CN116499426A - Wind power tower inclination and deformation monitoring method based on attitude calculation - Google Patents
Wind power tower inclination and deformation monitoring method based on attitude calculation Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a wind power tower inclination and deformation monitoring method based on attitude calculation, belongs to the technical field of wind power plant tower monitoring, and aims to solve the technical problems of wind turbine generator collapse and faults caused by wind power tower structural deformation and tower inclination, and ensure normal operation of wind power tower equipment. The inclination angle sensors for sensing the inclination and the deformation of the wind power tower are designed and installed at a plurality of positions such as the top of the tower and the tower body, the connection between the wind power tower is connected by adopting a flange plate, and the inclination angle sensors are installed at different heights inside the tower body, so that the accuracy of measuring the position and the inclination and the deformation of the tower body is improved. The method comprises the following steps: a data processing stage, an initializing stage and a gesture resolving stage, wherein the quaternion is updated by using a rotation vector method, and the quaternion is normalized; converting the quaternion into a gesture transfer matrix; and calculating the attitude angle, and realizing continuous on-line monitoring of the inclination and deformation states of the tower body.
Description
Technical Field
The invention relates to the field of wind power plant tower drum monitoring, in particular to a wind power plant tower drum inclination and deformation monitoring method based on attitude calculation.
Background
Wind power is a renewable energy source with low development cost and large-scale development, and with the rapid development of economy and science and technology in China, the number and scale of wind turbines in China are rapidly increasing. Wind farms are generally set up in valleys or seas far from human smoke, and the equipment operation conditions of wind power towers are maintained by arranging periodic manual inspection, which consumes a great deal of manpower and financial resources. The wind power tower is basically in an unattended state, cannot be monitored in real time, and cannot be notified to a manager for maintenance work at the first time when a safety problem occurs. When the wind power tower works, the wind power tower is subjected to complex and changeable loads such as thrust of wind, self gravity, torsion of an impeller and the like, and meanwhile, the wind power tower is influenced by geographical factors, and the tower is inclined or distorted. Serious tilting or deformation increases the risk of collapse of the tower, and therefore continuous on-line monitoring of the tilting, deformation state of the tower is required.
In order to reduce the structural deformation of a wind power tower and the collapse and faults of a wind turbine caused by the inclination of the tower, and ensure the normal operation of wind power tower equipment, the invention provides a wind power tower inclination and deformation monitoring method based on attitude calculation.
Disclosure of Invention
The invention aims at: in order to reduce the structural deformation of a wind power tower and the collapse and faults of a wind turbine caused by the inclination of the tower, ensure the normal operation of wind power tower equipment, realize continuous on-line monitoring of the inclination and deformation states of a tower body, and provide a wind power tower inclination and deformation monitoring method based on attitude calculation.
In order to achieve the above purpose, the present invention provides the following technical solutions: a wind power tower inclination and deformation monitoring method based on attitude calculation comprises the following steps,
s1, a data processing stage: importing the original data acquired by the gyroscope and the accelerometer; and then carrying out zero offset correction calculation on the triaxial angular velocity of the gyroscope to remove the instability of zero offset.
S2, initializing: determining a coordinate system; setting subsamples and sampling time, and selecting proper subsamples to enter gesture resolving; initializing information of an accelerometer, calculating an initial attitude angle by using acceleration, and initializing quaternion; in order to reduce the effect of errors on the true value, a misalignment angle error value is set.
S3, a gesture resolving stage: performing error compensation on the angular velocity according to the gyro output value; updating the quaternion by using a rotation vector method, and normalizing the quaternion; converting the quaternion into a gesture transfer matrix; and calculating an attitude angle.
The specific operation of step S1 is as follows:
s11, importing triaxial original data acquired by a gyroscope and an accelerometer; and selecting 500 original data points to calculate the average value, namely, obtaining the zero offset value of the gyro in a static state, subtracting the zero offset value from the original data, and correcting the original data.
S12, setting the subsamples as bisubsamples, and setting the sampling interval to be 0.005 and the sampling period to be 0.01.
S21, if the external input is gesture information, gesture resolving is directly carried out; if accelerometer information, the initial attitude angle is calculated using the acceleration.
S22, initializing quaternion.
The specific operation of step S3 is as follows:
s31, according to the selected subsamples, the angular rate error compensation is multiplied by the cross to subtract the influence of the misalignment angle error, and the angle increment is calculated.
S32, calculating a model by using the angle increment, and calculating a trigonometric function by using several items before Taylor expansion if the model is small; if the model is greater than the threshold, the quaternion is directly updated, and the updated quaternion is normalized.
S33, calculating an attitude angle by using the quaternion conversion attitude transfer array according to the relation of the coordinate system.
Compared with the prior art, the invention has the beneficial effects that:
the plurality of inclination sensors are arranged at different heights in the tower body, so that the accuracy of measuring the position and the inclination and the deformation of the tower body is improved, and the position and the deformation of the tower body are converted into a position transfer matrix by using quaternions through a data processing stage, an initializing stage and a position resolving stage; and the attitude angle is calculated, the accuracy of the calculated attitude angle is reliable, continuous online monitoring of the inclination and deformation states of the tower body is realized, and the risk of collapse or serious inclination of the tower barrel is greatly reduced.
Drawings
FIG. 1 is a diagram showing the tilt sensor monitoring position of a wind turbine tower tilted and deformed in accordance with an embodiment of the present invention;
FIG. 2 illustrates the change of the coordinate system when the wind turbine tower is tilted and deformed in accordance with the embodiment of the present invention;
FIG. 3 is a schematic diagram of gesture resolution in an embodiment of the present invention;
fig. 4 is a flowchart of the overall pose calculation in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
Example 1
As a preferred embodiment of the invention, a wind power tower inclination and deformation monitoring method based on attitude calculation is used for monitoring wind power tower inclination and deformation based on attitude calculation, and inclination angle sensors for sensing wind power tower inclination and deformation are designed and installed at a plurality of positions such as the top of a tower and a tower body. The connection between wind power towers adopts flange connection, and a plurality of inclination sensors are arranged at different heights in the tower body, so that the accuracy of measuring the position and inclination of the tower body and deformation of the tower body is improved, and the installation position of the inclination sensor at the top of the tower is shown in fig. 1.
The angle change of the tower reflects the inclined and deformed states of the tower, and the inclination of the tower structure and the measurement of the deformation angle of the tower body can be realized by utilizing the inclination angle sensor. The inclination sensor comprises a three-axis gyroscope and a three-axis accelerometer, wherein the gyroscope collects angular velocity data, the accelerometer collects acceleration data, and the angular velocity can be used for calculating the posture angle change of the inclination and the deformation of the tower, and the process is called posture calculation. Whether the calculated attitude angle accuracy is reliable or not is a key for attitude calculation. The gyroscope has the characteristic of zero drift, and instability of the zero drift also affects the accuracy of attitude calculation.
The attitude calculation process involves two coordinate systems, one is the coordinate system of the carrier, the coordinate system is fixedly connected with the carrier (wind power tower), when the tower rotates due to inclination, deformation and the like, the coordinate system also rotates, and the coordinate system of the carrier is assumed to be the b-system. The change of the coordinate system when the wind power tower is inclined and deformed is shown in fig. 2.
The other is a geographic coordinate system, i.e., northeast, north-east, with the X-axis pointing to the east, the Y-axis pointing to the north, and the Z-axis pointing to the sky, assuming this coordinate system is the n-system.
The gesture calculation for wind power tower inclination and deformation monitoring is equivalent to the calculation of the change of the coordinate system b of the current carrier (wind power tower) relative to the geographic coordinate system n. Since both the n-system and the b-system are rectangular coordinate systems, the axes always have a rectangular angle, so that the coordinate systems can be understood as rigid bodies, and when only the angular positional relationship between the two coordinate systems is studied, the fixed-point rotation of the rigid bodies can be understood. The change of the fixed point rotation of the rigid body can be represented by a posture transformation matrix, and the matrix contains all posture information of the rigid body. The gyroscope and the accelerometer are respectively used for measuring the angular motion information and the linear motion information of the wind power tower, and the attitude transformation matrix can be updated in real time according to the output of the gyroscope and the accelerometer. The principle of monitoring the inclination and the deformation of the tower barrel by utilizing the attitude calculation mainly considers the calculation of quaternion and a rotation vector method.
(1) Quaternion: quaternion is a number of four elements, generally in the form of
Q＝q 0 +q 1 i+q 2 j+q 3 k
Wherein q is 0 、q 1 、q 2 、q 3 Is real, q 0 As the real part, q 1 i+q 2 j+q 3 k is the imaginary part. When q 2 、q 3 When 0, the quaternion is a complex number, so the quaternion can be regarded as an extension of the complex number and can be called as an supercomplex. Because the imaginary unit vector of the quaternion meets the characteristic of cross multiplication operation, the imaginary part of the quaternion can be regarded as the image in a three-dimensional space. The quaternion calculation attitude angle can reduce the calculation workload, quicken the main control operation efficiency, and when the carrier dip angle is 90 degrees, no singular point appears.
(2) Equivalent rotation vector: the euler rotation theorem indicates that arbitrary rotation of a rigid body from one angular position to another can always be achievedEquivalent to one rotation around a fixed axis, when the direction of the fixed axis is represented by a unit vector u, the product phi=phi u of the rotation angle phi and u is the equivalent rotation vector, and phi= |phi| and phi| are included
The invention monitors the inclination and the deformation of the wind power tower based on gesture resolving, and the gesture resolving process comprises three stages of data processing, initializing and gesture resolving. A schematic diagram of the pose solution is shown in fig. 3.
S1, a data processing stage: importing the original data acquired by the gyroscope and the accelerometer; and then carrying out zero offset correction calculation on the triaxial angular velocity of the gyroscope to remove the instability of zero offset.
S2, initializing: determining a coordinate system; setting subsamples and sampling time, and selecting proper subsamples to enter gesture resolving; initializing information of an accelerometer, calculating an initial attitude angle by using acceleration, and initializing quaternion; in order to reduce the effect of errors on the true value, a misalignment angle error value is set.
S3, a gesture resolving stage: performing error compensation on the angular velocity according to the gyro output value; updating the quaternion by using a rotation vector method, and normalizing the quaternion; converting the quaternion into a gesture transfer matrix; and calculating an attitude angle.
Preferably, the specific operation of step S1 is as follows:
s11, importing triaxial original data acquired by a gyroscope and an accelerometer; and selecting 300 or 500 original data points to calculate the average value, namely, obtaining the zero offset value of the gyro in a static state, subtracting the zero offset value from the original data, and correcting the original data.
S12, setting the subsamples, sampling intervals and sampling periods.
Preferably, the specific operation of step S2 is as follows:
s21, if the external input is gesture information, gesture resolving is directly carried out; if accelerometer information, the initial attitude angle is calculated using the acceleration.
S22, initializing quaternion.
Preferably, the specific operation of step S3 is as follows:
s31, according to the selected subsamples, the angular rate error compensation is multiplied by the cross to subtract the influence of the misalignment angle error, and the angle increment is calculated.
S32, calculating a model by using the angle increment, and calculating a trigonometric function by using several items before Taylor expansion if the model is small; if the model is greater than the threshold, the quaternion is directly updated, and the updated quaternion is normalized.
S33, calculating an attitude angle by using the quaternion conversion attitude transfer array according to the relation of the coordinate system.
And carrying out simulation comparison on Matlab and an attitude calculation model under the conditions of non-zero offset correction, single subsamples and the like.
Example 2
As a preferred embodiment of the invention, the wind power tower inclination and deformation are monitored based on gesture resolving, the gesture resolving process comprises three stages of data processing, initialization and gesture resolving, and a flow chart of the whole gesture resolving is shown in fig. 4. The detailed steps are as follows:
s1, a data processing stage: importing the original data acquired by the gyroscope and the accelerometer; and then carrying out zero offset correction calculation on the triaxial angular velocity of the gyroscope to remove the instability of zero offset.
S2, initializing: determining a coordinate system; setting subsamples and sampling time, and selecting proper subsamples to enter gesture resolving; initializing information of an accelerometer, calculating an initial attitude angle by using acceleration, and initializing quaternion; in order to reduce the effect of errors on the true value, a misalignment angle error value is set.
S3, a gesture resolving stage: performing error compensation on the angular velocity according to the gyro output value; updating the quaternion by using a rotation vector method, and normalizing the quaternion; converting the quaternion into a gesture transfer matrix; and calculating an attitude angle.
The specific operation of step S1 is as follows:
s11, importing triaxial original data acquired by a gyroscope and an accelerometer; and selecting 500 original data points to calculate the average value, namely, obtaining the zero offset value of the gyro in a static state, subtracting the zero offset value from the original data, and correcting the original data.
S12, setting the subsamples as bisubsamples, and setting the sampling interval to be 0.005 and the sampling period to be 0.01.
The specific operation of step S2 is as follows:
s21, if the external input is gesture information, gesture resolving is directly carried out; if accelerometer information, the initial attitude angle is calculated using the acceleration. The calculation process comprises the following steps:
wherein ax, ay and az represent acceleration average values obtained by selecting 500 original data points, θ is an initial pitch angle,for the initial heading angle, γ is the initial roll angle.
S22, initializing quaternion.
Wherein q 0 、q 1 、q 2 、q 3 Is a quaternion.
The specific operation of step S3 is as follows:
s31, according to the selected subsamples, the angular rate error compensation is multiplied by the cross to subtract the influence of the misalignment angle error, and the angle increment is calculated.
S32, obtaining a model party by using the angle increment, and if the model party is small, using a front several terms of Taylor expansion to obtain a trigonometric function; if the model is greater than the threshold, directly updating the model of the quaternion rotation vector asThe calculation process is as follows:
wherein q 'is' 0 、q′ 1 、q′ 2 、q′ 3 The quaternion calculated by the rotation vector is used for calculating and updating the quaternion q with the original quaternion. Normalizing the updated quaternion:
s33, calculating an attitude angle by using the quaternion conversion attitude transfer array according to the relation of the coordinate system.
Wherein the method comprises the steps ofPosture transfer matrix from b-series to n-series, θ is pitch angle, +.>Is the heading angle, and gamma is the roll angle.
Preferably, the ratio of θ,The change of gamma with time is used for monitoring the inclination and deformation of the tower.
Preferably, simulation comparison is carried out on Matlab and an attitude calculation model under the conditions of non-zero offset correction, single subsamples and the like.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. A wind power tower inclination and deformation monitoring method based on attitude calculation is characterized by comprising the following steps of:
comprises the following steps of the method,
s1, a data processing stage: importing the original data acquired by the gyroscope and the accelerometer; and then carrying out zero offset correction calculation on the triaxial angular velocity of the gyroscope to remove the instability of zero offset.
S2, initializing: determining a coordinate system; setting subsamples and sampling time, and selecting proper subsamples to enter gesture resolving; initializing information of an accelerometer, calculating an initial attitude angle by using acceleration, and initializing quaternion; in order to reduce the effect of errors on the true value, a misalignment angle error value is set.
S3, a gesture resolving stage: performing error compensation on the angular velocity according to the gyro output value; updating the quaternion by using a rotation vector method, and normalizing the quaternion; converting the quaternion into a gesture transfer matrix; and calculating an attitude angle.
2. The attitude-based wind power tower inclination and deformation monitoring method according to claim 1, wherein the method is characterized by comprising the following steps of: the specific operation of step S1 is as follows:
s11, importing triaxial original data acquired by a gyroscope and an accelerometer; and selecting 500 original data points to calculate the average value, namely, obtaining the zero offset value of the gyro in a static state, subtracting the zero offset value from the original data, and correcting the original data.
S12, setting the subsamples as bisubsamples, and setting the sampling interval to be 0.005 and the sampling period to be 0.01.
3. The attitude-based wind power tower inclination and deformation monitoring method according to claim 1, wherein the method is characterized by comprising the following steps of: the specific operation of step S2 is as follows:
s21, if the external input is gesture information, gesture resolving is directly carried out; if accelerometer information, the initial attitude angle is calculated using the acceleration.
S22, initializing quaternion.
4. The attitude-based wind power tower inclination and deformation monitoring method according to claim 1, wherein the method is characterized by comprising the following steps of: the specific operation of step S3 is as follows:
s31, according to the selected subsamples, the angular rate error compensation is multiplied by the cross to subtract the influence of the misalignment angle error, and the angle increment is calculated.
S32, calculating a model by using the angle increment, and calculating a trigonometric function by using several items before Taylor expansion if the model is small;
if the model is greater than the threshold, the quaternion is directly updated, and the updated quaternion is normalized.
S33, calculating an attitude angle by using the quaternion conversion attitude transfer array according to the relation of the coordinate system.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117268338A (en) * | 2023-11-17 | 2023-12-22 | 鲁东大学 | Marine rocket launching platform attitude dip angle testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117268338A (en) * | 2023-11-17 | 2023-12-22 | 鲁东大学 | Marine rocket launching platform attitude dip angle testing method |
| CN117268338B (en) * | 2023-11-17 | 2024-02-13 | 鲁东大学 | Marine rocket launching platform attitude dip angle testing method |
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