Wind turbine blade tip displacement estimation method, system, device and storage medium

Abstract

The present application belongs to the technical field of wind power generation, and relates to a wind turbine blade tip displacement estimation method, system, device and storage medium. The present application constructs a curvature shape function in a blade coordinate system; the curvature shape function in the blade coordinate system is integrated twice along the blade span to obtain a displacement mode in the blade coordinate system; based on the displacement in the blade coordinate system, the distance of the displacement sensor from the blade root, the flapwise direction displacement and the edgewise direction displacement of the airfoil section, the modal superposition method and the matrix inversion method are used to obtain the blade tip modal displacement of each order in real time; the blade tip flapwise displacement and the blade tip edgewise displacement are obtained according to the displacement mode in the blade coordinate system and the blade tip modal displacement of each order; and based on the blade tip flapwise displacement, the blade tip edgewise displacement and the blade pitch angle, the displacement of the blade tip in the out-of-plane direction of the wind wheel and the displacement of the blade tip in the in-plane direction of the wind wheel are obtained. The present application can estimate the displacement of the blade tip in each direction and the displacement of each section of the blade in each direction in real time.

Description

Technical Field

[0001] This invention belongs to the field of wind power generation technology and relates to a method, system, equipment and storage medium for predicting the tip displacement of wind turbine blades. Background Technology

[0002] To reduce costs and increase efficiency, wind turbines are continuously becoming larger, significantly enhancing blade flexibility. Larger wind turbine blades exhibit significantly increased deformation, with tip displacement being the most pronounced. Excessive tip displacement can exacerbate risks such as blade sweeping against the tower and blade cracking. Blade design primarily relies on simulation models to predict blade deformation and loads. However, on-site wind conditions are spatiotemporally and unsteady, and the manufacturing process and materials exhibit discreteness, leading to substantial uncertainties in the models. Therefore, achieving online tip displacement monitoring is crucial for the structural safety design of wind turbine blades, blade-tower clearance control, and blade fault diagnosis.

[0003] Due to considerations such as lightning strike risk, cost, and sensor reliability, online monitoring of blade tip displacement is rarely performed in engineering projects. Directly installing strain gauges, fiber optic gratings, IMUs (Inertial Measurement Units), or satellite positioning sensors at the blade tip can directly acquire the blade tip's motion trajectory. However, the blade tip has the highest risk of lightning strike exposure, and the protection of sensors and their leads / power / communication is complex, with a high failure rate. Furthermore, installing and laying sensors in the confined space of the blade tip is difficult, and maintenance is extremely challenging. In addition, the dynamic accuracy of sensors such as satellite positioning is significantly limited at the extremely high linear velocities at the blade tip. Existing technologies also deploy external telemetry equipment such as lidar, millimeter-wave radar, and cameras inside or at the top of the tower. These devices can measure blade deformation or the distance from the blade to the tower as the blade passes the bottom of the tower, but they are greatly affected by environmental factors such as rain, fog, snow, backlighting, and obstructions. The sampling signals are too discrete, making it difficult to cover all angles and support high-bandwidth control. Moreover, the equipment is expensive and difficult to integrate and maintain, limiting its widespread engineering application. Furthermore, laying strain / fiber arrays along the spanwise direction to achieve shape reconstruction through "strain to shape" is a weather-independent and high-bandwidth method, but it typically requires numerous measurement points and long-distance cabling, making construction complex and still subject to lightning strike and long-term reliability risks. Indirect estimation methods based solely on SCADA (Supervisory Control and Data Acquisition) soft measurement or data-driven regression, while low-cost, lack generalization ability for unseen operating conditions and have poor interpretability, making it difficult to meet certification and control requirements.

[0004] In summary, the online monitoring device for wind turbine blade tip displacement suffers from problems such as poor monitoring reliability, insufficient dynamic monitoring accuracy, poor environmental adaptability, and inconvenience in assembly and maintenance. Furthermore, the monitoring method suffers from insufficient generalization ability and weak interpretability. Summary of the Invention

[0005] The purpose of this invention is to provide a method, system, device, and storage medium for predicting the tip displacement of wind turbine blades, in order to solve the problems of poor monitoring reliability, insufficient dynamic monitoring accuracy, poor environmental adaptability, and inconvenience in assembly and maintenance of online monitoring devices for the tip displacement of wind turbine blades, as well as the technical problems of insufficient generalization ability and weak interpretability of the monitoring methods.

[0006] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention provides a method for predicting the tip displacement of a wind turbine blade, comprising the following steps: S1, acquire the blade's modal displacement mode shape, blade twist angle distribution, distance of the displacement sensor from the blade root, blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and oscillation direction displacement monitored by the displacement sensor. S2, Based on the modal displacement mode shape and blade twist angle distribution of the blade, construct the curvature shape function in the blade coordinate system; S3, Integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system; S4. Based on the displacement mode shape in the blade coordinate system, the distance between the displacement sensor and the blade root, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor, the modal superposition method and matrix inversion method are used to obtain the blade tip modal displacement in real time. S5. Obtain the tip flapping displacement and tip oscillation displacement based on the displacement mode shape and the tip mode displacement in the blade coordinate system. S6, based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle, obtains the blade tip displacement in the direction outside the wind turbine plane and the blade tip displacement in the direction inside the wind turbine plane.

[0007] In a second aspect, the present invention provides a wind turbine blade tip displacement prediction system, comprising: The data acquisition module is used to acquire the blade's modal displacement mode shape, blade twist angle distribution, distance of the displacement sensor from the blade root, blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and oscillation direction displacement monitored by the displacement sensor. The curvature shape function construction module is used to construct the curvature shape function in the blade coordinate system based on the blade's modal displacement mode shape and blade twist angle distribution. The displacement mode shape acquisition module is used to integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system. The modal displacement acquisition module is used to acquire the blade tip modal displacements in real time based on the displacement mode shape in the blade coordinate system, the distance between the displacement sensor and the blade root, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The module uses the modal superposition method and matrix inversion method to acquire the blade tip modal displacements in real time. The flapping displacement and oscillation displacement acquisition module is used to acquire the blade tip flapping displacement and blade tip oscillation displacement based on the displacement mode shape and blade tip modal displacements in the blade coordinate system. The displacement prediction module is used to obtain the displacement of the blade tip in the direction outside the wind turbine plane and the displacement of the blade tip in the direction inside the wind turbine plane based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle.

[0008] Thirdly, the present invention provides an electronic device, comprising: a processor; a memory for storing computer program instructions; and steps for implementing a method for predicting the tip displacement of a wind turbine blade when executing the computer program.

[0009] Fourthly, the present invention provides a storage medium storing computer program instructions, which are loaded and executed by a processor, wherein the processor executes a method for predicting the tip displacement of a wind turbine blade.

[0010] Compared with the prior art, the present invention has the following beneficial effects: This invention employs comprehensive data coverage, laying the foundation for accurate tip displacement prediction. Constructing a curvature shape function in the blade coordinate system based on the blade's modal displacement modes and twist distribution helps to more accurately analyze the blade's bending at different positions, making the description of blade deformation more consistent with actual physical conditions. Integrating the curvature shape function in the blade coordinate system twice along the blade's spanwise direction yields the displacement mode shape in the blade coordinate system, realizing the transformation from local blade curvature changes to overall displacement distribution. Based on the displacement mode shape in the blade coordinate system, the distance of the displacement sensor from the blade root, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor, the modal superposition method and matrix inversion method are used to obtain the tip modal displacements in real time. This allows for a full consideration of the blade's vibration characteristics, simplifying complex blade motion into a combination of multiple modal motions, providing crucial data for accurately predicting the actual tip displacement. Obtaining the tip flapping displacement and tip oscillation displacement based on the displacement mode shape in the blade coordinate system and the tip modal displacements provides the necessary foundation for subsequent calculations of the tip displacement inside and outside the rotor plane. Based on blade tip flapping displacement, blade tip oscillation displacement, and blade pitch angle, this invention estimates the blade tip displacement in both out-of-plane and in-plane directions within the rotor plane in real time. This accurately reflects the spatial positional changes of the blade tip during actual operation, which is directly significant for assessing the clearance between the blade and the tower, monitoring blade structural safety, and implementing effective control strategies. This invention requires fewer sensors for displacement data acquisition and allows for their placement near the blade root, facilitating lightning protection and maintenance of the sensors, improving the reliability of the entire blade tip displacement monitoring system, shortening wiring, and reducing sealing and durability risks. The method relies on mature and reliable modal superposition theory, makes fewer assumptions, and by accurately acquiring key parameters such as blade modal information and torsion distribution, it can more accurately reconstruct blade deflection online and estimate the displacement of the blade tip in various directions and the displacement of each cross-section of the blade in real time, effectively improving the dynamic accuracy of the monitoring.

[0011] The system of this invention includes a data acquisition module, a curvature shape function construction module, a displacement mode shape acquisition module, a modal displacement acquisition module, a flapping displacement and flaring displacement acquisition module, and a displacement prediction module. The data acquisition module is used to acquire the blade's modal displacement shape, blade twist angle distribution, distance of the displacement sensor from the blade root, blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and flaring direction displacement monitored by the displacement sensor. The curvature shape function construction module is used to construct the curvature shape function in the blade coordinate system based on the blade's modal displacement shape and blade twist angle distribution. The displacement mode shape acquisition module is used to integrate the curvature shape function in the blade coordinate system twice along the blade spanwise to obtain the displacement shape in the blade coordinate system. The modal displacement acquisition module is used to acquire the displacement shape based on the displacement in the blade coordinate system. The system employs a modal superposition method and matrix inversion method to acquire the blade tip modal displacements in real time, based on the vibration mode, the distance of the displacement sensor from the blade root, the flapping displacement of the airfoil section monitored by the displacement sensor, and the flaring displacement monitored by the displacement sensor. A flapping and flaring displacement acquisition module is used to obtain the blade tip flapping and flaring displacements based on the displacement mode and blade tip modal displacements in the blade coordinate system. A displacement prediction module is used to estimate the blade tip displacement in the out-of-plane and in-plane directions based on the blade tip flapping displacement, blade tip flaring displacement, and blade pitch angle. These modules work together to accurately reconstruct the blade deflection online and estimate the displacements in various directions at the blade tip and across various blade sections in real time, effectively improving the dynamic accuracy of the monitoring.

[0012] The electronic device and storage medium of this invention can also more accurately reconstruct blade deflection online and estimate the displacement of the blade tip in various directions and the displacement of each cross section of the blade in various directions in real time, effectively improving the dynamic accuracy of monitoring. Attached Figure Description

[0013] Figure 1 This is a flowchart of a method according to an embodiment of the present invention; Figure 2 This is a system block diagram of an embodiment of the present invention; Figure 3 This diagram illustrates the input information required for the blade tip displacement estimation method according to an embodiment of the present invention, as well as the estimated displacement information. Figure 4 This is a flowchart of the wind turbine blade tip displacement estimation method according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the installation position of the displacement sensor according to an embodiment of the present invention; Figure 6 The blade modal shape diagram is shown in the embodiment of the present invention. Figure 7 This is a diagram showing the twist angle distribution of the blade structure according to an embodiment of the present invention; Figure 8This is a displacement diagram measured by a sensor on a blade according to an embodiment of the present invention; Figure 9 This is a diagram showing the estimation results of the blade tip flapping displacement in an embodiment of the present invention. Figure 10 This is a diagram showing the estimation results of the blade tip oscillation displacement in an embodiment of the present invention. Figure 11 This is a diagram showing the estimated blade tip displacement in a plane according to an embodiment of the present invention. Figure 12 This is a diagram showing the estimated tip displacement of the blade outside the plane in an embodiment of the present invention.

[0014] Among them: 1. Leaf root; 2. Leaf tip; 3. First displacement sensor; 4. Second displacement sensor. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1 This invention discloses a method for predicting the tip displacement of a wind turbine blade, comprising the following steps: S1 acquires the blade's modal displacement mode shape, blade twist angle distribution, distance of the displacement sensor from the blade root 1, blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and oscillation direction displacement monitored by the displacement sensor. The data coverage is comprehensive, laying the foundation for accurate prediction of blade tip displacement.

[0018] In this embodiment of the invention, the following steps are also included: Modal displacement mode shapes of the blade are obtained using modal analysis based on the blade's structural parameters. The modal displacement mode shape is expressed as a function of the distance from the blade cross section to the blade root 1; The modal displacement modes include blade flapping mode and blade oscillation mode. The first two modes of the blade flapping mode are taken, and the first mode of the blade oscillation mode is taken.

[0019] S2, based on the blade's modal displacement mode shape and blade twist angle distribution, constructs the curvature shape function in the blade coordinate system, which helps to analyze the blade's bending at different positions more accurately and provides key intermediate quantities for obtaining the displacement mode shape through integration, making the description of blade deformation more consistent with the actual physical situation.

[0020] In this embodiment of the invention, the curvature shape function in the blade coordinate system is specifically as follows:

[0021]

[0022]

[0023]

[0024]

[0025]

[0026] in, The differential symbol; The distance from the blade cross section to the blade root is 1. The distribution of blade twist angle; This represents the first-order flapping vibration mode of the blade. This is the second-order flapping vibration mode of the blade; It is the first-order oscillation mode of the blade; First-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; Second-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; The first-order oscillation mode of the blade The projection of the flapping direction in the blade coordinate system; First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The first-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system.

[0027] S3. Integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system. This realizes the transformation from local curvature change of the blade to overall displacement distribution, and can intuitively reflect the displacement change law of the blade at different span positions, providing an important displacement basis model for further obtaining the blade tip displacement.

[0028] S4, based on the displacement mode shape in the blade coordinate system, the distance of the displacement sensor from the blade root 1, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor, uses the modal superposition method and matrix inversion method to obtain the displacement of each mode at the blade tip in real time. This is beneficial for fully considering the vibration characteristics of the blade, simplifying the complex blade motion into a combination of multiple modal motions, facilitating the analysis and calculation of the displacement of blade tip 2 under different modes, and providing key data for accurately predicting the actual displacement of blade tip 2.

[0029] In this embodiment of the invention, the displacement in the blade coordinate system, the distance of the displacement sensor from the blade root 1, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor are used to obtain the blade tip modal displacements in real time using the modal superposition method and matrix inversion method, including: A set of linear equations is constructed based on the displacement in the blade coordinate system, the distance of the displacement sensor from the blade root 1, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The linear equations are converted into a matrix form, and the inversion method of the matrix form is used to obtain the tip modal displacements.

[0030] In this embodiment of the invention, the system of linear equations is as follows:

[0031]

[0032]

[0033] in, The waving direction displacement is monitored in real time by the first displacement sensor 3; The displacement in the oscillation direction is monitored in real time by the first displacement sensor 3; The waving direction displacement is monitored in real time by the second displacement sensor 4. The distance between the first displacement sensor 3 and the blade root 1; The distance between the second displacement sensor 4 and the blade root 1; The distance from the displacement sensor to blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order tip oscillation displacement. The system of linear equations in matrix form is as follows:

[0034] in, , for , and The vector formed; It is a matrix; for , and The vector formed; The method of inverting a system of linear equations in matrix form is used to obtain the modal displacements of the blade tip as follows:

[0035]

[0036]

[0037]

[0038] in, For vectors The first element; For vectors The second element; For vectors The third element.

[0039] S5. Based on the displacement mode shape and the various modes of displacement of the blade tip in the blade coordinate system, the flapping displacement and oscillation displacement of the blade tip are obtained, and the displacement of blade tip 2 in the two main motion directions is clarified. This is crucial for a comprehensive understanding of the motion state of blade tip 2 and provides a necessary basis for subsequent calculation of the displacement of blade tip 2 inside and outside the wind turbine plane.

[0040] In this embodiment of the invention, the blade tip modal displacements include real-time first-order flapping displacement, real-time second-order flapping displacement, and real-time first-order oscillation displacement. The blade tip flapping displacement and blade tip oscillation displacement are obtained based on the real-time first-order flapping displacement, the real-time second-order flapping displacement, the real-time first-order oscillation displacement of the blade tip, the displacement mode shape in the blade coordinate system, and the distance from the blade root 1 to the blade tip 2. In this embodiment of the invention, the formula for obtaining the blade tip flapping displacement is as follows:

[0041] in, The distance from leaf root 1 to leaf tip 2. ; The leaf tip moves to a certain position; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order tip oscillation displacement. The distance from the blade cross section to the blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The formula for obtaining the blade tip oscillation displacement is as follows:

[0042] in, This represents the tip oscillation displacement. The distance from the blade cross section to the blade root 1 is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system.

[0043] S6, based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle, obtains the displacement of blade tip 2 in the direction outside the wind turbine plane and the displacement of blade tip 2 in the direction inside the wind turbine plane, thereby accurately reflecting the spatial position change of blade tip 2 in actual operation, which is of direct significance for assessing the clearance between the blade and the tower, monitoring the structural safety of the blade, and realizing effective control strategies.

[0044] In this embodiment of the invention, the real-time estimation of the displacement of blade tip 2 in the direction outside the wind turbine plane and the displacement of blade tip 2 in the direction inside the wind turbine plane based on blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle includes: Based on the blade tip flapping displacement, blade tip oscillation displacement, and blade pitch angle, and combined with the principle of coordinate transformation, the displacement of blade tip 2 in the direction outside the wind turbine plane and the displacement of blade tip 2 in the direction inside the wind turbine plane are estimated in real time.

[0045] The formula for obtaining the displacement of the blade tip 2 in the direction outside the wind turbine plane is as follows:

[0046] The formula for obtaining the displacement of the blade tip 2 in the plane of the wind turbine is as follows:

[0047] in, This represents the displacement of blade tip 2 in the direction outside the rotor plane; This represents the displacement of blade tip 2 within the plane of the wind turbine; The blade pitch angle; The leaf tip moves to a certain position; This represents the tip oscillation displacement.

[0048] The displacement data acquisition method of this invention utilizes low-cost sensors, requires fewer sensors, and can be positioned close to the blade root 1. This facilitates lightning protection and maintenance of the sensors, avoiding the problems associated with installing sensors at the blade tip 2, such as high lightning strike risk, complex protection, high failure rate, and difficult installation and maintenance. It also reduces reliability issues caused by the harsh environment of the blade tip 2, thereby improving the overall reliability of the blade tip displacement monitoring system. The displacement sensors are deployed close to the blade root 1, resulting in shorter wiring and reduced sealing and durability risks. Compared to installing sensors at the blade tip 2 or laying a large number of strain / fiber arrays along the spanwise direction, this method significantly simplifies assembly and maintenance, reducing operation and maintenance costs and time.

[0049] The method of this invention relies on the mature and reliable modal superposition theory, makes fewer assumptions, and has stronger robustness compared to purely data-driven blade tip displacement estimation methods. By accurately acquiring key parameters such as blade modal information and torsion distribution, and employing methods such as modal expansion and coordinate transformation, the blade deflection can be accurately reconstructed online, and the displacement of the blade tip in various directions and the displacement of each cross section in various directions can be estimated in real time, effectively improving the dynamic accuracy of monitoring.

[0050] This invention does not depend on the position of the blade scanning tower and can achieve continuous monitoring at any azimuth angle and any yaw angle. It is not significantly affected by environmental factors such as rain, fog, snow, backlight, and obstruction. It overcomes the shortcomings of existing external telemetry equipment, such as being greatly affected by the environment, having discrete sampling signals, and being unable to cover all angles. It can work stably in various complex environments and provide reliable protection for the safe operation of wind turbines under different meteorological conditions.

[0051] This invention is applicable to various types of onshore and offshore wind turbines under various operating conditions, and can meet the needs for blade tip displacement monitoring in different scenarios. It provides direct support for load reduction control and clearance control strategies of wind turbines, and helps to improve the overall operating efficiency and safety of wind turbines.

[0052] This invention can add more sensors according to actual needs to measure more blade cross-sectional displacement information, so as to capture higher-order blade modal displacements and further improve estimation accuracy.

[0053] See Figure 2 Based on the above method, the present invention also discloses a wind turbine blade tip displacement prediction system, comprising: The data acquisition module is used to acquire the blade's modal displacement mode shape, blade twist angle distribution, distance of the displacement sensor from the blade root 1, blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and oscillation direction displacement monitored by the displacement sensor. The curvature shape function construction module is used to construct the curvature shape function in the blade coordinate system based on the blade's modal displacement mode shape and blade twist angle distribution. The displacement mode shape acquisition module is used to integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system. The modal displacement acquisition module is used to acquire the blade tip modal displacements in real time based on the displacement mode shape in the blade coordinate system, the distance between the displacement sensor and the blade root 1, the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The module uses the modal superposition method and matrix inversion method to acquire the blade tip modal displacements in real time. The flapping displacement and oscillation displacement acquisition module is used to acquire the blade tip flapping displacement and blade tip oscillation displacement based on the displacement mode shape and blade tip modal displacements in the blade coordinate system. The displacement prediction module is used to estimate the displacement of blade tip 2 in the direction outside the wind turbine plane and the displacement of blade tip 2 in the direction inside the wind turbine plane in real time based on blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle.

[0054] The various modules of the system of this invention work together to more accurately reconstruct the blade deflection online and estimate the displacement of the blade tip 2 in various directions and the displacement of each cross section of the blade in various directions in real time, effectively improving the dynamic accuracy of monitoring.

[0055] Example 2: like Figure 1 and Figure 3 As shown, this embodiment discloses a method for estimating the blade tip displacement of a wind turbine. The input information required by this invention includes blade modal information, blade length, blade twist angle distribution, displacement measured by two sensors near the blade root 1 region and the estimated displacement information, and the real-time blade pitch angle. The predictable output includes the displacement of the blade tip 2 in the flapping, oscillating, in-plane, and out-of-plane directions of the rotor.

[0056] like Figure 4 The diagram shows the flowchart of the method of the present invention, where S10-S30 are offline steps and S40-S90 are online steps. The following steps are for predicting the tip displacement of a single blade. Since actual wind turbines have multiple blades, the same operations S10-S90 can be performed on each blade to obtain the tip displacement of each blade online. The specific steps are as follows: S10, based on the structural parameters of the blade, modal displacement mode shapes of the blade are obtained using modal analysis. It is assumed that the distance from the blade cross-section to the blade root is... The modal displacement mode shape is defined as about The function. Among them, the first two blade flapping modes are taken, denoted as... and The blade oscillation mode is taken as the previous one, denoted as . .

[0057] S20 utilizes the modal displacement mode shape in S10. , and Combined with the blade twist angle distribution After considering the blade twist angle, the modal displacement modes of each order are calculated. , and Curvature shape function projected onto the blade coordinate system:

[0058]

[0059]

[0060]

[0061]

[0062]

[0063] in, The differential symbol; The distance from the blade cross section to the blade root is 1. The distribution of blade twist angle; This represents the first-order flapping vibration mode of the blade. This is the second-order flapping vibration mode of the blade; It is the first-order oscillation mode of the blade; First-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; Second-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; The first-order oscillation mode of the blade The projection of the flapping direction in the blade coordinate system; First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The first-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system.

[0064] S30, by integrating the curvature shape function obtained in S20 along the blade span twice in the blade coordinate system, the displacement mode shape in the blade coordinate system considering the blade twist distribution is obtained, including , , , , and .

[0065] S40, such as Figure 5 As shown, two displacement sensors are installed near the blade root area and connected to the wind turbine condition monitoring system via slip rings to obtain the distance between the first displacement sensor 3 and the blade root 1. The distance between the second displacement sensor 4 and the blade root 1 is obtained as follows: .

[0066] S50 utilizes the first displacement sensor 3 to monitor the flapping direction displacement of the airfoil section in real time. Displacement in the direction of oscillation The second displacement sensor 4 is used to monitor the flapping direction displacement of the airfoil section in real time. .

[0067] S60, based on the displacement mode shape in the blade coordinate system after considering the blade twist angle, the distance of the displacement sensor from the blade root 1, and the flapping direction displacement measured by the first displacement sensor 3. The displacement in the oscillation direction measured by the first displacement sensor 3 The displacement in the dance direction measured by the second displacement sensor 4 The modal superposition method is used to estimate the modal displacements of blade tip 2 in real time. , and , For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the first-order oscillation displacement of the blade tip in real time.

[0068] The relevant theoretical details of step S60: Ignore the third-order and above flapping modes of the blade, ignore the second-order and above oscillation modes of the blade, and adopt... Represents the real-time first-order flapping displacement of the blade tip, using Represents the real-time second-order flapping displacement of the blade tip, using This represents the real-time first-order flapping displacement of the blade tip, utilizing the basic theory of modal superposition and the flapping direction displacement measured by the first displacement sensor 3. The displacement in the oscillation direction measured by the first displacement sensor 3 The displacement in the dance direction measured by the second displacement sensor 4 The displacement information measured by S50 can be used to establish the following system of linear equations:

[0069]

[0070]

[0071] in, The waving direction displacement is monitored in real time by the first displacement sensor 3; The displacement in the oscillation direction is monitored in real time by the first displacement sensor 3; The waving direction displacement is monitored in real time by the second displacement sensor 4. The distance between the first displacement sensor 3 and the blade root 1; The distance between the second displacement sensor 4 and the blade root 1; The distance from the displacement sensor to blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system.

[0072] The above system of linear equations can be transformed into a system of linear equations in matrix form as follows:

[0073] in,

[0074] Calculating the tip modal displacements using matrix inversion method , , ,Right now , , ,in ; For vectors The first element; For vectors The second element; For vectors The third element; for , and The vector formed; It is a matrix; for , and The vector formed by the vector.

[0075] S70, using S60, estimates the modal displacements of blade tip 2 in real time and the displacement mode shapes in the blade coordinate system after considering the blade twist angle, and estimates the blade tip flapping displacement in real time. and tip oscillation displacement .

[0076]

[0077]

[0078] in, The distance from leaf root 1 to leaf tip 2. ; The leaf tip moves to a certain position; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order tip oscillation displacement. The distance from the blade cross section to the blade root 1 is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; This represents the tip oscillation displacement. The distance from the blade cross section to the blade root 1 is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the blade cross section to the blade root 1 is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system.

[0079] Will Can be replaced with any cross-sectional position By repeating the calculation of S70, the tip flapping displacement and tip oscillation displacement of any section in the blade coordinate system can be estimated.

[0080] S80, real-time monitoring of blade pitch angle, denoted as... .

[0081] S90, based on blade tip flapping displacement, blade tip oscillation displacement, and blade pitch angle, combined with the principle of coordinate transformation, estimates the displacement of blade tip 2 in the out-of-plane direction in real time. Displacement of blade tip 2 in the plane of the impeller .

[0082]

[0083]

[0084] in, This represents the displacement of blade tip 2 in the direction outside the rotor plane; This represents the displacement of blade tip 2 within the plane of the wind turbine; The blade pitch angle.

[0085] In summary, compared with the prior art, the beneficial effects of the present invention are as follows: This invention utilizes blade modal information and torsion distribution, combined with two displacement measurement points near the blade root 1 region and real-time pitch angle, to reconstruct blade deflection online through modal unfolding and coordinate transformation, and outputs the blade tip displacement. The displacement sensor used in this invention is low-cost, requires no acquisition of blade tip displacement data, and eliminates the need to install a sensor on the blade tip 2. The sensor is deployed near the blade root 1, in an area with better lightning protection and maintenance accessibility, resulting in short wiring and controllable sealing and durability risks. This invention does not depend on the blade sweep tower position and can achieve continuous monitoring at any azimuth and yaw angle, directly serving load reduction control and clearance control strategies. This invention is less affected by environmental factors such as fog, rain, snow, and dust. Based on mature and reliable modal superposition theory, this invention makes fewer assumptions and is more robust than purely data-driven blade tip displacement estimation methods. It is applicable to various operating conditions of various types of onshore and offshore wind turbines, and can estimate not only the displacement of the blade tip 2 in all directions in real time, but also the displacement of each cross section of the blade in all directions in real time. This invention has good scalability and can add more sensors to measure more blade cross-sectional displacement information to capture higher-order blade modal displacements and improve estimation accuracy.

[0086] Example 3: like Figure 1 As shown in the figure, this embodiment discloses a method for estimating the tip displacement of a wind turbine blade, as detailed below: This embodiment uses the OC4-DeepCWind (Open Collaboration for Offshore Wind Energy, Phase 4 - DeepCwind) semi-submersible wind turbine as the application object, and uses OpenFAST (open-source wind turbine simulation software) to simulate and verify the method of the present invention. The rated wind speed of the semi-submersible wind turbine of the present invention is 11.4 m / s, the rated rotor speed is 12.1 rpm, the gearbox speed ratio is 97, the blade length is 63m, and the length of the flexible part of the blade is 61.5m. Other detailed parameters can be found in the literature (ROBERSTON A, JONKMAN JM, MASCIOLAM, et al. Definition of the semisubmersible floating system for phase II of OC4[R]. NREL / TP-5000-60601, 2014.). The simulation operating conditions reference standard IEC61400-3-1(2019), using an extreme turbulent wind model of 16 m / s, turbulence intensity level B, wind shear index 0.14, effective wave height 1.2646 m, spectral peak period 10 s, and simulation time 100 seconds. The blade modal displacement vibration modes of the simulation model are as follows: Figure 6 The blade structure twist angle distribution is as follows: Figure 7 At a distance of 1 from the leaf root =5.4265m (i.e., at a distance of 8.82%R from leaf root 1) and A displacement sensor is installed at a position of 9.0441 m (i.e., 14.71%R from the blade root). The displacement measured by the sensor on the blade is as follows: Figure 8 As shown, a random noise signal with a standard deviation of 0.01 mm and a mean of 0.05 mm is superimposed on the true value measured by the sensor to simulate the actual noise and steady-state error of the signal acquisition during the state monitoring process. Figures 9-12 The estimated results of the blade tip displacement in the flapping direction, oscillation direction, out-of-plane direction, and in-plane direction are shown. It can be seen that the method proposed in this invention achieves effective estimation of the blade tip displacement in various directions with high accuracy.

[0087] An electronic device includes: a processor; a memory for storing computer program instructions; and for implementing a method for predicting the tip displacement of a wind turbine blade when the computer program is executed.

[0088] A storage medium storing computer program instructions, which are loaded and executed by a processor, wherein the processor performs a method for predicting the tip displacement of a wind turbine blade.

[0089] A computer program product comprising computer instructions that instruct a computer to execute a method for predicting the tip displacement of a wind turbine blade.

[0090] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A method for predicting the tip displacement of a wind turbine blade, characterized in that, Includes the following steps: S1, obtain the blade's modal displacement mode shape, blade twist angle distribution, distance of displacement sensor from blade root (1), blade pitch angle, airfoil section flapping direction displacement monitored by displacement sensor, and oscillation direction displacement monitored by displacement sensor; the modal displacement mode shape includes blade flapping mode shape and blade oscillation mode shape, the first two orders of the blade flapping mode shape are taken, and the first order of the blade oscillation mode shape is taken; S2, based on the blade's modal displacement mode shape and blade twist angle distribution, constructs the curvature shape function in the blade coordinate system, as follows: in, The differential symbol; The distance from the leaf cross section to the leaf root (1); The distribution of blade twist angle; This represents the first-order flapping vibration mode of the blade. This is the second-order flapping vibration mode of the blade; It is the first-order oscillation mode of the blade; First-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; Second-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; The first-order oscillation mode of the blade The projection of the flapping direction in the blade coordinate system; First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The first-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; S3, Integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system; S4, based on the displacement mode shape in the blade coordinate system, the distance of the displacement sensor from the blade root (1), the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor, the modal superposition method and matrix inversion method are used to obtain the blade tip modal displacements in real time, including: A linear set of equations is constructed based on the displacement in the blade coordinate system, the distance of the displacement sensor from the blade root (1), the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The linear equations are converted into a matrix form, and the inversion method of the matrix form is used to obtain the tip modal displacements. The linear equations are as follows: in, The waving direction displacement is monitored in real time by the first displacement sensor (3); The displacement in the oscillation direction is monitored in real time by the first displacement sensor (3); The waving direction displacement is monitored in real time by the second displacement sensor (4); The distance between the first displacement sensor (3) and the blade root (1); The distance between the second displacement sensor (4) and the leaf root (1); The distance from the displacement sensor to the blade root (1) is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order oscillation displacement of the blade tip; The system of linear equations in matrix form is as follows: in, , for , and The vector formed; It is a matrix; for , and The vector formed; The method of inverting a system of linear equations in matrix form is used to obtain the modal displacements of the blade tip as follows: in, For vectors The first element; For vectors The second element; For vectors The third element; S5. Obtain the tip flapping displacement and tip oscillation displacement based on the displacement mode shape and the tip mode displacement in the blade coordinate system. S6, based on the blade tip flapping displacement, blade tip oscillation displacement, and blade pitch angle, obtain the displacement of the blade tip (2) in the direction outside the wind turbine plane and the displacement of the blade tip (2) in the direction inside the wind turbine plane, including: Based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle, combined with the principle of coordinate transformation, the displacement of the blade tip (2) in the direction outside the wind turbine plane and the displacement of the blade tip (2) in the direction inside the wind turbine plane are obtained in real time. The formula for obtaining the displacement of the blade tip (2) in the direction outside the wind turbine plane is as follows: The formula for obtaining the displacement of the blade tip (2) in the wind turbine plane is as follows: in, The displacement of the blade tip (2) in the direction outside the wind turbine plane; The displacement of the blade tip (2) in the plane of the wind turbine; The blade pitch angle; The leaf tip moves to a certain position; This represents the tip oscillation displacement.

2. The method for predicting the tip displacement of a wind turbine blade according to claim 1, characterized in that, It also includes the following steps: Modal displacement mode shapes of the blade are obtained using modal analysis based on the blade's structural parameters. The modal displacement mode shape is expressed as a function of the distance between the blade section and the blade root (1).

3. The method for predicting the tip displacement of a wind turbine blade according to claim 1, characterized in that, The tip flapping displacement and tip oscillation displacement are obtained based on the displacement mode shape and tip modal displacements in the blade coordinate system, including: The blade tip modal displacements include real-time first-order flapping displacement, real-time second-order flapping displacement, and real-time first-order oscillation displacement. The blade tip flapping displacement and blade tip oscillation displacement are obtained based on the real-time first-order flapping displacement, the real-time second-order flapping displacement, the real-time first-order oscillation displacement of the blade tip, the displacement mode shape in the blade coordinate system, and the distance from the blade root (1) to the blade tip (2). The formula for obtaining the blade tip flapping displacement is as follows: in, The distance from the leaf root (1) to the leaf tip (2) is... ; The leaf tip moves to a certain position; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order oscillation displacement of the blade tip; The distance from the leaf cross section to the leaf root (1) is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the leaf cross section to the leaf root (1) is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the leaf cross section to the leaf root (1) is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The formula for obtaining the blade tip oscillation displacement is as follows: in, This represents the tip oscillation displacement. The distance from the leaf cross section to the leaf root (1) is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the leaf cross section to the leaf root (1) is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the leaf cross section to the leaf root (1) is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system.

4. A wind turbine blade tip displacement prediction system, characterized in that, include: The data acquisition module is used to acquire the blade's modal displacement mode shape, blade twist angle distribution, distance of the displacement sensor from the blade root (1), blade pitch angle, flapping direction displacement of the airfoil section monitored by the displacement sensor, and oscillation direction displacement monitored by the displacement sensor; the modal displacement mode shape includes the blade flapping mode shape and the blade oscillation mode shape, the first two orders of the blade flapping mode shape are taken, and the first order of the blade oscillation mode shape is taken; The curvature shape function construction module is used to construct the curvature shape function in the blade coordinate system based on the blade's modal displacement mode shape and blade twist angle distribution, as detailed below: in, The differential symbol; The distance from the leaf cross section to the leaf root (1); The distribution of blade twist angle; This represents the first-order flapping vibration mode of the blade. This is the second-order flapping vibration mode of the blade; It is the first-order oscillation mode of the blade; First-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; Second-order flapping mode of the blade The projection of the flapping direction in the blade coordinate system; The first-order oscillation mode of the blade The projection of the flapping direction in the blade coordinate system; First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The first-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; The displacement mode shape acquisition module is used to integrate the curvature shape function in the blade coordinate system twice along the blade span to obtain the displacement mode shape in the blade coordinate system. The modal displacement acquisition module is used to acquire the blade tip modal displacements in real time based on the displacement mode shape in the blade coordinate system, the distance of the displacement sensor from the blade root (1), the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The module uses the modal superposition method and matrix inversion method to acquire the blade tip modal displacements in real time, including: A linear set of equations is constructed based on the displacement in the blade coordinate system, the distance of the displacement sensor from the blade root (1), the flapping direction displacement of the airfoil section monitored by the displacement sensor, and the oscillation direction displacement monitored by the displacement sensor. The linear equations are converted into a matrix form, and the inversion method of the matrix form is used to obtain the tip modal displacements. The linear equations are as follows: in, The waving direction displacement is monitored in real time by the first displacement sensor (3); The displacement in the oscillation direction is monitored in real time by the first displacement sensor (3); The waving direction displacement is monitored in real time by the second displacement sensor (4); The distance between the first displacement sensor (3) and the blade root (1); The distance between the second displacement sensor (4) and the leaf root (1); The distance from the displacement sensor to the blade root (1) is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order flapping mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order oscillation mode of the blade Projection of the oscillation direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is Second-order swing mode The projection of the flapping direction in the blade coordinate system; The distance from the displacement sensor to the blade root (1) is First-order pendulum oscillation mode The projection of the flapping direction in the blade coordinate system; For real-time first-order blade tip flapping displacement; For real-time second-order blade tip flapping displacement; This represents the real-time first-order oscillation displacement of the blade tip; The system of linear equations in matrix form is as follows: in, , for , and The vector formed; It is a matrix; for , and The vector formed; The method of inverting a system of linear equations in matrix form is used to obtain the modal displacements of the blade tip as follows: in, For vectors The first element; For vectors The second element; For vectors The third element; The flapping displacement and oscillation displacement acquisition module is used to acquire the blade tip flapping displacement and blade tip oscillation displacement based on the displacement mode shape and blade tip modal displacements in the blade coordinate system. The displacement prediction module is used to obtain the displacement of the blade tip (2) in the direction outside the wind turbine plane and the displacement of the blade tip (2) in the direction inside the wind turbine plane based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle, including: Based on the blade tip flapping displacement, blade tip oscillation displacement and blade pitch angle, combined with the principle of coordinate transformation, the displacement of the blade tip (2) in the direction outside the wind turbine plane and the displacement of the blade tip (2) in the direction inside the wind turbine plane are obtained in real time. The formula for obtaining the displacement of the blade tip (2) in the direction outside the wind turbine plane is as follows: The formula for obtaining the displacement of the blade tip (2) in the wind turbine plane is as follows: in, The displacement of the blade tip (2) in the direction outside the wind turbine plane; The displacement of the blade tip (2) in the plane of the wind turbine; The blade pitch angle; The leaf tip moves to a certain position; This represents the tip oscillation displacement.

5. An electronic device, comprising: A processor; a memory, an electronic device for storing computer program instructions; characterized in that, when executing the computer program, it implements the wind turbine blade tip displacement prediction method as described in any one of claims 1-3.

6. A storage medium storing computer program instructions, characterized in that, When the computer program instructions are loaded and run by the processor, the processor executes the wind turbine blade tip displacement prediction method according to any one of claims 1-3.

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