CN113446979B - Accurate measuring device for space angle of steel wire rope and wind power blade in full-size static force loading test of wind power blade - Google Patents
Accurate measuring device for space angle of steel wire rope and wind power blade in full-size static force loading test of wind power blade Download PDFInfo
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Abstract
An accurate measuring device for a space angle of a steel wire rope and a wind power blade in a wind power blade full-size static force loading test. The invention discloses a space angle measuring method of a space angle measuring device for a full-size static loading test of a wind power blade, which comprises a static loading part and an angle measuring part, wherein the angle measuring device comprises a pull rope type displacement sensor, a main controller and an upper computer; the space angle measuring method provided by the invention can quickly and accurately calculate the loading angle of the steel wire rope when the blade is deformed, realizes the real-time tracking of the three-dimensional space track data of the blade space torsion, and has the advantages of simple measuring process and reliable result.
Description
Technical Field
The invention discloses an accurate measuring device for a space angle of a steel wire rope and a wind power blade in a full-size static force loading test of the wind power blade.
Background
When the static force loading test is carried out on the blade, accurate measurement of three-dimensional space track data of wind power blade space torsion plays a critical role in an optimal loading mode, and therefore, in the static force loading test of the wind power blade, how to quickly and accurately measure or calculate the loading angle change when the blade deforms is a key technology. The invention aims to solve the technical problem of providing a space angle measuring device and method for a full-size static loading test of a wind power blade, aiming at overcoming the defect of a method for quickly and accurately calculating a loading angle between a steel wire rope and the wind power blade when the blade is deformed in a static loading test of the wind power blade in the prior art.
Disclosure of Invention
The utility model provides an accurate measuring device that is arranged in wind-powered electricity generation blade full-scale static force loading test steel wire rope and wind-powered electricity generation blade space angle, includes wind-powered electricity generation blade space angle measurement part, wind-powered electricity generation blade static force loading part, its characterized in that: the wind power blade space angle measuring part comprises pull rope type displacement sensors, a main controller and an upper computer, wherein one ends of the three same pull rope type displacement sensors are fixed on a clamp platform of a blade clamp through bolts, fixed points form an equilateral triangle, the other ends of the three same pull rope type displacement sensors are connected with a measured point of a steel wire rope, signal lines of the three pull rope type displacement sensors are respectively connected with the main controller, and a monitoring interface of the upper computer is connected with the main controller through a communication cable; the static loading part of the wind power blade comprises a base, the wind power blade, a clamp platform, a blade clamp, a steel wire rope and a static loading device, wherein the static loading device is installed on one side of the wind power blade and connected to the clamp platform of the blade clamp through the steel wire rope, the steel wire rope and a pull rope type displacement sensor are fixed on the clamp platform, and the platform plane of the clamp platform is parallel to the chord line of the wind power blade and is perpendicular to the ground.
A space angle measuring method of a space angle measuring device for a wind power blade full-size static force loading test is characterized by comprising the following steps: setting a three-dimensional coordinate system xyz, wherein the original point is a point where a steel wire rope is fixed on a clamp platform, the x direction points to a blade root from a blade tip and is parallel to a chord line of a wind power blade, the y direction is vertical to the ground and points to the sky, the xy plane is superposed with the plane of the clamp platform, and the z direction is vertical to the plane of the clamp platform and points to a static loading device; the positions of the three pull rope type displacement sensors are distributed into two positions which are close to the ground and one position which is far away from the ground, so that an equilateral triangle is formed, the centroid of the equilateral triangle is just coincided with the original point, and the straight line connected with the two points at the lower end of the equilateral triangle is parallel to the x direction; when the wind power blade is at the initial position, setting the space coordinate of the actual position of the measured point of the steel wire rope as o (x)1,y1,z1) (ii) a Now suppose thatThe coordinate of the measured point is o' (x) when the steel wire rope is vertical to the xy plane2,y2,z2) Ideal coordinates; ideal coordinate o' (x) of measured point of wind power blade2,y2,z2) The calculation method comprises the following steps: because the lengths of the three pull rope type displacement sensors and the distances between the fixed points of the sensors can be measured, and the distances from the point of the measured point projected on the xy plane to the fixed points of the three pull rope type displacement sensors and the distances from the point of the steel wire rope fixed on the xy plane to the measured point can be measured, the ideal coordinate o '(x') of the measured point can be obtained2,y2,z2) Further derive the actual coordinates o (x) of the measured point1,y1,z1) According to the position relation of a triangle formed by the projection point of the measured point on the xy plane and the three fixed points of the pull rope type displacement sensor, the three positions can be divided into four conditions of projecting in the triangle, projecting on the side line of the triangle, projecting on the vertex of the triangle and projecting outside the triangle; the specific calculation steps are as follows:
A. according to the Euler tetrahedron formula, the tetrahedron volumes formed by the actual measured point o, the ideal measured point o' and the triangle after the wind power blade is deformed can be obtained according to the lengths of all edges of the tetrahedron, wherein the tetrahedron volumes are respectively VoabcAnd Vo’abcMeasuring the distances among the fixed points of the three stay rope type displacement sensors to be ab, bc and ac respectively, and making d1(ab + bc + ac) knowing the trilateral edge length of the triangle, the area of Δ abc can be determined and is denoted as SΔabcBy using tetrahedron to calculate volume formula
The lengths of the heights o'd and oe can be obtained, and the distance between the measured point o and the ideal point o' in the z direction is:
；
B. from FIG. 2, when projected in a triangle, the oe length obtained from A can be obtained by the Pythagorean theorem as ae, be, ed length, and further the areas of Δ abe and Δ bed, each of which is denoted as SΔabeAnd SΔbedThen area S of Δ aedΔaed=SΔabd-SΔabe-SΔbedThe distance between the measured point o and the ideal point o' in the x direction is:
the distance between the measured point o and the ideal point o ' in the y direction is Δ y = og = eg ', because ed is known, g'd = f ' e, and Δ eg'd is a right triangle, so
；
C. From FIG. 3, the areas of ed and Δ aed, denoted S, can be determined by the same method as described in B when projected on the triangle side linesΔaedThen, the distance between the measured point o and the ideal point in the x direction is:
the distance between the measured point o and the ideal point o' in the y direction is
；
D. From fig. 4, when projected on the triangle vertex, the distance between the measured point o and the ideal point o 'in the x direction is Δ x =0, and the distance between the measured point o and the ideal point o' in the y direction is Δ x =0
；
E. From fig. 5, when projected outside the triangle, the distance between the measured point o and the ideal point o 'in the x direction is Δ x = o' g = df, and since df = de × cos fde,
the angle is fde =360 DEG-adf-angle adb-angle bde, which is known by the cosine theorem
Therefore, Δ x can be obtained, and the distance between the measured point o and the ideal point o' in the y direction is calculated;
；
F. the accurate coordinate value o (x) of the measured point on the steel wire rope after the load is applied under four conditions of projecting in the triangle, projecting on the triangle side line, projecting on the triangle top point and projecting outside the triangle can be obtained from A, B, C, D and E1,y1,z1) According to the known coordinates d (x) of the fixed point of the steel wire rope3,y3,z3) Ideal point coordinate o' (x)2,y2,z2) Actual point coordinate o (x)1,y1,z1) And the cosine law can accurately obtain the space angle change between the steel wire rope and the plane of the clamp platform, namely between the steel wire rope and the wind power blade in the static loading process.
The invention discloses a space angle measuring method of a space angle measuring device for a full-size static loading test of a wind power blade, which comprises a static loading part and a space angle measuring part, wherein the space angle measuring device comprises a pull rope type displacement sensor, a main controller and an upper computer; the space angle measuring method provided by the invention can quickly and accurately calculate the loading angle between the steel wire rope and the wind power blade when the blade is deformed, realizes the real-time tracking of the three-dimensional space track data of the wind power blade space torsion, and has the advantages of simple measuring process and reliable result.
Drawings
FIG. 1 is a schematic view of a spatial angle measuring device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the measured point projected inside a triangle in the embodiment shown in FIG. 1;
FIG. 3 is a schematic diagram of the measured point projected on the triangle edge in the embodiment shown in FIG. 1;
FIG. 4 is a schematic diagram of the measured points projected on the vertices of the triangle in the embodiment shown in FIG. 1;
FIG. 5 is a schematic diagram of the measured point projected on the triangle of the embodiment shown in FIG. 1.
1. The wind power generation device comprises a base 2, a wind power blade 3, a pull rope type displacement sensor 4, a steel wire rope 5, a static force loading device 6, a main controller 7 and an upper computer.
The specific implementation mode is as follows:
the utility model provides an accurate measuring device that is arranged in wind-powered electricity generation blade full-scale static force loading test steel wire rope and wind-powered electricity generation blade space angle, includes wind-powered electricity generation blade space angle measurement part, wind-powered electricity generation blade static force loading part, its characterized in that: the wind power blade space angle measuring part comprises pull rope type displacement sensors 5, a main controller 8 and an upper computer 9, one ends of the three same pull rope type displacement sensors 5 are fixed on a clamp platform 3 of a blade clamp 4 through bolts, the fixed points form an equilateral triangle, the other ends of the three same pull rope type displacement sensors are connected with a measured point of a steel wire rope 6, signal lines of the three pull rope type displacement sensors 5 are respectively connected with the main controller 8, and a monitoring interface of the upper computer 9 is connected with the main controller 8 through a communication cable; the static loading part of the wind power blade comprises a base 1, the wind power blade 2, a clamp platform 3, a blade clamp 4, a steel wire rope 6 and a static loading device 7, wherein the static loading device 7 is installed on one side of the wind power blade 2 and connected to the clamp platform 3 of the blade clamp 4 through the steel wire rope 6, the steel wire rope 6 and a stay cord type displacement sensor 5 are fixed on the clamp platform 3, and the platform plane of the stay cord type displacement sensor is parallel to the chord line of the wind power blade 2 and is perpendicular to the ground.
A space angle measuring method of a space angle measuring device for a wind power blade full-size static force loading test is characterized by comprising the following steps: setting a three-dimensional coordinate system xyz, wherein the original point is a point where a steel wire rope 5 is fixed on a clamp platform 3, the x direction is from the blade tip to the blade root and is parallel to the chord line of the wind power blade 2, the y direction is vertical to the ground and points to the sky, the xy plane is coincident with the plane of the clamp platform 3, and the z direction is vertical to the plane of the clamp platform 3 and points to a static loading device 7; the positions of the three pull rope type displacement sensors 5 are distributed to be two positions close to the ground and one position far away from the ground to form an equilateral triangle, the centroid of the equilateral triangle is just coincided with the point of the steel wire rope 5 fixed on the clamp platform 3, and the straight line connected with the two points at the lower end is parallel to the x direction; when the wind power blade 2 is at the initial position, a measured point of the steel wire rope 6 is setThe spatial coordinate of the actual position is o (x)1,y1,z1) (ii) a Now, assuming that the steel wire rope 6 is perpendicular to the xy plane, the coordinate of the measured point is o' (x)2,y2,z2) Ideal coordinates; ideal coordinate o' (x) of measured point of wind power blade 22,y2,z2) The calculation method comprises the following steps: because the lengths of the three pull rope type displacement sensors 5 and the distances between the fixed points of the sensors can be measured, and the distances from the point of the measured point projected on the xy plane to the fixed points of the three pull rope type displacement sensors 5 and the distances from the point of the steel wire rope 6 fixed on the xy plane to the measured point can be measured, the ideal coordinate o '(x') of the measured point can be obtained2,y2,z2) Further derive the actual coordinates o (x) of the measured point1,y1,z1) According to the position relation of a triangle formed by the projection point of the measured point on the xy plane and the three fixed points of the pull rope type displacement sensor 5, the three positions can be divided into four conditions of projecting in the triangle, projecting on the side line of the triangle, projecting on the vertex of the triangle and projecting outside the triangle; the specific calculation steps are as follows:
A. according to the Euler tetrahedron formula, the volume of the tetrahedron formed by the actual measured point o, the ideal measured point o' and the triangle after the wind power blade 2 is deformed can be obtained according to the length of each edge of the tetrahedron, and the volume is VoabcAnd Vo’abcMeasuring the distances among the fixed points of the three pull rope type displacement sensors 3 as ab, bc and ac respectively, and making d1(ab + bc + ac) knowing the trilateral edge length of the triangle, the area of Δ abc can be determined and is denoted as SΔabcBy using tetrahedron to calculate volume formula
The lengths of the heights o'd and oe can be obtained, and the distance between the measured point o and the ideal point o' in the z direction is:
；
B. from FIG. 2, when projected in a triangle, the oe length obtained from A can be obtained by the Pythagorean theorem as ae, be, ed length, and further the surfaces of Δ abe and Δ bedProduct, respectively denoted as SΔabeAnd SΔbedThen area S of Δ aedΔaed=SΔabd-SΔabe-SΔbedThe distance between the measured point o and the ideal point o' in the x direction is:
the distance between the measured point o and the ideal point o ' in the y direction is Δ y = og = eg ', because ed is known, g'd = f ' e, and Δ eg'd is a right triangle, so
；
C. From FIG. 3, the areas of ed and Δ aed, denoted S, can be determined by the same method as described in B when projected on the triangle side linesΔaedThen, the distance between the measured point o and the ideal point in the x direction is:
the distance between the measured point o and the ideal point o' in the y direction is
；
D. From fig. 4, when projected on the triangle vertex, the distance between the measured point o and the ideal point o 'in the x direction is Δ x =0, and the distance between the measured point o and the ideal point o' in the y direction is Δ x =0
；
E. From fig. 5, when projected outside the triangle, the distance between the measured point o and the ideal point o 'in the x direction is Δ x = o' g = df, and since df = de × cos fde,
the angle is fde =360 DEG-adf-angle adb-angle bde, which is known by the cosine theorem
Therefore, Δ x can be obtained, and the distance between the measured point o and the ideal point o' in the y direction is calculated;
；
F. the accurate coordinate value o (x) of the measured point on the steel wire rope 6 after the load is applied under four conditions of projecting in the triangle, projecting on the triangle side line, projecting on the triangle top point and projecting outside the triangle can be obtained from A, B, C, D and E1,y1,z1) From the known coordinates d (x) of the fixed point of the wire rope 63,y3,z3) Ideal point coordinate o' (x)2,y2,z2) Actual point coordinate o (x)1,y1,z1) And the cosine law can accurately obtain the space angle change between the steel wire rope 6 and the plane of the clamp platform 3, namely between the steel wire rope 6 and the wind power blade 2 in the static loading process.
Claims (2)
1. The utility model provides an accurate measuring device that is arranged in wind-powered electricity generation blade full-scale static force loading test steel wire rope and wind-powered electricity generation blade space angle, includes wind-powered electricity generation blade space angle measurement part, wind-powered electricity generation blade static force loading part, its characterized in that: the wind power blade space angle measuring part comprises pull rope type displacement sensors (5), a main controller (8) and an upper computer (9), one ends of the three same pull rope type displacement sensors (5) are fixed on a clamp platform (3) of a blade clamp (4) through bolts, fixing points form an equilateral triangle, the other ends of the three same pull rope type displacement sensors are connected with a measured point of a steel wire rope (6), signal lines of the three pull rope type displacement sensors (5) are respectively connected with the main controller (8), and a monitoring interface of the upper computer (9) is connected with the main controller (8) through a communication cable; wind-powered electricity generation blade static loading part includes base (1), wind-powered electricity generation blade (2), anchor clamps platform (3), blade anchor clamps (4), wire rope (6) and static loading device (7), one side at wind-powered electricity generation blade (2) is installed in static loading device (7), and connect on anchor clamps platform (3) of blade anchor clamps (4) through wire rope (6), anchor clamps platform (3) that wire rope (6) and stay cord formula displacement sensor (5) are fixed in, the cord line parallel and perpendicular to ground of its platform plane and wind-powered electricity generation blade (2).
2. A space angle measuring method of a space angle measuring device for a wind power blade full-size static force loading test is characterized by comprising the following steps: setting a three-dimensional coordinate system xyz, wherein the original point is a point where a steel wire rope (6) is fixed on a clamp platform (3), the x direction points to a blade root from a blade tip and is parallel to a chord line of a wind power blade (2), the y direction is vertical to the ground and points to the sky, the xy plane is superposed with the plane of the clamp platform (3), and the z direction is vertical to the plane of the clamp platform (3) and points to a static loading device (7); the positions of the three pull rope type displacement sensors (5) are distributed to be two in positions close to the ground, one in a position far away from the ground to form an equilateral triangle, the centroid of the equilateral triangle is just coincided with the origin, and the straight line connected with the two points at the lower end of the equilateral triangle is parallel to the x direction; when the wind power blade (2) is at the initial position, setting the space coordinate of the actual position of the measured point of the steel wire rope (6) as
(ii) a Now, assuming that the steel wire rope (6) is vertical to the xy plane, the coordinate of the measured point is
Ideal coordinates; ideal coordinate of measured point of wind power blade (2)
The calculation method comprises the following steps: because the lengths of the three pull rope type displacement sensors (5) and the distances between the fixed points of the sensors can be measured, and the distances from the point of the measured point projected on the xy plane to the fixed points of the three pull rope type displacement sensors (5) and the distances from the point of the steel wire rope (6) fixed on the xy plane to the measured point can be measured, the ideal coordinate of the measured point can be obtained
Further derive the actual coordinates of the measured point
(ii) a According to the position relation of a triangle formed by the projection point of the measured point on the xy plane and the three fixed points of the pull rope type displacement sensor (5), the method can be divided into four situations of projecting in the triangle, projecting on the side line of the triangle, projecting on the vertex of the triangle and projecting outside the triangle, and the specific calculation steps are as follows:
A. according to the Euler tetrahedron formula, the length of each edge of the tetrahedron can be used for obtaining the actual measured point of the deformed wind power blade (2)
And ideal measured point
The volume of tetrahedron formed by the triangle is respectively
And
the distances between the fixed points of the three pull rope type displacement sensors (3) are measured to be ab, bc and ac respectively, so that
Knowing the length of the three sides of the triangle
The area of (D) is recorded as
By using tetrahedron to calculate volume formula
Can derive a height
And
length of (2) is measured point
And ideal point
The distance in the z direction is:
；
B. from FIG. 2, projected within a triangle, obtained from A
The length can be obtained by the Pythagorean theorem
，
，
Length, and then obtaining
And
are respectively marked as
And
then, then
Area of (2)
Measured point
And ideal point
The distance in the x direction is:
measured point
And ideal point
The distance in the y-direction is Δ y = og = eg', because
In the known manner, it is known that,
and is and
is a right triangle, so
；
C: from FIG. 3, the same can be found by the method described in B when projected on the triangle side line
And
area of (d) is marked as
Then the measured point
The distance in the x-direction from the ideal point is:
point to be measured
And ideal point
A distance in the y direction of
；
D: from FIG. 4, the measured point is projected on the triangle vertex
And ideal point
Distance in x direction is Δ x =0, measured point
At a distance of y from the ideal point
；
E: from FIG. 5, the measured point is projected outside the triangle
And ideal point
The distance in the x-direction is Δ x = o' g = df, again because
，
，
Known from the cosine law
So that Δ x, the measured point, can be obtained
And ideal point
A distance in the y direction of
；
F: the accurate coordinate values of the measured point on the steel wire rope (6) after the load is applied under four conditions of projecting in the triangle, projecting on the triangle side line, projecting on the triangle vertex and projecting outside the triangle can be obtained from A, B, C, D and E
According to the known coordinates of the fixed point of the steel wire rope (6)
Ideal point coordinates
Actual point coordinates
And the cosine law can accurately obtain the space angle change between the steel wire rope (6) and the plane of the clamp platform (3), namely between the steel wire rope (6) and the wind power blade (2), in the static loading process.
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