A low-head turbine with biomimetic guide vanes

Abstract

This invention discloses a low-head turbine with biomimetic blades featuring guide vanes. The turbine has a pitch control system to adjust the angle between the runner blades and the incoming flow direction, and a deflection control system to adjust the angle between the guide vanes mounted on the bulb body and the incoming flow direction. The former allows for alteration of the impact force on the blades from the water flow, while the latter blocks the incoming flow through the turbine path, reducing the flow velocity entering the pipe. The combination of these two systems allows for a wide range of adjustments to the turbine's operating status. Furthermore, the turbine runner blades of this invention use blades with a wavy leading edge, and an outwardly protruding section is provided in the pipe housing the bulb body and runner, further increasing the turbine's water energy utilization rate. The blades employ a sinusoidal wavy leading edge, a structure mimicking the shape of protrusions on the flippers of underwater organisms, which helps reduce resistance in water and increase the turbine's water energy utilization rate.

Description

Technical Field

[0001] This invention belongs to the technical field of bulb-type turbines, specifically relating to a low-head turbine with biomimetic blades featuring guide vanes. Background Technology

[0002] Hydropower is a low-carbon and environmentally friendly green energy source. Due to its abundant water resources, hydropower has advantages over other forms of green energy, including simple site selection, large power generation, and stable output. However, traditional water turbines also have the drawback of high starting head, meaning they can only start operating when there is a significant difference in water level between the upstream and downstream sides. This limitation restricts the applicability of water turbines and also leads to a certain amount of water energy waste during operation. To address this issue, low-head water turbines have emerged. The bulb turbine is the latest type of low-head water turbine developed so far. This type of turbine features a generator sealed within a bulb-shaped housing resembling an incandescent light bulb. With the bulb's bulb-shaped end at the front, the turbine runner is installed at the rear of the bulb, with the runner's shaft coaxial with the central axis of the bulb-shaped housing. Both the bulb-shaped housing and the runner are housed within a pipe, and water flows from front to back through the pipe to drive the turbine. This type of turbine has a large bulb-shaped casing at its center, hence it is figuratively called a bulb turbine.

[0003] The structural characteristics of bulb turbines dictate a high water flow velocity through the pipes. However, the resistance encountered by the runner, equipped with traditional blades, increases significantly with increasing speed, preventing it from reaching higher speeds and thus limiting the turbine's water energy utilization rate. Furthermore, the continuous water flow in the pipes makes runner speed difficult to adjust. When the generator malfunctions and its electromagnetic torque becomes zero, and the runner cannot shut off in time, the runner speed will increase sharply, reaching runaway speed. Runaway speed is approximately 1.7 to 2.6 times the turbine's rated speed. At this speed, rotating components will experience significant centrifugal forces, potentially damaging parts including the generator rotor and turbine runner. This issue leads to lower operational safety for bulb turbines. Additionally, the high runner speed generates numerous cavitation bubbles. These bubbles explode upon impacting the blades, impacting the blade assembly and causing cavitation. Therefore, it is necessary to improve bulb turbines to enhance water energy utilization and make runner speed controllable.

[0004] There has been some research on the safety issues of bulb turbines, such as Chinese Patent Application No. 202311515773.9, entitled "Bubble Turbine Unit with Runaway Protection Function." This invention adds guide vanes to a bulb-shaped housing, with all guide vanes circumferentially distributed around the housing. A rotating shaft is fixedly mounted on the guide vanes, with one half of the shaft fitting against the guide vanes and the other half passing through the housing to connect to a drive unit inside. When it is necessary to reduce the turbine speed, the drive unit adjusts the angle between the guide vanes and the water flow direction, reducing the cross-sectional area through which the water flow can pass, thus reducing the turbine speed. While this invention can control the turbine speed to some extent, the blades on the turbine are fixed relative to the hub, and the angle between the blade pressure surface and the incoming flow direction cannot be changed, thus limiting the effectiveness of controlling the turbine speed. Furthermore, this invention also fails to increase the unit's water energy utilization rate or reduce cavitation on the turbine blades. Summary of the Invention

[0005] The purpose of this invention is to provide a bulb-shaped through-type water turbine with biomimetic guide vanes. The water turbine unit is equipped with guide vanes on a bulb-shaped shell, referred to as the bulb body, so that the water flow through the water turbine unit is adjustable. In addition, the blades on the turbine runner are redesigned to have better drag reduction capabilities, and the runner has pitch control capability. Thus, the water turbine unit can have higher water energy utilization and better controllability than traditional bulb-shaped through-type water turbines.

[0006] The technical solution adopted in this invention is as follows:

[0007] The turbine includes a bulb body, a hub, blades, and a generator. The generator is housed within the bulb body, and its outer casing is fixed relative to the bulb body. Multiple blades are mounted on the hub, all circumferentially distributed around the hub's central axis. The hub and blades together constitute the turbine runner. Multiple guide vanes are mounted on the bulb body, all circumferentially distributed around the bulb body's central axis. The bulb body, guide vanes, and the runner are all housed within the turbine unit's piping. With the incoming flow direction as the rear, the bulb body's rounded end faces forward, and its position is fixed relative to the piping. An opening at the rear of the bulb body is used to house the hub. The front half of the hub fits inside the bulb body, and the rear half extends from the opening. There is no gap between the outer surface of the hub and the side wall of the bulb body opening. The hub is coaxial with the bulb body's central axis, and the piping is also coaxial with both the hub and the bulb body's central axis. The hub is powered by the generator. The turbine includes a control system, which includes sensors, etc. The system includes a controller and actuators. The sensor is signal-connected to the controller to monitor the turbine's status parameters and transmit the monitoring signals to the controller. The controller is signal-connected to the actuators, and determines the turbine's status based on the received monitoring signals, then sends command signals to the actuators accordingly. The actuators are a first drive motor and a second drive motor. The first drive motor drives the deflection control mechanism, and the second drive motor drives the pitch mechanism. The guide vane is powered and connected to the deflection control mechanism, which can change the angle between the guide vane chord and the incoming flow direction. The blade is powered and connected to the pitch mechanism, which can change the angle between the blade chord and the incoming flow direction. The blade's leading edge has a toothed structure, and its outline conforms to the morphological characteristics of a sine function curve. The part of the blade's leading edge that protrudes forward is called a convex nodule, with the direction away from the hub's central axis as the outermost point. The convex nodules distributed further out are larger in size.

[0008] In existing technologies, the blades used in bulb-type turbine runners are conventional blades, and the runners do not have pitch control functionality. The overall structure of the turbine unit of this invention is similar to that of a traditional bulb-type turbine, but it adds guide vanes to block incoming flow and redesigns the runner blades, and the runner has pitch control capability. Considering that water levels and flow velocities in rivers are constantly changing, these hydrological conditions affect the flow velocity through the turbine unit. The guide vanes regulate the flow velocity within the turbine unit, keeping the generator's output power as close to its rated value as possible. This increases the turbine unit's adaptability to changes in hydrological conditions and prevents wear and even material failure of critical components such as blades and telescopic transmission rods. Furthermore, the leading edge shape of the turbine unit in this invention is designed to mimic the shape of the flippers of aquatic mammals such as whales and turtles. Although also used for paddling and maintaining balance, unlike fish fins, the flippers of whales and turtles contain bones, while fish fins do not. Fish fins are merely thin plates, while flippers, due to their skeletons, are much thicker. Under the same conditions, flippers experience significantly more drag when moving in water than fish fins. To gain a survival advantage, animals with flippers, such as whales and sea turtles, have evolved wavy, uneven structures on the leading edges of their flippers over long periods. This structure provides excellent drag reduction in water; compared to a straight leading edge, an uneven leading edge allows the incoming flow to adhere more closely to the flipper surface, reducing eddies generated when the flow separates from the surface. The turbine blades of this invention employ a flat plate structure with a wavy leading edge to minimize water resistance during turbine rotation. Furthermore, considering that the linear velocities of the blades near the inner and outer ends differ (the outer portion has a much higher linear velocity), the protrusions closer to the outer end need to be larger. Relatively speaking, among all regular shapes, sinusoidal protrusions are more effective at reducing drag than other shapes. Therefore, the leading edge protrusions of the blades in this invention adopt a sinusoidal shape, balancing drag reduction and ease of manufacturing. Furthermore, the waveform structure of the leading edge reduces the eddies generated when the incoming flow separates from the surface, and cavitation bubbles are generated in the eddies. Therefore, the leading edge waveform reduces cavitation bubbles while reducing drag, which in turn reduces cavitation caused by cavitation bubbles bursting on the blade surface when they impact the blade.

[0009] Further optimization is performed, with the blade being a flat plate. The shape of the leading edge profile is specifically as follows: the leading edge profile shape corresponds to a certain function curve shape, which is denoted as the leading edge function. A line is drawn connecting the innermost and outermost points of the leading edge, with a total length of X. This line is then considered as a range corresponding to the independent variable of the leading edge function. The position of the innermost point is denoted as 0, and the position of the outermost point is denoted as X. The position of any point on the line is denoted as x, where 0 ≤ x ≤ X. Each position x will have a corresponding dependent variable y. Assuming the number of convex nodes on the leading edge is M, the leading edge function curve is divided into M segments. The first M-1 segments each contain one convex node and one concave node, with the concave node being the rearward concave portion of the leading edge. In the first M-1 segments, the convex nodes are all located inside the concave nodes. The last segment has only one convex node, and the connection point between adjacent segments is a zero point, i.e., the corresponding dependent variable y = 0. The connection point between the convex and concave nodes within the same segment is also a zero point. The formula corresponding to the convex node curve is: Where k is the stage number, k = 1, 2, ..., M, and Δk is the compensation amount. At the zero point at the beginning of each stage, there is... A is the sine coefficient, determined by the chord length of the blade (14) at x; assuming the zero point at the connection between the convex and concave sections in each segment is x. k The formula corresponding to the concave nodal is y = sin(xx). k +π). This function curve shape satisfies the requirements of the leading edge shape, has a simple structure, and the magnitude of the sine coefficient A is determined by the blade chord length corresponding to x. Thus, the part with a longer blade chord length corresponds to a greater forward protrusion of the convex node, which is more conducive to the drag reduction characteristics of the blade.

[0010] Further optimization involves fixing guide vanes to the suction surface of the blades, i.e., the rearward-facing side. These guide vanes are flat blades, parallel to the blades and fixed in position relative to them. Projecting the guide vanes onto the suction surface in a direction perpendicular to the blades results in projections that are simultaneously close to both the trailing and outer edges of the blades. As mentioned earlier, cavitation occurs in the eddies that appear when the incoming flow separates from the blade surface. Therefore, minimizing the separation of the incoming flow from the blade surface reduces cavitation and alleviates cavitation. For turbine runner blades, the pressure surface, i.e., the side facing the incoming flow, is always in contact with it. On the suction surface, the incoming flow flows from the leading edge of the blade into the suction surface under the negative pressure created by the blade rotation. Due to the backward inertia of the incoming flow, it does not remain in contact with the suction surface after flowing in; it usually separates from the suction surface before reaching the trailing edge. To minimize the separation of the incoming flow from the suction surface, guide vanes parallel to the blades need to be installed on the parts of the suction surface near the trailing and outer edges. This ensures that the incoming flow remains parallel to the blades. The vanes are installed near the outer edge because the incoming flow will move outward under the action of centrifugal force.

[0011] Further optimizations include a hub that can slide forward and backward within the bulb body opening; a generator connected to the hub via a telescopic transmission rod, which includes a front and rear section, the rear section of which can extend and retract within the front section; a fixed coaxial connection between the front end of the telescopic transmission rod and the generator rotor, and a fixed relative position between the rear section and the hub; the entire telescopic transmission rod is coaxial with the hub's central axis; a pressure sensing component is installed at the front end of the hub, comprising a sliding rod, a sliding sleeve, a pressure sensor, and an elastic element; the elastic element is fitted onto the sliding rod, with its front end fixedly connected to the sliding sleeve and its rear end fixedly connected to the pressure sensor; the rear end of the sliding rod is also fixedly connected to the pressure sensor, and its front end is inserted into the sliding sleeve, which fits onto the sliding rod and can slide on it; a slider is fixedly installed at the front end of the sliding sleeve; the elastic element is in a naturally extended state when the front end of the sliding rod is inserted to its deepest point into the sliding sleeve; the pressure sensor is the sensor for the control system, and multiple pressure sensing components are distributed circumferentially around the telescopic transmission rod; a fixed disk is also housed within the bulb body, with a central opening on the fixed disk. The device has a second transmission hole, through which a fixed plate is fitted onto the front half of the telescopic transmission rod. The fixed plate and the bulb body are fixed in relative position. A slide is provided on the rear side of the fixed plate. The slide is annular, and the central axis of the ring is coaxial with the telescopic transmission rod. A slider is embedded in the slide and can slide in the slide. The slider cannot detach from the slide when the turbine unit is running. The pressure sensing assembly also includes a mounting component. The mounting component has a first transmission hole, through which the mounting component is fitted onto the rear half of the telescopic transmission rod. The pressure sensor is fixedly mounted on the front side of the mounting component. A mounting seat is fixedly installed inside the front opening of the hub. The mounting seat has a third transmission hole for the telescopic transmission rod to pass through. The rear half of the telescopic transmission rod passes through the third transmission hole. There is no contact between the mounting seat and the telescopic transmission rod. The rear side of the mounting component fits and is fixedly connected to the front side of the mounting seat. A limiting cover is fixedly installed on the outer edge of the hub opening. The limiting cover is tubular, and its central axis is coaxial with the hub. The outer diameter of the limiting cover is larger than the diameter of the bulb body opening.

[0012] By monitoring the overall force exerted on the turbine runner by the incoming flow, it is possible to directly determine whether the force on the runner is excessive, thereby effectively assessing the safety status of the turbine unit. Directly detecting the overall pressure on the runner is more indicative of the turbine unit's condition than monitoring the incoming flow velocity. Under the impact of the incoming flow, the runner moves backward. The fixed plate, through the connection of the slide rail, slider, and sleeve, exerts a pulling effect on all elastic components. Although the turbine unit of this invention has multiple pressure sensors, these sensors do not monitor separately but rather obtain an overall force value under the pulling of the elastic components. Because the impact force of the water flow is significant, a single pressure sensor may not be able to measure an accurate value. As the runner rotates continuously due to the impact of the incoming flow, the pressure sensing components also rotate accordingly. At this time, the turbine unit will not tilt towards any single pressure sensor. This principle is similar to that of a gyroscope. Therefore, the pressure detection method of the turbine unit of this invention is accurate and reasonable.

[0013] Further optimization involves a pipeline composed of three parts: an inlet pipe, a turbine housing, and a guide pipe. These three parts, arranged from front to back, are coaxial and fixedly connected. Both the inlet pipe and the turbine housing are straight pipes, with the inner diameter of the turbine housing not exceeding that of the inlet pipe. The guide pipe's wall bulges outwards, and its circumferential cross-section is arc-shaped. This structure allows the incoming flow to experience reduced pressure and increased velocity upon reaching the guide pipe before entering the turbine housing. To maintain a high flow velocity, the diameter of the turbine housing must be equal to or smaller than that of the inlet pipe, thus maximizing the propulsive force of the incoming flow on the turbine and increasing the water energy utilization rate of the turbine unit.

[0014] Further optimization is achieved by the following specific structure of the pitch mechanism: Multiple mounting ports are circumferentially arranged around the central axis on the hub, the number of which is the same as the number of blades. Each mounting port contains a corresponding base, which is assembled with the mounting port via bearings. A limiting plate is fixedly mounted on the outer surface of the base, its inner surface fitting against the base and simultaneously contacting the outer surface of the hub. A mounting bracket is fixedly mounted on the outer surface, and the blades are fixedly mounted on the limiting plate via the mounting bracket. A connecting rod is fixedly connected to the inner side of the base; the connecting rod is straight and perpendicular to the inner side of the base. A connecting hole is provided at one end of the connecting arm, and a hinge seat is installed at the other end. The central axis of the connecting hole is perpendicular to the length direction of the connecting arm, and the connecting rod is not... One end of the base is inserted into the connecting hole, the surface of the connecting rod is in contact with the hole wall and the connecting rod can rotate and slide in the connecting hole; the hub also houses an adjusting seat, on which multiple connecting rods are fixedly mounted, one end of each connecting rod is connected to the adjusting seat and the other end is fixedly mounted with a connecting head, the number of connecting rods is the same as the number of blades, all connecting rods are distributed around the circumference of the adjusting seat, the connecting head is hinged to the hinge seat, the bottom of the hinge seat is rotatably connected to the end face of the connecting arm; an adjusting hole is opened in the center of the adjusting seat, and the hub also houses a second drive motor, the housing of the second drive motor is fixed in a relative position to the hub, the rotor of the second drive motor is inserted into the adjusting hole and fixedly connected to the adjusting seat.

[0015] When the angle between the blades and the incoming flow direction is different, the force exerted on the blades by the incoming flow is also different. At high flow velocities, to prevent damage to the turbine unit due to excessive runner speed, the blades need to have pitch adjustment capabilities. In this invention, the angle and orientation adjustment of all blades in the turbine unit is achieved synchronously through the rotation of the adjusting seat. This reduces the complexity of the pitch system and ensures that all blades are at the same angle and orientation, preventing damage to turbine components caused by uneven centrifugal force due to pitch system malfunctions. The limiting plate fixedly installed on the outer surface of the base facilitates blade installation and prevents the base from being inserted too shallowly or too deeply into the installation opening.

[0016] Further optimization is achieved by the following specific structure of the deflection control mechanism: The guide vanes are flat plates, each with a mounting hole. The central axis of the mounting hole is parallel to the surface of the guide vane. Each guide vane is fixedly connected to a guide vane shaft, the outer half of which is embedded in the mounting hole. Multiple through holes are provided on the bulb body, through which the inner half of the guide vane shaft passes and is inserted into the bulb body. All guide vane shafts are circumferentially distributed around the central axis of the bulb body, with each through hole corresponding to a guide vane and a guide vane shaft. The bulb body houses a drive shaft and a fixed shaft. The front end of the fixed shaft is fixedly connected to the inner surface of the bulb body, and the rear end is fitted into the central hole of the second bevel gear, which is movable. The fixed shaft rotates, and the rear end of the drive shaft is coaxially and fixedly connected to the rotor of the first drive motor. The first drive motor is housed within the bulb body, and its housing is fixedly mounted relative to the bulb body. The front end of the drive shaft is fitted into the central hole of the second bevel gear and fixedly connected to it. The central axes of both the drive shaft and the fixed shaft are coaxial with the central axis of the bulb body. The fixed shaft has a receiving hole corresponding to the guide vane shaft, and the inner end of the guide vane shaft is inserted into the receiving hole, allowing it to rotate relative to the receiving hole. A first bevel gear is fitted onto the inner half of each guide vane shaft. The first bevel gear is fixed in position relative to the guide vane shaft, and all first bevel gears mesh with the second bevel gear. Similar to the pitch mechanism, the deflection control mechanism also has the advantage of ensuring that all guide vanes are in the same angular orientation and that the angular orientation adjustments of all guide vanes are synchronized. To simplify the control system, no sensor is used to monitor the angular orientation of the guide vanes. The deflection control mechanism adopts open-loop control; the controller records the angular orientation of the guide vanes after each instruction is issued to the deflection control mechanism.

[0017] Further optimization involves the control system's sensors, including a flow velocity sensor, an angle sensor, a pressure sensor, a speed measuring instrument, and a power meter. The flow velocity sensor is fixedly mounted on the outer surface of the hub, positioned in front of the base. The angle sensor is fixedly mounted on a mounting bracket. The speed measuring instrument and power meter are fixedly mounted within the bulb, respectively used to monitor the generator's rotor speed and output power. All sensors transmit their corresponding monitoring data to the controller in real time. The control system prevents component damage when the incoming flow velocity is too high and increases the overall efficiency of the turbine unit when the incoming flow velocity is low, ensuring the turbine unit of this invention continuously maintains optimal operating conditions.

[0018] Further optimization involves installing an angle sensor on each mounting bracket, with each sensor having a unique serial number. All angle sensors are connected to the controller and simultaneously transmit monitoring data. If the monitoring data from multiple angle sensors are inconsistent at the same time, the controller will determine that the turbine unit has malfunctioned and mark the blade corresponding to the inconsistent angle sensor as the faulty blade. As mentioned earlier, when a blade in the runner is at a different angular position than other blades, the runner will become eccentric due to uneven force on the blades, potentially damaging or accelerating the aging and wear of components in the turbine unit. To avoid this situation, each blade in the runner has a corresponding angle sensor to monitor its angular position. When a blade malfunctions, the control system immediately issues a warning, allowing operators to promptly detect abnormalities in the turbine unit's operating status.

[0019] The beneficial effects of the method of the present invention are as follows:

[0020] 1. The turbine unit of the present invention uses blades with a wavy leading edge, and also has an outwardly protruding section in the pipe that houses the bulb body and the runner, which increases the water energy utilization rate of the turbine unit;

[0021] 2. The turbine unit has a pitch control mechanism, which allows the angle between the blades and the direction of the incoming flow to be adjusted, giving the turbine unit a stronger ability to adapt to hydrological conditions;

[0022] 3. The turbine unit has a deflection control mechanism, which allows the angle between the guide vanes and the direction of the incoming flow to be adjusted. When the incoming flow velocity is high, it can resist the incoming flow and prevent damage to the turbine unit, thus increasing the safety of the turbine unit.

[0023] 4. The existence of the control system enables the turbine unit of the present invention to have higher power generation efficiency when the incoming flow velocity is slow, and to protect the device when the incoming flow velocity is fast, thereby having a superior overall performance. Attached Figure Description

[0024] Figure 1 A schematic diagram of the overall structure of the turbine unit of the present invention when the guide vanes are fully closed;

[0025] Figure 2 A schematic diagram of the overall structure of the turbine unit of the present invention when the guide vanes are fully open;

[0026] Figure 3 Overall schematic diagram of the guide vane deflection control mechanism;

[0027] Figure 4 Schematic diagram of the blade shape in the turbine runner;

[0028] Figure 5 A schematic diagram of the overall blade pitch mechanism in the turbine runner;

[0029] Figure 6 Schematic diagram of the combined structure of the turbine runner and pressure sensing components;

[0030] Figure 7 Exploded view of the turbine runner and pressure sensing components of the water turbine unit;

[0031] Figure 8 Schematic diagram of the overall structure of the pressure sensing component. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below through specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1:

[0034] A low-head turbine with biomimetic blades and guide vanes includes a bulb body 1, an inlet pipe 2, a runner cover 3, a guide pipe 4, guide vanes 5, a hub 10, and a generator 20. The generator 20 is housed within the bulb body 1, and its outer casing is fixedly connected to the bulb body 1. Six blades 14 are circumferentially distributed around the central axis of the hub 10. The hub 10 and the blades 14 together constitute the turbine runner. The inlet pipe 2, the runner cover 3, and the guide pipe 4 together form a pipe that houses the bulb body 1 and the runner. Taking the incoming flow direction as the rear, the three parts of the pipe from front to back are the inlet pipe 2, the guide pipe 4, and the runner cover 3, with their central axes coaxial and adjacent parts fixedly connected. The inlet pipe 2 and the rotating cover 3 are straight pipes of equal diameter. With the direction closest to the central axis of the bulb body 1 as the inward direction, the guide pipe 4 is a rotating body with its wall protruding outwards. Its cross-sectional shape along the circumference of the pipe wall is arc-shaped. Six guide vanes 5 are distributed circumferentially around the central axis of the bulb body 1. The bulb body 1 has one rounded end facing forward. Two crossbars fix the bulb body 1 relative to the pipe. One end of each crossbar is fixedly connected to the outer surface of the bulb body 1, and the other end is fixedly connected to the inner wall of the inlet pipe 2. The rear of the bulb body 1 has an opening for fitting a hub 10. The front half of the hub 10 fits inside the bulb body 1, and the rear half extends out of the opening. The front end of the hub 10 also has an opening. The hub 10 is coaxial with the central axis of the bulb body 1, and the pipe is also coaxial with both the hub 10 and the central axis of the bulb body 1. There is no gap between the outer surface of the hub 10 and the side wall of the opening of the bulb body 1, and the hub 10 can slide in the opening in the back-and-forth direction. The overall appearance and structure of the turbine unit is as follows Figure 1 and Figure 2 As shown.

[0035] exist Figure 1In this design, the guide vane 5 is a flat blade of uniform thickness, shaped like an isosceles trapezoid with the shorter base on the inside. Each guide vane 5 has a mounting hole, the central axis of which is located on the plane of symmetry of the guide vane 5 and parallel to the line connecting the upper and lower bases of the isosceles trapezoid. The mounting hole penetrates the guide vane 5, and each guide vane 5 is fixedly connected to a guide vane shaft 6. The outer half of the guide vane shaft 6 is inserted into the mounting hole. The bulb body 1 has six through holes, through which the inner half of the guide vane shaft 6 passes and is inserted into the bulb body 1. All guide vane shafts 6 are circumferentially distributed around the central axis of the bulb body 1 and are located on the same plane. The bulb body 1 houses a drive shaft 9 and a fixed shaft 60. The central axes of both the drive shaft 9 and the fixed shaft 60 are coaxial with the central axis of the bulb body 1. The front end of the fixed shaft 60 is fixedly connected to the inner surface of the bulb body 1, and the rear end is inserted into the central hole of the second bevel gear 8, which can rotate relative to the fixed shaft 60. The rear end of the drive shaft 9 is fixed and coaxially connected to the rotor of a first drive motor. The first drive motor is a stepper motor, housed within the bulb body 1, with its outer casing fixedly connected to the bulb body 1. The front end of the drive shaft 9 is inserted into the central hole of the second bevel gear 8 and fixedly connected to it. The fixed shaft 60 has six receiving holes corresponding to the guide vane shaft 6. The inner end of the guide vane shaft 6 is inserted into these receiving holes and can rotate relative to them. A first bevel gear 7 is fitted onto the inner half of each guide vane shaft 6. The first bevel gear 7 is fixed in position relative to the guide vane shaft 6, and all first bevel gears 7 mesh with the second bevel gear 8. Figure 3 As shown.

[0036] The blade 14 is also a flat blade with uniform thickness. Its leading edge has a toothed structure, its trailing edge has a straight outline, and its outer edge has an outwardly convex arc. The chord length of the blade 14 gradually increases from the inside to the outside. The leading edge contour shape conforms to the shape characteristics of a sine function curve, specifically: the leading edge contour shape corresponds to a certain function curve shape, which is denoted as the leading edge function. A line is drawn connecting the innermost and outermost points of the leading edge, with a total length of X. This line is then considered as a range corresponding to the independent variable of the leading edge function. The position of the innermost point is denoted as 0, and the position of the outermost point is denoted as X. The position of any point on the line is denoted as x, where 0 ≤ x ≤ X. Each position x will have a corresponding dependent variable y. Assuming the number of convex nodes on the leading edge is M, the leading edge function curve is divided into M segments. The first M-1 segments each contain one convex node and one concave node, where the concave node is the rearward concave part of the leading edge. In the first M-1 segments, the convex nodes are all located inside the concave nodes. The last segment has only one convex node, and the connection point between two adjacent segments is a zero point, i.e., the corresponding dependent variable y = 0. The connection point between the convex node and the concave node within the same segment is also a zero point. The formula corresponding to the convex node curve is: Where k is the stage number, k = 1, 2, ..., M, and Δk is the compensation amount. At the zero point at the beginning of each stage, there is... A is the sine coefficient, determined by the chord length of the blade (14) at x; assuming the zero point at the connection between the convex and concave sections in each segment is x. k The formula corresponding to the concave nodal is y = sin(xx). k +π). In this embodiment, the leading edge function has six segments, and the value of A is 0.1 times the blade chord length corresponding to the x position. A mounting rod is welded on the suction surface of the blade 14, that is, the side facing away from the incoming flow direction. One end of the mounting rod is connected to the blade 14, and the other end is welded to the guide vane 141. The guide vane 141 is a flat blade with a shape that is narrower inside and wider outside. The outer edge is a convex arc, and the other three edges are straight lines. The outer edge curve of the guide vane 141 is the same as the outer edge curve of the blade 14. A guide vane 141 is welded on each blade 14. The guide vanes 141 are distributed parallel to the blade 14, so that the guide vanes 141 project onto the suction surface in a direction perpendicular to the suction surface of the blade 14. The projection is located near both the trailing edge and the outer edge of the blade 14.

[0037] The hub 10 has six mounting holes circumferentially arranged around its central axis. Each mounting hole houses a corresponding base 12, which is assembled to the mounting hole via bearings. A limiting plate 11 is fixedly connected to the outer side of the base 12. The limiting plate 11 is circular, with a diameter larger than that of the base 12. The inner surface of the limiting plate 11 connects to the base 12 and contacts the outer surface of the hub 10. A mounting bracket 13 is fixedly mounted on the outer surface. The limiting plate 11 and the central axis of the base 12 are coaxial. In this embodiment, the mounting bracket 13 consists of two parallel plates perpendicular to the outer surface of the limiting plate 11. The inner end of a blade 14 is held between the two plates, and the blade 14 is connected to the plates. An angle sensor 19 is fixedly mounted on the plates. A connecting rod 102 is fixedly connected to the inner side of the base 12. The connecting rod 102 is a straight rod perpendicular to the inner side of the base 12. One end of the connecting arm 101 has a connecting hole, and the other end is equipped with a hinge seat. The bottom of the hinge seat is rotatably connected to the end of the connecting arm 101. The central axis of the connecting hole is perpendicular to the length direction of the connecting arm 101. The connecting rod 102 passes through the connecting hole and can slide and rotate within the connecting hole. The hub 10 also houses an adjusting seat 100. In this embodiment, the main body of the adjusting seat 100 is a regular hexagonal disc. Six connecting rods are fixedly connected to the adjusting seat 100. One end of each connecting rod is connected to a corner of the regular hexagon, and the other end is fixedly equipped with a connecting head. The connecting rods are circumferentially distributed around the axis of the adjusting seat 100, and the length direction of the connecting rods is parallel to the extension direction of the edge of the regular hexagon. The connecting head is hinged to the hinge seat. The adjusting seat 100 has an adjusting hole in its center. The hub 10 also houses a second drive motor. The housing of the second drive motor is fixedly connected to the hub 10, and the rotor of the second drive motor is inserted into the adjusting hole and fixedly connected to the adjusting seat 100. The above structure is the pitch mechanism that controls the pitch of blade 14. A schematic diagram of the overall pitch mechanism is shown below. Figure 5 As shown.

[0038] The hub 10 transmits power to the generator 20 via a telescopic transmission rod 21. The telescopic transmission rod 21 includes a front half and a rear half, with the rear half extending and retracting within the front half. The front end of the telescopic transmission rod 21 is coaxially and fixedly connected to the rotor of the generator 20, and the rear end is fixedly connected to the hub 10. Its central axis is coaxial with the central axis of the hub 10. A pressure sensing assembly 16 is installed at the front end of the hub 10. The pressure sensing assembly 16 includes a slide rod 160, a sliding sleeve 161, a pressure sensor 162, and an elastic element 163. In this embodiment, the elastic element 163 is a spring. The spring is sleeved on the slide rod 160, with its front end fixedly connected to the sliding sleeve 161 and its rear end fixedly connected to the pressure sensor 162. The rear end of the slide rod 160 is fixedly connected to the pressure sensor 162, and its front end is inserted into the sliding sleeve 161. The sliding sleeve 161 can slide along the slide rod 160, but the slide rod 160 cannot pass through the sliding sleeve 161. When the slide rod 160 is inserted to its deepest point into the sliding sleeve 161, the spring is in a naturally extended state. A slider 1610 is fixedly mounted on the front end of the sliding sleeve 161. A fixed plate 17 is fitted onto the front half of the telescopic transmission rod 21. A second transmission hole is opened in the center of the fixed plate 17. The fixed plate 17 is coaxial with the central axis of the telescopic transmission rod 21. A slide rail 170 is opened on the rear side of the fixed plate 17. The slide rail 170 is annular, and its central axis is coaxial with the fixed plate 17. The slider 1610 can slide in the slide rail 170 and cannot detach from the slide rail 170 when the turbine unit is running. The pressure sensing assembly 16 also includes a mounting component. In this embodiment, the mounting component is a mounting plate. The mounting plate has a first transmission hole in its center. The mounting plate is coaxial with the telescopic transmission rod 21 and is fitted onto the rear half of the telescopic transmission rod 21 through the first transmission hole. Pressure sensors 162 are fixedly mounted on the front side of the mounting plate. In this embodiment, there are six pressure sensors 162, and all pressure sensors 162 are circumferentially distributed around the central axis of the mounting plate. A mounting base 103 is fixedly installed in the opening at the front end of the hub 10. The rear side of the mounting plate is attached to and fixedly connected to the front side of the mounting base 103. In this embodiment, the mounting base 103 is disc-shaped with a third transmission hole for the telescopic transmission rod 21 to pass through in the center. Its edge is fixedly connected to the hub 10, and there is no contact between the mounting base 103 and the telescopic transmission rod 21. A limiting cover 164 is fixedly installed on the outer edge of the opening of the hub 10. The limiting cover 164 is tubular, and its central axis is coaxial with the hub 10. The outer diameter of the limiting cover 164 is larger than the opening diameter of the bulb body 1. The distribution of the turbine runner and the pressure sensing component 16 is as follows. Figure 6 and Figure 7 As shown in the figure, the overall structure of the pressure sensing component 16 is illustrated in the diagram below. Figure 8 As shown.

[0039] When there is no flow in the turbine unit pipeline, the hub 10 is in its original position, and the elastic element 163 is in its naturally extended state. When there is flow in the pipeline, the flow impacts the turbine runner, applying pressure to it. Under the impact, the runner moves backward, and the hub 10 slides backward relative to its original position. At this time, the fixed plate 17 and the slide rail 170 remain stationary, while the mounting plate, mounting base 103, slide rod 160, and pressure sensor 162 move backward synchronously with the hub 10. Because the hub 10 rotates under the impact of the flow, the aforementioned components also rotate synchronously with the hub 10. The sliding sleeve 161 and the slider 1610 also rotate synchronously with the hub 10 but do not move backward. As a result, the elastic element 163 is stretched and has elastic force, which is what the pressure sensor 162 monitors. When the impact force of the incoming flow decreases, the hub 10 will gradually move closer to its original position under the action of the elastic element 163, and the limiting cover 164 can prevent the hub 10 from coming out of the opening of the bulb body 1.

[0040] The turbine generator unit of this invention has a control system, which includes a flow velocity sensor 18, an angle sensor 19, a pressure sensor 162, a speed measuring instrument, a power meter, and a controller. The flow velocity sensor 18 is fixedly mounted on the outer surface of the hub 10, positioned in front of the blades 14. The flow velocity sensor 18, angle sensor 19, and pressure sensor 162 are all connected to the controller via signals. The three sensors transmit three physical quantities—the flow velocity on the surface of the hub 10, the azimuth angle of the blades 14, and the water pressure on the runner—to the controller in real time as signals. The speed measuring instrument and the power meter are used to monitor the speed and output power of the generator 20, respectively. Both the speed measuring instrument and the power meter are connected to the controller via signals and transmit the speed and output power of the generator 20 to the controller in real time as signals. The system also includes a first drive motor and a second drive motor. The controller is connected to both drive motors via a signal connection. During the operation of the turbine unit, the controller combines the above five signals to determine the current operating status of the turbine unit and sends command signals to the first and second drive motors respectively based on the determination results to adjust the state of the guide vane 5 and blade 14, while recording the adjusted azimuth angle of the guide vane 5. When the output power of the generator 20 is lower than the rated power, the controller sends a signal to rotate the guide vane 5 to a position parallel to the incoming flow direction and the blade 14 to a position where the incoming flow force is greatest. When the output power of the generator 20 is higher than the rated power, the controller sends a signal to rotate the guide vane 5 to a position perpendicular to the incoming flow direction and the blade 14 to a position parallel to the incoming flow direction. When the guide vane 5 is in the position parallel to the incoming flow direction, it is in the fully open position; when it is in the position perpendicular to the incoming flow direction, it is in the fully closed position. The states of the fully open and fully closed positions are as follows: Figure 2 and Figure 1 As shown.

[0041] Example 2:

[0042] In this embodiment, there are six mounting brackets 13, each equipped with an angle sensor 19. Each angle sensor 19 has a different number and is connected to the controller signal, transmitting the azimuth angle of the corresponding blade 14 to the controller in real time. When the azimuth angle data uploaded by the six angle sensors 19 is inconsistent with other data, the controller will display a fault in the turbine runner and the corresponding serial number of the faulty blade 14. The other parts of this embodiment are consistent with those described in Embodiment 1.

[0043] It is understandable that the number of guide vanes 5 and blades 14 could be any number other than six.

[0044] Understandably, the flow guide 4 can also be a straight pipe.

[0045] It is understandable that the bulb body 1 can also be fixed to the position between the turbine unit pipeline in other ways.

[0046] It is understandable that the turbine unit may not have the pressure sensing component 16, or the pressure sensing component 16 may be in other structural forms.

[0047] It is understandable that the guide vane 5 can also be of other shapes, and the mechanism for adjusting the azimuth angle of the guide vane 5 can also be of other structural forms.

[0048] It is understandable that the mounting bracket 13 can also be in other forms, as long as it can fix the blade 14 relative to the limiting plate 11.

[0049] It is understandable that the sine coefficient A can also take other values.

[0050] It is understandable that the blade 14 may not have a guide vane 141.

[0051] Understandably, a control system may include more or fewer sensors, as well as other types of sensors.

Claims

1. A low-head turbine with biomimetic guide vanes, characterized in that: The turbine includes a bulb body (1), a hub (10), blades (14), and a generator (20). The generator (20) is housed within the bulb body (1), and its outer casing is fixed relative to the bulb body (1). Multiple blades (14) are mounted on the hub (10), and all blades (14) are circumferentially distributed around the central axis of the hub (10). The hub (10) and the blades (14) together constitute the turbine runner. Multiple guide vanes (5) are mounted on the bulb body (1), and all guide vanes (5) are circumferentially distributed around the central axis of the bulb body (1). The bulb body (1), guide vanes (5), and the turbine runner are all housed within the bulb body (1). In the turbine unit pipeline, with the incoming flow direction as the rear, the bulb body (1) has one round end facing forward, and its position is fixed relative to the pipeline. The rear part of the bulb body (1) has an opening for fitting the hub (10). The front half of the hub (10) is fitted into the bulb body (1), and the rear half extends out from the opening of the bulb body (1). There is no gap between the outer surface of the hub (10) and the side wall of the opening of the bulb body (1). The hub (10) is coaxial with the central axis of the bulb body (1), and the pipeline is also coaxial with the central axis of the hub (10) and the bulb body (1). The hub (10) is powered by the generator (20). The turbine includes a control system, which includes sensors, a controller, and actuators. The sensors are signal-connected to the controller and are used to monitor the turbine's status parameters and transmit the monitoring signals to the controller. The controller is signal-connected to the actuators and determines the turbine's status based on the received monitoring signals. Then, it sends command signals to the actuators based on the status. The actuators are a first drive motor and a second drive motor. The first drive motor is used to drive the deflection control mechanism, and the second drive motor is used to drive the pitch mechanism. The guide vane (5) is powered by the deflection control mechanism, which can change the angle between the guide vane (5) chord and the incoming flow direction. The blade (14) is powered by the pitch mechanism, which can change the angle between the blade (14) chord and the incoming flow direction. The leading edge of the blade (14) has a toothed structure, and its outline conforms to the morphological characteristics of a sine function curve. The part of the leading edge of the blade (14) that protrudes forward is called the convex part. The direction away from the central axis of the hub (10) is the outside. The convex part that is distributed further out is larger in size. The blade (14) is a flat plate, and the shape of its leading edge profile is as follows: the shape of the leading edge profile corresponds to the shape of a certain function curve. This function is called the leading edge function. The line connecting the innermost and outermost points of the leading edge is set to X. The line is then regarded as a range corresponding to the independent variable of the leading edge function. The position of the innermost point of the leading edge is recorded as 0, and the position of the outermost point is recorded as X. The position of any point on the line is recorded as x, 0 ≤ x ≤ X. Then each position x will have a corresponding dependent variable y. Assuming that the number of convex nodes on the leading edge is M, the leading edge function curve is divided into M segments. Each of the first M-1 segments contains one convex node and one concave node. The concave node is the part of the leading edge that is concave backward. In the first M-1 segments, the convex nodes are all inside the concave nodes. The last segment has only one convex node. The connection point between two adjacent segments is a zero point, that is, the corresponding dependent variable y=0. The connection point between the convex node and the concave node in the same segment is also a zero point. The formula corresponding to the convex node curve is: , where k is the stage number, k=1, 2, …, M, To compensate for the loss, at the zero point at the beginning of each segment, there is... A is the sine coefficient, determined by the chord length of the blade (14) at x; assuming the zero point at the connection between the convex and concave sections in each segment is x. k Then the formula corresponding to the concave nodal is y = sin (xx k +π).

2. A low-head turbine with biomimetic blades and guide vanes as described in claim 1, characterized in that: A guide vane (141) is fixedly connected to the suction surface of the blade (14), that is, the rearward side. The guide vane (141) is a flat blade, which is distributed parallel to the blade (14) and has a fixed relative position to the blade (14). When the guide vane (141) projects a projection onto the suction surface in a direction perpendicular to the suction surface of the blade (14), the projection is located at a position close to both the trailing edge and the outer edge of the blade (14).

3. A low-head turbine with biomimetic blades and guide vanes as described in claim 2, characterized in that: The hub (10) can slide in the front-to-back direction within the opening of the bulb body (1); the generator (20) is connected to the hub (10) via a telescopic transmission rod (21), which includes a front half and a rear half, the rear half of which can extend and retract within the front half. The front end of the telescopic transmission rod (21) is coaxially and fixedly connected to the rotor of the generator (20), and the rear half is fixed in a relative position to the hub (10). The entire telescopic transmission rod (21) is coaxial with the central axis of the hub (10); a pressure sensing component (16) is installed at the front end of the hub (10), which includes a sliding rod (160), a sliding sleeve (161), a pressure sensor (162), and an elastic element (163). The elastic element (163) is fitted with... On the slide rod (160), the front end of the elastic element (163) is fixedly connected to the slide sleeve (161), and the rear end is fixedly connected to the pressure sensor (162). The rear end of the slide rod (160) is also fixedly connected to the pressure sensor (162). The front end is inserted into the slide sleeve (161). The slide sleeve (161) is fitted on the slide rod (160) and can slide on the slide rod (160). The front end of the slide sleeve (161) is fixedly equipped with a slider (1610). When the front end of the slide rod (160) is inserted to the deepest point in the slide sleeve (161), the elastic element (163) is in a naturally extended state. The pressure sensor (162) is the sensor of the control system. Multiple pressure sensing components (16) are circumferentially distributed around the telescopic transmission rod (21). The bulb body (1) also houses a fixed plate (17), which has a second transmission hole in its center. The fixed plate (17) is fitted onto the front half of the telescopic transmission rod (21) through the second mounting hole, and the fixed plate (17) and the bulb body (1) are fixed in relative position. A slide rail (170) is provided on the rear side of the fixed plate (17). The slide rail (170) is annular, and the central axis of the ring is coaxial with the telescopic transmission rod (21). The slider (1610) is embedded in the slide rail (170) and can slide in the slide rail (170). When the turbine unit is running, the slider (1610) cannot be disengaged from the slide rail (170). The pressure sensing component (16) also includes a mounting component, which has a first transmission hole. The mounting component is connected to the first transmission hole. The hole is fitted onto the rear half of the telescopic transmission rod (21), and the pressure sensor (162) is fixedly mounted on the front side of the mounting part; a mounting seat (103) is fixedly mounted inside the front opening of the hub (10), and a third transmission hole for the telescopic transmission rod (21) is opened in the mounting seat (103), and the rear half of the telescopic transmission rod (21) passes through the third transmission hole. There is no contact between the mounting seat (103) and the telescopic transmission rod (21); the rear side of the mounting part is fitted and fixedly connected to the front side of the mounting seat (103); a limiting cover (164) is fixedly mounted on the outer edge of the opening of the hub (10), the limiting cover (164) is tubular, its central axis is coaxial with the hub (10), and the outer diameter of the limiting cover (164) is larger than the opening diameter of the bulb body (1).

4. A low-head turbine with biomimetic blades and guide vanes as described in claim 3, characterized in that: The pipeline consists of three parts: an inlet pipe (2), a rotating cover (3), and a guide pipe (4). The three parts are arranged in the following order from front to back: inlet pipe (2), guide pipe (4), and rotating cover (3). The central axes of the three parts are coaxial, and adjacent parts are fixedly connected. The inlet pipe (2) and the rotating cover (3) are both straight pipes, and the inner diameter of the rotating cover (3) is not greater than the inner diameter of the inlet pipe (2). The wall of the guide pipe (4) protrudes outward, and the cross-sectional shape of the pipe wall along the circumference is arc-shaped.

5. A low-head turbine with biomimetic guide vanes as described in claim 4, characterized in that, The specific structure of the pitch mechanism is as follows: multiple mounting ports are circumferentially opened around the central axis on the hub (10), the number of mounting ports being the same as the number of blades (14), and a base (12) is installed in each mounting port. The base (12) and the mounting port are assembled by bearings. A limiting plate (11) is fixedly installed on the outer side of the base (12), the inner surface of the limiting plate (11) is in contact with the base (12) and at the same time in contact with the outer surface of the hub (10), and a mounting bracket (13) is fixedly installed on the outer surface. The blades (14) are fixedly installed on the limiting plate (11) through the mounting bracket (13). A connecting rod (102) is fixedly installed on the inner side of the base (12). The connecting rod (102) is a straight rod and perpendicular to the inner side of the base (12), and the central axis of the connecting rod (102) does not coincide with the central axis of the base (12). A connecting hole is opened at one end of the connecting arm (101), and a hinge seat is installed at the other end. One end of the connecting rod (102) that is not connected to the base (12) passes through the connecting hole, and the connecting rod (102) can rotate and slide in the connecting hole; the hub (10) also houses the adjusting seat (100), and multiple connecting rods are fixedly installed on the adjusting seat (100). The number of connecting rods is the same as that of the blade (14). One end of the connecting rod is fixedly connected to the adjusting seat (100), and the other end is fixedly installed with a connecting head. The number of connecting rods is the same as that of the blade (14). All connecting rods are distributed circumferentially around the adjusting seat (100). The connecting head is hinged to the hinge seat. The bottom of the hinge seat is rotatably connected to the end face of the connecting arm (101). An adjusting hole is opened in the center of the adjusting seat (100). The second drive motor is housed in the hub (10), and the motor housing is fixed in a relative position to the hub (10). The rotor of the second drive motor is inserted into the adjusting hole and fixedly connected to the adjusting seat (100).

6. A low-head turbine with biomimetic blades and guide vanes as described in claim 5, characterized in that, The specific structure of the deflection control mechanism is as follows: the guide vane (5) is a flat plate, and each guide vane (5) has a mounting hole. The central axis of the mounting hole is parallel to the surface of the guide vane (5). Each guide vane (5) is fixedly connected to a guide vane shaft (6), and the outer half of the guide vane shaft (6) is embedded in the mounting hole. The bulb body (1) has multiple through holes. The inner half of the guide vane shaft (6) passes through the through holes and is inserted into the bulb body (1). All guide vane shafts (6) are circumferentially distributed around the central axis of the bulb body (1). The through holes correspond one-to-one with the guide vane (5) and the guide vane shaft (6). The bulb body (1) contains a drive shaft (9) and a fixed shaft (60). The front end of the fixed shaft (60) is fixedly connected to the inner surface of the bulb body (1), and the rear end is sleeved in the central hole of the second bevel gear (8). The second bevel gear (8) can be driven by the drive shaft (9) and the fixed shaft (60). Rotating the fixed shaft (60), the rear end of the drive shaft (9) is coaxially and fixedly connected to the rotor of the first drive motor. The first drive motor is housed inside the bulb body (1) and the motor housing is fixedly mounted relative to the bulb body (1). The front end of the drive shaft (9) is sleeved in the center hole of the second bevel gear (8) and fixedly connected to the second bevel gear (8). The central axes of the drive shaft (9) and the fixed shaft (60) are coaxial with the central axis of the bulb body (1). The fixed shaft (60) has a receiving hole corresponding to the guide vane shaft (6). The inner end of the guide vane shaft (6) is inserted into the receiving hole and the guide vane shaft (6) can rotate relative to the receiving hole. The inner half of all guide vane shafts (6) is sleeved with a first bevel gear (7). The first bevel gear (7) is fixedly connected to the guide vane shaft (6), and all the first bevel gears (7) mesh with the second bevel gear (8).

7. A low-head turbine with biomimetic guide vanes as described in claim 6, characterized in that: The control system sensors include a flow rate sensor (18), an angle sensor (19), a pressure sensor (162), a speed measuring instrument, and a power meter. The flow rate sensor (18) is fixedly mounted on the outer surface of the hub (10) and is located in front of the base (12). The angle sensor (19) is fixedly mounted on the mounting bracket (13). The speed measuring instrument and the power meter are fixedly mounted inside the bulb body (1) and are used to monitor the rotor speed and output power of the generator (20), respectively. All sensors transmit the corresponding monitoring data to the controller in real time.

8. A low-head turbine with biomimetic blades and guide vanes as described in claim 7, characterized in that: An angle sensor (19) is fixedly installed on each mounting bracket (13), and each angle sensor (19) corresponds to a unique serial number. All angle sensors (19) are connected to the controller signal and transmit the monitoring data to the controller at the same time. If the monitoring data of multiple angle sensors (19) at the same time are inconsistent, the controller will determine that the turbine unit has failed and mark the blade (14) corresponding to the angle sensor (19) whose monitoring data is inconsistent with the other as the faulty blade.

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