality of points, subtract the uncorrected clearance value from a first distance and add it to a second distance to obtain the measured clearance value for each point; and determine the measured clearance value with the smallest value among the measured clearance values ​​as the clearance value from the blade to the tower. Here, the first distance is the distance between the installation position of the millimeter-wave radar on the blade tip plane and the center of the tower, and the second distance is the radius of the tower on the cross-section of the plane perpendicular to the tower at each point.

[0086] In an exemplary embodiment of this disclosure, the tower clearance monitoring device may further include a distance determination unit (not shown), configured to: determine a three-dimensional Cartesian coordinate system with the center of the top section of the wind turbine tower as the origin, the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis; determine the y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional Cartesian coordinate system as a first distance; and use the formula... and Determine the second distance, where y b Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. L represents the diameter of the cross-section at the base of the tower. blade H represents the blade length. tower Indicates the tower height.

[0087] In an exemplary embodiment of this disclosure, when the position coordinate data is the coordinate data of a point on the blade in a Cartesian coordinate system with the millimeter-wave radar installation position as the origin and the direction of gravity as one coordinate axis, the clearance determination unit 62 can be configured to: for each of the plurality of points, use the specified dimension data in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0088] In an exemplary embodiment of this disclosure, when the rectangular coordinate system is a two-dimensional rectangular coordinate system with the impeller direction as the positive x-axis and the gravity direction as the positive y-axis, the clearance determination unit 62 can be configured to: for each of the plurality of points, use the x-coordinate in the position coordinate data as the uncorrected clearance value from each point to the tower.

[0089] The airspace protection unit 63 is configured to provide airspace protection for the wind turbine generator set based on the airspace value.

[0090] In an exemplary embodiment of this disclosure, the airspace protection unit 63 may be configured to: determine a superimposed blade angle value based on the airspace value; and determine a minimum blade angle limit for airspace protection based on the current blade angle value of the wind turbine generator and the superimposed blade angle value.

[0091] Figure 7 A block diagram of a tower clearance monitoring system for a wind turbine generator set according to an exemplary embodiment of the present disclosure is shown.

[0092] Reference Figure 7 The tower clearance monitoring system for wind turbine generators includes a millimeter-wave radar 71 and electronic devices 72.

[0093] The millimeter-wave radar 71 is eccentrically mounted at the bottom of the nacelle of the wind turbine generator set to measure the position coordinate data of multiple points on the blades of the wind turbine generator set.

[0094] Electronic device 72 includes the tower clearance monitoring device of this disclosure (e.g., Figure 6 (Tower clearance monitoring device).

[0095] The above has been combined Figure 6 and Figure 7 A tower clearance monitoring device and system for wind turbine generators according to exemplary embodiments of the present disclosure have been described. Next, in conjunction with... Figure 8 An electronic device according to exemplary embodiments of the present disclosure will be described.

[0096] Figure 8 A schematic diagram of the hardware structure of an electronic device according to an exemplary embodiment of the present disclosure is shown.

[0097] The electronic device may include a processor 301 and a memory 302 storing program instructions.

[0098] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0099] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0100] In a particular embodiment, memory 302 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0101] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this application.

[0102] The processor 301 reads and executes the program instructions stored in the memory 302 to implement any of the tower clearance monitoring methods in the above embodiments.

[0103] In one example, the electronic device may also include a communication interface 303 and a bus 310. For example, Figure 8 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0104] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0105] Bus 310 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0106] In conjunction with the tower clearance monitoring methods in the above embodiments, this application embodiment can provide a readable storage medium for implementation. This readable storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the tower clearance monitoring methods in the above embodiments.

[0107] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0108] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0109] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0110] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the function / action specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified function or action, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0111] In an exemplary embodiment of this disclosure, when the computer program is executed by the processor 301, the following steps can be implemented: acquiring position coordinate data of multiple points on the blades of a wind turbine generator obtained by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator; determining the clearance value from the blades to the tower based on the position coordinate data; and performing clearance protection on the wind turbine generator based on the clearance value.

[0112] Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0113] The above has been referred to Figures 1 to 8 A method and apparatus for monitoring the tower clearance of a wind turbine generator according to exemplary embodiments of the present disclosure are described. However, it should be understood that: Figure 6 The tower clearance monitoring device and its units for the wind turbine generator shown can be configured as software, hardware, firmware, or any combination thereof to perform specific functions. Figure 8 The electronic device shown is not limited to the components shown above, but some components may be added or removed as needed, and the above components may also be combined.

[0114] According to an exemplary embodiment of the present disclosure, a method and apparatus for monitoring the air clearance of a wind turbine tower first acquires position coordinate data of multiple points on the blades of the wind turbine measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine. Then, based on the position coordinate data, the air clearance value from the blades to the tower is determined, and air clearance protection is performed on the wind turbine based on the air clearance value, thereby improving the air clearance protection effect on the wind turbine tower.

[0115] Although this disclosure has been specifically shown and described with reference to exemplary embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made therein without departing from the spirit and scope of this disclosure as defined by the claims.

Claims

1. A method for monitoring the clearance of a wind turbine tower, characterized in that, The tower clearance monitoring method includes: The position coordinate data of multiple points on the blades of a wind turbine generator set are obtained by measuring with millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator set. The clearance value from the blade to the tower is determined based on the location coordinate data; Based on the aforementioned airspace value, airspace protection is provided for the wind turbine generator set; The step of determining the clearance value from the blade to the tower based on the position coordinate data includes: The uncorrected clearance value from each of the plurality of points to the tower is obtained from the location coordinate data, wherein the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane; For each of the plurality of points, the uncorrected clearance value is subtracted from the first distance and added to the second distance to obtain the measured clearance value for each point; The smallest of the measured clearance values ​​is determined as the clearance value from the blade to the tower. Wherein, the first distance is the distance between the installation position of the millimeter-wave radar on the blade tip plane and the center of the tower, and the second distance is the radius of the cross-section of the tower on the plane perpendicular to the tower at each point.

2. The tower clearance monitoring method according to claim 1, characterized in that, The plurality of points include points at preset intervals within a preset range of the blade, the preset range including the range on the blade from a preset distance from the blade tip to the blade tip.

3. The tower clearance monitoring method according to claim 1, characterized in that, Also includes: A three-dimensional rectangular coordinate system is established with the center of the top section of the wind turbine tower as the origin, the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis. The y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional rectangular coordinate system is determined as the first distance. Through formula Calculate the second distance. in, Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. Indicates the diameter of the cross-section at the bottom of the tower. Indicates the blade length. Indicates the tower height.

4. The tower clearance monitoring method according to claim 1, characterized in that, The position coordinate data refers to the coordinates of points on the blade in a Cartesian coordinate system, with the millimeter-wave radar installation location as the origin and the direction of gravity as one axis. The step of obtaining the uncorrected clearance value from each of the plurality of points to the tower from the location coordinate data includes: For each of the plurality of points, a specified dimension of the location coordinate data is used as the uncorrected clearance value from each point to the tower.

5. The tower clearance monitoring method according to claim 4, characterized in that, When the rectangular coordinate system is a two-dimensional rectangular coordinate system, the impeller direction is taken as the positive x-axis and the gravity direction as the positive y-axis. The step of obtaining the uncorrected clearance value from each of the plurality of points to the tower from the location coordinate data includes: For each of the plurality of points, the x-coordinate in the location coordinate data is used as the uncorrected clearance value from each point to the tower.

6. The tower clearance monitoring method according to claim 1, characterized in that, The steps for providing airspace protection for the wind turbine generator set based on the airspace value include: The superimposed paddle angle value is determined based on the aforementioned clearance value; The minimum pitch angle limit for airspace protection is determined based on the current pitch angle value of the wind turbine generator and the superimposed pitch angle value.

7. The tower clearance monitoring method according to claim 1, characterized in that, The steps for acquiring the position coordinate data of multiple points on the blades of a wind turbine generator obtained by millimeter-wave radar measurement include: Determine whether the wind turbine generator is in a state of millimeter-wave airspace failure; When it is determined that the wind turbine generator is not in the millimeter-wave airspace failure state, the position coordinate data of the multiple points are acquired. The millimeter-wave airspace failure status includes at least one of the following: abnormal communication between the millimeter-wave airspace system and the unit, loss of millimeter-wave radar heartbeat signal, and abnormal equipment status flag of millimeter-wave radar.

8. A tower clearance monitoring device for wind turbine generator sets, characterized in that, The tower clearance monitoring device includes: The data acquisition unit is configured to acquire position coordinate data of multiple points on the blades of the wind turbine generator set measured by millimeter-wave radar, wherein the millimeter-wave radar is eccentrically installed at the bottom of the nacelle of the wind turbine generator set. A clearance determination unit is configured to determine the clearance value from the blade to the tower based on the location coordinate data; and The airspace protection unit is configured to provide airspace protection for the wind turbine generator set based on the airspace value. The clearance determination unit is configured to: obtain the uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance value refers to the distance difference between the installation position of the millimeter-wave radar and the projection of each point on the blade tip plane; for each of the plurality of points, subtract the uncorrected clearance value from a first distance and add it to a second distance to obtain the measured clearance value for each point; and determine the measured clearance value with the smallest value among the measured clearance values ​​as the clearance value from the blade to the tower, wherein the first distance is the distance between the installation position of the millimeter-wave radar on the blade tip plane and the center of the tower, and the second distance is the radius of the tower on the cross-section of the plane perpendicular to the tower at each point.

9. The tower clearance monitoring device according to claim 8, characterized in that, The plurality of points include points at preset intervals within a preset range of the blade, the preset range including the range on the blade from a preset distance from the blade tip to the blade tip.

10. The tower clearance monitoring device according to claim 8, characterized in that, It also includes a distance determination unit, configured as follows: A three-dimensional rectangular coordinate system is established with the center of the top section of the wind turbine tower as the origin, the left side facing the impeller as the positive x-axis, the impeller direction as the positive y-axis, and the gravity direction as the positive z-axis. The y-coordinate of the installation position of the millimeter-wave radar in the three-dimensional rectangular coordinate system is determined as the first distance. Through formula Determine the second distance. in, Indicates the second distance. This indicates the diameter of the tower cross-section at the blade tip plane. Indicates the diameter of the cross-section at the top of the tower. Indicates the diameter of the cross-section at the bottom of the tower. Indicates the blade length. Indicates the tower height.

11. The tower clearance monitoring device according to claim 8, characterized in that, The position coordinate data refers to the coordinates of points on the blade in a Cartesian coordinate system, with the millimeter-wave radar installation location as the origin and the direction of gravity as one axis. The clearance determination unit is configured as follows: For each of the plurality of points, a specified dimension of the location coordinate data is used as the uncorrected clearance value from each point to the tower.

12. The tower clearance monitoring device according to claim 11, characterized in that, When the rectangular coordinate system is a two-dimensional rectangular coordinate system, the impeller direction is taken as the positive x-axis and the gravity direction as the positive y-axis. The clearance determination unit is configured as follows: For each of the plurality of points, the x-coordinate in the location coordinate data is used as the uncorrected clearance value from each point to the tower.

13. The tower clearance monitoring device according to claim 8, characterized in that, The airspace protection unit is configured as follows: The superimposed paddle angle value is determined based on the aforementioned clearance value; The minimum pitch angle limit for airspace protection is determined based on the current pitch angle value of the wind turbine generator and the superimposed pitch angle value.

14. The tower clearance monitoring device according to claim 8, characterized in that, The data acquisition unit is configured as follows: Determine whether the wind turbine generator is in a state of millimeter-wave airspace failure; When it is determined that the wind turbine generator is not in the millimeter-wave airspace failure state, the position coordinate data of the multiple points are acquired. The millimeter-wave airspace failure status includes at least one of the following: abnormal communication between the millimeter-wave airspace system and the unit, loss of millimeter-wave radar heartbeat signal, and abnormal equipment status flag of millimeter-wave radar.

15. A tower clearance monitoring system for wind turbine generators, characterized in that, The tower clearance monitoring system includes: A millimeter-wave radar, eccentrically mounted at the bottom of the nacelle of the wind turbine, is used to measure the position coordinates of multiple points on the blades of the wind turbine. Electronic device, including the tower clearance monitoring device according to any one of claims 8-14.

16. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, it implements the method for monitoring the tower clearance of the wind turbine generator set as described in any one of claims 1 to 7.

17. An electronic device, characterized in that, include: At least one processor; At least one memory stores a computer program that, when executed by the at least one processor, implements the method for monitoring the tower clearance of a wind turbine generator set as described in any one of claims 1 to 7.

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