Method and device for determining azimuth angle of impeller, equipment and medium

Abstract

The invention discloses an impeller azimuth angle determination method and device, equipment and a medium, and relates to the technical field of wind power generation. First monitoring data, measured by a vibration monitoring sensor in a first rotation period, of a target blade are obtained, the first monitoring data comprise first component force of centrifugal force borne by the target blade in the first direction, and the first direction is the direction, perpendicular to the target blade, in an impeller rotation plane; the vibration monitoring sensor is arranged on a target blade; and according to the first component force, the impeller azimuth angle of the impeller in the first rotation period is determined. According to the embodiment, the first component force of the centrifugal force borne by the target blade in the first direction can be measured through the vibration monitoring sensor existing in the target blade, then the impeller azimuth angle of the impeller is determined according to the first component force, a professional impeller azimuth angle sensor does not need to be additionally installed, and therefore the cost can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a method, device, equipment and medium for determining an impeller azimuth angle. Background Art

[0002] The impeller azimuth in a wind turbine can be the angle of a blade relative to a reference line. Through the impeller azimuth, the wind force at the height of each blade, the speed of the wind turbine, the power generation of the wind turbine, and other information can be calculated. Therefore, in the field of wind power generation, determining the impeller azimuth is of great significance.

[0003] At present, the impeller azimuth angle is mainly measured by installing professional impeller azimuth angle sensors such as gyroscopes, which is relatively costly. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for determining the azimuth angle of an impeller, which can reduce the cost of determining the azimuth angle of an impeller.

[0005] In a first aspect, an embodiment of the present application provides a method for determining an impeller azimuth angle, comprising:

[0006] Acquire first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotation period, the first monitoring data including a first component of a centrifugal force exerted on the target blade in a first direction, the first direction being a direction perpendicular to the target blade in a rotation plane of the impeller, and the vibration monitoring sensor being arranged on the target blade;

[0007] An impeller azimuth angle of the impeller in a first rotation period is determined based on the first force component.

[0008] In a second aspect, an embodiment of the present application provides a device for determining an impeller azimuth angle, comprising:

[0009] An acquisition module is used to acquire first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotation period, wherein the first monitoring data includes a first component of a centrifugal force exerted on the target blade in a first direction, wherein the first direction is a direction perpendicular to the target blade in a rotation plane of the impeller, and the vibration monitoring sensor is disposed on the target blade;

[0010] The determination module is used to determine the impeller azimuth angle of the impeller in the first rotation cycle according to the first component force.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0012] processor;

[0013] a memory for storing computer program instructions;

[0014] When the computer program instructions are executed by the processor, the method according to the first aspect is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0016] The embodiment of the present application obtains the first monitoring data of the target blade measured by the vibration monitoring sensor in the first rotation cycle, the first monitoring data includes the first component of the centrifugal force on the target blade in the first direction, the first direction is the direction perpendicular to the target blade in the impeller rotation plane, and the vibration monitoring sensor is set on the target blade; according to the first component, the impeller azimuth of the impeller in the first rotation cycle is determined. That is, the embodiment of the present application can use the existing vibration monitoring sensor in the target blade to measure the first component of the centrifugal force on the target blade in the first direction, and then determine the impeller azimuth of the impeller according to the first component, without the need to install an additional professional impeller azimuth sensor, which can reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0018] Figure 1 A flow chart of a method for determining an impeller azimuth angle provided in an embodiment of the present application;

[0019] Figure 2 A front view of an impeller provided in an embodiment of the present application;

[0020] Figure 3 A side view of an impeller provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of an impeller azimuth angle provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of another impeller azimuth angle provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of another impeller azimuth angle provided in an embodiment of the present application;

[0024] Figure 7 A flow chart of another method for determining an impeller azimuth angle provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of gravity and inertial force of a vibration monitoring sensor provided in an embodiment of the present application;

[0026] Fig. 9 A schematic diagram of gravity and inertial force of another vibration monitoring sensor provided in an embodiment of the present application;

[0027] Fig.10 A schematic diagram of a corresponding relationship between a sine wave curve and a physical position of a target blade provided in an embodiment of the present application;

[0028] Fig.11 A schematic diagram of a sine wave curve corresponding to a second force component provided in an embodiment of the present application;

[0029] Fig.12 A schematic diagram of an impeller azimuth angle of an impeller at various times provided in an embodiment of the present application;

[0030] Fig.13 A structural diagram of a device for determining an impeller azimuth angle provided in an embodiment of the present application;

[0031] Fig.14 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0033] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the guyed tower and wind turbine generator set of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] In the field of wind power, the relevant technology mainly uses professional impeller azimuth angle sensors such as gyroscopes to measure the azimuth angle of the impeller, which is relatively costly.

[0035] To this end, the embodiments of the present application provide a method, device, equipment and medium for determining the impeller azimuth angle, which can reduce the cost of determining the impeller azimuth angle.

[0036] The following is a detailed description of the method, device, equipment and medium for determining the impeller azimuth angle provided in the embodiments of the present application through specific embodiments.

[0037] Figure 1 The present invention provides a flow chart of a method for determining the impeller azimuth angle, which can be applied to the control system of a wind turbine generator set. Figure 1 As shown, the method for determining the impeller azimuth angle may include the following steps:

[0038] S110, obtaining first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotation period.

[0039] The first monitoring data includes a first component of the centrifugal force exerted on the target blade in a first direction, where the first direction is a direction perpendicular to the target blade in the impeller rotation plane, and the vibration monitoring sensor is arranged on the target blade.

[0040] S120. Determine the impeller azimuth angle of the impeller in the first rotation period according to the first force component.

[0041] The embodiment of the present application obtains the first monitoring data of the target blade measured by the vibration monitoring sensor in the first rotation cycle, the first monitoring data includes the first component of the centrifugal force on the target blade in the first direction, the first direction is the direction perpendicular to the target blade in the impeller rotation plane, and the vibration monitoring sensor is set on the target blade; according to the first component, the impeller azimuth of the impeller in the first rotation cycle is determined. That is, the embodiment of the present application can use the existing vibration monitoring sensor in the target blade to measure the first component of the centrifugal force on the target blade in the first direction, and then determine the impeller azimuth of the impeller according to the first component, without the need to install an additional professional impeller azimuth sensor, which can reduce costs.

[0042] The above steps are described in detail below:

[0043] In S110, the vibration monitoring sensor is mainly used to monitor the blades to obtain first monitoring data. For example, the first monitoring data may include the component of the centrifugal force on the blades in the first direction, and the embodiment of the present application records the component of the centrifugal force in the first direction as the first component force. For example, the first monitoring data may also include the component of the centrifugal force on the blades in the second direction, and the embodiment of the present application records the component of the centrifugal force in the second direction as the second component force.

[0044] The first direction is a direction perpendicular to the target blade in the impeller rotation plane. Exemplarily, the first direction may also be referred to as a swing direction.

[0045] For example, the array direction is Figure 2 The direction corresponding to the arrow in the middle is Figure 2 is the front view of the impeller. Figure 2 One blade is exemplarily listed, that is, the swing direction is the left-right direction in the front view of the impeller.

[0046] The second direction is a direction perpendicular to the impeller rotation plane. Exemplarily, the second direction may also be referred to as a flapping direction.

[0047] For example, the swing direction is Figure 3 The direction of the arrow shown, Figure 3 It is a side view of the impeller, that is, the swinging direction is the left-right direction in the side view of the impeller, and the front-back direction in the front view. Taking the front view as an example, the swinging direction is the direction facing the user and away from the user.

[0048] The first force component and the second force component can be measured by different vibration monitoring sensors, that is, two vibration monitoring sensors can be installed in one blade. For example, the vibration monitoring sensor used to measure the first force component can be recorded as the first vibration monitoring sensor, and the vibration monitoring sensor used to measure the second force component can be recorded as the second vibration monitoring sensor. The first vibration monitoring sensor and the second vibration monitoring sensor are installed in each blade.

[0049] The embodiment of the present application mainly determines the impeller azimuth based on the first force component, so the vibration monitoring sensor here is also the first vibration monitoring sensor. Exemplarily, the first vibration monitoring sensor can be set at a certain distance from the blade root, for example, the first vibration monitoring sensor can be set at a distance of 30m from the blade root.

[0050] Because the first vibration monitoring sensor measures the component of the centrifugal force of the blade in the first direction, the centrifugal force acting on the blade may change even when the wind turbine rotates at a low speed. Therefore, when the wind turbine rotates at a low speed, the first vibration monitoring sensor can also accurately measure the first component force. In this way, when the impeller azimuth angle is determined based on the first component force, the accuracy of the impeller azimuth angle can be improved.

[0051] The first rotation period may be any rotation period of the impeller, and the target blade may be one or more blades arranged on the impeller. That is, the embodiment of the present application may determine the impeller azimuth based on the first force component of one blade, or may determine the impeller azimuth based on the first force components of multiple blades, thereby improving the flexibility of the solution.

[0052] Exemplarily, the control system may obtain the first component force of the target blade in the first direction measured by the vibration monitoring sensor in real time, or may obtain the first component force of the target blade in the first direction measured by the vibration monitoring sensor according to a sampling frequency.

[0053] In S120, the purpose of measuring the impeller azimuth angle is to clarify the distribution of the blades in the air. For example, the impeller azimuth angle can be the angle of a blade relative to the reference baseline. For example, the reference baseline is a vertical line segment, and the angle of blade No. 1 relative to the reference baseline is used as the impeller azimuth angle. For example, Figure 4 As shown in Figure 1, when blade No. 1 rotates to the vertical direction, the impeller azimuth angle can be recorded as 0°, as Figure 5 As shown in , when blade No. 1 rotates to the position of 120°, the impeller azimuth angle can be recorded as 120°, as Figure 6 As shown, when blade No. 1 rotates to the position of 240°, the impeller azimuth angle can be recorded as 240°.

[0054] Of course, the target blade can also be blade No. 2 or blade No. 3, because blade No. 2 and blade No. 3 differ from blade No. 1 by 120° and 240° respectively. Therefore, based on the positions of blade No. 2 and blade No. 3, the position of blade No. 1 can also be determined, and then the impeller azimuth angle can be obtained.

[0055] The embodiment of the present application can determine the angle of the target blade relative to the reference datum line based on the component of the centrifugal force on the target blade in the first direction, and then obtain the impeller azimuth angle. No additional professional sensors need to be installed, thereby reducing costs.

[0056] The following is an explanation of the process of determining the impeller azimuth angle through a specific embodiment. Figure 7 As shown, the method for determining the impeller azimuth angle may include the following steps:

[0057] S710. Acquire first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotation period.

[0058] S720. Determine a filtering reference interval according to the operating frequency of the impeller.

[0059] S730: Filter the first force component within the first rotation period according to the filtering reference interval to obtain a second force component and a first offset phase of the second force component relative to the first force component.

[0060] S740: Determine the impeller azimuth angle of the impeller in the first rotation period according to the second force component and the first offset phase.

[0061] The process of S710 is the same as the process of S110 described above. For details, please refer to the above embodiment. For the sake of brevity, it will not be repeated here.

[0062] The other processes mentioned above are described in detail below:

[0063] In S720, the operating frequency of the impeller may be determined based on the number of revolutions of the impeller per unit time. For example, if the impeller rotates 12 revolutions per minute, the operating frequency of the impeller may be determined to be 12 / 60=0.2 Hz.

[0064] According to the operating frequency of the impeller, a filtering reference interval can be determined, and the filtering reference interval is used to filter the first component force of the target blade measured by the vibration monitoring sensor to improve the accuracy of the impeller azimuth angle.

[0065] Exemplarily, the filtering reference interval may be determined in the following manner:

[0066] According to the operating frequency, searching the first relationship table to obtain a first weight coefficient corresponding to the operating frequency, where the first weight coefficient is an integer greater than 1;

[0067] A filtering reference interval is determined according to the product of the operating frequency and the first weight coefficient.

[0068] The first relationship table is used to store the correspondence between the operating frequency and the first weight coefficient. The correspondence between different operating frequencies and the first weight coefficient can be preset. Different operating frequencies can correspond to the same first weight coefficient or different first weight coefficients. Exemplarily, the first weight coefficient can be an integer greater than 1.

[0069] Exemplarily, the lower limit of the filter reference interval may be 0, and the upper limit of the filter reference interval may be the product of the operating frequency of the impeller and the first weight coefficient. Taking the operating frequency of the impeller as 0.2 Hz and the first weight coefficient as 2 as an example, the filter reference interval may be [0, 0.4 Hz].

[0070] The embodiment of the present application utilizes the operating frequency of the impeller, combined with the first weight coefficient corresponding to the operating frequency, to determine the filtering reference interval, which helps to filter out data with large fluctuations in the first component force, improve the data quality of the first component force, and thereby improve the accuracy of the impeller azimuth angle.

[0071] In S730, after the filtering reference interval is determined, the first force component in the first rotation period can be filtered using the filtering reference interval, that is, the first force component that is not in the filtering reference interval in the first rotation period is deleted, and only the first force component in the filtering reference interval is retained. In this embodiment of the application, the filtered first force component is recorded as the second force component.

[0072] According to the second force component and the first force component, the offset phase of the second force component relative to the first force component, that is, the first offset phase, can be determined. The first offset phase can also be called a filter phase, that is, the offset phase generated by filtering.

[0073] In S740, the angle of the target blade relative to the reference datum line at the corresponding moment may be determined according to the second force component and the first offset phase, thereby obtaining the impeller azimuth angle.

[0074] The entire process only requires the use of existing vibration monitoring sensors, without the need to install additional sensors, thereby reducing costs. At the same time, the impeller azimuth can also be accurately determined when the wind turbine rotates at a low speed.

[0075] When the target blade is rotating, the first component force is the force on the vibration monitoring sensor in the swing direction, which is the resultant force of the gravity and inertia of the vibration monitoring sensor.

[0076] When the target blade rotates, the direction of the inertial force of the vibration monitoring sensor changes, that is, the second component force changes. Figure 8 As shown in , when the target blade rotates to the left 90° position, the gravity of the vibration monitoring sensor is in the same direction as the inertial force, and at this time, the second component force is the largest. Fig. 9 As shown, when the target blade rotates to the right position by 90°, the gravity of the vibration monitoring sensor is in opposite directions to the inertial force, and at this time, the second component force is the smallest.

[0077] When the target blade rotates to the uppermost and lowermost ends, the gravity acting on the vibration monitoring sensor is equal to the supporting force in magnitude but opposite in direction. At this time, the second force component is 0.

[0078] When the target blade rotates to other positions, the second force component and the impeller azimuth angle approximately satisfy a sinusoidal relationship. For example, y=Asin(x+b), where y is the second force component, A is the peak value of the sine wave, x is the impeller azimuth angle, and b is the offset phase.

[0079] Exemplarily, b=first offset phase+second offset phase, the second offset phase can be determined based on the correspondence between the sine wave curve and the physical position of the target blade, that is, the second offset phase can be the offset phase of the sine wave curve relative to the physical position of the target blade.

[0080] The correspondence between the sine wave curve and the physical position of the target blade can be found in Fig.10, that is, the 0 point of the sine wave curve (indicating that the second force component is 0) corresponds to the 180° position of the target blade (at this time, the second force component is 0); the peak of the sine wave curve (indicating that the value of the second force component is the maximum) corresponds to the 270° of the target blade, that is, the 90° on the left (at this time, the value of the second force component is the maximum) position; the center point of the sine wave curve (indicating that the second force component is 0) corresponds to the 360° position of the target blade (at this time, the second force component is 0); the trough of the sine wave curve (indicating that the value of the second force component is the maximum) corresponds to the 90° of the target blade, that is, the 90° on the right (at this time, the value of the second force component is the maximum) position; the end point of the sine wave curve (indicating that the second force component is 0) corresponds to the 180° position of the target blade (at this time, the second force component is 0). That is, the offset phase of the sine wave curve relative to the physical position of the target blade is 180°, that is, b = first offset phase + 180.

[0081] Considering the different rotation speeds of the impeller, the greater the cycle change, the greater the error. Take the example of the impeller speed decreasing from 12 to 6 revolutions in one rotation cycle.

[0082] For example, according to 12 revolutions per minute, it can be obtained that the impeller takes 60 seconds / 12=5 seconds to rotate once, and the angular velocity w1=360° / 5s, that is, 72° / s.

[0083] According to 6 revolutions per minute, we can get: the impeller takes 60 seconds / 6=10 seconds to rotate once. The angular velocity w2=360° / 10s, that is, 36° / s.

[0084] Assuming that the impeller decreases from 12 revolutions to 6 revolutions at a constant speed, the time for one rotation cycle is (10+5) / 2=7.5s, and the acceleration is (36-72) / 7.5=-4.8. The time taken for the target blade to rotate to 90° on the left (corresponding to the peak of the sine wave curve) is: 90=w1*t–4.8*t^2, which is solved to: t=1.31 seconds. The average angular velocity w3=90 / 1.31=68.7° / s.

[0085] Generally, the maximum error occurs at the position of t / 2, corresponding to t / 2*w3=45°. The actual position at t / 2 is w1*t / 2-2.4*(t / 2)*(t / 2)=46°, that is, the error is 1°.

[0086] In order to reduce the influence of the error on the impeller azimuth, the sinusoidal wave curve corresponding to the second force component may be segmented, and the values ​​of A and b may be adjusted for each curve segment.

[0087] Based on this, in some embodiments, the above S740 may include the following steps:

[0088] S7401. Divide the sine wave curve corresponding to the second force component according to the magnitude of the second force component to obtain at least one curve segment;

[0089] S7402, for each curve segment, determining a first peak value of the second component force in the curve segment;

[0090] S7403, determine the impeller azimuth angle at the corresponding moment in the first rotation cycle of the impeller based on the first peak value, the first offset phase of the second component force corresponding to the curve segment relative to the first component force, and the second component force of the target blade at the moment corresponding to the curve segment.

[0091] The above steps are described in detail below:

[0092] In S7401, since the second component force conforms to the characteristics of the sine wave curve, that is, when the target blade rotates to different positions, the A and b corresponding to the above formula are different. In order to improve the accuracy of the impeller azimuth angle, the sine wave curve corresponding to the second component force can be segmented to obtain at least one curve segment. For each curve segment, the A and b of the second component force in the curve segment are determined, and then the angle of the target blade relative to the reference datum line at each moment, that is, the impeller azimuth angle, is obtained.

[0093] Exemplarily, the sine wave curve corresponding to the second force component may be divided according to the magnitude of the second force component. For example, the characteristic point of the sine wave curve may be determined according to the magnitude of the second force component, and the sine wave curve may be divided into at least one curve segment according to the characteristic point.

[0094] The feature point may be a point reflecting the features of the sine wave curve. For example, the feature point may include at least one of a starting point, a crest, a center point, a trough, and an end point of the sine wave curve.

[0095] According to the magnitude of the second force component, the starting point, peak, center point, trough and end point of the sine wave curve can be determined to obtain characteristic points, so that the sine wave curve can be divided into different time periods, which helps to improve the accuracy of the impeller azimuth angle.

[0096] In S7402, taking the characteristic points including the starting point, the peak, the center point, the trough and the end point as an example, it can be Fig.11 The sinusoidal wave curve shown is divided into four curve segments, namely the curve segment between a1-a2, the curve segment between a2-a3, the curve segment between a3-a4 and the curve segment between a4-a5, wherein a1, a2, a3, a4 and a5 are respectively the starting point, peak, center point, trough and end point of the sinusoidal wave curve in one rotation cycle.

[0097] For the curve segment between a1 and a2, A is the magnitude of the second force component at a2, and the first offset phase is the offset phase of the second phase corresponding to the curve segment between a1 and a2 relative to the first force component.

[0098] For the curve segment between a2 and a3, A is the magnitude of the second force component at a2, and the first offset phase is the offset phase of the second phase corresponding to the curve segment between a2 and a3 relative to the first force component.

[0099] For the curve segment between a3 and a4, A is the magnitude of the second force component at a4, and the first offset phase is the offset phase of the second phase corresponding to the curve segment between a3 and a4 relative to the first force component.

[0100] For the curve segment between a4 and a5, A is the magnitude of the second force component at a4, and the first offset phase is the offset phase of the second phase corresponding to the curve segment between a4 and a5 relative to the first force component.

[0101] That is, A is adjusted twice and the first offset phase is adjusted four times in one rotation cycle, thereby reducing the influence of the error caused by the rotation on the impeller azimuth angle and improving the accuracy of the impeller azimuth angle.

[0102] In S7403, the first peak value, that is, the A value in the above embodiment, for each curve segment, the impeller azimuth angle of the impeller at each moment corresponding to the curve segment can be determined according to the A value corresponding to the curve segment, the first offset phase of the second component force corresponding to the curve segment relative to the first component force, and the second component force of the target blade at the moment corresponding to the curve segment.

[0103] A similar process is performed for each curve segment to obtain the impeller azimuth angle at each moment in the first rotation cycle of the impeller.

[0104] The embodiment of the present application can obtain multiple curve segments by dividing the sinusoidal wave curve corresponding to the second component force. The sizes of A and b can be determined for each curve segment so that A and b correspond to the curve segment, thereby improving the accuracy of the impeller azimuth angle.

[0105] In some embodiments, the above S7403 may include the following steps:

[0106] Obtaining a corresponding relationship between the sine wave curve and the physical position of the target blade to obtain a second offset phase;

[0107] For each curve segment, determine the ratio of the second force component at the jth moment corresponding to the curve segment to the first peak value of the curve segment;

[0108] The arc sine value of the ratio is accumulated with the first offset phase and the second offset phase of the second component force of the curve segment relative to the first component force to obtain the impeller azimuth angle at the corresponding moment in the first rotation period of the impeller.

[0109] The process of determining the second offset phase may refer to the above embodiment and will not be described in detail here.

[0110] For example, for each curve segment, the ratio of the second force component at the jth moment corresponding to the curve segment to the first peak value of the curve segment can be determined, that is, y ij With A i The ratio y ij / A i , where y ij is the second component of force at the jth moment in the i-th curve segment, A i is the first peak of the i-th curve segment.

[0111] The impeller azimuth angle of the impeller at the corresponding moment of the curve segment can be obtained by accumulating the arc sine value of the ratio with the first offset phase and the second offset phase of the second component force of the curve segment relative to the first component force.

[0112] For example, Among them, x ij is the impeller azimuth angle at the jth moment corresponding to the i-th curve segment, b i is the offset phase of the second force component of the i-th curve segment relative to the first force component, c is the second offset phase, and exemplarily, c=180°.

[0113] Taking a rotation cycle as an example, the impeller azimuth angle at each moment calculated by the above scheme can be found in Fig.12 Shown as thick solid black line.

[0114] The embodiment of the present application uses the inverse sine trigonometric function to obtain the impeller azimuth angle of the impeller at each moment for the peak value and the first offset phase corresponding to each curve segment, without the need to purchase additional professional impeller azimuth angle sensors, thereby reducing costs.

[0115] Taking the case where the target blades include two or more than two as an example, illustratively, the above S120 may include the following steps:

[0116] For each target blade, determining a first azimuth angle of the impeller in a first rotation period according to a first component force corresponding to the target blade;

[0117] The average value of the first azimuth angles corresponding to the target blades is determined as the impeller azimuth angle of the impeller in the first rotation period.

[0118] The first azimuth angle is an impeller azimuth angle determined based on a first component force corresponding to a target blade. When there are multiple target blades, the process of determining the impeller azimuth angle based on each target blade is similar.

[0119] After determining the first azimuth angle of the impeller in the first rotation cycle based on the first force component corresponding to each target blade, the average value of the first azimuth angles corresponding to each target blade can be determined, and the average value is determined as the impeller azimuth angle of the impeller in the first rotation cycle. This can improve the accuracy of the impeller azimuth angle.

[0120] The embodiment of the present application can determine the azimuth angle of the impeller based on the multiple blades of the impeller, and determine the average of the impeller azimuth angles corresponding to each blade as the final impeller azimuth angle, thereby improving the accuracy of the impeller azimuth angle.

[0121] In actual application, the blade may be subject to greater interference, resulting in greater vibration. For example, when the wind speed suddenly increases, the blade will vibrate more, that is, the first component force measured by the vibration monitoring sensor will jump, for example, the first component force suddenly increases or decreases at certain moments. In order to reduce the impact of the jump on the impeller azimuth, illustratively, when the target blade includes two or more, the above S120 may include the following steps:

[0122] For each target blade, judging whether there is a jump in the first component force of the target blade according to the first component force of the target blade in the first rotation period;

[0123] When there is a jump in the first component force of at least one target blade and the number of target blades with jumps is less than the number of target blades without jumps, the impeller azimuth angle of the impeller in the first rotation cycle is determined according to the first component force of the target blades without jumps in the first rotation cycle.

[0124] When there are multiple target blades, exemplarily, for each target blade, it can be determined whether there is a jump in the first component force of the target blade. For example, the first component force can be compared with a preset threshold. If the first component force is greater than the first threshold or the first component force is less than the second threshold, it can be determined that there is a jump in the first component force corresponding to the target blade.

[0125] Exemplarily, the difference of the first component forces at adjacent moments may also be determined. If the difference is greater than a third threshold, it may be determined that a jump occurs in the first component force corresponding to the target blade.

[0126] Exemplarily, a time window can also be preset. For each time window, the maximum and minimum values ​​of the first component force in the time window can be determined. If the difference between the maximum and minimum values ​​is greater than a fourth threshold, it can be determined that there is a jump in the first component force corresponding to the target blade.

[0127] The first threshold, the second threshold, the third threshold, the fourth threshold and the size of the time window can be set according to actual needs.

[0128] When it is determined that a first force component corresponding to at least one target blade has a jump, and the number of target blades with jumps is less than the number of target blades without jumps, the impeller azimuth angle can be determined based on the first force component corresponding to the target blades without jumps.

[0129] For example, the target blades include blade No. 1, blade No. 2 and blade No. 3. If only the first component force corresponding to blade No. 1 changes, the impeller azimuth angle can be determined based on the first component force corresponding to blade No. 2 and blade No. 3, respectively, and then the average of the impeller azimuth angles determined by the two blades is determined as the final impeller azimuth angle.

[0130] Exemplarily, if the first force components corresponding to the three blades all change suddenly, the impeller azimuth angle can be determined based on the first force components corresponding to the three blades respectively, and the average of the three impeller azimuth angles can be determined as the final impeller azimuth angle.

[0131] Exemplarily, if the number of target blades with jumps is greater than or equal to the number of target blades without jumps, the impeller azimuth angle can be determined based on which target blade to select as needed. For example, the impeller azimuth angle can be determined based on the first component force corresponding to the target blade without jumps, or based on the first component force corresponding to the target blade with jumps.

[0132] In the embodiment of the present application, when there are multiple target blades, it is possible to determine whether there is a jump in the first component force corresponding to each target blade one by one, and then adopt a suitable strategy to determine the impeller azimuth angle based on the jump situation, thereby reducing the impact of the jump on the impeller azimuth angle and improving the accuracy of the impeller azimuth angle.

[0133] Based on the same inventive concept, the embodiment of the present application also provides a device for determining the impeller azimuth angle. Fig.13 The device for determining the impeller azimuth angle provided in the embodiment of the present application is described in detail.

[0134] Fig.13 A structural diagram of a device for determining an impeller azimuth angle provided in an embodiment of the present application.

[0135] like Fig.13 As shown, the device for determining the impeller azimuth angle may include:

[0136] An acquisition module 1301 is used to acquire first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotation period, wherein the first monitoring data includes a first component of a centrifugal force exerted on the target blade in a first direction, wherein the first direction is a direction perpendicular to the target blade in a rotation plane of the impeller, and the vibration monitoring sensor is disposed on the target blade;

[0137] The determination module 1302 is used to determine the impeller azimuth angle of the impeller in the first rotation period according to the first component force.

[0138] The embodiment of the present application obtains the first monitoring data of the target blade measured by the vibration monitoring sensor in the first rotation cycle, the first monitoring data includes the first component of the centrifugal force on the target blade in the first direction, the first direction is the direction perpendicular to the target blade in the impeller rotation plane, and the vibration monitoring sensor is set on the target blade; according to the first component, the impeller azimuth of the impeller in the first rotation cycle is determined. That is, the embodiment of the present application can use the existing vibration monitoring sensor in the target blade to measure the first component of the centrifugal force on the target blade in the first direction, and then determine the impeller azimuth of the impeller according to the first component, without the need to install an additional professional impeller azimuth sensor, which can reduce costs.

[0139] In some embodiments, the determination module 1302 is specifically configured to:

[0140] Determine the filter reference interval according to the operating frequency of the impeller;

[0141] filtering the first force component within the first rotation period according to the filtering reference interval to obtain a second force component and a first offset phase of the second force component relative to the first force component;

[0142] An impeller azimuth angle of the impeller in a first rotation period is determined according to the second force component and the first offset phase.

[0143] In some embodiments, the device for determining the impeller azimuth angle may further include:

[0144] A division module, used for dividing the sine wave curve corresponding to the second force component according to the magnitude of the second force component to obtain at least one curve segment;

[0145] The determination module 1302 is specifically configured to:

[0146] For each curve segment, determining a first peak value of the second force component in the curve segment;

[0147] The impeller azimuth at the corresponding moment in the first rotation period is determined according to the first peak value, the first offset phase of the second force component corresponding to the curve segment relative to the first force component and the second force component of the target blade at the moment corresponding to the curve segment.

[0148] In some embodiments, the acquisition module 1301 is further used to acquire the corresponding relationship between the sine wave curve and the physical position of the target blade to obtain a second offset phase;

[0149] The determination module 1302 is specifically configured to:

[0150] For each curve segment, determine the ratio of the second force component at the jth moment corresponding to the curve segment to the first peak value of the curve segment;

[0151] The arc sine value of the ratio is accumulated with the first offset phase and the second offset phase of the second component force of the curve segment relative to the first component force to obtain the impeller azimuth angle at the corresponding moment in the first rotation period of the impeller.

[0152] In some embodiments, the determination module 1302 is further used to determine a characteristic point of the sine wave curve according to the magnitude of the second force component;

[0153] Divide the modules into:

[0154] The sine wave curve is divided into at least one curve segment according to the characteristic point.

[0155] In some embodiments, the characteristic point includes at least one of a starting point, a crest, a center point, a trough, and an end point of the sine wave curve.

[0156] In some embodiments, the determination module 1302 is specifically configured to:

[0157] According to the operating frequency, searching the first relationship table to obtain a first weight coefficient corresponding to the operating frequency, where the first weight coefficient is an integer greater than 1;

[0158] A filtering reference interval is determined according to the product of the operating frequency and the first weight coefficient.

[0159] In some embodiments, the target blade includes two or more;

[0160] The determination module 1302 is specifically configured to:

[0161] For each target blade, determining a first azimuth angle of the impeller in a first rotation period according to a first component force corresponding to the target blade;

[0162] The average value of the first azimuth angles corresponding to the target blades is determined as the impeller azimuth angle of the impeller in the first rotation period.

[0163] In some embodiments, the target blade includes two or more;

[0164] The determination module 1302 is specifically configured to:

[0165] For each target blade, judging whether there is a jump in the first component force of the target blade according to the first component force of the target blade in the first rotation period;

[0166] When there is a jump in the first component force of at least one target blade and the number of target blades with jumps is less than the number of target blades without jumps, the impeller azimuth angle of the impeller in the first rotation cycle is determined according to the first component force of the target blades without jumps in the first rotation cycle.

[0167] The device for determining the impeller azimuth angle provided in the embodiment of the present application can achieve Figure 1-12 To avoid repetition, the various processes in the embodiment of the method for determining the impeller azimuth angle are not described again here.

[0168] Based on the same inventive concept, the embodiment of the present application also provides an electronic device, which may be, for example, a tablet computer, a notebook computer, a handheld computer, etc. Fig.14 The electronic device provided in the embodiments of the present application is described in detail.

[0169] like Fig.14 As shown, the electronic device may include a processor 141 and a memory 142 for storing computer program instructions.

[0170] The processor 141 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0171] The memory 142 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 142 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 142 may include a removable or non-removable (or fixed) medium, or the memory 142 is a non-volatile solid-state memory. In one example, the memory 142 may be a read-only memory (ROM). In one example, 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 a flash memory or a combination of two or more of these.

[0172] The processor 141 reads and executes the computer program instructions stored in the memory 142 to implement Figure 1-Figure 12 The method in the embodiment shown in the figure is achieved Figure 1-Figure 12 The corresponding technical effects achieved by executing the method in the illustrated embodiment are not described in detail here for the sake of brevity.

[0173] In one example, the electronic device may further include a communication interface 143 and a bus 144. Fig.14 As shown, the processor 141, the memory 142, and the communication interface 143 are connected via a bus 144 and communicate with each other.

[0174] The communication interface 143 is mainly used to implement communication between various modules, devices and / or equipment in the embodiments of the present application.

[0175] Bus 144 includes hardware, software or both, and each component of electronic device is coupled to each other.For example, but not limitation, bus 104 may include accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, front side bus (Front Side Bus, FSB), Hyper Transport (Hyper Transport, HT) interconnection, industry standard architecture (Industry Standard Architecture, ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 144 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0176] After obtaining the first monitoring data of the target blade measured by the vibration monitoring sensor in the first rotation cycle, the electronic device can execute the method for determining the impeller azimuth angle in the embodiment of the present application, thereby realizing the combination Figure 1-12 The method for determining the impeller azimuth angle described and Fig.13 A device for determining the impeller azimuth angle is described.

[0177] In addition, in combination with the method for determining the impeller azimuth angle in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the methods for determining the impeller azimuth angle in the above embodiment is implemented.

[0178] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0179] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "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, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0180] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. 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 embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0181] The above reference is according to the method of the present application embodiment, the flow chart of the device (system) and the computer program product and / or the block diagram of the present application embodiment. It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram. 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 can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0182] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for determining an impeller azimuth angle, characterized in that: include: Acquiring first monitoring data of a target blade measured by a vibration monitoring sensor during a first rotation period, the first monitoring data including a first component of a centrifugal force acting on the target blade in a first direction, the first direction being a direction perpendicular to the target blade within a rotation plane of the impeller, the vibration monitoring sensor being disposed on the target blade; An impeller azimuth angle of the impeller in the first rotation period is determined according to the first force component.

2. The method according to claim 1, characterized in that Determining the impeller azimuth angle of the impeller in the first rotation period according to the first force component includes: Determining a filtering reference interval according to the operating frequency of the impeller; filtering the first force component within the first rotation period according to the filtering reference interval to obtain a second force component and a first offset phase of the second force component relative to the first force component; An impeller azimuth angle of the impeller in the first rotation period is determined according to the second force component and the first offset phase.

3. The method according to claim 2, characterized in that Determining the impeller azimuth angle of the impeller in the first rotation period according to the second force component and the first offset phase includes: dividing the sine wave curve corresponding to the second force component according to the magnitude of the second force component to obtain at least one curve segment; For each curve segment, determining a first peak value of the second component force in the curve segment; The impeller azimuth angle of the impeller at the corresponding moment in the first rotation cycle is determined based on the first peak value, the first offset phase of the second component force corresponding to the curve segment relative to the first component force, and the second component force of the target blade at the moment corresponding to the curve segment.

4. The method according to claim 3, characterized in that The step of determining the impeller azimuth angle at a corresponding moment in the first rotation period of the impeller based on the first peak value, a first offset phase of the second force component corresponding to the curve segment relative to the first force component, and the second force component of the target blade at a moment corresponding to the curve segment includes: Obtaining a corresponding relationship between the sine wave curve and the physical position of the target blade to obtain a second offset phase; For each curve segment, determining a ratio of the second force component corresponding to the curve segment at the jth moment to the first peak value of the curve segment; The arcsine value of the ratio is added to the first offset phase of the second force component of the curve segment relative to the first force component and the second offset phase to obtain the impeller azimuth angle of the impeller at the corresponding moment in the first rotation period.

5. The method according to claim 3, characterized in that The step of dividing the sine wave curve corresponding to the second force component according to the magnitude of the second force component to obtain at least one curve segment includes: determining characteristic points of the sine wave curve according to the magnitude of the second force component; The sinusoidal wave curve is divided into at least one curve segment according to the feature point.

6. The method according to claim 5, characterized in that The characteristic point includes at least one of a starting point, a crest, a center point, a trough, and an end point of the sine wave curve.

7. The method according to claim 2, characterized in that The determining of the filtering reference interval according to the operating frequency of the impeller includes: According to the operating frequency, searching a first relationship table to obtain a first weight coefficient corresponding to the operating frequency, where the first weight coefficient is an integer greater than 1; The filtering reference interval is determined according to the product of the operating frequency and the first weight coefficient.

8. The method according to claim 1, characterized in that The target blades include two or more; Determining the impeller azimuth angle of the impeller in the first rotation period according to the first force component includes: For each target blade, determining a first azimuth angle of the impeller within the first rotation period according to a first force component corresponding to the target blade; An average value of the first azimuth angles corresponding to the target blades is determined as the impeller azimuth angle of the impeller in the first rotation period.

9. The method according to claim 1, characterized in that The target blades include two or more; Determining the impeller azimuth angle of the impeller in the first rotation period according to the first force component includes: For each of the target blades, judging whether there is a jump in the first component force of the target blade according to the first component force of the target blade in the first rotation period; When there is a jump in the first component force of at least one target blade and the number of target blades with jumps is less than the number of target blades without jumps, the impeller azimuth angle of the impeller within the first rotation cycle is determined based on the first component force of the target blade without jumps within the first rotation cycle.

10. A device for determining an impeller azimuth angle, characterized in that: include: an acquisition module, configured to acquire first monitoring data of a target blade measured by a vibration monitoring sensor during a first rotation period, the first monitoring data including a first component of a centrifugal force acting on the target blade in a first direction, the first direction being a direction perpendicular to the target blade within a rotation plane of the impeller, the vibration monitoring sensor being disposed on the target blade; A determination module is used to determine the impeller azimuth angle of the impeller in the first rotation period according to the first component force.

11. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing computer program instructions; When the computer program instructions are executed by the processor, the method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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