Method for accurate north calibration of cabin of wind generating set

Abstract

The invention discloses a method for accurately calibrating the north of a cabin of a wind generating set, which comprises the following steps of: firstly, respectively sending respective latitude and longitude coordinates to an industrial personal computer by three arranged Beidou antennas; the industrial personal computer respectively calculates an included angle between a connecting line between the first Beidou antenna and the second Beidou antenna and the due north direction and an included angle between a connecting line between the first Beidou antenna and the third Beidou antenna and the due north direction according to the latitude and longitude coordinates of the three Beidou antennas; a yaw angle or a twisting angle read on a unit main control interface of the cabin axis positions of the two measuring points is input into the industrial personal computer, namely the included angle between the cabin axis positions of the two measuring points and the due north direction; and finally, the industrial personal computer calculates the true north angle of the yaw position and displays the processing result of the yaw error according to the input yaw angle or the twisting angle. According to the invention, cabin north calibration can be rapidly and accurately realized.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine generator sets, and in particular to a method for accurately calibrating a nacelle of a wind turbine generator set to the north. Background Art

[0002] The north calibration of the wind turbine nacelle is an important factor affecting the yaw error calculation in the type test of the wind turbine. The yaw angle of the unit itself has not been corrected for the north. Therefore, the nacelle azimuth of the unit needs to be calibrated for the north during the type test, so that the output yaw error of the unit is more accurate, providing strong data support for the type test and certification of the unit prototype. According to statistical analysis, a 10% error in the azimuth data may cause a particularly large deviation in the unit certification load comparison. Because the nacelle azimuth data is not accurate enough, the yaw of the unit will be inaccurate to the wind, and the captured wind energy will be less, affecting the power generation. It will also fundamentally affect the load calculation and determination of the unit, which will bury a huge hidden danger for the subsequent certification and safe operation of the unit.

[0003] The main purpose of nacelle north calibration of wind turbines is to improve the efficiency of wind energy conversion. Through nacelle north calibration, the rotor blades can face the wind direction, thereby maximizing the capture of wind energy. Effective wind energy utilization can significantly increase power generation. Correct north calibration can reduce the mechanical wear of the rotor blades caused by yaw, extend the service life of the blades, and also help reduce the wear of other transmission components and reduce maintenance costs. Nacelle north calibration helps ensure the safe operation of wind turbines. In strong winds or extreme weather conditions, correct north calibration can make the rotor blades feather, reduce the load on the rotor, and protect the equipment from damage. Through accurate north calibration, wind turbines can better adapt to changes in wind direction, optimize power output, and improve the power generation efficiency and economy of the entire wind farm. Regular north calibration and maintenance can promptly discover and solve problems in equipment operation, extend the service life of wind turbines, and reduce downtime and maintenance costs caused by equipment failures.

[0004] In summary, nacelle north calibration is an important link in the installation and operation of wind turbines. It is of great significance for improving wind energy utilization efficiency, ensuring power output quality, ensuring safe and stable operation of equipment, and extending equipment service life.

[0005] The current method for calibrating the cabin azimuth angle is: when the unit is stationary, the observer walks along the axis of the cabin to a distance of about 200 meters from the unit. When it is confirmed that the observation position coincides with the axis of the cabin, the observer records the GPS coordinates at this time, and the operator records the yaw angle (or twist angle) on the main control interface of the unit at this time; then the operator performs a yaw action of more than 90° on the unit in the tower. When the unit stops, the observer walks along the axis of the cabin to a distance of about 200 meters from the unit again. When it is confirmed that the observation position coincides with the axis of the cabin, the observer records the GPS coordinates at this time, and the operator records the yaw angle (or twist angle) on the main control interface of the unit at this time. Since the coordinates of the center point of the tower base have been located in advance, the line connecting the two points measures the angles between the two observation positions and the true north direction, and then calculates the difference between the measured angle and the yaw angle recorded by the main control to obtain the true north angle of the unit's yaw position, and then calculates the accurate yaw error. The observation positioning method is shown in the figure below. Figure 1 shown.

[0006] The manual observation positioning method has many limitations on the orientation of the cabin. For example, the terrain near the observation position needs to be flat, suitable for walking, and without harsh ground environment. This method is highly subjective and mainly relies on human observation of the direction. There may be large errors in the observation points of different personnel, resulting in inaccurate calculation results and large error lines, which ultimately affect the correct measurement of yaw errors. The results and certification of type tests are not rigorous enough, and there are certain risks to the normal operation of the unit in the later stage. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a reliable method for accurately calibrating the north of a nacelle of a wind turbine generator set, which can quickly and accurately achieve the north calibration of the nacelle.

[0008] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a method for accurately calibrating the north of a cabin of a wind turbine generator set, which needs to be configured with a laser emission bracket, a first Beidou antenna, a second Beidou antenna, a third Beidou antenna and an industrial control computer; the laser emission bracket is installed on the cabin and close to the impeller of the wind turbine generator set, and its laser head needs to be consistent with the direction of the cabin axis during installation; the first Beidou antenna is set at the center of the tower base of the tower of the wind turbine generator set, the second Beidou antenna is set at the first measuring point on the ground where the laser is emitted, and the third Beidou antenna is set at the second measuring point on the ground where the laser is emitted, and each Beidou antenna independently receives the positioning signal of the Beidou satellite to obtain the longitude and latitude coordinates of each location;

[0009] The specific implementation process of this method is as follows:

[0010] First, the three Beidou antennas send their respective latitude and longitude coordinates to the industrial computer, which calculates the angle between the line between the first Beidou antenna and the second Beidou antenna and the true north direction and the angle between the line between the first Beidou antenna and the third Beidou antenna and the true north direction according to the latitude and longitude coordinates of the three Beidou antennas, that is, the angle between the cabin axis position of the two measuring points and the true north direction. Then, the yaw angle or twist angle read on the unit main control interface of the cabin axis position of the two measuring points is input into the industrial computer. Finally, the industrial computer calculates the true north angle of the yaw position and the yaw error according to the input yaw angle or twist angle. The processing results show that if the true north angle deviation of the yaw position of the two measuring points is within the preset range, any one of them can be selected when calculating the yaw error, and the yaw error of the unit can be calculated according to the measured wind direction. Otherwise, recalibration is required to ensure accurate north calibration.

[0011] Furthermore, it is assumed that the true north direction is 0° during calculation, and the longitude and latitude coordinates of the first Beidou antenna are α1 and β1; the longitude and latitude coordinates of the second Beidou antenna are α2 and β2, and the yaw angle of the unit is δ1; the longitude and latitude coordinates of the third Beidou antenna are α3 and β3, and the yaw angle of the unit is δ2;

[0012] Using the longitude and latitude coordinates of the two measuring points, calculate the angle a between the first measuring point and the true north direction and the angle b between the second measuring point and the true north direction:

[0013]

[0014]

[0015] If the main control output of the unit is the pitch angle, it needs to be converted into the yaw angle. The conversion formula is:

[0016] ε1=mod(δ1,360)

[0017] ε2=mod(δ2,360)

[0018] Where, ε1 is the yaw angle of the unit after the first measurement point is converted; ε2 is the yaw angle of the unit after the second measurement point is converted;

[0019] Then the true north angles C1 and C2 of the yaw positions of the two measuring points are:

[0020] C1=mod(SNacPos+(a-ε1),360)

[0021] C2=mod(SNacPos+(b-ε2),360)

[0022] Where, SNacPos is the real-time output twist angle of the unit, and mod is the remainder function;

[0023] If the main control output of the unit is the yaw angle, the true north angles C1 and C2 of the yaw positions of the two measuring points are:

[0024] C1=mod(SNacPos′+a,360)

[0025] C2=mod(SNacPos′+b,360)

[0026] Where, SNacPos′ is the yaw angle output by the unit in real time;

[0027] Finally, the calculated true north angles C1 and C2 of the yaw positions of the two measuring points are compared to ensure that the north calibration is accurate.

[0028] Furthermore, if C1≈C2, then we can choose any one of them when calculating the yaw error, and then calculate the yaw error YawErr of the unit according to the wind direction WD_HubCal measured by the wind measuring equipment:

[0029] YawErr=mod(C1-WD_HubCal+180,360)-180

[0030] If the difference between C1 and C2 is greater than the preset value, recalibration is required.

[0031] Furthermore, the longitude and latitude measured by the Beidou satellite positioning appear in the form of degrees, minutes and seconds, while the calculation requires degrees, so the measured longitude and latitude need to be converted.

[0032] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0033] The method of the present invention calculates the angle between two measuring points and the true north direction according to the latitude and longitude coordinates of the Beidou antenna, and has the characteristics of fast measurement time, high accuracy, small size, light weight, easy to carry, and convenient use. The method of the present invention can be used to measure the wind turbine generator set after it is hoisted and before it is officially put into operation. Without stopping the work, it can quickly and accurately detect the true north angle of the yaw position of the cabin, and provide accurate data basis for technicians to measure yaw errors and type tests, so that the data measured by the wind turbine generator set is more accurate, human errors are avoided, and the type test certification of the unit is more rigorous. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A top view showing the orientation of the cabin using the observation method.

[0035] Figure 2 Schematic diagram of laser north calibration.

[0036] Figure 3Top view of the laser north calibration. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0038] like Figure 2 and Figure 3 As shown, this embodiment discloses a method for accurately calibrating the north of a wind turbine cabin, which needs to be configured with a laser emission bracket 4, a first Beidou antenna A, a second Beidou antenna B, a third Beidou antenna C and an industrial control computer D; the laser emission bracket 4 is installed on the cabin 2 and close to the impeller 1 of the wind turbine, and its laser head needs to be consistent with the axis direction of the cabin 2 during installation; the first Beidou antenna A is set at the center 6 of the tower base 3 of the wind turbine, the second Beidou antenna B is set at the first measuring point 5 on the ground where the laser is emitted, and the third Beidou antenna C is set at the second measuring point 7 on the ground where the laser is emitted, and each Beidou antenna independently receives the positioning signal of the Beidou satellite to obtain the longitude and latitude coordinates of each location;

[0039] The specific implementation process of this method is as follows:

[0040] First, the three Beidou antennas send their respective latitude and longitude coordinates to the industrial computer D. The industrial computer D calculates the angle between the line between the first Beidou antenna A and the second Beidou antenna B and the true north direction, and the angle between the line between the first Beidou antenna A and the third Beidou antenna C and the true north direction according to the latitude and longitude coordinates of the three Beidou antennas, that is, the angle between the cabin axis position of the two measuring points and the true north direction. Then, the yaw angle or twist angle read on the unit main control interface of the cabin axis position of the two measuring points is input into the industrial computer D. Finally, the industrial computer D calculates the true north angle of the yaw position and the yaw error according to the input yaw angle or twist angle. The processing results show that if the true north angle deviation of the yaw position of the two measuring points is within the preset range, any one of them can be selected when calculating the yaw error, and the yaw error of the unit can be calculated according to the measured wind direction. Otherwise, recalibration is required to ensure accurate north calibration.

[0041] In the calculation, it is assumed that the true north direction is 0°, and the longitude and latitude coordinates of the first Beidou antenna A are α1 and β1; the longitude and latitude coordinates of the second Beidou antenna B are α2 and β2, and the yaw angle of the unit is δ1; the longitude and latitude coordinates of the third Beidou antenna C are α3 and β3, and the yaw angle of the unit is δ2;

[0042] Using the longitude and latitude coordinates of the two measuring points, calculate the angle a between the first measuring point 5 and the true north direction and the angle b between the second measuring point 7 and the true north direction:

[0043]

[0044]

[0045] If the main control output of the unit is the pitch angle, it needs to be converted into the yaw angle. The conversion formula is:

[0046] ε1=mod(δ1,360)

[0047] ε2=mod(δ2,360)

[0048] Where ε1 is the unit yaw angle after transformation from the first measuring point; ε2 is the unit yaw angle after transformation from the second measuring point.

[0049] Then the true north angles C1 and C2 of the yaw positions of the two measuring points are:

[0050] C1=mod(SNacPos+(a-ε1),360)

[0051] C2=mod(SNacPos+(b-ε2),360)

[0052] Where SNacPos is the real-time output of the twist and pull angle of the unit (the angle here is the real-time output of the twist and pull angle during the yaw process of the unit, not the angle output during calibration), and mod is the remainder function.

[0053] If the main control output of the unit is the yaw angle, the true north angles C1 and C2 of the yaw positions of the two measuring points are:

[0054] C1=mod(SNacPos′+a,360)

[0055] C2=mod(SNacPos′+b,360)

[0056] Where, SNacPos′ is the yaw angle output by the unit in real time (the angle here is the yaw angle output in real time during the yaw process of the unit, not the angle output during calibration);

[0057] Finally, the calculated true north angles C1 and C2 of the yaw positions of the two measuring points are compared to ensure that the north calibration is accurate.

[0058] If C1≈C2, then choose any one of them when calculating the yaw error, and then calculate the yaw error YawErr of the unit according to the wind direction WD_HubCal measured by the wind measuring equipment:

[0059] YawErr=mod(C1-WD_HubCal+180,360)-180

[0060] If the difference between C1 and C2 is greater than the preset value, recalibration is required.

[0061] The longitude and latitude measured by Beidou satellite positioning appear in the form of degrees, minutes and seconds, but the calculation requires degrees, so the measured longitude and latitude need to be converted.

[0062] For example, the longitude and latitude coordinates (α1, β1) of the first Beidou antenna A are: (87°56'56.16"E, 43°27'46.39"N), which is converted into degree format as (87.948933°E, 43.462885°N);

[0063] The latitude and longitude coordinates (α2, β2) of the second Beidou antenna B are: (87°56'55.51"E, 43°27'55.30"N), which is converted into degree format as (87.948753°E, 43.465361°N);

[0064] The rotation angle output by the main control of the second Beidou antenna B group is: -94.7°, which is converted into a yaw angle of: ε1 = mod (-94.7, 360) = 265.3°;

[0065] The latitude and longitude coordinates (α3, β3) of the third Beidou antenna C are (87°57'6.53"E, 43°27'47.23"N), which are converted into degree format as (87.951814°E, 43.463119°N);

[0066] When the third Beidou antenna is C, the twist angle output by the main control is: -5.2°, which is converted into the yaw angle: ε2 = mod (-5.2, 360) = 354.80°;

[0067] According to the above formula, we can calculate:

[0068] The second Beidou antenna B is located north-west of the unit, and the angle between it and the due north direction of the unit is:

[0069] The third Beidou antenna C is located in the north-east of the unit, and the angle between it and the due north direction of the unit is:

[0070] Then the true north angle of the yaw position calculated by the second Beidou antenna B is:

[0071] C1=mod(SNacPos+(355.84-265.3),360);

[0072] Then the true north angle of the yaw position calculated by the third Beidou antenna C is:

[0073] C2=mod(SNacPos+(85.36-354.80),360);

[0074] Comparing the two measuring points, the true north angle deviation of the yaw positions is 0.02°, which meets the requirements. The real-time yaw error of any one of the computer groups can be selected.

[0075] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for accurately calibrating the north of a wind turbine nacelle, characterized in that: A laser emission bracket (4), a first Beidou antenna (A), a second Beidou antenna (B), a third Beidou antenna (C) and an industrial control computer (D) are required; the laser emission bracket (4) is installed on the cabin (2) and close to the impeller (1) of the wind turbine generator set, and its laser head must be in the same direction as the axis of the cabin (2) during installation; the first Beidou antenna (A) is arranged on the center (6) of the tower base of the tower (3) of the wind turbine generator set, the second Beidou antenna (B) is arranged on the first measuring point (5) on the ground from which the laser is emitted, and the third Beidou antenna (C) is arranged on the second measuring point (7) on the ground from which the laser is emitted, and each Beidou antenna independently receives the positioning signal of the Beidou satellite to obtain the longitude and latitude coordinates of its respective location; The specific implementation process of this method is as follows: First, the three Beidou antennas send their respective latitude and longitude coordinates to the industrial computer (D), and the industrial computer (D) calculates the angle between the line between the first Beidou antenna (A) and the second Beidou antenna (B) and the true north direction, and the angle between the line between the first Beidou antenna (A) and the third Beidou antenna (C) and the true north direction according to the latitude and longitude coordinates of the three Beidou antennas, that is, the angle between the cabin axis position of the two measuring points and the true north direction, and then inputs the yaw angle or torsion angle read on the unit main control interface of the cabin axis position of the two measuring points into the industrial computer (D), and finally the industrial computer (D) calculates the true north angle of the yaw position and the yaw error according to the input yaw angle or torsion angle. The processing result is displayed. If the true north angle deviation of the yaw position of the two measuring points is within the preset range, one of them is selected when calculating the yaw error, and the yaw error of the unit can be calculated according to the measured wind direction, otherwise recalibration is required to ensure accurate north calibration.

2. The method for accurately calibrating the north of a nacelle of a wind turbine generator set according to claim 1, characterized in that: In the calculation, it is assumed that the true north direction is 0°, and the longitude and latitude coordinates of the first Beidou antenna (A) are α1 and β1; the longitude and latitude coordinates of the second Beidou antenna (B) are α2 and β2, and the yaw angle of the unit is δ1; the longitude and latitude coordinates of the third Beidou antenna (C) are α3 and β3, and the yaw angle of the unit is δ2; Using the longitude and latitude coordinates of the two measuring points, calculate the angle a between the first measuring point (5) and the true north direction and the angle b between the second measuring point (7) and the true north direction: If the main control output of the unit is the pitch angle, it needs to be converted into the yaw angle. The conversion formula is: ε1=mod(δ1,360) ε2=mod(δ2,360) Where, ε1 is the unit yaw angle after conversion from the first measuring point; ε2 is the unit yaw angle after conversion from the second measuring point; Then the true north angles C1 and C2 of the yaw positions of the two measuring points are: C1=mod(SNacPos+(a-ε1),360) C2=mod(SNacPos+(b-ε2),360) Where, SNacPos is the real-time output twist angle of the unit, and mod is the remainder function; If the main control output of the unit is the yaw angle, the true north angles C1 and C2 of the yaw positions of the two measuring points are: C1=mod(SNacPos′+a,360) C2=mod(SNacPos′+b,360) Where, SNacPos′ is the yaw angle output by the unit in real time; Finally, the calculated true north angles C1 and C2 of the yaw positions of the two measuring points are compared to ensure that the north calibration is accurate.

3. The method for accurately calibrating the nacelle of a wind turbine generator set to the north according to claim 2, characterized in that: If C1≈C2, then choose any one of them when calculating the yaw error, and then calculate the yaw error YawErr of the unit according to the wind direction WD_HubCal measured by the wind measuring equipment: YawErr=mod(C1-WD_HubCal+180,360)-180 If the difference between C1 and C2 is greater than the preset value, recalibration is required.

4. The method for accurately calibrating the nacelle of a wind turbine generator set to the north according to claim 3, characterized in that: The longitude and latitude measured by the Beidou satellite positioning appear in the form of degrees, minutes and seconds, while the calculation requires degrees, so the measured longitude and latitude need to be converted.

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