A method and device for adjusting the posture of an umbrella ladder type land-based high-altitude wind power generation system

Abstract

The present application relates to high-altitude wind energy technical field, especially in kind of umbrella ladder formula land-based high-altitude wind energy power generation system's attitude adjustment method and device.Therein, the method includes: S1, based on the current wind speed data and the attack angle data of the working umbrella, the opening umbrella time and the wind speed change sequence are predicted;S2, the wind speed change sequence is matched with the preset stability discrimination atlas;S3, if the matching result is not satisfied with the opening umbrella condition, then the attack angle data is changed by adjusting the rope releasing speed, and the step S1 is repeated to step S3, until the matching result is satisfied with the opening umbrella condition, and the opening umbrella action is executed;S4, in the process of executing the opening umbrella action and after the opening umbrella is completed, according to the tension change of the umbrella rope, the real-time wind speed data and the real-time attack angle data, the rope releasing speed or the rope releasing speed is adjusted, so as to adjust the posture of the working umbrella.The technical scheme of the present application can improve the success rate of opening umbrella, and guarantee the safe and reliable operation of high-altitude wind energy power generation system under the variable wind condition.

Description

Technical Field

[0001] This invention relates to the field of high-altitude wind energy technology, and in particular to a method and apparatus for attitude adjustment of a parachute-type land-based high-altitude wind power generation system. Background Technology

[0002] The umbrella-type land-based high-altitude wind power generation system is an important technological approach to achieve efficient utilization of high-altitude wind energy resources. Its wind-capturing function depends on the dynamic behavior of the power umbrella in complex high-altitude wind fields. As the core wind-capturing structure of the system, the stability of the opening and closing process of the power umbrella directly affects whether the system can generate electricity continuously and reliably.

[0003] Existing technologies generally employ a passive deployment strategy, where the inflation command is triggered directly after the working parachute reaches a preset height, without relying on real-time prediction of the environmental wind field or attitude assessment. This method depends on fixed timing or simple threshold judgments, failing to consider the dynamic impact of wind speed fluctuations, turbulent disturbances, and changes in the parachute's angle of attack on the inflation process. In actual operation, working parachutes often encounter inflation obstruction, canopy folding, localized depressurization, or even deployment failure due to sudden wind speed changes, improper angles of attack, or localized wind field instability. In severe cases, this can lead to cable overload, structural damage, or system shutdown, seriously affecting operational efficiency and system safety.

[0004] Currently, there is an urgent need to provide a new technical solution to address the aforementioned technical problems. Summary of the Invention

[0005] This invention provides a method and device for attitude adjustment of a parachute-type land-based high-altitude wind power generation system, which can improve the success rate of parachute deployment and ensure the safe and reliable operation of the high-altitude wind power generation system under varying wind conditions.

[0006] In a first aspect, the present invention provides an attitude adjustment method for a ladder-type land-based high-altitude wind power generation system, comprising: S1. Based on the current wind speed data and the angle of attack data of the power parachute, predict the opening time required for the power parachute to complete opening and the wind speed change sequence during the opening time. S2. Match the wind speed change sequence with a preset stability discrimination map. The stability discrimination map includes at least a safe parachute opening zone and a parachute opening failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to a combination of different wind speed data and angle of attack data. S3. If the matching result does not meet the conditions for opening the parachute, the angle of attack data is changed by adjusting the release speed of the parachute lines, and steps S1-S3 are repeated until the matching result meets the conditions for opening the parachute, at which point the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. S4. During and after the parachute opening action, adjust the parachute rope retraction or release speed according to the changes in parachute rope tension, real-time wind speed data, and real-time angle of attack data to adjust the attitude of the working parachute.

[0007] Secondly, the present invention provides an attitude adjustment device for a ladder-type land-based high-altitude wind power generation system, comprising: The wind speed prediction module, based on the current wind speed data and the angle of attack data of the power parachute, predicts the time required for the power parachute to open and the wind speed change sequence during the opening time. The map matching module is connected to the wind speed prediction module and matches the wind speed change sequence with a preset stability discrimination map. The stability discrimination map includes at least a safe parachute opening zone and a parachute opening failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to a combination of different wind speed data and angle of attack data. The parachute opening prediction module is connected to the map matching module. If the matching result does not meet the parachute opening conditions, the angle of attack data is changed by adjusting the release speed of the parachute lines, and the steps corresponding to the wind speed prediction module and the parachute opening prediction module are repeated until the matching result meets the parachute opening conditions and the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. The attitude adjustment module, connected to the umbrella opening prediction module, adjusts the rope winding speed or rope releasing speed based on the changes in rope tension, real-time wind speed data, and real-time angle of attack data during and after the umbrella opening action, in order to adjust the attitude of the working umbrella.

[0008] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in the first aspect of the present invention.

[0009] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method described in the first aspect of the present invention.

[0010] This invention provides an attitude adjustment method and device for a parachute-type land-based high-altitude wind power generation system. It can predict the parachute opening time and the wind speed change sequence during that time, and match it with a preset stability discrimination spectrum. Based on the proportion of data falling into the safe parachute opening zone in the wind speed change sequence, it determines whether the parachute opening conditions are met. This realizes the quantitative assessment and active selection of the parachute opening timing, avoids the problem of blind parachute opening due to a lack of predictive ability of the wind field environment, and improves the success rate of parachute opening.

[0011] When the conditions for parachute deployment are not met, the angle of attack of the working parachute is actively changed by adjusting the release speed of the parachute lines, shifting the system's operating state towards the safe deployment zone. This is achieved through iterative cycles, continuously approaching the deployment conditions until they are met before the deployment action is executed. This proactive and precise adjustment of the deployment attitude ensures the structural safety of the cable system and the ground power unit. During and after deployment, closed-loop control is implemented using real-time changes in parachute line tension combined with wind speed and angle of attack data. This allows for timely increases in the release speed to expand the wind-receiving area when deployment is obstructed, and precise identification of the causes of parachute defects followed by corresponding compensatory measures. This ensures the safe and reliable operation of the working parachute and improves the operational stability and power generation continuity of the high-altitude wind power generation system in complex wind field environments.

[0012] By using environmental prediction and condition triggering mechanisms, the problem of air inflation obstruction or umbrella opening failure caused by the lack of forward-looking judgment in traditional systems in complex wind fields is fundamentally solved, thereby improving the success rate of umbrella opening and ensuring the safe and reliable operation of high-altitude wind power generation systems under variable wind conditions. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of an attitude adjustment method for a ladder-type land-based high-altitude wind power generation system provided in an embodiment of the present invention; Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of an attitude adjustment device for a land-based high-altitude wind power generation system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a ladder-type land-based high-altitude wind power generation system according to an embodiment of the present invention; Figure 5This is a schematic diagram of a stability discrimination spectrum provided in an embodiment of the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0016] Please refer to Figure 1 This invention provides an attitude adjustment method for a ladder-type land-based high-altitude wind power generation system, comprising: S1. Based on the current wind speed data and the angle of attack data of the power parachute, predict the opening time required for the power parachute to complete opening and the wind speed change sequence during the opening time. S2. Match the wind speed change sequence with the preset stability discrimination map. The stability discrimination map includes at least the safe parachute opening zone and the parachute opening failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to the combination of different wind speed data and angle of attack data. S3. If the matching result does not meet the conditions for opening the parachute, the angle of attack data is changed by adjusting the release speed of the parachute lines, and steps S1-S3 are repeated until the matching result meets the conditions for opening the parachute, at which point the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. S4. During and after the parachute opening action, adjust the parachute rope retraction or release speed according to the changes in parachute rope tension, real-time wind speed data, and real-time angle of attack data to adjust the attitude of the working parachute.

[0017] In this embodiment, as Figure 4As shown, the parachute-type land-based high-altitude wind power generation system includes: a helium balloon 41, a power parachute 42, a balancing parachute 43, cables (parachute lines) 44, casters, a tensioning device, a winch 45, and a generator 46. The helium balloon 41 provides lift to the power parachute 42, enabling it to rise to a set height. The power parachute 42 captures wind energy at high altitudes and converts it into mechanical energy, which then drives the generator 46 located on the ground to generate electricity. The cables 44 connect the power parachute 42, the helium balloon 41, and other aerial devices to the ground devices (casters, tensioning device, winch, and generator). The casters adapt to changes in wind direction at high altitudes, ensuring the cable direction adjusts accordingly to maximize wind energy capture. The tensioning device maintains cable tension, ensuring stability and efficient conversion of wind power into mechanical energy. A winch connects to the power parachute via the cable, and a generator, driven by the winch, produces electricity, which can be transmitted and distributed through the power grid. The system's power generation principle is as follows: the generator is located on the ground, and the power parachute's reciprocating motion achieves "kite-flying" power generation—airborne flight and ground-based power generation. Specifically, a helium balloon provides initial lift to the parachute. Once the parachute reaches a certain height and opens, the parachute, attached to the cable, reciprocates under wind force, driving the ground generator's turntable to rotate, converting mechanical energy into electrical energy.

[0018] The power umbrella is a crucial wind-catching structure in this system. It continuously opens and closes in complex wind fields, exhibiting complex attitude changes. Traditional passive umbrella deployment methods cannot effectively adapt to these changes; blind deployment can easily lead to obstructed or failed deployment, hindering stable system operation. This invention proposes a control scheme that actively selects the deployment window and performs dynamic attitude compensation to address the stability and safety issues of the power umbrella under complex wind conditions.

[0019] Based on real-time collected wind speed data and the current angle of attack data of the power parachute, the required parachute deployment time τ is calculated using preset dynamic and flow field models. A time series prediction model is used to predict the wind speed change sequence over the next τ time period based on the current wind speed data. The predicted wind speed change sequence is matched with a stability discrimination map to determine whether the subsequent wind speed can sustainably support the power parachute's deployment, thus determining the probability of successful deployment. After simulation of each predicted wind speed data point and angle of attack data in the wind speed change sequence, successful or failed deployment scenarios are obtained. Successful deployment scenarios fall within the safe deployment zone of the stability discrimination map, while failed deployment scenarios fall within the undeployable zone. In a set of predicted wind speed change sequences, if the number of data points falling within the safe deployment zone is less than or equal to a preset threshold (e.g., 90%), it indicates that deployment is not suitable (the deployment conditions are not met). The system temporarily suspends deployment, adjusts the rope release speed of the ground motor to change the angle of attack of the power parachute, and then re-executes the prediction procedure after adjustment. When the system is in the rope-releasing process and the working umbrella reaches the predetermined opening height, repeat steps S1-S3 above until the opening conditions are met and the working umbrella successfully opens. It is evident that the technical solution in this embodiment of the invention can achieve stable opening of the working umbrella in unstable wind fields in real-world environments, significantly improving the stability of system operation.

[0020] Specifically, tension gauges can be installed on each parachute line of the working umbrella to acquire real-time tension data. If the slope of the tension change is lower than a preset threshold during umbrella opening, it is determined that the opening is obstructed, and the line speed is immediately adjusted to increase the wind-receiving area. Once the umbrella has entered the fully opened and stable stage, if the tension of some lines suddenly drops, it is determined that there is a defect in the opening state of the umbrella. Combined with wind speed detection data, it is determined whether the defect is caused by a sudden decrease in wind speed or a change in the angle of attack of the working umbrella, and the line speed is immediately adjusted to change the angle of attack, or the working umbrella is closed if necessary. In addition, image data collected by a visual monitoring system (camera) on the ground or under the umbrella can be used to comprehensively determine the cause of the malfunction (such as rope entanglement, canopy rupture, etc.), and send a manual intervention alarm if necessary.

[0021] In one embodiment of the present invention, the wind speed variation sequence is calculated as follows: Input the current wind speed data into the trained time series prediction model to obtain the output wind speed change sequence during the umbrella opening time.

[0022] In this embodiment, the current wind speed data is input into a trained time series prediction model. This model predicts the wind speed evolution trend, obtaining a wind speed change sequence within the time required for the power parachute to open. This sequence is then matched with a preset stability discrimination map. The proportion of data falling into the safe opening zone allows for a quantitative assessment of whether the opening conditions are met. The angle of attack is then optimized by dynamically adjusting the parachute line speed until a preset opening threshold is met. Ultimately, this achieves intelligent prediction and precise triggering of the opening window in complex wind fields, effectively solving the risk of opening failure caused by reliance on manual experience or non-systematic methods for wind speed prediction. This significantly improves the opening success rate and operational stability of high-altitude wind power generation systems in variable wind fields.

[0023] In one embodiment of the present invention, the stability discrimination spectrum is obtained as follows: Based on the umbrella shape parameters of the power umbrella, a dynamic model of the power umbrella and a flow field model around the power umbrella are established. The umbrella shape parameters include: the geometric dimensions, material properties and the way the umbrella lines are connected. Two-way fluid-structure interaction simulation was performed on the dynamic model and the flow field model to construct a two-way fluid-structure interaction system in which the particles in the dynamic model and the fluid particles in the flow field model interact with each other. Within the uncertainty range of wind speed data, select multiple different wind speed values ​​or wind speed time history curves to generate a representative set of wind speed sequences. Each wind speed sequence in the representative wind speed sequence set is used as a boundary condition input into the two-way fluid-structure interaction system for simulation calculation, so as to obtain the dynamic information of the opening and closing process of the power umbrella corresponding to each wind speed sequence. Based on the preset physical criteria for successful parachute opening, each simulation result is determined to be either a successful parachute opening condition or a failed parachute opening condition. The combination of wind speed data and angle of attack data corresponding to successful parachute opening is divided into the safe parachute opening zone, and the combination of wind speed data and angle of attack data corresponding to failed parachute opening is divided into the unopenable parachute opening zone, generating a stability discrimination map.

[0024] In this embodiment, a stability discrimination map needs to be constructed in advance: the geometric dimensions, material properties, and rope connection method of the working umbrella are obtained; the lumped mass method is used to discretize the umbrella canopy into a series of mass points, and tension springs, shear springs, and bending springs are used to connect the mass points to establish a working umbrella model; based on the working umbrella model, the target flow field is determined, and multiple fluid particles are arranged in the target flow field using the smooth particle fluid dynamics method to establish a flow field model around the working umbrella; based on the working umbrella model and the flow field model, a two-way fluid-structure interaction system is constructed, in which there is an interaction between the mass points corresponding to the working umbrella model and the fluid particles corresponding to the flow field model.

[0025] Taking a circular working umbrella with a radius of 20 meters as an example, within the uncertainty range of wind speed, multiple different wind speed values ​​or wind speed time history curves are selected to generate a representative wind speed sequence set. Each wind speed sequence in the representative wind speed sequence set is then input as a boundary condition into a two-way fluid-structure interaction system for batch simulation calculations to obtain the dynamic information of the opening and closing process of the working umbrella corresponding to each wind speed sequence. Physical criteria for successful umbrella opening are predefined, including: the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the canopy lines is less than a preset stress threshold. Based on the physical criteria for successful umbrella opening, the results of the batch simulation calculations are evaluated, and the simulation conditions corresponding to each wind speed sequence are marked as successful or unsuccessful conditions.

[0026] The combination of wind speed and angle of attack data corresponding to successful parachute opening is classified as the safe parachute opening zone, and the combination of wind speed and angle of attack data corresponding to failed parachute opening is classified as the inability to open parachute, generating a stability discrimination map. Among these, for example... Figure 5 As shown, the stability discrimination map includes three zones: Zone III (safe opening zone), Zone I (unable to open zone), and Zone II (unstable opening zone). The unable to open zone is defined as a simulation result where, under the corresponding wind speed and angle of attack data, the projected area of ​​the canopy on the horizontal plane is less than or equal to a preset area threshold. The safe opening zone is defined as a simulation result where, under the corresponding wind speed and angle of attack data, the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress on the parachute lines is less than a preset stress threshold. It should be noted that when simulating wind speed sequences in this two-way fluid-structure interaction system, some perturbation terms are randomly added before each simulation to verify the stability of the simulation results. If the physical criteria for successful opening are still met under various perturbation terms, the system is classified as being in the safe opening zone; otherwise, it is classified as being in the unopenable opening zone. Furthermore, if the physical criteria for successful opening may or may not be met due to changes in the perturbation terms, these are considered unstable factors. Figure 5 Unstable parachute opening region.

[0027] The stability discrimination map is stored in the database of the system control unit in the form of boundary curves or data tables. It is used to match the predicted wind speed sequence during actual operation, providing a decision-making basis for determining the umbrella opening condition. Through the above-mentioned offline simulation construction method, the umbrella opening condition judgment is based on the statistical laws of the real fluid-structure interaction response, effectively solving the risk of blind umbrella opening caused by the lack of environmental prediction capabilities, and improving the reliability and success rate of umbrella opening under complex wind fields.

[0028] In one embodiment of the present invention, the physical criteria for successful umbrella opening include: the projected area of ​​the umbrella canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the umbrella cords is less than a preset stress threshold. The area where the umbrella cannot be opened refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulation result shows that the projected area of ​​the umbrella canopy on the horizontal plane is less than or equal to a preset area threshold. The safe opening zone refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulated result shows that the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the canopy lines is less than a preset stress threshold.

[0029] In this embodiment, based on the above batch simulation calculation results, each working condition is classified and labeled according to the preset physical criteria for successful parachute opening. The physical criteria for successful parachute opening include: the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the parachute lines is less than a preset stress threshold. According to the comparison between the simulation results and the above criteria, the parameter plane is divided into three regions: if the simulation result shows that the projected area of ​​the canopy on the horizontal plane is less than or equal to the preset area threshold, it is classified as the parachute opening failure zone (Zone I); if the simulation result shows that the projected area of ​​the canopy on the horizontal plane is greater than the preset area threshold, and the maximum stress of the parachute lines is less than the preset stress threshold, it is classified as the safe parachute opening zone (Zone III); if the simulation result shows that the parachute opening condition is unstable due to the change of the disturbance term, it is classified as the unstable parachute opening zone (Zone II). By introducing the above dual-condition physical criteria based on projected area and maximum stress, the abstract partitioning that originally depended on the parachute opening success rate is transformed into an objective partitioning standard based on measurable physical quantities, and the parachute opening failure zone, unstable parachute opening zone, and safe parachute opening zone are clearly defined accordingly. This makes the generation of stability discrimination maps no longer dependent on subjective experience or statistical probability, but based on geometric and mechanical data that can be directly extracted from fluid-structure interaction simulation. This ensures that the map boundaries are clear, the criteria are reproducible, and the results are verifiable. It effectively avoids the risk of misjudgment of parachute opening timing and parachute opening failure caused by fuzzy classification standards, and improves the reliability of parachute opening action and the overall safety of system operation under complex wind fields.

[0030] In one embodiment of the present invention, the umbrella opening time is predicted in the following manner: The current wind speed data is used as the initial velocity boundary condition for each fluid particle in the flow field model. The initial spatial position of each particle in the dynamic model is determined based on the current angle of attack data, so that the normal direction of the parachute plane of the dynamic model is in the same orientation as the incoming flow direction as the current angle of attack data. The initial velocity boundary conditions and the initial spatial positions of each mass point are used as initial conditions and input into the two-way fluid-structure interaction system for simulation calculation. During the simulation calculation, the change of the parachute canopy projection area of ​​the dynamic model over time is monitored. When the projection area of ​​the parachute canopy on the horizontal plane is greater than the preset area threshold, this moment is recorded as the opening moment. Based on the opening time and the current time, the required opening time for the parachute to open is obtained.

[0031] In this embodiment, the current wind speed data is used as the initial velocity boundary condition for each fluid particle in the flow field model, and the initial spatial position of each particle in the dynamic model is set according to the current angle of attack data. This ensures that the normal direction of the canopy plane is consistent with the angle of attack attitude of the incoming flow, thereby constructing a physical initial state that closely matches the actual working conditions. Using the above boundary conditions and initial positions as input, the bidirectional fluid-structure interaction system is driven to perform high-precision simulation calculations. During the simulation, the change in the projected area of ​​the canopy on the horizontal plane is monitored in real time. When this area exceeds a preset threshold, the system automatically records the corresponding time as the canopy opening time and accurately calculates the canopy opening time required to complete the opening, based on the actual evolution process of the canopy's physical inflation shape rather than empirical estimation. This provides a physically based and accurate time-series input for subsequent wind speed change sequence prediction and stability discrimination map matching, effectively solving the risk of canopy opening failure due to the lack of physical mechanism support for canopy opening time prediction under complex wind fields. This improves the accuracy of canopy opening window discrimination and the overall safety and reliability of the system operation.

[0032] In one embodiment of the present invention, during the process of performing the umbrella opening action: Acquire real-time tension data for each paracord and calculate the rate of change of tension over time; If the rate of change is less than the preset rate of change threshold, it is determined that the umbrella opening is obstructed, and the release speed of the umbrella lines is increased to increase the wind-receiving area of ​​the working umbrella.

[0033] In this embodiment, during the parachute deployment process, the tension data of each parachute line is collected in real time and its rate of change over time is calculated. Combined with a preset rate of change threshold, the deployment status is dynamically assessed. When the rate of change is lower than the preset threshold, it is determined that the current deployment process is obstructed. The release speed of the parachute lines is then increased to increase the wind-receiving area of ​​the working parachute and alleviate the problem of insufficient power for canopy deployment. This achieves closed-loop intervention against the risk of obstructed deployment during the critical deployment stage. In conjunction with the aforementioned prediction strategy based on wind speed sequence prediction and stability discrimination map matching, a full-cycle parachute deployment guarantee system of "predict first, then deploy, and adjust upon obstruction" is formed. This effectively overcomes the shortcomings of traditional systems that lack real-time tension response feedback and cannot respond promptly to deployment obstruction, improving the success rate and stability of parachute deployment in complex wind field environments.

[0034] In one embodiment of the present invention, the tension value of each parachute cord is monitored in real time after the parachute is opened; If the rate of descent of the parachute rope tension exceeds the preset descent rate threshold, it is determined that there is a defect in the opening state of the working umbrella. Obtain real-time wind speed data and real-time angle of attack data at the current moment, and compare the coordinate points formed by the current wind speed and angle of attack with the stability discrimination map; If the coordinate point is located at the left boundary of the safe opening zone, the defect is determined to be caused by a decrease in the angle of attack. The release speed of the parachute lines should be increased to increase the angle of attack. If the coordinate point is located at the lower boundary of the safe opening area, the defect is determined to be caused by the decrease in wind speed, and the release speed of the parachute lines should be reduced. If the coordinate point is located at the lower left boundary of the safe parachute opening zone, the defect is determined to be caused by both the decrease in angle of attack and the decrease in wind speed, and the parachute closing action is executed.

[0035] In this embodiment, after the parachute opens, the tension value of each parachute line is monitored in real time. When the rate of descent of the parachute line tension value exceeds a preset descent rate threshold, it is determined that there is a defect in the opening state of the working parachute. Real-time wind speed data and real-time angle of attack data are acquired at the current moment, and the coordinate point formed by the current wind speed and angle of attack is compared with a preset stability discrimination map. If the coordinate point is located at the left boundary of the safe opening zone, it is determined that the defect is caused by a decrease in the angle of attack, and the release speed of the parachute lines is increased to increase the angle of attack. If the coordinate point is located at the lower boundary of the safe opening zone, it is determined that the defect is caused by a decrease in wind speed, and the release speed of the parachute lines is decreased. If the coordinate point is located at the lower left boundary of the safe opening zone, it is determined that the defect is caused by a combination of a decrease in the angle of attack and a decrease in wind speed, and the parachute closing action is performed. The above-mentioned defect cause identification and differentiated response mechanism based on "map boundary positioning" effectively overcomes the misjudgment and delay problems caused by the traditional method relying only on a single tension signal or empirical threshold for fuzzy judgment, and improves the accuracy of attitude control after the power parachute opens under complex wind fields and the safety and stability of system operation.

[0036] like Figure 2 , Figure 3 As shown in the figure, this specification provides an attitude adjustment device for a ladder-type land-based high-altitude wind power generation system. The system embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device housing the attitude adjustment device of a ladder-type land-based high-altitude wind power generation system provided in an embodiment of this specification. (Except for...) Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device housing the system in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a system in a logical sense is formed by the CPU of the electronic device in which it resides reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0037] like Figure 3As shown, the attitude adjustment device for a parachute-type land-based high-altitude wind power generation system provided in this embodiment includes: a wind speed prediction module 301, a map matching module 302, a parachute opening prediction module 303, and an attitude adjustment module 304. The wind speed prediction module 301 predicts the opening time required for the power parachute to open and the wind speed change sequence during the opening time, based on the current wind speed data and the angle of attack data of the power parachute. The map matching module 302 is connected to the wind speed prediction module and matches the wind speed change sequence with a preset stability discrimination map. The stability discrimination map includes at least a safe parachute opening zone and a parachute opening failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to a combination of different wind speed data and angle of attack data. The parachute opening prediction module 303 is connected to the map matching module. If the matching result does not meet the parachute opening conditions, the angle of attack data is changed by adjusting the release speed of the parachute lines, and the steps corresponding to the wind speed prediction module and the parachute opening prediction module are repeated until the matching result meets the parachute opening conditions and the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. The attitude adjustment module 304 is connected to the umbrella opening prediction module. During the umbrella opening action and after the umbrella opening is completed, it adjusts the rope winding speed or rope releasing speed according to the changes in the tension of the parachute ropes, real-time wind speed data and real-time angle of attack data, so as to adjust the attitude of the working umbrella.

[0038] In one embodiment of the present invention, the wind speed change sequence is calculated in the following manner: Input the current wind speed data into the trained time series prediction model to obtain the output wind speed change sequence during the umbrella opening time.

[0039] In one embodiment of the present invention, the stability discrimination spectrum is obtained in the following manner: Based on the umbrella shape parameters of the power umbrella, a dynamic model of the power umbrella and a flow field model around the power umbrella are established. The umbrella shape parameters include: the geometric dimensions, material properties and the way the umbrella lines are connected. A two-way fluid-structure interaction simulation is performed on the dynamic model and the flow field model to construct a two-way fluid-structure interaction system, in which the particles in the dynamic model and the fluid particles in the flow field model interact with each other. Within the uncertainty range of wind speed data, select multiple different wind speed values ​​or wind speed time history curves to generate a representative set of wind speed sequences. Each wind speed sequence in the representative wind speed sequence set is used as a boundary condition and input into the two-way fluid-structure interaction system for simulation calculation to obtain the dynamic information of the opening and closing process of the power umbrella corresponding to each wind speed sequence. Based on the preset physical criteria for successful parachute opening, each simulation result is determined to be either a successful parachute opening condition or a failed parachute opening condition. The combination of wind speed data and angle of attack data corresponding to successful parachute opening is divided into the safe parachute opening zone, and the combination of wind speed data and angle of attack data corresponding to failed parachute opening is divided into the unopenable parachute opening zone, generating a stability discrimination map.

[0040] In one embodiment of the present invention, the physical criteria for successful umbrella opening include: the projected area of ​​the umbrella canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the umbrella cords is less than a preset stress threshold. The area where the umbrella cannot be opened refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulation result shows that the projected area of ​​the umbrella canopy on the horizontal plane is less than or equal to a preset area threshold. The safe opening zone refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulation result shows that the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the parachute ropes is less than a preset stress threshold.

[0041] In one embodiment of the present invention, the umbrella opening time is predicted in the following manner: The current wind speed data is used as the initial velocity boundary condition for each fluid particle in the flow field model. The initial spatial position of each particle in the dynamic model is determined based on the current angle of attack data, so that the normal direction of the parachute plane of the dynamic model is in the same orientation as the incoming flow direction as the current angle of attack data. The initial velocity boundary conditions and the initial spatial positions of each mass point are used as initial conditions and input into the two-way fluid-structure interaction system for simulation calculation. During the simulation calculation, the change of the parachute canopy projection area of ​​the dynamic model over time is monitored. When the projection area of ​​the parachute canopy on the horizontal plane is greater than the preset area threshold, this moment is recorded as the opening moment. Based on the opening time and the current time, the required opening time for the parachute to open is obtained.

[0042] In one embodiment of the present invention, during the process of performing the umbrella opening action: Acquire real-time tension data for each paracord and calculate the rate of change of tension over time; If the rate of change is less than a preset rate of change threshold, it is determined that the umbrella opening is obstructed, and the release speed of the umbrella lines is increased to increase the wind-receiving area of ​​the working umbrella.

[0043] In one embodiment of the present invention, the tension value of each parachute cord is monitored in real time after the parachute is opened; If the rate of decrease of the paracord tension exceeds the preset rate of decrease threshold, it is determined that there is a defect in the opening state of the working umbrella. Obtain real-time wind speed data and real-time angle of attack data at the current moment, and compare the coordinate points formed by the current wind speed and angle of attack with the stability discrimination map; If the coordinate point is located at the left boundary of the safe opening area, the defect is determined to be caused by a decrease in the angle of attack, and the release speed of the parachute lines is increased to increase the angle of attack. If the coordinate point is located at the lower boundary of the safe opening area, the defect is determined to be caused by the decrease in wind speed, and the release speed of the parachute lines is reduced. If the coordinate point is located at the lower left boundary of the safe parachute opening area, the defect is determined to be caused by the combined effect of reduced angle of attack and reduced wind speed, and the parachute closing action is executed.

[0044] It is understood that the structures illustrated in the embodiments of this specification do not constitute a specific limitation on the attitude adjustment device for a ladder-type land-based high-altitude wind power generation system. In other embodiments of this specification, an attitude adjustment device for a ladder-type land-based high-altitude wind power generation system may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0045] The information interaction and execution process between the modules in the above system are based on the same concept as the method embodiments in this specification, and the specific details can be found in the descriptions in the method embodiments in this specification, so they will not be repeated here.

[0046] This specification also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements an attitude adjustment method for a parachute-type land-based high-altitude wind power generation system according to any embodiment of this specification.

[0047] This specification also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform an attitude adjustment method for a parachute-type land-based high-altitude wind power generation system according to any embodiment of this specification.

[0048] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0049] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute a part of this specification.

[0050] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0051] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0052] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0054] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this specification, and are not intended to limit them. Although this specification has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this specification.

Claims

1. A method for attitude adjustment of a ladder-type land-based high-altitude wind power generation system, characterized in that, include: S1. Based on the current wind speed data and the angle of attack data of the power parachute, predict the opening time required for the power parachute to complete opening and the wind speed change sequence during the opening time. S2. Match the wind speed change sequence with a preset stability discrimination map. The stability discrimination map includes at least a safe parachute opening zone and a parachute failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to a combination of different wind speed data and angle of attack data. S3. If the matching result does not meet the conditions for opening the parachute, the angle of attack data is changed by adjusting the release speed of the parachute lines, and steps S1-S3 are repeated until the matching result meets the conditions for opening the parachute and then the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. S4. During and after the parachute opening action, adjust the parachute rope retraction or release speed according to the changes in parachute rope tension, real-time wind speed data, and real-time angle of attack data to adjust the attitude of the working parachute.

2. The method according to claim 1, characterized in that, The wind speed variation sequence was calculated in the following manner: Input the current wind speed data into the trained time series prediction model to obtain the output wind speed change sequence during the umbrella opening time.

3. The method according to claim 1, characterized in that, The stability discrimination map is obtained in the following way: Based on the umbrella shape parameters of the power umbrella, a dynamic model of the power umbrella and a flow field model around the power umbrella are established. The umbrella shape parameters include: the geometric dimensions, material properties and the way the umbrella lines are connected. A two-way fluid-structure interaction simulation was performed on the dynamic model and the flow field model to construct a two-way fluid-structure interaction system, in which the particles in the dynamic model and the fluid particles in the flow field model interact with each other. Within the uncertainty range of wind speed data, select multiple different wind speed values ​​or wind speed time history curves to generate a representative set of wind speed sequences. Each wind speed sequence in the representative wind speed sequence set is used as a boundary condition and input into the two-way fluid-structure interaction system for simulation calculation to obtain the dynamic information of the opening and closing process of the power umbrella corresponding to each wind speed sequence. Based on the preset physical criteria for successful parachute opening, each simulation result is determined to be either a successful parachute opening condition or a failed parachute opening condition. The combination of wind speed data and angle of attack data corresponding to successful parachute opening is divided into the safe parachute opening zone, and the combination of wind speed data and angle of attack data corresponding to failed parachute opening is divided into the unopenable parachute opening zone, generating a stability discrimination map.

4. The method according to claim 3, characterized in that, The physical criteria for successful umbrella opening include: the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the parachute ropes is less than a preset stress threshold. The area where the umbrella cannot be opened refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulation result shows that the projected area of ​​the umbrella canopy on the horizontal plane is less than or equal to a preset area threshold. The safe opening zone refers to the area where, under the corresponding combination of wind speed and angle of attack data, the simulation result shows that the projected area of ​​the canopy on the horizontal plane is greater than a preset area threshold, and the maximum stress of the parachute ropes is less than a preset stress threshold.

5. The method according to claim 3, characterized in that, The parachute opening time is predicted as follows: The current wind speed data is used as the initial velocity boundary condition for each fluid particle in the flow field model. The initial spatial position of each particle in the dynamic model is determined based on the current angle of attack data, so that the normal direction of the parachute plane of the dynamic model is in the same orientation as the incoming flow direction as the current angle of attack data. The initial velocity boundary conditions and the initial spatial positions of each mass point are used as initial conditions and input into the two-way fluid-structure interaction system for simulation calculation. During the simulation calculation, the change of the parachute canopy projection area of ​​the dynamic model over time is monitored. When the projection area of ​​the parachute canopy on the horizontal plane is greater than the preset area threshold, this moment is recorded as the opening moment. Based on the opening time and the current time, the required opening time for the parachute to open is obtained.

6. The method according to claim 1, characterized in that, During the parachute deployment maneuver: Acquire real-time tension data for each paracord and calculate the rate of change of tension over time; If the rate of change is less than a preset rate of change threshold, it is determined that the umbrella opening is obstructed, and the release speed of the umbrella lines is increased to increase the wind-receiving area of ​​the working umbrella.

7. The method according to claim 1, characterized in that, After the parachute opens, monitor the tension value of each parachute line in real time; If the rate of decrease of the paracord tension exceeds the preset rate of decrease threshold, it is determined that there is a defect in the opening state of the working umbrella. Obtain real-time wind speed data and real-time angle of attack data at the current moment, and compare the coordinate points formed by the current wind speed and angle of attack with the stability discrimination map; If the coordinate point is located at the left boundary of the safe opening area, the defect is determined to be caused by a decrease in the angle of attack, and the release speed of the parachute lines is increased to increase the angle of attack. If the coordinate point is located at the lower boundary of the safe opening area, the defect is determined to be caused by the decrease in wind speed, and the release speed of the parachute lines is reduced. If the coordinate point is located at the lower left boundary of the safe parachute opening area, the defect is determined to be caused by the combined effect of reduced angle of attack and reduced wind speed, and the parachute closing action is executed.

8. An attitude adjustment device for a ladder-type land-based high-altitude wind power generation system, characterized in that, include: The wind speed prediction module, based on the current wind speed data and the angle of attack data of the power parachute, predicts the time required for the power parachute to open and the wind speed change sequence during the opening time. The map matching module is connected to the wind speed prediction module and matches the wind speed change sequence with a preset stability discrimination map. The stability discrimination map includes at least a safe parachute opening zone and a parachute opening failure zone based on the parachute opening success rate. The parachute opening success rate corresponds to a combination of different wind speed data and angle of attack data. The parachute opening prediction module is connected to the map matching module. If the matching result does not meet the parachute opening conditions, the angle of attack data is changed by adjusting the release speed of the parachute lines, and the steps corresponding to the wind speed prediction module and the parachute opening prediction module are repeated until the matching result meets the parachute opening conditions and the parachute opening action is performed. Among them, meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is greater than the preset threshold, and not meeting the umbrella opening condition means that the proportion of data falling into the safe umbrella opening zone in the wind speed change sequence is less than or equal to the preset threshold. The attitude adjustment module, connected to the umbrella opening prediction module, adjusts the rope winding speed or rope releasing speed based on the changes in rope tension, real-time wind speed data, and real-time angle of attack data during and after the umbrella opening action, in order to adjust the attitude of the working umbrella.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-7.

Images