Method for determining relative angle of vertical axis wind turbine and medium

Abstract

The invention discloses a method for determining the relative angle of a vertical axis wind turbine and a medium, and relates to the technical field of wind turbine variable pitch control. The output value of a wind direction sensor and the included angle between the wind direction sensor and the zero position of a wind turbine are obtained according to the current installation and arrangement position of the wind direction sensor; the current output value of the absolute value encoder of the fan in the current rotating direction is obtained, and the absolute angle of the fan is calculated according to the current output value of the absolute value encoder; and determining one of the blades as a calibration blade, calculating the relative angle of the calibration blade according to the output value of the wind direction sensor and the absolute angle and the included angle of the fan, and solving the relative angles of the remaining blades according to the angle difference between each blade and the calibration blade in combination with the relative angle of the calibration blade. Different mounting positions of the wind direction sensor are fully considered, so that the relative angle of the blade is determined by adopting different methods, and key information support is provided for the variable pitch calculation process of the fan.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine pitch control, and in particular to a method and medium for determining the relative angle of a vertical-axis wind turbine. Background Art

[0002] The rotor axis of a vertical-axis wind turbine is perpendicular to the bottom surface or airflow, and does not need to face the wind when the wind direction changes. Compared with horizontal-axis wind turbines, this not only simplifies the structural design but also reduces the gyroscopic force of the rotor facing the wind. However, vertical-axis wind turbines have disadvantages such as poor self-starting ability and low wind energy utilization. Pitch control is an effective measure to optimize the aerodynamic performance and wind energy utilization of vertical-axis wind turbines. To achieve the pitch function of a vertical-axis wind turbine, the relative angle of each wind turbine blade at any time must be known in order to determine the pitch value of the wind turbine blade at that relative angle, thereby allowing the pitch mechanism to perform the pitch operation. During the wind turbine pitch calculation and drive process, the relative angle of the wind turbine is the key information that the wind turbine needs to obtain.

[0003] In existing technologies, the relative angle of wind turbine blades is typically determined by directly obtaining the blade phase angle from an angle sensor, or by using the values from a wind vane and an angle sensor to determine the blade azimuth. Although these methods mention the need to utilize the relative angle of the wind turbine, they rely solely on the values from the angle sensor and the wind vane. However, calculating the relative angle of the wind turbine also depends on the installation position of the wind direction sensor, and the relative angle of the wind turbine cannot be determined by directly reading the angle sensor. Existing methods are unable to accurately determine the relative angle of the wind turbine. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and medium for determining the relative angle of a vertical axis wind turbine. According to the different installation positions of the wind direction sensor, the relative angle of each blade in the wind turbine can be accurately calculated by combining the output value and angle of the wind direction sensor obtained from the installation position with the absolute angle of the wind turbine.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In one aspect, the present invention provides a method for determining the relative angle of a vertical-axis wind turbine. The vertical-axis wind turbine includes a plurality of blades. The method for determining the relative angle of each blade specifically includes the following steps:

[0007] S1. Obtain the output value of the wind direction sensor and the angle between the wind direction sensor and the zero position of the wind turbine according to the current installation position of the wind direction sensor;

[0008] S2. Obtain the current output value of the absolute encoder in the current rotation direction of the fan, and calculate the absolute angle of the fan based on the current output value of the absolute encoder;

[0009] S3. Determine one of the blades as the calibration blade from each blade, calculate the relative angle of the calibration blade based on the output value of the wind direction sensor, the absolute angle of the fan, and the included angle, and solve the relative angles of the remaining blades based on the angle difference between each blade and the calibration blade and the relative angle of the calibration blade.

[0010] In some specific implementation schemes, the zero position of the wind turbine is to rotate the blades of the vertical axis wind turbine after the absolute encoder is installed. When the absolute encoder outputs 0 degrees / 360 degrees, the position of the blade relative to the fixed frame of the vertical axis wind turbine is calibrated; the calibrated blade is the blade whose chord is parallel to the wind direction when the vertical axis wind turbine does not perform pitch change action and rotates in the direction forward of the leading edge of the blade.

[0011] In some specific embodiments, the specific process of step S2 is:

[0012] Obtain the continuous output values of the absolute encoder of the vertical axis wind turbine in the current rotation direction and determine the long-term trend of the continuous output value changes;

[0013] If the vertical axis wind turbine rotates in the direction with the leading edge of the blade forward, and the continuous output values show a decreasing trend, the absolute angle of the wind turbine can be obtained by subtracting the current output value of the absolute encoder from 360.

[0014] When the continuous output values show an increasing trend, the current output value of the absolute encoder is used as the absolute angle of the fan.

[0015] In some specific embodiments, when the wind direction sensor is installed on the periphery of a vertical-axis wind turbine, the angle between the wind direction sensor and the wind turbine zero position is the installation angle between the wind direction sensor zero position direction and the wind turbine zero position direction projected on the ground, and the wind direction sensor zero position direction is the direction when the wind direction sensor output value is zero or 360 degrees.

[0016] In some specific embodiments, when the wind direction sensor is installed outside the vertical axis wind turbine, the relative angle of the calibrated blades = the sum of the wind direction sensor output value, the absolute angle of the wind turbine, and 90 degrees minus the installation angle;

[0017] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0018] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0019] In some specific implementation schemes, when the wind direction sensor is installed at the top of the fixed frame of the vertical axis wind turbine, the angle between the wind direction sensor and the zero position of the wind turbine includes the wind direction angle and the installation angle. The installation angle is the installation angle between the zero position direction of the wind direction sensor and the zero position direction of the wind turbine projected on the ground. The zero position direction of the wind direction sensor is the direction when the output value of the wind direction sensor is zero or 360 degrees. The wind direction angle is the angle between the direction pointing to the wind direction and the zero position direction of the wind turbine projected on the ground. If the calculated wind direction angle value is less than zero, 360 degrees is added to the wind direction angle to obtain the final wind direction angle. If the calculated wind direction angle value is greater than or equal to 360, 360 degrees is subtracted from the wind direction angle to obtain the final wind direction angle.

[0020] In some specific implementation schemes, when the installation angle is zero degrees, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor, and the relative angle of the calibrated blades = the absolute angle of the fan + 90 degrees - the wind direction angle;

[0021] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0022] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0023] In some specific implementation schemes, when the installation angle is not zero, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor plus the installation angle, and the relative angle of the calibrated blades = the absolute angle of the fan + 90 degrees - the wind direction angle;

[0024] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0025] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0026] In some specific embodiments, when the vertical axis wind turbine includes n blades, the n blades are evenly distributed circumferentially, the angle difference between two adjacent blades is Δθ=360 / n, the relative angle of the calibrated blade is θ1, and the relative angle θn of the remaining n blades is calculated as follows:

[0027] θn=θ1+△θ×(n-1);

[0028] When θn is less than zero, 360 degrees is added to θn to obtain the final relative angle of the nth blade;

[0029] When θn is greater than or equal to 360 degrees, 360 degrees is subtracted from θn to obtain the final relative angle of the nth blade.

[0030] In a second aspect, the present application provides a computer-readable storage medium, comprising:

[0031] one or more processors;

[0032] The storage unit is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement a method for determining the relative angle of a vertical axis wind turbine as described in the first aspect.

[0033] The present invention has the beneficial effects:

[0034] This application calculates the relative angle of the calibrated blades in the wind turbine accurately based on the different installation and layout positions of the wind direction sensor, using the wind direction sensor output value and angle obtained from the installation and layout position, combined with the absolute angle of the wind turbine. According to the phase difference angle between two adjacent blades of each blade, the phase difference angle between each blade and the calibrated blade is obtained, and then the relative angle of each blade is obtained. This application fully considers the different installation and layout positions of the wind direction sensor, and thus adopts different methods to determine the relative angle of the blades, providing key information support for the wind turbine pitch calculation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a method for determining the relative angle of a vertical axis wind turbine provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of pitch control provided by an embodiment of the present invention;

[0037] Figure 3 A schematic structural diagram of a vertical axis wind turbine provided by an embodiment of the present invention;

[0038] Figure 4 A schematic diagram of a scene in which three blades of a vertical-axis wind turbine according to an embodiment of the present invention rotate;

[0039] Figure 5 A wind direction sensor azimuth diagram provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of a scenario in which the wind direction sensor provided by an embodiment of the present invention is installed outside a wind turbine. DETAILED DESCRIPTION

[0041] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] Unless otherwise specifically stated, the relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention.

[0043] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0044] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0045] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0046] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] Example 1

[0048] like Figure 1 As shown, this embodiment provides a method for determining the relative angle of a vertical axis wind turbine. The vertical axis wind turbine includes a plurality of blades. The method for determining the relative angle of each blade specifically includes the following steps:

[0049] S1. Obtain the output value of the wind direction sensor and the angle between the wind direction sensor and the zero position of the wind turbine according to the current installation position of the wind direction sensor;

[0050] The wind turbine zero position is the position of the blade relative to the vertical-axis wind turbine's fixed frame when the absolute encoder outputs 0 degrees / 360 degrees after the absolute encoder is installed. The calibrated blade is the blade whose chord is parallel to the wind direction when the vertical-axis wind turbine is not performing pitch control and rotating with the leading edge forward. Since lift-type vertical-axis wind turbines normally rotate with the leading edge forward, the wind turbine rotation direction shown in the attached figure refers to rotation with the leading edge forward. If the encoder value increases in the direction of rotation toward the leading edge, this encoder value does not need to be subtracted from 360.

[0051] S2. Obtain the current output value of the absolute encoder in the current rotation direction of the fan, and calculate the absolute angle of the fan based on the current output value of the absolute encoder;

[0052] Specifically, the specific process of step S2 is:

[0053] Obtain the continuous output values of the absolute encoder of the vertical axis wind turbine in the current rotation direction and determine the long-term trend of the continuous output value changes;

[0054] If the vertical axis wind turbine rotates in the direction with the leading edge of the blade forward, and the continuous output values show a decreasing trend, the absolute angle of the wind turbine can be obtained by subtracting the current output value of the absolute encoder from 360.

[0055] When the continuous output values show an increasing trend, the current output value of the absolute encoder is used as the absolute angle of the fan.

[0056] S3. Determine one of the blades as the calibration blade from each blade, calculate the relative angle of the calibration blade based on the output value of the wind direction sensor, the absolute angle of the fan, and the included angle, and solve the relative angles of the remaining blades based on the angle difference between each blade and the calibration blade and the relative angle of the calibration blade.

[0057] Specifically, when the vertical axis wind turbine includes n blades, and the n blades are evenly distributed circumferentially, the angle difference between two adjacent blades is Δθ=360 / n, and the relative angle of the calibrated blade is θ1. The relative angle θn of the remaining n blades is calculated as follows:

[0058] θn=θ1+△θ×(n-1);

[0059] When θn is less than zero, 360 degrees is added to θn to obtain the final relative angle of the nth blade;

[0060] When θn is greater than or equal to 360 degrees, 360 degrees is subtracted from θn to obtain the final relative angle of the nth blade.

[0061] like Figure 4 As shown, if a vertical-axis wind turbine rotates counterclockwise according to the pattern in the figure, and to ensure dynamic balance, the wind turbine's multiple blades are evenly distributed circumferentially within the horizontal plane, assuming the wind turbine includes three blades, for a three-blade wind turbine, the angle difference between adjacent blades is Δθ = 360 / 3 = 120 degrees. The three blades are labeled wind blade No. 1, wind blade No. 2, and wind blade No. 3, respectively. If the chord line of wind blade No. 1 is parallel to the wind direction, and the leading edge of the wind blade faces the wind direction at a relative angle of 0 degrees / 360 degrees, wind blade No. 1 is determined to be the calibration blade. The calibration blade described below is wind blade No. 1. The relative angles of the remaining blades are shown in the figure, with each blade's relative angle ranging from 0 degrees to 360 degrees. If the wind turbine is stationary relative to the ground and the incoming wind direction is constantly changing, the relative angle of wind blade No. 1 will also change with the wind direction.

[0062] like Figure 2 As shown in the figure, if β is defined as the pitch angle of the wind turbine blades, then when the blade chord is perpendicular to the blade connecting rod, β is zero degrees. Based on this, when the leading edge of the wind turbine blade rotates toward the center of the circle, β is greater than zero. When the leading edge of the wind turbine blade rotates away from the center of the circle, β is less than zero. β has a value range of -90 to 90 degrees. To achieve pitch control in a vertical-axis wind turbine, the relative angle of each wind turbine blade at any given moment must be known. This is necessary to determine the pitch value of the wind turbine blade at that relative angle, allowing the pitch control mechanism to execute the pitch control operation.

[0063] like Figure 3 As shown, the vertical axis wind turbine includes an absolute value encoder and a wind turbine main shaft connected together, a wind turbine hub and a pitch controller are provided on the wind turbine main shaft, the absolute value encoder and the microcomputer controller are arranged on a support platform, a fixed frame is fixed to the top surface of the support platform through a connecting column, a bearing seat is provided on the fixed frame, the pitch controller is arranged directly above the bearing seat, three connecting rods are connected to the wind turbine hub, a blade is provided at one end of the connecting rod away from the wind turbine hub, and a pitch mechanism is provided between the blade and the connecting rod. The wind direction sensor in this application can be as shown in FIG. Figure 3 As shown, it is arranged above the pitch controller through a fixed frame, but it may not be arranged on the wind turbine.

[0064] The absolute encoder's shaft is mechanically connected to the wind turbine's main shaft. While the encoder housing remains stationary, the encoder shaft rotates with the wind turbine's main shaft. During wind turbine rotation, the encoder outputs the rotation angle to the microcontroller. The value output by the absolute encoder is defined as the wind turbine's absolute angle. For a single-turn absolute encoder, each rotation of the wind turbine generates an absolute angle output ranging from 0 to 360 degrees. If the wind turbine is equipped with a speed-increasing gearbox, a corresponding multi-turn absolute encoder is used to output the wind turbine's absolute angle.

[0065] After the absolute encoder is installed, rotate the fan blades. When the absolute encoder outputs 0 degrees / 360 degrees, mark the position of the calibration blade (in this embodiment, the No. 1 fan blade) relative to the fixed frame. This position is recorded as the fan zero position.

[0066] If the vertical axis wind turbine is Figure 4 When rotating counterclockwise, if the absolute encoder output is decreasing from 360 degrees to 0 degrees, the microcomputer controller subtracts the absolute encoder output from 360 degrees to determine the fan's absolute angle. Conversely, if the absolute encoder output is increasing from 0 to 360 degrees, the absolute encoder output is the fan's absolute angle. To calculate the fan's relative angle, the microcomputer controller also needs to input the wind direction sensor value. The wind direction sensor outputs values from 0 to 360 degrees depending on the incoming wind direction.

[0067] like Figure 5 As shown, the wind direction sensor's zero position is generally toward due north. The installation angle is the angle between the wind direction sensor's zero position and the fan's zero position projected onto the ground. The installation angle ranges from 0 to 360 degrees. Due to processing, installation and other reasons, the installation angle between the fan's zero position and the sensor's zero position may be different for each fan. After the fan is installed, the installation angle must be measured using a laser level or other equipment. The installation angle ranges from 0 to 360 degrees. The installation angle will not change significantly during normal operation of the fan. If the installation angle changes, it must be remeasured.

[0068] This example starts with two installation arrangements of the wind direction sensor and analyzes the relative angle calculation process of the blades under each arrangement:

[0069] 1. The wind direction sensor is installed outside the vertical axis wind turbine, not on the wind turbine.

[0070] like Figure 6 As shown in the figure, when the wind direction sensor is installed outside the vertical axis wind turbine, the angle between the wind direction sensor and the wind turbine zero position is the installation angle between the wind direction sensor zero position direction and the wind turbine zero position direction projected on the ground. The wind direction sensor zero position direction is the direction when the wind direction sensor output value is zero or 360 degrees.

[0071] When the wind direction sensor is installed outside the vertical axis wind turbine, the relative angle of the calibrated blades = the sum of the wind direction sensor output value, the absolute angle of the wind turbine, and 90 degrees minus the installation angle;

[0072] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0073] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0074] Taking three blades as an example (fan blade No. 1, fan blade No. 2, and fan blade No. 3), the process of solving the relative angles of the three blades is:

[0075] A1. The relative angle of the No. 1 fan blade is equal to the output value of the wind direction sensor plus the absolute angle of the fan plus 90 degrees minus the installation angle. If the calculated relative angle of the No. 1 fan blade is less than zero, the relative angle of the No. 1 fan blade should be increased by 360 degrees. If the relative angle of the No. 1 fan blade is greater than or equal to 360 degrees, the relative angle of the No. 1 fan blade should be subtracted by another 360 degrees.

[0076] A2. The relative angle of the NO.2 fan blades is equal to the relative angle of the NO.1 fan blades plus 120 degrees. If the relative angle of the NO.2 fan blades is greater than or equal to 360 degrees, the relative angle of the NO.2 fan blades should be subtracted by another 360 degrees.

[0077] A3. The relative angle of the NO.3 fan blades is equal to the relative angle of the NO.1 fan blades plus 240 degrees or minus 120 degrees. If the calculated relative angle of the NO.3 fan blades is less than zero, the relative angle of the NO.3 fan blades should be increased by 360 degrees. If the relative angle of the NO.3 fan blades is greater than or equal to 360 degrees, the relative angle of the NO.3 fan blades should be subtracted by another 360 degrees.

[0078] 2. The wind direction sensor is installed on the top of the fixed frame of the vertical axis wind turbine

[0079] like Figure 3 As shown, when the wind direction sensor is installed on the top of the fixed frame of the vertical axis wind turbine, the angle between the wind direction sensor and the zero position of the wind turbine includes the wind direction angle and the installation angle. The installation angle is the angle between the zero position direction of the wind direction sensor and the zero position direction of the wind turbine projected on the ground. The zero position direction of the wind direction sensor is the direction when the output value of the wind direction sensor is zero or 360 degrees. The wind direction angle is the angle between the pointing wind direction and the zero position direction of the wind turbine projected on the ground. The pointing wind direction is the direction of the incoming wind. For example, if it is a north wind, the pointing wind direction points to the north wind.

[0080] If the calculated wind direction angle value is less than zero, 360 degrees is added to the wind direction angle to obtain the final wind direction angle. If the calculated wind direction angle value is greater than or equal to 360, 360 degrees is subtracted from the wind direction angle to obtain the final wind direction angle.

[0081] 2.1. The installation angle is zero degrees

[0082] Generally, the installation angle should be zero degrees, meaning the wind direction sensor's zero position should be parallel to the fan's zero position. In this case, the wind direction sensor will rotate with the fan. Although the sensor's output value will fluctuate, a filtering algorithm can be used in the microcomputer controller to process the output value, resulting in a relatively stable wind direction value. The wind direction angle is the angle between the direction pointing to the wind and the fan's zero position projected onto the ground. When the fan position and wind direction remain unchanged, the wind direction angle remains unchanged. It changes with wind direction.

[0083] When the installation angle is zero degrees, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor. The relative angle of the calibrated blades = the absolute angle of the fan + 90 degrees - the wind direction angle;

[0084] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0085] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0086] Specifically, taking a three-blade wind turbine as an example, when the wind direction sensor is installed on the top of the fixed frame of the vertical axis wind turbine and the installation angle is zero, the process of solving the relative angles of the three blades is:

[0087] The relative angle of the NO.1 blade is equal to the absolute angle of the fan plus 90 degrees minus the wind direction angle. If the calculated relative angle of the NO.1 blade is less than zero, the relative angle of the NO.1 blade should be increased by 360 degrees. If the relative angle of the NO.1 blade is greater than or equal to 360 degrees, the relative angle of the NO.1 blade should be reduced by another 360 degrees.

[0088] The relative angle of the NO.2 blade is equal to the relative angle of the NO.1 blade plus 120 degrees. If the relative angle of the NO.2 blade is greater than or equal to 360 degrees, the relative angle of the NO.2 blade should be subtracted by another 360 degrees.

[0089] The relative angle of the NO.3 blade is equal to the relative angle of the NO.1 blade plus 240 degrees or minus 120 degrees. If the calculated relative angle of the NO.3 blade is less than zero, the relative angle of the NO.3 blade should be increased by 360 degrees. If the relative angle of the NO.3 blade is greater than or equal to 360 degrees, the relative angle of the NO.3 blade should be subtracted by another 360 degrees.

[0090] 2.2. The installation angle is not zero degrees

[0091] At this time, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor plus the installation angle, and the relative angle of the calibration blade is equal to the absolute angle of the fan plus 90 degrees minus the wind direction angle;

[0092] When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade;

[0093] When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

[0094] Specifically, taking a three-blade wind turbine as an example, when the wind direction sensor is installed on the top of the fixed frame of the vertical axis wind turbine and the installation angle is not zero, the process of solving the relative angles of the three blades is:

[0095] The relative angle of blade No. 1 is equal to the absolute angle of the encoder plus 90 degrees minus the wind direction angle and the installation angle. If the calculated relative angle of blade No. 1 is less than zero, the relative angle of blade No. 1 should be increased by 360 degrees. If the relative angle of blade No. 1 is greater than or equal to 360 degrees, the relative angle of blade No. 1 should be reduced by another 360 degrees.

[0096] The relative angle of the NO.2 blade is equal to the relative angle of the NO.1 blade plus 120 degrees. If the relative angle of the NO.2 blade is greater than or equal to 360 degrees, the relative angle of the NO.2 blade should be subtracted by another 360 degrees.

[0097] The relative angle of the NO.3 blade is equal to the relative angle of the NO.1 blade plus 240 degrees or minus 120 degrees. If the calculated relative angle of the NO.3 blade is less than zero, the relative angle of the NO.3 blade should be increased by 360 degrees. If the relative angle of the NO.3 blade is greater than or equal to 360 degrees, the relative angle of the NO.3 blade should be subtracted by another 360 degrees.

[0098] Example 2

[0099] This embodiment provides a computer-readable storage medium, including:

[0100] one or more processors;

[0101] A storage unit is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement a method for determining the relative angle of a vertical axis wind turbine as described in Example 1.

[0102] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Based on the technical essence of the present invention and within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A method for determining the relative angle of a vertical axis wind turbine, characterized in that: A vertical axis wind turbine includes several blades. The method for calculating the relative angle of each blade includes the following steps: S1. Obtain the output value of the wind direction sensor and the angle between the wind direction sensor and the zero position of the wind turbine according to the current installation position of the wind direction sensor; S2. Obtain the current output value of the absolute encoder in the current rotation direction of the fan, and calculate the absolute angle of the fan based on the current output value of the absolute encoder; S3. Determine one of the blades as the calibration blade from each blade, calculate the relative angle of the calibration blade based on the output value of the wind direction sensor, the absolute angle of the fan, and the included angle, and solve the relative angles of the remaining blades based on the angle difference between each blade and the calibration blade and the relative angle of the calibration blade.

2. A method for determining the relative angle of a vertical axis wind turbine according to claim 1, characterized in that: The zero position of the wind turbine is when the absolute encoder is installed. When the blades of the vertical-axis wind turbine are rotated and the absolute encoder outputs 0 degrees / 360 degrees, the position of the blades relative to the fixed frame of the vertical-axis wind turbine is calibrated. The calibrated blades are when the vertical-axis wind turbine does not perform pitch control and rotates in the direction forward of the leading edge of the blade, and the blade chord is parallel to the wind direction.

3. A method for determining the relative angle of a vertical axis wind turbine according to claim 2, characterized in that: The specific process of step S2 is: Obtain the continuous output values of the absolute encoder of the vertical axis wind turbine in the current rotation direction and determine the long-term trend of the continuous output value changes; If the vertical axis wind turbine rotates in the direction with the leading edge of the blade forward, and the continuous output values show a decreasing trend, the absolute angle of the wind turbine can be obtained by subtracting the current output value of the absolute encoder from 360. When the continuous output values show an increasing trend, the current output value of the absolute encoder is used as the absolute angle of the fan.

4. A method for determining the relative angle of a vertical axis wind turbine according to claim 2, characterized in that: When the wind direction sensor is installed outside the vertical axis wind turbine, the angle between the wind direction sensor and the wind turbine zero position is the installation angle between the wind direction sensor zero position direction and the wind turbine zero position direction projected on the ground. The wind direction sensor zero position direction is the direction when the wind direction sensor output value is zero or 360 degrees.

5. A method for determining the relative angle of a vertical axis wind turbine according to claim 4, characterized in that: When the wind direction sensor is installed outside the vertical axis wind turbine, the relative angle of the calibrated blades = the sum of the wind direction sensor output value, the absolute angle of the wind turbine, and 90 degrees minus the installation angle; When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade; When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

6. A method for determining the relative angle of a vertical axis wind turbine according to claim 2, characterized in that: When the wind direction sensor is installed on the top of the fixed frame of the vertical axis wind turbine, the angle between the wind direction sensor and the zero position of the wind turbine includes the wind direction angle and the installation angle. The installation angle is the angle between the zero position direction of the wind direction sensor and the zero position direction of the wind turbine projected on the ground. The zero position direction of the wind direction sensor is the direction when the output value of the wind direction sensor is zero or 360 degrees. The wind direction angle is the angle between the direction pointing to the wind direction and the zero position direction of the wind turbine projected on the ground. If the calculated wind direction angle value is less than zero, 360 degrees is added to the wind direction angle to obtain the final wind direction angle. If the calculated wind direction angle value is greater than or equal to 360, 360 degrees is subtracted from the wind direction angle to obtain the final wind direction angle.

7. A method for determining the relative angle of a vertical axis wind turbine according to claim 6, characterized in that: When the installation angle is zero degrees, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor. The relative angle of the calibrated blades = the absolute angle of the fan + 90 degrees - the wind direction angle; When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade; When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

8. The method for determining the relative angle of a vertical axis wind turbine according to claim 6, wherein: When the installation angle is not zero, the wind direction angle is equal to the absolute angle of the fan minus the output value of the wind direction sensor plus the installation angle. The relative angle of the calibrated blade = the absolute angle of the fan + 90 degrees - the wind direction angle; When the calculated relative angle of the calibration blade is less than zero, 360 degrees is added to the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade; When the calculated relative angle of the calibration blade is greater than or equal to 360 degrees, 360 degrees is subtracted from the relative angle of the calibration blade to obtain the relative angle θ1 of the calibration blade.

9. The method for determining the relative angle of a vertical axis wind turbine according to claim 1, wherein: When a vertical axis wind turbine includes n blades, and the n blades are evenly distributed circumferentially, the angle difference between two adjacent blades is △θ=360 / n, and the relative angle of the calibrated blade is θ1. The relative angle θn of the remaining n blades is calculated as follows: θn=θ1+△θ×(n-1); When θn is less than zero, 360 degrees is added to θn to obtain the final relative angle of the nth blade; When θn is greater than or equal to 360 degrees, 360 degrees is subtracted from θn to obtain the final relative angle of the nth blade.

10. A computer-readable storage medium, characterized in that include: one or more processors; A storage unit for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement a method for determining the relative angle of a vertical axis wind turbine as described in any one of claims 1-9.

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