DE102014224054A1 - Method and device for monitoring a wind energy plant - Google Patents

Abstract

The invention relates to a method for monitoring a wind energy plant (100), wherein the wind energy plant (100) has at least one rotor (106) with at least two rotor blades (108a, 108b, 108c) and at least one acceleration sensor (112) for providing an acceleration course (118 ) having. The method comprises at least one step of reading in the acceleration profile (118), which represents a tower head acceleration of the wind energy plant (100) over time, and a step of determining an imbalance information (120) representing an imbalance of the wind energy plant (100) using the acceleration profile (FIG. 118) to monitor the wind turbine (100).

Description

The present invention relates to a method for monitoring a wind turbine, a corresponding device for monitoring a wind turbine, a wind turbine and a corresponding computer program.

The tower head height of modern wind turbines has grown significantly over the last few years and today reaches heights of well over 100 meters. Wind turbines become more vibratory. In order to avoid vibration excitation and the associated damage to the drive train, nacelle and tower structure by mass imbalance of the rotor, the individual rotor blades are weighed after manufacture and determined their focus. Then rotor blade sets are assembled by three leaves, which have as similar masses and center of gravity.

In part, after the construction of a wind turbine, the rotor is balanced. For this test masses are attached to the rotor blades and measured by means of acceleration sensors, the vibration of the tower head. By this method, the mass imbalance can be detected. Subsequently, the leaves are trimmed, in which they are fitted with leveling compounds which eliminate mass imbalance.

Against this background, with the approach presented here, a method for monitoring a wind turbine, a corresponding device that uses this method, a wind turbine and finally a corresponding computer program according to the main claims are presented. Advantageous embodiments emerge from the respective subclaims and the following description.

The presented approach is based on the knowledge that an information about an imbalance of the rotor can be obtained from an acceleration course of the rotor, the rotor hub or the nacelle of a wind turbine. Additional signals can optionally make the process more robust.

The approach presented here provides a method for monitoring a wind energy plant which has a rotor with at least two rotor blades and at least one acceleration sensor for providing an acceleration profile, the method having the following steps:

Reading the acceleration curve, which represents a tower head acceleration of the wind turbine over time; and

Determining an imbalance information representing an imbalance of the wind turbine using the acceleration curve to monitor the wind turbine.

A wind turbine can be understood as meaning a wind turbine or a wind turbine. In this case, a rotor of the wind turbine is rotated by wind or wind energy in rotation and driven with the rotor, an electric generator. The rotor may have at least two rotor blades, in particular three rotor blades. The acceleration sensor, for example, arranged in the region of a rotor hub of the wind turbine, can detect a lateral tower head acceleration or a lateral tower head vibration and provide a corresponding acceleration signal as the acceleration curve. The acceleration profile may represent a tower head acceleration of the wind turbine over time or a tower head acceleration of the wind turbine over a rotational position of the rotor. From the acceleration signal of the acceleration sensor, a rotational position of the rotor can be determined. The imbalance may characterize a principal axis of inertia of the rotor which does not correspond to a rotational axis of the rotor. An imbalance of the rotor can lead to vibrations and increased wear on the wind turbine. The imbalance information may be determined using a processing rule that may include or describe a mathematical algorithm.

The acceleration curve may represent a signal of a 2D acceleration sensor. Alternatively, the acceleration curve may represent a signal of a 3D acceleration sensor. Furthermore, the acceleration curve can represent a signal of a sensor arranged in the rotor hub. The sensor arranged in the rotor hub can be, for example, a 2D acceleration sensor or a 3D acceleration sensor.

Thus, in the step of reading the acceleration curve can be read via an interface to the arranged in the rotor hub sensor. According to one embodiment, in the step of determining a lateral vibration on the rotor hub and a rotational position of the rotor can be determined from the acceleration curve. The unbalance information can then be determined using the lateral vibration on the rotor hub and the rotational position of the rotor. The rotational position can be determined using a known effective direction of gravity. Thus, the data required to determine the unbalance can be determined using a single accelerometer located in the rotor hub.

In the step of determining, a rotational position course associated with the acceleration profile can be determined from the acceleration course. Thus, the rotational position course can be determined by using the acceleration waveform. In the step of determining the unbalance information can be determined using the rotational position history. The rotational position course can represent a rotational position of the rotor of the wind turbine over time. Advantageously, a sensor can provide the necessary and useful information for the method. Thus, the process can be implemented particularly inexpensively.

In the read-in step, a rotational position course assigned to the acceleration profile can be read in. Thus, in the step of determining the unbalance information can be determined using the rotational position history. In this case, the rotational position course can represent a rotational position of the rotor of the wind turbine over time. Thus, an acceleration profile can be read in via the rotational position and used in the step of determining to determine the imbalance information. The rotational position history may be determined using the acceleration signal or the acceleration waveform.

Furthermore, in the step of determining a balancing mass per rotor blade which is suitable for compensating for the imbalance, it is possible to determine the imbalance information using the acceleration curve and / or the rotational position profile. Additionally or alternatively, in the step of determining a suitable for balancing the imbalance position of the balancing mass per rotor blade can be determined using the acceleration curve and / or the rotational position curve as unbalance information. The determined balancing mass and the position of the determined balancing mass can be used to compensate for the unbalance, so that the rotor no longer has any imbalance.

In the step of reading a speed of the rotor can be read. A rotational speed of the rotor can be determined from the acceleration course or the rotational position course. In the step of determining the unbalance information can be determined using the speed.

The method of monitoring a wind turbine may include a step of averaging. In the step of averaging, the unbalance information may be averaged over a plurality of rotor revolutions. This allows more robust unbalance information to be determined. Alternatively, a plurality of acceleration curves can be averaged and, in the step of determining, the unbalance information can be determined using the averaged acceleration profiles.

In an optional step, a warning signal may be provided if the imbalance information exceeds a pre-defined threshold. The warning signal may be provided if the acceleration profile has a value which is above a predefined threshold value. Thus, an operator of the wind turbine can be warned and cause an elimination of a medium term or long term damaging the wind turbine unbalance.

The present invention further provides an apparatus for monitoring a wind turbine, wherein the apparatus is configured to implement or implement the steps of an embodiment of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces have their own, integrated circuits are or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

The device may comprise at least one 2D acceleration sensor or one 3D acceleration sensor for providing the acceleration profile. In an embodiment, the 2D acceleration sensor or the 3D acceleration sensor may be disposed in the rotor hub. So just a suitable acceleration curve can be provided. From the signal provided by the acceleration sensor, the rotational position of the rotor and thus the acceleration of the tower head can be reconstructed. Advantageously, a sensor provides a sensor signal which can be used to monitor the wind turbine. This makes it possible to monitor the wind turbine particularly cost-effectively and efficiently.

A wind energy plant with a tower, a nacelle arranged on the tower, a rotor arranged on the nacelle with a plurality of rotor blades and with a variant of a device for monitoring the wind energy plant described here are presented. In this case, advantageously, the device can be integrated into the wind energy plant. A wind turbine may include a rotor which may be driven by wind impinging on the rotor. The kinetic energy can be converted into electrical energy using a generator. The rotor can rotate about a rotor shaft while driving a generator to generate electrical energy.

A computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above if the program product is installed on a computer or a device is also of advantage is performed.

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

1 a schematic representation of a wind turbine according to an embodiment of the present invention;

2 a block diagram of a device according to an embodiment of the present invention; and

3 a flowchart of a method according to an embodiment of the present invention.

The same or similar elements may be provided in the following figures by the same or similar reference numerals. Furthermore, the figures of the drawings, the description and the claims contain numerous features in combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations not explicitly described here.

1 shows a schematic representation of a wind turbine 100 according to an embodiment of the present invention. The wind turbine 100 includes a tower 102 one on the tower 102 rotatably arranged gondola 104 and one at the gondola 104 arranged rotor 106 , In the in 1 illustrated embodiment, the rotor comprises 106 three rotor blades 108 , which is also the first rotor blade 108a , second rotor blade 108b and third rotor blade 108c be designated. Furthermore, the wind turbine includes 100 in the illustrated embodiment, a device 110 for monitoring the wind turbine 100 and an acceleration sensor 112 standing in a rotor hub 114 of the rotor 106 is arranged. The rotor hub 114 represents the mechanical connection of the rotor blades to the rotor shaft 116 ago. The acceleration sensor 112 is designed to detect an acceleration acting on it and as an acceleration signal 118 or as acceleration information 118 or an acceleration course 118 provide. When on the accelerometer 112 acceleration acting in an inertial system is a lateral tower head acceleration y = x .. of the wind energy plant 100 , Due to the rotation of the rotor, the measuring signal of the sensor is superimposed with further signal components. The acceleration sensor 112 is with an interface for reading in the acceleration curve 118 the device 110 connected.

In one embodiment, the acceleration sensor is 112 in the tower head or the gondola 104 the wind turbine 100 arranged. In a favorable alternative embodiment, the acceleration sensor is 112 in the rotor hub 114 the wind turbine 100 arranged.

The device 110 is trained, an imbalance information 120 using the acceleration curve 118 to investigate. The imbalance information 120 represents an imbalance of the wind turbine 100 ,

The imbalance information 120 is by a mass m of imbalance and a distance r of the imbalance of the rotor axis 116 characterized. The angular frequency of the rotating rotor 106 is denoted by ω. In this case, ωt describes the current rotational position of the rotor 106 and γ indicates the angle at which the imbalance in the rotor 106 located. By definition, the rotational position ωt is zero when the first rotor blade 108a or rotor blade 1 pointing vertically upwards. A rotational position of the rotor 106 is also denoted by Ω. A lateral tower head acceleration is denoted by y = x. M denotes the sums of the masses of tower head, nacelle 104 as well as modal mass of the first eigenmode of the tower 102 ,

In one embodiment, the device is 110 formed, from the acceleration curve 118 a rotational position of the rotor 106 and / or to reconstruct the tower head acceleration and the imbalance information 120 using the rotational position Ω of the rotor 106 to determine.

The lateral tower head acceleration y = x .., the rotational speed ω and the rotational position Ω of the rotor are measured continuously or using the acceleration curve 118 determined.

• – Einlagerung von Wasser in die Rotorblätter 108.
• – Blatterosion beispielsweise durch Abtrag der äußeren Lackschicht durch Staubpartikel in der Luft.
• – Brocken von Klebstoffresten in zumindest einem der Rotorblätter 108, die sich in der Blattspitze ansammeln.
• – Eisansatz auf zumindest einem der Rotorblätter 108.
• – Reparaturarbeiten an zumindest einem der Rotorblätter 108.

The mass and center of gravity of the individual rotor blades 108 changes over time. Causes for this are:

• - Storage of water in the rotor blades 108 ,
• - Blattering, for example, by removing the outer lacquer layer by dust particles in the air.
• - Brocken of adhesive residues in at least one of the rotor blades 108 , which accumulate in the leaf tip.
• - Ice on at least one of the rotor blades 108 ,
• - Repair work on at least one of the rotor blades 108 ,

The device 110 creates continuous monitoring of mass imbalance. In addition, an imbalance measurement can be carried out during service if there are any irregularities in the operation of the wind turbine 100 to indicate an imbalance.

One aspect of the present invention is the continuous evaluation of the lateral tower head acceleration y = x .. and their evaluation for vibrations caused by the unbalance of the rotating rotor 106 caused. If the detected vibration amplitudes exceed predefined limit values, then the operator can be informed about the current unbalance condition. Sudden changes in imbalance indicate ice build-up or damage from, for example, a lightning strike.

A wind turbine 100 like these in 1 is shown with one or more vibration sensors 112 equipped in the rotor hub or in the tower head. Their measuring signal 118 is thus available in one embodiment without additional costs. The speed ω of the rotor 106 is always measured or from the acceleration signal 118 won. If the rotational position ωt or rotational position Ω of the rotor 106 is not measured, a suitable sensor can be retrofitted at low cost (for example, acceleration sensor 112 which measures the direction of the gravitational vector and calculates therefrom the actual rotor rotational position ωt, Ω).

The considered oscillation is modeled as follows:
The centrifugal force F from the imbalance is calculated to F = mr · ω ² where m is the mass of the imbalance and r is the distance of the imbalance from the rotor axis 116 describes. The angular frequency of the rotating rotor 106 is denoted by ω. The centrifugal force F can be divided into its horizontal portion F _x (t) = mr · ω ² sin (ωt + γ) and a vertical portion F _y (t) = mr · ω ² cos (ωt + γ).

The horizontal component F _x (t) leads to an excitation of the lateral tower oscillation. The vertical component F _y (t) in principle excites vibrations of the tower 102 in the vertical direction. Because the tower 102 In this direction is very stiff, no meaningful measurement signal can be derived from this excitation.

The vibration of the tower 102 in the lateral direction is determined by the differential equation x .. + 2Dωx. + w 2 / 0x = 1 / MF _x (t) described. D describes the degree of damping (Lehr's damping) and ω ₀ the 1st natural frequency of the tower 102 , M is the sum of the masses of tower head, gondola 104 and modal mass of the 1st eigenmode of the tower 102 , F _x (t) acts as an external force due to the unbalance on the oscillatory system and stimulates it to vibrate.

In the Laplace area arises X (s) = G '(s) F _x (s) With

However, the measured variable y is the tower head acceleration y = x. In the Laplace range, Y (s) = G (s) F _x (s) with

The magnitude and phase of the transfer function G (s) as a function of the excitation frequency ω are obtained by substituting s = jω

The imbalance is compensated by a theoretical mass m and a radius or a position r of the mass m. This is achieved by a balancing mass m1, m2, m3 per rotor blade 108a . 108b . 108c at a position r1, r2, r3 of the respective balancing mass m1, m2, m3.

The device 110 is formed in one embodiment, an imbalance of a rotor 106 a wind turbine 100 to eat. One from a sensor 112 measured acceleration y = x .. of the tower head or the nacelle 104 is correlated with a rotor position ωt or rotational position Ω.

In one embodiment, as in FIG 1 shown, an acceleration sensor 112 at the rotor hub 114 arranged to both the lateral vibration at the rotor hub 114 , which corresponds to torsion components of the lateral vibration of the tower head, as well as to measure the rotational position Ω. The acceleration sensor 112 is formed, the acceleration curve 118 provide.

2 shows a block diagram of a device 110 for monitoring a wind turbine according to an embodiment of the present invention. In the device 110 it may be an embodiment of an in 1 shown device 110 for monitoring a wind turbine 100 act. As one aspect, the device provides 110 a determination of a mass imbalance of a rotor of the wind turbine. The device 110 includes an interface 230 for reading in an acceleration curve 118 representing a tower head acceleration of the wind turbine over time. Furthermore, the device comprises 110 An institution 232 for determining an imbalance information representing an imbalance of the wind turbine 120 , The device 232 for determining the imbalance information 120 is trained, the imbalance information 120 using the acceleration curve 118 to monitor to monitor the wind turbine. For this a processing instruction can be applied.

In one embodiment, the interface is 230 trained for reading, the acceleration course 118 assigned rotational position course 234 read. Here is the device 232 trained to determine the imbalance information 120 additionally using the rotational position course 234 to investigate. The rotational position course 234 represents a rotational position Ω of the rotor of the wind turbine over time.

In one embodiment, the device is 232 trained to determine, as imbalance information 120 a balancing mass m1, m2, m3 suitable for balancing the imbalance per rotor blade and / or a position r1, r2, r3 of the balancing mass m1, m2, m3 per rotor blade.

In one embodiment, the interface is 230 designed for reading, read in a speed ω of the rotor. Here is the device 232 trained to determine the imbalance information 120 additionally using the speed ω to determine.

In one embodiment, the device comprises 110 an optional device 236 to the means. The device 236 for the means is formed, the unbalance information 120 average over a variety of rotor revolutions and provide as averaged unbalance information.

Furthermore, the device comprises 110 In one embodiment, an optional device 238 to warn, which is trained a warning signal 240 to provide when the imbalance information 120 a pre-defined threshold 242 exceeds.

The following is an embodiment of a processing rule for determining the unbalance information 120 or to determine the mass imbalance of the rotor described in detail: It is continuously the lateral tower head acceleration y = x .., the rotational speed ω and the rotational position Ω of the rotor measured. If measurement data for one rotor revolution is present, then the lateral tower head acceleration y = x. Is developed via the rotational position Ω into a Fourier series and the coefficients c ₁ and s _{1 of} the Fourier series are determined.

It is not necessary to record the measured values y, Ω and the required memory space if the integrals are calculated online. This ensures compliance with the limits of integrals. The coefficients c ₁ , s ₁ are calculated for many (for example 100) rotor revolutions and then averaged.

It is now possible to calculate the amplitude A and the phase φ of the proportion of the lateral tower head acceleration y = x .. which is excited by the imbalance.

sodass y_1p = A·cos(ωt + ϕ) gilt. Die berechnete Amplitude A und Phase ϕ berechnet sich aus der Anregung durch A = |G(jω)|·mrω² ϕ = φ(jω) + γ. The rotational frequency vibration component is then through y _1p = A · cos (ωt - φ) described. Since the excitation F _x (t) = mr · ω ² sin (ωt + γ) but is described by a phase-shifted sine, the following form is used

so that y _1p = A · cos (ωt + φ) applies. The calculated amplitude A and phase φ is calculated from the excitation by A = | G (jω) | · mrω ² φ = φ (jω) + γ.

By employing the equations from above, the position γ and the amount mr of the imbalance can now be determined at a known rotational speed ω of the rotor.

Then the existing imbalance (mr) ₁ , (mr) ₂ , (mr) ₃ can be calculated for each blade.

The last line forces the sum of all unbalances to be zero. As a result, the three values have both negative and positive signs. Since normally no mass can be removed from the leaves, the necessary balancing masses are calculated as follows
offset = max ((mr) ₁ , (mr) ₂ , (mr) ₃ ) first rotor blade: - (mr) ₁ + offset second rotor blade: - (mr) ₂ + offset third rotor blade: - (mr) ₃ + offset

Which mass m ₁ , m ₂ , m _{3 is} mounted depends on the distance r ₁ , r ₂ , r ₃ from the rotational axis of which it is mounted.

The proposed processing rule can be operated continuously. If the imbalance of the rotor exceeds a warning threshold, then the operator is informed that a balancing of the rotor is required. At the same time the required balancing mass can be reported to the operator. If an error threshold is exceeded, the system can be shut down to prevent damage to the drive train.

In one exemplary embodiment, the proposed processing specification uses the lateral tower head acceleration y = x .. as the measured data over time as the acceleration curve 118 is provided, and the rotational position Ω of the rotor. The rotational position can be used as a rotational position course 234 be provided or from the acceleration course 118 be determined. As an output variable, the imbalance of the rotor or the required balancing masses m ₁ , m ₂ , m _{3 is} determined.

The unbalance detection described can be integrated as a rotor-based function in a rotor monitoring system.

3 shows a flowchart of a method 350 for monitoring a wind turbine according to an embodiment of the present invention. The wind turbine can be an embodiment of an in 1 shown wind turbine 100 act. A variant of the procedure 350 can on an embodiment of in 1 and 2 described device 110 be executed to monitor the wind turbine. It is hereby a procedure 350 provided for cost-effective, continuous imbalance monitoring. It can be used on existing sensors.

The procedure 350 includes at least one step 352 Reading in an acceleration curve and a step 354 determining an imbalance information representing an imbalance of the wind turbine using the course of the acceleration to monitor the wind turbine.

In optional embodiments, the method includes 350 continue an optional step 356 the means and additionally or alternatively an optional step 358 of warning. In the optional step 356 the averaging, the unbalance information is averaged over a plurality of rotor revolutions. In an embodiment not shown, the step 356 the means as a partial step in the step 354 integrated. In the optional step 358 of warning, a warning signal is provided when the imbalance information exceeds a pre-defined threshold.

The exemplary embodiments shown are chosen only by way of example and can be combined with one another.

LIST OF REFERENCE NUMBERS

100

Wind turbine

102

tower

104

gondola

106

rotor

108a

first rotor blade

108b

second rotor blade

108c

third rotor blade

110

Device for monitoring

112

accelerometer

114

rotor hub

116

rotor axis

118

Acceleration signal, acceleration curve

120

unbalance information

ω

Angular frequency, speed

ωt, Ω

rotary position

γ

Angle of imbalance

y = x ..

lateral tower head acceleration

M

Sum of the masses

F

centrifugal

D

Damping degree (Lehr's damping)

m

balancing mass

m1, m2, m3

Balancing mass per rotor blade

r

Radius / position of the balancing mass

r1, r2, r3

Radius / position of the balancing mass per rotor blade

230

Interface for reading

232

Device for determining

234

Rotary position curve

236

Device for averaging

238

Device for warning

240

warning

242

threshold

350

Method of monitoring

352

Step of reading in

354

Step of determining

356

Step of averaging

358

Step of warning

Claims (14)

Procedure ( 350 ) for monitoring a wind turbine ( 100 ), which has a rotor ( 106 ) with at least two rotor blades ( 108a . 108b . 108c ) and at least one acceleration sensor ( 112 ) for providing an acceleration course ( 118 ), the method ( 350 ) has the following steps: reading in ( 352 ) of the acceleration course ( 118 ), which is a tower head acceleration of the wind turbine ( 100 ) represents over time; and determining ( 354 ) one of an imbalance of the wind turbine ( 100 ) imbalance information ( 120 ) using the acceleration curve ( 118 ) to the wind turbine ( 100 ). Procedure ( 350 ) according to claim 1, wherein the acceleration profile ( 118 ) a signal of a 2D acceleration sensor ( 112 ) and / or a 3D acceleration sensor ( 112 ). Procedure ( 350 ) according to one of the preceding claims, in which the acceleration profile ( 118 ) a signal in the rotor hub ( 114 ) arranged sensor ( 112 ). Method according to claim 3, wherein in step ( 352 ) of reading the acceleration course ( 118 ) via an interface to that in the rotor hub ( 114 ) arranged sensor ( 112 ) is read in step ( 354 ) of determining a lateral vibration at the rotor hub ( 114 ) and a rotational position of the rotor ( 106 ) from the acceleration course ( 118 ) and the imbalance information ( 120 ) using the lateral vibration at the rotor hub ( 114 ) and the rotational position of the rotor ( 106 ) is determined. Procedure ( 350 ) according to one of the preceding claims, wherein in step ( 354 ) of determining a course of acceleration ( 118 ) associated rotational position course ( 234 ) from the acceleration course ( 118 ) and in step ( 354 ) of determining the unbalance information ( 120 ) using the rotational position course ( 234 ), wherein the rotational position course ( 234 ) a rotational position (Ω) of the rotor ( 106 ) of the wind energy plant ( 100 ) over time. Procedure ( 350 ) according to one of the preceding claims, wherein in step ( 354 ) of determining a balancing mass (m1, m2, m3) suitable for balancing the imbalance per rotor blade ( 108a . 108b . 108c ) and / or a position (r1, r2, r3) of the balancing mass (m1, m2, m3) per rotor blade ( 108a . 108b . 108c ) using the acceleration curve ( 118 ) and / or the rotational position course ( 234 ) as unbalance information ( 120 ) is determined. Procedure ( 350 ) according to one of the preceding claims, wherein in step ( 352 ) of reading a speed (ω) of the rotor ( 106 ) and in step ( 354 ) of determining the unbalance information ( 120 ) is determined using the rotational speed (ω). Procedure ( 350 ) according to one of the preceding claims, with a step ( 356 ) of the means, the unbalance information ( 120 ) is averaged over a plurality of rotor revolutions. Procedure ( 350 ) according to one of the preceding claims, with a step ( 358 ) of providing a warning signal ( 240 ), if the imbalance information ( 120 ) a predefined threshold ( 242 ) exceeds. Contraption ( 110 ) for monitoring a wind turbine ( 100 ), the device ( 110 ) Facilities for carrying out a method ( 350 ) according to one of the preceding claims. Contraption ( 110 ) according to claim 10, with at least one 2D acceleration sensor ( 112 ) and / or a 3D acceleration sensor ( 112 ) for providing the acceleration course ( 118 ), in particular wherein the 2D acceleration sensor ( 112 ) and / or the 3D acceleration sensor ( 112 ) in the rotor hub ( 114 ) is arranged. Wind energy plant ( 100 ) with a tower ( 102 ), one on the tower ( 102 ) arranged gondola ( 104 ), one at the gondola ( 104 ) arranged rotor ( 106 ) with a plurality of rotor blades ( 108a . 108b . 108c ) and with a device ( 110 ) according to one of claims 10 to 11, wherein the device ( 110 ) in the wind energy plant ( 100 ) is integrated. Computer program adapted to perform all steps of a procedure ( 350 ) according to one of the preceding claims.  Machine-readable storage medium with a computer program stored thereon according to claim 13.

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