Blade tip clearance determination method and most blade tip clearance prediction method

Abstract

The invention relates to a blade tip clearance determination method. The method comprises the following steps: acquiring an initial coordinate and a blade tip deformation coordinate of a blade tip in a blade root coordinate system; correcting the initial coordinate according to the blade tip deformation coordinate to obtain a first coordinate; based on the obtained blade pitch angle, the impeller taper angle and the distance from the center of the hub to the center of the blade root, the first coordinate is converted from a blade root coordinate system to a hub coordinate system, and a third coordinate is obtained; based on the obtained azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the central axis of the tower drum and the vertical distance between the hub center and the tower top section, the third coordinate is converted from the hub coordinate system to a tower top relative coordinate system, and a fifth coordinate is obtained; according to the fifth coordinate, obtaining the center coordinate of the tower at the height of the blade tip; and determining the blade tip clearance based on the obtained center coordinates of the tower drum at the blade tip height and the outer diameter of the tower drum at the blade tip height. Therefore, the risk of accidental collision between the blades and the tower drum is greatly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of safe operation of wind power generation equipment, and in particular to a method for determining blade tip clearance and a method for predicting minimum blade tip clearance. Background Art

[0002] As the global demand for clean energy increases, wind power generation, as an important form of renewable energy, has been strongly supported by national policies in recent years and has achieved rapid development and technological progress. As wind power technology continues to evolve, the capacity of a single wind turbine continues to increase, resulting in an increase in the height of the tower and the diameter of the blades. In order to meet higher energy efficiency requirements and reduce manufacturing costs, modern wind turbine designs tend to use large rotors, flexible blades, and lightweight structures, which improves efficiency but also brings new challenges.

[0003] Due to the design trend of large-scale and lightweight, wind turbines are prone to large deformation during operation, especially under complex wind conditions such as high turbulence or negative shear. This deformation may significantly increase the risk of blades sweeping over the tower, threatening the safe operation of the unit and potentially causing huge economic losses. Therefore, how to effectively monitor and predict the clearance distance between the blades and the tower has become a key issue in ensuring the safe and stable operation of wind turbines.

[0004] Existing blade clearance monitoring solutions mainly include monitoring equipment based on image recognition technology and radar technology. These devices are usually installed in different parts of wind turbines, such as the nacelle, blades or tower base, to achieve real-time monitoring of blade clearance. Once a potential dangerous situation is detected, the system will initiate a corresponding protection strategy to prevent the blades from colliding with the tower. However, traditional monitoring methods often rely on fixed threshold settings, and in the field environment, due to weather conditions or other factors, the actual measured clearance data may have certain errors, which may lead to false triggering of the protection mechanism and affect the normal operation of the unit. Summary of the invention

[0005] In view of the above problems in the prior art, the present application provides a method and device for determining blade tip clearance, a method and device for predicting minimum blade tip clearance, as well as equipment and storage medium. The blade tip clearance calculation method of the present application greatly reduces the risk of accidental collision between blades and towers, thereby significantly improving the safety and stable operation capability of wind power generation equipment.

[0006] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for determining blade tip clearance, comprising:

[0007] Obtaining the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system;

[0008] According to the blade tip deformation coordinates, the initial coordinates are corrected to obtain first coordinates;

[0009] Based on the acquired blade pitch angle, impeller cone angle and the distance from the hub center to the blade root center, convert the first coordinate from the blade root coordinate system to the hub coordinate system to obtain a third coordinate;

[0010] Based on the acquired azimuth angle, unit inclination angle, horizontal distance between the hub center and the tower centerline, and vertical distance between the hub center and the tower top section, the third coordinate is converted from the hub coordinate system to the tower top relative coordinate system to obtain a fifth coordinate;

[0011] According to the fifth coordinate, obtaining the tower center coordinate at the blade tip height;

[0012] The blade tip clearance is determined based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

[0013] In this way, the present application starts from the initial coordinates in the blade root coordinate system, gradually considers the influence of multiple factors such as blade deformation, blade pitch angle, impeller cone angle, azimuth angle, unit inclination angle, etc., and through a series of precise coordinate transformations and calculations, finally calculates the distance from the blade tip to the tower surface in the tower top relative coordinate system, that is, the blade tip clearance. This precise blade tip clearance calculation method greatly reduces the risk of accidental collision between the blade and the tower, thereby significantly improving the safety and stable operation capability of wind power generation equipment.

[0014] As a possible implementation manner of the first aspect, the correcting the initial coordinate according to the blade tip deformation coordinate to obtain the first coordinate includes:

[0015] The initial coordinates of the blade tip in the blade root coordinate system and the deformation coordinates of the blade tip are added together to determine the first coordinates;

[0016] Among them, the initial coordinates of the blade tip in the blade root coordinate system are tipPoint0 (x0, y0, z0);

[0017] The deformation coordinates of the blade tip in the blade root coordinate system are detaB (detaBX, detaBY, detaBZ);

[0018] The first coordinate is tipPoint1=tipPoint0+detaB.

[0019] As a result, in the complex environment of wind turbine operation, such as high turbulence and negative shear wind conditions, the blades often undergo significant deformation. In view of this, the present application specifically considers the deformation of the blades during actual operation and makes corresponding corrections to the blade tip coordinates. This correction measure enables the obtained coordinates to more accurately reflect the position of the blades in the actual operating state, significantly improving the accuracy of the tip clearance calculation compared to relying solely on static design data (such as the initial coordinate tipPoint0), thereby better matching the actual situation.

[0020] As a possible implementation manner of the first aspect, based on the acquired blade pitch angle, impeller cone angle, and distance from the hub center to the blade root center, converting the first coordinate from a blade root coordinate system to a hub coordinate system to obtain a third coordinate includes:

[0021] Get the blade pitch angle thetaP;

[0022] Using Euler transformation, the first coordinate tipPoint1 is converted from the blade root coordinate system to the second coordinate tipPoint2 in the blade root fixed coordinate system, tipPoint2 = Tz*tipPoint1;

[0023] Among them, the Euler transformation matrix

[0024] Get the impeller cone angle thetaC;

[0025] Using Euler transformation, the second coordinate tipPoint2 is converted from the blade root fixed coordinate system to the third coordinate tipPoint3 in the rotating hub coordinate system, tipPoint3 = Ty1*(tipPoint2+A);

[0026] Among them, the Euler transformation matrix

[0027] A is the coordinate of the origin of the blade root fixed coordinate system in the rotating hub coordinate system (0, 0, LHub), and LHub is the distance from the hub center to the blade root center.

[0028] In this way, by introducing the blade pitch angle and the impeller cone angle, and applying the Euler transformation to gradually transform the coordinate system, from the blade root coordinate system to the blade root fixed coordinate system and then to the rotating hub coordinate system, the third coordinate tipPoint3 finally obtained can more accurately represent the position of the blade tip relative to the hub, providing reliable basic data for the subsequent tip clearance calculation, which is conducive to the subsequent accurate calculation of the tip clearance.

[0029] As a possible implementation manner of the first aspect, based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section, the third coordinate is converted from the hub coordinate system to the tower top relative coordinate system to obtain the fifth coordinate, including:

[0030] Get the azimuth angle thetaA;

[0031] Using Euler transformation, the third coordinate tipPoint3 is converted from the rotating hub coordinate system to the fourth coordinate tipPoint4 in the fixed hub coordinate system, tipPoint4 = Tx*tipPoint3;

[0032] Among them, the Euler transformation matrix

[0033] Obtain the unit inclination angle thetaT, the horizontal distance between the hub center and the tower centerline, and the vertical distance between the hub center and the tower top section;

[0034] Using Euler transformation, the fourth coordinate tipPoint4 is converted from the fixed hub coordinate system to the fifth coordinate tipPoint5 in the tower top relative coordinate system, tipPoint5 = Ty2*tipPoint4+B;

[0035] Among them, the Euler transformation matrix

[0036] B is the coordinate of the origin of the blade relative coordinate system in the tower top relative coordinate system (-overHang, 0, hOffset), overHang is the horizontal distance between the hub center and the tower centerline, and hOffset is the vertical distance between the hub center and the tower top section.

[0037] In this way, by introducing the azimuth angle and the inclination angle of the unit, and applying the Euler transformation to gradually transform the coordinate system, from the rotating hub coordinate system to the fixed hub coordinate system, and then to the tower top relative coordinate system, the fifth coordinate (tipPoint5) finally obtained can more accurately represent the position of the blade tip relative to the tower, providing reliable basic data for subsequent clearance calculations.

[0038] As a possible implementation manner of the first aspect, determining the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height includes:

[0039] Obtaining the tower center coordinates at the blade tip height, wherein the tower center coordinates at the blade tip height are the value of the Z coordinate in the fifth coordinate;

[0040] Determine the distance from the blade tip to the tower center according to the fifth coordinate tipPoint5 and the tower center coordinate at the blade tip height;

[0041] Get the outer diameter of the tower at the blade tip height;

[0042] The difference between the distance from the blade tip to the tower center and the outer diameter of the tower at the blade tip height is calculated and determined as the blade tip clearance.

[0043] In this way, through the above-mentioned specific mathematical calculation method, the minimum distance between the blade tip and the tower can be determined, and potential risk points, such as the risk of blade sweeping the tower, can be identified in advance, so that necessary protective measures can be taken to avoid accidents, greatly improving the safety of the system.

[0044] To achieve the above object, the second aspect of the present application provides a method for predicting minimum blade tip clearance, comprising:

[0045] Using the method for determining the blade tip clearance described in any one of the first aspects above, obtaining blade tip clearances corresponding to different azimuth angles to form a predicted clearance set;

[0046] A minimum value is determined from the set of predicted clearances, the minimum value being the predicted minimum blade tip clearance.

[0047] In this way, this method can accurately predict the minimum clearance value of the blade when passing through the tower at different azimuth angles. Based on the predicted minimum tip clearance, the clearance protection trigger threshold can be set more reasonably. Specifically, when the actual clearance is less than the threshold, the clearance protection strategy is activated in time, such as adjusting the blade angle, reducing the rotation speed, etc., so as to effectively avoid the occurrence of tower sweeping accidents.

[0048] To achieve the above-mentioned purpose, the third aspect of the present application provides a device for determining blade tip clearance, comprising:

[0049] A first acquisition unit, used to acquire the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system;

[0050] A correction unit, used for correcting the initial coordinate according to the blade tip deformation coordinate to obtain a first coordinate;

[0051] A first conversion unit, configured to convert the first coordinate from a blade root coordinate system to a hub coordinate system based on the acquired blade pitch angle, impeller cone angle, and distance from a hub center to a blade root center, to obtain a third coordinate;

[0052] A second conversion unit is used to convert the third coordinate from the hub coordinate system to the tower top relative coordinate system based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section to obtain a fifth coordinate;

[0053] A second acquisition unit, used for acquiring the tower center coordinate at the blade tip height according to the fifth coordinate;

[0054] The determining unit is used to determine the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

[0055] To achieve the above-mentioned purpose, the fourth aspect of the present application provides a minimum tip clearance prediction device, comprising:

[0056] an acquisition unit, configured to acquire the blade tip clearances corresponding to different azimuth angles using the blade tip clearance determination device according to the third aspect, and form a predicted clearance set;

[0057] A determination unit is used to determine a minimum value from the predicted clearance set, where the minimum value is the predicted minimum blade tip clearance.

[0058] To achieve the above-mentioned object, the fifth aspect of the present application provides a computing device, including:

[0059] processor, and

[0060] A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor executes the method for determining the blade tip clearance described in the first aspect or the method for predicting the minimum blade tip clearance described in the second aspect.

[0061] To achieve the above-mentioned purpose, the sixth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, and when the program instructions are executed by a computer, the computer implements the method for determining the blade tip clearance described in the first aspect or the method for predicting the minimum blade tip clearance described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a flow chart of the main steps of a method for determining blade tip clearance provided by the present application;

[0063] Figure 2 It is a structural schematic diagram of a wind turbine provided by the present application;

[0064] Figure 3 is a schematic diagram of a blade root coordinate system provided by the present application;

[0065] Figure 4 is a schematic diagram of a hub coordinate system provided by the present application;

[0066] Figure 5 It is a schematic diagram of a tower top relative coordinate system provided in this application;

[0067] Figure 6 It is a flow chart of the main steps of a method for predicting minimum blade tip clearance provided by the present application;

[0068] Figure 7 It is a structural schematic diagram of a blade tip clearance determination device provided by the present application;

[0069] Figure 8 It is a structural schematic diagram of a minimum blade tip clearance prediction device provided by the present application;

[0070] Fig. 9 It is a structural schematic diagram of a computing device provided by the present application.

[0071] It should be understood that the size and shape of each block diagram in the above structural diagram are for reference only and should not constitute an exclusive interpretation of the embodiment of the present invention. The relative position and inclusion relationship between the blocks presented in the structural diagram are only schematic representations of the structural association between the blocks, and do not limit the physical connection method of the embodiment of the present invention. DETAILED DESCRIPTION

[0072] The technical solution provided by the present application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of the present application are mainly to illustrate the possible implementation methods of the technical solution of the present application and should not be interpreted as the only limitation on the technical solution of the present application. It is known to those of ordinary skill in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. In case of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0074] Before introducing the specific scheme of the present application, the professional terms involved in the present application are first introduced.

[0075] Tip clearance: refers to the minimum geometric distance between the tip of the blade and the surface of the tower during the operation of the wind turbine. This distance reaches its minimum value when the blade passes through the area near the tower.

[0076] Blade root coordinate system: its origin is the center of the blade root, Z axis - blade pitch axis; X axis - when the blade angle is 0, it is perpendicular to the Z axis and points to the tower; Y axis - determined based on the right-hand screw rule, the coordinate system rotates around the Z axis accordingly as the blade angle changes.

[0077] Blade root fixed coordinate system: It can be regarded as the blade root coordinate system when the blade pitch angle is 0. The origin of the blade root fixed coordinate system is the blade root center, Z axis-blade pitch axis; X axis-perpendicular to the Z axis and pointing to the tower; Y axis-determined based on the right-hand screw rule.

[0078] Rotating hub coordinate system: its origin is the hub center, X-axis - points to the tower based on the nacelle inclination surface, Z-axis - perpendicular to the X-axis and follows the angular direction change of the real-time azimuth angle, Y-axis - determined based on the right-hand screw rule, the coordinate system rotates accordingly around the X-axis as the azimuth angle changes.

[0079] Fixed hub coordinate system: It can be regarded as a rotating hub coordinate system when the azimuth angle is 0, with the origin being the hub center, the X-axis pointing to the tower based on the nacelle inclination plane, the Z-axis perpendicular to the X-axis and pointing to the azimuth angle of 0 degrees, and the Y-axis determined based on the right-hand screw rule.

[0080] The relative coordinate system of the tower top: its origin is at the center of the tower top section circle, the X axis - horizontally points to the tail of the cabin, the Z axis - vertically upward, and the Y axis - determined based on the right-hand screw rule.

[0081] The present application embodiment provides a method for determining blade tip clearance, such as Figure 1 As shown, including:

[0082] S101, obtaining the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system;

[0083] S102, correcting the initial coordinates according to the blade tip deformation coordinates to obtain first coordinates;

[0084] S103, based on the acquired blade pitch angle, impeller cone angle, and distance from the hub center to the blade root center, convert the first coordinate from the blade root coordinate system to the hub coordinate system to obtain a third coordinate;

[0085] S104, based on the acquired azimuth angle, unit inclination angle, horizontal distance between the hub center and the tower centerline, and vertical distance between the hub center and the tower top section, convert the third coordinate from the hub coordinate system to the tower top relative coordinate system to obtain a fifth coordinate;

[0086] S105, acquiring the tower center coordinate at the blade tip height according to the fifth coordinate;

[0087] S106: Determine the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

[0088] In this way, the present application starts from the initial coordinates in the blade root coordinate system, gradually considers the influence of multiple factors such as blade deformation, blade pitch angle, impeller cone angle, azimuth angle, unit inclination angle, etc., and through a series of precise coordinate transformations and calculations, finally calculates the distance from the blade tip to the tower surface in the tower top relative coordinate system, that is, the blade tip clearance. This precise blade tip clearance calculation method greatly reduces the risk of accidental collision between the blade and the tower, thereby significantly improving the safety and stable operation capability of wind power generation equipment.

[0089] In some embodiments, the initial coordinates are corrected according to the blade tip deformation coordinates to obtain the first coordinates, including:

[0090] The initial coordinates of the blade tip in the blade root coordinate system and the deformation coordinates of the blade tip are added together to determine the first coordinates;

[0091] Among them, the initial coordinates of the blade tip in the blade root coordinate system are tipPoint0 (x0, y0, z0);

[0092] The deformation coordinates of the blade tip in the blade root coordinate system are detaB (detaBX, detaBY, detaBZ);

[0093] The first coordinate is tipPoint1=tipPoint0+detaB.

[0094] As a result, in the complex environment of wind turbine operation, such as high turbulence and negative shear wind conditions, the blades often undergo significant deformation. In view of this, the present application specifically considers the deformation of the blades during actual operation and makes corresponding corrections to the blade tip coordinates. This correction measure enables the obtained coordinates to more accurately reflect the position of the blades in the actual operating state, significantly improving the accuracy of the tip clearance calculation compared to relying solely on static design data (such as the initial coordinate tipPoint0), thereby better matching the actual situation.

[0095] In some embodiments, the first coordinate is converted from the blade root coordinate system to the hub coordinate system based on the acquired blade pitch angle, impeller cone angle and the distance from the hub center to the blade root center to obtain the third coordinate, including:

[0096] Get the blade pitch angle thetaP;

[0097] Using Euler transformation, the first coordinate tipPoint1 is converted from the blade root coordinate system to the second coordinate tipPoint2 in the blade root fixed coordinate system, tipPoint2 = Tz*tipPoint1;

[0098] Among them, the Euler transformation matrix

[0099] Get the impeller cone angle thetaC;

[0100] Using Euler transformation, the second coordinate tipPoint2 is converted from the blade root fixed coordinate system to the third coordinate tipPoint3 in the rotating hub coordinate system, tipPoint3 = Ty1*(tipPoint2+A);

[0101] Among them, the Euler transformation matrix

[0102] A is the coordinate of the origin of the blade root fixed coordinate system in the rotating hub coordinate system (0, 0, LHub), and LHub is the distance from the hub center to the blade root center.

[0103] In this way, by introducing the blade pitch angle and the impeller cone angle, and applying the Euler transformation to gradually transform the coordinate system, from the blade root coordinate system to the blade root fixed coordinate system and then to the rotating hub coordinate system, the third coordinate tipPoint3 finally obtained can more accurately represent the position of the blade tip relative to the hub, providing reliable basic data for the subsequent tip clearance calculation, which is conducive to the subsequent accurate calculation of the tip clearance.

[0104] In some embodiments, the third coordinate is converted from the hub coordinate system to the tower top relative coordinate system based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section to obtain the fifth coordinate, including:

[0105] Get the azimuth angle thetaA;

[0106] Using Euler transformation, the third coordinate tipPoint3 is converted from the rotating hub coordinate system to the fourth coordinate tipPoint4 in the fixed hub coordinate system, tipPoint4 = Tx*tipPoint3;

[0107] Among them, the Euler transformation matrix

[0108] Obtain the unit inclination angle thetaT, the horizontal distance between the hub center and the tower centerline, and the vertical distance between the hub center and the tower top section;

[0109] Using Euler transformation, the fourth coordinate tipPoint4 is converted from the fixed hub coordinate system to the fifth coordinate tipPoint5 in the tower top relative coordinate system, tipPoint5 = Ty2*tipPoint4+B;

[0110] Among them, the Euler transformation matrix

[0111] B is the coordinate of the origin of the blade relative coordinate system in the tower top relative coordinate system (-overHang, 0, hOffset), overHang is the horizontal distance between the hub center and the tower centerline, and hOffset is the vertical distance between the hub center and the tower top section.

[0112] In this way, by introducing the azimuth angle and the inclination angle of the unit, and applying the Euler transformation to gradually transform the coordinate system, from the rotating hub coordinate system to the fixed hub coordinate system, and then to the tower top relative coordinate system, the fifth coordinate (tipPoint5) finally obtained can more accurately represent the position of the blade tip relative to the tower, providing reliable basic data for subsequent clearance calculations.

[0113] In some embodiments, determining the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height includes:

[0114] Obtaining the tower center coordinates at the blade tip height, wherein the tower center coordinates at the blade tip height are the value of the Z coordinate in the fifth coordinate;

[0115] Determine the distance from the blade tip to the tower center according to the fifth coordinate tipPoint5 and the tower center coordinate at the blade tip height;

[0116] Get the outer diameter of the tower at the blade tip height;

[0117] The difference between the distance from the blade tip to the tower center and the outer diameter of the tower at the blade tip height is calculated and determined as the blade tip clearance.

[0118] In this way, through the above-mentioned specific mathematical calculation method, the minimum distance between the blade tip and the tower can be determined, and potential risk points, such as the risk of blade sweeping the tower, can be identified in advance, so that necessary protective measures can be taken to avoid accidents, greatly improving the safety of the system.

[0119] In order to more clearly illustrate the above-mentioned method for determining the blade tip clearance, the present application provides a specific embodiment.

[0120] like Figure 2 The structural schematic diagram of the wind turbine shown in the figure, T is the inclination angle of the unit (hereinafter referred to as thetaT), C is the cone angle of the unit (hereinafter referred to as thetaC), O is the horizontal distance between the center of the hub and the central axis of the tower, h is the vertical distance between the center of the hub and the tower top section, and Ht is the tower height.

[0121] Step 1, set the initial coordinates of the blade tip in the blade root coordinate system tipPoint0 (x0, y0, z0);

[0122] The blade root coordinate system is shown in Figure 3As shown, the origin of the blade root coordinate system is the center of the blade root, the Z axis is the blade pitch axis; the X axis is perpendicular to the Z axis and points to the tower when the blade angle is 0; the Y axis is determined based on the right-hand screw rule, and the coordinate system rotates around the Z axis accordingly as the blade angle changes.

[0123] For example, set the initial coordinates to tipPoint0(-2.3, 0.292, 43.66328).

[0124] This coordinate reflects the actual geometric position of a particular blade model in the blade root coordinate system. The position of the blade tip is obtained through precise measurement during engineering design and manufacturing.

[0125] x0 = -2.3: represents the offset of the blade tip relative to the blade root center on the X-axis. A negative value indicates that the blade tip is 2.3 units away from the origin of the blade root coordinate system along the X-axis in the opposite direction of the tower.

[0126] y0=0.292: represents the offset of the blade tip on the Y-axis. A positive value indicates that the blade tip deviates from the blade root centerline by 0.292 units in the positive direction of the Y-axis.

[0127] z0=43.66328: represents the height or length of the blade tip on the Z axis, that is, the height from the blade tip to the center of the blade root is 43.66328 unit distances.

[0128] Step 2, obtaining the blade tip deformation coordinates detaB (detaBX, detaBY, detaBZ) in the blade root coordinate system;

[0129] The blade tip deformation coordinates may be acquired using field sensor data, and the available methods may include but are not limited to: a vibration sensor installed on the blade may monitor the vibration of the blade in real time, thereby inferring the deformation of the blade.

[0130] Alternatively, vibration sensors installed in the nacelle can monitor the movement of the tower and hub, indirectly reflecting the stress conditions and possible deformation of the blades.

[0131] Step 3: Considering the deformation of the blade tip, in the blade root coordinate system, the blade tip coordinate tipPoint0 is corrected to tipPoint1 = tipPoint0 + detaB;

[0132] Step 4, obtain the blade angle thetaP, and use Euler transformation to transform the blade tip coordinate tipPoint1 from the blade root coordinate system to tipPoint2 in the blade root fixed coordinate system, tipPoint2 = Tz*tipPoint1;

[0133] Among them, Figure 3The blade root fixed coordinate system shown can be regarded as the blade root coordinate system when the blade pitch angle is 0. The origin of the blade root fixed coordinate system is the blade root center, the Z axis is the blade pitch axis; the X axis is perpendicular to the Z axis and points to the tower; the Y axis is determined based on the right-hand screw rule.

[0134] Euler transformation matrix

[0135] Step 5: Get the cone angle thetaC, and convert tipPoint2 from the blade root fixed coordinate system to tipPoint3 in the rotating hub coordinate system, tipPoint3 = Ty1*(tipPoint2+A)

[0136] Among them, Figure 4 The rotating hub coordinate system shown has its origin at the hub center, the X-axis pointing to the tower based on the nacelle inclination surface, the Z-axis perpendicular to the X-axis and following the angular direction change of the real-time azimuth angle, and the Y-axis determined based on the right-hand screw rule. The coordinate system rotates accordingly around the X-axis following the change of the azimuth angle.

[0137] Euler transformation matrix

[0138] In addition, A is the origin translation coordinate, that is, the coordinate A (0, 0, LHub) of the origin of the blade root fixed coordinate system in the rotating hub coordinate system, and LHub is the distance from the hub center to the blade root center.

[0139] Step 6: Get the current azimuth angle thetaA, and convert tipPoint3 from the rotating hub coordinate system to tipPoint4 in the fixed hub coordinate system, tipPoint4 = Tx*tipPoint3;

[0140] Among them, Figure 4 The fixed hub coordinate system shown can be regarded as the rotating hub coordinate system when the azimuth angle is 0, with the origin being the hub center, the X-axis pointing to the tower based on the nacelle inclination plane, the Z-axis perpendicular to the X-axis and pointing to the azimuth angle of 0 degrees, and the Y-axis determined based on the right-hand screw rule.

[0141] Euler transformation matrix

[0142] Step 7. Obtain the inclination angle thetaT of the unit and convert tipPoint4 from the fixed hub coordinate system to the tower top relative coordinate system ( Figure 5 ) in tipPoint5, tipPoint5=Ty2*tipPoint4+B;

[0143] Among them, Figure 5The tower top relative coordinate system shown has its origin at the center of the tower top section circle, X-axis - horizontally pointing to the tail of the nacelle, Z-axis - vertically upward, and Y-axis - determined based on the right-hand screw rule.

[0144] Euler transformation matrix

[0145] B is the origin translation coordinate, that is, the coordinate of the blade relative coordinate system origin in the tower top relative coordinate system A (-overHang, 0, hOffset), where overHang is Figure 2 hOffset is the horizontal distance O between the hub center and the tower centerline, and hOffset is the vertical distance h between the hub center and the tower top section.

[0146] Step 8: Obtain the tower center coordinates towerPoint(0, 0, z5) at the blade tip height in the tower top relative coordinate system;

[0147] It should be noted that the tower top relative coordinate system has been determined in step 7, that is, the coordinates of the blade tip in the tower top relative coordinate system (x5, y5, z5) have been obtained, and the z5 here is the Z coordinate of the tower center at the blade tip height.

[0148] Step 9: In the tower top relative coordinate system, based on the blade tip coordinate tipPoint5 and the tower center coordinate towerPoint, calculate the distance tipToTowerCenter from the blade tip to the tower center;

[0149] The specific formula is: tipToTowerCenter = sqrt(x5 2 +y5 2 )

[0150] Step 10: Obtain the outer diameter R of the tower at the blade tip height, and calculate the distance tipToTowerSurface from the blade tip to the tower surface.

[0151] The specific formula is: tipToTowerSurface=tipToTowerCenter-R.

[0152] The present application embodiment provides a method for predicting the minimum blade tip clearance, such as Figure 6 As shown, including:

[0153] S601, using the above-mentioned method for determining blade tip clearance, obtaining blade tip clearances corresponding to different azimuth angles to form a predicted clearance set;

[0154] S602: Determine a minimum value from the predicted clearance set, where the minimum value is the predicted minimum blade tip clearance.

[0155] In this way, this method can accurately predict the minimum clearance value of the blade when passing through the tower at different azimuth angles. Based on the predicted minimum tip clearance, the clearance protection trigger threshold can be set more reasonably. Specifically, when the actual clearance is less than the threshold, the clearance protection strategy is activated in time, such as adjusting the blade angle, reducing the rotation speed, etc., so as to effectively avoid the occurrence of tower sweeping accidents.

[0156] One thing to explain is that in order to solve the problem that in the simulation process of the clearance protection strategy of traditional wind turbines, the bladed software cannot dynamically simulate the blade tip clearance due to the lack of a real-time clearance interface. This application has realized the function of obtaining the blade tip clearance in real time in the bladed software by developing new algorithms and interfaces, which provides the possibility for the dynamic simulation of the clearance protection strategy, allowing engineers to simulate the interaction between the blade and the tower more realistically in the simulation environment.

[0157] Exemplarily, an azimuth angle between 145 degrees and 185 degrees is selected, with a step size of 1 degree. This means that all integer angles from 145 degrees, 146 degrees, 147 degrees, ... to 185 degrees will be considered, for a total of 41 different azimuth angles.

[0158] Specifically, azimuth angle 145 degrees: blade tip clearance is 1.2 meters

[0159] Azimuth angle 146 degrees: blade tip clearance is 1.2 meters

[0160] Azimuth angle 147 degrees: blade tip clearance is 1.3 meters

[0161] Azimuth angle 148 degrees: blade tip clearance is 1.3 meters

[0162] Azimuth angle 149 degrees: blade tip clearance is 1.3 meters

[0163] Azimuth angle 150 degrees: blade tip clearance is 1.1 meters ...

[0165] Azimuth angle 172 degrees: blade tip clearance is 0.5 meters ...

[0167] Azimuth angle 185 degrees: blade tip clearance is 0.9 meters

[0168] Therefore, based on the above calculations, the predicted minimum blade tip clearance is 0.5 meters, which occurs at an azimuth angle of 172 degrees.

[0169] Figure 7 is a structural schematic diagram of a blade tip clearance determination device provided in an embodiment of the present application. The present application embodiment provides a blade tip clearance determination device 700, the device comprising:

[0170] A first acquisition unit 701 is used to acquire the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system;

[0171] A correction unit 702, configured to correct the initial coordinates according to the blade tip deformation coordinates to obtain first coordinates;

[0172] A first conversion unit 703 is used to convert the first coordinate from the blade root coordinate system to the hub coordinate system to obtain a third coordinate based on the acquired blade pitch angle, impeller cone angle and the distance from the hub center to the blade root center;

[0173] The second conversion unit 704 is used to convert the third coordinate from the hub coordinate system to the tower top relative coordinate system based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section to obtain a fifth coordinate;

[0174] A second acquisition unit 705 is used to acquire the tower center coordinate at the blade tip height according to the fifth coordinate;

[0175] The determination unit 706 is configured to determine the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

[0176] Figure 8 is a structural schematic diagram of a minimum blade tip clearance prediction device provided in an embodiment of the present application. The embodiment of the present application provides a minimum blade tip clearance prediction device 800, the device comprising:

[0177] An acquisition unit 801 is used to use the above-mentioned blade tip clearance determination device to acquire blade tip clearances corresponding to different azimuth angles to form a predicted clearance set;

[0178] The determining unit 802 is configured to determine a minimum value from the predicted clearance set, where the minimum value is the predicted minimum blade tip clearance.

[0179] Fig. 9 900 is a structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device executes the above method, such as Fig. 9 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0180] It should be understood that Fig. 9 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0181] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit inside the processor 910, or an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0182] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via the bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0183] It should be understood that in the embodiment of the present application, the processor 910 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 910 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0184] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a nonvolatile random access memory. For example, the processor 910 may also store information on the device type.

[0185] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0186] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0187] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0188] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0189] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0190] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0191] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0192] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0193] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0194] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0195] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0196] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0197] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0198] In addition, the words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0199] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0200] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0201] References to "one embodiment" or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the particular features, structures, or characteristics can be combined in any appropriate manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0202] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the scope of protection of the present application.

Claims

1. A method for determining blade tip clearance, characterized in that: include: Obtaining the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system; According to the blade tip deformation coordinates, the initial coordinates are corrected to obtain first coordinates; Based on the acquired blade pitch angle, impeller cone angle and the distance from the hub center to the blade root center, convert the first coordinate from the blade root coordinate system to the hub coordinate system to obtain a third coordinate; Based on the acquired azimuth angle, unit inclination angle, horizontal distance between the hub center and the tower centerline, and vertical distance between the hub center and the tower top section, the third coordinate is converted from the hub coordinate system to the tower top relative coordinate system to obtain a fifth coordinate; According to the fifth coordinate, obtaining the tower center coordinate at the blade tip height; The blade tip clearance is determined based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

2. The determination method according to claim 1, characterized in that: The step of correcting the initial coordinate according to the blade tip deformation coordinate to obtain the first coordinate includes: The initial coordinates of the blade tip in the blade root coordinate system and the deformation coordinates of the blade tip are added together to determine the first coordinates; Among them, the initial coordinates of the blade tip in the blade root coordinate system are tipPoint0 (x0, y0, z0); The deformation coordinates of the blade tip in the blade root coordinate system are detaB (detaBX, detaBY, detaBZ); The first coordinate is tipPoint1=tipPoint0+detaB.

3. The determination method according to claim 1, characterized in that: The method of converting the first coordinate from the blade root coordinate system to the hub coordinate system based on the obtained blade pitch angle, impeller cone angle and the distance from the hub center to the blade root center to obtain the third coordinate includes: Get the blade pitch angle thetaP; Using Euler transformation, the first coordinate tipPoint1 is converted from the blade root coordinate system to the second coordinate tipPoint2 in the blade root fixed coordinate system, tipPoint2 = Tz*tipPoint1; Among them, the Euler transformation matrix Get the impeller cone angle thetaC; Using Euler transformation, the second coordinate tipPoint2 is converted from the blade root fixed coordinate system to the third coordinate tipPoint3 in the rotating hub coordinate system, tipPoint3 = Ty1*(tipPoint2+A); Among them, the Euler transformation matrix A is the coordinate of the origin of the blade root fixed coordinate system in the rotating hub coordinate system (0, 0, LHub), and LHub is the distance from the hub center to the blade root center.

4. The determination method according to claim 1, characterized in that: The method converts the third coordinate from the hub coordinate system to the tower top relative coordinate system based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section to obtain the fifth coordinate, including: Get the azimuth angle thetaA; Using Euler transformation, the third coordinate tipPoint3 is converted from the rotating hub coordinate system to the fourth coordinate tipPoint4 in the fixed hub coordinate system, tipPoint4 = Tx*tipPoint3; Among them, the Euler transformation matrix Obtain the unit inclination angle thetaT, the horizontal distance between the hub center and the tower centerline, and the vertical distance between the hub center and the tower top section; Using Euler transformation, the fourth coordinate tipPoint4 is converted from the fixed hub coordinate system to the fifth coordinate tipPoint5 in the tower top relative coordinate system, tipPoint5 = Ty2*tipPoint4+B; Among them, the Euler transformation matrix B is the coordinate of the origin of the blade relative coordinate system in the tower top relative coordinate system (-overHang, 0, hOffset), overHang is the horizontal distance between the hub center and the tower centerline, and hOffset is the vertical distance between the hub center and the tower top section.

5. The determination method according to claim 1, characterized in that: The determining of the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height includes: Obtaining the tower center coordinates at the blade tip height, wherein the tower center coordinates at the blade tip height are the value of the Z coordinate in the fifth coordinate; Determine the distance from the blade tip to the tower center according to the fifth coordinate tipPoint5 and the tower center coordinate at the blade tip height; Get the outer diameter of the tower at the blade tip height; The difference between the distance from the blade tip to the tower center and the outer diameter of the tower at the blade tip height is calculated and determined as the blade tip clearance.

6. A method for predicting minimum blade tip clearance, characterized in that: include: Using the method for determining the blade tip clearance according to any one of claims 1 to 5 above, the blade tip clearances corresponding to different azimuth angles are obtained to form a predicted clearance set; A minimum value is determined from the set of predicted clearances, the minimum value being the predicted minimum blade tip clearance.

7. A device for determining blade tip clearance, characterized in that: include: A first acquisition unit, used to acquire the initial coordinates and deformation coordinates of the blade tip in the blade root coordinate system; A correction unit, used for correcting the initial coordinate according to the blade tip deformation coordinate to obtain a first coordinate; A first conversion unit, configured to convert the first coordinate from a blade root coordinate system to a hub coordinate system based on the acquired blade pitch angle, impeller cone angle, and distance from a hub center to a blade root center, to obtain a third coordinate; A second conversion unit is used to convert the third coordinate from the hub coordinate system to the tower top relative coordinate system based on the acquired azimuth angle, the unit inclination angle, the horizontal distance between the hub center and the tower center axis, and the vertical distance between the hub center and the tower top section to obtain a fifth coordinate; A second acquisition unit, used for acquiring the tower center coordinate at the blade tip height according to the fifth coordinate; The determining unit is used to determine the blade tip clearance based on the acquired tower center coordinates at the blade tip height and the outer diameter of the tower at the blade tip height.

8. A prediction device for minimum blade tip clearance, characterized in that: include: an acquisition unit, configured to acquire the blade tip clearances corresponding to different azimuth angles using the blade tip clearance determination device according to claim 7, and form a predicted clearance set; A determination unit is used to determine a minimum value from the predicted clearance set, where the minimum value is the predicted minimum blade tip clearance.

9. A computing device, characterized in that include: processor, and A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor executes the method for determining the blade tip clearance according to any one of claims 1 to 5 or the method for predicting the minimum blade tip clearance according to claim 6.

10. A storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed by a computer, the computer is enabled to execute the method for determining the blade tip clearance according to any one of claims 1 to 5 or the method for predicting the minimum blade tip clearance according to claim 6.

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