CN117662394A - Tower clearance monitoring method and device for wind generating set - Google Patents
Tower clearance monitoring method and device for wind generating set Download PDFInfo
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Abstract
A tower clearance monitoring method and device for a wind generating set are provided. The tower clearance monitoring method of the wind generating set comprises the following steps: acquiring position coordinate data of a plurality of points on blades of a wind generating set, which are measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set; determining a clearance value for the blade to the tower based on the position coordinate data; and carrying out clearance protection on the wind generating set based on the clearance value. According to the tower clearance monitoring method and device for the wind generating set, which are disclosed by the embodiment of the invention, the tower clearance protection effect on the wind generating set can be improved.
Description
Technical Field
The present disclosure relates to the field of wind power generation technology. More particularly, the present disclosure relates to a tower clearance monitoring method and apparatus for a wind turbine generator system.
Background
Along with the development of wind power technology and the improvement of energy efficiency requirements, the light-weight design of the blades is an effective measure for reducing the cost of the blades in face of the industry challenge of 'wind-fire same price', longer, softer and lighter are trends of the development of the blades of the future machine set, but the wind power installation of the land wind area is higher than the wind power plant construction proportion of the wind power plant under the conditions of complex topography, complex wind conditions and the like of the standard design of the original wind power set, or the wind speed and direction change is severe due to the meteorological conditions such as cold flow, typhoon and the like, so that the wind power set bears larger wind load in a short period, the deformation of the blades is increased, and the transient occurrence of the shortage of the clearance of the machine set is caused, so that the real-time monitoring of the clearance of the tower with low cost and high reliability is accurately and effectively realized, and corresponding control and protection measures are adopted for the clearance change caused by the complex topography and complex wind conditions, and the safe running of the machine set is ensured.
In the existing clearance measurement technology, under the condition that the light of the video clearance based on the image recognition technology is poor at night, the video clearance has no good environmental adaptability; the clearance system based on the ranging technology such as laser is limited in application boundary in special weather such as heavy fog; the method for arranging the distance measuring or sensing sensors such as infrared sensors, cameras, radars and electromagnetism sensors on the tower frame is difficult to arrange in a yaw synchronization way of the unit, high in maintenance cost, complex in integration and unfavorable for batch rapid implementation.
Disclosure of Invention
According to an exemplary embodiment of the present disclosure, there is provided a tower clearance monitoring method of a wind turbine, comprising: acquiring position coordinate data of a plurality of points on blades of a wind generating set, which are measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set; determining a clearance value for the blade to the tower based on the position coordinate data; and carrying out clearance protection on the wind generating set based on the clearance value.
Alternatively, the plurality of points may include points at predetermined intervals within a predetermined range of the blade, the predetermined range may include a range on the blade from a predetermined distance from a tip of the blade to between the tips of the blade.
Optionally, the step of determining a clearance value of the blade to a tower of the wind turbine based on the position coordinate data may comprise: obtaining an uncorrected clearance value from each point in the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance value refers to a distance difference between an installation position of the millimeter wave radar and projection of each point on a blade tip plane; subtracting the uncorrected clean value from the first distance for each of the plurality of points and adding the uncorrected clean value to the second distance to obtain a measured clean value for each point; and determining the measurement clearance value with the smallest numerical value in the measurement clearance values as the clearance value from the blade to the tower, wherein a first distance is the distance between the installation position of the millimeter wave radar on the blade tip plane and the center of the tower, and a second distance is the radius of the tower on the cross section of each point, which is perpendicular to the plane of the tower.
Optionally, the tower clearance monitoring method may further include: determining a three-dimensional rectangular coordinate system with the center of a cross section of the top of a tower of the wind generating set as a coordinate origin, the left side facing the impeller as an x-axis forward direction, the impeller direction as a y-axis forward direction and the gravity direction as a z-axis forward direction, and determining the y-coordinate of the installation position of the millimeter wave radar in the three-dimensional rectangular coordinate system as a first distance; by the formula And->Calculating a second distance, wherein y b Representing the second distance, ++>Representing the tower cross-sectional diameter at the tip plane, < >>Representing the diameter of the cross section of the top of the tower>Representing the cross section of the bottom of the towerDiameter L blade Representing blade length, H tower Representing the tower height.
Optionally, the position coordinate data is coordinate data of points on the blade in a rectangular coordinate system, the rectangular coordinate system uses a millimeter wave radar installation position as a coordinate origin, and uses a gravity direction as one coordinate axis direction, wherein the step of obtaining an uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data includes: for each point of the plurality of points, the specified dimension data in the position coordinate data is taken as an uncorrected headroom value for each point to the tower.
Optionally, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system uses a direction of a blade wheel as an x-axis forward direction and a direction of gravity as a y-axis forward direction, wherein the step of obtaining an uncorrected clearance value from each of the plurality of points to the tower from the position coordinate data may include: for each point of the plurality of points, taking the x-coordinate in the position coordinate data as an uncorrected empty value for each point to the tower.
Optionally, the step of performing headroom protection on the wind generating set based on the headroom value may include: determining a superimposed pitch angle value based on the headroom value; and determining minimum pitch angle limiting for headroom protection based on the current pitch angle value and the superimposed pitch angle value of the wind generating set.
Optionally, the step of acquiring the position coordinate data of a plurality of points on the blade of the wind generating set measured by the millimeter wave radar may include: determining whether the wind generating set is in a millimeter wave air-purifying failure state; when the wind generating set is not in the millimeter wave headroom failure state, acquiring position coordinate data of the points, wherein the millimeter wave headroom failure state comprises at least one of the following: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
According to an exemplary embodiment of the present disclosure, there is provided a tower clearance monitoring device of a wind turbine, including: a data acquisition unit configured to acquire position coordinate data of a plurality of points on a blade of a wind turbine generator set measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically mounted at a cabin bottom of the wind turbine generator set; a clearance determination unit configured to determine a clearance value of the blade to the tower based on the position coordinate data; and a headroom protection unit configured to headroom protect the wind turbine generator set based on the headroom value.
Alternatively, the plurality of points may include points at predetermined intervals within a predetermined range of the blade, the predetermined range may include a range on the blade from a predetermined distance from a tip of the blade to between the tips of the blade.
Alternatively, the headroom determining unit may be configured to: obtaining uncorrected clearance values from each point in the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance values refer to the distance difference between the installation position of the millimeter wave radar and the projection of each point on a blade tip plane; subtracting the uncorrected clean value from the first distance for each of the plurality of points and adding the uncorrected clean value to the second distance to obtain a measured clean value for each point; and determining the measurement clearance value with the smallest numerical value in the measurement clearance values as the clearance value from the blade to the tower, wherein a first distance is the distance between the installation position of the millimeter wave radar on the blade tip plane and the center of the tower, and a second distance is the radius of the tower on a cross section of each point, which is perpendicular to the plane of the tower.
Optionally, the tower clearance monitoring device may further comprise a distance determining unit configured to: determining a three-dimensional rectangular coordinate system with the center of a cross section of the top of a tower of the wind generating set as a coordinate origin, the left side facing an impeller as an x-axis forward direction, the direction of the impeller as a y-axis forward direction and the direction of gravity as a z-axis forward direction, and determining the y-coordinate of the installation position of the millimeter wave radar in the three-dimensional rectangular coordinate system as a first distance; by the formula Anddetermining a second distance, wherein y b Representing the second distance, ++>Representing the tower cross-sectional diameter at the tip plane, < >>Representing the diameter of the cross section of the top of the tower>Representing the diameter of the cross section of the bottom of the tower, L blade Representing the length of the blade, H tower Representing the tower height.
Alternatively, the position coordinate data may be coordinate data of a point on the blade in a rectangular coordinate system that may have a millimeter wave radar mounting position as a coordinate origin and a gravitational direction as one coordinate axis direction, wherein the headroom determining unit may be configured to: for each point of the plurality of points, the specified dimension data in the position coordinate data is taken as an uncorrected empty value for each point to the tower.
Alternatively, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system may be positive with the impeller direction as the x-axis and the gravity direction as the y-axis, wherein the headroom determining unit may be configured to: for each of the plurality of points, taking the x-coordinate in the position coordinate data as an uncorrected clearance value for each point to the tower.
Optionally, the headroom protection unit may be configured to: determining a superimposed pitch angle value based on the headroom value; and determining minimum pitch angle limiting for headroom protection based on the current pitch angle value and the superimposed pitch angle value of the wind generating set.
Alternatively, the data acquisition unit may be configured to: determining whether the wind generating set is in a millimeter wave headroom failure state; when the wind generating set is not in the millimeter wave headroom failure state, acquiring position coordinate data of the plurality of points, wherein the millimeter wave headroom failure state comprises at least one of the following: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
According to an exemplary embodiment of the present disclosure, there is provided a tower clearance monitoring system of a wind turbine, comprising: the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set and is used for measuring position coordinate data of a plurality of points on blades of the wind generating set; an electronic device includes a tower clearance monitoring device in the present disclosure.
According to an exemplary embodiment of the present disclosure, a computer readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, implements a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure.
According to an exemplary embodiment of the present disclosure, there is provided an electronic apparatus including: at least one processor; at least one memory storing a computer program which, when executed by the at least one processor, implements a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure.
According to an exemplary embodiment of the present disclosure, a computer program product is provided, instructions in which are executable by a processor of a computer device to perform a tower clearance monitoring method of a wind turbine generator set according to an exemplary embodiment of the present disclosure.
According to the tower clearance monitoring method and device for the wind generating set, position coordinate data of a plurality of points on the blade of the wind generating set, which are measured by the millimeter wave radar, are firstly obtained, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set, then the clearance value from the blade to the tower is determined based on the position coordinate data, and the wind generating set is subjected to clearance protection based on the clearance value, so that the effect of the tower clearance protection on the wind generating set is improved.
Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.
Drawings
The foregoing and other objects and features of exemplary embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate the embodiments by way of example, in which:
FIG. 1 illustrates a flowchart of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a schematic diagram one of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 3 illustrates a schematic diagram II of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 4 illustrates a schematic diagram III of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 5 illustrates a schematic diagram four of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 6 illustrates a block diagram of a tower clearance monitoring device of a wind turbine according to an exemplary embodiment of the present disclosure;
FIG. 7 illustrates a block diagram of a tower clearance monitoring system of a wind turbine according to an exemplary embodiment of the present disclosure; and
fig. 8 illustrates a hardware configuration diagram of an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments will be described below in order to explain the present disclosure by referring to the figures.
In the existing clearance measurement technology, the video clearance based on the image recognition technology has no good environmental adaptability in the environment with poor light at night; the clearance system based on the laser ranging technology is limited in application boundary in special weather such as heavy fog and the like; the method for arranging the distance measuring or sensing sensors such as infrared sensors, cameras, radars and electromagnetism sensors on the tower frame is difficult in arrangement of yaw synchronicity of the unit, high in maintenance cost, complex in integration and unfavorable for batch rapid implementation. The solution of arranging a clearance measurement related sensor at the bottom of the cabin requires to be installed on a central axis at the bottom of the cabin, and the installation position is special and insufficient and is difficult to realize. Most clearance measurement technologies can only realize threshold protection, accuracy is to be improved, and hierarchical control cannot be performed according to a clearance value, such as the clearance value of a pre-pitching lifting machine group or shutdown protection.
The tower clearance monitoring technology (hereinafter referred to as millimeter wave clearance) of the wind generating set based on millimeter wave radar ranging technology has the advantages of low cost and high reliability, meanwhile, the industrial technology is high in maturity, the system is integrated, installed and debugged relatively conveniently and rapidly, the wind generating set is beneficial to quick batch implementation, the related beam characteristics can cover a larger angle range, the wind generating set has good environmental adaptability, and all-weather operation can be guaranteed all day. For millimeter wave clearance, after the millimeter wave radar is installed at a preset position and an angle, radar beams are beaten to the front direction of a tower in a fixed angle, the radar beams are reflected by the blades when the blades sweep the front surface of the tower, the distance values between each part of the blades and the tower are accurately calculated according to the ranging values when the radar beams are beaten to the blades through a clearance value calculation model, the minimum value of the blade tip area is taken as a final clearance value, the unit senses the severity of the unit clearance risk according to the real-time clearance value, the least generated energy loss and the most reliable safety control are taken as targets, the active crossing of the unit clearance risk under the extreme working condition is realized through different control strategies, the reliable operation of the unit is ensured, and the implementation of long flexible blades is matched, so that the wind turbine set can better capture wind energy to increase the generated energy, and the lightweight blades become an important means for pursuing LCoE (Levelized Cost of Energy) and leveling electric cost optimization. Meanwhile, millimeter wave headroom combines the sensor technology and the control technology to form complementary advantages, a headroom control and protection scheme based on a sensor is applied on the premise that the reliability and the recognition rate of a sensor device are high, and the protection scheme based on software control technology control is automatically switched when the sensor fails or is seriously affected by the environment, so that direct measurement, accurate control, safety and power generation are achieved.
FIG. 1 illustrates a flowchart of a tower clearance monitoring method of a wind turbine generator set according to an exemplary embodiment of the present disclosure. Fig. 2-5 show schematic diagrams of a tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure.
Referring to fig. 1, in step S101, position coordinate data of a plurality of points on a blade of a wind turbine generator set measured by a millimeter wave radar is acquired. The millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set. For example, as shown in fig. 2, the millimeter wave radar 1 is eccentrically mounted on the left front side of the bottom of the nacelle 3 (standing in the direction in which the nacelle faces the impeller, and the same applies hereinafter), the mounting surface is kept horizontal, and thereafter, the pitch, roll, and pointing attitudes of the millimeter wave radar are adjusted so that the radar beam is directed in the diagonally forward direction of the tower at a fixed angle. Reference numeral 2 in fig. 2 denotes a generator. Fig. 2 (a) shows a left side view, (b) shows a top view, and (c) shows a front view. In addition, the millimeter wave radar may be mounted on, for example, the right front side of the nacelle bottom, the nacelle tail, or the like, and in the present disclosure, the millimeter wave radar is described as being mounted eccentrically on the left front side of the nacelle bottom of the wind turbine generator system.
In order to ensure the stability and reliability of the integral operation, an installation interface of an embedded flange can be reserved at the bottom of the engine room in advance, the millimeter wave radar can be connected with the engine room through a bracket of the engine room, the bracket can meet the functions of supporting and adjusting angles, and the attached hand hole meets the requirements of on-site operation and maintenance.
In exemplary embodiments of the present disclosure, the plurality of points may include points at every preset interval within a preset range of the blade, and the preset range may include a range from a preset distance from the blade tip to between the blade tips on the blade.
In an exemplary embodiment of the present disclosure, the position coordinate data may be coordinate data of a point on the blade in a rectangular coordinate system, which may have a millimeter wave radar mounting position as a coordinate origin and a gravitational direction as one coordinate axis direction.
In an exemplary embodiment of the present disclosure, the rectangular coordinate system may be positive with the impeller direction as the x-axis and the gravity direction as the y-axis.
Further, the position coordinate data may be coordinate data of points on the blade in a three-dimensional rectangular coordinate system. For example, the three-dimensional rectangular coordinate system may use the direction of the impeller as the positive x-axis direction, the direction of gravity as the positive y-axis direction, and the direction facing the left side of the impeller as the positive z-axis direction. For example, the three-dimensional rectangular coordinate system may also have an x-axis forward direction facing the left side of the impeller, a y-axis forward direction, and a z-axis forward direction. The rectangular coordinate system can take the installation position of the millimeter wave radar as the origin of coordinates, and can also take other positions as the origin of coordinates, such as, but not limited to, the center of the cross section of the top of the tower.
In an exemplary embodiment of the present disclosure, when position coordinate data of a plurality of points on a blade of a wind turbine generator set measured by a millimeter wave radar is acquired, it may be first determined whether the wind turbine generator set is in a millimeter wave headroom failure state, and then when it is determined that the wind turbine generator set is not in the millimeter wave headroom failure state, position coordinate data of the plurality of points is acquired. Here, the millimeter wave headroom failure state may include at least one of: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
In addition, when the millimeter wave headroom fails, an effective headroom value cannot be calculated and a headroom protection strategy is executed, and the unit is required to be switched to a failure protection control logic to be protected in a mode of limiting a fixed pitch angle.
In step S102, a clearance value of the blade to the tower is determined based on the position coordinate data.
In an exemplary embodiment of the present disclosure, when determining a clearance value of the blade to a tower of the wind turbine generator set based on the position coordinate data, an uncorrected clearance value of each of the plurality of points to the tower may be first obtained from the position coordinate data, subtracted from a first distance for each of the plurality of points, and added to a second distance to obtain a measured clearance value for each point, and then a measured clearance value with a minimum value of the measured clearance values is determined as the clearance value of the blade to the tower. Here, the uncorrected clearance value refers to a distance difference between the installation position of the millimeter wave radar and the projection of each point on the tip plane (e.g., b in fig. 3), and the first distance is a distance between the installation position of the millimeter wave radar on the tip plane and the center of the tower (e.g., y in fig. 3) lidar ) The second distance is the radius of the tower in a cross-section perpendicular to the plane of the tower at each point (e.g., y in FIG. 3 b ). In fig. 3, 1 denotes a millimeter wave radar, 2 denotes a generator, 3 denotes a nacelle, 4 denotes a blade, 5 denotes an irradiation region boundary of the millimeter wave radar, 6 denotes a blade tip plane, 7 denotes an effective irradiation region of the millimeter wave radar, 8 denotes a radar normal line, 9 denotes a radar signal reflection point, 10 denotes a tower top cross-sectional circle, 11 denotes a blade tip plane tower cross-sectional circle, 12 denotes a tower bottom cross-sectional circle, and 13 denotes a hub. Fig. 3 (a) shows a left side view, (b) shows a top view, and (c) shows a front view. The distance Δclearance in fig. 3 is the difference between the second distance and the first distance, and represents a value for correcting the uncorrected clear value, b represents the uncorrected clear value, c real Representing the final real-time null value.
Since the measured clearance value of each point is the distance between each point and the tower wall on the blade tip plane, and the uncorrected clearance value is the distance between each point and the installation position of the laser ranging equipment on the blade tip plane, certain distance errors exist between the two. The tower is a cylinder with relatively smaller top diameter and relatively larger bottom diameter, the section of the cylinder in the left view and the front view is trapezoid, the laser ranging equipment is not arranged on the tower wall, a certain distance error exists between the tower wall and the installation position of the laser ranging equipment on the blade tip plane, and the distance error can be eliminated by subtracting the uncorrected clearance value from the first distance and adding the uncorrected clearance value to the second distance, so that the accuracy of measuring the clearance value is improved.
In an exemplary embodiment of the present disclosure, a three-dimensional rectangular coordinate system in which a center of a cross section of a tower top of the wind turbine generator set is a coordinate origin, an x-axis forward direction facing a left side of an impeller, a y-axis forward direction of an impeller direction, and a z-axis forward direction of a gravitational direction may be determined, a y-coordinate of an installation position of the millimeter wave radar in the three-dimensional rectangular coordinate system is determined as a first distance, and a formula is passedAnd-> A second distance is calculated. Here, y b Representing the second distance, ++>Representing the tower cross-sectional diameter at the tip plane,/->Representing the diameter of the cross section of the top of the tower>Represents the diameter of the cross section of the bottom of the tower, L blade Representing blade length, H tower Representing the tower height.
For example, as shown in FIG. 3, truncated at the top of the towerThe center of the plane is the origin of coordinates, the left side of the impeller is in the positive direction of the x axis, the direction of the impeller is in the positive direction of the y axis, and the direction of gravity is in the positive direction of the z axis, so that a coordinate system of the unit is established. In the unit coordinate system in fig. 3, millimeter wave radar installation position coordinates (x lidar ，y lidar 0) blade length L blade Definition z=l blade Is a blade tip plane, and the diameter of the circular section of the top of the tower isThe diameter of the circular section at the bottom of the tower is +.>The diameter of the tower at the blade tip plane is +.>The height of the tower frame is H tower The impeller rotation plane is parallel to the x-z plane.
As shown in fig. 3, the angle between the normal line of the millimeter wave radar in the y-z plane and the z axis is the radar elevation angle β, the emission angle of the millimeter wave radar is, for example, ±9° along the normal line, and the effective irradiation area is, for example, ±6° along the normal line. The included angle between the normal line and the z axis in the x-z plane is a radar deflection angle alpha (alpha and beta are determined according to the geometrical parameters of the unit), so that the effective irradiation area is ensured to cover the ideal interval of the clearance value, meanwhile, the interference of the tower area is avoided as much as possible, and the data processing capacity of a filtering algorithm is reduced. It should be understood that the emission angle and the effective irradiation area of the millimeter wave radar are seen to be different depending on the performance of the millimeter wave radar.
In an exemplary embodiment of the present disclosure, in the case where the position coordinate data is coordinate data of points on the blade in a rectangular coordinate system having a millimeter wave radar mounting position as a coordinate origin point and a gravitational direction as one coordinate axis direction, when an uncorrected clearance value from each of the plurality of points to the tower is acquired from the position coordinate data, specified dimension data in the position coordinate data may be taken as an uncorrected clearance value from each of the plurality of points to the tower for each of the plurality of points.
In an exemplary embodiment of the present disclosure, in a case where a rectangular coordinate system is positive with an impeller direction as an x-axis and a gravity direction as a y-axis, when an uncorrected clearance value for each of the plurality of points to the tower is obtained from the position coordinate data, the x-coordinate in the position coordinate data may be taken as the uncorrected clearance value for each of the plurality of points to the tower.
As an example, blade coordinate information measured by the millimeter wave radar is represented in a radar coordinate system established with the millimeter wave radar installation position as an origin, the impeller direction as the x-axis forward direction, and the gravity direction as the z-axis forward direction. In the process of entering and leaving an effective irradiation area from a blade, the millimeter wave radar continuously measures the position information of a plurality of reflection points on the blade, the information of the reflection points is overlapped in a scattered point mode according to the intensity of the reflection signals of the reflection points to obtain original data information, an equation representing the geometric shape of the blade is fitted through filtering treatment, the coordinate information of each position of the blade is reversely deduced through integration according to the actual length of the blade, and the coordinate information of one blade is output at preset intervals (for example, but not limited to, 0.1 meter, 0.2 meter, 0.5 meter, 0.8 meter, 1 meter and the like) from the position of the blade tip to the position of the blade tip. According to the blade coordinate information data measured by the millimeter wave radar, the distance from different position points of the blade to the tower is calculated by combining the information such as the installation position of the millimeter wave radar and the configuration of the unit, wherein the distance of the minimum point is a clearance value.
In fig. 4, 1 denotes a millimeter wave radar, 2 denotes a generator, 3 denotes a nacelle, 4 denotes a blade, 6 denotes a tip plane, and 13 denotes a hub. In FIG. 4, blade coordinate 1 (e.g., the coordinate of a point on the Blade 14.5 meters from the tip) is (blade_X 1 ，Blade_Y 1 ) The Blade coordinate n is (blade_X) n ，Blade_Y n ) The Blade coordinate 30 (e.g., the coordinate of a point on the Blade 0.1 meters from the tip) is (blade_X) 30 ，Blade_Y 30 )。
As can be seen from fig. 4, the calculated value b (i.e., uncorrected clearance value) is the blade relative to the radarThe X coordinate (n=1 to 30) of the coordinate system is as shown in formula (1). As can be seen from FIG. 3, the point A coordinates are (0, b+y) lidar 0), point B is the maximum point of the y value projected on the x-y plane of the blade tip plane and the section of the tower, and the coordinates are (0, y) b 0), wherein the y-coordinate y of the point B is calculated according to formula (2) b Headroom value c for each point n The calculation method is shown in the formula (3).
b＝Blade_X n (1)
C n ＝OA-OB＝b+y lidar -y b (3)
In fig. 5, 1 denotes a millimeter wave radar, 2 denotes a generator, 3 denotes a nacelle, 4 denotes a blade, 6 denotes a tip plane, and 13 denotes a hub. As shown in fig. 5, the tower is considered approximately as an isosceles trapezoid, obtaining +.>As shown in equation (4).
Final clear value c n The calculation method is shown in formula (5).
Blade_X measured from millimeter wave headroom by equation (5) n (n=1 to 30) calculating the blade-to-tower clearance value c n Taking the minimum value output c within 15 meters from the blade tip real 。c real ≈ Min(c 1 ，c 2 ，c 3 ，...，c 30 )。
Further, when the position coordinate data is coordinate data of points on the blade in a rectangular coordinate system having other positions than the millimeter wave radar installation position as coordinate origins, an uncorrected clearance value of each of the plurality of points to the tower may be determined from the coordinate data of the points on the blade and a distance between the millimeter wave radar installation position and the coordinate origins.
The above is the calculation principle of the null value, based on the above principle, different specific embodiments can be evolved according to the deformation of the trigonometric function formula and the like in practical application.
In step S103, the wind turbine generator system is protected from headroom based on the headroom value.
In exemplary embodiments of the present disclosure, when the wind turbine generator is headroom protected based on the headroom value, a superimposed pitch angle value may be first determined based on the headroom value, and then a minimum pitch angle clip for headroom protection may be determined based on the current pitch angle value and the superimposed pitch angle value of the wind turbine generator.
For example, according to the real-time null value c real The unit execution headroom protection policy may be: when the clearance function is enabled, the pitch control is enabled, the rotating speed and the pitch angle meet certain conditions, and under the normal millimeter wave clearance condition, the sum of the current pitch angle and the superimposed pitch angle is taken as the minimum pitch angle amplitude limit of clearance protection based on the preset superimposed pitch angle value of the current clearance value.
In summary, according to the tower clearance monitoring method of the wind generating set of the exemplary embodiment of the disclosure, the system integration and the installation and the debugging are relatively convenient and rapid, the rapid batch implementation is facilitated, the related beam characteristics can cover a larger angle range, and the method has good environmental adaptability and can ensure all-weather operation all day long; and according to the accurate real-time clearance value obtained under the clearance value calculation model, the active crossing of the clearance risk of the wind turbine generator set under the extreme working condition is realized through different control strategies, and the reliable operation of the wind turbine generator set is ensured. Meanwhile, the sensor technology and the control technology are combined to form complementary advantages, a clearance control and protection scheme based on a sensor is applied on the premise that the sensor device is normally operated, and the protection scheme based on software control technology control is automatically switched when the sensor fails, so that direct measurement, accurate control, safety and power generation are achieved.
Furthermore, according to an exemplary embodiment of the present disclosure, a computer readable storage medium is also provided, on which a computer program is stored, which, when executed, implements a tower clearance monitoring method of a wind turbine generator set according to an exemplary embodiment of the present disclosure.
In an exemplary embodiment of the present disclosure, the computer-readable storage medium may carry one or more programs, which when executed may implement the steps of: acquiring position coordinate data of a plurality of points on blades of a wind generating set, which are measured by millimeter wave radars, wherein the millimeter wave radars are eccentrically arranged at the bottom of a cabin of the wind generating set; determining a clearance value for the blade to the tower based on the position coordinate data; and carrying out clearance protection on the wind generating set based on the clearance value.
The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the presently disclosed embodiments, a computer-readable storage medium may be any tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing. The computer readable storage medium may be embodied in any device; or may exist alone without being incorporated into the device.
Further, according to an exemplary embodiment of the present disclosure, a computer program product is provided, the instructions in which are executable by a processor of a computer device to perform a method of tower clearance monitoring of a wind turbine according to an exemplary embodiment of the present disclosure.
A tower clearance monitoring method of a wind turbine according to an exemplary embodiment of the present disclosure has been described above in connection with fig. 1 to 5. Hereinafter, a tower clearance monitoring apparatus of a wind turbine generator set and units thereof according to an exemplary embodiment of the present disclosure will be described with reference to fig. 6.
FIG. 6 illustrates a block diagram of a tower clearance monitoring device of a wind turbine according to an exemplary embodiment of the present disclosure.
Referring to fig. 6, the tower clearance monitoring device of the wind turbine includes a data acquisition unit 61, a clearance determination unit 62, and a clearance protection unit 63.
The data acquisition unit 61 is configured to acquire position coordinate data of a plurality of points on a blade of a wind turbine generator set measured by a millimeter wave radar eccentrically mounted at a nacelle bottom of the wind turbine generator set.
In an exemplary embodiment of the present disclosure, the position coordinate data may be coordinate data of a point on the blade in a rectangular coordinate system having a millimeter wave radar mounting position as a coordinate origin and a gravitational direction as one coordinate axis direction.
In an exemplary embodiment of the present disclosure, when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system may be positive with the impeller direction as an x-axis and the gravity direction as a y-axis.
In exemplary embodiments of the present disclosure, the plurality of points may include points at every preset interval within a preset range of the blade, and the preset range may include a range from a preset distance from the blade tip to between the blade tips on the blade.
In an exemplary embodiment of the present disclosure, the data acquisition unit 61 may be configured to: determining whether the wind generating set is in a millimeter wave headroom failure state; when the wind generating set is not in the millimeter wave headroom failure state, acquiring position coordinate data of the points, wherein the millimeter wave headroom failure state comprises at least one of the following: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
The clearance determination unit 62 is configured to determine a clearance value of the blade to the tower based on the position coordinate data.
In an exemplary embodiment of the present disclosure, the headroom determining unit 62 may be configured to: obtaining an uncorrected clearance value from each point in the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance value refers to a distance difference between the installation position of the millimeter wave radar and the projection of each point on a blade tip plane; subtracting the uncorrected clean value from the first distance for each of the plurality of points and adding the uncorrected clean value to the second distance to obtain a measured clean value for each point; and determining the minimum measured clearance value in the measured clearance values as the clearance value from the blade to the tower. Here, the first distance is a distance between the installation position of the millimeter wave radar and the center of the tower on the blade tip plane, and the second distance is a radius of the tower on a cross section perpendicular to the plane of the tower where each point is located.
In an exemplary embodiment of the present disclosure, the tower clearance monitoring apparatus may further include a distance determining unit (not shown) configured to: determining that the center of a section circle of the top of the tower of the wind generating set is taken as a coordinate origin, the left side facing the impeller is taken as the positive x-axis direction, the direction of the impeller is taken as the positive y-axis direction,The method comprises the steps of determining a y coordinate of an installation position of the millimeter wave radar in a three-dimensional rectangular coordinate system as a first distance by using the three-dimensional rectangular coordinate system with a gravity direction being a positive z-axis; by the formulaAnd-> Determining a second distance, wherein y b A second distance is indicated and is indicated as such,representing the tower cross-sectional diameter at the tip plane, < >>Representing the diameter of the cross section of the top of the tower>Representing the diameter of the cross section of the bottom of the tower, L blade Representing blade length, H tower Representing the tower height.
In an exemplary embodiment of the present disclosure, in a case where the position coordinate data is coordinate data of a point on the blade in a rectangular coordinate system having a millimeter wave radar mounting position as a coordinate origin and a gravitational direction as one coordinate axis direction, the headroom determining unit 62 may be configured to: for each point of the plurality of points, taking specified dimension data in the position coordinate data as an uncorrected empty value for each point to the tower.
In an exemplary embodiment of the present disclosure, in the case where the rectangular coordinate system is a two-dimensional rectangular coordinate system in which the impeller direction is the x-axis forward direction and the gravity direction is the y-axis forward direction, the headroom determining unit 62 may be configured to: for each of the plurality of points, taking the x-coordinate in the position coordinate data as an uncorrected clearance value for each point to the tower.
The headroom protection unit 63 is configured to headroom protect the wind park based on the headroom value.
In an exemplary embodiment of the present disclosure, the headroom protection unit 63 may be configured to: determining a superimposed pitch angle value based on the headroom value; and determining minimum pitch angle limiting for headroom protection based on the current pitch angle value and the superimposed pitch angle value of the wind generating set.
FIG. 7 illustrates a block diagram of a tower clearance monitoring system of a wind turbine according to an exemplary embodiment of the present disclosure.
Referring to fig. 7, a tower clearance monitoring system of a wind turbine includes a millimeter wave radar 71 and electronics 72.
The millimeter wave radar 71 is eccentrically installed at the bottom of the nacelle of the wind turbine generator system for measuring position coordinate data of a plurality of points on the blades of the wind turbine generator system.
The electronics 72 include a tower clearance monitoring device (e.g., the tower clearance monitoring device of fig. 6) in the present disclosure.
The tower clearance monitoring device and system of a wind turbine according to an exemplary embodiment of the present disclosure has been described above in connection with fig. 6 and 7. Next, an electronic device according to an exemplary embodiment of the present disclosure is described with reference to fig. 8.
Fig. 8 illustrates a hardware configuration diagram of an electronic device according to an exemplary embodiment of the present disclosure.
The electronic device may comprise a processor 301 and a memory 302 in which program instructions are stored.
In particular, the processor 301 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured as one or more integrated circuits that implement the embodiments of the present application.
Memory 302 may include mass storage for data or instructions. By way of example, and not limitation, memory 302 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or Universal Serial bus (usb) Drive, or a combination of two or more of these. Memory 302 may include removable or non-removable (or fixed) media, where appropriate. Memory 302 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 302 is a non-volatile solid-state memory.
In particular embodiments, memory 302 includes Read Only Memory (ROM). The ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM) or flash memory, or a combination of two or more of these, where appropriate.
The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to a method according to an aspect of the present application.
The processor 301 implements any of the tower clearance monitoring methods of the above embodiments by reading and executing program instructions stored in the memory 302.
In one example, the electronic device may also include a communication interface 303 and a bus 310. As shown in fig. 8, the processor 301, the memory 302, and the communication interface 303 are connected to each other by a bus 310 and perform communication with each other.
The communication interface 303 is mainly used to implement communications between modules, apparatuses, units, and/or devices in the embodiments of the present application.
Bus 310 includes hardware, software, or both, that couple components of the electronic device to one another. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 310 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, any suitable bus or interconnect is contemplated by the present application.
In combination with the method for monitoring tower clearance in the above embodiments, embodiments of the present application may provide a readable storage medium. The readable storage medium has program instructions stored thereon; the program instructions, when executed by the processor, implement a method of monitoring tower clearance in any of the above embodiments.
It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by program instructions. These program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In an exemplary embodiment of the present disclosure, the computer program may, when executed by the processor 301, implement the steps of: acquiring position coordinate data of a plurality of points on blades of a wind generating set, which are measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set; determining a clearance value for the blade to the tower based on the position coordinate data; and carrying out clearance protection on the wind generating set based on the clearance value.
The electronic device shown in fig. 8 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
A tower clearance monitoring method and apparatus of a wind turbine generator set according to exemplary embodiments of the present disclosure have been described above with reference to fig. 1 to 8. However, it should be understood that: the tower clearance monitoring device of the wind power generation set shown in fig. 6 and its units may be configured as software, hardware, firmware, or any combination thereof, respectively, performing specific functions, the electronic device shown in fig. 8 is not limited to include the components shown above, but some components may be added or deleted as needed, and the above components may also be combined.
According to the tower clearance monitoring method and device for the wind generating set, position coordinate data of a plurality of points on the blade of the wind generating set, which are measured by the millimeter wave radar, are firstly obtained, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set, then the clearance value from the blade to the tower is determined based on the position coordinate data, and the wind generating set is subjected to clearance protection based on the clearance value, so that the effect of the tower clearance protection on the wind generating set is improved.
While the present disclosure has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the following claims.
Claims (19)
1. A method for monitoring tower clearance of a wind generating set, the method comprising:
acquiring position coordinate data of a plurality of points on blades of a wind generating set, which are measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set;
Determining a clearance value for the blade to the tower based on the position coordinate data;
and carrying out clearance protection on the wind generating set based on the clearance value.
2. The tower clearance monitoring method of claim 1, wherein the plurality of points includes points at predetermined intervals within a predetermined range of the blade, the predetermined range including a range on the blade from a predetermined distance from a tip of the blade to between the tip of the blade.
3. The tower clearance monitoring method of claim 1, wherein the step of determining a clearance value for the blade to the tower based on the position coordinate data comprises:
obtaining uncorrected clearance values from each point in the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance values refer to the distance difference between the installation position of the millimeter wave radar and the projection of each point on a blade tip plane;
subtracting the uncorrected clean value from the first distance for each of the plurality of points and adding the uncorrected clean value to the second distance to obtain a measured clean value for each point;
determining a minimum of the measured headroom values as a headroom value for the blade to the tower,
The first distance is the distance between the installation position of the millimeter wave radar and the center of the tower on the blade tip plane, and the second distance is the radius of the tower on the cross section of each point, which is perpendicular to the plane of the tower.
4. A tower clearance monitoring method according to claim 3, further comprising:
determining a three-dimensional rectangular coordinate system with the center of a cross section of the top of a tower of the wind generating set as a coordinate origin, the left side facing the impeller as an x-axis forward direction, the impeller direction as a y-axis forward direction and the gravity direction as a z-axis forward direction, and determining the y-coordinate of the installation position of the millimeter wave radar in the three-dimensional rectangular coordinate system as a first distance;
by the formulaAnd->A second distance is calculated and the second distance is calculated,
wherein y is b A second distance is indicated and is indicated as such,representing the tower cross-sectional diameter at the tip plane, < >>Representing the diameter of the cross section of the top of the tower>Representing the diameter of the cross section of the bottom of the tower, L blade Representing blade length, H tower Representing the tower height.
5. A tower clearance monitoring method according to claim 3, wherein the position coordinate data is coordinate data of a point on the blade in a rectangular coordinate system having a millimeter wave radar mounting position as an origin of coordinates and a direction of gravity as one coordinate axis direction,
Wherein the step of obtaining an uncorrected clearance value for each of the plurality of points from the position coordinate data to the tower comprises:
for each point of the plurality of points, the specified dimension data in the position coordinate data is taken as an uncorrected empty value for each point to the tower.
6. The tower clearance monitoring method of claim 5, wherein when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system uses the impeller direction as the x-axis forward direction and the gravity direction as the y-axis forward direction,
wherein the step of obtaining an uncorrected clearance value for each of the plurality of points from the position coordinate data to the tower comprises:
for each of the plurality of points, taking the x-coordinate in the position coordinate data as an uncorrected clearance value for each point to the tower.
7. The tower clearance monitoring method of claim 1, wherein the step of headroom protecting the wind turbine generator set based on the headroom value comprises:
determining a superimposed pitch angle value based on the headroom value;
and determining minimum pitch angle limiting for headroom protection based on the current pitch angle value and the superimposed pitch angle value of the wind generating set.
8. The tower clearance monitoring method according to claim 1, wherein the step of acquiring position coordinate data of a plurality of points on a blade of a wind turbine generator set measured by a millimeter wave radar includes:
determining whether the wind generating set is in a millimeter wave headroom failure state;
when the wind generating set is not in the millimeter wave headroom failure state, position coordinate data of the plurality of points are acquired,
wherein the millimeter wave headroom failure state includes at least one of: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
9. A tower clearance monitoring device for a wind generating set, the tower clearance monitoring device comprising:
a data acquisition unit configured to acquire position coordinate data of a plurality of points on a blade of a wind generating set measured by a millimeter wave radar, wherein the millimeter wave radar is eccentrically installed at the bottom of a nacelle of the wind generating set;
a clearance determination unit configured to determine a clearance value of the blade to the tower based on the position coordinate data; and
And the clearance protection unit is configured to carry out clearance protection on the wind generating set based on the clearance value.
10. The tower clearance monitoring device of claim 9, wherein the plurality of points includes points at predetermined intervals within a predetermined range of the blade, the predetermined range including a range on the blade from a predetermined distance from a tip of the blade to between the tip of the blade.
11. The tower clearance monitoring device of claim 9, wherein the clearance determination unit is configured to:
obtaining uncorrected clearance values from each point in the plurality of points to the tower from the position coordinate data, wherein the uncorrected clearance values refer to the distance difference between the installation position of the millimeter wave radar and the projection of each point on a blade tip plane;
subtracting the uncorrected clean value from the first distance for each of the plurality of points and adding the uncorrected clean value to the second distance to obtain a measured clean value for each point;
determining a minimum of the measured headroom values as a headroom value for the blade to the tower,
the first distance is the distance between the installation position of the millimeter wave radar and the center of the tower on the blade tip plane, and the second distance is the radius of the tower on the cross section of each point, which is perpendicular to the plane of the tower.
12. The tower clearance monitoring device of claim 11, further comprising a distance determination unit configured to:
determining a three-dimensional rectangular coordinate system with the center of a cross section of the top of a tower of the wind generating set as a coordinate origin, the left side facing the impeller as an x-axis forward direction, the impeller direction as a y-axis forward direction and the gravity direction as a z-axis forward direction, and determining the y-coordinate of the installation position of the millimeter wave radar in the three-dimensional rectangular coordinate system as a first distance;
by the formulaAnd->A second distance is determined and the second distance,
wherein y is b A second distance is indicated and is indicated as such,representing the tower cross-sectional diameter at the tip plane, < >>Representing the diameter of the cross section of the top of the tower>Representing the diameter of the cross section of the bottom of the tower, L blade Representing blade length, H tower Representing the tower height.
13. The tower clearance monitoring device of claim 11, wherein the position coordinate data is coordinate data of a point on the blade in a rectangular coordinate system having a millimeter wave radar mounting position as an origin of coordinates and a direction of gravity as one coordinate axis direction,
wherein the headroom determining unit is configured to:
for each point of the plurality of points, the specified dimension data in the position coordinate data is taken as an uncorrected empty value for each point to the tower.
14. The tower clearance monitoring device of claim 13, wherein when the rectangular coordinate system is a two-dimensional rectangular coordinate system, the rectangular coordinate system is positive with the impeller direction as the x-axis and the gravity direction as the y-axis,
wherein the headroom determining unit is configured to:
for each of the plurality of points, taking the x-coordinate in the position coordinate data as an uncorrected clearance value for each point to the tower.
15. The tower clearance monitoring device of claim 9, wherein the clearance protection unit is configured to:
determining a superimposed pitch angle value based on the headroom value;
and determining minimum pitch angle limiting for headroom protection based on the current pitch angle value and the superimposed pitch angle value of the wind generating set.
16. The tower clearance monitoring device of claim 9, wherein the data acquisition unit is configured to:
determining whether the wind generating set is in a millimeter wave headroom failure state;
when the wind generating set is not in the millimeter wave headroom failure state, position coordinate data of the plurality of points are acquired,
wherein the millimeter wave headroom failure state includes at least one of: the millimeter wave clearance system is abnormal in communication with the unit, the heartbeat signal of the millimeter wave radar is lost, and the equipment state flag bit of the millimeter wave radar is abnormal.
17. A tower clearance monitoring system for a wind turbine generator system, the tower clearance monitoring system comprising:
the millimeter wave radar is eccentrically arranged at the bottom of a cabin of the wind generating set and is used for measuring position coordinate data of a plurality of points on blades of the wind generating set;
electronic device comprising a tower clearance monitoring device according to any of the claims 9-16.
18. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the tower clearance monitoring method of a wind park of any of claims 1 to 8.
19. An electronic device, comprising:
at least one processor;
at least one memory storing a computer program which, when executed by the at least one processor, implements the tower clearance monitoring method of a wind park of any of claims 1 to 8.
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