Impeller azimuth angle determination method, device, equipment and medium

Abstract

The application discloses a method and device for determining the azimuth angle of an impeller, equipment and a medium, and relates to the technical field of wind power generation. The application embodiment obtains 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 centrifugal force on the target blade in a first direction, the first direction being perpendicular to the target blade in the rotation plane of the impeller, and the vibration monitoring sensor being arranged on the target blade; and the azimuth angle of the impeller in the first rotation period is determined according to the first component. That is, the application embodiment can measure the first component of centrifugal force on the target blade in the first direction by using the existing vibration monitoring sensor in the target blade, and then determine the azimuth angle of the impeller according to the first component, without the need to additionally install a professional azimuth angle sensor of the impeller, so that 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 determination method, device and equipment of a blade azimuth angle and a medium. BACKGROUND

[0002] The blade azimuth angle in a wind turbine generator set can be an angle of a certain blade relative to a reference baseline. Through the blade azimuth angle, the wind power of the height where each blade is located, the rotating speed of the wind turbine generator set, the power generation of the wind turbine generator set, and other information can be calculated. Therefore, in the field of wind power generation, it is of great significance to determine the blade azimuth angle.

[0003] At present, the blade azimuth angle is mainly measured by installing professional blade azimuth angle sensors such as gyroscopes, which has a high cost. SUMMARY

[0004] The present application provides a determination method, device, equipment and medium of a blade azimuth angle, which can reduce the determination cost of the blade azimuth angle.

[0005] In a first aspect, the present application provides a determination method of a blade azimuth angle, comprising:

[0006] obtaining first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotating period, the first monitoring data comprising a first component of centrifugal force of the target blade in a first direction, the first direction being a direction perpendicular to the target blade in a blade rotating plane, and the vibration monitoring sensor being arranged on the target blade;

[0007] determining a blade azimuth angle of the blade in the first rotating period according to the first component.

[0008] In a second aspect, the present application provides a determination device of a blade azimuth angle, comprising:

[0009] an obtaining module, configured to obtain first monitoring data of a target blade measured by a vibration monitoring sensor in a first rotating period, the first monitoring data comprising a first component of centrifugal force of the target blade in a first direction, the first direction being a direction perpendicular to the target blade in a blade rotating plane, and the vibration monitoring sensor being arranged on the target blade;

[0010] a determining module, configured to determine a blade azimuth angle of the blade in the first rotating period according to the first component.

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

[0012] a processor;

[0013] a memory, configured to store computer program instructions;

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

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method described in the first aspect.

[0016] This embodiment of the application acquires first monitoring data of the target blade measured by a vibration monitoring sensor during the first rotation cycle. The first monitoring data includes the first component of the centrifugal force acting on the target blade in a first direction, which is a direction perpendicular to the target blade within the impeller's rotation plane. The vibration monitoring sensor is mounted on the target blade. Based on the first component, the impeller azimuth angle during the first rotation cycle is determined. That is, this embodiment of the application can utilize the existing vibration monitoring sensor on the target blade to measure the first component of the centrifugal force acting on the target blade in the first direction, and then determine the impeller azimuth angle based on the first component, without the need to install an additional specialized impeller azimuth angle sensor, thus reducing costs. Attached Figure Description

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

[0018] Figure 1 A flowchart illustrating a method for determining the impeller azimuth angle provided in an embodiment of this application;

[0019] Figure 2 A front view of an impeller provided for an embodiment of this application;

[0020] Figure 3 A side view of an impeller provided for an embodiment of this application;

[0021] Figure 4 A schematic diagram of an impeller azimuth angle provided for an embodiment of this application;

[0022] Figure 5 A schematic diagram of another impeller azimuth angle provided for an embodiment of this application;

[0023] Figure 6 A schematic diagram of another impeller azimuth angle provided for an embodiment of this application;

[0024] Figure 7 A flowchart illustrating another method for determining the impeller azimuth angle provided in an embodiment of this application;

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

[0026] Figure 9 A schematic diagram of gravity and inertial force for another vibration monitoring sensor provided in an embodiment of this application;

[0027] Figure 10 A schematic diagram illustrating the correspondence between a sinusoidal curve and the physical position of a target blade, provided for an embodiment of this application;

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

[0029] Figure 12 A schematic diagram showing the impeller azimuth angle at various times, provided for an embodiment of this application;

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

[0031] Figure 14 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples. In the accompanying drawings and the following description, at least some well-known structures and techniques are not shown to avoid unnecessarily obscuring the application; and, for clarity, the dimensions of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described below can be combined in any suitable manner in one or more embodiments.

[0033] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the cable-stayed tower and wind turbine generator set of this application. It should also be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In the wind power sector, the relevant technologies mainly rely on specialized rotor azimuth sensors, such as gyroscopes, to measure the rotor azimuth, which is relatively expensive.

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

[0036] The following detailed description of the impeller azimuth angle determination method, apparatus, equipment, and medium provided in this application embodiment is provided through specific examples.

[0037] Figure 1 This is a flowchart illustrating a method for determining the azimuth angle of a turbine impeller, provided as an embodiment of this application. This method 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: Acquire the first monitoring data of the target blade measured by the vibration monitoring sensor during the first rotation cycle.

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

[0040] S120. Determine the impeller azimuth angle during the first rotation cycle based on the first component force.

[0041] This embodiment of the application acquires first monitoring data of the target blade measured by a vibration monitoring sensor during the first rotation cycle. The first monitoring data includes the first component of the centrifugal force acting on the target blade in a first direction, which is a direction perpendicular to the target blade within the impeller's rotation plane. The vibration monitoring sensor is mounted on the target blade. Based on the first component, the impeller azimuth angle during the first rotation cycle is determined. That is, this embodiment of the application can utilize the existing vibration monitoring sensor on the target blade to measure the first component of the centrifugal force acting on the target blade in the first direction, and then determine the impeller azimuth angle based on the first component, without the need to install an additional specialized impeller azimuth angle sensor, thus reducing costs.

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

[0043] In S110, the vibration monitoring sensor is mainly used to monitor the blade and obtain first monitoring data. Exemplarily, the first monitoring data may include the component of the centrifugal force acting on the blade in a first direction; in this embodiment, the component of the centrifugal force in the first direction is referred to as the first component force. Exemplarily, the first monitoring data may also include the component of the centrifugal force acting on the blade in a second direction; in this embodiment, the component of the centrifugal force in the second direction is referred to as the second component force.

[0044] The first direction is the direction perpendicular to the target blade within the impeller rotation plane. For example, the first direction can also be called the oscillation direction.

[0045] For example, the array direction is Figure 2 The direction corresponding to the middle arrow, Figure 2 This is a front view of the impeller. Figure 2 An example blade is shown. That is, the oscillation direction is left and right in the front view of the impeller.

[0046] The second direction is perpendicular to the plane of impeller rotation; for example, the second direction can also be called the waving direction.

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

[0048] The first and second components of the force 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 component can be designated as the first vibration monitoring sensor, and the vibration monitoring sensor used to measure the second component can be designated as the second vibration monitoring sensor. Each blade is equipped with both the first and second vibration monitoring sensors.

[0049] The embodiments of this application mainly determine the impeller azimuth angle based on the first component force; therefore, the vibration monitoring sensor here is also the first vibration monitoring sensor. For example, the first vibration monitoring sensor can be set at a certain distance from the blade root, such as 30m from the blade root.

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

[0051] The first rotation cycle can be any rotation cycle of the impeller, and the target blade can be one or more blades mounted on the impeller. That is, the embodiments of this application can determine the impeller azimuth angle based on the first component force of one blade, or based on the first component force of multiple blades, thus improving the flexibility of the solution.

[0052] For example, the control system can acquire the first component force of the target blade in the first direction as measured by the vibration monitoring sensor in real time, or it can acquire the first component force of the target blade in the first direction as measured by the vibration monitoring sensor according to the sampling frequency.

[0053] In S120, the significance of measuring the impeller azimuth angle lies in clarifying the distribution of blades in the air. For example, the impeller azimuth angle can be the angle of a specific blade relative to a reference baseline. Taking the reference baseline as a vertically upward line segment, and using the angle of blade number 1 relative to the reference baseline as the impeller azimuth angle, for example... Figure 4 As shown, when blade number 1 rotates to the vertical direction, the impeller azimuth angle can be recorded as 0°, as follows. Figure 5 As shown, when blade number 1 rotates to the 120° position, the impeller azimuth angle can be recorded as 120°. Figure 6 As shown, when blade 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 2 or blade 3, because blade 2 and blade 3 are 120° and 240° away from blade 1, respectively. Therefore, based on the positions of blade 2 and blade 3, the position of blade 1 can also be determined, and thus the impeller azimuth angle can be obtained.

[0055] This application's embodiments determine the angle of the target blade relative to a reference baseline based on the component of the centrifugal force acting on the target blade in the first direction, thereby obtaining the impeller azimuth angle. No additional specialized sensors are required, thus reducing costs.

[0056] The process of determining the impeller azimuth angle is described below through specific embodiments. In some embodiments, such as Figure 7 As shown, the method for determining the impeller azimuth angle may include the following steps:

[0057] S710: Acquire the first monitoring data of the target blade measured by the vibration monitoring sensor during the first rotation cycle.

[0058] S720. Determine the filter reference range based on the impeller's operating frequency.

[0059] S730. Based on the filtering reference interval, the first component force within the first rotation cycle is filtered to obtain the second component force and the first offset phase of the second component force relative to the first component force.

[0060] S740. Determine the impeller azimuth angle during the first rotation cycle based on the second component force and the first offset phase.

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

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

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

[0064] Based on the impeller's operating frequency, a filtering reference range can be determined. This range is used to filter the first component of the force on the target blade measured by the vibration monitoring sensor, thereby improving the accuracy of the impeller's azimuth angle.

[0065] For example, the filter reference interval can be determined as follows:

[0066] Based on the operating frequency, look up the first relation table to obtain the first weight coefficient corresponding to the operating frequency. The first weight coefficient is an integer greater than 1.

[0067] The filtering reference interval is determined by multiplying the operating frequency by the first weighting coefficient.

[0068] The first relationship table stores the correspondence between operating frequencies and first weighting coefficients. Different operating frequencies can be pre-defined to correspond to the same first weighting coefficient, or they can correspond to different first weighting coefficients. For example, the first weighting coefficient can be an integer greater than 1.

[0069] For example, the lower limit of the filtering reference interval can be 0, and the upper limit of the filtering reference interval can be the product of the impeller's operating frequency and the first weighting coefficient. Taking the impeller's operating frequency as 0.2Hz and the first weighting coefficient as 2 as an example, the filtering reference interval can be [0, 0.4Hz].

[0070] This application embodiment utilizes the impeller's operating frequency, combined with a first weighting coefficient corresponding to the operating frequency, to determine the filtering reference interval. This helps to filter out data with large fluctuations in the first component force, improve the data quality of the first component force, and thus improve the accuracy of the impeller azimuth angle.

[0071] In S730, after the filtering reference interval is determined, the first component force within the first rotation cycle can be filtered using the filtering reference interval. This means deleting the first component force that is not within the filtering reference interval during the first rotation cycle, and only retaining the first component force within the filtering reference interval. In this embodiment, the filtered first component force is recorded as the second component force.

[0072] Based on the second force component and the first force component, the offset phase of the second force component relative to the first force component can be determined, which is also known as the first offset phase. The first offset phase can also be called the filtering phase, that is, the offset phase generated by filtering.

[0073] In S740, the angle of the target blade relative to the reference baseline at the corresponding moment can be determined based on the second component force and the first offset phase, thus 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, which reduces costs. At the same time, the rotor azimuth angle can be accurately determined when the wind turbine is rotating at low speed.

[0075] During the rotation of the target blade, the first component of the force is the force on the vibration monitoring sensor in the swing direction, which is the resultant force of the vibration monitoring sensor's gravity and inertial force.

[0076] As the target blade rotates, the direction of the inertial force measured by the vibration monitoring sensor changes; that is, the second component of the force changes. For example... Figure 8 As shown, when the target blade rotates to a 90° left position, the direction of gravity and inertial force on the vibration monitoring sensor is the same. At this point, the second component force is at its maximum. Figure 9 As shown, when the target blade rotates to the right 90° position, the direction of gravity and inertial force of the vibration monitoring sensor is opposite. At this time, the second component force is at its minimum.

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

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

[0079] For example, 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 [reference needed]. Figure 10In other words, the 0 point of the sine wave curve (indicating that the second component force is 0) corresponds to the 180° position of the target blade (where the second component force is 0); the peak of the sine wave curve (indicating that the second component force is at its maximum) corresponds to the 270° position of the target blade, i.e., the left 90° position (where the second component force is at its maximum); the center point of the sine wave curve (indicating that the second component force is 0) corresponds to the 360° position of the target blade (where the second component force is 0); the trough of the sine wave curve (indicating that the second component force is at its maximum) corresponds to the 90° position of the target blade, i.e., the right 90° position (where the second component force is at its maximum); and the end point of the sine wave curve (indicating that the second component force is 0) corresponds to the 180° position of the target blade (where the second component force is 0). Therefore, the phase offset of the sine wave curve relative to the physical position of the target blade is 180°, i.e., b = first offset phase + 180°.

[0081] Considering the different rotational speeds of the impeller, the greater the change in its cycle, the greater the error. Let's take an example where the impeller speed decreases from 12 revolutions to 6 revolutions in one rotational cycle.

[0082] For example, based on 12 revolutions per minute, we can obtain the following: the time it takes for the impeller to complete one revolution is 60 seconds / 12 = 5 seconds. The angular velocity w1 = 360° / 5s, or 72° / s.

[0083] Based on 6 revolutions per minute, the time it takes for the impeller to complete one revolution is 60 seconds / 6 = 10 seconds. The angular velocity w2 = 360° / 10s, or 36° / s.

[0084] Assuming the impeller decreases at a constant speed from 12 revolutions to 6 revolutions, 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 90° to the left (corresponding to the peak of the sine wave curve) is: 90 = w1*t – 4.8*t^2, solving for t gives: t = 1.31 seconds. The average angular velocity is w3 = 90 / 1.31 = 68.7° / s.

[0085] The maximum error typically occurs at position 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°, meaning the error is 1°.

[0086] To reduce the impact of errors on the impeller azimuth angle, the sine wave curve corresponding to the second component force can be segmented, and the values ​​of A and b can be adjusted for each curve segment.

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

[0088] S7401. Based on the magnitude of the second component force, the sine wave curve corresponding to the second component force is divided to obtain at least one curve segment;

[0089] S7402. For each curve segment, determine the first peak value of the second component force in the curve segment;

[0090] S7403. 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, determine the impeller azimuth angle at the corresponding moment within the first rotation cycle.

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

[0092] In S7401, since the second component force conforms to the characteristics of a 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 that curve segment are determined, and then the angle of the target blade relative to the reference baseline at each time is obtained, that is, the impeller azimuth angle.

[0093] For example, the sine wave curve corresponding to the second component force can be divided according to the magnitude of the second component force. For instance, characteristic points of the sine wave curve can be determined based on the magnitude of the second component force, and the sine wave curve can be divided into at least one curve segment based on the characteristic points.

[0094] Feature points can be points that reflect the characteristics of a sine wave curve. For example, feature points can include at least one of the starting point, peak, center point, trough, and ending point of a sine wave curve.

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

[0096] In S7402, taking the feature points including the start point, peak, center point, trough, and end point as an example, exemplarily, the following can be... Figure 11 The sine wave curve shown is divided into four curve segments: the curve segment between a1 and a2, the curve segment between a2 and a3, the curve segment between a3 and a4, and the curve segment between a4 and a5. Among them, a1, a2, a3, a4, and a5 are the starting point, peak, center point, trough, and ending point of the sine wave curve in one rotation cycle, respectively.

[0097] For the curve segment between a1 and a2, A is the magnitude of the second component force 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 component force.

[0098] For the curve segment between a2 and a3, A is the magnitude of the second component force 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 component force.

[0099] For the curve segment between a3 and a4, A is the magnitude of the second component force 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 component force.

[0100] For the curve segment between a4 and a5, A is the magnitude of the second component force 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 component force.

[0101] That is, A is adjusted twice within one rotation cycle, and the first offset phase is adjusted four times. This reduces the impact of rotational errors on the impeller azimuth angle and improves the accuracy of the impeller azimuth angle.

[0102] In S7403, the first peak value is also the A value in the above embodiment. For each curve segment, based on 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 time corresponding to the curve segment, the impeller azimuth angle of the impeller at each time corresponding to the curve segment can be determined.

[0103] By performing a similar process for each curve segment, the impeller azimuth angle at each moment during the first rotation cycle can be obtained.

[0104] In this embodiment of the application, by dividing the sine wave curve corresponding to the second component force, multiple curve segments can be obtained. For each curve segment, the magnitudes of A and b can be determined so that A and b correspond to the curve segment, thereby improving the accuracy of the impeller azimuth angle.

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

[0106] Obtain the correspondence between the sine wave curve and the physical position of the target blade to obtain the second offset phase;

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

[0108] By summing the arcsine values ​​of the ratios and the first and second offset phases of the second component of the curve segment relative to the first component of the force, the impeller azimuth angle at the corresponding moment within the first rotation cycle is obtained.

[0109] The process for determining the second offset phase can be found in the above embodiments, and will not be repeated here.

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

[0111] By adding the arcsine value of this ratio to the first offset phase and the second offset phase of the second component force relative to the first component force in the curve segment, the impeller azimuth angle at the corresponding moment in the curve segment can be obtained.

[0112] For example, Where, x ij Let b be the impeller azimuth angle at time j corresponding to the i-th curve segment. i Let c be the offset phase of the second component force relative to the first component force of the i-th curve segment, and c is the second offset phase. For example, c = 180°.

[0113] Taking one rotation cycle as an example, the impeller azimuth angle at various moments calculated using the above method can be found in [reference]. Figure 12 The thick black line shown.

[0114] In this embodiment, the impeller azimuth angle at each moment can be obtained by combining the peak value and the first offset phase corresponding to each curve segment with the arcsine trigonometric function, without the need to purchase a professional impeller azimuth angle sensor, thereby reducing costs.

[0115] Taking the example that the target blades include two or more, the above S120 may include the following steps:

[0116] For each target blade, the first azimuth angle of the impeller in the first rotation cycle is determined based on the first component force corresponding to the target blade.

[0117] The average of the first azimuth angles corresponding to each target blade is determined as the impeller azimuth angle during the first rotation cycle.

[0118] The first azimuth angle is the impeller azimuth angle determined based on the 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 component force corresponding to each target blade, the average value of the first azimuth angle corresponding to each target blade can be determined, and this average value can be used as the impeller azimuth angle in the first rotation cycle. This can improve the accuracy of the impeller azimuth angle.

[0120] The embodiments of this application can determine the azimuth angle of the impeller based on multiple blades of the impeller, and determine the average value 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 practical applications, the blades may be subject to significant disturbances, leading to substantial vibrations. For example, when the wind speed suddenly increases, the blades will vibrate significantly, meaning the first component of the force measured by the vibration monitoring sensor will change abruptly. For instance, the first component of the force may suddenly increase or decrease at certain moments. To reduce the impact of these abrupt changes on the impeller azimuth angle, for example, when the target blades include two or more blades, the above-mentioned S120 may include the following steps:

[0122] For each target blade, determine whether there is a jump in the first component force of the target blade during the first rotation cycle;

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

[0124] When there are multiple target blades, for example, 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 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] For example, the difference between the first component forces at adjacent time points can also be determined. If the difference is greater than the third threshold, it can be determined that there is a jump in the first component force corresponding to the target blade.

[0126] For example, a time window can be preset. For each time window, the maximum and minimum values ​​of the first component force can be determined. If the difference between the maximum and minimum values ​​is greater than the 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, second threshold, third threshold, fourth threshold, and the size of the time window can be set according to actual needs.

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

[0129] For example, if the target blades include blade 1, blade 2, and blade 3, and only the first component force corresponding to blade 1 changes, the impeller azimuth angle can be determined based on the first component forces corresponding to blade 2 and blade 3 respectively. Then, the average of the impeller azimuth angles determined by the two blades can be used as the final impeller azimuth angle.

[0130] For example, if the first component force corresponding to each of the three blades changes abruptly, the impeller azimuth angle can be determined based on the first component force corresponding to each of the three blades, and the average of the three impeller azimuth angles can be determined as the final impeller azimuth angle.

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

[0132] In the case of multiple target blades, this application embodiment can determine whether there is a jump in the first component force corresponding to each target blade, and then use an appropriate 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, this application also provides a device for determining the impeller azimuth angle, which is described below in conjunction with... Figure 13 The impeller azimuth angle determination device provided in the embodiments of this application will be described in detail.

[0134] Figure 13 This is a structural diagram of a device for determining the azimuth angle of an impeller, provided in an embodiment of this application.

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

[0136] The acquisition module 1301 is used to acquire 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. The vibration monitoring sensor is installed on the target blade.

[0137] The determining module 1302 is used to determine the impeller azimuth angle during the first rotation cycle based on the first component force.

[0138] This embodiment of the application acquires first monitoring data of the target blade measured by a vibration monitoring sensor during the first rotation cycle. The first monitoring data includes the first component of the centrifugal force acting on the target blade in a first direction, which is a direction perpendicular to the target blade within the impeller's rotation plane. The vibration monitoring sensor is mounted on the target blade. Based on the first component, the impeller azimuth angle during the first rotation cycle is determined. That is, this embodiment of the application can utilize the existing vibration monitoring sensor on the target blade to measure the first component of the centrifugal force acting on the target blade in the first direction, and then determine the impeller azimuth angle based on the first component, without the need to install an additional specialized impeller azimuth angle sensor, thus reducing costs.

[0139] In some embodiments, the determining module 1302 is specifically used for:

[0140] Determine the filter reference range based on the impeller's operating frequency;

[0141] Based on the filtering reference interval, the first component force within the first rotation cycle is filtered to obtain the second component force and the first offset phase of the second component force relative to the first component force.

[0142] The impeller azimuth angle during the first rotation cycle is determined based on the second component force and the first offset phase.

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

[0144] The segmentation module is used to divide the sine wave curve corresponding to the second component force according to the magnitude of the second component force, so as to obtain at least one curve segment;

[0145] Module 1302 is specifically used for:

[0146] For each curve segment, determine the first peak value of the second component force on the curve segment;

[0147] 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, the impeller azimuth angle at the corresponding moment within the first rotation cycle is determined.

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

[0149] Module 1302 is specifically used for:

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

[0151] By summing the arcsine values ​​of the ratios and the first and second offset phases of the second component of the curve segment relative to the first component of the force, the impeller azimuth angle at the corresponding moment within the first rotation cycle is obtained.

[0152] In some embodiments, the determining module 1302 is further configured to determine the characteristic points of the sine wave curve based on the magnitude of the second component force;

[0153] The modules are divided into sections, specifically for:

[0154] Based on the feature points, the sine wave curve is divided into at least one curve segment.

[0155] In some embodiments, the feature points include at least one of the starting point, peak, center point, trough, and ending point of the sine wave curve.

[0156] In some embodiments, the determining module 1302 is specifically used for:

[0157] Based on the operating frequency, look up the first relation table to obtain the first weight coefficient corresponding to the operating frequency. The first weight coefficient is an integer greater than 1.

[0158] The filtering reference interval is determined by multiplying the operating frequency by the first weighting coefficient.

[0159] In some embodiments, the target blades include two or more;

[0160] Module 1302 is specifically used for:

[0161] For each target blade, the first azimuth angle of the impeller in the first rotation cycle is determined based on the first component force corresponding to the target blade.

[0162] The average of the first azimuth angles corresponding to each target blade is determined as the impeller azimuth angle during the first rotation cycle.

[0163] In some embodiments, the target blades include two or more;

[0164] Module 1302 is specifically used for:

[0165] For each target blade, determine whether there is a jump in the first component force of the target blade during the first rotation cycle;

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

[0167] The impeller azimuth angle determination device provided in this application embodiment can achieve Figures 1-12 To avoid repetition, the various processes in the embodiment of the method for determining the impeller azimuth angle shown will not be described again here.

[0168] Based on the same inventive concept, embodiments of this application also provide an electronic device, such as a tablet computer, a laptop computer, a handheld computer, etc. The following, in conjunction with... Figure 14 The electronic devices provided in the embodiments of this application will be described in detail.

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

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

[0171] Memory 142 may include mass storage for data or instructions. For example, and not limitingly, memory 142 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. In one instance, memory 142 may include removable or non-removable (or fixed) media, or memory 142 may be non-volatile solid-state memory. In one instance, memory 142 may be read-only memory (ROM). In one instance, 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.

[0172] The processor 141 reads and executes computer program instructions stored in the memory 142 to achieve... Figures 1-12 The method in the illustrated embodiment achieves... Figures 1-12 The corresponding technical effects achieved by the methods in the illustrated embodiments are described briefly and will not be elaborated further here.

[0173] In one example, the electronic device may also include a communication interface 143 and a bus 144. Wherein, for example... Figure 14 As shown, the processor 141, memory 142, and communication interface 143 are connected through bus 144 and complete communication with each other.

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

[0175] Bus 144 includes hardware, software, or both, that couples components of an electronic device together. For example, and not as a limitation, bus 104 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (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 144 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.

[0176] After acquiring the first monitoring data of the target blade measured by the vibration monitoring sensor during the first rotation cycle, the electronic device can execute the impeller azimuth angle determination method in this application embodiment, thereby achieving a combination of... Figures 1-12 The method for determining the impeller azimuth angle described herein and Figure 13 The device described is for determining the impeller azimuth angle.

[0177] Furthermore, in conjunction with the impeller azimuth angle determination method in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the impeller azimuth angle determination methods in the above embodiments.

[0178] 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.

[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, 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. 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.

[0180] 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.

[0181] The aspects of embodiments of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer 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 computer program instructions. These computer 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 functions / actions 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 dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0182] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for determining the azimuth angle of an impeller, characterized in that, include: The vibration monitoring sensor acquires first monitoring data of the target blade measured in the first rotation cycle. The first monitoring data includes the first component of the centrifugal force on the target blade in a first direction. The first direction is the direction perpendicular to the target blade in the impeller rotation plane. The vibration monitoring sensor is installed on the target blade. Based on the first component force, determine the impeller azimuth angle during the first rotation cycle; Determining the impeller azimuth angle within the first rotation cycle based on the first component force includes: The filter reference range is determined based on the operating frequency of the impeller; Based on the filtering reference interval, the first component force within the first rotation cycle is filtered to obtain the second component force and the first offset phase of the second component force relative to the first component force. The impeller azimuth angle during the first rotation cycle is determined based on the second component force and the first offset phase.

2. The method according to claim 1, characterized in that, Determining the impeller azimuth angle within the first rotation cycle based on the second component force and the first offset phase includes: Based on the magnitude of the second component force, the sine wave curve corresponding to the second component force is divided to obtain at least one curve segment; For each curve segment, determine the first peak value of the second component force in that curve segment; 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, the impeller azimuth angle of the impeller at the corresponding moment within the first rotation cycle is determined.

3. The method according to claim 2, characterized in that, The step of determining the impeller azimuth angle at a corresponding moment within the first rotation cycle 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 includes: The correspondence between the sinusoidal curve and the physical position of the target blade is obtained to obtain the second offset phase; For each curve segment, determine the ratio of the second component force at time j corresponding to the curve segment to the first peak value of the curve segment; The impeller azimuth angle at the corresponding moment within the first rotation cycle is obtained by summing the arcsine value of the ratio with the first offset phase of the second component force relative to the first component force and the second offset phase of the curve segment.

4. The method according to claim 2, characterized in that, The step of dividing the sine wave curve corresponding to the second component force according to the magnitude of the second component force to obtain at least one curve segment includes: The characteristic points of the sine wave curve are determined based on the magnitude of the second component force. Based on the feature points, the sine wave curve is divided into at least one curve segment.

5. The method according to claim 4, characterized in that, The feature points include at least one of the starting point, peak, center point, trough, and ending point of the sine wave curve.

6. The method according to claim 1, characterized in that, The step of determining the filter reference range based on the impeller's operating frequency includes: Based on the operating frequency, a first relation table is searched to obtain a first weight coefficient corresponding to the operating frequency, wherein the first weight coefficient is an integer greater than 1; The filtering reference interval is determined by multiplying the operating frequency by the first weighting coefficient.

7. The method according to claim 1, characterized in that, The target blade comprises two or more; Determining the impeller azimuth angle within the first rotation cycle based on the first component force includes: For each target blade, the first azimuth angle of the impeller in the first rotation cycle is determined based on the first component force corresponding to the target blade. The average of the first azimuth angles corresponding to each of the target blades is determined as the impeller azimuth angle of the impeller in the first rotation cycle.

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

9. A device for determining the azimuth angle of an impeller, characterized in that, include: The acquisition module is used to acquire 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 a first direction. The first direction is the direction perpendicular to the target blade in the impeller rotation plane. The vibration monitoring sensor is installed on the target blade. The determining module is used to determine the impeller azimuth angle of the impeller in the first rotation cycle based on the first component force; The determining module is specifically used for: The filter reference range is determined based on the operating frequency of the impeller; Based on the filtering reference interval, the first component force within the first rotation cycle is filtered to obtain the second component force and the first offset phase of the second component force relative to the first component force. The impeller azimuth angle during the first rotation cycle is determined based on the second component force and the first offset phase.

10. An electronic device, characterized in that, The electronic device includes: processor; Memory is used to store computer program instructions; When the computer program instructions are executed by the processor, the method as described in any one of claims 1-8 is implemented.

11. A computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, the method as described in any one of claims 1-8 is implemented.

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