CN114675054B - Wind direction identification method and system based on tower foundation load of wind generating set - Google Patents
Wind direction identification method and system based on tower foundation load of wind generating set Download PDFInfo
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Abstract
The invention discloses a wind direction identification method and a system based on tower foundation load of a wind generating set, comprising the following steps: a strain sensor is attached to a tower foundation of a tower barrel of the wind generating set and is used for measuring stress distribution conditions of the tower foundation; based on the tower foundation stress distribution measured by the strain sensor, calculating the pitching bending moment and the lateral bending moment of the tower foundation; based on the pitching bending moment and the lateral bending moment of the tower foundation, calculating a main vector bending moment amplitude and a main vector bending moment direction angle of the tower foundation; calculating a yaw error angle of the nacelle based on the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation; based on the nacelle yaw error angle, a wind direction angle is calculated. According to the invention, the stress distribution data is measured through the tower foundation strain sensor, the current wind direction of the wind generating set is identified and calculated, the reliable wind direction is provided for the accurate yaw wind direction of the wind generating set under the limit wind condition, and the limit load of the wind generating set is reduced to the maximum extent.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a wind direction identification method and system based on tower foundation load of a wind generating set.
Background
The wind generating set is equipment for converting wind energy into electric energy, and is used as sustainable and renewable green energy, and the wind generating set is continuously developed to be large-scale. The wind direction is taken as important measurement data, and plays a very important role in the normal operation and safety of the wind generating set. At extreme wind speeds (e.g., typhoon conditions), the wind generator set is facing the wind direction to minimize set extreme loads. Therefore, above the cut-out wind speed, the unit should remain constantly facing the wind. Currently, a wind direction measuring instrument of a wind generating set is generally installed at the tail part of a cabin, and the measured wind direction is easily shielded and disturbed by a blade root. In addition, under typhoon wind conditions, the wind direction measuring instrument has high damage rate, and the reliability of the wind direction measuring instrument can not meet the requirements well. In order to achieve accurate yaw alignment of the wind turbine at the limit wind speed, a reliable wind direction measurement method is required.
Disclosure of Invention
The first aim of the invention is to overcome the defects and shortcomings of the prior art and provide a wind direction identification method based on tower foundation load of a wind generating set, wherein stress distribution data is measured through a tower foundation strain sensor, the current wind direction of the wind generating set is identified and calculated, reliable wind direction is provided for accurate yaw of the wind generating set under the limit wind condition, and the limit load of the set is reduced to the maximum extent.
The second object of the invention is to provide a wind direction identification system based on tower foundation load of a wind generating set.
The first object of the invention is achieved by the following technical scheme: a wind direction identification method based on tower foundation load of a wind generating set comprises the following steps:
1) A strain sensor is attached to a tower foundation of a tower barrel of the wind generating set and is used for measuring stress distribution conditions of the tower foundation;
2) Based on the tower foundation stress distribution measured by the strain sensor, calculating the pitching bending moment and the lateral bending moment of the tower foundation;
3) Based on the pitching bending moment and the lateral bending moment of the tower foundation, calculating a main vector bending moment amplitude and a main vector bending moment direction angle of the tower foundation;
4) Calculating a yaw error angle of the nacelle based on the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation;
5) Calculating a wind direction angle based on the yaw error angle of the nacelle;
based on the steps, above the cut-out wind speed, the wind generating set can calculate the wind direction angle based on the tower foundation load distribution condition, and the wind direction angle is used as the reliable wind direction input of accurate yaw of the set to wind under the limit wind condition.
Further, in step 1), a plurality of strain sensors are respectively arranged on the inner surface of the tower foundation at a specific height, the strain sensors are arranged on the same pitch circle of the tower, a preset angle is formed between the strain sensors, each strain sensor corresponds to an azimuth angle, and a temperature sensor is additionally arranged adjacent to each strain sensor and used for correcting the strain measurement quantity of the strain sensor;
the strain measurement quantity of each strain sensor is subjected to offset correction and temperature correction to obtain the final stress quantity, and the following calculation formula is applied:
in the above, sigma 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; s is(s) 1 、s 2 、…、s n Respectively representing the measured numerical quantity of each strain sensor; s is(s) 1,offset 、s 2,offset 、…、s n,offset Respectively representing the offset correction amount of each strain sensor; t is t 1 、t 2 、…、t n Respectively representing the measured numerical value quantity of each temperature sensor; t is t 1,offset 、t 2,offset 、…、t n,offset Respectively representing the offset correction amount of each temperature sensor; r is (r) 1 、r 2 、…、r n Respectively representing the correction coefficient of the temperature of each strain sensor to the strain; f (f) 1 、f 2 、…、f n Representing the stress-strain coefficient of each strain sensor respectively;
stress sigma 1 、σ 2 、…、σ n The sign of (c) is specified as: stretching to be positive and compressing to be negative; the offset correction amount of the strain sensor, the offset correction amount of the temperature sensor, the correction coefficient of temperature to strain and the stress strain coefficient are undetermined coefficients, and are determined in the sensor calibration process;
the stress distribution sigma is calculated according to the above formula 1 、σ 2 、…、σ n The group of stresses represents the tower base pitch circleStress distribution on the substrate.
Further, in step 2), each strain sensor mounted on the pitch circle of the tower foundation corresponds to an azimuth angle, which is called a sensor mounting azimuth angle, the sensor mounting azimuth angle takes the north direction as a starting point, changes from 0 to 2pi along the pitch circle, and takes the clockwise rotation angle of the central axis of the tower as positive;
the direction angle of the engine room is called as an engine room azimuth angle, the engine room azimuth angle takes the north direction as an initial zero degree, the clockwise rotation angle of the central axis of the tower barrel is positive, and the angle is changed from 0 pi to 2 pi;
the tower foundation stress distribution sigma is needed to be used for calculating the pitching bending moment My and the lateral bending moment Mx of the tower foundation 1 、σ 2 、…、σ n ，σ 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; the calculation formulas of the pitching bending moment My and the lateral bending moment Mx of the tower foundation are as follows:
in the above formula, a 1 、a 2 、…、a n Indicating the installation azimuth angle of the strain sensor; beta represents the azimuth angle of the cabin, and is measured by a yaw encoder sensor; k (k) y Representing a transformation coefficient from stress distribution to pitch bending moment; k (k) x Representing the transformation coefficient from stress distribution to lateral bending moment.
Further, in step 3), the main vector bending moment of the foundation is obtained by synthesizing the pitch bending moment and the lateral bending moment vectors of the foundation; because the tower drum can bend towards the wind direction when the tower drum is loaded by wind, the main vector bending moment of the tower foundation indirectly reflects the information of the wind direction;
the main vector bending moment amplitude of the tower foundation is calculated as follows:
in the above formula, my represents a pitch bending moment of the tower foundation; mx represents a lateral bending moment of the foundation; mxy represents the main vector bending moment amplitude of the tower foundation;
the main vector bending moment direction angle of the tower foundation is calculated as follows:
in the above formula, θ represents a main vector bending moment direction angle of the tower foundation; if represents condition judgment; and represents a logical AND operation; absolute value is represented; arctan (x) represents the arctangent function.
Further, in step 4), the nacelle yaw error angle is an angle between the nacelle orientation and the wind direction, and there is a linear correlation between the main vector bending moment direction angle of the tower foundation and the nacelle yaw error angle, so that the nacelle yaw error angle can be calculated by the main vector bending moment amplitude and the direction angle of the tower foundation;
according to the main vector bending moment amplitude and the direction angle of the tower foundation, the following table look-up calculation formula is set:
δ＝g(Mxy,θ)
in the above formula, δ represents a nacelle yaw error angle; mxy represents the main vector bending moment amplitude of the tower foundation; θ represents the main vector bending moment direction angle of the tower foundation; g (Mxy, theta) is a two-dimensional table look-up function, and the yaw error angle of the nacelle is obtained according to the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the table look-up difference value;
wherein g (Mxy, theta) is a two-dimensional table look-up function and can be obtained through simulation calculation, the wind directions come from different angles by using Bladed software, the wind speeds are set to be different wind speeds from the cut-out wind speed to the limit wind speed interval, the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the nacelle are counted, and g (Mxy, theta) can be established as the two-dimensional table look-up function.
Further, in step 5), the nacelle yaw error angle has the following relation to the wind direction angle:
ψ＝β+δ
in the above formula, ψ represents a wind direction angle; beta represents the nacelle azimuth; delta represents the nacelle yaw error angle.
The second object of the invention is achieved by the following technical scheme: wind direction identification system based on wind generating set tower foundation load includes:
the tower foundation stress distribution acquisition module is used for mounting strain sensors on the tower foundation of the tower barrel of the wind generating set and measuring the stress distribution situation of the tower foundation, and performing offset correction and temperature correction on the strain measurement quantity of each strain sensor to obtain a final stress quantity;
the tower foundation pitching bending moment and lateral bending moment calculation module is used for calculating the pitching bending moment and the lateral bending moment of the tower foundation based on the tower foundation stress distribution measured by the strain sensor;
the main vector bending moment amplitude and direction angle calculation module of the tower foundation calculates the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation based on the pitching bending moment and the lateral bending moment of the tower foundation;
the nacelle yaw error angle calculation module calculates a nacelle yaw error angle based on the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation;
the wind direction angle calculation module is used for calculating the wind direction angle based on the yaw error angle of the nacelle.
Further, the tower foundation stress distribution acquisition module specifically performs the following operations:
a plurality of strain sensors are respectively arranged on the inner surface of the tower foundation at a specific height of the tower, the strain sensors are arranged on the same pitch circle of the tower, the strain sensors are spaced at a preset angle, each strain sensor corresponds to an azimuth angle, a temperature sensor is additionally arranged adjacent to each strain sensor, and the measured temperature is used for correcting the strain measurement quantity of the strain sensor;
the strain measurement quantity of each strain sensor is subjected to offset correction and temperature correction to obtain the final stress quantity, and the following calculation formula is applied:
in the above, sigma 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; s is(s) 1 、s 2 、…、s n Respectively representing the measured numerical quantity of each strain sensor; s is(s) 1,offset 、s 2,offset 、…、s n,offset Respectively representing the offset correction amount of each strain sensor; t is t 1 、t 2 、…、t n Respectively representing the measured numerical value quantity of each temperature sensor; t is t 1,offset 、t 2,offset 、…、t n,offset Respectively representing the offset correction amount of each temperature sensor; r is (r) 1 、r 2 、…、r n Respectively representing the correction coefficient of the temperature of each strain sensor to the strain; f (f) 1 、f 2 、…、f n Representing the stress-strain coefficient of each strain sensor respectively;
stress sigma 1 、σ 2 、…、σ n The sign of (c) is specified as: stretching to be positive and compressing to be negative; the offset correction amount of the strain sensor, the offset correction amount of the temperature sensor, the correction coefficient of temperature to strain and the stress strain coefficient are undetermined coefficients, and are determined in the sensor calibration process;
the stress distribution sigma is calculated according to the above formula 1 、σ 2 、…、σ n This set of stresses represents the stress distribution on the tower base section.
Further, the tower foundation pitching bending moment and lateral bending moment calculation module specifically performs the following operations:
each strain sensor installed on the pitch circle of the tower foundation corresponds to an azimuth angle, which is called a sensor installation azimuth angle, the sensor installation azimuth angle takes the north direction as a starting point, changes from 0 pi to 2 pi along the circumference of the pitch circle, and takes the clockwise rotation angle of the central axis of the tower barrel as positive;
the direction angle of the engine room is called as an engine room azimuth angle, the engine room azimuth angle takes the north direction as an initial zero degree, the clockwise rotation angle of the central axis of the tower barrel is positive, and the angle is changed from 0 pi to 2 pi;
the tower foundation stress distribution sigma is needed to be used for calculating the pitching bending moment My and the lateral bending moment Mx of the tower foundation 1 、σ 2 、…、σ n ，σ 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; the calculation formulas of the pitching bending moment My and the lateral bending moment Mx of the tower foundation are as follows:
in the above formula, a 1 、a 2 、…、a n Indicating the installation azimuth angle of the strain sensor; beta represents the azimuth angle of the cabin, and is measured by a yaw encoder sensor; k (k) y Representing a transformation coefficient from stress distribution to pitch bending moment; k (k) x Representing the transformation coefficient from stress distribution to lateral bending moment.
Further, the tower foundation main vector bending moment amplitude and direction angle calculation module specifically performs the following operations:
the main vector bending moment of the tower foundation is obtained by synthesizing the pitching bending moment and the lateral bending moment vectors of the tower foundation; because the tower drum can bend towards the wind direction when the tower drum is loaded by wind, the main vector bending moment of the tower foundation indirectly reflects the information of the wind direction;
the main vector bending moment amplitude of the tower foundation is calculated as follows:
in the above formula, my represents a pitch bending moment of the tower foundation; mx represents a lateral bending moment of the foundation; mxy represents the main vector bending moment amplitude of the tower foundation;
the main vector bending moment direction angle of the tower foundation is calculated as follows:
in the above formula, θ represents a main vector bending moment direction angle of the tower foundation; if represents condition judgment; and represents a logical AND operation; absolute value is represented; arctan (x) represents the arctangent function.
Further, the nacelle yaw error angle calculation module specifically performs the following operations:
the yaw error angle of the engine room is an included angle between the direction of the engine room and the wind direction, and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the engine room have linear correlation, so that the yaw error angle of the engine room can be calculated through the main vector bending moment amplitude and the direction angle of the tower foundation;
according to the main vector bending moment amplitude and the direction angle of the tower foundation, the following table look-up calculation formula is set:
δ＝g(Mxy,θ)
in the above formula, δ represents a nacelle yaw error angle; mxy represents the main vector bending moment amplitude of the tower foundation; θ represents the main vector bending moment direction angle of the tower foundation; g (Mxy, theta) is a two-dimensional table look-up function, and the yaw error angle of the nacelle is obtained according to the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the table look-up difference value;
wherein g (Mxy, theta) is a two-dimensional table look-up function and can be obtained through simulation calculation, the wind directions come from different angles by using Bladed software, the wind speeds are set to be different wind speeds from the cut-out wind speed to the limit wind speed interval, the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the nacelle are counted, and g (Mxy, theta) can be established as the two-dimensional table look-up function.
Further, the wind direction angle calculation module calculates a wind direction angle based on a relationship of the nacelle yaw error angle and the wind direction angle:
the nacelle yaw error angle has the following relationship with the wind direction angle:
ψ＝β+δ
in the above formula, ψ represents a wind direction angle; beta represents the nacelle azimuth; delta represents the nacelle yaw error angle.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the wind direction data detection method, the wind direction data is prevented from being shielded and interfered by the impeller by measuring the stress distribution condition of the tower foundation of the wind generating set, and the wind direction anti-interference performance based on the stress distribution measurement of the tower foundation is better.
2. According to the invention, the strain sensor is attached to the tower foundation, so that the defect that the cabin anemoscope is easy to break down and damage under the limit wind speed is overcome, and the wind direction reliability based on the tower foundation stress distribution measurement is higher.
3. According to the invention, the strain sensor is attached to the tower foundation, so that the risk of freezing of the cabin anemoscope in low temperature and ice and snow weather is overcome, and the wind direction environment adaptability based on tower foundation stress distribution measurement is better.
In a word, the method and the device measure stress distribution data through the tower foundation strain sensor, identify and calculate the current wind direction of the wind generating set, and provide reliable wind direction for accurate yaw of the wind generating set under the limit wind condition, so that the limit load of the wind generating set is reduced to the maximum extent, and the method and the device have practical application value and are worthy of popularization.
Drawings
FIG. 1 is a schematic diagram of a tower-based strain sensor arrangement.
FIG. 2 is a schematic diagram of the principal vector of the tower foundation bending moment and the yaw error angle.
FIG. 3 is a block diagram of a system according to the present invention.
Detailed Description
The invention will be further illustrated with reference to specific examples.
Example 1
The embodiment discloses a wind direction identification method based on tower foundation load of a wind generating set, which comprises the following steps:
1) The strain sensor is mounted on the tower foundation of the tower barrel of the wind generating set and is used for measuring the stress distribution condition of the tower foundation, and the specific conditions are as follows:
on the inner surface of the tower foundation at a certain height, 4 strain sensors are respectively arranged. The strain sensors are arranged on the same pitch circle of the tower barrel and are spaced by 90 degrees, and each strain sensor corresponds to azimuth angles of 0 degrees, 90 degrees, 180 degrees and 270 degrees respectively. Each strain sensor should be additionally provided with a temperature sensor adjacent thereto, and the measured temperature is used for correcting the strain measurement quantity of the strain sensor. The strain sensor may be selected from a fiber optic type strain sensor or a resistive type strain sensor, but is not limited to both types of strain sensors. The arrangement of the sensor is shown in fig. 1.
The strain measurement quantity of each strain sensor is subjected to offset correction and temperature correction to obtain the final stress quantity, and the following calculation formula is applied:
in the above, sigma 1 、σ 2 、σ 3 、σ 4 The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position; s is(s) 1 、s 2 、s 3 、s 4 Respectively representing the measured numerical quantity of each strain sensor; s is(s) 1,offset 、s 2,offset 、s 3,offset 、s 4,offset Respectively representing the offset correction amount of each strain sensor; t is t 1 、t 2 、t 3 、t 4 Respectively representing the measured numerical value quantity of each temperature sensor; t is t 1,offset 、t 2,offset 、t 3,offset 、t 4,offset Respectively representing the offset correction amount of each temperature sensor; r is (r) 1 、r 2 、r 3 、r 4 Respectively representing the correction coefficient of the temperature of each strain sensor to the strain; f (f) 1 、f 2 、f 3 、f 4 The stress-strain coefficient of each strain sensor is represented separately.
Stress sigma 1 、σ 2 、σ 3 、σ 4 The sign of (c) is specified as: stretching is positive and compression is negative. The offset correction of the strain sensor, the offset correction of the temperature sensor, the correction coefficient of temperature to strain and the stress-strain coefficient are undetermined coefficients, and are determined in the sensor calibration process.
The stress distribution sigma is calculated according to the above formula 1 、σ 2 、σ 3 、σ 4 The group of stresses represents a tower foundation sectionStress distribution on a circle.
2) Based on the tower foundation stress distribution measured by the strain sensor, the pitching bending moment and the lateral bending moment of the tower foundation are calculated, and the specific conditions are as follows:
each strain sensor mounted on the tower base pitch circle corresponds to an azimuth angle, referred to as a sensor mounting azimuth angle. The sensor installation azimuth angle takes the north direction as the starting point, changes from 0 to 2 pi along the pitch circle, and takes the clockwise rotation angle of the central axis of the tower as the positive.
The orientation angle of the nacelle is called the nacelle azimuth. The azimuth angle of the engine room takes the north direction as the initial zero degree, the rotation angle of the central axis of the tower is positive, and the angle is changed from 0 pi to 2 pi.
The tower foundation stress distribution sigma is needed to be used for calculating the pitching bending moment My and the lateral bending moment Mx of the tower foundation 1 、σ 2 、σ 3 、σ 4 . The calculation formulas of the pitching bending moment My and the lateral bending moment Mx of the tower foundation are as follows:
in the above formula, a 1 、a 2 、a 3 、a 4 Indicating the installation azimuth angle of the strain sensor; beta represents the azimuth angle of the cabin, and is measured by a yaw encoder sensor; k (k) y Representing a transformation coefficient from stress distribution to pitch bending moment; k (k) x Representing the transformation coefficient from stress distribution to lateral bending moment.
3) Based on the pitching bending moment and the lateral bending moment of the tower foundation, calculating the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation, wherein the specific conditions are as follows:
the main vector bending moment of the tower foundation is obtained by synthesizing the pitching bending moment and the lateral bending moment vectors of the tower foundation. Because the tower can bend towards the wind direction when the tower is loaded by wind, the main vector bending moment of the tower foundation indirectly reflects the information of the wind direction. The main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation are shown in figure 2.
The main vector bending moment amplitude of the tower foundation is calculated as follows:
in the above equation, mxy represents the principal vector bending moment magnitude of the foundation.
The main vector bending moment direction angle of the tower foundation is calculated as follows:
in the above formula, θ represents a main vector bending moment direction angle of the tower foundation; if represents condition judgment; and represents a logical AND operation; absolute value is represented; arctan (x) represents the arctangent function.
4) Based on the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation, the yaw error angle of the nacelle is calculated, and the specific conditions are as follows:
the nacelle yaw error angle is the angle between the nacelle orientation and the wind direction. A linear correlation exists between the main vector bending moment direction angle of the tower foundation and the yaw error angle of the engine room, so that the yaw error angle of the engine room can be calculated through the main vector bending moment amplitude and the direction angle of the tower foundation.
According to the main vector bending moment amplitude and the direction angle of the tower foundation, the following table look-up calculation formula is set:
δ＝g(Mxy,θ)
in the above formula, δ represents a nacelle yaw error angle; g (Mxy, theta) is a two-dimensional table look-up function, and the yaw error angle of the nacelle is obtained according to the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the table look-up difference value.
The two-dimensional table look-up function g (Mxy, θ) can be calculated by simulation. And (3) respectively simulating wind directions from different angles by using Bladed software, setting wind speeds to be different wind speeds from cut-out wind speeds to limit wind speed intervals, and counting the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the nacelle so as to establish a two-dimensional table look-up function g (Mxy, theta).
5) Based on the yaw error angle of the nacelle, a wind direction angle is calculated, specifically based on the following relational formula:
the nacelle yaw error angle has the following relationship with the wind direction angle:
ψ＝β+δ
in the above formula, ψ represents a wind direction angle; beta represents the nacelle azimuth; delta represents the nacelle yaw error angle.
Based on the steps, above the cut-out wind speed, the wind generating set can calculate the wind direction angle based on the tower foundation load distribution condition, and the wind direction angle is used as the reliable wind direction input of accurate yaw of the set to wind under the limit wind condition.
Example 2
The embodiment discloses a wind direction identification system based on wind generating set tower foundation load, as shown in fig. 3, comprising the following functional modules:
the tower foundation stress distribution acquisition module is used for mounting strain sensors on the tower foundation of the tower barrel of the wind generating set and measuring the stress distribution situation of the tower foundation, and performing offset correction and temperature correction on the strain measurement quantity of each strain sensor to obtain a final stress quantity;
the tower foundation pitching bending moment and lateral bending moment calculation module is used for calculating the pitching bending moment and the lateral bending moment of the tower foundation based on the tower foundation stress distribution measured by the strain sensor;
the main vector bending moment amplitude and direction angle calculation module of the tower foundation calculates the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation based on the pitching bending moment and the lateral bending moment of the tower foundation;
the nacelle yaw error angle calculation module calculates a nacelle yaw error angle based on the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation;
the wind direction angle calculation module is used for calculating the wind direction angle based on the yaw error angle of the nacelle.
The tower foundation stress distribution acquisition module specifically performs the following operations:
a plurality of strain sensors are respectively arranged on the inner surface of the tower foundation at a specific height of the tower, the strain sensors are arranged on the same pitch circle of the tower, the strain sensors are spaced at a preset angle, each strain sensor corresponds to an azimuth angle, a temperature sensor is additionally arranged adjacent to each strain sensor, and the measured temperature is used for correcting the strain measurement quantity of the strain sensor;
the strain measurement quantity of each strain sensor is subjected to offset correction and temperature correction to obtain the final stress quantity, and the following calculation formula is applied:
in the above, sigma 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; s is(s) 1 、s 2 、…、s n Respectively representing the measured numerical quantity of each strain sensor; s is(s) 1,offset 、s 2,offset 、…、s n,offset Respectively representing the offset correction amount of each strain sensor; t is t 1 、t 2 、…、t n Respectively representing the measured numerical value quantity of each temperature sensor; t is t 1,offset 、t 2,offset 、…、t n,offset Respectively representing the offset correction amount of each temperature sensor; r is (r) 1 、r 2 、…、r n Respectively representing the correction coefficient of the temperature of each strain sensor to the strain; f (f) 1 、f 2 、…、f n Representing the stress-strain coefficient of each strain sensor respectively;
stress sigma 1 、σ 2 、…、σ n The sign of (c) is specified as: stretching to be positive and compressing to be negative; the offset correction amount of the strain sensor, the offset correction amount of the temperature sensor, the correction coefficient of temperature to strain and the stress strain coefficient are undetermined coefficients, and are determined in the sensor calibration process;
the stress distribution sigma is calculated according to the above formula 1 、σ 2 、…、σ n This set of stresses represents the stress distribution on the tower base section.
The tower foundation pitching bending moment and lateral bending moment calculation module specifically performs the following operations:
each strain sensor installed on the pitch circle of the tower foundation corresponds to an azimuth angle, which is called a sensor installation azimuth angle, the sensor installation azimuth angle takes the north direction as a starting point, changes from 0 pi to 2 pi along the circumference of the pitch circle, and takes the clockwise rotation angle of the central axis of the tower barrel as positive;
the direction angle of the engine room is called as an engine room azimuth angle, the engine room azimuth angle takes the north direction as an initial zero degree, the clockwise rotation angle of the central axis of the tower barrel is positive, and the angle is changed from 0 pi to 2 pi;
the tower foundation stress distribution sigma is needed to be used for calculating the pitching bending moment My and the lateral bending moment Mx of the tower foundation 1 、σ 2 、…、σ n ，σ 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; the calculation formulas of the pitching bending moment My and the lateral bending moment Mx of the tower foundation are as follows:
in the above formula, a 1 、a 2 、…、a n Indicating the installation azimuth angle of the strain sensor; beta represents the azimuth angle of the cabin, and is measured by a yaw encoder sensor; k (k) y Representing a transformation coefficient from stress distribution to pitch bending moment; k (k) x Representing the transformation coefficient from stress distribution to lateral bending moment.
The tower foundation main vector bending moment amplitude and direction angle calculation module specifically executes the following operations:
the main vector bending moment of the tower foundation is obtained by synthesizing the pitching bending moment and the lateral bending moment vectors of the tower foundation; because the tower drum can bend towards the wind direction when the tower drum is loaded by wind, the main vector bending moment of the tower foundation indirectly reflects the information of the wind direction;
the main vector bending moment amplitude of the tower foundation is calculated as follows:
in the above formula, my represents a pitch bending moment of the tower foundation; mx represents a lateral bending moment of the foundation; mxy represents the main vector bending moment amplitude of the tower foundation;
the main vector bending moment direction angle of the tower foundation is calculated as follows:
in the above formula, θ represents a main vector bending moment direction angle of the tower foundation; if represents condition judgment; and represents a logical AND operation; absolute value is represented; arctan (x) represents the arctangent function.
The nacelle yaw error angle calculation module specifically performs the following operations:
the yaw error angle of the engine room is an included angle between the direction of the engine room and the wind direction, and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the engine room have linear correlation, so that the yaw error angle of the engine room can be calculated through the main vector bending moment amplitude and the direction angle of the tower foundation;
according to the main vector bending moment amplitude and the direction angle of the tower foundation, the following table look-up calculation formula is set:
δ＝g(Mxy,θ)
in the above formula, δ represents a nacelle yaw error angle; mxy represents the main vector bending moment amplitude of the tower foundation; θ represents the main vector bending moment direction angle of the tower foundation; g (Mxy, theta) is a two-dimensional table look-up function, and the yaw error angle of the nacelle is obtained according to the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the table look-up difference value;
wherein g (Mxy, theta) is a two-dimensional table look-up function and can be obtained through simulation calculation, the wind directions come from different angles by using Bladed software, the wind speeds are set to be different wind speeds from the cut-out wind speed to the limit wind speed interval, the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the nacelle are counted, and g (Mxy, theta) can be established as the two-dimensional table look-up function.
The wind direction angle calculation module calculates a wind direction angle based on a relationship of a nacelle yaw error angle and a wind direction angle:
the nacelle yaw error angle has the following relationship with the wind direction angle:
ψ＝β+δ
in the above formula, ψ represents a wind direction angle; beta represents the nacelle azimuth; delta represents the nacelle yaw error angle.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, so variations in shape and principles of the present invention should be covered.
Claims (5)
1. The wind direction identification method based on the tower foundation load of the wind generating set is characterized by comprising the following steps of:
1) A strain sensor is attached to a tower foundation of a tower barrel of the wind generating set and is used for measuring stress distribution conditions of the tower foundation;
2) Based on the tower foundation stress distribution measured by the strain sensor, calculating the pitching bending moment and the lateral bending moment of the tower foundation;
3) Based on the pitching bending moment and the lateral bending moment of the tower foundation, calculating a main vector bending moment amplitude and a main vector bending moment direction angle of the tower foundation;
4) Calculating a yaw error angle of the nacelle based on the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation;
the yaw error angle of the engine room is an included angle between the direction of the engine room and the wind direction, and the main vector bending moment direction angle of the tower foundation and the yaw error angle of the engine room have linear correlation, so that the yaw error angle of the engine room can be calculated through the main vector bending moment amplitude and the direction angle of the tower foundation;
according to the main vector bending moment amplitude and the direction angle of the tower foundation, the following table look-up calculation formula is set:
δ＝g(Mxy,θ)
in the above formula, δ represents a nacelle yaw error angle; mxy represents the main vector bending moment amplitude of the tower foundation; θ represents the main vector bending moment direction angle of the tower foundation; g (Mxy, theta) is a two-dimensional table look-up function, and the yaw error angle of the nacelle is obtained according to the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation and the table look-up difference value;
wherein g (Mxy, theta) can be obtained through simulation calculation, the wind direction is simulated to flow from different angles by using Bladed software, the wind speed is set to be different wind speeds from the cut-out wind speed to the limit wind speed interval, the main vector bending moment amplitude of the tower foundation, the main vector bending moment direction angle and the nacelle yaw error angle are counted, and a g (Mxy, theta) two-dimensional table look-up function can be established;
5) Calculating a wind direction angle based on the yaw error angle of the nacelle;
the nacelle yaw error angle has the following relationship with the wind direction angle:
ψ＝β+δ
in the above formula, ψ represents a wind direction angle; beta represents the nacelle azimuth; delta represents the nacelle yaw error angle;
based on the steps, above the cut-out wind speed, the wind generating set can calculate the wind direction angle based on the tower foundation load distribution condition, and the wind direction angle is used as the reliable wind direction input of accurate yaw of the set to wind under the limit wind condition.
2. The wind direction identification method based on tower foundation load of wind generating set according to claim 1, wherein: in the step 1), a plurality of strain sensors are respectively arranged on the inner surface of a tower foundation at a specific height of the tower, the strain sensors are arranged on the same pitch circle of the tower, a preset angle is formed between the strain sensors, each strain sensor corresponds to an azimuth angle, a temperature sensor is additionally arranged adjacent to each strain sensor, and the measured temperature is used for correcting the strain measurement quantity of the strain sensor;
the strain measurement quantity of each strain sensor is subjected to offset correction and temperature correction to obtain the final stress quantity, and the following calculation formula is applied:
in the above, sigma 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; s is(s) 1 、s 2 、…、s n Respectively representing the measured numerical quantity of each strain sensor; s is(s) 1,offset 、s 2,offset 、…、s n,offset Respectively representing the offset correction amount of each strain sensor; t is t 1 、t 2 、…、t n Respectively representing the measured numerical value quantity of each temperature sensor; t is t 1,offset 、t 2,offset 、…、t n,offset Respectively representing the offset correction amount of each temperature sensor; r is (r) 1 、r 2 、…、r n Respectively representing the correction coefficient of the temperature of each strain sensor to the strain; f (f) 1 、f 2 、…、f n Representing the stress-strain coefficient of each strain sensor respectively;
stress sigma 1 、σ 2 、…、σ n The sign of (c) is specified as: stretching to be positive and compressing to be negative; the offset correction amount of the strain sensor, the offset correction amount of the temperature sensor, the correction coefficient of temperature to strain and the stress strain coefficient are undetermined coefficients, and are determined in the sensor calibration process;
the stress distribution sigma is calculated according to the above formula 1 、σ 2 、…、σ n This set of stresses represents the stress distribution on the tower base section.
3. The wind direction identification method based on tower foundation load of wind generating set according to claim 1, wherein: in the step 2), each strain sensor installed on the pitch circle of the tower foundation corresponds to an azimuth angle, which is called a sensor installation azimuth angle, the sensor installation azimuth angle takes the north direction as a starting point, changes from 0 pi to 2 pi along the circumference of the pitch circle, and takes the clockwise rotation angle of the central axis of the tower barrel as positive;
the direction angle of the engine room is called as an engine room azimuth angle, the engine room azimuth angle takes the north direction as an initial zero degree, the clockwise rotation angle of the central axis of the tower barrel is positive, and the angle is changed from 0 pi to 2 pi;
the tower foundation stress distribution sigma is needed to be used for calculating the pitching bending moment My and the lateral bending moment Mx of the tower foundation 1 、σ 2 、…、σ n ，σ 1 、σ 2 、…、σ n The stress distribution is obtained through correction calculation and corresponds to the stress of each strain sensor installation position, and n represents the number of the sensors; the calculation formulas of the pitching bending moment My and the lateral bending moment Mx of the tower foundation are as follows:
in the above formula, a 1 、a 2 、…、a n Indicating the installation azimuth angle of the strain sensor; beta represents the nacelle azimuth; k (k) y Representing a transformation coefficient from stress distribution to pitch bending moment; k (k) x Representing the transformation coefficient from stress distribution to lateral bending moment.
4. The wind direction identification method based on tower foundation load of wind generating set according to claim 1, wherein: in the step 3), the main vector bending moment of the tower foundation is obtained by synthesizing the pitching bending moment and the lateral bending moment vectors of the tower foundation; because the tower drum can bend towards the wind direction when the tower drum is loaded by wind, the main vector bending moment of the tower foundation indirectly reflects the information of the wind direction;
the main vector bending moment amplitude of the tower foundation is calculated as follows:
in the above formula, my represents a pitch bending moment of the tower foundation; mx represents a lateral bending moment of the foundation; mxy represents the main vector bending moment amplitude of the tower foundation;
the main vector bending moment direction angle of the tower foundation is calculated as follows:
in the above formula, θ represents a main vector bending moment direction angle of the tower foundation; if represents condition judgment; and represents a logical AND operation; absolute value is represented; arctan (x) represents the arctangent function.
5. Wind direction recognition system based on wind generating set tower foundation load, which is characterized in that the wind direction recognition method based on wind generating set tower foundation load according to any one of claims 1-4 is realized, comprising:
the tower foundation stress distribution acquisition module is used for mounting strain sensors on the tower foundation of the tower barrel of the wind generating set and measuring the stress distribution situation of the tower foundation, and performing offset correction and temperature correction on the strain measurement quantity of each strain sensor to obtain a final stress quantity;
the tower foundation pitching bending moment and lateral bending moment calculation module is used for calculating the pitching bending moment and the lateral bending moment of the tower foundation based on the tower foundation stress distribution measured by the strain sensor;
the main vector bending moment amplitude and direction angle calculation module of the tower foundation calculates the main vector bending moment amplitude and the main vector bending moment direction angle of the tower foundation based on the pitching bending moment and the lateral bending moment of the tower foundation;
the nacelle yaw error angle calculation module calculates a nacelle yaw error angle based on the main vector bending moment amplitude value and the main vector bending moment direction angle of the tower foundation;
the wind direction angle calculation module is used for calculating the wind direction angle based on the yaw error angle of the nacelle.
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