CN104661250B - The route of Wind turbines wireless senser condition monitoring system substitutes self-healing method - Google Patents
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Abstract
The present invention discloses a kind of Wind turbines wireless senser condition monitoring system route and substitutes self-healing method, and this method can repair monitoring system because the routing failure that wireless sensor node fails and occurs, its basic thought are：When Monitoring Data is caused to transmit data failure by node to failure node, the node is by inquiring about and obtaining routing table information, enable its effective father node or the brotgher of node substitutes failure node and continues to transmit data, the self-regeneration of data transfer route is realized, reaches the purpose for improving monitoring system route reliability.This method can not only effectively repair monitoring system because of node failure and caused by fail route, moreover it is possible to significantly improve the data transmission success of monitoring system.
Description
Technical Field
The invention relates to a route replacement self-healing method for a wireless sensor state monitoring system of a wind turbine generator, which can realize self-healing of a data transmission route in the state monitoring system of the wind turbine generator, effectively solve the problem of route reliability reduction caused by failure of a wireless sensor node of the monitoring system, ensure that the monitoring system has higher data transmission success rate and realize reliable monitoring of the monitoring system on the wind turbine generator.
Background
The traditional regular maintenance and fault maintenance can not comprehensively understand the operation condition of the wind turbine generator, and the fault mechanism of the wind turbine generator is difficult to be correctly known, so that the operation maintenance cost and the equipment fault rate of the wind turbine generator are very high. At present, most mature wind turbine monitoring systems adopt a wired monitoring technology, can monitor the running state of a wind turbine in real time, diagnose and analyze faults and give a preliminary diagnosis result, but have the problems of high price, inconvenience in installation, difficulty in maintenance and the like. In recent years, with the rapid development of Sensor technology and Wireless communication technology, a Wireless Sensor Network (WSN) has become a research hotspot today due to its advantages of low power consumption, low cost, self-organization, node miniaturization, and the like.
The wind turbine generator is mostly built in remote areas with severe environment and poor accessibility, and the failure of a sensor node in a monitoring system due to hardware failure is easily caused; in addition, when the monitoring system operates for a period of time, the sensor node will also fail due to energy exhaustion. The node failure is likely to cause the monitoring system to generate a monitoring blind area, destroy the connectivity of the monitoring system network and influence the reliable transmission of the monitoring data. When partial sensor nodes of the monitoring system fail, if the nodes are replaced by adopting the shutdown and recovery operation, larger economic loss is caused. Therefore, the invention provides a route replacement self-healing method for a wind turbine generator wireless sensor state monitoring system. When the node transmits the monitoring data to the failure node to cause data transmission failure, the node starts the effective father node or brother node to replace the failure node to continue transmitting data by inquiring and acquiring the routing table information, so that self-repairing of the data transmission route is realized, the purpose of improving the route reliability of the monitoring system is achieved, and the reliable monitoring of the wind turbine generator by the system network is realized.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problem that the reliability of a route is reduced due to the fact that a wireless sensor network in a wind turbine state monitoring system loses efficacy due to nodes, the invention provides a route replacing self-healing method for the wind turbine state monitoring system. The route replacement self-healing method provided by the invention can effectively improve the data transmission success rate of the monitoring system and ensure the reliable monitoring of the wind turbine generator by the system network.
The technical scheme is as follows: a route replacing self-healing method for a wind turbine generator system wireless sensor state monitoring system is characterized by comprising the following steps: the self-healing method is provided based on a wind turbine state monitoring system of a wireless sensing technology, when a monitoring system fails in a data transmission route due to node failure, the monitoring system can start an effective father node or brother node of the data transmission failure node in time through parameters of the monitoring system to replace the failed node to continue to complete a data transmission task, self-healing of the monitoring system route is achieved, and therefore performance of the monitoring system is recovered. The self-healing method is directed at a wind turbine state monitoring system based on a wireless sensor network technology, and has the following parameters: with S i Indicating the ith node in the monitoring system, according to node S i Gradient ring G of neighbor node i And an azimuth angle alpha relative to the base station i Divide it into father nodeChild nodeBrother nodeThree types are selected; when the node transmits monitoring data to the failure node to cause data transmission failure, the node starts an effective father node to replace the failure node to continue transmitting data by inquiring and acquiring routing table information; if all father nodes of the data transmission system are invalid, enabling the valid brother nodes of the data transmission system to replace the invalid nodes to continue to transmit data; and finally, the monitoring data is successfully transmitted to the base station for the staff to check and analyze.
Drawings
FIG. 1 is a schematic view of a monitoring system node deployment;
FIG. 2 is a schematic diagram of nodes of a monitoring system randomly deployed in a circular monitoring area;
FIG. 3 is a view showing the node azimuth angle α of the monitoring system i Calculating (1);
FIG. 4 is a diagram illustrating the calculation of the difference θ between the azimuth angles of two nodes of the monitoring system;
FIG. 5 is a data transmission flow chart of RRA-FB algorithm according to an embodiment of the present invention;
FIG. 6 is a node distribution diagram of an EBDS-C deployment scenario according to an embodiment of the present invention;
FIG. 7 shows the success rate of data transmission for different numbers of failed nodes according to the embodiment of the present invention;
FIG. 8 shows the difference between the success rates of RRA-FB and EBDS-C algorithms for data transmission under different numbers of failed nodes according to the embodiment of the present invention.
Detailed Description
The present invention is further illustrated by the following examples, which are intended to be purely exemplary and are not intended to limit the scope of the invention, which is to be given the full breadth of the claims appended hereto.
1. Wind turbine generator system state monitoring system based on WSN technology
The wind turbine generator set mainly comprises a wind wheel, a cabin, a tower and the like, and parts with high failure rate are a main shaft bearing, a gear box and a generator in the cabin. Sensor nodes are mainly deployed on these components with higher failure rates. All the nodes form a wind turbine state monitoring system, as shown in fig. 1. The monitoring system monitors main components in the cabin in real time through deployed sensor nodes, monitoring data are transmitted to the base station through routes among the nodes, and the base station fuses the data and finally transmits the fused data to the central control center for workers to check and analyze.
2. Routing substitution self-healing principle of wind turbine state monitoring system based on WSN technology
When monitoring data meets a failure node in the transmission process, the node with data transmission failure acquires the information of the effective father node and the brother node of the node by inquiring a routing table established by the algorithm, and replaces the failure node with the effective father node and the brother node to complete data transmission.
2.1 establishment of routing links
One of the main tasks of the monitoring system nodes is to reliably transmit the collected data to the base station via the routing link. Therefore, the reliability of the routing link must be ensured during the operation of the monitoring system. As shown in fig. 2, the node located at the center of the circle is a base station, and the other nodes are all common nodes. The base station is used as the center of a circle, different R is used as the radius to form a plurality of circular rings, the circular ring closest to the center of the circle is called the 1 st round, and the circular rings sequentially outwards are the 2 nd round, the 3 rd round, \ 8230 \ 8230;, and the ith round. The establishment of the routing link is mainly realized by searching own child nodes, father nodes and brother nodes by each node and recording the information such as ID, position and the like of the nodes.
Definitions 1 with P (x) p ，y p ) Denotes the coordinate of any point on the ith wheel, BS (x) 0 ,y 0 ) The Euclidean distance from point P to base station BS is called the wheel radius of the ith wheel and is marked as R i The mathematical expression is as follows:
radius of the middle wheel R in the formula (1) i Is determined by the particular node deployment scenario.
2, an annular area (including the ith wheel) surrounded by the ith wheel and two adjacent wheels of the (i-1) th wheel is defined to be called an ith-level gradient ring, and the mathematical expression of the ith-level gradient ring is as follows:
G i ＝{P(x,y)|R i-1 ＜d(P,BS)≤R i } (2)
in the formula (2), P (x, y) represents any point coordinate in the monitoring area, and R i 、R i-1 Respectively representing the wheel radii of the ith and (i-1) th wheels, d (P, BS) representing the point P to the base station BS (x) 0 ，y 0 ) Euclidean distance of (a), i.e.:
definition 3 by S i (x i ，y i ) Coordinates representing the ith node, BS (x) 0 ,y 0 ) Representing the coordinates of the base station, and establishing a virtual orthogonal coordinate system with the coordinates of the base station BS as the origin, as shown in fig. 3, called α i Is a node S i The mathematical expression of (c) is:
giving out a certain node S according to the grade number of the gradient ring where the node is positioned and the azimuth angle formed by the node and the base station i The parent node, child node and sibling node of the node.
Node S i Parent node set ofComprises the following steps:
node S i Set of child nodes ofComprises the following steps:
node S i Set of sibling nodesComprises the following steps:
in the formulas (5), (6) and (7), S represents a set formed by all nodes in the monitoring area, G m 、G n Respectively represent an m-level gradient ring and an n-level gradient ring, and m-n represents a node S i And node S j Level difference of gradient ring, [ alpha ] i -β,α i +β]Denotes α = α i - β and α = α i + β is a sector area formed by two rays (including two rays), and β is a system parameter and is related to a specific node deployment scheme.
The invention adopts an Energy Balance node Deployment scheme (EBDS-C) based on coverage, takes beta = pi/6, and mainly considers the transmission Energy consumption of the nodes in the Deployment scheme. When beta = pi/6, the node S i The number of the father node, the child node and the brother node is moderate. At the same time, node S i Parent node or child node of (2) and node S i The distance is short, and the communication energy consumption is saved.
When β = π/6, as can be seen from equations (5), (6) and (7), in FIG. 2, nodes a, b, c and d are all parents of node f, node f is a child of nodes a, b, c and d, and nodes a, b, c and d are siblings of each other.
Node S i Of parent nodeChild nodeBrother nodeThe specific determination method comprises the following steps: with S i (x i ，y i ) Coordinates representing the ith node, S j (x j ，y j ) Coordinates representing the jth node, BS (x) 0 ，y 0 ) Representing the base station coordinates, node S j Is in azimuth of j Relative to node S i Is in azimuth of i The difference θ of (a) is:
at known S i ∈G m ，S j ∈G n If m-n =1 and θ ∈ [ α ∈ in the case of (1) i -π/6,α i +π/6]Then, thenIf m-n = -1 and θ ∈ [ α ] i -π/6,α i +π/6]Then, thenIf m-n =0 and θ ∈ [ α ] i -π/6,α i +π/6]Then, then
2.2 design of Algorithm routing
And designing a Routing Table (RT) of the RRA-FB algorithm according to the established routing link information, and storing all the routing link information in the RT Table so as to facilitate information query in the future. The RT Table is composed of Sub-Route tables (SRTs) of respective nodes. Each SRT contains information as shown in table 1.
Table 1 information contained in sub-routing tables
In table 1, the ID refers to the address number of the node in the monitoring system. xd is the abscissa of the node in the monitoring system. yd is the ordinate of the node in the monitoring system. G stores the gradient ring level in which the node is located. flag _ dead is the status flag of the node, with only two values, 0 and 1.0 indicates that the node is working properly and 1 indicates that the node is failed. S denotes the node, S f 、S s 、S b Respectively, a parent node set, a child node set, and a sibling node set of nodes.
When a certain node in the monitoring system needs to transmit data, the SRT information of the failure node is firstly checked out by inquiring the RT table, the failure node is avoided, and then the data is transmitted to the base station.
2.3 monitoring System routing substitution self-healing principle algorithm description
Before the RRA-FB algorithm is carried out, the position information S of each wireless sensor node in the monitoring system is firstly obtained i (x i ，y i )。
The RRA-FB algorithm comprises the following specific steps:
1) Input S i (x i ，y i ) A value of (d);
2) Establishing a routing link and a routing table of the monitoring system according to the calculation of the formulas (2) and (8) and the calculation of the formulas (5) and (6) and (7);
3) A certain node S i Firstly, inquiring a routing table of data to acquire the parent node number Imax and the brother node number Jmax;
4) i =1. If i < = Imax, continue; otherwise, go to step 7);
5) Query node S i The flag _ dead flag of the ith parent node is 0. If flag _ dead =0, the data is transmitted to the parent node, and go to step 6); otherwise, i = i +1, and go to step 4);
6) If the node receiving the data is not the base station, turning to the step 3); otherwise, go to step 9).
7) j =1. If j < = Jmax, continue; otherwise, go to step 9);
8) Query node S i The flag _ dead of the jth sibling node identifies whether it is 0. If flag _ dead =0, the data is transmitted to the sibling node and goes to step 6); otherwise, j = j +1, and go to step 7);
9) The algorithm ends.
FIG. 5 is a data transmission flow of the RRA-FB algorithm. When the network is initialized, all nodes perform data transmission through the 1 st father node by default, and only when the 1 st father node fails, route substitution is implemented, so that self-repair of a route link is realized. When the node transmitting data detects that the 1 st father node of the node is invalid, other effective father nodes or brother nodes of the node are utilized to carry out routing substitution, and data transmission is carried out again.
3. Simulation analysis
The invention takes the success rate of data transmission as the evaluation index of RRA-FB algorithm, which is defined as: and the base station confirms the ratio of the number of the received data packets to the number of the data packets sent by the source node. The mathematical expression is:
SR＝P R /P S (9)
in the formula (9), P R Indicating the number of data packets acknowledged by the base station, P S Indicating the number of packets sent by the source node.
In order to verify the effectiveness of the RRA-FB algorithm, taking the Huarui wind power SL3000 type wind turbine generator as an example, the EBDS-C node deployment scheme in FIG. 6 is adopted, and the routing algorithm (called EBDS-C algorithm) of the EBDS-C node deployment scheme is simulated and compared in an MATLAB simulation platform. The wind turbine generator cabin is 12.3m long, 5m wide and 5.8m long. In a simulation test, assuming that the communication radius of a node is 4.5m, the number of data transmission rounds is set to 5000 rounds, and an average value is taken when the success rate of data transmission is calculated.
As can be seen from fig. 7, the RRA-FB algorithm has a slow decrease in data transmission success rate when the number of failed nodes is small, and has a fast decrease in data transmission success rate when there are many failed nodes. The reason is that when the number of the failed nodes is small, the distribution of the failed nodes is relatively dispersed, and the RRA-FB algorithm can effectively utilize other father nodes and brother nodes of a certain node to carry out data transmission; when there are many failed nodes, the failed nodes are distributed more intensively, and it is possible to encounter a situation where the parent node and the sibling node of a certain node are all failed, resulting in a failure in data transmission. As can be seen from the figure, the data transmission success rate of the EBDS-C algorithm starts to be significantly reduced when the number of failed nodes is 2, while the data transmission success rate of the RRA-FB algorithm can still be kept above 0.8 when the number of node failures is 12.
FIG. 8 reflects the variation of the RRA-FB algorithm in increasing the success rate of data transmission of the monitoring system compared with the EBDS-C algorithm. The curve shows a trend of increasing followed by decreasing. The reason is that the single-path data transmission route adopted by the EBDS-C algorithm hardly ensures the data transmission success rate of the monitoring system with the increase of the failed nodes, and the data transmission alternative route adopted by the RRA-FB algorithm can ensure that the monitoring system has a high data transmission success rate, so that the difference of the data transmission success rates of the two algorithms is gradually increased; when the number of the failed nodes continues to increase, some alternative routes in the RRA-FB algorithm are continuously invalid, namely all father nodes and brother nodes of a certain node fail, and the route repair capacity is reduced, so that the difference of the success rate of data transmission of the two algorithms is gradually reduced. When the number of the failed nodes is 8, the difference of the data transmission success rates of the RRA-FB algorithm and the EBDS-C algorithm reaches the highest point, and is about 50%.
Claims (7)
1. A route replacing and self-healing method for a wind turbine generator wireless sensor state monitoring system is characterized by comprising the following steps: the self-healing method is provided based on a wind turbine state monitoring system of a wireless sensing technology, when a monitoring system fails in a data transmission route due to node failure, the monitoring system can start an effective father node or brother node of the data transmission failure node in time through parameters of the monitoring system to replace the failed node to continue to complete a data transmission task, self-healing of the monitoring system route is achieved, and therefore performance of the monitoring system is recovered;
the self-healing method is directed at a wind turbine state monitoring system based on a wireless sensor network technology, and has the following parameters: with S i Indicating the ith node in the monitoring system, according to node S i Gradient ring G of neighbor node i And an azimuth angle alpha relative to the base station i Divide it into father nodeChild nodeBrother nodeThree types are selected; when the node transmits monitoring data to the failure node to cause data transmission failure, the node starts an effective father node to replace the failure node to continue transmitting data by inquiring and acquiring routing table information; if all father nodes of the data transmission system are invalid, enabling the valid brother nodes of the data transmission system to replace the invalid nodes to continue to transmit data; and finally, the monitoring data is successfully transmitted to the base station for the staff to check and analyze.
2. The route replacement self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, characterized in that: node S i In the gradient ring G i The definition is as follows: the mathematical expression of an annular area formed by the enclosing of the ith wheel and the (i-1) th wheel and two adjacent wheels is as follows:
G i ＝{P(x,y)|R i-1 ＜d(P,BS)≤R i } (1)
in the formula (1), P (x, y) represents any point coordinate in the monitoring area, and R i 、R i-1 Respectively representing the wheel radii of the ith and (i-1) th wheels, d (P, BS) representing the point P to the base station BS (x) 0 ，y 0 ) Euclidean distance of (a), i.e.:
wheel radius R of the i-th wheel in formula (1) i The definition is as follows: with P (x) p ，y p ) The coordinate of any point on the ith wheel is represented by the mathematical expression:
radius of the middle wheel in formula (3) i Is determined by the specific node deployment scenario.
3. The route replacement self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, characterized in that: node S i Azimuth angle alpha relative to base station i The definition is as follows: with S i (x i ，y i ) The coordinates of the ith node are expressed by the mathematical expression:
4. the route replacement self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, characterized in that: node S i Of parent nodeChild nodeBrother nodeThe definition is as follows:
in the formulas (5), (6) and (7), S represents a set formed by all nodes in the monitoring area, [ alpha ] i -β,α i +β]Denotes α = α i - β and α = α i + beta two rays (including two rays), beta being a system parameter related to a specific node deployment scheme, and m-n representing a node S i And node S j In the order of gradient ringsDifference;
node S i Of parent nodeChild nodeBrother nodeThe specific determination method comprises the following steps: with S i (x i ，y i ) Coordinates representing the ith node, S j (x j ，y j ) Denotes the coordinates of the jth node, BS (x) 0 ，y 0 ) Representing the base station coordinates, node S j Is in azimuth of j Relative to node S i Is in azimuth of i The difference θ of (a) is:
at known S i ∈G m ，S j ∈G n If m-n =1 and θ ∈ [ α ∈ in the case of (1) i -β,α i +β]Then, thenIf m-n = -1 and θ ∈ [ α ] i -β,α i +β]Then S is j ∈If m-n =0 and θ ∈ [ α ] i -β,α i +β]Then S is j ∈
5. The route replacement self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, characterized in that:the routing table of the algorithm is formed by each node S i Is formed by a sub-routing table of nodes S i The sub-routing table of (2) contains the following information: ID. xd, yd, G, flag _ dead, S f 、S s 、S b ；
The ID refers to the address number of the node in the monitoring system; xd is the abscissa of the node in the monitoring system; yd is the ordinate of the node in the monitoring system; g, storing the gradient ring grade of the node; flag _ dead is the status flag of the node, with only two values, 0 and 1;0 represents that the node works normally, and 1 represents that the node fails; s denotes the node, S f 、S s 、S b Respectively a father node set, a child node set and a brother node set of the nodes;
when a network is initialized, all nodes perform data transmission through the 1 st father node by default, and route replacement is implemented only when the 1 st father node fails, so that self-repair of a route link is realized; when the node transmitting data detects that the 1 st father node of the node is invalid, other effective father nodes or brother nodes of the node are utilized to carry out routing substitution, and data transmission is carried out again.
6. The route replacing self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, wherein the algorithm comprises the following specific steps:
1) Input S i (x i ，y i ) A value of (d);
2) Establishing a routing link and a routing table of the monitoring system according to the calculation of the formulas (2) and (8) and the calculation of the formulas (5) and (6) and (7);
3) A certain node S i Firstly, inquiring a routing table of data to acquire the parent node number Imax and the brother node number Jmax;
4) i =1; if i < = Imax, continue; otherwise, go to step 7);
5) Query node S i Whether the flag _ dead mark of the ith father node is 0 or not; if flag _ dead =0, the data is transmitted to the parent node, and go to step 6); otherwise, i = i +1, and go to step 4);
6) If the node receiving the data is not the base station, turning to the step 3); otherwise, go to step 9);
7) j =1; if j < = Jmax, continue; otherwise, go to step 9);
8) Enquiry node S i Whether the flag _ dead identifier of the jth brother node is 0 or not; if flag _ dead =0, the data is transmitted to the sibling node and goes to step 6); otherwise, j = j +1, and go to step 7);
9) The algorithm ends.
7. The route replacement self-healing method for the wind turbine generator wireless sensor state monitoring system according to claim 1, characterized in that: the data transmission success rate is defined as follows: the base station confirms the ratio of the number of the received data packets to the number of the data packets sent by the source node, and the mathematical expression of the ratio is as follows:
SR＝P R /P S (9)
p in formula (9) R For the base station to acknowledge the number of received data packets, P S The number of data packets sent for the source node.
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