Method, device and equipment for determining optimal working point of umbrella ladder type land-based high-altitude wind power generation system, medium and product

Abstract

The invention discloses an umbrella ladder type land-based high-altitude wind power generation system optimal working point determining method and device, equipment, a medium and a product, and relates to the field of land-based wind power generation. The method comprises the following steps: in a ground coordinate system, respectively constructing a polar coordinate system of an umbrella body and a wind-facing coordinate system of the umbrella body; based on the constructed polar coordinate system and the wind-facing coordinate system, establishing a dynamic model of an umbrella ladder system in the umbrella ladder type land-based high-altitude wind power generation system; determining a cable output mechanical power model according to the kinetic model; and a wind speed-rope speed relation model in the optimal operation state is obtained through deduction in combination with a simulation test auxiliary theory, so that the optimal working point is determined, and the rope releasing speed in the rising process of the umbrella ladder system in the umbrella ladder type land-based high-altitude wind power generation system is controlled according to the optimal working point. According to the method, the operation parameter data in the optimal operation state can be determined, so that the umbrella ladder type land-based high-altitude wind power generation system works in the optimal operation state.

Description

Technical Field

[0001] The present application relates to the field of land-based wind power generation, and particularly to a method, device, equipment, medium and product for determining the optimal operating point of an umbrella-ladder type land-based high-altitude wind power generation system. Background Art

[0002] Land-based wind power generation technology has become mature, but some problems have emerged during the large-scale commercial application process. First of all, the near-ground wind energy is affected by the surface trend, generally has a low density, poor wind energy quality, weak wind force, unstable wind speed, and easy wind direction change. Secondly, the existing methods of increasing the tower height have limited effects. After the tower reaches a certain height, the cost increases sharply and the stability drops significantly; at the same time, large-scale land-based wind power stations occupy a large amount of land resources. At present, the land resources suitable for the construction of wind power plants are tending to be exhausted. Therefore, a large number of innovative wind energy exploration projects have been proposed to solve these problems, and the most prominent proposal is the high-altitude wind energy (HAWE) project based on airborne wind energy (AWE) technology. The wind force increases with the ground height. The wind above 200 m above the ground not only has a high wind speed, but also is relatively stable and rarely changes direction. There is data showing that at a height of 500 m - 1000 m, the average wind power density is about 4 times that of 50 m - 150 m, and at a height of 10,000 m, it is 40 times higher. This fact indicates that the capture of high-altitude wind energy has great application value.

[0003] AWE is the core technical means of HAWE. According to the power generation location, the form of AWE can be divided into airborne and land-based. Airborne means that the generator is sent to the high altitude by an aircraft to directly capture high-altitude wind energy; land-based means that the generator is placed on the ground, and the wind energy capture device converts the wind energy into mechanical energy to drive the ground motor to generate electricity. Different from the previously existing high-altitude wind power generation equipment such as paraglider type and buoyancy airborne turbine type, the umbrella-ladder type land-based AWEs are proposed. The umbrella-ladder type land-based high-altitude wind power generation system is divided into airborne equipment and ground equipment. The airborne equipment includes a working umbrella, a balance umbrella and a helium balloon. The working umbrella, the balance umbrella and the helium balloon are sequentially connected from bottom to top by a cable. The working umbrella, the balance umbrella and the helium balloon form an umbrella-ladder system, as Figure 1 shown. When rising by doing work, the umbrella body is affected by the wind force in the air, drives the cable, and transfers the kinetic energy to the generator through the transmission device to generate electricity; when recovering and descending, the umbrella body is closed to reduce the influence of the wind force so as to reduce energy consumption, and the motor drags the umbrella-ladder back to the low-altitude area.

[0004] By analogy with the maximum power point tracking (MPPT) in traditional wind power generation, when the umbrella ladder device does work in ascending, based on the current operating state and the real-time wind resource distribution, there exists an optimal operating state. According to the operating parameter data under the optimal operating state, the ascent of the umbrella ladder device can be optimized and controlled. However, currently, how to determine the operating parameter data under this optimal operating state is unknown. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, equipment, medium and product for determining the optimal operating point of an umbrella ladder type land-based high-altitude wind power generation system, which can determine the operating parameter data under the optimal operating state and enable the umbrella ladder type land-based high-altitude wind power generation system to operate under the optimal operating state.

[0006] To achieve the above purpose, this application provides the following solutions:

[0007] In the first aspect, this application provides a method for determining the optimal operating point of an umbrella ladder type land-based high-altitude wind power generation system, including: in the ground coordinate system, respectively constructing the polar coordinate system of the umbrella body and the wind-facing coordinate system of the umbrella body; based on the constructed polar coordinate system and wind-facing coordinate system, establishing the dynamic model of the umbrella ladder system in the umbrella ladder type land-based high-altitude wind power generation system; according to the dynamic model, determining the mechanical power model of the cable output; according to the mechanical power model of the cable output, simulating the ascending work process of the umbrella ladder type land-based high-altitude wind power generation system to obtain a cluster of rope speed-height-cable output mechanical power curves under different wind speeds; according to the cluster of rope speed-height-cable output mechanical power curves, obtaining a cluster of rope speed-cable output mechanical power curves ignoring the height change; based on the cluster of rope speed-cable output mechanical power curves, increasing the discrete points of wind speed change, and simulating to obtain a two-dimensional curve cluster of wind speed-rope speed-cable output mechanical power; extracting the maximum point of the cable output mechanical power of each curve in the two-dimensional curve cluster of wind speed-rope speed-cable output mechanical power, and fitting the functional relationship between the rope speed and the wind speed to obtain the wind speed-rope speed relationship model under the optimal operating state of the umbrella ladder type land-based high-altitude wind power generation system; according to the real-time wind speed, using the wind speed-rope speed relationship model, obtaining the rope speed under the optimal operating state as the optimal operating point of the umbrella ladder type land-based high-altitude wind power generation system, and controlling the rope release speed during the ascending process of the umbrella ladder system in the umbrella ladder type land-based high-altitude wind power generation system according to the optimal operating point.

[0008] In the second aspect, this application provides an umbrella ladder type land-based high-altitude wind power generation device, including: an umbrella ladder type land-based high-altitude wind power generation system and a controller; the controller adopts the above method for determining the optimal operating point of the umbrella ladder type land-based high-altitude wind power generation system, and controls the rotation speed of the motor in the umbrella ladder type land-based high-altitude wind power generation system according to the optimal operating point to regulate the rope release speed during the ascending process of the umbrella ladder system.

[0009] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system described in any one of the above.

[0010] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system described in any one of the above.

[0011] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system described in any one of the above.

[0012] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0013] The present application provides a method, device, equipment, medium and product for determining the optimal operating point of an umbrella-ladder type land-based high-altitude wind power generation system. Based on the dynamic model of the umbrella-ladder system, a mechanical power model of the cable output is established, and the mechanical power characteristics input by the cable to the transmission equipment are determined. Furthermore, through simulation experiments to assist theoretical derivation, the optimal operating point is obtained, that is, the operating parameter data under the optimal operating state are determined, which can enable the umbrella-ladder type land-based high-altitude wind power generation system to operate under the optimal operating state. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 Schematic diagram of an umbrella-ladder type land-based high-altitude wind power generation device provided in an embodiment of the present application;

[0016] Figure 2 Schematic flow chart of a method for determining the optimal operating point of an umbrella-ladder type land-based high-altitude wind power generation system provided in an embodiment of the present application;

[0017] Figure 3 Schematic diagram of a ground coordinate system and a polar coordinate system provided in another embodiment of the present application;

[0018] Figure 4 Schematic diagram of a wind-facing coordinate system provided in another embodiment of the present application;

[0019] Figure 5 The single-umbrella force analysis diagram provided by another embodiment of this application;

[0020] Figure 6 The schematic diagram of the umbrella ladder provided by another embodiment of this application;

[0021] Figure 7 The schematic diagram of the full-dimensional simulation inclination angle change provided by another embodiment of this application;

[0022] Figure 8 The schematic diagram of the full-dimensional simulation angle of attack change provided by another embodiment of this application;

[0023] Figure 9 The schematic diagram of the full-dimensional simulation highest point height change provided by another embodiment of this application;

[0024] Figure 10 The schematic diagram of the full-dimensional simulation cable rope tension change provided by another embodiment of this application;

[0025] Figure 11 The schematic diagram of the full-dimensional simulation cable rope mechanical power change provided by another embodiment of this application;

[0026] Figure 12 The schematic diagram of the rope speed-height-cable rope output mechanical power curve cluster at different wind speeds provided by another embodiment of this application;

[0027] Figure 13 The schematic diagram of the cable rope mechanical power change at different wind speeds and heights under a fixed rope speed provided by another embodiment of this application;

[0028] Figure 14 The schematic diagram of the rope speed-cable rope output mechanical power curve cluster ignoring height change provided by another embodiment of this application;

[0029] Figure 15 The schematic diagram of the full-dimensional simulation cable rope mechanical power change provided by another embodiment of this application;

[0030] Figure 16 The schematic diagram of the full-dimensional simulation cable rope mechanical power change provided by another embodiment of this application;

[0031] Figure 17 The structural schematic diagram of a computer device provided by an embodiment of this application. Detailed implementation manners

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0034] In an exemplary embodiment, Figure 2 As shown, a method for determining the optimal working point of a parachute ladder type land-based high-altitude wind power generation system is provided, comprising the following steps 101 to 108. Among them:

[0035] Step 101: In the ground coordinate system, construct the parachute's polar coordinate system and the parachute's windward coordinate system respectively.

[0036] Step 102: Based on the constructed polar coordinate system and windward coordinate system, a dynamic model of the parachute-ladder system in the parachute-ladder land-based high-altitude wind power generation system is established.

[0037] Step 103: Determine the cable output mechanical power model based on the dynamic model.

[0038] Step 104: Based on the cable output mechanical power model, the ascending work process of the parachute ladder type land-based high-altitude wind power generation system is simulated to obtain a cluster of rope speed-height-cable output mechanical power curves under different wind speeds.

[0039] Step 105: Obtain a cluster of rope speed-cable output mechanical power curves ignoring height changes based on the cluster of rope speed-height-cable output mechanical power curves.

[0040] Step 106: Based on the rope speed-cable output mechanical power curve cluster, discrete points of wind speed variation are added to simulate and obtain a two-dimensional curve cluster of wind speed-rope speed-cable output mechanical power.

[0041] Step 107: Extract the maximum value of the cable output mechanical power for each curve in the wind speed-rope speed-cable output mechanical power two-dimensional curve cluster, and perform a functional fitting between the rope speed and the wind speed to obtain a wind speed-rope speed relationship model for the parachute-ladder land-based high-altitude wind power generation system under the optimal operating state.

[0042] Step 108: According to the real-time wind speed, use the wind speed-rope speed relationship model to obtain the rope speed under the optimal operating state, which is used as the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system, and control the rope release speed during the ascending process of the umbrella-ladder system in the umbrella-ladder type land-based high-altitude wind power generation system according to the optimal operating point.

[0043] The optimal operating point, which is applied to the land-based umbrella-ladder type high-altitude wind power generation system, can be analogized to the maximum power tracking in traditional wind power. It refers to the operating parameter data of the system in the optimal operating state determined according to the current operating state and the real-time wind resource distribution when the umbrella-ladder equipment ascends to do work. This set of data is called the optimal operating point of the umbrella-ladder equipment.

[0044] Implement the above-mentioned Step 101 to Step 108. Based on the dynamic model of the umbrella-ladder type land-based high-altitude wind power generation equipment, obtain a characterization method for the mechanical power characteristics input by the main cable to the transmission equipment, and design a method to determine the optimal operating point of the system - a series of values or instructions of operating parameters after obtaining the mechanical power characteristics, providing a theoretical basis for subsequent control means.

[0045] In another exemplary embodiment of the present application, to clearly describe the motion states of each module of the umbrella-ladder equipment in the air, establish a coordinate system as shown in Figure 3 and Figure 4 The coordinate system shown.

[0046] Figure 3 O-xyz in is the ground coordinate system. Set the origin of the ground coordinate system as O. The coordinate axes of the ground coordinate system include the x-axis, y-axis, and z-axis, and the x-axis indicates the horizontal direction; the center of mass of the umbrella body in the umbrella-ladder type land-based high-altitude wind power generation system is P.

[0047] Construct a polar coordinate system of the umbrella body with the center of mass of the umbrella body in the air as the origin to describe the changes of (θ, Φ, r). The polar coordinate system takes the center of mass P of the umbrella body as the origin, and respectively establishes and Three axes; Indicates the positive direction of the change in the cable length r, Is the positive unit vector corresponding to the cable vector ; Represents the cable vector The modulus of; Indicates The positive direction of the change in the angle Φ between the direction and the x-axis in the ground coordinate system, Represents the cable vector The projection of the umbrella body in the xy plane of the ground coordinate system, Represents the vector from the projection point P' to the center of mass P; Indicates the cable vector The positive direction of the change in the angle θ with the vertical direction plane OPP', and

[0048] For the wind coordinate system, with the centroid P of the umbrella body as the origin, three coordinate axes x w , y w and z w are established respectively starting from the centroid P; x w indicates the positive direction of the aerodynamic drag force on the umbrella body, y w is perpendicular to the projection plane, and the projection plane is the projection plane of the relative wind speed vector onto the effective windward surface of the umbrella; z w indicates the positive direction of the aerodynamic lift force on the umbrella body, and z w is perpendicular to both x w and y w ; the direction of the aerodynamic drag force on the umbrella body is parallel to the relative wind speed, and the angle between the relative wind speed and the axis (considered to coincide with the cable direction) is the angle of attack α. The aerodynamic lift coefficient C l of the umbrella and the aerodynamic drag coefficient C d of the umbrella are both related to the angle of attack α. The aerodynamic drag force F d on the umbrella body and the aerodynamic lift force F l on the umbrella body are within the projection plane S, and F l ⊥F d .

[0049] In another exemplary embodiment of the present application, when performing the modeling work of the system airborne equipment, for the convenience of analysis, reasonably, it is assumed that all external forces acting on the umbrella body act on the centroid of the umbrella body, and the connection points of the working umbrella / balancing umbrella body and the main cable coincide with the centroid of the umbrella body; the cable is regarded as a straight rod with a uniform mass distribution; assuming that the wind speed is in an ideal state and the wind direction remains unchanged, it can be considered that the umbrella ladder moves in the two-dimensional plane xOy. The umbrella body is subjected to two external forces, gravity and aerodynamic force. The direction of gravity is vertically downward, the cable tension is downward along the rope direction, the aerodynamic drag force is parallel to the relative wind speed of the umbrella, and the aerodynamic lift force is perpendicular to the relative wind speed of the umbrella. During the ascending process of the umbrella ladder, the cable is released and the mass increases.

[0050] Taking the umbrella ladder system shown in Figure 6 as an example, which contains 4 working umbrellas, 3 balancing umbrellas, and one helium balloon, step 102 can be replaced by the following steps 201 to step 203:

[0051] Step 201: Based on the constructed polar coordinate system, establish the expression of the cable mass and the highest point height as:

[0052]

[0053] where M represents the cable mass, h endDenote the height of the highest point as \(h\), and \(\rho\) T denote the linear density of the cable; \(\theta\) denotes the cable vector and the angle between the cable vector and the vertical direction. The centroid \(P\) of the parachute is the origin of the polar coordinate system. denote the cable vector;

[0054] Step 202: Based on the constructed polar coordinate system and the wind coordinate system, as Figure 5 shown, the aerodynamic force on a single parachute is expressed as:

[0055]

[0056] where, denotes the relative wind speed vector, denotes the wind speed vector, denotes the cable speed vector; \(F\) l denotes the aerodynamic lift force on the parachute, \(\rho\) q denotes the air density, \(A\) denotes the windward area of the parachute, \(C\) l denotes the aerodynamic lift coefficient of the parachute; \(\alpha\) denotes the angle between the relative wind speed and the axis as the angle of attack, is an axis of the polar coordinate system, denotes the positive direction of the change in the cable length \(r\), which is the positive unit vector corresponding to the cable vector ; \(F\) d denotes the aerodynamic drag force on the parachute, \(C\) d denotes the aerodynamic drag coefficient of the parachute;

[0057] Step 203: According to the expression of the cable mass and the height of the highest point and the aerodynamic force on the single parachute, obtain the dynamic model of the parachute-ladder system as:

[0058]

[0059] where, \(F\) T is the cable tension, \(F\) f is the buoyancy force on the helium balloon, \(F\) li denotes the aerodynamic lift force on the \(i\)-th structure from top to bottom in the airborne equipment, \(F\) di denotes the aerodynamic drag force on the \(i\)-th structure from top to bottom in the airborne equipment, \(m\) h , \(m\) b and \(m\) u respectively denote the mass of the helium balloon, the balance parachute and the work parachute, \(g\) denotes the acceleration due to gravity; denotes the angular acceleration, \(l\) denotes the cable length, \(l\) i denotes the distance of the \(i\)-th structure from the ground origin from top to bottom in the airborne equipment, \(l\) h denotes the distance of the helium balloon from the ground origin.

[0060] Figure 6 In this, P0 is the center of mass of the helium balloon, P1 is the center of mass of the first balance parachute, P2 is the center of mass of the second balance parachute, P3 is the center of mass of the third balance parachute, P4 is the center of mass of the first work parachute, P5 is the center of mass of the second work parachute, P6 is the center of mass of the third work parachute, and P7 is the center of mass of the fourth work parachute.

[0061] In another exemplary embodiment of the present application, the mechanical power output by the cable can be expressed by multiplying the cable tension by the cable speed (the overall speed of the cable), and the mechanical power output model of the cable is:

[0062] P″ = F T v T = f(α, θ, h end , v w , v T , F T );

[0063] Among them, P″ represents the mechanical power output by the cable, F T is the cable tension, v T represents the cable speed; α represents the angle between the relative wind speed and the axis as the angle of attack, is an axis of the polar coordinate system, represents the positive direction of the change in the cable length r, which is the positive unit vector corresponding to the cable vector ; θ represents the angle between the cable vector and the vertical direction, and the center of mass P of the parachute body is the origin of the polar coordinate system, represents the cable vector; h end represents the height of the highest point, v w represents the wind speed, and f() represents the mapping relationship between the variables in the parentheses and the mechanical power output by the cable.

[0064] In another exemplary embodiment of the present application, the above step 104 is replaced by the following steps 301 to 303:

[0065] Step 301: Set the height of the highest point of the cable.

[0066] Step 302: Set the wind speed and the cable speed according to the formulas and ; among them, v w represents the wind speed; h w represents the sum of the height h′ from the ground and the local altitude h0, h w = h0 + h′; v T represents the cable speed, and t represents time.

[0067] Step 303: According to the set maximum height of the cable, wind speed, and cable speed, perform a full-dimensional simulation on the ascending work process of the parachute body from the starting state until the cable reaches the maximum height. Obtain a cluster of cable speed-height-cable output mechanical power curves under different wind speeds in a coordinate system with the cable speed as the x-axis, the height of the highest point of the cable from the ground as the y-axis, and the mechanical power output by the cable as the z-axis; the starting state refers to the state where all parachute bodies are sequentially converted from the closed state to the open state, and the length of the cable is always the initial length.

[0068] In another exemplary embodiment of the present application, the wind speed-cable speed relationship model is:

[0069]

[0070] Wherein, v T represents the cable speed, and v w represents the wind speed.

[0071] An exemplary process of the above steps 104 to 107 is as follows:

[0072] The full-dimensional simulation of the mechanical power output by the cable is as Figures 7 - 11 shown. The simulation conditions are shown in Table 1.

[0073] Table 1 Simulation parameter settings

[0074] Physical quantity Symbol Value Linear density of cable <![CDATA[ρ T > 0.72 kg / m Air density <![CDATA[ρ q > <![CDATA[1.29kg / m 3 > Initial altitude <![CDATA[h0]]> 2000m Radius of work parachute <![CDATA[R u > 20m Mass of work parachute <![CDATA[m u > 62.5 kg Radius of balance parachute <![CDATA[R b > 10m Mass of balance parachute <![CDATA[m b > 33.33 kg Radius of helium balloon <![CDATA[R h > 8m Mass of helium balloon <![CDATA[m h > 300 kg Number of balance parachutes <![CDATA[N b > 3 Number of work parachutes <![CDATA[N u > 4 Gravitational acceleration g <![CDATA[9.81m / s 2 > Initial angle <![CDATA[θ0]]> 1.5458 rad Initial length of cable <![CDATA[l0]]> 600m Height of the highest point <![CDATA[h max > 2500m

[0075] The wind speed v w and the cable speed v T are respectively set as follows:

[0076]

[0077] That is, in the range of 0 < t < 20, the cable speed v T has a linear relationship with t, and the cable speed v T increases with the increase of t. In the range of t ≥ 20, the cable speed v T is equal to 4.

[0078] Where h w represents the sum of the height from the ground and the local altitude h0:

[0079] h w = h0 + h';

[0080] During the simulation process, in the starting state, all parachute bodies are sequentially converted from the closed state to the open state. In this state, the length of the cable is always the initial length, and the system does not do work. Until all parachute bodies are opened, the system switches to the ascending work state, the cable starts to be released, and the system starts to do work until the height of the highest point of the cable reaches the end condition.

[0081] As shown by the full-dimensional simulation results, during the power generation stage, the angle between the cable and the ground is stable at 0.78 rad, and the angle of attack of the parachute group is stable at 70°. According to the components and the variation of α, they are assumed to be constants. Taking the rope speed v T as the x-axis, the height h' of the highest point of the cable from the ground as the y-axis, and the power P as the z-axis, a cluster of curves under different wind speeds is obtained, as Figure 12 shown. It is noted that the relationship between the power output and the height h is linear. Under different wind fields, when the rope speed is 6 m / s, the mechanical power of the cable at different heights is as Figure 13 shown. It can be seen that the mass of the cable has little influence on the mechanical power. Within a reasonable range, the influence of height on the mechanical power is ignored, and Figure 14 is obtained. According to Figure 14 and the mechanical power output model of the cable, under the assumed conditions, there should theoretically be a v T0 such that the power reaches a maximum value P max . To verify this conclusion, the discrete points of the wind speed change are increased, and a two-dimensional curve cluster of wind speed-rope speed-power is obtained under the reduced-dimensional simulation, as Figure 15 shown. Each rope speed-power curve corresponds to a different wind speed. The maximum value points of each curve are extracted for the fitting of the rope speed-wind speed function relationship, and an ideal rope speed curve is obtained, as Figure 16 shown. So far, by the above method, the optimal rope speed operating point of the umbrella-ladder type land-based AWEs is obtained:

[0082]

[0083] This application proposes a method for determining the optimal operating point of the umbrella-type land-based AWEs based on simulation experiments to assist theoretical derivation. For a brand-new high-altitude wind power generation system, this application can clearly describe the motion of the aerial equipment of the umbrella-ladder system by establishing different coordinate systems; according to the description of the motion of the aerial equipment, its dynamic model is established, and considering the complexity of the model, the assumed operating conditions are reasonably set during the analysis; an innovative method for determining the optimal operating point of the umbrella-type land-based AWEs based on simulation experiments to assist theoretical derivation is proposed.

[0084] Since this application uses a brand-new model in the field of high-altitude wind power generation, this method fills the research gap in this field. At the same time, it provides ideas and theoretical reference support for subsequent scientific research work, and can also promote the exchange and sharing of research results in the field of high-altitude wind power generation, accelerating the popularization and promotion of technology.

[0085] Based on the same inventive concept, an embodiment of the present application further provides a umbrellaladder type land-based high-altitude wind power generation device for implementing the method for determining the optimal operating point of the umbrellaladder type land-based high-altitude wind power generation system involved above. The implementation solution provided by this device for solving problems is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the umbrellaladder type land-based high-altitude wind power generation device provided below can refer to the limitations on the method for determining the optimal operating point of the umbrellaladder type land-based high-altitude wind power generation system in the foregoing, and will not be repeated here.

[0086] In an exemplary embodiment, a umbrellaladder type land-based high-altitude wind power generation device is provided, which includes: a umbrellaladder type land-based high-altitude wind power generation system and a controller;

[0087] The controller adopts the above-mentioned method for determining the optimal operating point of the umbrellaladder type land-based high-altitude wind power generation system, and controls the rotation speed of the motor in the umbrellaladder type land-based high-altitude wind power generation system according to the optimal operating point, so as to regulate the rope releasing speed during the ascending process of the umbrellaladder system.

[0088] In an exemplary embodiment, a computer device is provided. This computer device can be a server or a terminal, and its internal structure diagram can be as Figure 17 shown. This computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of this computer device is used to provide computing and control capabilities. The memory of this computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of this computer device is used to store the optimal operating point. The input / output interface of this computer device is used to exchange information between the processor and external devices. The communication interface of this computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes a method for determining the optimal operating point of a umbrellaladder type land-based high-altitude wind power generation system.

[0089] Those skilled in the art can understand, Figure 17The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0090] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0091] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0092] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0093] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0094] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0095] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0096] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for determining the optimal operating point of an umbrella-ladder type land-based high-altitude wind power generation system, characterized in that, including: In the ground coordinate system, respectively construct the polar coordinate system of the umbrella body and the wind-facing coordinate system of the umbrella body; Based on the constructed polar coordinate system and wind-facing coordinate system, establish the dynamic model of the umbrella-ladder system in the umbrella-ladder type land-based high-altitude wind power generation system; According to the dynamic model, determine the cable output mechanical power model; According to the cable output mechanical power model, simulate the ascending work process of the umbrella-ladder type land-based high-altitude wind power generation system to obtain a cluster of rope speed-height-cable output mechanical power curves at different wind speeds; According to the cluster of rope speed-height-cable output mechanical power curves, obtain a cluster of rope speed-cable output mechanical power curves ignoring height changes; Based on the cluster of rope speed-cable output mechanical power curves, increase the discrete points of wind speed change, and simulate to obtain a two-dimensional cluster of wind speed-rope speed-cable output mechanical power curves; Extract the maximum point of the cable output mechanical power of each curve in the two-dimensional cluster of wind speed-rope speed-cable output mechanical power curves, and perform curve fitting on the functional relationship between rope speed and wind speed to obtain the wind speed-rope speed relationship model under the optimal operating state of the umbrella-ladder type land-based high-altitude wind power generation system; According to the real-time wind speed, use the wind speed-rope speed relationship model to obtain the rope speed under the optimal operating state as the optimal working point of the umbrella-ladder type land-based high-altitude wind power generation system, and control the rope release speed during the ascending process of the umbrella-ladder system in the umbrella-ladder type land-based high-altitude wind power generation system according to the optimal working point.

2. The method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to claim 1, wherein Set the origin of the ground coordinate system as O, and the coordinate axes of the ground coordinate system include the x-axis, y-axis, and z-axis, and the x-axis indicates the horizontal direction; the center of mass of the umbrella body in the umbrella-ladder type land-based high-altitude wind power generation system is P; The polar coordinate system takes the centroid P of the umbrella body as the origin, and three axes are established starting from the centroid P respectively and ; indicates the positive direction of the change in the length r of the guiding cable, is the positive unit vector corresponding to the cable vector ; represents the modulus of the cable vector ; indicates the positive direction of the change in the angle Φ between and the x-axis direction in the ground coordinate system, represents the projection of the cable vector on the umbrella body in the xy plane of the ground coordinate system, represents the vector from the projection point P' to the centroid P; indicates the positive direction of the change in the angle θ between the cable vector and the vertical direction, The wind-aligned coordinate system takes the centroid P of the umbrella body as the origin, and three coordinate axes x w , y w and z w are established starting from the centroid P; x w indicates the positive direction of the aerodynamic drag force on the umbrella body, y w is perpendicular to the projection plane, which is the projection plane of the relative wind speed vector onto the effective windward surface of the umbrella; z w indicates the positive direction of the aerodynamic lift force on the umbrella body, and z w is perpendicular to both x w and y w ; the direction of the aerodynamic drag force on the umbrella body is parallel to the relative wind speed, and the angle between the relative wind speed and the axis is the angle of attack α.

3. The method for determining the optimal operating point of the umbrella ladder type land-based high-altitude wind power generation system according to claim 1, characterized in that Based on the constructed polar coordinate system and wind-facing coordinate system, establish the dynamic model of the umbrella-ladder system in the umbrella-ladder type land-based high-altitude wind power generation system, specifically including: Based on the constructed polar coordinate system, the expression for the cable mass and the height of the highest point is established as follows: Among them, M represents the cable mass, and h end represents the height of the highest point, and ρ T represents the linear density of the cable; θ represents the cable vector and the angle with the vertical direction. The centroid P of the umbrella body is the origin of the polar coordinate system, represents the cable vector; Based on the constructed polar coordinate system and wind-facing coordinate system, the aerodynamic force received by a single umbrella is expressed as: Among them, represents the relative wind speed vector, represents the wind speed vector, represents the rope speed vector; F l represents the aerodynamic lift force on the umbrella body, ρ q represents the air density, A represents the windward area of the umbrella body, C l represents the aerodynamic lift coefficient of the umbrella; α represents the angle between the relative wind speed and the axis as the angle of attack, is an axis of the polar coordinate system, represents the positive direction of the change in the cable length r, which is the positive unit vector corresponding to the cable vector ; F d represents the aerodynamic drag force on the umbrella body, C d represents the aerodynamic drag coefficient of the umbrella; According to the expression of the cable mass and the highest point height and the aerodynamic force received by the single umbrella, obtain the dynamic model of the umbrella-ladder system as: Among them, F T is the cable tension, F f is the buoyancy force on the helium balloon, F li represents the aerodynamic lift force on the i-th structure from top to bottom in the airborne device, F di represents the aerodynamic drag force on the i-th structure from top to bottom in the airborne device, m h 、m b and m u respectively represent the masses of the helium balloon, the balance parachute and the work parachute, and g represents the acceleration due to gravity; represents the angular acceleration, l represents the cable length, l i represents the distance of the i-th structure from top to bottom in the airborne device from the ground origin, l h represents the distance of the helium balloon from the ground origin.

4. The method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to claim 1, wherein The cable output mechanical power model is: P″ = F T v T = f(α, θ, h end , v w , v T , F T ); Among them, P″ represents the mechanical power output of the cable, F T is the cable tension, v T represents the rope speed; α represents the angle between the relative wind speed and the axis as the angle of attack, is an axis of the polar coordinate system, represents the positive direction of the change in the cable length r, which is the positive unit vector corresponding to the cable vector ; θ represents the angle between the cable vector and the vertical direction. The centroid P of the umbrella body is the origin of the polar coordinate system, represents the cable vector; h end represents the height of the highest point, v w represents the wind speed, and f() represents the mapping relationship between the variable in the parentheses and the mechanical power output of the cable.

5. The method for determining the optimal operating point of the umbrella ladder type land-based high-altitude wind power generation system according to claim 1, characterized in that, According to the cable output mechanical power model, simulate the ascending work process of the umbrella-ladder type land-based high-altitude wind power generation system to obtain a cluster of rope speed-height-cable output mechanical power curves at different wind speeds, specifically including: Set the highest point height of the cable; According to the formula and set the wind speed and the rope speed; where, v w represents the wind speed; h w represents the sum of the height h' above the ground and the local altitude h0, h w = h0 + h'; v T represents the rope speed, and t represents time; According to the set highest point height of the cable, wind speed, and rope speed, perform a full-dimensional simulation on the ascending work process of the umbrella body from the starting state to the highest point height of the cable, and obtain a cluster of rope speed-height-cable output mechanical power curves at different wind speeds in the coordinate system with the rope speed as the x-axis, the height from the ground of the highest point of the cable as the y-axis, and the cable output mechanical power as the z-axis; the starting state refers to the state where all umbrella bodies are sequentially transformed from the closed state to the open state, and the cable length is always the initial length.

6. The method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to claim 1, characterized in that The wind speed-rope speed relationship model is: Among them, v T represents the rope speed, and v w represents the wind speed.

7. An umbrella-ladder type land-based high-altitude wind power generation device, characterized in that, including: An umbrella-ladder type land-based high-altitude wind power generation system and a controller; The controller adopts the method for determining the optimal working point of the umbrella-ladder type land-based high-altitude wind power generation system described in any one of claims 1-6, and controls the rotation speed of the motor in the umbrella-ladder type land-based high-altitude wind power generation system according to the optimal working point to regulate the rope release speed during the ascending process of the umbrella-ladder system.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the optimal operating point of the umbrella-ladder type land-based high-altitude wind power generation system according to any one of claims 1-6.

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