CN103003565A - Method and device for determining a bending angle of a rotor blade of a wind turbine system - Google Patents
Method and device for determining a bending angle of a rotor blade of a wind turbine system Download PDFInfo
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- CN103003565A CN103003565A CN2011800363601A CN201180036360A CN103003565A CN 103003565 A CN103003565 A CN 103003565A CN 2011800363601 A CN2011800363601 A CN 2011800363601A CN 201180036360 A CN201180036360 A CN 201180036360A CN 103003565 A CN103003565 A CN 103003565A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D25/00—Component parts, details, or accessories, not provided for in, or of interest apart from, other groups
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/80—Diagnostics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/331—Mechanical loads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
- F05B2270/807—Accelerometers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
The present invention provides a method (900) for determining a bending angle of a rotor blade (300) of a wind turbine system (210). The method (900) comprises a step of reading in (910) at least one acceleration signal (a1) which represents an acceleration of the rotor blade acting essentially perpendicularly with respect to a rotor plane (320). In addition, the method (900) comprises a step of determining (920) the bending angle of the rotor blade of the wind turbine using the acceleration signal.
Description
Technical field
The present invention relates to a kind of method and a kind of device by the bending angle of the described rotor blade for determining wind turbine of independent claims.
Background technique
Wind turbine is adjusted by adjusting and the generator torque round its longitudinal axis of rotor blade.The adjustable parameter that is used for the gradient adjustment is that rotor speed and regulated quantity are the pitch angles of rotor blade.For traditional equipment, use and concentrate elevating control CPC(CPC=Collective Pitch Control).Said three rotor blades are all regulated with identical pitch angle.Wind turbine for the axis with level and at least two rotor blades, come so adjustment of rotational speed on rated wind speed by the synchronization regulation of described blade angle, thereby the change by the described angle of attack reduces by this way aerodynamic lift and reduces thus driving moment, so that equipment can move in the scope of rated speed.When wind speed is higher than opening velocity, with this blade adjustments mechanism in addition as break, method be with blade with lug in face of wind, so that rotor no longer provides the driving moment of being worth mentioning.When carrying out this concentrated blade adjustments, produce pitch moment and the deflecting torque that acts on gondola owing to asymmetric aerodynamic load.Asymmetric duty ratio is as by producing along pneumatic shear shear force (boundary layer), angle of yaw error, blast and the turbulent flow of vertical direction, the obstruction etc. of air-flow on the tower cylinder.A kind of scheme of known this asymmetric aerodynamic load of reduction is, individually the angle of attack of adjusting vane (English: Individual Pitch Control=IPC).For this adjustment scheme, be necessary to determine the bending moment (especially impact bending moment) that exists at rotor blade root.Described bending moment is then with the adjustable parameter that acts on indivedual blade adjustments.In order to determine bending moment, can use DMS sensor (DMS=resistance strain gauge), described DMS sensor is placed on the rotor blade root.The problem of described DMS sensor is application facet and risk of breakage and less working life.
Other such as disclosed method in WO 2008/041066 or DE 197 39 164 B4 by via the way of gyroscope survey gondola acceleration or by determining passing through the distortion that load occurs and determining that thus the sensor of loading tries to achieve described pitch moment and deflecting torque of equipment unit by distance measurement accordingly.From the eye that IPC adjusts, bending blade moment is well suited for as adjustable parameter.Certainly fail enough to find the surveying that is suitable for lasting use with contact.The Fibre-Bragg sensor for carrying out torgue measurement that is laminated in the described blade can not be changed in out of order situation, and the working life that the DMS sensor of stickup has is too short.These two kinds of methods have such problem in addition, and namely surveying work only carries out at blade partly.Part in the laminated material heterogeneous thereby cause measurement error, to the deduction of the overall stress phase in the blade root and the moment that works there thus thus always with error.
Summary of the invention
Therefore, task of the present invention is, a kind of method and a kind of device are provided, and described method and apparatus can be determined the load of the rotor blade of wind turbine in improved situation.
This task is resolved by the theme of independent claims.Favourable design proposal obtains by the theme of dependent claims and following specification.
The invention provides a kind of method of bending angle of the rotor blade for determining wind turbine, wherein said method has following steps:
-reading at least one acceleration signal, described acceleration signal is representing the acceleration that acts on rotor blade; And
-the bending angle of the rotor blade of definite described wind turbine in the situation of using described acceleration signal.
In addition, the invention provides a kind of device of bending angle of the rotor blade for determining wind turbine, wherein said device has following characteristics:
-being used for reading the interface of acceleration signal, described acceleration signal is representing the acceleration that acts on rotor blade; And
-be used in the situation of using described acceleration signal, determining the unit of bending angle of the rotor blade of described wind turbine.
A kind of computer program with program-code also is favourable, and described program-code is kept at machine-readable carrier such as being used for implementing by the described method of one of mode of execution described above on the storage of semiconductor memory, harddisk memory or optics and in described program when controller or device are carried out.
The present invention is based on such understanding, i.e. the bending of the rotor blade of described wind turbine and this rotor blade be between the bending moment on the blade root predetermined related among.In order to determine described camber, especially with being substantially perpendicular to acceleration or the acceleration signal that rotor plane is measured.As extra acceleration signal, also can use along the acceleration of blade longitudinal direction.As rotor plane, refer to virtual or actual plane at this, rotor blade rotates in this plane round the rotor shaft of wind turbine.This means that employed acceleration is representing along the acceleration of the direction of rotor shaft in current scheme.Knowing under the prerequisite of this predetermined association, can from the acceleration of at least one parts of described rotor blade or rotor blade, infer the bending moment of the existence on the blade root of this rotor blade in this case, thereby can continue to use traditional regulation unit that is used for determining the blade pitch angle using in the situation of slightly making the adjustment parameter of changing.In this and the optional bending moment of inferring the existence on the described blade root, but also can on the basis of acceleration measured or that read, directly calculate the angle of attack that remains to be set or rather.In this case, thereby try to achieve bending blade (that is to say numerical value beta) from determined acceleration, the IPC pitch angle of therefrom determining described rotor blade is the angle of attack in other words.The adjusting method of introducing can be used thus bending moment (in other words bending angle) and then determine the so-called pitch angle of described rotor blade.Also can use " angle of attack " this concept for " pitch angle " this concept at this.That is to say the angle of attack or individual other angle of attack that from described bending angle, can be identified for described rotor blade.
The invention provides such advantage, namely can continue to use traditional regulation unit, thereby do not need expense again to develop regulation unit for the adjustment of the angle of attack of the rotor blade of described wind turbine in the highland very much.Simultaneously, can use corresponding sensor for employed sensor parameter is provided, described sensor tip is more sane significantly to deterioration phenomenon and measurement error.Owing to wind turbine for design long working time and the expense of the especially replacing of rotor blade very high, so above-mentioned advantage is also even more important.Can be easy to and repacking with low cost with scheme described here.
According to a kind of favourable mode of execution of the present invention, curve that can sense acceleration in the described step that reads is wherein tried to achieve frequency spectrum and determine the described angle of attack in the situation of the frequency spectrum that use is tried to achieve from the curve of described acceleration in described definite step.A kind of such mode of execution of the present invention provides following advantage, namely by try to achieve and use that next be transformed to the frequency spectrum of frequency range in the scope in the specific time lag, can less measurement error be compensated.Can utilize this point at this, namely by periodically occurring the impact of physics on the specific position in the turning circle that is rotated in rotor blade of rotor blade, that is to say the impact that physics just when arriving described specific position again in the circle of described rotor blade in ensuing rotation, periodically occurs.
Particularly advantageous is in described definite step the frequency spectrum of trying to achieve and the frequency spectrum that provides to be compared, wherein definite described angle of attack in the situation of using the comparative result between the frequency spectrum of trying to achieve and the frequency spectrum of the mentioning.A kind of such mode of execution of the present invention provides following advantage, and is namely fine and the frequency spectrum provide is provided reliably most possibly.In this case, such as determining a mean value from a large amount of frequency spectrums that record, wherein such frequency spectrum that provides then also can be described some variation of environmental conditions.
According to a kind of special mode of execution of the present invention, in the described step that reads, can cause on one's own initiative the motion that is substantially perpendicular to rotor plane of described rotor blade.A kind of such mode of execution of the present invention provides following advantage, namely can measure or calculate for the specific atmosphere that often occurs foreseeable frequency spectrum and it is left in the storage.Such as in this case, can leave specific bending angle of spectrum allocation may in the storage in for each.In this way, in can use actually to implement determining of described bending angle in numeral or the very simple mode of circuit technical elements, because mainly the frequency spectrum of trying to achieve and one or more frequency spectrum from storage need to be compared, be used for obtaining being used for quite accurately from comparative result the parameter of bending angle, if the frequency spectrum of trying to achieve roughly be equivalent to specific frequency spectrum and this for this specific spectrum allocation may this bending angle.
According to another embodiment of the invention, in described definite step, can implement lower pass-filter and/or the Kalamn filtering of described acceleration signal.A kind of such mode of execution of the present invention provides following advantage, the smooth effect of the measured value that namely obtains reading by described filtering, and the measured value that reads improves the stability of the adjustment performance that is used for the angle of attack.Especially have the desired pure useful signal that information about gravity and centrifugal force to be analyzed is arranged in the signal of this elimination high frequency-interference share and reservation.
In addition, in another embodiment of the invention described for the step of determining of determining bending angle also can use approximative value about the information of flexural rigidity or flexural rigidity, about the information with respect to the acceleration of the tower head of horizontal inclination angle and/or described wind turbine of the spacing of leaving rotor shaft of acceleration transducer that described acceleration signal is provided, described rotor shaft.A kind of such mode of execution of the present invention provides following advantage, namely can very accurately estimate the bending moment that occurs described blade root thus, so that the needed change of the setting parameter of the regulation unit that has used is very little.Why this point is even more important, and is because present employed regulation unit is used for the angle of attack of rotor blade the basis adjustment of the bending moment that occurs, thereby can implements easily the replacing of adjustable parameter.
In order as far as possible accurately to try to achieve the bending angle of described rotor blade, in described definite step, can from described acceleration signal, try to achieve rotor blade a locational acceleration temporal curve and using bending angle or the bending blade degree of determining described rotor blade in the situation of the curve of trying to achieve.Described temporal curve can extend revolving in the scope that turns around round rotor shaft of rotor blade at this.A kind of such mode of execution of the present invention comes to determine the bending of described rotor blade in the following manner, namely determine the position with respect to gravity accleration, described gravity accleration periodically strengthens ground a little while and acts on measured sensor signal a little while with weakening when measuring the acceleration of rotor blade.
According to another embodiment of the invention, in the described step that reads, can read another along the acceleration signal of the orientation measurement of the longitudinal axis of described rotor blade.In this case, in described definite step, in the situation of using described another acceleration signal, determine the bending angle of the rotor blade of described wind turbine.
Description of drawings
The below exemplarily is explained in detail the present invention by means of accompanying drawing.Accompanying drawing illustrates as follows:
Fig. 1 is for the diagram of the title of the motion possibility on the wind turbine being carried out unified definition;
Fig. 2 is for the skeleton diagram of the regulation unit of other angle of attack of the rotor blade of wind turbine, can use embodiments of the invention for described wind turbine;
Fig. 3 is at the schematic diagram with sensor localization important parameter aspect this on rotor blade;
Fig. 4 is for to the related chart about the time that describes between blade skew and the blade root bending moment;
Fig. 5 is the diagram of the sensor coordinate system on the rotor blade;
Fig. 6 is the diagram that describes for principle of measurement and processing to resulting measurement signal;
Fig. 7 is chart, and sensor signal and reference signal through lower pass-filter have been shown in this chart;
Fig. 8 is chart, and related between the useful signal of bending blade and the acceleration analysis of sensor has been shown in this chart, and described sensor is located with the spacing of the r=10m that leaves rotor hub; And
Fig. 9 is the flow chart as method by a kind of embodiment of the present invention.
Embodiment
Identical or the element that works similarly can be in the following drawings by identical or similarly reference character represent.In addition, accompanying drawing, its explanation and claim comprise a large amount of features with the form of combination.Those skilled in the art is very clear at this, also can individually study these features or it is summarized as other the combination that does not offer some clarification on here.In addition, may in the situation of using different sizes and yardstick, make an explanation to the present invention in the following description, wherein present invention should not be construed as and be confined to these sizes and yardstick.In addition, can repeatedly and with the order different with described order carry out by method step of the present invention.If a kind of embodiment comprise between First Characteristic/step and the Second Characteristic/step " with/or " connect, that just can so be understood this, so that this embodiment not only has described First Characteristic/described first step according to a kind of mode of execution but also has described Second Characteristic/described second step and only have in other embodiments described First Characteristic/described first step or only have described Second Characteristic/described second step.
Special target of the present invention is, a kind of scheme is provided, and pass through deflecting torque and the pitch moment that asymmetrical aerodynamic load produces that are used for will acting on by adjusting method described gondola are reduced to bottom line.Adjustable parameter is other angle of attack of the blade of described wind turbine advantageously.At this, an important aspect is to try to achieve described adjustable parameter according to scheme described here by the acceleration transducer on the described rotor blade.For this reason, at least one acceleration transducer is installed at least one rotor blade, this acceleration transducer can be measured (namely perpendicular to the rotor plane) acceleration along impact direction.This provides following advantage, namely can use point sensor in this case, described point sensor can easily be placed in the described blade, can easily change and can not detect the static stress of error ratio as causing by the temperature difference and heterogeneous blade material.In addition, sometimes when the state monitoring apparatus that blade has been installed (Condition Monitoring), there has been described sensor.
For the following employed parameter to the motion possibility of wind turbine uniformly defines, employ the diagram by Fig. 1.Refer to have the equipment of tower cylinder at this wind turbine, fixed gondola at described its.This gondola comprises the generator that is coupled with rotor, and wherein said rotor has two rotor blades in embodiment illustrated in fig. 1.Described tower cylinder can be in wind at that time and carry out tower cylinder longitudinal bending 100 and tower cylinder transverse bending 110 when the power with rotor is delivered on gondola and the tower cylinder at this.Described tower cylinder also can carry out the tower cylinder round its vertical axis and reverse 120.The motion round its vertical axis of tower cylinder is also referred to as the deflection 130 of described wind turbine.In addition, the power that also has is applied to described tower cylinder or wind turbine, and these power cause rotating (Rollen) 140 namely round the rotational motion of the rotor shaft of described wind turbine.If by be applied to by wind impact on the wind turbine bring out not only perpendicular to the vertical axis of described tower cylinder and also perpendicular to the motion of rotor shaft, that just refers to the pitching 150 of described wind turbine.Described rotor blade can be carried out rotation motion 160 or ballistic motion 170 or on the one hand in internal torsion, and this is called too now and reverses 180 with respect to rotor blade.Described rotation motion 160 is equivalent to the desired motion round rotor shaft of described rotor blade at this, wherein said ballistic motion 170 represent rotor blade especially blade tip from rotor plane out that is to say moving along the bearing of trend of rotor shaft.Such definition correspondence of the motion of wind turbine is mentioned the corresponding deflecting torque of gondola and the adjustable parameter of pitch moment of being used for from the definition of the book of E. Hau " Windkrafanlage(wind turbine) " in this book.Described ballistic motion causes the bending moment on the blade root and is the deflecting torque of described gondola and the cause of pitch moment.
An important aspect of the present invention can be, can be used to the acceleration signal of the sensor on blade and in the inside of adjusting method these signals are processed, be used for else regulating to reduce deflecting torque and pitch moment on the described gondola by described blade incidence.
Show simplifiedly a system as skeleton diagram in Fig. 2, the present invention can be used in this system according to a kind of embodiment.Described system 200 for wind turbine 210 is adjusted comprises for the unit 220 of operation control and is used for other angle of attack 235(β to each rotor blade of the rotor blade that is used for described wind turbine 210 at this
IPC1,2,3) unit 230 adjusted.Described unit 220(be used to moving control is also referred to as CPC; CPC=Collective Pitch Control) obtains from the signal of the sensor of wind turbine 210 especially about the signal of the rotational speed omega of the rotor of described wind turbine 210 for its task.Described unit 220 for moving control can be determined the generator torque 240 that remains to be set on the one hand and provide this generator torque to be used for a common angle of attack 242(β who is used for all rotor blades is adjusted and tried to achieve on the other hand to described wind turbine 210 from this signal now
CPC), described wind turbine has best power income for this angle of attack.Described unit 230(for individual other angle of attack 235 is adjusted is also referred to as the IPC regulator) from the blade of described wind turbine 210 the inside or above at least one sensor obtain about this rotor blade the locational acceleration a of described sensor being installed
1Signal.Especially described unit 230 for individual other angle of attack 235 is adjusted can obtain about a plurality of acceleration a such as all rotor blades
1,2,3Signal and provide the corresponding signal beta that other angle of attack 235 of relevant rotor blade is set of being used for for each rotor blade in this case
IPC1,2,3, wherein said unit 230 obtains sensor signal for described each rotor blade.In this way, can proofread and correct described with the common relevant signal of the angle of attack that is used for each single rotor blade, be used for considering local wind-force nonuniformity.In addition, the shearing force of wind also causes asymmetric load.Described signal about the common angle of attack 242 be then such as connecting mutually from different signals about other angle of attack 235 of being used for relevant rotor blade in the mode of addition, therefrom obtains to be used for the adjustment signal 250 of each relevant rotor blade of described wind turbine 210.Next set by final controlling element 255 according to this adjusting that the desired angle of attack comes the angle of attack to each rotor blade of described wind turbine 210 to carry out.Under the effect of the wind conditions 260 that changes, described rotor blade then is offset along impact direction with different degree of strengths, and wherein this skew is measured by corresponding sensor again and flowed to described unit 220 and described unit 230 for individual other angle of attack is adjusted be used to moving control by described sensor signal 265 at the acceleration of this appearance in other words.In this way, for the adjustment circuit closed that individual other angle of attack is adjusted.
By representing the use along the acceleration signal of the acceleration of impact direction of each rotor blade, can change easily the adjust system of other angle of attack of the rotor blade that is used for wind turbine that has existed.That is to say that traditional wind turbine great majority utilize the bending moment on the blade root of described rotor blade, be used for setting other angle of attack of relevant rotor blade.But because the bending moment as a rule on the blade root of rotor blade is known with affiliated simple related can the identification in other words along between the bending of impact direction of rotor blade, so the signal by obviously more sane acceleration transducer can use the signal that can utilize suitably to be used for the angle of attack of rotor blade is adjusted, this signal is representing the acceleration along impact direction of the parts of described rotor blade or described rotor blade, and method is to determine the bending angle of described rotor blade from this signal by the present invention.Process for the signal relevant with bending angle rotor blade that obtain now to process well and the least possible interference and to it, it is contemplated that two kinds of flexible programs.
In the first flexible program, can implement therefrom derive the in other words natural frequencies analysis of acceleration signal out of specific acceleration.Use the natural vibration of described (rotor) blade for this reason.Excitation in the running of equipment namely places rotor blade the unit among the vibration to carry out by the vibration brought out in aerodynamic mode or the vibrator by extra installation on one's own initiative.By described acceleration transducer, testing signal and it is preserved and after specific measurement time, try to achieve in (maximum 1 second) amplitude spectrum of described natural vibration continuously in this case.As comparing with specified frequency spectrum, described rated frequency leaves in control-adjustment instrument and belongs to the specific load condition of blade with this Amplitude spectrum ratio.Adjusting by blade angle reduces the load on the blade, this by and specified frequency spectrum between relatively control.Described specified frequency spectrum is in advance zero load and have and determine by the measurement of carrying out at blade in the situation of load or only try to achieve from calculate by natural frequencies analysis.The advantage of this flexible program is, can together use the available surveying that is used for status monitoring, processing and the analytical equipment of described surveying is integrated described sensor, measured value detection device, acceleration signal.The specified frequency spectrum of having deposited in addition that belongs to this.Should add the specified frequency spectrum that leaves control or adjustment instrument in that is used for load condition for such application scheme.These specified frequency spectrums can be tried to achieve by the measurement of carrying out at blade test bench.May more be easy to is to implement reference measurement and measure like the implementation of class when wind speed is lower than priming speed on the rotor blade after installing before being installed on the blade.From these frequency spectrums and blade data, preserved as specified frequency spectrum with respect to the deviation of these frequency spectrums and with it by simulating to calculate when load is arranged.
The second is used for using the flexible program of scheme described here to be use and analysis thereof from the data of direct acceleration analysis.At this, from measured acceleration, determine the bending angle of described rotor blade.Then, adjustment aim is to set identical bending angle at all rotor blades.Adjustable parameter is again described blade angle.Because aerodynamic effect separates with eddy current such as turbulent flow, always excite the vibration of blade, still described vibration is than in the scope of the first natural frequency of blade and tower cylinder more high frequency of vibration to be adjusted being arranged.Therefore, should carry out filtering by lower pass-filter to measured acceleration for described adjustment.For the position of first (acceleration) sensor, following half of rotor blade is favourable, because blade tip can be energized to carry out violent vibration owing to attenuate with the tranverse air flow that is also driving tip whirlpool that exists there.
As the advantage of two kinds of flexible programs described above, can list following aspect.The data that at first can utilize known and measuring device that may exist and may try to achieve by the status monitoring that blade is carried out.Secondly do not need to use resistance strain gauge or similar device, for do not know described resistance strain gauge or the similar device should be wherein and how accurately with its installation with regard to current prior art.In addition, for these sensors, also do not solve satisfactorily technically issues of temperature compensation.In addition, can in situation about breaking down, easily change acceleration transducer.This strain transducer for lamination is impossible.The signal that is provided by strain transducer may not have convincingness, because it only detects local strain.Before use during the described scheme of face, the too high phenomenon of stress of duty ratio that can be by static state such as temperature difference stress, the part that causes by heterogeneous material, the error that freeze (when using status monitoring at the same time) etc. causes, this has improved the reliability of described adjustment significantly in the situation of using this parameter of bending angle that calculates from the blade acceleration.
In other words, this means that scheme described here is representing the use condition as extra adjustment function for claimant's gradient drive unit (Pitch-Antrieben).Drive unit in the future should have the ability individually to regulate described blade owing to current market trend.
Another important aspect of the present invention is, on the basis of acceleration transducer (DCU), can realize the suitable method of measurement of IPC that is improved, for this method of measurement described sensor have longer working life, guaranteed the simple convertibility of sensing device and detect as far as possible with blade root in the parameter of stress phase equivalence of integral body.
For the scheme of introducing below, an important aspect is the use of the signal of acceleration transducer, and described acceleration transducer is measured the acceleration along the direction of rotor shaft of rotor blade.Described acceleration transducer should be able to be measured the acceleration of stable state.The measurement of the acceleration in the blade is known and be particularly useful for carrying out status monitoring according to current prior art.The quadratic integral of this measured acceleration can draw current blade skew.But this method has drift, and the result of calculating is distorted in described drift meeting for a long time.This is measured parameter and therefore is not suitable for carrying out the IPC adjustment.
According to a kind of embodiment, introduce a kind of measurement scheme with invention presented here, this measurement scheme can realize suitable signal analysis concerning IPC adjusts.On the basis of the sensing data of the acceleration transducer of single shaft, can carry out online signal analysis.A kind of possible use condition is such as being in the field that IPC adjusts or being in the experimental measurement on the wind energy plant.For the adjustment of the blade angle of the rotor blade of wind energy plant, need to along impact direction (namely gradient position (Pitchstellung) be 0 when spending perpendicular to rotor plane) bending blade.In order to determine this parameter, described bending blade can directly be measured by the DMS sensor on the rotor blade root.A kind of sensor plan that is used for the measurement bending blade of as an alternative scheme is the use of acceleration transducer, and the measurement equation of described acceleration transducer is described by so-called navigation equation formula (3), and the content of this navigation equation formula is:
Wherein a is equivalent to measured acceleration and g is equivalent to gravity accleration.
By described sensor signal, estimated weight projection of vector and the pitch angle of estimating thus sensor coordinate system in the time of can carrying out corresponding lower pass-filter at the acceleration to the part.By means of the orientation of described sensor, can infer the crooked of rotor blade and infer thus corresponding impact bending moment.Related between the measured bending that is used for rotor blade and the corresponding impact bending moment can find out at the chart of Fig. 4, shows the time and show curve (dotted line) that blade is offset and the curve (solid line) of blade root bending moment at y coordinate at abscissa in this chart.At this as can be seen from Figure 4, described curve for the skew of measured blade and measured blade root bending moment conforms to each other, thereby the acceleration that also can use the blade skew and therefore also can use the blade that causes being correlated with to be offset for the adjustment of other angle of attack of described rotor blade.
In the negligible situation about reversing of hypothesis, consider that the x component of described sensor signal just is enough to be used in trying to achieve described bending blade.Described x component points to the direction of the normal vector on the blade surface and only otherwise exist blade twist just to be in the bend crash direction.For this reason, the same sensor coordinate system 500 as shown in fig. 5 in the rotor blade is as starting point.Directed along the direction of rotor blade end at this z component, the x component is directed along the gyratory directions of rotor blade along normal orientation and y component with respect to rotor plane.In addition, for the conversion sensor acceleration value, can as next also will describing in detail, use system of coordinates 510 in the wheel hub of rotor and the system of coordinates 520 in the rotor shaft.
In order to try to achieve the bending blade degree, at first coordinate is transformed to rotor shaft, is transformed to rotor blade and is transformed to crooked rotor blade from rotor blade from rotor shaft from the tower cylinder for this reason.For this reason, can use following transformation matrix:
M
The tower cylinder is transformed to rotor shaft=
M
Rotor shaft is transformed to rotor blade=
And
M
Rotor blade is transformed to crooked rotor blade=
Wherein
Represent rotor shaft with respect to horizontal inclination angle, the torsion angle that on sensing station, from rotor plane, reverses out that Ω representative represents described rotor blade round rotor azimythal angle and the β of rotor shaft.In this case, the projection of gravity accleration
Can following mode describe:
In addition, the measurement equation of described acceleration transducer can show as follows:
Therefrom draw:
a
Sensor
The first row of indicated matrix represent centripetal acceleration above wherein, the secondary series representative of the formula that the above shows measured because the 3rd being listed as and representing gravity accleration of the acceleration that the rotation of sensor coordinate system causes and top indicated formula.
If should not ignore the tower head acceleration, that just must expand a with the sensor equation
Tower head, wherein
a
Tower head
Applicable for the measured total acceleration of described sensor therefrom:
a
Sensor=a
Sensor '+ a
Tower head
Because the share that the rotation of sensor coordinate system causes can be by low band-pass filter and is eliminated thus.
According to embodiment described here of the present invention, can realize two kinds of measurement scheme or method of measurement.For first method, use the acceleration transducer of the single shaft measurement that is installed on the rotor blade.Measure such as the acceleration of normal direction in the rotor blade surface orientation at this.This acceleration is called a
X, sensorAnd can in the situation of ignoring the tower head acceleration, express as follows:
a
X, sensor=
This periodically repeats with angle Ω at this.In addition, if β is very little and thus sin β trend towards 0, that just can use the track for the gravity accleration of determining β clearly.
Do not having in the situation of bending blade, thus applicable β=0.Therefrom draw:
(a
x)
Sensor is through filtering=+gsinA=const.
With the rotate share (sin β cos β cosA) of frequency of β ≠ 0, wherein said bending angle can be determined from following association:
The variation of the projected footprint of the gravity accleration thus bending (β ≠ 0) by rotor blade causes and can be used for determining β.The first method of measurement that bending blade is measured on the basis of this acceleration transducer of measuring at single shaft is providing advantage and Billy more easily sensor signal to be analyzed with the situation of a plurality of sensor signals aspect the sensor that can use inexpensively.But the shortcoming as this method of measurement for bending angle should be mentioned that less useful signal is available, because can only use for the signal amplitude of determining β.
For the method for determining bending angle, can use the parameter of explaining in detail with reference to Fig. 3 for the second.In this case the acceleration along the direction of rotor shaft 310 of described rotor blade 300 is studied, wherein said acceleration transducer is arranged with the spacing r that leaves described rotor shaft 310.By described rotor blade on the position of acceleration transducer since rotor blade from rotor plane 320, be offset and out and partly reversed this situation of angle beta and measure following acceleration:
a
X, sensor=
And
Described two equational first (namely first product) is constant at this with respect to angle beta.Second (namely second product) can be ignored when acceleration transducer signals is carried out lower pass-filter.Last (namely last product) cyclically-varying along with angle Ω.
Such as for the angular velocity (this is equivalent to the equipment rotating speed of 15 rpm) of ω=1.7rad/s and the spacing r of sensor
s=20m can obtain ω
2R
s=58m/s
2Constant share.The share of rotational frequency is g=9.81m/s at this
2Thus in the z-direction acceleration ratio as within the turning around round revolving of rotor shaft of rotor blade from 68m/s
2To 48m/s
2Fluctuation.At a that is used for through filtering
Z, sensorEquation in (having that is to say elimination second), it is now know that all parameters except β.Described equation can solve required torsion angle β in umerical mode thus.
Above the indicated a that is used for
X, sensorEquation show how the acceleration of measuring in the x-direction is comprised of with parameter the unknown known.If measure extraly this acceleration, that just can improve the precision of determining of β.Especially the use of Kalman filter can cause better result.At this, in Kalman filter, the model of rotor blade is simulated and therefrom definite described skew.Described simulation in each time step by means of described two measured value (a
x, a
z) upgrade and correct in other words (such as by means of fallout predictor, corrector-method).Can from described blade tilt, directly determine the blade skew by means of the model (namely deflection curve) that is used for the bending blade degree.Then also obtain the blade root bending moment from described model for bending blade.For this reason, also must know extraly flexural rigidity EI.Because known IPC regulator only is used for the difference in the blade root bending moment of described blade to adjust, thus do not need absolute accurate numerical value and for flexural rigidity EI approximative value just enough.Above-mentioned measurement scheme so also can be easily existence by the acceleration transducer in the rotor blade detect, this sensor is arranged for the acceleration of measuring in the z-direction.
Equational this application described above then can be inferred the bending angle of rotor blade from acceleration signal, described bending angle then then continues on for the angle of attack of rotor blade is adjusted.Utilization in this especially described second method has following advantage, namely has constant useful signal by rotor one circle owing to constant centrifugal force, then can therefrom calculate the g projection or together be used for determining β from described constant useful signal.
In order to try to achieve described bending blade, should determine described gravity accleration should be purely owing to the projection components of the impact bending of described rotor blade.The projection that produces from the rigid motion of equipment that for this reason can leach gravity accleration changes.Two degrees of freedom are determined described rigid motion: round the rotation of rotor shaft and round the adjustment of blade angle of pitch axis (Pitchachse).Can also study extraly the rotation of bearing, but this is left in the basket in this research.
The projection components of being responsible for bending blade obtains from following equation thus:
G wherein
RBFilterBe equivalent to the projection vector that calculate on the basis in rigid motion of gravity accleration.g
MessIt is the gravitational acceleration component by described sensor measurement.g
BiegungCorresponding signal through filtering, this signal should be purely owing to the flexible distortion (that is to say the bending that is equivalent to along impact direction) of described rotor blade.By equation (4) can leach gravity vector should be owing to the projection vector of described bending.The calculating of the projection that produces from rigid motion of gravity accleration can be known from following equation (5):
Wherein
T
Blade_HubBe equivalent to be used to the transformation matrix that is transformed to blade section COS;
T
Z(β) be equivalent to the rotation that the Z axis about blade bearing COS carries out as amplitude take β (the namely pitch angle of rotor blade);
T
Hub_RotorBe equivalent to be used to the transformation matrix that is transformed to blade bearing COS; And
T
x(α) be equivalent to the rotation that the x axle about rotor COS carries out as amplitude take α (the namely azimythal angle of rotor).
Press the principle of measurement of first method shown in two components of Fig. 6.Principle of measurement and affiliated measurement signal have been shown in the component of this on the left side, for described measurement signal wind turbine in other words rotor blade bending has occured.In the component on the right of Fig. 6, then show principle of measurement and the measurement signal when using this principle of measurement, wherein from the variation of amplitude, can infer the flexible distortion of described rotor blade.
The sensor signal (solid line 710) that shows the sensor signal (dotted line 700) (that is to say the spacing for the r=36m that leaves blade root) on the blade tip and pass through lower pass-filter about the time in the chart of Fig. 7 and 8, Fig. 8 then shows the curve through the sensor signal of lower pass-filter.Reference signal correspondingly is equivalent to the projection in the sensor coordinate system fallen of gravity accleration.Can find out that described lower pass-filter can be determined the amplitude of the projection of described gravity vector.For the analysis of bending blade, the amplitude size of described projection is very important.
In addition, big or small in the amplitude of bending blade and interrelated through existing between the sensor signal of filtering.This should consider the g projection can be owing to the variation of the bending of described rotor blade.This means, for the larger larger spacing of leaving blade root of described sensor, can expect larger range signal.This information also can be from variable
Amplitude in obtain.When calibrating accordingly, can directly determine blade root (impact) bending moment by means of the blade acceleration transducer thus.Can show, for described acceleration transducer with respect to the spacing of the r=20 rice of rotor hub because larger bending blade degree and can better analyzing.Similar also applicable with respect to the spacing of the r=36 rice of rotor hub for described acceleration transducer of situation, wherein not shown analog result here.
But have a problem to be that described sensor is settled the closer to blade root, useful signal namely described gravity vector inclination because the variation that causes of bending blade is compared just smaller with undesired signal.With for such as r=10 rice and r=20 rice, comparing from the closer measuring point of blade bearing, for such as the position of the r=36 rice that leaves the blade wheel hub, measuring because larger bending and correspondingly more favourable at blade in farther outside.In addition, the importantly measurement of rotor speed and pitch angle for the utilization of measurement scheme described here.But this is used on the wind energy plant for the prior art of today and is used for traditional adjusting method.
In addition, scheme described here can be used for claimant's full ripe acceleration sensor apparatus (such as MM3, DCU) sensor signal analysis as described herein and can be in the larger context in the field that be used in the adjustment of wind energy plant in the future.
According to another kind of embodiment, the present invention includes a kind of method 900 of the angle of attack such as the rotor blade of determining wind turbine as flow chart being used for depicted in figure 9.The method 900 has the step 910 of the acceleration signal that reads, and this acceleration signal represents the acceleration that the rotor plane that is substantially perpendicular to wind turbine of described rotor blade works.In addition, described method 900 is included in the step 920 of the angle of attack of the rotor blade of determining described wind turbine in the situation of using described acceleration signal.
Reference numerals list:
100 tower cylinder longitudinal bendings
110 tower cylinder transverse bending
120 tower cylinders reverse
130 deflections
140 rotate
150 pitching
160 rotation motions
170 ballistic motions
180 reverse
200 for the system that wind turbine is adjusted
210 wind turbines
220 are used for moving the unit of control
230 for the unit that individual other angle of attack is adjusted
235 other angle of attack (β
IPC1,23)
240 generator torque
The 242 common angle of attack (β
CPC)
250 adjust signal
255 final controlling element
The wind conditions of 260 parts
265 sensor signals
300 rotor blades
310 rotor shafts
320 rotor plane
System of coordinates in 500 rotor blades
System of coordinates in 510 rotor hubs
System of coordinates in 520 rotor shafts
700 reference signals
710 sensor signals through filtering
900 are used for the method for the bending angle of definite rotor blade
Reading of 910 acceleration signals
Determining of the bending angle of the rotor blade of 920 wind turbines
Claims (11)
1. be used for to determine the method (900) of bending angle of the rotor blade (300) of wind turbine (210), wherein said method has following steps:
-read (910) at least one acceleration signal (a
1), described acceleration signal (a
1) representing and be substantially perpendicular to the acceleration that rotor plane (320) acts on described rotor blade; And
Determine the bending angle of the rotor blade of (920) described wind turbine in the situation of the described acceleration signal of-use.
2. by method claimed in claim 1 (900), it is characterized in that, the curve of sense acceleration in the described step that reads (910), wherein in described definite step (920), from the curve of described acceleration, try to achieve frequency spectrum, and in the situation of using the frequency spectrum of trying to achieve, determine described bending angle.
3. by method claimed in claim 2 (900), it is characterized in that, in described definite step (920), the frequency spectrum of trying to achieve and the frequency spectrum that provides are compared, wherein in the situation that the comparative result between the frequency spectrum of trying to achieve and the frequency spectrum that provides is provided, determine described bending angle.
4. by claim 2 or 3 described methods (900), it is characterized in that, in the described step that reads (910), cause on one's own initiative the vibrational excitation of described rotor blade.
5. by method claimed in claim 1 (900), it is characterized in that lower pass-filter and/or the Kalamn filtering of the described acceleration signal of enforcement in described definite step (920).
6. by each described method (900) in the aforementioned claim, it is characterized in that, the described step (920) of determining use for determining bending angle about the spacing of leaving rotor shaft of acceleration transducer that described acceleration signal is provided, described rotor shaft (310) with respect to the information of the acceleration of the tower head of horizontal inclination angle and/or described wind turbine and about the information of rotating speed and the rotational position of rotor.
7. by each described method (900) in the aforementioned claim, it is characterized in that, in described definite step (920), from the temporal curve of a locational acceleration of described rotor blade, determine described bending angle.
8. by each described method (900) in the aforementioned claim, it is characterized in that, in the described step that reads (910), read another acceleration signal, this acceleration signal is representing described the first acceleration transducer the locational acceleration that basically works along the longitudinal direction of described rotor blade, and in described definite step, using the bending angle of determining the rotor blade of described wind turbine in the situation of described another acceleration signal.
9. be used for determining on the basis of the load of determining to 8 bending angle of calculating or from the bending angle of calculating according to claim 1 of described rotor blade the method for individual other angle of attack of described rotor blade.
10. be used for to determine the device (200) of bending angle of the rotor blade of wind turbine (210), wherein said device has following characteristics:
-for reading at least one acceleration signal (a
1) interface (230), described acceleration signal is representing the acceleration that acts on described rotor blade; And
-be used in the situation of using described acceleration signal, determining the unit (230,220,255) of bending angle of the rotor blade of described wind turbine.
11. have the computer program of program-code, described program-code is used for implementing to press each described method (900) of claim 1 to 9 in described program when controller (230) or device are carried out.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010032120.6 | 2010-07-24 | ||
| DE102010032120A DE102010032120A1 (en) | 2010-07-24 | 2010-07-24 | Method and device for determining a bending angle of a rotor blade of a wind turbine |
| PCT/EP2011/003293 WO2012019675A2 (en) | 2010-07-24 | 2011-07-02 | Method and device for determining a bending angle of a rotor blade of a wind turbine system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103003565A true CN103003565A (en) | 2013-03-27 |
Family
ID=44628258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011800363601A Pending CN103003565A (en) | 2010-07-24 | 2011-07-02 | Method and device for determining a bending angle of a rotor blade of a wind turbine system |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20130272874A1 (en) |
| EP (1) | EP2596238A2 (en) |
| CN (1) | CN103003565A (en) |
| DE (1) | DE102010032120A1 (en) |
| WO (1) | WO2012019675A2 (en) |
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| CN105443315A (en) * | 2014-09-19 | 2016-03-30 | 罗伯特·博世有限公司 | Method of operating wind power plant and controller thereof |
| CN106870452A (en) * | 2015-12-10 | 2017-06-20 | 通用电气公司 | For the durable fin of engine environmental |
| CN107110124A (en) * | 2014-12-17 | 2017-08-29 | 维斯塔斯风力系统集团公司 | It is related to the improvement of wind turbine |
| CN107735569A (en) * | 2014-12-04 | 2018-02-23 | 福斯4X股份有限公司 | Method and wind turbine for the independent deflection control of the rotor blade of wind turbine |
| CN109958483A (en) * | 2019-03-17 | 2019-07-02 | 中国航发沈阳发动机研究所 | A kind of engine operating state rotor blade windup-degree measuring system and method |
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| CA2803481C (en) * | 2010-06-30 | 2018-09-25 | Vestas Wind Systems A/S | Wind turbine system for detection of blade icing |
| EP2565447A1 (en) * | 2012-02-14 | 2013-03-06 | Siemens Aktiengesellschaft | Method for constructing, optimising or monitoring the status of a wind power assembly or a component or a construction element of a wind power assembly |
| CN103573552B (en) * | 2012-08-02 | 2016-02-24 | 通用电气公司 | The controlling method of wind turbine and reduction rotor unbalance thereof |
| DE102013009877A1 (en) | 2013-06-13 | 2014-12-18 | Robert Bosch Gmbh | Method and device for load evaluation of a rotor blade of a wind turbine |
| DE102013009878A1 (en) | 2013-06-13 | 2014-12-18 | Robert Bosch Gmbh | Method and device for calibrating a sensor of a wind turbine |
| WO2015091179A1 (en) * | 2013-12-17 | 2015-06-25 | Robert Bosch Gmbh | Method and device for pitch control of the rotor blades of a wind turbine rotor |
| DE102014218266A1 (en) * | 2014-09-12 | 2016-03-17 | Robert Bosch Gmbh | Method and control device for detecting a load on a rotor blade of a wind energy plant |
| DE102014117915A1 (en) * | 2014-12-04 | 2016-06-09 | fos4X GmbH | Method for monitoring a wind turbine, method for detecting ice on a wind turbine, acceleration sensor for a rotor blade, rotor blade with acceleration sensor, and profile for a rotor blade |
| DE102015121981A1 (en) * | 2015-12-16 | 2017-06-22 | fos4X GmbH | Method and device for operating a wind turbine |
| DE102015122933A1 (en) * | 2015-12-29 | 2017-07-13 | fos4X GmbH | A method for determining a value for an ice accumulation amount at least one rotor blade of a wind turbine and its use |
| US10767628B2 (en) * | 2016-04-08 | 2020-09-08 | Vestas Wind Systems A/S | Control of a wind turbine comprising multi-axial accelerometers |
| EP3232051A1 (en) * | 2016-04-13 | 2017-10-18 | Vihriälä, Harri | Method and device for loading detection of blade of wind power turbine |
| WO2018107298A1 (en) * | 2016-12-16 | 2018-06-21 | Cartier Energie Eolienne Inc. | System and method for monitoring blade deflection of wind turbines |
| EP3642481B1 (en) * | 2017-06-20 | 2021-05-12 | Vestas Wind Systems A/S | A method for determining wind turbine blade edgewise load recurrence |
| WO2019038710A1 (en) | 2017-08-24 | 2019-02-28 | Suzlon Energy Ltd. | Sensor arrangement for sensing bending moments in an elongate component; elongate component; sensor system and wind turbine |
| DE102020105053A1 (en) * | 2020-02-26 | 2021-08-26 | fos4X GmbH | Method for monitoring the condition of a drive train or tower of a wind energy installation and wind energy installation |
| CN111731477B (en) * | 2020-06-09 | 2022-05-03 | 南京航空航天大学 | Bonding method of embedded sensor for rotor blade and rotor blade |
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| CN105443315A (en) * | 2014-09-19 | 2016-03-30 | 罗伯特·博世有限公司 | Method of operating wind power plant and controller thereof |
| CN107735569A (en) * | 2014-12-04 | 2018-02-23 | 福斯4X股份有限公司 | Method and wind turbine for the independent deflection control of the rotor blade of wind turbine |
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| CN109958483A (en) * | 2019-03-17 | 2019-07-02 | 中国航发沈阳发动机研究所 | A kind of engine operating state rotor blade windup-degree measuring system and method |
| CN109958483B (en) * | 2019-03-17 | 2021-07-09 | 中国航发沈阳发动机研究所 | System and method for measuring torsional angle of rotor blade in running state of engine |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2596238A2 (en) | 2013-05-29 |
| WO2012019675A2 (en) | 2012-02-16 |
| DE102010032120A1 (en) | 2012-01-26 |
| WO2012019675A3 (en) | 2012-11-15 |
| US20130272874A1 (en) | 2013-10-17 |
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