A wind power tower cylinder inclination settlement monitoring system and method

Abstract

The application provides a wind power tower cylinder inclination and settlement monitoring system and method, the system comprises a gyroscope, a Beidou positioning module, a meteorological sensor, an integrated support and a central processing module, the gyroscope is installed at a position of 60% to 80% of the height of the tower cylinder and is used for collecting angular velocity data, the Beidou positioning module comprises a Beidou antenna arranged at the top of the tower and a Beidou reference station arranged at the base of the tower and is used for outputting carrier phase observation values, the meteorological sensor is arranged at the top of the tower and is used for collecting wind speed and temperature data, the integrated support is used for fixing the Beidou antenna and the meteorological sensor at the top of the tower and limiting the distance between the two within a set range, and the central processing module is used for calculating the settlement amount of the tower cylinder according to the collected angular velocity, wind speed, temperature data and carrier phase observation values. The wind power tower cylinder inclination and settlement monitoring system has the advantage of high monitoring precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind power tower safety monitoring, in particular to a wind power tower inclination and settlement monitoring system and method. BACKGROUND

[0002] With the development of global industrialization, energy demand has risen sharply, and wind power is a renewable energy technology. With the gradual maturity of wind power technology in recent years, wind power has become popular. However, as more and more wind power towers are put into use, many faults and problems have been exposed in the long-term operation of wind power towers. Due to the high height of the wind power tower, it bears a large amount of wind shear. Long-term stress may cause the wind power tower to tilt and settle. Once the inclination and settlement amplitude is too large, it may cause safety hazards.

[0003] Currently, the safety monitoring of wind power tower cylinders mainly has the following two schemes:

[0004] One is to measure the inclination angle of the tower cylinder. For example, patent application CN110344315A proposes a wind power tower cylinder inclination monitoring system, which measures the inclination angle of the tower cylinder through an inclination sensor. However, in this scheme, only single-dimensional inclination data can be provided, and it is impossible to distinguish between dynamic shaking and real inclination. Moreover, the static accuracy is only 5-10mm under wind vibration interference, which cannot meet the industry's requirement for 2.5mm level accuracy.

[0005] The other is tower cylinder settlement monitoring. For example, CN112834900A proposes a tower cylinder settlement monitoring method based on Beidou positioning, which installs a meteorological sensor on the tower foundation (more than 80m from the tower top). This scheme has the following defects: The setting of the wind speed gradient causes the time and space of the meteorological data and the Beidou signal to be out of sync, which increases the ionospheric delay correction error; the vertical accuracy is only 8.7mm (actual measurement data), which makes it difficult to reliably detect early deformation risks; and it cannot eliminate the influence of wind vibration noise on static accuracy. SUMMARY

[0006] The purpose of the present application is to provide a wind power tower cylinder inclination and settlement monitoring system and method, which aims to improve the monitoring accuracy of wind power tower cylinder inclination and settlement.

[0007] In the present application, a wind power tower cylinder inclination and settlement monitoring system is provided, which comprises a gyroscope, a Beidou positioning module, a meteorological sensor, an integrated support and a central processing module,

[0008] The gyroscope is installed at a position 60% to 80% of the height of the tower cylinder and is used to collect angular velocity data;

[0009] The Beidou positioning module comprises a Beidou antenna arranged on the top of the tower and a Beidou reference station arranged on the tower base, and is used for outputting Beidou carrier phase data.

[0010] The weather sensor is arranged on the top of the tower and is used for collecting wind speed and temperature data.

[0011] The integrated support is used for fixing the Beidou antenna and the weather sensor on the top of the tower and limiting the distance between the two within a set range.

[0012] The central processing module is used for calculating the tower cylinder settlement amount according to the collected angular velocity, wind speed, temperature data and carrier phase observation value.

[0013] In the embodiment of the application, the central processing module calculates the tower cylinder settlement amount according to the collected angular velocity, wind speed, temperature data and carrier phase observation value, comprising:

[0014] calculating the static tilt angle of the tower cylinder according to the angular velocity data and the wind speed data;

[0015] calculating the Beidou height according to the Beidou carrier phase data;

[0016] calculating the Beidou height error according to the wind speed and temperature data, and obtaining the corrected Beidou height according to the Beidou height error;

[0017] fusing the corrected Beidou height and the static tilt angle by using a set Kalman filter to obtain the tower cylinder settlement amount.

[0018] In the embodiment of the application, the static tilt angle of the tower cylinder is calculated according to the angular velocity data and the wind speed data, comprising:

[0019] calculating the dynamic compensation angular velocity ω_comp = ω - 0.02×V;

[0020] integrating the dynamic compensation angular velocity to obtain the static tilt angle θ_static = ∫ω_comp dt,

[0021] wherein ω is the angular velocity and V is the wind speed.

[0022] In the embodiment of the application, the Beidou height error is calculated according to the wind speed and temperature data, and the calculation formula is as follows:

[0023] Δh = 0.3×(T-25) + 0.02×V²,

[0024] The calculation formula of the corrected Beidou height is as follows:

[0025] h_corr = h_RTK − Δh,

[0026] Wherein, the height error of Beidou is Δh, T is temperature, V is wind speed, h_corr is the corrected height of Beidou, and h_RTK is the height of Beidou.

[0027] In the embodiment of the application, the Kalman filter comprises,

[0028] The state transition equation is as follows:

[0029] X_k =FX_(k-1)+ w_k,

[0030] Wherein, X_k is the state vector at the k th moment, and θ_k is the real static inclination angle of the tower at the k th moment, ΔS_k is the settlement amount of the tower at the k th moment, F is a unit transition matrix, and W_k is the process noise at the k th moment, and W_k ~ N(0, Q), Q is a covariance matrix, and Q is dynamically adjusted according to the wind speed V: if V < 10 m / s, then Q = diag([0.01, 0.01]); if V >= 10 m / s, then Q = diag([0.1, 0.1]),

[0031] The observation equation is as follows:

[0032] Z_k = HX_k+v_k,

[0033] Wherein, Z_k is the observation vector, and θ_static_k is the inclination angle observation value at the k th moment, hcorr_k is the Beidou height observation value at the k th moment, H is the observation matrix, and v_k is the measurement noise at the k th moment, and v_k ~ N(0, R), R is set according to the nominal accuracy of the sensor.

[0034] In the embodiment of the application, the wind power tower inclination and settlement monitoring system further comprises:

[0035] The multi-mode communication module integrates a 4G / 5G communication unit, a LoRa communication unit and a Beidou short message communication unit.

[0036] In the embodiment of the application, the working mode of the multi-mode communication module is as follows:

[0037] When the 4G / 5G signal strength is greater than or equal to -110 dBm, the 4G / 5G communication unit is used to transmit data;

[0038] When the 4G / 5G signal strength is less than -110 dBm, the LoRa communication unit is switched to transmit data;

[0039] When the 4G / 5G signal strength is less than or equal to -110 dBm and the LoRa communication unit is interrupted, the data is transmitted through the Beidou short message communication unit.

[0040] In the embodiment of the application, the gyroscope is installed at a position 70% of the total height of the tower drum.

[0041] In the embodiment of the application, the distance between the Beidou antenna and the weather sensor is less than or equal to 0.5 m, and the synchronization error of the collection time of the wind speed and temperature data and the Beidou signal is less than or equal to 0.1 s.

[0042] In the embodiment of the application, a monitoring method of the wind power tower drum inclination and settlement monitoring system is also provided, which comprises:

[0043] Step S1: Real-time collection of the angular velocity of the gyroscope ω, the Beidou carrier phase Φ, the wind speed V and the temperature T;

[0044] Step S2: Calculation of the dynamically compensated angular velocity ω_comp = ω - 0.02×V;

[0045] Step S3: Integration of the dynamically compensated angular velocity to obtain the static inclination angle θ_static = ∫ω_comp dt;

[0046] Step S4: Calculation of the Beidou height error Δh = 0.3×(T-25) + 0.02×V², and correction of the Beidou height:

[0047] h_corr = h_RTK − Δh, wherein h_corr is the corrected Beidou height, and h_RTK is the Beidou height obtained according to the Beidou carrier phase Φ;

[0048] Step S5: Fusion of θ_static and the Beidou height h_corr through Kalman filtering to output the settlement amount ΔS.

[0049] Compared with the prior art, the wind power tower drum inclination and settlement monitoring system and method of the application realize spatial synchronization and time synchronization of the weather data and the Beidou signal through the tower top integrated support, correct the ionospheric delay by using the weather data, eliminate the wind vibration noise by dynamic compensation of the gyroscope, and finally realize the static horizontal monitoring precision of less than or equal to 2.5 mm and the vertical precision of less than or equal to 5 mm, thereby solving the problem of insufficient precision caused by the asynchronization of the weather data and the Beidou signal in time and space in the prior art; the weather station and the Beidou antenna are integrated on the tower top, which meets the high-precision safety monitoring demand of the wind power industry; the settlement amount is obtained by fusing the static inclination angle and the Beidou height through the Kalman filter, which improves the calculation precision and anti-interference ability of the tower drum settlement amount; and multiple communication links are adopted to ensure the data reachability of 99.9%. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a module schematic diagram of the wind power tower cylinder inclination settlement monitoring system of the embodiment of the present application.

[0051] Figure 2 is a schematic diagram of the installation structure of the wind power tower cylinder inclination settlement monitoring system of the embodiment of the present application on the wind power tower cylinder.

[0052] Figure 3 is a flow chart of the wind power tower cylinder inclination settlement monitoring method of the embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0054] The implementation of the present application is described in detail below with reference to specific embodiments.

[0055] As shown in Figure 1 and Figure 2 , in the embodiment of the present application, a wind power tower cylinder inclination settlement monitoring system is provided, which comprises a gyroscope 2, a Beidou positioning module 3, a meteorological sensor 4, an integrated support 5, a multi-mode communication module 6 and a central processing module 7 arranged on the tower cylinder 1 of the wind power tower. The following are described respectively.

[0056] The gyroscope 2 is installed at a position of 60% to 80% of the height of the tower cylinder, and is used to collect angular velocity data. It should be noted that the position of 60% to 80% of the height of the tower cylinder is a low-impact area of vortex-induced vibration verified by CFD fluid simulation, and the angular velocity data collected at this position is more accurate. Preferably, in the embodiment of the present application, the installation height of the gyroscope module is at a position of 70% of the total height of the tower cylinder.

[0057] The Beidou positioning module 3 comprises a Beidou antenna 31 arranged at the top of the tower and a Beidou reference station 32 arranged at the base of the tower, and is used to output Beidou carrier phase observation data. The Beidou carrier phase observation data is used to calculate Beidou elevation.

[0058] It should be noted that in the embodiment of the present application, the Beidou antenna 31 is installed at a position of 100 m from the top of the tower, and the reference station 32 is installed at a position of 5 m from the base of the tower, the baseline length is 95 m, and the BDS-3 B1C / B2a frequency point is supported.

[0059] The meteorological sensor 4 is arranged at the top of the tower, and is used to collect meteorological data, specifically wind speed and temperature data.

[0060] The integrated support 5 is used to fix the Beidou antenna 3 and the weather sensor 4 on the tower top and limit the distance between the two within a set range. Specifically, in the embodiment of the application, the distance between the Beidou antenna 31 and the weather sensor 4 is ≤0.5m, and the synchronization error of the collection time of the weather data and the Beidou signal is <0.1s, so as to realize the spatial synchronization and time synchronization of the weather data and the Beidou signal, and reduce the ionospheric delay correction error to 0.9 times. Further, in the embodiment of the application, the integrated support 5 is provided with a gyroscope damping base (vibration isolation coefficient ≥0.8) with damping effect, so that the weather sensor can work normally and collect accurate weather data through damping design.

[0061] The multi-mode communication module 6 integrates a 4G / 5G communication unit, a LoRa communication unit and a Beidou short message communication unit, and is used to realize data transmission between the wind power tower cylinder inclination settlement monitoring system and the wind farm cloud platform through multiple modes. Among them, the 4G / 5G communication unit is used for daily data transmission; the LoRa communication unit covers the wind turbine group within 10km; the Beidou short message communication unit is used as an emergency channel when the network is disconnected.

[0062] Specifically, the working mode of the multi-mode communication module 6 is as follows:

[0063] When the 4G / 5G signal strength is ≥-110dBm, the 4G / 5G communication unit is used to transmit data;

[0064] When the 4G / 5G signal strength is <-110dBm, the LoRa communication unit is switched to transmit data;

[0065] When the 4G / 5G signal strength is <-110dBm and the LoRa communication unit communication is interrupted, the Beidou short message communication unit is used to transmit data.

[0066] The central processing module 7 is used to calculate the tower cylinder settlement amount according to the collected angular velocity, wind speed, temperature data and carrier phase observation value.

[0067] The process of calculating the tower cylinder settlement amount by the central processing unit 7 is described below.

[0068] First, the static inclination angle of the tower cylinder is calculated according to the angular velocity data and the wind speed data, and the calculation process includes: calculating the dynamic compensation angular velocity ω_comp = ω - 0.02×V;

[0069] Integrate the dynamic compensation angular velocity to obtain the static inclination angle θ_static = ∫ω_comp dt,

[0070] Wherein, ω is the angular velocity measured by the gyroscope, V is the wind speed measured by the meteorological sensor;

[0071] Then, the Beidou height error is calculated: Δh = 0.3×(T-25) + 0.02×V²;

[0072] Next, the corrected Beidou height is h_corr = h_RTK − Δh, wherein h_corr is the corrected Beidou height, and h_RTK is the Beidou height calculated according to the Beidou carrier phase;

[0073] Finally, the corrected Beidou height error Δh and the static tilt angle θ_static are fused by using the set Kalman filter to obtain the tower cylinder settlement.

[0074] It should be noted that the static tilt angle θ_static is obtained by dynamic compensation and integration of the gyroscope angular velocity, and reflects the overall tilt state of the tower cylinder; the Beidou height error Δh is obtained by substituting the meteorological data (wind speed V and temperature T) into the empirical formula, and is used to correct the Beidou height observation value, thereby indirectly reflecting the vertical settlement of the tower cylinder. Therefore, by fusing the two through Kalman filtering, the high-precision and anti-interference tower cylinder settlement ΔS can be output.

[0075] In the embodiment of the application, the corrected Beidou height error and the static tilt angle are fused by using the set Kalman filter, wherein the Kalman filter comprises:

[0076] The state transition equation is as follows:

[0077] X_k =FX_(k-1)+ w_k,

[0078] Wherein: X_k is the state vector at the k th moment, and θ_k is the true static tilt angle of the tower cylinder at the k th moment, ΔS_k is the tower cylinder settlement at the k th moment, F is the unit transition matrix, and X_(k-1) is the state vector at the (k-1) th moment, W_k is the process noise at the k th moment, and W_k ~ N(0,Q), Q is the covariance matrix, and Q is dynamically adjusted according to the wind speed V, W_k ~ N(0,Q) indicates that the process noise obeys the Gaussian distribution with zero mean and covariance Q, and the size of Q is dynamically adjusted according to the wind speed to reflect the disturbance degree of the tower cylinder: if V<10m / s, then Q=diag([0.01,0.01]); if V≥10m / s, then Q=diag([0.1,0.1]), diag represents a diagonal matrix, that is, .

[0079] The observation equation is as follows:

[0080] Z_k = HX_k+v_k,

[0081] wherein Z_k is an observation vector, and , θ_static_k is the tilt angle observation value at the k th moment, hcorr_k is the Beidou elevation observation value at the k th moment, H is an observation matrix, and , v_k is the measurement noise at the k th moment, and v_k ~ N(0, R), that is, the measurement noise v_k obeys the Gaussian distribution with zero mean and covariance R, and R is set according to the nominal accuracy of the sensor.

[0082] It should be noted that the Kalman filter is an optimal autoregressive data processing algorithm, which updates the state estimation by prediction and measurement value according to the set state transition equation (prediction equation) and observation equation, and iteratively operates, that is, according to the state estimation at the previous moment and the measurement value at the current moment, the state estimation at the current moment is obtained, so that the algorithm can run in real time, and the Kalman filter can effectively fuse uncertain information and provide accurate state estimation.

[0083] The wind power tower cylinder inclination settlement monitoring system in the embodiment of the application is tested for 72 hours in the Gansu Jiuquan wind power field (east longitude 98.49°, north latitude 39.73°), and the test condition results are as follows:

[0084] Test condition: wind speed 3-15m / s, temperature-10℃~35℃

[0085] Reference equipment: Leica AT960 laser tracker (accuracy ±0.02mm)

[0086] Test results:

[0087] Horizontal accuracy: actual error 1.8±0.7mm (≤2.5mm)

[0088] Vertical accuracy: actual error 3.2±1.8mm (≤5mm).

[0089] The test data show that when only the weather station is moved to the top of the tower (without integrated design), the vertical accuracy is only improved to 7.2mm (still >5mm), and the spatial distance ≤0.5m and the time synchronization <0.1s must be realized at the same time to achieve the accuracy requirement of ≤5mm.

[0090] Further, as shown in Figure 3 , the embodiment of the application further provides a monitoring method of the wind power tower cylinder inclination settlement monitoring system, which comprises:

[0091] Step S1: real-time acquisition of the gyro angular velocity ω, the Beidou carrier phase Φ, the wind speed V and the temperature T;

[0092] Step S2: calculate the dynamic compensation angular velocity ω_comp = ω - 0.02xV;

[0093] Step S3: integrate the dynamic compensation angular velocity to obtain the static tilt angle θ_static = ∫ω_comp dt;

[0094] Step S4: calculate the Beidou height error Δh = 0.3x(T-25) + 0.02xV2, and correct the Beidou height: h_corr = h_RTK - Δh, wherein h_corr is the corrected Beidou height, and h_RTK is the Beidou height calculated according to the Beidou carrier phase;

[0095] Step S5: fuse θ_static and h_corr through Kalman filtering, and output the settlement amount ΔS.

[0096] In summary, the wind power tower tilt settlement monitoring system and method of the present application realizes spatial synchronization and time synchronization of meteorological data and Beidou signals through the tower top integrated support, corrects ionospheric delay by using meteorological data, and eliminates wind vibration noise by dynamic compensation of the gyroscope, finally realizes static horizontal monitoring accuracy ≤2.5mm, vertical accuracy ≤5mm, solves the problem of insufficient accuracy caused by the time and space asynchronization of meteorological data and Beidou signals in the prior art; integrates the weather station and the Beidou antenna on the tower top, meets the high-precision safety monitoring demand of the wind power industry; fuses the static tilt angle and the Beidou height through the Kalman filter to obtain the settlement amount, improves the calculation accuracy and anti-interference ability of the tower settlement amount; multiple communication links are adopted to ensure 99.9% data reachability.

[0097] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wind power tower tilt settlement monitoring system, characterized by, The application relates to a wind turbine tower settlement monitoring system, which comprises a gyroscope, a Beidou positioning module, a weather sensor, an integrated support and a central processing module. The gyroscope is installed at a position of 60-80% of the height of a tower drum and is used for collecting angular velocity data. The Beidou positioning module comprises a Beidou antenna arranged at the top of the tower and a Beidou reference station arranged at the base of the tower and is used for outputting Beidou carrier phase data. The weather sensor is arranged at the top of the tower and is used for collecting wind speed and temperature data. The integrated support is used for fixing the Beidou antenna and the weather sensor at the top of the tower and limiting the distance between the two within a set range. The central processing module is used for calculating the tower drum settlement according to the collected angular velocity, wind speed, temperature data and carrier phase observation values. The central processing module calculates the tower drum settlement according to the collected angular velocity, wind speed, temperature data and carrier phase observation values, which comprises the following steps: calculating the static inclination angle of the tower drum according to the angular velocity data and the wind speed data; calculating the Beidou elevation according to the Beidou carrier phase data; calculating the Beidou elevation error according to the wind speed and temperature data and obtaining the corrected Beidou elevation according to the Beidou elevation error; adopting a set Kalman filter to fuse the corrected Beidou elevation and the static inclination angle to obtain the tower drum settlement, wherein the state transition equation of the Kalman filter is as follows: X_k =FX_(k-1)+ w_k, the observation equation is as follows: wherein: X_k is a state vector at the kth moment, and , θ_k is the real static tilt angle of the tower at the kth moment, ΔS_k is the settlement amount of the tower at the kth moment, F is a unit transfer matrix, and , W_k is the process noise at the kth moment, and W_k ~ N(0, Q), Q is a covariance matrix, and Q is dynamically adjusted according to the wind speed V: if V < 10 m / s, then Q = diag([0.01, 0.01]); if V ≥ 10 m / s, then Q = diag([0.1, 0.1]), Z_k = HX_k+v_k, and the system further comprises a multi-mode communication module integrating a 4G / 5G communication unit, a LoRa communication unit and a Beidou short message communication unit. wherein Z_k is an observation vector, and , θ_static_k is the kth time of the tilt angle observation value, hcorr_k is the kth time of the Beidou elevation observation value, H is the observation matrix, and , v_k is the kth time of the measurement noise, and v_k ~ N(0, R), R is set according to the nominal accuracy of the sensor.

2. The wind power tower tilt settlement monitoring system of claim 1, wherein, The working mode of the multi-mode communication module is as follows: when the 4G / 5G signal strength is greater than or equal to -110 dBm, the 4G / 5G communication unit is adopted to transmit data; 3. The wind power tower tilt settlement monitoring system of claim 2, wherein, when the 4G / 5G signal strength is less than -110 dBm, the LoRa communication unit is switched to transmit data; when the 4G / 5G signal strength is less than -110 dBm and the LoRa communication unit communication is interrupted, the Beidou short message communication unit is adopted to transmit data. The installation height of the gyroscope is 70% of the total height of the tower drum. The distance between the Beidou antenna and the weather sensor is less than or equal to 0.5 m, and the time synchronization error of the collection of the wind speed and temperature data and the Beidou signal is less than 0.1 s.

4. The wind power tower tilt settlement monitoring system of claim 1, wherein, ​ 5. The wind power tower tilt settlement monitoring system of claim 1, wherein, ​

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