CN113464379B - Floating type offshore wind turbine running state monitoring method - Google Patents
Floating type offshore wind turbine running state monitoring method Download PDFInfo
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Classifications
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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
- 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
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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
Abstract
The invention provides a method for monitoring the running state of a floating offshore wind turbine, which is characterized in that pose monitoring devices are respectively arranged at the bottom of a tower barrel, in a cabin and on a hub, monitoring data are collected and transmitted to a main control cabinet processor, a cabin cabinet processor and a variable-pitch control cabinet processor, and the main control cabinet processor, the cabin cabinet processor and the variable-pitch control cabinet processor perform logic judgment according to the monitoring data, so that corrective operation is timely executed. The running state monitoring method of the floating type offshore wind turbine provided by the invention can monitor the state data of the floating type foundation, the engine room and the impeller of the wind turbine in real time, correct the state data in time when the state exceeds the preset safety range, and the adopted pose monitoring device has the advantages of mature sub-module technology, low cost and convenient installation and implementation, and can realize full-automatic treatment of acquisition, monitoring and problem correction.
Description
Technical Field
The invention relates to a method for monitoring the running state of a floating type offshore wind turbine, and belongs to the technical field of wind turbine monitoring.
Background
The wind turbine generator is a device which drives a wind driven generator to rotate by the windward rotation of an impeller, converts wind energy into mechanical energy and then converts the mechanical energy into electric energy. In the running process of the wind turbine generator, the pitch angle and the yaw direction of the blades need to be adjusted in real time so as to utilize wind energy to the maximum extent, improve the number of power generation hours and reduce the load of each main component of the wind turbine generator. The working environment of the wind turbine generator is bad, under the action of external conditions such as continuously changing wind speed and direction, wind shear, tower shadow effect, turbulence and the like, a wind speed and direction sensor, a pitch system, a main control system and the like can possibly break down, further cause pitch yaw faults or overlarge deviation, and finally possibly cause the fault risks such as unbalanced rotation of impellers, overstock yaw errors, overlarge loads of blades, hubs, cabins and towers.
In recent years, the wind turbine generator is continuously developed towards the large-scale, intelligent and offshore floating directions, and the failure rate of the offshore wind turbine generator is generally far higher than that of the onshore wind turbine generator due to the fact that the offshore wind turbine generator is subjected to external adverse environmental conditions such as sea waves, ocean currents, high salt mist, typhoons and the like. In addition, offshore wind turbines are far away from the shore, and maintenance is greatly limited by environmental conditions such as sea waves, sea winds and the like, and is difficult. The existing online fault monitoring system is used for feeding back whether the wind turbine generator fails or not generally by monitoring state parameters such as vibration, strain, cracks, temperature, rotating speed and the like of main components of the wind turbine generator, but the monitoring method is capable of monitoring abnormal data of the main components after the wind speed and wind direction sensing system, the pitch system and the main control system have certain faults to cause the main components to have abnormal parameters, has certain hysteresis, and cannot directly reflect the abnormal state of the components caused by the reasons of the monitoring results, so that the practical application effect has certain limitation.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides the running state monitoring method of the floating offshore wind turbine, which can monitor the state data of a floating foundation, a cabin and an impeller of the wind turbine in real time, correct the state data in time when the state exceeds a preset safety range, and realize full-automatic processing of collection, monitoring and problem correction, wherein the adopted pose monitoring device has mature neutron module technology, low cost and convenient installation and implementation.
The invention adopts the technical proposal for solving the technical problems that: the invention provides a method for monitoring the running state of a floating offshore wind turbine, which comprises the following steps:
s1, respectively installing 1 position and orientation monitoring devices at the bottom of a tower barrel, inside a cabin and inside a hub, wherein the first position and orientation monitoring device, the second position and orientation monitoring device and the third position and orientation monitoring device are respectively provided with an inertial measurement device (Inertial Measurement Unit, IMU), a dual-antenna GNSS (Global Navigation Satellite System ) positioning and orientation receiver and a gravity acceleration sensor in a packaged mode;
s2, the first data acquisition instrument, the second data acquisition instrument and the third data acquisition instrument respectively acquire monitoring data of an inertial measurement device, a dual-antenna GNSS positioning directional receiver and a gravity acceleration sensor in the 3 pose monitoring devices, and then the monitoring data are respectively transmitted to a main control cabinet processor, a cabin cabinet processor and a variable pitch control cabinet processor;
and S3, the main control cabinet processor, the cabin cabinet processor and the variable pitch control cabinet processor perform logic judgment according to the monitoring data, and timely execute correction operation.
In step S1, a first pose monitoring device is arranged at the central position of the bottom of a tower, and x of an inertial measurement device in the first pose monitoring device is in a stable state of the tower 1 The axis being along the length of the nacelle, y 1 The shaft is vertical to the bottom plane of the tower barrel; the second position and orientation monitoring device is arranged in the cabin and is opposite to the central position of the top of the tower, and the inertia measuring device in the second position and orientation monitoring device is x 2 The axis being along the length of the nacelle, y 2 The shaft is vertical to the top plane of the tower barrel; the third pose monitoring device is arranged on the rotation axis of the impeller in the hub, and the X of the inertial measurement device in the third pose monitoring device 3 The shaft is along the rotation axis direction of the impeller, y 3 The shaft is directed to one of the blades, which is denoted as first blade, and the other two blades are denoted as second and third blades in turn in the clockwise direction.
The first data acquisition instrument is located at the bottom of Yu Datong, the second data acquisition instrument is located in the cabin, and the third data acquisition instrument is located in the hub.
In step S2, an inertial measurement unit in the first pose monitoring device monitors that a floating foundation of the wind turbine generator is x in real time 1 、y 1 And z 1 Linear acceleration in three axial directions and floating foundation winding x 1 Axis, y 1 Axis and z 1 Angular acceleration data of the shaft are processed to obtain floating foundation x 1 Axis, y 1 Axis and z 1 Shaft speed and displacement, floating foundation around x 1 Axis, y 1 Axis and z 1 The speed and angle of rotation of the shaft; double-antenna GNSS positioning directional receiver in first pose monitoring device for monitoring displacement speed and position data of floating foundation in real timeThe method comprises the steps of carrying out a first treatment on the surface of the A gravity acceleration sensor in the first pose monitoring device monitors the gravity acceleration change of the floating type basic position in real time; the first data acquisition instrument acquires monitoring data of the first pose monitoring device and transmits the monitoring data to the main control cabinet processor at the bottom of the tower;
inertial measurement unit in second pose monitoring device monitors cabin in x in real time 2 Axis, y 2 Axis and z 2 Linear acceleration in three directions of axis and nacelle around x 2 Axis, y 2 Axis and z 2 Angular acceleration data of the shaft is processed to obtain the cabin x 2 Axis, y 2 Axis and z 2 Speed and displacement of the shaft in three directions and nacelle around x 2 Axis, y 2 Axis and z 2 The speed and angle of rotation of the shaft; the double-antenna GNSS positioning directional receiver in the second pose monitoring device monitors displacement speed and position data of the cabin in real time; a gravity acceleration sensor in the second pose monitoring device monitors the gravity acceleration change of the cabin position in real time; the second data acquisition instrument acquires monitoring data of the second pose monitoring device and transmits the monitoring data to the cabin cabinet processor;
the inertia measuring device in the third pose monitoring device monitors the impeller in x in real time 3 Axis, y 3 Axis and z 3 Linear acceleration in three directions of axis and impeller around x 3 Axis, y 3 Axis and z 3 Angular acceleration data of the shaft are processed to obtain the impeller at x 3 Axis, y 3 Axis and z 3 Speed and displacement of shaft in three directions and impeller around x 3 Axis, y 3 Axis and z 3 The speed and angle of rotation of the shaft; a dual-antenna GNSS positioning directional receiver in the third pose monitoring device monitors displacement speed and position data of the impeller in real time; a gravity acceleration sensor in the third pose monitoring device monitors the gravity acceleration change of the impeller position in real time; the third data acquisition instrument acquires the monitoring data of the third pose monitoring device and transmits the monitoring data to the impeller cabinet processor.
In step S3, the main control cabinet processor, the cabin cabinet processor and the pitch control cabinet processor store and analyze the collected data, and perform operations according to the following logic:
s3.1, monitoring the floating foundation by sea wave impact: when the floating foundation is along z 1 Shaft rotation angle |phi (z) 1 ) I or along x 1 Shaft rotation angle |phi (x) 1 ) When the I reaches a set threshold value, the sea wave impact force borne by the floating foundation reaches an early warning value, at the moment, the main control cabinet processor sends early warning information to the cabin cabinet processor, the cabin cabinet processor sends the early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, and the variable-pitch mechanism executes the pitch-receiving action and stops;
s3.2, impeller thrust monitoring: the main control cabinet processor processes the data monitored by the first pose monitoring device to obtain a floating foundation winding x 1 Axis, y 1 Axis and z 1 The rotation angles of the axes, denoted as phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Nacelle edge y 2 The yaw angle of the nacelle, which is the shaft rotation angle, is noted as phi (y 2 ) Let x 1 Axis, y 1 Axis and z 1 Yaw angle phi (y) 2 ) The coordinate axes obtained after deflection are respectively x 1 ' axis, y 1 ' axis and z 1 ' axis, around x according to a floating foundation 1 Axis, y 1 Axis and z 1 The rotation angle phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Calculating the x direction of the floating foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’)、φ(y 1 ') and phi (z) 1 '), when the nacelle is along z 2 Shaft rotation angle |phi (z) 2 )-φ(z 1 When' I reaches a set threshold value, the impeller thrust received by the engine room exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, the variable-pitch mechanism executes the pitch-receiving action, the pitch angle is increased, and the engine room is changed until the engine room is changed along z 2 The rotation angle of the shaft is reduced to be within a reasonable design range, and the pitch control mechanism stops the pitch control action;
s3.3, the deviation angle of the engine room, the impeller and the wind direction is as follows: by yaw angle phi (y) 2 ) The method comprises the steps that the wind direction sensor data collected by a main control cabinet are compared and analyzed to obtain deviation angles of a cabin, an impeller and a wind direction, if the deviation angles reach a set threshold value, a main control cabinet processor gives out early warning information to a yaw system of the main control cabinet, after the yaw system receives the early warning information, a yaw action signal is sent to a yaw mechanism, the yaw mechanism executes yaw action, the deviation angles of the cabin, the impeller and the wind direction are reduced until the deviation angles of the cabin, the impeller and the wind direction are reduced to a reasonable design area, and the yaw mechanism stops the yaw action;
s3.4, monitoring rotation balance of the impeller: the main control cabinet processor processes the data monitored by the first pose monitoring device, and respectively along x according to the floating type foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’)、φ(y 1 ') and phi (z) 1 ') and nacelle edge y 2 Shaft rotation angle phi (y) 2 ) Cabin edge z 2 Shaft rotation angle phi (z) 2 ) And the impeller edge y 3 The rotation angle phi (y) 3 ) Along z 3 Rotation angle phi (z) of shaft 3 ) And (3) making:
ψ(y 3 )＝φ(y 3 )-φ(y 2 )-φ(y 1 ’)，
ψ(z 3 )＝φ(z 3 )-φ(z 2 )-φ(z 1 ’)，
then ψ (y) 3 ) For the impeller along y 3 Correction angle of shaft rotation, ψ (z 3 ) For impeller along z 3 The corrected angle of rotation of the shaft will be ψ (y 3 )、ψ(z 3 ) Performing comparison analysis with the set value, and executing the operation according to the following logic:
A. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates y 3 The load on the right side of the shaft is larger than the load on the left side, the processor of the time-varying pitch control cabinet sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade or reduce the pitch angle of the third blade or simultaneously increase the pitch angle of the second bladeThe pitch angle and reducing the pitch angle of the third blade;
B. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates y 3 The left side load of the shaft is larger than the right side load, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to reduce the pitch angle of the second blade or increase the pitch angle of the third blade, or simultaneously reduce the pitch angle of the second blade and increase the pitch angle of the third blade;
C. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates z 3 The load on the right side of the shaft is larger than the load on the left side, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the first blade, the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade and the third blade or reduce the pitch angle of the first blade or simultaneously increase the pitch angle of the second blade and the third blade and reduce the pitch angle of the first blade;
D. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates z 3 The left side load of the shaft is larger than the right side load, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the first blade, the second blade and the third blade, the pitch control mechanism executes pitch control operation to reduce the pitch angles of the second blade and the third blade or increase the pitch angle of the first blade or simultaneously reduce the pitch angles of the second blade and the third blade and increase the pitch angle of the first blade;
s3.5, monitoring the rotation speed of the impeller: the variable pitch control cabinet processor processes the gravity acceleration data monitored by the third pose monitoring device, and obtains the rotating speed of the impeller according to the gravity acceleration change data; under the condition that an original impeller rotating speed monitoring sensor fails or a slip ring fails, and the main control cabinet cannot transmit impeller rotating speed control information to the variable-pitch control cabinet, the variable-pitch control cabinet processor uses the impeller rotating speed obtained by monitoring data according to the second pose monitoring device as a reference for controlling variable pitch of the variable-pitch control cabinet.
In step S3.2, the cabin cabinet processor processes the displacement speed and the position data monitored by the second pose monitoring device to obtain the cabin in x 2 Axis and z 2 Displacement speed and position data in the axial direction, when the sea wave impact of the floating foundation does not reach the set threshold value, but the cabin is at x 2 When the displacement speed or position data of the direction reaches a set threshold value, the impeller thrust exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, after the variable-pitch control cabinet processor receives the early warning information, the variable-pitch control cabinet processor sends a pitch-taking-in action signal to the variable-pitch system, the variable-pitch mechanism executes the pitch-taking-in action, the pitch angle is reduced, and the engine room is at x 2 The displacement speed and the position data of the direction are reduced to a reasonable design area, and the pitch mechanism stops the pitch-withdrawing action.
The invention has the beneficial effects based on the technical scheme that:
(1) According to the floating offshore wind turbine running state monitoring method provided by the invention, the pose monitoring device which is provided with the inertial measurement device, the dual-antenna GNSS positioning directional receiver and the gravity acceleration sensor in a packaged mode is utilized to collect the wind turbine data, the internal submodule technology is mature, the cost is low, the construction is easy, the state data affecting the running of the wind turbine can be comprehensively collected, and the method is used as an important basis for monitoring the safety state of the wind turbine;
(2) The running state monitoring method of the floating offshore wind turbine provided by the invention can effectively correct the following problems in running: a. the problem that the floating foundation is subjected to overlarge sea wave impact force is found, early warning is timely carried out, and the machine is stopped to avoid risks; b. the method comprises the steps of finding and correcting the problem that the thrust of an impeller of the floating type offshore wind turbine exceeds a design range; c. the method comprises the steps of finding and correcting the problem that the deviation angles of a cabin, an impeller and a wind direction of the floating type offshore wind turbine exceeds a design range; d. the method comprises the steps of finding and correcting the problem that the rotation unbalance of an impeller of the floating type offshore wind turbine exceeds a design range; e. under the condition that an original matched impeller rotating speed monitoring sensor of the wind turbine generator fails or a slip ring fails, and a cabin cabinet cannot transmit impeller rotating speed control requirements or information of a variable pitch angle to be adjusted to a variable pitch control cabinet, an impeller rotating speed obtained by a variable pitch control cabinet processor according to monitoring data of a third pose monitoring device can be used as an important reference for controlling variable pitch of the variable pitch control cabinet, so that the running safety of a fan is greatly improved;
(3) The running state monitoring method of the floating offshore wind turbine provided by the invention is easy to realize full-automatic treatment of data monitoring, acquisition and processing and problem correction.
Drawings
FIG. 1 is a schematic view of the mounting positions and coordinate axis orientations of 3 pose monitor devices.
Fig. 2 is a schematic view of the coordinate axis orientation of the third pose monitor.
Fig. 3 is a schematic structural view of the pose monitor.
Fig. 4 is a schematic view of the internal module arrangement of the pose monitor device.
In the figure: the device comprises a 1-impeller rotating axis, a 2-tower, a 3-first blade, a 4-second blade, a 5-third blade, a 6-pose monitoring device, a 6.1-bolt fixing hole, a 6.2-data information interface, a 6.3-shell, a 6.4-inertia measuring device, a 6.5-dual-antenna GNSS positioning and orientation receiver, a 6.6-gravity acceleration sensor, a 7-cabin and an 8-floating foundation.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The invention provides a method for monitoring the running state of a floating offshore wind turbine, which refers to fig. 1 to 4 and comprises the following steps:
s1, respectively installing 1 position and orientation monitoring device 6 at the bottom of the tower tube 2, inside the engine room 7 and inside the hub, wherein the first position and orientation monitoring device, the second position and orientation monitoring device and the third position and orientation monitoring device are respectively arranged.
The pose monitoring device comprises a shell 6.3, a processor, an inertial measurement device 6.4, a dual-antenna GNSS positioning and orientation receiver 6.5 and a gravity acceleration sensor 6.6, wherein the processor, the inertial measurement device, the dual-antenna GNSS positioning and orientation receiver and the gravity acceleration sensor are packaged in the shell, the processor can be directly welded on a PCB (Printed Circuit Board, a printed circuit board), the inertial measurement device, the dual-antenna GNSS positioning and orientation receiver and the gravity acceleration sensor are electrically connected with the processor through conductive lines of the PCB, the shell is provided with a data information interface 6.2 connected with the processor, and the shell is connected with a mounting plate provided with a bolt fixing hole 6.1.
Wherein, the first pose monitoring device is arranged at the central position of the bottom of the tower, and the x of the inertial measurement device in the first pose monitoring device is in a stable state of the tower 1 The axis being along the length of the nacelle, y 1 The shaft is vertical to the bottom plane of the tower barrel; the second position and orientation monitoring device is arranged in the cabin and is opposite to the central position of the top of the tower, and the inertia measuring device in the second position and orientation monitoring device is x 2 The axis being along the length of the nacelle, y 2 The shaft is vertical to the top plane of the tower barrel; the third pose monitoring device is arranged on the impeller rotating axis 1 in the hub, and the X of the inertia measuring device in the third pose monitoring device 3 The shaft is along the rotation axis direction of the impeller, y 3 The shaft is directed towards one of the blades, denoted as first blade 3, and the other two blades are denoted as second blade 4 and third blade 5 in turn in the clockwise direction.
S2, the first data acquisition instrument, the second data acquisition instrument and the third data acquisition instrument respectively acquire monitoring data of an inertial measurement device, a dual-antenna GNSS positioning directional receiver and a gravity acceleration sensor in the 3 pose monitoring devices through data information interfaces, and then the monitoring data are transmitted to a main control cabinet processor, a cabin cabinet processor and a variable-pitch control cabinet processor respectively.
The first data acquisition instrument is located at the bottom of Yu Datong, the second data acquisition instrument is located in the cabin, and the third data acquisition instrument is located in the hub.
Inertial measurement unit in first position appearance monitoring devices monitors floating basis 8 of wind turbine generator system in real time at x 1 、y 1 And z 1 Linear acceleration in three axial directions and floating foundation winding x 1 Axis, y 1 Axis and z 1 Angular acceleration data of the shaft are processed to obtain floating foundation x 1 Axis, y 1 Axis and z 1 Shaft speed and displacement, floating foundation around x 1 Axis, y 1 Axis and z 1 The speed and angle of rotation of the shaft; the dual-antenna GNSS positioning directional receiver in the first pose monitoring device monitors displacement speed and position data of the floating foundation in real time; a gravity acceleration sensor in the first pose monitoring device monitors the gravity acceleration change of the floating type basic position in real time; the first data acquisition instrument acquires monitoring data of the first pose monitoring device and transmits the monitoring data to the main control cabinet processor at the bottom of the tower.
Inertial measurement unit in second pose monitoring device monitors cabin in x in real time 2 Axis, y 2 Axis and z 2 Linear acceleration in three directions of axis and nacelle around x 2 Axis, y 2 Axis and z 2 Angular acceleration data of the shaft is processed to obtain the cabin x 2 Axis, y 2 Axis and z 2 Speed and displacement of the shaft in three directions and nacelle around x 2 Axis, y 2 Axis and z 2 The speed and angle of rotation of the shaft; the double-antenna GNSS positioning directional receiver in the second pose monitoring device monitors displacement speed and position data of the cabin in real time; a gravity acceleration sensor in the second pose monitoring device monitors the gravity acceleration change of the cabin position in real time; the second data acquisition instrument acquires monitoring data of the second pose monitoring device and transmits the monitoring data to the cabin cabinet processor.
The inertia measuring device in the third pose monitoring device monitors the impeller in x in real time 3 Axis, y 3 Axis and z 3 Linear acceleration in three directions of axis and impeller around x 3 Axis, y 3 Axis and z 3 Angular acceleration data of the shaft are processed to obtain the impeller at x 3 Axis, y 3 Axis and z 3 Speed and displacement of shaft in three directions and impeller around x 3 Axis, y 3 Axis and z 3 The speed and angle of rotation of the shaft; double-antenna GNSS positioning directional receiver in third pose monitoring device for monitoring displacement speed of impeller in real timeDegree and position data; a gravity acceleration sensor in the third pose monitoring device monitors the gravity acceleration change of the impeller position in real time; the third data acquisition instrument acquires the monitoring data of the third pose monitoring device and transmits the monitoring data to the impeller cabinet processor.
S3, the main control cabinet processor, the cabin cabinet processor and the variable pitch control cabinet processor store and analyze the acquired data, perform logic judgment according to the monitored data, timely execute correction operation, and specifically execute the operation according to the following logic:
s3.1, monitoring the floating foundation by sea wave impact: when the floating foundation is along z 1 Shaft rotation angle |phi (z) 1 ) I or along x 1 Shaft rotation angle |phi (x) 1 ) When the I reaches the set threshold value, the sea wave impact force borne by the floating foundation reaches an early warning value, at the moment, the main control cabinet processor sends early warning information to the cabin cabinet processor, the cabin cabinet processor sends the early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, and the variable-pitch mechanism executes the pitch-receiving action and stops. According to the monitoring method, the risk of overlarge sea wave impact force on the floating foundation can be found in time, an early warning signal is sent out, and then the risk is avoided by closing the propeller and stopping the machine.
S3.2, impeller thrust monitoring: the main control cabinet processor processes the data monitored by the first pose monitoring device to obtain a floating foundation winding x 1 Axis, y 1 Axis and z 1 The rotation angles of the axes, denoted as phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Nacelle edge y 2 The yaw angle of the nacelle, which is the shaft rotation angle, is noted as phi (y 2 ) Let x 1 Axis, y 1 Axis and z 1 Yaw angle phi (y) 2 ) The coordinate axes obtained after deflection are respectively x 1 ' axis, y 1 ' axis and z 1 ' axis, around x according to a floating foundation 1 Axis, y 1 Axis and z 1 The rotation angle phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Calculating the x direction of the floating foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’)、φ(y 1 ’)And phi (z) 1 '), when the nacelle is along z 2 Shaft rotation angle |phi (z) 2 )-φ(z 1 When' I reaches a set threshold value, the impeller thrust received by the engine room exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, the variable-pitch mechanism executes the pitch-receiving action, the pitch angle is increased, and the engine room is changed until the engine room is changed along z 2 The rotation angle of the shaft is reduced to be within a reasonable design range, and the pitch control mechanism stops the pitch control action. According to the monitoring method, the problem that the thrust of the impeller exceeds the design range can be found and corrected in time.
S3.3, the deviation angle of the engine room, the impeller and the wind direction is as follows: by yaw angle phi (y) 2 ) And comparing and analyzing the wind direction sensor data collected by the main control cabinet to obtain the deviation angles of the engine room, the impeller and the wind direction, when the deviation angles reach a set threshold value, outputting early warning information to a yaw system of the main control cabinet by the main control cabinet processor, after the yaw system receives the early warning information, sending a yaw action signal to the yaw mechanism, and executing the yaw action by the yaw mechanism, so that the deviation angles of the engine room, the impeller and the wind direction are reduced until the deviation angles of the engine room, the impeller and the wind direction are reduced to a reasonable design area, and stopping the yaw action by the yaw mechanism. According to the monitoring method, the problem that the deviation angles of the engine room, the impeller and the wind direction exceed the design range can be found and corrected in time.
S3.4, monitoring rotation balance of the impeller: the main control cabinet processor processes the data monitored by the first pose monitoring device, and respectively along x according to the floating type foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’)、φ(y 1 ') and phi (z) 1 ') and nacelle edge y 2 Shaft rotation angle phi (y) 2 ) Cabin edge z 2 Shaft rotation angle phi (z) 2 ) And the impeller edge y 3 The rotation angle phi (y) 3 ) Along z 3 Rotation angle phi (z) of shaft 3 ) And (3) making:
ψ(y 3 )＝φ(y 3 )-φ(y 2 )-φ(y 1 ’)，
ψ(z 3 )＝φ(z 3 )-φ(z 2 )-φ(z 1 ’)，
then ψ (y) 3 ) For the impeller along y 3 Correction angle of shaft rotation, ψ (z 3 ) For impeller along z 3 The corrected angle of rotation of the shaft will be ψ (y 3 )、ψ(z 3 ) Performing comparison analysis with the set value, and executing the operation according to the following logic:
A. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates y 3 The load on the right side of the shaft is larger than the load on the left side, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade or reduce the pitch angle of the third blade, or simultaneously increase the pitch angle of the second blade and reduce the pitch angle of the third blade;
B. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates y 3 The left side load of the shaft is larger than the right side load, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to reduce the pitch angle of the second blade or increase the pitch angle of the third blade, or simultaneously reduce the pitch angle of the second blade and increase the pitch angle of the third blade;
C. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates z 3 The load on the right side of the shaft is larger than the load on the left side, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the first blade, the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade and the third blade or reduce the pitch angle of the first blade or simultaneously increase the pitch angle of the second blade and the third blade and reduce the pitch angle of the first blade;
D. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates z 3 The left side load of the shaft is larger than the right side load, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the first blade, the second blade and the third blade, the pitch control mechanism executes pitch control operation to reduce the pitch angles of the second blade and the third blade or increase the pitch angle of the first blade or simultaneously reduce the pitch angles of the second blade and the third blade and increase the pitch angle of the first blade;
s3.5, monitoring the rotation speed of the impeller: the variable pitch control cabinet processor processes the gravity acceleration data monitored by the third pose monitoring device, and obtains the rotating speed of the impeller according to the gravity acceleration change data; under the condition that an original impeller rotating speed monitoring sensor fails or a slip ring fails, and the main control cabinet cannot transmit impeller rotating speed control information to the variable-pitch control cabinet, the variable-pitch control cabinet processor uses the impeller rotating speed obtained by monitoring data according to the second pose monitoring device as a reference for controlling variable pitch of the variable-pitch control cabinet.
In step S3.2, the cabin cabinet processor processes the displacement speed and the position data monitored by the second pose monitoring device to obtain the cabin in x 2 Axis and z 2 Displacement speed and position data in the axial direction, when the sea wave impact of the floating foundation does not reach the set threshold value, but the cabin is at x 2 When the displacement speed or position data of the direction reaches a set threshold value, the impeller thrust exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, after the variable-pitch control cabinet processor receives the early warning information, the variable-pitch control cabinet processor sends a pitch-taking-in action signal to the variable-pitch system, the variable-pitch mechanism executes the pitch-taking-in action, the pitch angle is reduced, and the engine room is at x 2 The displacement speed and the position data of the direction are reduced to a reasonable design area, and the pitch mechanism stops the pitch-withdrawing action. Can be used as a standby and auxiliary scheme for impeller thrust monitoring.
The running state monitoring method of the floating type offshore wind turbine provided by the invention can monitor the state data of the floating type foundation, the engine room and the impeller of the wind turbine in real time, correct the state data in time when the state exceeds the preset safety range, and the adopted pose monitoring device has the advantages of mature sub-module technology, low cost and convenient installation and implementation, and can realize full-automatic treatment of acquisition, monitoring and problem correction.
Claims (3)
1. The running state monitoring method of the floating offshore wind turbine is characterized by comprising the following steps of:
s1, respectively installing 1 position and orientation monitoring devices at the bottom of a tower barrel, in a cabin and in a hub, wherein the first position and orientation monitoring device, the second position and orientation monitoring device and the third position and orientation monitoring device are respectively provided with an inertial measurement device, a dual-antenna GNSS positioning and orientation receiver and a gravity acceleration sensor in a packaged mode; the first pose monitoring device is arranged at the central position of the bottom of the tower, and x of the inertial measurement device in the first pose monitoring device is in a stable state of the tower 1 The axis being along the length of the nacelle, y 1 The shaft is vertical to the bottom plane of the tower barrel; the second position and orientation monitoring device is arranged in the cabin and is opposite to the central position of the top of the tower, and the inertia measuring device in the second position and orientation monitoring device is x 2 The axis being along the length of the nacelle, y 2 The shaft is vertical to the top plane of the tower barrel; the third pose monitoring device is arranged on the rotation axis of the impeller in the hub, and the X of the inertial measurement device in the third pose monitoring device 3 The shaft is along the rotation axis direction of the impeller, y 3 The shaft points to one of the blades, the blade is marked as a first blade, and the other two blades are marked as a second blade and a third blade in turn along the clockwise direction;
s2, the first data acquisition instrument, the second data acquisition instrument and the third data acquisition instrument respectively acquire monitoring data of an inertial measurement device, a dual-antenna GNSS positioning directional receiver and a gravity acceleration sensor in the 3 pose monitoring devices, and then the monitoring data are respectively transmitted to a main control cabinet processor, a cabin cabinet processor and a variable pitch control cabinet processor;
the inertial measurement unit in the first pose monitoring device monitors that floating foundation of the wind turbine generator is x in real time 1 、y 1 And z 1 Linear acceleration in three axial directions and floating foundation winding x 1 Axis, y 1 Axis and z 1 Angular acceleration data of the shaft are processed to obtain floating foundation x 1 Axis, y 1 Axis and z 1 Shaft speed and displacement, floating foundation around x 1 Axis, y 1 Axis and z 1 The speed and angle of rotation of the shaft; the dual-antenna GNSS positioning directional receiver in the first pose monitoring device monitors displacement speed and position data of the floating foundation in real time; a gravity acceleration sensor in the first pose monitoring device monitors the gravity acceleration change of the floating type basic position in real time; the first data acquisition instrument acquires monitoring data of the first pose monitoring device and transmits the monitoring data to the main control cabinet processor at the bottom of the tower;
inertial measurement unit in second pose monitoring device monitors cabin in x in real time 2 Axis, y 2 Axis and z 2 Linear acceleration in three directions of axis and nacelle around x 2 Axis, y 2 Axis and z 2 Angular acceleration data of the shaft is processed to obtain the cabin x 2 Axis, y 2 Axis and z 2 Speed and displacement of the shaft in three directions and nacelle around x 2 Axis, y 2 Axis and z 2 The speed and angle of rotation of the shaft; the double-antenna GNSS positioning directional receiver in the second pose monitoring device monitors displacement speed and position data of the cabin in real time; a gravity acceleration sensor in the second pose monitoring device monitors the gravity acceleration change of the cabin position in real time; the second data acquisition instrument acquires monitoring data of the second pose monitoring device and transmits the monitoring data to the cabin cabinet processor;
the inertia measuring device in the third pose monitoring device monitors the impeller in x in real time 3 Axis, y 3 Axis and z 3 Linear acceleration in three directions of axis and impeller around x 3 Axis, y 3 Axis and z 3 Angular acceleration data of the shaft are processed to obtain the impeller at x 3 Axis, y 3 Axis and z 3 Speed and displacement of shaft in three directions and impeller around x 3 Axis, y 3 Axis and z 3 The speed and angle of rotation of the shaft; first, theThe dual-antenna GNSS positioning directional receiver in the three-pose monitoring device monitors the displacement speed and position data of the impeller in real time; a gravity acceleration sensor in the third pose monitoring device monitors the gravity acceleration change of the impeller position in real time; the third data acquisition instrument acquires monitoring data of the third pose monitoring device and transmits the monitoring data to the impeller cabinet processor;
s3, the main control cabinet processor, the cabin cabinet processor and the variable pitch control cabinet processor perform logic judgment according to the monitoring data, and timely execute correction operation; the cabin cabinet processor and the variable pitch control cabinet processor store and analyze the acquired data, and execute operations according to the following logic:
s3.1, monitoring the floating foundation by sea wave impact: when the floating foundation is along z 1 Shaft rotation angle |phi (z) 1 ) I or along x 1 Shaft rotation angle |phi (x) 1 ) When the I reaches a set threshold value, the sea wave impact force borne by the floating foundation reaches an early warning value, at the moment, the main control cabinet processor sends early warning information to the cabin cabinet processor, the cabin cabinet processor sends the early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, and the variable-pitch mechanism executes the pitch-receiving action and stops;
s3.2, impeller thrust monitoring: the main control cabinet processor processes the data monitored by the first pose monitoring device to obtain a floating foundation winding x 1 Axis, y 1 Axis and z 1 The rotation angles of the axes, denoted as phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Nacelle edge y 2 The yaw angle of the nacelle, which is the shaft rotation angle, is noted as phi (y 2 ) Let x 1 Axis, y 1 Axis and z 1 Yaw angle phi (y) 2 ) The coordinate axes obtained after deflection are respectively x 1 ' axis, y 1 ' axis and z 1 ' axis, around x according to a floating foundation 1 Axis, y 1 Axis and z 1 The rotation angle phi (x) 1 )、φ(y 1 ) And phi (z) 1 ) Calculating the x direction of the floating foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’）、φ(y 1 ') and phi (z) 1 '), when the nacelle is along z 2 Shaft rotation angle |phi (z) 2 )-φ(z 1 When' I reaches a set threshold value, the impeller thrust received by the engine room exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, the variable-pitch control cabinet processor sends a pitch-receiving action signal to the variable-pitch system after receiving the early warning information, the variable-pitch mechanism executes the pitch-receiving action, the pitch angle is increased, and the engine room is changed until the engine room is changed along z 2 The rotation angle of the shaft is reduced to be within a reasonable design range, and the pitch control mechanism stops the pitch control action;
s3.3, the deviation angle of the engine room, the impeller and the wind direction is as follows: by yaw angle phi (y) 2 ) The method comprises the steps that the wind direction sensor data collected by a main control cabinet are compared and analyzed to obtain deviation angles of a cabin, an impeller and a wind direction, if the deviation angles reach a set threshold value, a main control cabinet processor gives out early warning information to a yaw system of the main control cabinet, after the yaw system receives the early warning information, a yaw action signal is sent to a yaw mechanism, the yaw mechanism executes yaw action, the deviation angles of the cabin, the impeller and the wind direction are reduced until the deviation angles of the cabin, the impeller and the wind direction are reduced to a reasonable design area, and the yaw mechanism stops the yaw action;
s3.4, monitoring rotation balance of the impeller: the main control cabinet processor processes the data monitored by the first pose monitoring device, and respectively along x according to the floating type foundation 1 ' axis, y 1 ' axis and z 1 Angle phi (x) of the' axis 1 ’）、φ(y 1 ') and phi (z) 1 ') and nacelle edge y 2 Shaft rotation angle phi (y) 2 ) Cabin edge z 2 Shaft rotation angle phi (z) 2 ) And the impeller edge y 3 The rotation angle phi (y) 3 ) Along z 3 Rotation angle phi (z) of shaft 3 ) And (3) making:
ψ(y 3 )=φ(y 3 )-φ(y 2 )-φ(y 1 ’)，
ψ(z 3 )=φ(z 3 )-φ(z 2 )-φ(z 1 ’)，
then ψ (y) 3 ) For the impeller along y 3 Correction angle of shaft rotation, ψ (z 3 ) For impeller along z 3 The corrected angle of rotation of the shaft will be ψ (y 3 )、ψ(z 3 ) Performing comparison analysis with the set value, and executing the operation according to the following logic:
A. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates y 3 The load on the right side of the shaft is larger than the load on the left side, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade or reduce the pitch angle of the third blade, or simultaneously increase the pitch angle of the second blade and reduce the pitch angle of the third blade;
B. if the impeller is along y 3 The corrected angle of rotation of the shaft ψ (y 3 ) Winding y for displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates y 3 The left side load of the shaft is larger than the right side load, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the second blade and the third blade, the pitch control mechanism executes pitch control operation to reduce the pitch angle of the second blade or increase the pitch angle of the third blade, or simultaneously reduce the pitch angle of the second blade and increase the pitch angle of the third blade;
C. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the positive rotation direction of the shaft reaches a set threshold value, which indicates z 3 The load on the right side of the shaft is larger than the load on the left side, the time-varying pitch control cabinet processor sends early warning information to the pitch control system, and after the pitch control system verifies the pitch angles of the first blade, the second blade and the third blade, the pitch control mechanism executes pitch control operation to increase the pitch angle of the second blade and the third blade or reduce the pitch angle of the first blade or simultaneously increase the pitch angle of the second blade and the third blade and reduce the pitch angle of the first blade;
D. if the impeller is along z 3 The corrected angle of rotation of the shaft ψ (z 3 ) Around z displaying right hand rule indication 3 The deflection angle of the negative rotation direction of the shaft reaches a set threshold value, which indicates z 3 The left side load of the shaft is greater than the right sideThe method comprises the steps that a load is applied, a time-varying control cabinet processor sends early warning information to a variable-pitch system, after the variable-pitch system verifies the variable-pitch angles of a first blade, a second blade and a third blade, the variable-pitch mechanism executes variable-pitch operation, the variable-pitch angles of the second blade and the third blade are reduced, or the variable-pitch angle of the first blade is increased, or the variable-pitch angles of the second blade and the third blade are reduced and the variable-pitch angle of the first blade is increased;
s3.5, monitoring the rotation speed of the impeller: the variable pitch control cabinet processor processes the gravity acceleration data monitored by the third pose monitoring device, and obtains the rotating speed of the impeller according to the gravity acceleration change data; under the condition that an original impeller rotating speed monitoring sensor fails or a slip ring fails, and the main control cabinet cannot transmit impeller rotating speed control information to the variable-pitch control cabinet, the variable-pitch control cabinet processor uses the impeller rotating speed obtained by monitoring data according to the second pose monitoring device as a reference for controlling variable pitch of the variable-pitch control cabinet.
2. The method for monitoring the running state of the floating offshore wind turbine according to claim 1, wherein the method comprises the following steps: the first data acquisition instrument is located at the bottom of Yu Datong, the second data acquisition instrument is located in the cabin, and the third data acquisition instrument is located in the hub.
3. The method for monitoring the running state of the floating offshore wind turbine according to claim 1, wherein the method comprises the following steps: in step S3.2, the cabin cabinet processor processes the displacement speed and the position data monitored by the second pose monitoring device to obtain the cabin in x 2 Axis and z 2 Displacement speed and position data in the axial direction, when the sea wave impact of the floating foundation does not reach the set threshold value, but the cabin is at x 2 When the displacement speed or position data of the direction reaches a set threshold value, the impeller thrust exceeds the design range, at the moment, the main control cabinet processor sends early warning information to the variable-pitch control cabinet processor, after the variable-pitch control cabinet processor receives the early warning information, the variable-pitch control cabinet processor sends a pitch-taking-in action signal to the variable-pitch system, the variable-pitch mechanism executes the pitch-taking-in action, the pitch angle is reduced, and the engine room is at x 2 The displacement speed and the position data of the direction are reduced to reasonable settingsAnd (5) counting the area, and stopping the pitch-collecting action by the pitch-changing mechanism.
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