Fan blade anti-ice-falling yaw method and equipment and medium
By acquiring observation and operational data of wind turbine blades, and using trajectory prediction models to calculate the dangerous areas of icing and make yaw decisions, the safety threat posed by wind turbine blade icing to critical equipment in high-altitude and cold regions has been resolved, achieving precise sensing and energy consumption reduction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA THREE GORGES CORP FUJIAN ENERGY INVESTMENT CO LTD
- Filing Date
- 2026-02-27
- Publication Date
- 2026-04-21
AI Technical Summary
Existing technologies lack the ability to accurately perceive and predict icing problems on wind turbine blades in high-altitude and cold regions, leading to icing detachment posing a safety threat to critical equipment and resulting in high energy consumption.
By acquiring observational and operational data of wind turbine blades, a trajectory prediction model is used to calculate the danger zone where icing may fall, and yaw decisions are made in conjunction with an asset protection map to prevent icing from falling onto critical equipment.
It enables accurate sensing and prediction of icefall, reducing energy consumption, preventing icefall from falling on critical equipment, and reducing economic losses.
Smart Images
Figure CN121897520A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of wind turbine generator operation safety control, and in particular to a method, equipment and medium for preventing wind turbine blades from falling ice and yawing. Background Technology
[0002] As wind power development extends to high-altitude and frigid regions, the problem of wind turbine blade icing in winter is becoming increasingly prominent. Icing not only leads to changes in aerodynamic shape, reduced power generation efficiency, and abnormal unit load, but also poses a greater risk due to the unpredictable shedding of ice blocks, which may pose a serious safety threat to the box-type transformers, inspection passages, and even maintenance personnel below.
[0003] Existing methods for dealing with ice detachment from wind turbine blades include active de-icing, which uses methods such as hot air to remove ice, but these methods have problems such as high energy consumption and potential fatigue effects on the blade structure. Passive protection yaw technology, on the other hand, controls the wind turbine to yaw to avoid critical equipment after detecting ice detachment. This yaw action is based on static, preset safety angles or sectors and relies on single meteorological data (temperature and humidity) or simple icing alarms as triggering conditions. It lacks the ability to accurately perceive and predict the ice growth process, the critical state of detachment, and the consequences of detachment. Summary of the Invention
[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a wind turbine blade anti-icing yaw method, which can accurately sense and predict the consequences of icing and reduce energy consumption, thereby preventing icing from falling onto critical facilities such as on / off control equipment.
[0005] The present invention also proposes equipment and media having the above-mentioned method for preventing wind turbine blades from falling ice and yawing.
[0006] A method for preventing icing and yaw of wind turbine blades according to a first aspect of the present invention, applied to wind turbine blades, includes: Acquire the observation data and operating data of the wind turbine blades; The icing situation was obtained based on the observation data of the wind turbine blades; Based on the icing situation, the operational data, and the pre-built trajectory prediction model, the dangerous areas with a high probability of falling ice are obtained. Based on the danger zone and the preset asset protection map, a yaw decision is made to obtain the low-damage drop area and the target yaw angle; Yaw according to the target yaw angle so that the icing falls into the low-damage drop area.
[0007] A wind turbine blade anti-icing yaw method according to an embodiment of the present invention has at least the following beneficial effects: The present invention first detects the icing condition of the wind turbine blades, and based on a trajectory prediction model, combined with blade operating data and multiple dynamic factors of icing condition, calculates in real time the three-dimensional motion trajectory of the icing after it detaches from the blade position under the action of the wind field, obtaining the dangerous area of icing fall. The three-dimensional motion trajectory is then offset using an asset protection map, shifting the dangerous area to an area with lower economic loss. The present invention, by combining real-time icing conditions, can accurately perceive and predict the consequences of icing fall and reduce energy consumption, thereby preventing icing from falling onto critical facilities such as key equipment.
[0008] According to some embodiments of the present invention, the observation data of the wind turbine blades includes: the natural vibration frequency of the wind turbine blades and images; The process of determining the icing status based on the observation data of the wind turbine blades includes: The icing mass and icing area are determined based on the shift in the inherent vibration frequency. Acquire an image of the icy area; Image recognition is performed on the image of the icing area to obtain the icing thickness, icing type, and icing area.
[0009] According to some embodiments of the present invention, determining the icing mass and icing area based on the shift of the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The icing mass is obtained based on the natural vibration frequency, the initial natural vibration frequency, the mass per unit length, and the length; wherein, the operating data includes: the mass per unit length and the length.
[0010] According to some embodiments of the present invention, determining the icing mass and icing area based on the shift of the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The offset of the natural vibration frequency is obtained by comparing the initial natural vibration frequency and the natural vibration frequency. The offset of the natural vibration frequency of each segment of the wind turbine blade is determined, and the segment with an offset greater than a preset first offset threshold is designated as the icing area.
[0011] According to some embodiments of the present invention, the step of performing image recognition on the image of the icing area to obtain the icing thickness, icing type, and icing area includes: The images of the icy areas are preprocessed sequentially with noise reduction and contrast enhancement. Based on the preset ratio of the pixels of the calibrator to the size of the calibrator, the ice thickness and ice area in the image of the icing region are determined; The image of the icy area is input into a pre-trained type recognition model, and the icing type is output.
[0012] According to some embodiments of the present invention, determining the danger zone for icefall based on the icing situation, the operational data, and a pre-built trajectory prediction model includes: Obtain environmental data for the wind turbine blades; Based on the operational data, determine the initial location and initial velocity of the ice shedding; Based on the environmental data, the initial velocity, the type of icing and the icing area in the icing situation, the aerodynamic drag and aerodynamic lift are obtained. Based on the aerodynamic drag, aerodynamic lift, and the icing mass in the icing situation, the landing point of the icing in the next preset time period is determined until a falling trajectory is formed, thus obtaining the danger zone.
[0013] According to some embodiments of the present invention, after a fall trajectory is formed, the icing area, the icing mass, and the environmental data are respectively set within their corresponding adjustment ranges. Then, based on the environmental data, the icing type, and the icing area, aerodynamic drag and aerodynamic lift are obtained. Based on the aerodynamic drag, aerodynamic lift, and the icing mass, the landing point of the icing in the next preset time period is determined until a fall trajectory is formed, thereby forming several fall trajectories. The final landing points of several falling trajectories are projected onto the ground, and the area with the most final landing points is designated as the danger zone.
[0014] According to some embodiments of the present invention, the step of making a yaw decision based on the dangerous area and a preset asset protection map to obtain a low-damage drop area and a target yaw angle includes: By overlaying and analyzing the overlap between the asset protection map and the dangerous area, the economic loss can be obtained. Based on the pre-constructed yaw drop model and each yaw angle in the preset yaw angle set, the drop area corresponding to each yaw angle is obtained; Calculate the economic loss of the drop area corresponding to each yaw angle, and take the drop area with the lowest economic loss as the low-loss drop area, and take the corresponding yaw angle as the target yaw angle.
[0015] An electronic device according to a second aspect of the present invention includes: Memory, used to store programs; A processor for executing a program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to perform the method as described in any one of the first aspects.
[0016] According to a third aspect of the present invention, a storage medium stores computer-executable instructions for performing the method as described in any one of the first aspects.
[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description
[0018] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.
[0019] Figure 1 This is a flowchart of a wind turbine blade anti-icing yaw method provided in an embodiment of the present invention. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0021] It should be understood that in the description of the embodiments of the present invention, "multiple" (or "amounts") means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first," "second," etc., are used in the description, they are only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0022] like Figure 1 As shown, this embodiment of the invention provides a method for preventing icing and yaw of wind turbine blades, applied to wind turbine blades, including: Step S100: Obtain observation data and operational data of the wind turbine blades; Step S200: Obtain the icing situation based on the observation data of the wind turbine blades; Step S300: Based on the icing situation, operational data, and a pre-built trajectory prediction model, obtain the dangerous areas with the probability of falling ice. Step S400: Based on the danger zone and the preset asset protection map, make a yaw decision to obtain the low-damage drop area and the target yaw angle; Step S500: Yaw according to the target yaw angle so that the icing falls in the low-damage drop area.
[0023] This invention first detects the icing condition of wind turbine blades. Based on a trajectory prediction model, and combined with blade operating data and multiple dynamic factors related to icing conditions, it calculates in real time the three-dimensional trajectory of ice detaching from the blade under the influence of the wind field. This identifies the danger zone where ice falls. By incorporating an asset protection map, the three-dimensional trajectory is shifted to an area with lower economic loss. This invention, by combining real-time icing conditions, can accurately perceive and predict the consequences of ice falling and reduce energy consumption, preventing ice from falling onto critical facilities such as key equipment.
[0024] In one embodiment, in step S100, the observation data of the wind turbine blades includes: the natural vibration frequency of the wind turbine blades and images; In step S200, based on the observation data of the wind turbine blades, the icing situation is obtained, including: Determine the icing mass and icing area based on the shift in the natural vibration frequency; Acquire images of the icy area; Image recognition is performed on the image of the icing area to obtain the icing thickness, icing type, and icing area.
[0025] In one embodiment, determining the icing mass and icing area based on the shift in the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The icing mass is obtained based on the natural vibration frequency, initial natural vibration frequency, mass per unit length, and length; among which, the operational data includes: mass per unit length and length.
[0026] It is easy to understand that the initial natural vibration frequency refers to the natural vibration frequency of the wind turbine blades in a healthy, ice-free state.
[0027] Specifically, the mass of ice accumulation is obtained based on the natural vibration frequency, the initial natural vibration frequency, the mass per unit length, and the length, as expressed below:
[0028] in, For icing quality, Mass per unit length For length, The natural vibration frequency, The initial natural vibration frequency; It should be noted that the above expression is based on the relationship between the natural vibration frequency and mass before and after the presence of ice. The derivation is performed to obtain the result.
[0029] In one embodiment, determining the icing mass and icing area based on the shift in the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The offset of the natural vibration frequency is obtained by comparing the initial natural vibration frequency and the natural vibration frequency. Determine the offset of the natural vibration frequency of each section of the wind turbine blade, and designate the section with an offset greater than a preset first offset threshold as the icing area.
[0030] In one embodiment, if the offset is greater than a preset second offset threshold, it indicates that the icing of the section is severe and affects the normal operation of the wind turbine. An early warning is issued to remind staff to handle and maintain the wind turbine blades.
[0031] In one embodiment, image recognition is performed on the image of the icing area to obtain the icing thickness, icing type, and icing area, including: The images of the icy areas are preprocessed sequentially with noise reduction and contrast enhancement. Based on the preset ratio of the pixels of the calibrator to the size of the calibrator, the ice thickness and ice area in the image of the icing region are determined; The image of the icy area is input into a pre-trained type recognition model, and the icing type is output.
[0032] It should be noted that the ice types include frost ice and clear ice. Frost ice has strong diffuse reflection, while clear ice is translucent and has a glassy texture. The type recognition model determines the ice type based on visual features such as texture and transparency of the segmented region.
[0033] It is easy to understand that this method is implemented within a preset icing risk period, during the dangerous period when wind turbine blades are prone to icing.
[0034] In one embodiment, in step S300, based on the icing situation, operational data, and a pre-built trajectory prediction model, the danger zone for icefall is determined, including: Obtain environmental data for the wind turbine blades; Based on the operational data, determine the initial location and initial velocity of the ice shedding; Based on environmental data, initial velocity, icing type and icing area, aerodynamic drag and aerodynamic lift are obtained. Based on aerodynamic drag, aerodynamic lift, and the mass of icing in the icing situation, the landing point of the icing in the next preset time period is determined until a falling trajectory is formed, thus obtaining the danger zone.
[0035] In one embodiment, the operational data includes: blade rotation linear velocity; environmental data includes: wind speed; the relative velocity of icing, i.e., the initial velocity, is obtained based on the blade rotation linear velocity and wind speed; The expression for aerodynamic drag (which impedes the movement of ice and is opposite to the direction of relative wind speed) is as follows:
[0036] The expression for aerodynamic lift (perpendicular to the relative wind direction, determined by the shape of the ice body) is as follows:
[0037] in, Given the known air density, This is the aerodynamic drag coefficient. Where A is the aerodynamic lift coefficient and A is the icing area. The initial velocity is given; the aerodynamic drag coefficient and aerodynamic lift coefficient are obtained by fitting based on the icing type.
[0038] In one embodiment, after the falling trajectory is formed, the icing area, icing mass, and environmental data are taken within their respective adjustment ranges. Then, based on the environmental data, the icing type, and the icing area, aerodynamic drag and aerodynamic lift are obtained. Based on the aerodynamic drag, aerodynamic lift, and icing mass, the landing point of the icing in the next preset time period is determined until a falling trajectory is formed, thereby forming several falling trajectories. The final landing points of several falling trajectories are projected onto the ground, and the area with the most final landing points is designated as the danger zone.
[0039] Specifically, due to uncertainties such as wind speed turbulence and irregular ice shapes, single trajectory prediction is unreliable. Therefore, the model performs Monte Carlo simulation: hundreds of random samples are taken within a reasonable range of input parameters (such as wind speed and ice mass); trajectory clusters are generated for each set of sampling parameters; the landing points of all trajectories are projected onto the ground; and a probability distribution heat map, i.e., the "danger zone with the highest probability", is generated through methods such as kernel density estimation.
[0040] In one embodiment, in step S400, a yaw decision is made based on the danger zone and a preset asset protection map to obtain the low-damage drop zone and the target yaw angle, including: By overlaying asset protection maps and hazardous areas, and analyzing the degree of overlap, economic losses can be obtained. Based on the pre-constructed yaw drop model and each yaw angle in the preset yaw angle set, the drop area corresponding to each yaw angle is obtained; Calculate the economic loss of the drop area corresponding to each yaw angle, and take the drop area with the lowest economic loss as the low-loss drop area, and take the corresponding yaw angle as the target yaw angle.
[0041] It is easy to understand that the yaw angle set refers to dividing the 360-degree angle into several yaw angles at preset intervals, with adjacent yaw angles being equidistant; the yaw drop model adopts the existing prediction model of yaw angle and drop point.
[0042] This invention also provides an electronic device, which includes, but is not limited to: Memory, used to store programs; The processor is used to execute programs stored in memory. When the processor executes programs stored in memory, it is used to execute the aforementioned wind turbine blade anti-icing yaw method.
[0043] The processor and memory can be connected via a bus or other means.
[0044] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the method described in the embodiments of the present invention. The processor implements the above method by running the non-transitory software program and instructions stored in the memory.
[0045] The memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function; the data storage area may store data for executing the methods described above. Furthermore, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0046] The non-transitory software program and instructions required to implement the above terminal selection method are stored in memory and are executed by one or more processors.
[0047] This invention also provides a storage medium storing computer-executable instructions for performing the above-described methods.
[0048] In one embodiment, the storage medium stores computer-executable instructions that are executed by one or more control processors.
[0049] The embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0050] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.
[0051] This document describes embodiments of the invention, including preferred embodiments known to the inventors for carrying out the invention. Variations of these embodiments will become apparent to those skilled in the art upon reading the foregoing description. The inventors encourage those skilled in the art to adopt such variations as appropriate, and the inventors intend to practice embodiments of the invention in ways other than those specifically described herein. Therefore, the scope of the invention includes all modifications and equivalents of the subject matter set forth in the appended claims, as permitted by applicable law. Furthermore, the scope of the invention covers any combination of the foregoing elements in all possible variations thereof, unless otherwise indicated herein or otherwise clearly contradicted by the context.
Claims
1. A method for preventing icing and yaw of wind turbine blades, applied to wind turbine blades, characterized in that, include: Acquire the observation data and operating data of the wind turbine blades; The icing situation was obtained based on the observation data of the wind turbine blades; Based on the icing situation, the operational data, and the pre-built trajectory prediction model, the dangerous areas with a high probability of falling ice are obtained. Based on the danger zone and the preset asset protection map, a yaw decision is made to obtain the low-damage drop area and the target yaw angle; Yaw according to the target yaw angle so that the icing falls into the low-damage drop area.
2. The method for preventing icing and yaw of wind turbine blades according to claim 1, characterized in that, The observation data of the wind turbine blades include: the natural vibration frequency of the wind turbine blades and images; The process of determining the icing status based on the observation data of the wind turbine blades includes: The icing mass and icing area are determined based on the shift in the inherent vibration frequency. Acquire an image of the icy area; Image recognition is performed on the image of the icing area to obtain the icing thickness, icing type, and icing area.
3. The method for preventing icing and yaw of wind turbine blades according to claim 2, characterized in that, Determining the icing mass and icing area based on the shift in the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The icing mass is obtained based on the natural vibration frequency, the initial natural vibration frequency, the mass per unit length, and the length; wherein, the operating data includes: the mass per unit length and the length.
4. A method for preventing icing and yaw of wind turbine blades according to claim 2, characterized in that, Determining the icing mass and icing area based on the shift in the inherent vibration frequency includes: Obtain the initial natural vibration frequency of the wind turbine blades; The offset of the natural vibration frequency is obtained by comparing the initial natural vibration frequency and the natural vibration frequency. The offset of the natural vibration frequency of each segment of the wind turbine blade is determined, and the segment with an offset greater than a preset first offset threshold is designated as the icing area.
5. A method for preventing icing and yaw of wind turbine blades according to claim 2, characterized in that, The image recognition process for the icing area to obtain the icing thickness, icing type, and icing area includes: The images of the icy areas are preprocessed sequentially with noise reduction and contrast enhancement. Based on the preset ratio of the pixels of the calibrator to the size of the calibrator, the ice thickness and ice area in the image of the icing region are determined; The image of the icy area is input into a pre-trained type recognition model, and the icing type is output.
6. A method for preventing icing and yaw of wind turbine blades according to claim 1, characterized in that, The method of determining the danger zone for icefall based on the icing situation, the operational data, and the pre-built trajectory prediction model includes: Obtain environmental data for the wind turbine blades; Based on the operational data, determine the initial location and initial velocity of the ice shedding; Based on the environmental data, the initial velocity, the type of icing and the icing area in the icing situation, the aerodynamic drag and aerodynamic lift are obtained. Based on the aerodynamic drag, aerodynamic lift, and the icing mass in the icing situation, the landing point of the icing in the next preset time period is determined until a falling trajectory is formed, thus obtaining the danger zone.
7. A method for preventing icing and yaw of wind turbine blades according to claim 1, characterized in that, After the falling trajectory is formed, the icing area, the icing mass, and the environmental data are each taken within their respective adjustment ranges. Then, based on the environmental data, the icing type, and the icing area, aerodynamic drag and aerodynamic lift are obtained. Based on the aerodynamic drag, aerodynamic lift, and the icing mass, the landing point of the icing in the next preset time period is determined until a falling trajectory is formed, thus creating several falling trajectories. The final landing points of several falling trajectories are projected onto the ground, and the area with the most final landing points is designated as the danger zone.
8. A method for preventing icing and yaw of wind turbine blades according to claim 1, characterized in that, The step of making a yaw decision based on the danger zone and the preset asset protection map to obtain the low-damage drop zone and the target yaw angle includes: By overlaying and analyzing the overlap between the asset protection map and the dangerous area, the economic loss can be obtained. Based on the pre-constructed yaw drop model and each yaw angle in the preset yaw angle set, the drop area corresponding to each yaw angle is obtained; Calculate the economic loss of the drop area corresponding to each yaw angle, and take the drop area with the lowest economic loss as the low-loss drop area, and take the corresponding yaw angle as the target yaw angle.
9. An electronic device, characterized in that, include: Memory, used to store programs; A processor for executing a program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to perform the method as described in any one of claims 1 to 8.
10. A storage medium, characterized in that, The device stores computer-executable instructions for performing the method as described in any one of claims 1 to 8.