A method for accurately calibrating a wind turbine nacelle to north

Abstract

The application discloses a kind of wind generating set nacelle north-aiming accurate calibration methods, first set three Beidou antennas respectively send respective longitude and latitude coordinates to industrial computer, and industrial computer calculates the included angle between the line between first Beidou antenna and second Beidou antenna and the north direction and the included angle between the line between first Beidou antenna and third Beidou antenna and the north direction according to the longitude and latitude coordinates of three Beidou antennas, that is, the included angle between the nacelle axis position of two measuring points and the north direction, the yaw angle or the twist angle read on the main control interface of the nacelle axis position of two measuring points is input to industrial computer, and finally by industrial computer according to the input yaw angle or twist angle, the true north angle calculation of yaw position and the processing result display of yaw error are carried out.The present application can quickly and accurately realize nacelle north-aiming calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine generator sets, in particular to a method for north pointing calibration of a wind turbine generator set nacelle. BACKGROUND

[0002] Wind turbine generator set nacelle north pointing calibration is an important influencing factor for calculating yaw error in wind turbine generator set type test. The yaw angle of the unit itself is not corrected by north, so the nacelle azimuth angle of the unit needs to be calibrated by 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, 10% error of azimuth angle data may cause particularly large deviation in unit certification load comparison, and because the nacelle azimuth angle data is not accurate enough, the yaw of the unit will not be accurate, the wind energy captured will be less, which will affect the power generation, and will also fundamentally affect the load calculation and judgment of the unit, which will lay a great hidden danger for the subsequent unit certification and safe operation.

[0003] The main purpose of the nacelle north pointing calibration of the wind turbine generator set is to improve the wind energy conversion efficiency. Through the nacelle north pointing calibration, the wind wheel blades can be aligned with the wind direction, so as to capture the wind energy to the greatest extent. Correct north pointing calibration can reduce the mechanical wear of the wind wheel blades due to yaw, prolong the service life of the blades, and also help to reduce the wear of other transmission parts and reduce maintenance costs. Nacelle north pointing calibration helps to ensure the safe operation of the wind turbine generator set. In strong wind or extreme weather conditions, correct north pointing calibration can make the wind wheel blades feather, reduce the load on the wind wheel, and protect the equipment from damage. Through accurate north pointing calibration, the wind turbine generator set can better adapt to the change of wind direction, optimize power output, and improve the power generation efficiency and economy of the whole wind farm. Regular north pointing calibration and maintenance can find and solve problems in equipment operation in time, prolong the service life of the wind turbine generator set, and reduce downtime and maintenance costs caused by equipment failure.

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

[0005] The current method for calibrating the azimuth of the nacelle is as follows: when the unit is in a stationary state, an observer walks along the axis direction of the nacelle to a position about 200 meters away from the unit, confirms that the observation position coincides with the axis direction of the nacelle, and records the GPS coordinates at this time, and an operator records the yaw angle (or the 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 tower in the tower drum, and when the unit stops, the observer again walks along the axis direction of the nacelle to a position about 200 meters away from the unit, confirms that the observation position coincides with the axis direction of the nacelle, and records the GPS coordinates at this time, and the operator records the yaw angle (or the twist angle) on the main control interface of the unit at this time. Since the coordinates of the center point of the tower foundation have been positioned in advance, the angles between the two observation positions and the true north direction are measured, and the difference between the measured angles and the yaw angle recorded by the main control is calculated to obtain the yaw position true north angle of the unit, and the accurate yaw error is calculated accordingly. The observation positioning method is shown in Figure 1

[0006] The artificial observation positioning method has many limitations for positioning the direction of the nacelle. For example, the observation position needs to be flat and suitable for walking, and there should be no harsh ground environment. This method is subjective and mainly depends on the observation of the human eye. The observation points of different personnel may have large errors, resulting in inaccurate calculation results and large error lines, which ultimately affects the correct measurement of the yaw error, the results of the type test and the authentication are not strict enough, and there is a certain risk for the normal operation of the unit in the later period. SUMMARY

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

[0008] To achieve the above-mentioned purpose, the technical solution provided by the present application is as follows: a method for accurately calibrating the nacelle of a wind turbine against the north, which needs to be equipped with a laser emitting support, a first Beidou antenna, a second Beidou antenna, a third Beidou antenna and a computer; the laser emitting support is installed on the nacelle and close to the impeller of the wind turbine, and the laser head thereof needs to be consistent with the axis direction of the nacelle during installation; the first Beidou antenna is arranged on the center of the tower foundation of the tower drum of the wind turbine, the second Beidou antenna is arranged on the first measurement point on the ground where the laser emits, and the third Beidou antenna is arranged on the second measurement point on the ground where the laser emits, each Beidou antenna independently receives the positioning signal of the Beidou satellite to obtain the latitude and longitude coordinates thereof;

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

[0010] ​Firstly, the three Beidou antennas respectively send their respective longitude and latitude coordinates to the industrial computer, the industrial computer calculates the included angle between the line connecting the first Beidou antenna and the second Beidou antenna and the north direction and the included angle between the line connecting the first Beidou antenna and the third Beidou antenna and the north direction according to the longitude and latitude coordinates of the three Beidou antennas, that is, the included angle between the shaft line position of the two measuring points and the north direction, and then inputs the yaw angle or the twist angle read on the main control interface of the shaft line position of the two measuring points into the industrial computer, finally, the industrial 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 twist angle, if the deviation of the true north angle of the yaw position of the two measuring points is within the preset range, the yaw error is calculated by taking one of them, and then the yaw error of the unit can be calculated according to the measured wind direction, otherwise, recalibration is needed to ensure the accuracy of the north calibration.

[0011] Further, it is assumed that the north direction is 0° when calculating, and let the longitude and latitude coordinates of the first Beidou antenna be α1 and β1, the longitude and latitude coordinates of the second Beidou antenna be α2 and β2, the yaw angle of the unit be δ1, the longitude and latitude coordinates of the third Beidou antenna be α3 and β3, and the yaw angle of the unit be δ2.

[0012] The included angle a between the first measuring point and the north direction and the included angle b between the second measuring point and the north direction are calculated respectively by using the longitude and latitude coordinates of the two measuring points.

[0013]

[0014]

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

[0016] ε1 = mod(δ1, 360)

[0017] ε2 = mod(δ2, 360)

[0018] In the formula, ε1 is the converted yaw angle of the first measuring point, and ε2 is the converted yaw angle of the second measuring point.

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

[0020] C1 = mod(SNacPos + (a - ε1), 360)

[0021] C2 = mod(SNacPos + (b - ε2), 360)

[0022] In the formula, SNacPos is the real-time output twist angle of the unit, and mod is the remainder function.

[0023] If the yaw angle outputted by the unit main control is the yaw angle, the true north angle C1 and C2 of the yaw position of the two measuring points are respectively:

[0024] C1 = mod (SNacPos' + a, 360)

[0025] C2 = mod (SNacPos' + b, 360)

[0026] In the formula, SNacPos' is the yaw angle outputted by the unit in real time;

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

[0028] Further, if C1 ≈ C2, then the yaw error is calculated by taking one of them, and then the yaw error YawErr of the unit can be calculated according to the wind direction WD_HubCal measured by the wind measuring device:

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

[0030] If C1 and C2 differ by more than a preset value, recalibration is needed.

[0031] Further, the longitude and latitude measured by the Beidou satellite positioning are in degrees, minutes and seconds, and the calculation needs degrees, so the longitude and latitude measured need to be converted.

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

[0033] The method of the present application calculates the included angle between the two measuring points and the true north direction according to the longitude and latitude coordinates of the Beidou antenna, and has the characteristics of fast measurement time, high precision, small volume, light weight, easy to carry and convenient to use. The method of the present application can be used to measure before the wind turbine unit is formally operated after hoisting, and can quickly and accurately detect the true north angle of the yaw position of the nacelle without stopping work, providing accurate data basis for technicians to measure the yaw error and type test, so that the data measured by the wind turbine unit is more accurate, avoiding human error, and making the type test certification of the unit more rigorous. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a top view for observing the orientation of the nacelle.

[0035] Figure 2 It is a schematic diagram of laser north calibration.

[0036] Figure 3The top view for laser north calibration. DETAILED DESCRIPTION

[0037] The application will be further described in connection with the embodiments and drawings, but the embodiments of the application are not limited thereto.

[0038] As shown in Figure 2 and Figure 3 The embodiment discloses a method for accurately calibrating the north direction of a wind turbine generator set cabin, which comprises a laser emitting support 4, a first Beidou antenna A, a second Beidou antenna B, a third Beidou antenna C and an industrial computer D; the laser emitting support 4 is installed on the cabin 2 and close to the impeller 1 of the wind turbine generator set, and the laser head thereof is consistent with the axis direction of the cabin 2 during installation; the first Beidou antenna A is arranged on the tower base center 6 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 where the laser emits, and the third Beidou antenna C is arranged on the second measuring point 7 on the ground where the laser emits; each Beidou antenna independently receives the positioning signal of the Beidou satellite to obtain the longitude and latitude coordinates thereof;

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

[0040] Firstly, the three Beidou antennas respectively send the longitude and latitude coordinates thereof to the industrial computer D, the industrial computer D calculates the included angle between the line connecting the first Beidou antenna A and the second Beidou antenna B and the north direction and the included angle between the line connecting the first Beidou antenna A and the third Beidou antenna C and the north direction according to the longitude and latitude coordinates of the three Beidou antennas, that is, the included angles between the cabin axis positions of the two measuring points and the north direction, then inputs the yaw angle or the twist angle read on the main control interface of the wind turbine generator set to the industrial computer D, and finally displays the processing result of the true north angle calculation and the yaw error of the yaw position of the industrial computer D according to the input yaw angle or twist angle, if the true north angle deviation of the yaw position of the two measuring points is within the preset range, the yaw error is calculated by taking one of them, and then the yaw error of the wind turbine generator set can be calculated according to the measured wind direction, otherwise, the calibration needs to be performed again to ensure the accuracy of the north calibration.

[0041] In the calculation, it is assumed that the north direction is 0°, and it is assumed that 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, the yaw angle of the wind turbine generator set is δ1, the longitude and latitude coordinates of the third Beidou antenna C are α3 and β3, and the yaw angle of the wind turbine generator set is δ2.

[0042] The included angle a between the first measuring point 5 and the north direction and the included angle b between the second measuring point 7 and the north direction are calculated by using the longitude and latitude coordinates of the two measuring points.

[0043]

[0044]

[0045] If the unit master output is the twist angle, it needs to be converted into the yaw angle, and the conversion formula is:

[0046] ε1 = mod(δ1, 360)

[0047] ε2 = mod(δ2, 360)

[0048] In the formula, ε1 is the first measuring point converted unit yaw angle; ε2 is the second measuring point converted unit yaw angle.

[0049] Then the true north angle C1 and C2 of the yaw position of the two measuring points are respectively:

[0050] C1 = mod(SNacPos + (a - ε1), 360)

[0051] C2 = mod(SNacPos + (b - ε2), 360)

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

[0053] If the unit master output is the yaw angle, the true north angle C1 and C2 of the yaw position of the two measuring points are respectively:

[0054] C1 = mod(SNacPos' + a, 360)

[0055] C2 = mod(SNacPos' + b, 360)

[0056] In the formula, SNacPos' is the real-time output yaw angle of the unit (here the angle is the real-time output yaw angle during the unit yaw process, not the output angle during calibration);

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

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

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

[0060] If C1 and C2 differ by more than a preset value, recalibration is needed.

[0061] The longitude and latitude measured by the Beidou satellite positioning system are in degrees, minutes and seconds, but the calculation needs 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 are converted into degree format (87.948933°E, 43.462885°N);

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

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

[0065] The longitude and latitude 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 (87.951814°E, 43.463119°N);

[0066] The twist angle output by the third Beidou antenna C time master control is -5.2°, which is converted into a 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 in the north and west of the group, and the angle between the north direction of the group and the north direction of the group is:

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

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

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

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

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

[0074] Thus, the deviation of the true north angle of the yaw position of the two measuring points is 0.02°, which meets the requirement, and the real-time yaw error of any computer group can be calculated.

[0075] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for accurately calibrating the north orientation of a wind turbine nacelle, characterized in that: A laser emission bracket (4), a first Beidou antenna, a second Beidou antenna, a third Beidou antenna and an industrial control computer 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 is set on the tower base center (6) of the tower (3) of the wind turbine generator set, the second Beidou antenna is set on the first measuring point (5) on the ground where the laser is emitted, and the third Beidou antenna is set on 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 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. The industrial computer 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 torsion 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 torsion angle, and displays the processing result. If the deviation of the true north angle 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 the accuracy of the north calibration. In the calculation, it is assumed that the north direction is 0°, and the longitude and latitude coordinates of the first Beidou antenna are: 、 ; The longitude and latitude coordinates of the second Beidou antenna are 、 , the yaw angle of the unit is ; The longitude and latitude coordinates of the third Beidou antenna are 、 , the yaw angle of the unit is ; Using the longitude and latitude coordinates of the two measuring points, calculate the angle between the first measuring point (5) and the north direction. and the angle between the second measuring point (7) and the 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: ； ； Where, is the yaw angle of the unit after conversion from the first measuring point; is the yaw angle of the unit after conversion from the second measuring point; The true north angles of the yaw positions of the two measuring points are 、 They are: ； ； Where, The twist angle output by the unit in real time, is the remainder function; If the main control output of the unit is the yaw angle, the yaw position true north angle of the two measuring points 、 They are: ； ； Where, The yaw angle output by the crew in real time; Finally, the true north angle of the yaw position of the two measuring points is calculated 、 Form a comparison to ensure that the north calibration is accurate.

2. The method for accurately calibrating the north orientation of a wind turbine nacelle according to claim 1, characterized in that: like , then choose any one of them when calculating the yaw error, and then use the wind direction measured by the wind measuring equipment to calculate the yaw error. The yaw error of the unit can be calculated : ； like and If the difference is greater than the preset value, recalibration is required.

3. The method for accurately calibrating the north orientation of a wind turbine nacelle according to claim 2, 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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