CN105443315A - Method of operating wind power plant and controller thereof - Google Patents

Method of operating wind power plant and controller thereof Download PDF

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Publication number
CN105443315A
CN105443315A CN201510596988.7A CN201510596988A CN105443315A CN 105443315 A CN105443315 A CN 105443315A CN 201510596988 A CN201510596988 A CN 201510596988A CN 105443315 A CN105443315 A CN 105443315A
Authority
CN
China
Prior art keywords
rotor blade
blade
rotor
angle
wind energy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510596988.7A
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Chinese (zh)
Inventor
T.法尔克
F.黑斯
S.克卢格
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wade Miller Fan Monitoring System Co Ltd
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN105443315A publication Critical patent/CN105443315A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • F03D7/024—Adjusting aerodynamic properties of the blades of individual blades
    • 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
    • F05B2270/10—Purpose of the control system
    • F05B2270/109—Purpose of the control system to prolong engine life
    • F05B2270/1095—Purpose of the control system to prolong engine life by limiting mechanical stresses
    • 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
    • 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)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Wind Motors (AREA)

Abstract

The present invention relates to a method (300) of operating a wind power plant (100), said method (300) comprises a step (302) of determining, wherein in step (302) of determining a local bending angle of at least one rotor blade (112 ) of a rotor (108) of the wind turbine (100) using a rotation rate information (206) and an optional acceleration information of the rotor blade (112) and of a processing regulation is determined. In this case, the rotational rate information (206) represents a at a distance (114) from a rotational axis (402) of the rotor (108) to the rotor blade (112) detected yaw rate ([omega]) of the rotor blade (112). The processing rule represents a rotor-specific model of the rotor blade (112).

Description

For running method and the controller of wind energy equipment
Technical field
The present invention relates to the method for running wind energy equipment, corresponding controller and corresponding computer program.
Background technique
Cause the distortion of rotor blade due to aerodynamic force in wind energy equipment apoplexy.In order to carry out intervening in the mode regulated the load needing to measure blade, such as, in described blade, detect described distortion.
Summary of the invention
The method introduced at this is utilized to provide the controller of method, in addition utilization the method for running wind energy equipment according to independent claims and finally also have corresponding computer program within this context.Favourable design proposal draws from each dependent claims and following specification.
The angle of attack of the rotor blade of the rotor of wind energy equipment can be regulated when using at least one at the measured value that rotor blade place detects in order to reduce load.Especially, can use rotary speed information at this, described rotary speed information is detected by speed probe, and described speed probe is to be placed on rotor blade with the rotatingshaft of rotor mode at regular intervals.The current rotating speed of rotor blade can directly owing to the current load at rotor blade place.
Describe a kind of method for running wind energy equipment, wherein said method has following steps:
The bending angle of the local of at least one rotor blade of the rotor of wind energy equipment is determined when using the rotary speed information of rotor blade and processing rule, wherein said rotary speed information represents there is rotating speed that the mode of spacing detects on described rotor blade, rotor blade with the running shaft of described rotor, and described processing rule represents the model specific to rotor of described rotor blade.
" wind energy equipment " can be understood as wind energy facility or wind turbine.At this, made the rotor turns of wind energy equipment by wind energy and utilize rotor to drive electric generator.Aerodynamic force at rotor place makes rotor blade bend in this case.Jointing thus between the wheel hub and rotor blade of rotor produces moment of flexure, blade root moment of flexure.Rotary speed information can multidimensional ground or the application of multiaxis ground.Processing rule can describe the relation of machinery at rotor blade place.Alternatively, in order to determine that the bending angle of local can additionally be used in the acceleration measured in rotor blade.
The bending angle of local can also be determined when using the angle of attack information of rotor blade.Angle of attack information can represent the angle of attack of the rotor blade regulated by regulating device.Angle of attack information can be the actual value of the angle of attack of rotor blade.The angle of attack of rotor blade affects the aerodynamic force at rotor blade place fatefully.
The bending angle of local can also be determined when using acceleration information.Acceleration information can represent there is acceleration that the mode of another spacing detects on rotor blade, rotor blade with running shaft.The bending angle of local can be ensured by acceleration.Geometrical relationship is there is between rotating speed and acceleration.Acceleration information can be used by multidimensional ground or multiaxis.Other spacing between acceleration receiver and running shaft can equal the spacing of speed probe, such as, when building common sensor housing.Similarly, acceleration receiver and speed probe can be arranged in the mode of the spacing different from running shaft.
In the step determined, blade skew and/or blade root moment of flexure can be determined when using the bending angle of local and processing rule.
Described method can have the step provided, in this step when use the bending blade angle of local, blade skew or blade root moment of flexure provide reference variable for the regulating device of rotor blade.Reference variable can be the desired value of the angle of attack of rotor blade.
The rotating speed detected can be vector.Correspondingly, the acceleration detected can be vector.This vector respectively can have three items (Eintrag).
The method introduced at this additionally provides a kind of controller, and this controller is configured to the step of the modification implementing, control or perform one of method described herein in corresponding device.By be configured to controller mode, this enforcement modification of the present invention can also solve rapidly and effectively based on task of the present invention.
" controller " can be understood as electric equipment in the present invention, this electric device processes sensor signal and send control signal and/or data-signal according to this sensor signal.Controller can have interface, and this interface can construct in the mode of hardware and/or software.When constructing in the mode of hardware, interface can be such as so-called system ASIC, comprise the parts of the difference in functionality of controller.But passable, interface is self, integrated switching circuit or be made up of discrete parts at least in part.When constructing in the mode of software, interface can be software module, and described software module is such as present on the other microcontroller of other software modules.
Computer program or the computer program with program-code are also favourable, described program-code can be stored on machine-readable carrier or storage medium such as semiconductor memory, harddisk memory or optical memory, and is particularly used to when program product or program are implemented on computer or equipment implement, perform and/or control the step according to the method for one of above-mentioned mode of execution.
Accompanying drawing explanation
Exemplarily the present invention is described in detail by means of accompanying drawing below.In the accompanying drawings:
Fig. 1 shows the diagram of the wind energy equipment of the controller had for running wind energy equipment according to an embodiment of the present;
Fig. 2 shows the block diagram of the controller for running wind energy equipment according to an embodiment of the present;
Fig. 3 shows the flow chart of the method for running wind energy equipment according to an embodiment of the present;
Fig. 4 shows the diagram of the distortion at wind energy equipment place according to an embodiment of the present; And
Fig. 5 shows the other diagram of the distortion at wind energy equipment place according to an embodiment of the present.
In accompanying drawing below, same or similar element can be provided with same or similar drawing reference numeral.In addition, the diagram of accompanying drawing, the description of the drawings and claims comprise the multiple features in combination.This to those skilled in the art it is clear that these features also can be considered separately or described feature can be summarized as other, the combination that clearly do not describe at this.
Embodiment
Fig. 1 shows the diagram of the wind energy equipment 100 of the controller 102 had for running wind energy equipment 100 according to an embodiment of the present.Wind energy equipment 100 has tower 104.Tower 104 flatly rotatably arranges cabin 106.The main shaft of wind energy equipment 100 is approximately horizontally rotatably supported in cabin 106.The running shaft of the rotor 108 of described principal axis method wind energy equipment 100.Described main shaft connects the rotor 108 of wind energy equipment and the generator in cabin 106.Driving mechanism can between rotor 108 and generator.On the rotor that main shaft is configured to the rotation of rotor 108 to be delivered to generator or driving mechanism.Rotor 108 has rotor hub 110 and three rotor blades rotatably supported vertically in wheel hub 110 112.The angle of attack of rotor blade 112 can regulate separately in wheel hub 110.
To be fixed with sensor device 116 with the mode of wheel hub 110 or the spacing 114 certain with running shaft on each in rotor blade 112.Sensor device 116 comprises the speed probe of at least one multiaxis at this.Sensor device 116 is connected with controller 102, thus controller 102 can read in the rotary speed information in sensor device 116, at least one is current.
In one embodiment, controller 102 is configured to when using rotary speed information as the angular adjustment apparatus of rotor blade 112 provides reference variable.
Fig. 2 shows the block diagram of the controller 102 for running wind energy equipment according to an embodiment of the present.Controller 102 is equivalent to the controller in Fig. 1 substantially.Controller 102 has the device 200 for determining.This device 200 being used for determining is configured to bending angle or the blade root moment of flexure 204 of determining the local of at least one rotor blade of the rotor of wind energy equipment when using the rotary speed information 206 of rotor blade and processing rule.Rotary speed information 206 represent as in FIG with the running shaft of rotor have the mode of spacing as described in rotor blade detects, as described in the rotating speed of rotor blade.Described processing rule represents the model specific to rotor of rotor blade.
In one embodiment, controller 102 has the device 202 for providing.This device 202 being used for providing is configured to when using the bending angle of local or blade root moment of flexure 204 as the regulating device of rotor blade provides reference variable 208.
Controller 102 has interface 210, for reading in or send at least rotary speed information 206 and/or reference variable 208.
Fig. 3 shows the flow chart of the method 300 for running wind energy equipment according to an embodiment of the present.Described method 300 has the step 302 determined.Described method 300 can go out as shown in Figures 1 and 2 on the controller and is performed like that.In the step 302 determined, determine bending angle or the blade root moment of flexure of the local of at least one rotor blade of the rotor of wind energy equipment when using the rotary speed information of rotor blade and processing rule.Said rotary speed information represents there is rotating speed that the mode of spacing detects on rotor blade, rotor blade with the running shaft of rotor.Described processing rule represents the model specific to rotor of rotor blade.
In one embodiment, described method 300 has the step 304 provided.In the step 304 provided, when using the bending angle of local or blade root moment of flexure for the regulating device of rotor blade provides reference variable.
Fig. 4 and Fig. 5 shows the diagram of the distortion at wind energy equipment 100 place according to an embodiment of the present.Wind energy equipment 100 is equivalent to the wind energy equipment in Fig. 1 substantially.System of coordinates K is shown at this in the schematic diagram of wind energy equipment 100 n, K t, rotational speed omega t,y, ω t,xwith angle beta, α c, α t, x, yand the angle of rotation Ω of skew w and rotor 108 r.At this, system of coordinates K nit is rotor coordinate.System of coordinates K tit is the system of coordinates of cabin 106 or tower.Two system of coordinates all with system coordinate system 400 for reference, this system coordinates ties up to this and has in the bottom of tower 104, mobile and/or rotate its true origin.System of coordinates K ttrue origin be arranged in the rotating center place in cabin 106.System of coordinates K ntrue origin be arranged in the rotating center place of wheel hub 110.System of coordinates K nwith the running shaft 402 of rotor relative to system of coordinates K ttilted angle [alpha] t.Rotor blade 112 have adjusted angle [alpha] perpendicular to rotor plane 404 relative to running shaft 402 c.Angle beta is the angle of attack of rotor blade 112 in wheel hub 110.
When rotor blade 112 operationally deforms, described rotor blade is with angle ybending and described rotor blade there occurs skew w relative to rotor plane 404 from rotor plane 404.
Tower 104 because of on cabin 106 and tower 104 make a concerted effort and with rotational speed omega t,ydirection backward along running shaft 402 bends.Torque due to rotor 108 also makes tower 104 with ω t,xoffset transverse to running shaft 402 in side direction.
In order to reduce the mechanical stress of wind energy equipment 100 and raise the efficiency, strive for adjusting rotor blade 112 individually in wind.The usual combination model knowledge of different sensors is proposed as the input signal for regulating.In addition strain measurement, acceleration transducer and LIDAR is advised.
Achieve with low cost by the method introduced at this and reliably provide signal, described signal is suitable as input parameter for regulator for the angle of attack β of independent regulating rotary blades 112.Recover blade root moment of flexure especially.
By analyzing the dynamic maintenance assessment moment of flexure of in wheel hub 110 and in rotor blade 112 inertial data combination model knowledge by rotor blade 112.At this, rotational speed omega is analyzed especially and can be ensured by acceleration.
In other words, the application of rotational speed omega or rotational speed omega and acceleration transducer is described.
Based on this assessment, regulate and can make the asymmetrical load minimizing with gas dynamical degree of unbalancedness, reduce rotor 108 of the machinery of rotor 108 and the maximizing efficiency making wind energy equipment 100.
Point x on rotor blade 112 0(this point is r apart from running shaft 402 0) place, go back acceleration measurement a when rotor 108 rotates by corresponding sensor measurement rotational speed omega and as the expansion of the method introduced at this.The rotational speed omega measured is the rotational speed omega of rotor 108, the swing of tower 104, the swing of rotor blade 112 and the superposition of the rotational speed omega of rotor blade 112 that produced by pitch regulating degree (Pitchverstellung) β.According to a kind of embodiment, rotational speed omega, acceleration a are the vectors with three items.
Except purely considering tach signal ω, can also analyze at an x 0in tach signal ω and some x 0in or rotor blade place another point in the combination of acceleration a.Except about except the already mentioned source of rotating speed, with regard to acceleration, it is also conceivable to earth attraction, centrifugal acceleration and supplementary acceleration.
Usefully for the different element of wind energy equipment 100 defines different system of coordinates K n, K tand definition conversion between these system of coordinates.In embodiment described herein, consider the system of coordinates K of tower 104 n, wheel hub 110 system of coordinates K t, blade root system of coordinates K bRwith the system of coordinates K of blade element 112 b.
Describedly to be transformed to:
K T→KN：R y（α T）,
K n→ K bR: R z(β) R y(α c) R x(Ω r) and
K BR→K B：R x（ x）R y（ y）。
Use R x(α), R y(α), R z(α) carry out representing matrix, described matrix makes corresponding system of coordinates rotate around x-axis, y-axis or z-axis with given angle [alpha].Angle [alpha] nshow the inclination of main shaft 402 relative to the structure of tower top.Angle [alpha] cshow that the conical surface of blade 112 regulates (Kegelanstellung).Rotational angle is because rotor rotation Ω rto represent and the propeller pitch angle of rotor blade β represents.
Swung at system of coordinates K by tower tthe rotational speed omega of middle generation is ω t=[ω t,x, ω t,y, 0] t.About rotor at K nin rotational speed be .The pitch of rotor blade 112 is at K bRmiddle consideration is by rotating speed cause.The rotational speed omega produced by the swing of blade element 112 is at K bin pass through come given.
Therefore, being positioned in the rotational speed omega that the sensor in blade element 112 detects on the whole is:
Directly can measure rotational speed omega t, with .Variable β is the Moderator Variable of system and is therefore also known.The derivative of its time such as can be calculated by numerical differentiation.Angle [alpha] cand α tbe structure variable and be also known as this structure variable.
Bending angle in the method introduced herein x, yby measured value ω t, with recover.Angle yshow the rotation of blade element 112 on impact direction, and described angle is directly related with the blade root moment of flexure on impact direction.Angle xshow blade element 112 rotation in the pivoting direction, and described angle is directly related with the blade root moment of flexure in pivotal orientation.
By introduced relation and the measured value of all rotational speed omega or angular velocity omega can calculate ywith and xwith estimated value.By can measurement noises be reduced to the combination of these values and temporal filtering.
When use be used for dynamically keeping blade 112, specific to the model of system, replace recovering target variable statically by filtering subsequently and also can directly be designed for xwith yviewer (Beobachter).
Tie up to this by nonlinear pass and such as provide nonlinear Kalman filter, as EKF, Unscented kalman filtering or moving horizon estimation.
In order to improve the bending angle of recovery xwith yquality, except rotating speed, also can also analyze the information of acceleration transducer.Corresponding relation is similar to the explanation carried out rotational speed omega at this.
The gravity of tower top and acceleration are because the skew of tower is at system of coordinates K tmiddle conduct work.Produce because of rotation at system of coordinates K nmiddle different acceleration, centrifugal acceleration , supplementary acceleration with the acceleration being changed generation by rotor speed .The swing of blade 112 causes acceleration , here w represents that blade 112 is at an x 0the deflection vector at place.This term is system of coordinates K bconstituent element.
The acceleration of the measurement of therefore synthesizing is:
。
In deflection vector w and bending angle xwith ybetween there is linear relation.Proportionality constant can be calculated in the relation of the slope of the position of sensor by deflection curve and deflection curve.
Therefore, the given measurement equation about acceleration can be used in nonlinear viewer, to improve the quality of the signal recovered.
In the method introduced herein, in the rotor blade 112 that inertia type pickup is used in wind energy equipment 100 or be used on the rotor blade 112 of wind energy equipment 100.Independent pitch can be carried out to blade 112 particularly well by this sensor to regulate.
Shown embodiment is only exemplarily selected and can combination with one another.
List of numerals:
100 wind energy equipment
102 controllers
104 towers
106 cabins
108 rotors
110 wheel hubs
112 rotor blades
114 spacing
116 sensor devices
200 devices for determining
202 devices for providing
The bending blade angle of 204 local or blade root moment of flexure
206 rotary speed informations
208 reference variables
210 interfaces
300 for running the method for wind energy equipment
302 steps determined
304 steps provided
400 system coordinate systems
402 running shafts
404 rotor plane
W offsets
500 devices for drawing
502 devices for measuring
504 devices for determining
506 acceleration transducers
508 accekerations
516 load values

Claims (8)

1., for the method (300) of the load of the rotor of acoustic wind energy device (100), wherein said method (300) has following steps:
The bending angle of the local of at least one rotor blade (112) of the rotor (108) of (302) described wind energy equipment (100) is determined when using the rotary speed information (206) of rotor blade (112) and processing rule, wherein said rotary speed information (206) represents to have rotating speed (ω) that the mode of spacing (114) detects on described rotor blade (112), described rotor blade (112) with the running shaft (402) of described rotor (108), and described processing rule represents the model specific to rotor of described rotor blade (112).
2. method according to claim 1 (300), in the step determined (302), wherein also determine the bending angle of described local when using the angle of attack information of described rotor blade (112), wherein said angle of attack information represents the angle of attack (β) of the described rotor blade (112) regulated by regulating device.
3. according to method in any one of the preceding claims wherein (300), in the step determined (302), wherein also determine the bending angle of described local when using acceleration information (508), wherein said acceleration information (508) represents to have acceleration that the mode of another spacing (114) detects on described rotor blade (112), described rotor blade (112) with described running shaft (402).
4., according to method in any one of the preceding claims wherein, wherein in the step determined, determine blade skew and/or blade root moment of flexure when using the bending angle of local and processing rule.
5. according to method in any one of the preceding claims wherein (300), it has the step (304) provided, in this step when use the bending blade angle of local, blade skew or blade root moment of flexure provide reference variable for the regulating device of described rotor blade.
6., according to method in any one of the preceding claims wherein (300), wherein detected rotating speed (ω) and/or detected acceleration are vectors.
7., for running the controller (102) of wind energy equipment (100), this controller is configured to the institute of method (300) according to any one of aforementioned claim of implementing in steps.
8. computer program, this computer program by set up for implement according to any one of aforementioned claim method (300) institute in steps.
CN201510596988.7A 2014-09-19 2015-09-18 Method of operating wind power plant and controller thereof Pending CN105443315A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014218851.2 2014-09-19
DE102014218851.2A DE102014218851A1 (en) 2014-09-19 2014-09-19 Method and control device for operating a wind turbine

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Publication Number Publication Date
CN105443315A true CN105443315A (en) 2016-03-30

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108147708A (en) * 2018-01-23 2018-06-12 云南森博混凝土外加剂有限公司 A kind of preparation method of compound foaming agent
CN108733079A (en) * 2018-06-19 2018-11-02 上海扩博智能技术有限公司 Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system
WO2023142366A1 (en) * 2022-01-29 2023-08-03 新疆金风科技股份有限公司 Method and apparatus for estimating wind speed at rotor of wind turbine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113586363B (en) * 2021-08-27 2023-05-02 西安热工研究院有限公司 Wind turbine generator blade deflection monitoring device and method

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Publication number Priority date Publication date Assignee Title
CN103003565A (en) * 2010-07-24 2013-03-27 罗伯特·博世有限公司 Method and device for determining a bending angle of a rotor blade of a wind turbine system
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103003565A (en) * 2010-07-24 2013-03-27 罗伯特·博世有限公司 Method and device for determining a bending angle of a rotor blade of a wind turbine system
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

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108147708A (en) * 2018-01-23 2018-06-12 云南森博混凝土外加剂有限公司 A kind of preparation method of compound foaming agent
CN108733079A (en) * 2018-06-19 2018-11-02 上海扩博智能技术有限公司 Automatic detecting flight path is carried out to wind turbine by unmanned plane and determines method and system
CN108733079B (en) * 2018-06-19 2021-08-10 上海扩博智能技术有限公司 Method and system for determining flight path of fan through automatic inspection by unmanned aerial vehicle
WO2023142366A1 (en) * 2022-01-29 2023-08-03 新疆金风科技股份有限公司 Method and apparatus for estimating wind speed at rotor of wind turbine

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Application publication date: 20160330

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