Automatic calibration method and system for hub angle of wind turbine generator

Abstract

The invention provides a hub angle automatic calibration method and system for a wind turbine generator, and relates to the technical field of wind turbine generator control, and the method comprises the steps: obtaining the blade leeside blade root load sensor wavelength and the corresponding hub angle in the idle running process of the wind turbine generator under the conditions of preset wind speed, pitch angle and hub rotation turns; calculating the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeside of the blade by using the functional relationship between the wavelength obtained by fitting and the hub angle; the deviation of the hub angle corresponding to the maximum wavelength before and after the preset calibration period and a deviation threshold value are used as judgment conditions of automatic calibration, and a hub azimuth angle sensor is triggered to carry out hub angle automatic calibration; whether automatic calibration is triggered or not is judged according to the corresponding relation between the sensor wavelength output by the blade root load measuring system and the hub angle collected by the hub azimuth angle sensor, so that the calibration efficiency is improved, and the calibration cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of wind turbine control, and in particular relates to a method and system for automatically calibrating a hub angle of a wind turbine. Background Art

[0002] In recent years, with the continuous growth of wind turbine power and blades, and the continuous reduction of the price of complete wind turbines in the wind power industry, complete machine manufacturers have become increasingly strict in controlling the cost of wind turbines. Independent pitch control technology has a significant effect on reducing blade root fatigue loads and reducing unbalanced loads on the rotor plane, and has a significant effect on reducing the overall cost of wind turbines. Therefore, independent pitch control technology is currently being used more and more widely in the wind power industry. The realization of some independent pitch control technologies requires the support of accurate hub angles. At the same time, accurate hub angles also play an important role in other new load reduction control technologies.

[0003] Wheel hub azimuth angle sensors are mostly implemented through accelerometers and gyroscopes. In the early stage of operation of the wheel hub azimuth angle sensor, the electrical hardware of the equipment operates stably and the data measurement is accurate. As time goes by, the electrical hardware of the wheel hub azimuth angle sensor ages, resulting in data drift when the wheel hub azimuth angle sensor is measuring data. The industry calls this zero drift. This problem has always been a difficult problem in the industry. One solution is to use electrical hardware with higher precision and higher cost, which will inevitably lead to high equipment prices. The second is to add hardware equipment to calibrate the wheel hub azimuth angle sensor angle in real time. This method still requires the addition of hardware, which will increase the cost of the unit. For the installed units, the transformation is complicated and the transformation space is limited, making it difficult to carry out.

[0004] Therefore, the existing wheel hub angle calibration technology will increase costs and have many limitations, resulting in low calibration efficiency and difficulty in promotion. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a method and system for automatic calibration of the hub angle of a wind turbine set, which determines whether to trigger automatic calibration through the correspondence between the sensor wavelength output by the blade root load measurement system and the hub angle collected by the hub azimuth angle sensor, thereby improving the calibration efficiency and reducing the calibration cost.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present invention provides a method for automatically calibrating the hub angle of a wind turbine.

[0008] A method for automatically calibrating a hub angle of a wind turbine generator system, comprising:

[0009] Under the preset wind speed, pitch angle, and number of hub rotations, the wavelength of the blade root load sensor on the leeward side of the wind turbine and the corresponding hub angle are obtained during the idling operation of the wind turbine. The hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is calculated using the functional relationship between the wavelength and the hub angle obtained by fitting.

[0010] The deviation of the hub angle corresponding to the maximum wavelength before and after the preset calibration period and the deviation threshold are used as the judgment conditions for automatic calibration, triggering the hub azimuth angle sensor to perform automatic calibration of the hub angle.

[0011] Furthermore, the preset wind speed, pitch angle, and number of rotations of the hub are specifically:

[0012] The wind speed is lower than 5m / s;

[0013] The pitch angle is set to 90° for blade one, 45° for blade two, and 20° for blade three;

[0014] The wheel hub rotates more than 50 times.

[0015] Furthermore, the wavelength of the blade root load sensor on the lee side of the blade and the corresponding hub angle are obtained during the idling operation of the wind turbine, by using a hub azimuth angle sensor and a blade root load measurement system installed on the wind turbine to respectively collect the wavelength of the blade root load sensor on the lee side of blade one and the corresponding hub angle.

[0016] Furthermore, the functional relationship between the wavelength and the hub angle obtained by fitting is a curve between the wavelength and the hub angle fitted by the least square method.

[0017] Furthermore, the calculation of the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is specifically:

[0018] Obtain the maximum wavelength of the blade root load sensor on the leeward side of the blade during the idling operation of the wind turbine;

[0019] Using the functional relationship between wavelength and hub angle, calculate the hub angle corresponding to the maximum wavelength.

[0020] Furthermore, the preset calibration period is 6 months. After 6 months, the wavelength of the blade root load sensor on the leeward side of the blade and the corresponding hub angle during the idling operation of the wind turbine are re-obtained, and the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is calculated.

[0021] Furthermore, the judgment condition for the automatic calibration is that the deviation threshold is set to 1°. When the absolute value of the deviation is greater than the deviation threshold, the wheel hub azimuth angle sensor is triggered to perform automatic calibration of the wheel hub angle.

[0022] A second aspect of the present invention provides a hub angle automatic calibration system for a wind turbine generator set.

[0023] A hub angle automatic calibration system for a wind turbine generator system, comprising an angle calculation module and a calibration trigger module:

[0024] The angle calculation module is configured to: obtain the wavelength of the blade root load sensor on the leeward side of the blade and the corresponding hub angle during the idling operation of the wind turbine under the conditions of preset wind speed, pitch angle, and number of hub rotations, and calculate the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade by using the functional relationship between the wavelength and the hub angle obtained by fitting;

[0025] The calibration trigger module is configured to use the deviation and deviation threshold of the hub angle corresponding to the maximum wavelength before and after a preset calibration period as the judgment conditions for automatic calibration, and trigger the hub azimuth angle sensor to perform automatic calibration of the hub angle.

[0026] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the method for automatic calibration of the hub angle of a wind turbine set as described in the first aspect of the present invention.

[0027] The fourth aspect of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for automatic calibration of the hub angle of a wind turbine set as described in the first aspect of the present invention are implemented.

[0028] One or more of the above technical solutions have the following beneficial effects:

[0029] For wind turbines equipped with hub azimuth angle sensors and blade root load measurement systems, the present invention uses the installed blade root load measurement system to sense the load deformation of the blades, collect the sensor wavelength, and regularly calibrate the hub angle based on the correspondence between the wavelength and the hub angle. The calibration period can be set by itself, which is convenient and simple, flexible to operate, and does not require the cost of calibration hardware to be increased separately, so the cost is low.

[0030] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 This is a flow chart of the method of the first embodiment.

[0033] Figure 2 This is a specific method flow chart of the first embodiment. DETAILED DESCRIPTION

[0034] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] Embodiment 1

[0037] In one embodiment of the present disclosure, a method for automatically calibrating the hub angle of a wind turbine is provided. Figure 1 As shown, the following steps are included:

[0038] Step S1: Under the conditions of preset wind speed, pitch angle, and number of hub rotations, the wavelength of the blade root load sensor on the lee side of the blade and the corresponding hub angle during the idling operation of the wind turbine are obtained, and the hub angle corresponding to the maximum wavelength of the blade root load sensor on the lee side of the blade is calculated using the functional relationship between the wavelength and the hub angle obtained by fitting.

[0039] Furthermore, the preset wind speed, pitch angle, and number of rotations of the hub are specifically:

[0040] The wind speed is lower than 5m / s;

[0041] The pitch angle is set to 90° for blade one, 45° for blade two, and 20° for blade three;

[0042] The wheel hub rotates more than 50 times.

[0043] Furthermore, the wavelength of the blade root load sensor on the lee side of the blade and the corresponding hub angle are obtained during the idling operation of the wind turbine, by using a hub azimuth angle sensor and a blade root load measurement system installed on the wind turbine to respectively collect the wavelength of the blade root load sensor on the lee side of blade one and the corresponding hub angle.

[0044] Furthermore, the functional relationship between the wavelength and the hub angle obtained by fitting is a curve between the wavelength and the hub angle fitted by the least square method.

[0045] Furthermore, the calculation of the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is specifically:

[0046] Obtain the maximum wavelength of the blade root load sensor on the leeward side of the blade during the idling operation of the wind turbine;

[0047] The functional relationship between wavelength and hub angle is used to calculate the hub angle corresponding to the maximum wavelength.

[0048] Step S2: using the deviation of the hub angle corresponding to the maximum wavelength before and after the preset calibration period and the deviation threshold as the judgment condition for automatic calibration, triggering the hub azimuth angle sensor to perform automatic calibration of the hub angle.

[0049] Furthermore, the preset calibration period is 6 months. After 6 months, the wavelength of the blade root load sensor on the leeward side of the blade and the corresponding hub angle during the idling operation of the wind turbine are re-obtained, and the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is calculated.

[0050] Furthermore, the judgment condition for the automatic calibration is that the deviation threshold is set to 1°. When the absolute value of the deviation is greater than the deviation threshold, the wheel hub azimuth angle sensor is triggered to perform automatic calibration of the wheel hub angle.

[0051] As an embodiment, a specific implementation method of a method for automatically calibrating the hub angle of a wind turbine is as follows: Figure 2 As shown:

[0052] 1. Install the hub azimuth angle sensor and blade root load measurement system on the wind turbine.

[0053] The hub azimuth angle sensor has two functions: collecting the hub angle and calibrating the hub angle. The blade root load measurement system uses a fiber grating blade root load measurement device to sense the load deformation of the blade and output the sensor wavelength.

[0054] 2. When the wind turbine is idling, the main control program synchronously collects and records the hub angle value and the wavelength of the blade root load sensor on the leeward side (SS) of blade one to ensure that the hub rotates more than 50 times.

[0055] 2.1. If the wind speed is lower than 5m / s, the hub angle value and the wavelength data of the blade root load sensor on the leeward side (SS) of blade 1 are recorded until the hub rotates 50 times;

[0056] 2.2. If the wind speed is higher than 5m / s, stop recording the hub angle value and the wavelength data of the blade root load sensor on the leeward side (SS) of blade 1, and save the current recorded data;

[0057] 3. If the pitch angle setting value, wind speed and number of hub rotations do not meet the conditions, return to step 2; if they meet the conditions, go to step 4;

[0058] The conditions are specifically:

[0059] The pitch angle of blade one is set to 90°, the pitch angle of blade two is set to 45°, and the pitch angle of blade three is set to 20°. The wind speed is less than 5m / s, and the number of rotations of the hub exceeds 50.

[0060] 4. Perform the least squares fitting on the hub angle and the wavelength of the blade root load sensor on the leeward side recorded in the PLC:

[0061] The least squares formula used is:

[0062] f(x)=y=w T x+b

[0063] w=(w1,w2···,wn) T

[0064]

[0065] Where f(x) is the linear regression equation, y is the sensor wavelength, x is the wheel angle, w is the optimal vector, and L(w,b) is the minimum square error function.

[0066] 5. Calculate the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side (SS) of blade 1 by fitting the curve using the least squares method;

[0067] 6. The maximum wavelength obtained by least squares fitting corresponds to the hub angle and is stored in PLC data;

[0068] 7. Set a time length of 6 months. When the time length is reached, recalculate the hub angle corresponding to the maximum wavelength;

[0069] 8. Collect data through step 2;

[0070] 9. Determine whether data collection is completed through step 3;

[0071] 10. Perform least squares fitting on the wavelength of the blade root load sensor on the leeward side (SS) of blade 1 by the method of step 4;

[0072] 11. Calculate the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side (SS) of blade 1 by the method of step 5;

[0073] 12. By means of step 6, the wheel hub angle obtained by least squares fitting after 6 months is stored in PLC data;

[0074] 13. Read the maximum wavelength corresponding to the hub angle stored in PLC;

[0075] 14. Calculate the hub angle deviation corresponding to the maximum wavelength of the blade root load sensor on the leeward side (SS) of blade 1 six months after the wind turbine is connected to the grid, and perform absolute value processing on the deviation;

[0076] 15. According to the absolute value of the deviation and the deviation threshold, confirm whether to start the wheel angle sensor calibration procedure.

[0077] Embodiment 2

[0078] In one embodiment of the present disclosure, a hub angle automatic calibration system for a wind turbine is provided, including an angle calculation module and a calibration trigger module:

[0079] The angle calculation module is configured to: obtain the wavelength of the blade root load sensor on the leeward side of the blade and the corresponding hub angle during the idling operation of the wind turbine under the conditions of preset wind speed, pitch angle, and number of hub rotations, and calculate the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade by using the functional relationship between the wavelength and the hub angle obtained by fitting;

[0080] The calibration trigger module is configured to use the deviation and deviation threshold of the hub angle corresponding to the maximum wavelength before and after a preset calibration period as the judgment conditions for automatic calibration, and trigger the hub azimuth angle sensor to perform automatic calibration of the hub angle.

[0081] Embodiment 3

[0082] The purpose of this embodiment is to provide a computer-readable storage medium.

[0083] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in a method for automatically calibrating the hub angle of a wind turbine set as described in the first embodiment of the present disclosure.

[0084] Embodiment 4

[0085] The purpose of this embodiment is to provide an electronic device.

[0086] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for automatic calibration of the hub angle of a wind turbine set as described in the first embodiment of the present disclosure are implemented.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically calibrating the hub angle of a wind turbine, characterized in that: include: Under the preset wind speed, pitch angle, and number of hub rotations, the wavelength of the blade root load sensor on the leeward side of the wind turbine and the corresponding hub angle are obtained during the idling operation of the wind turbine. The hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is calculated using the functional relationship between the wavelength and the hub angle obtained by fitting. The deviation of the hub angle corresponding to the maximum wavelength before and after the preset calibration period and the deviation threshold are used as the judgment conditions for automatic calibration, triggering the hub azimuth angle sensor to perform automatic calibration of the hub angle.

2. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The preset wind speed, pitch angle, and number of hub rotations are specifically: The wind speed is lower than 5m / s; The pitch angle is set to 90° for blade one, 45° for blade two, and 20° for blade three; The wheel hub rotates more than 50 times.

3. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The method of obtaining the wavelength of the blade root load sensor on the lee side of the blade and the corresponding hub angle during the idling operation of the wind turbine generator set is to use the hub azimuth angle sensor and the blade root load measurement system installed on the wind turbine generator set to respectively collect the wavelength of the blade root load sensor on the lee side of blade one and the corresponding hub angle.

4. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The functional relationship between the wavelength and the hub angle obtained by fitting is obtained by fitting a curve between the wavelength and the hub angle using the least square method.

5. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade is calculated as follows: Obtain the maximum wavelength of the blade root load sensor on the leeward side of the blade during the idling operation of the wind turbine; Using the functional relationship between wavelength and hub angle, calculate the hub angle corresponding to the maximum wavelength.

6. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The preset calibration period is 6 months. After 6 months, the wavelength of the blade root load sensor on the lee side of the blade and the corresponding hub angle during the idling operation of the wind turbine are re-obtained, and the hub angle corresponding to the maximum wavelength of the blade root load sensor on the lee side of the blade is calculated.

7. The method for automatically calibrating the hub angle of a wind turbine according to claim 1, characterized in that: The judgment condition for the automatic calibration is that the deviation threshold is set to 1°. When the absolute value of the deviation is greater than the deviation threshold, the wheel hub azimuth angle sensor is triggered to perform automatic calibration of the wheel hub angle.

8. An automatic hub angle calibration system for a wind turbine, characterized in that: Including angle calculation module and calibration trigger module: The angle calculation module is configured to: obtain the wavelength of the blade root load sensor on the leeward side of the blade and the corresponding hub angle during the idling operation of the wind turbine under the conditions of preset wind speed, pitch angle, and number of hub rotations, and calculate the hub angle corresponding to the maximum wavelength of the blade root load sensor on the leeward side of the blade by using the functional relationship between the wavelength and the hub angle obtained by fitting; The calibration trigger module is configured to use the deviation and deviation threshold of the hub angle corresponding to the maximum wavelength before and after a preset calibration period as the judgment conditions for automatic calibration, and trigger the hub azimuth angle sensor to perform automatic calibration of the hub angle.

9. An electronic device, comprising: a memory for non-transitory storage of computer readable instructions; a processor for executing the computer-readable instructions; Wherein, when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is executed.

10. A storage medium, characterized in that: The computer-readable instructions are non-transitorily stored, wherein when the computer-readable instructions are executed by a computer, the method of any one of claims 1 to 7 is performed.

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