WO2014198566A1 - Détermination de la vitesse propre d'un système de capteurs de vitesse dans un cours d'eau afin de corriger le signal de mesure - Google Patents

Détermination de la vitesse propre d'un système de capteurs de vitesse dans un cours d'eau afin de corriger le signal de mesure Download PDF

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Publication number
WO2014198566A1
WO2014198566A1 PCT/EP2014/061297 EP2014061297W WO2014198566A1 WO 2014198566 A1 WO2014198566 A1 WO 2014198566A1 EP 2014061297 W EP2014061297 W EP 2014061297W WO 2014198566 A1 WO2014198566 A1 WO 2014198566A1
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WO
WIPO (PCT)
Prior art keywords
sensor device
relative
reference point
speed
water flow
Prior art date
Application number
PCT/EP2014/061297
Other languages
German (de)
English (en)
Inventor
Antoine Chabaud
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2014198566A1 publication Critical patent/WO2014198566A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
    • F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
    • F03B13/1805—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem
    • F03B13/1825—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem for 360° rotation
    • F03B13/183—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore and the wom is hinged to the rem for 360° rotation of a turbine-like wom
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P7/00—Measuring speed by integrating acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/80—Diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/107—Purpose of the control system to cope with emergencies
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

Definitions

  • the present invention relates to a method for determining a relative speed between a reference point and a water flow and to a sensor device for its implementation.
  • Wave energy converters which are arranged with their moving parts under the water surface and exploit a wave orbital motion present there, are of particular interest in the context of the present invention.
  • the wave orbital motion can be converted into a rotational movement by means of rotors.
  • rotors with coupling bodies e.g. hydrodynamic lift profiles.
  • Such a system is disclosed in DE 10 201 1 105 177 A1.
  • the invention can be applied to all wave energy converters and also to other systems located in waves moving in waves, which are influenced by a wave motion.
  • high-energy scenarios are, for example, understood as meaning waves with an unusually high speed, amplitude or a specific frequency pattern stressing the systems.
  • a wave energy converter with knowledge of the expected Wellenbeetzschung adapted to be operated on this, for example, to maximize the energy yield of the wave energy converter.
  • Wave movements can be detected by means of Doppler measurements, for example by ultrasound.
  • Sensors for measuring water currents can be on moving objects, e.g. Ships or buoys. These sensors are placed below the water surface and use the Doppler effect, which measures the relative radial velocity (seen in the cylindrical coordinate system) between the sensor device and backscatter elements (eg, sediments or plankton). Obviously, however, the speed of the object to which the sensor device is attached falsifies the measurement results.
  • the invention makes it possible to correct the measured velocity of water flows, in particular by means of a Doppler effect, by the intrinsic speed of the sensor device arranged in the water body. Compensation takes place by determining the airspeed and direction and subtracting from the measured relative velocity. between sensor device and water flow. Thus, the measurement accuracy of the water flow is increased relative to a fixed reference point.
  • the sensor device can provide accurate flow measurement data without complex signal processing after acquisition of the measurement data.
  • the compensation is autonomous, without having to communicate with external sensors.
  • the invention also works in underwater applications where measuring the velocity based on the Doppler effect over the duration of an ultrasonic echo from the seabed is not meaningful, e.g. due to a very large water depth, which leads to high measurement errors due to water flows, temperature and pressure dependence of the speed of sound.
  • the sensor device also provides information about its own speed.
  • the invention makes use of essentially two steps. On the one hand, a usual measurement of the relative speed between sensor device and water flow, in particular based on the Doppler effect, beispielswese using ultrasound.
  • an acceleration and rotation of the sensor device is carried out by means of inertial sensors (acceleration and rotation sensors) attached to the sensor device.
  • Inertial measuring units usually contain three orthogonally arranged acceleration sensors (also referred to as translation sensors), which detect the linear acceleration in the x, y or z axis, from which the
  • yaw rate sensors also referred to as gyroscopic sensors
  • Suitable inertial sensors are, for example, so-called MEMS sensors (microelectromechanical systems).
  • MEMS sensors microelectromechanical systems
  • additional magnetic field sensors can be used.
  • the current speed and direction of the sensor device can be determined and used to correct the measured relative speed between sensor device and water flow. In this way can very easily the Relative speed between water flow and a reference point, which is conveniently the system, are determined.
  • Transient processes non-harmonic form
  • non-periodic accelerations of the sensor device can be taken into account with a short-term integration of the acceleration signal. Since it is a short-term integration (in the range of a few seconds), an integration error is relatively small and does not lead to significant distortions.
  • the compensation of movements of the sensor device at a constant speed can be done especially according to the extension of the method described below. Such movements are not subject to acceleration and can therefore be Acceleration measurement can not be detected.
  • the preferred compensation for movements with constant speed is based on the measured relative speed between the sensor device and water flow, more precisely the scattering centers moved by the water flow. At sea waves, the velocity of the scattering centers has harmonic components that correspond to the harmonic components of the wave. The frequency of these harmonic components is not affected by the intrinsic speed of the sensor device.
  • Wave propagation models e.g., linear wave theory
  • This relationship is known as a dispersion equation and is used as the basis for the compensation of constant velocity components. More details can be found in "Water Wave Mechanics for Engineers & scientistss", Robert G. Dean, Robert A. Dalrymple. From the distance covered by a location of a specific phase position in a certain time and the phase velocity, the intrinsic speed of the sensor device in the measuring direction can be determined.
  • the dispersion equation is significantly influenced by the wave steepness (quotient of wave height H and wavelength L). Therefore, this method can be advantageously combined with a device for measuring the wave height, such as a buoy.
  • a relationship between flow velocity and wave height can be determined from the wave models, so that a coarse (uncompensated measurement) of the flow velocity is sufficient to select the dispersion equation suitable for the prevailing flow conditions.
  • the measurement of the sensor speed in the depth direction can be done by a pressure measurement. Namely, when the sensor device sinks, the static pressure p stat at the location of the sensor device increases. If the wave height is known, for example by the above determination, a change in the wave height influencing the measured depth can also be compensated. The derivation of the pressure after the time and the consideration of the wave height enables the calculation of the velocity in the z-direction.
  • the compensation of the dynamic pressure can be achieved eg by using several pressure sensors.
  • a sensor device is, in particular programmatically, adapted to carry out a method according to the invention.
  • the implementation of the invention in the form of software is advantageous because this allows very low cost, especially if an executing processing unit is still used for other tasks and therefore already exists.
  • Suitable data carriers for the provision of the computer program are in particular floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • FIG. 1 shows a wave energy converter and a sensor device which can be operated according to the invention, in a partial perspective view. Detailed description of the drawing
  • FIG. 1 shows a preferred but purely exemplary wave energy converter which can make use of a wave orbital movement of a wavy body of water, in particular of a sea.
  • the wave energy converter is designated overall by 1. It has a rotor 2, 3, 4 with a rotor base 2, on which over rotor or lever arms 4 elongated lift profiles 3 are mounted.
  • the lift profiles 3 are connected at one end to the lever arms 4 and, for example, via adjusting devices 5 at an angle (so-called pitch angle) about its longitudinal axis rotatable.
  • the adjusting devices 5 can be assigned 6 position encoder.
  • the buoyancy profiles 3 are, relative to the axis of the rotor 2, 3, 4, offset from one another at an angle of 180 °.
  • the buoyancy profiles 3 are preferably connected to the lever arms 4 in the vicinity of their pressure point in order to reduce rotational torques occurring during operation to the buoyancy profiles 3 and thus the requirements for the mounting and / or the adjusting devices.
  • the radial distance between a suspension point of a buoyancy profile 3 and the rotor axis is, for example, 1 m to 50 m, preferably 2 m to 40 m and particularly preferably 6 m to 30 m.
  • the chord length of the lift profiles 3 is for example 1 m to 8 m.
  • the greatest longitudinal extent may be, for example, 6 m or more.
  • the wave energy converter 1 has an integrated generator.
  • the rotor base 2 is rotatably mounted in a generator housing 7.
  • the rotor base 2 forms the rotor of the generator, the generator housing 7 whose stator.
  • the required electrical equipment such as coils and cables are not shown.
  • a rotational movement of the rotor base 2 induced by the wave orbital motion can be directly converted into electrical energy with the lift profiles 3 attached thereto via the lever arms 4.
  • a sensor device 8 Remote from the wave energy converter 1, for example, attached to a submersible buoy, a sensor device 8 is arranged, which is shown in a highly schematic manner in FIG.
  • the sensor device 8 has an ultrasonic Doppler flow profiler (Acoustic Doppler Current Profiler (ADCP)).
  • the ultrasonic Doppler flow meter is oriented in a measuring direction x, which corresponds to a flow direction of the wave energy converter 1.
  • An ADCP is an active sonar that uses the Doppler frequency shift of the reverberation of scattered bodies in the water (mainly plankton) to determine the local flow velocity.
  • the instrument is equipped with three or four independent transducers, the opposite ones forming pairs. In each case a pair of oscillators measures the horizontal movement in one direction, the vertical movement is measured by both in parallel.
  • the devices emit sound pulses in the range of 500 kHz-10 MHz at fixed time intervals. Between the pulses, the backscattered signals are received again. These allow an allocation to the relative over their their term Distance to the transducer.
  • the devices can measure the three-dimensional water velocity in different depth horizons.
  • the flow can be monitored continuously in a defined depth layer (ie for measurement sites located on a measurement surface oriented essentially parallel to the water table of the water body).
  • the sensor device 8 is now further equipped with one or more inertial and / or compass sensors or with an inertial measuring unit.
  • the ADCP 8 is set up to determine its own motion and to use it to correct the measured flow velocity. He also has a control unit on which runs a corresponding computer program.
  • the sensor device 8 is set up to measure the relative speed between the sensor device and the water flow in the x-direction by means of the ultrasonic Doppler measurement and to obtain a measurement signal v x (t) therefrom.
  • the relative speed between wave energy converter and water flow is relevant, so that the measurement is corrected by the relative speed between sensor device 8 and wave energy converter, which is assumed to be a fixed reference point.
  • the sensor device 8 is therefore also configured to record its own acceleration over the time, preferably in all three spatial directions, a x (t), a y (t), a z (t) by means of the inertial measuring unit.
  • Periodic portions of the acceleration can be easily determined by Fourier analysis and used to correct the measured velocity.
  • Transient processes (non-harmonic form) and non-periodic accelerations of the sensor device can be taken into account with a short-term integration of the acceleration signal.
  • the preferred compensation of movements with constant speed v s is based on the measured relative speed between sensor device and water flow, v x (t).
  • a phase of the flow along a measuring direction is measured at a first time and at a later second time t 2 .
  • the sea state ie also the flow component
  • the sea state has only one harmonic component. This makes it easy to determine where Xi the maximum of the flow component is at the time. This is repeated at the second time t 2 , resulting in the location x 2 .
  • the distance of these two locations corresponds to the product of the duration (t2-ti) between the two measurement times and the sum (v P + v s ) from the phase velocity v P and the intrinsic velocity of the sensor device v s in the measurement direction. It is assumed that v P and v s do not change between and t 2 .
  • the phase velocity is through the dispersion equation
  • the sensor device 8 is equipped with at least one pressure sensor, which measures the total pressure with which the sensor device 8 is acted upon. By means of a pressure measurement, the depth in the z-direction, as explained above, can be determined.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé de détermination d'une vitesse relative entre un point de référence (1) et un écoulement d'eau dans une direction de mesure (x). Un système de capteurs (8) mesure une vitesse relative entre le système de capteurs (8) placé dans un cours d'eau et l'écoulement d'eau dans la direction de mesure (x) et détermine une vitesse propre du système de capteurs (8) par rapport au point de référence (1). La vitesse relative entre le système de capteurs (8) et l'écoulement d'eau est corrigée de la vitesse propre afin de déterminer la vitesse relative entre le point de référence (1) et l'écoulement d'eau dans la direction de mesure (x).
PCT/EP2014/061297 2013-06-13 2014-06-02 Détermination de la vitesse propre d'un système de capteurs de vitesse dans un cours d'eau afin de corriger le signal de mesure WO2014198566A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013009876.9A DE102013009876A1 (de) 2013-06-13 2013-06-13 Bestimmung der Eigengeschwindigkeit einer Geschwindigkeitssensoreinrichtung in einem Gewässer zur Korrektur des Messsignals
DE102013009876.9 2013-06-13

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WO2014198566A1 true WO2014198566A1 (fr) 2014-12-18

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WO (1) WO2014198566A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080239869A1 (en) * 2005-06-29 2008-10-02 Nortek As System and Method for Determining Directional and Non-directional Fluid Wave and Current Measurements
US20090326824A1 (en) * 2008-06-30 2009-12-31 Michael Naumov Method and device for the autonomous determination of wind speed vector
WO2011000486A2 (fr) * 2009-07-02 2011-01-06 Bayer Materialscience Ag Procédé de production d'énergie électrique à partir de l'énergie générée par le mouvement des vagues

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011105177A1 (de) 2011-06-17 2012-12-20 Robert Bosch Gmbh Verfahren zum Betreiben eines Wellenenergiekonverters und Wellenenergiekonverter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080239869A1 (en) * 2005-06-29 2008-10-02 Nortek As System and Method for Determining Directional and Non-directional Fluid Wave and Current Measurements
US20090326824A1 (en) * 2008-06-30 2009-12-31 Michael Naumov Method and device for the autonomous determination of wind speed vector
WO2011000486A2 (fr) * 2009-07-02 2011-01-06 Bayer Materialscience Ag Procédé de production d'énergie électrique à partir de l'énergie générée par le mouvement des vagues

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