WO2018110268A1 - Système d'aide fonctionnelle et procédé d'aide fonctionnelle - Google Patents

Système d'aide fonctionnelle et procédé d'aide fonctionnelle Download PDF

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Publication number
WO2018110268A1
WO2018110268A1 PCT/JP2017/042526 JP2017042526W WO2018110268A1 WO 2018110268 A1 WO2018110268 A1 WO 2018110268A1 JP 2017042526 W JP2017042526 W JP 2017042526W WO 2018110268 A1 WO2018110268 A1 WO 2018110268A1
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Prior art keywords
sensor
sensors
measurement data
driving support
correlation
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PCT/JP2017/042526
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English (en)
Japanese (ja)
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益祥 馮
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株式会社日立製作所
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric

Definitions

  • the present invention relates to a driving support system and a driving support method for supporting optimal driving of a device by effectively using data between sensors in a device having a plurality of sensors.
  • Patent Document 1 discloses that an open showcase control device has a plurality of sensors, and substitutes a predetermined sensor when one of the sensors breaks down to correct a predetermined temperature (temperature A configuration for adding a shift amount is disclosed.
  • JP 2013-11200 A Japanese Patent Laid-Open No. 10-99167
  • the behavior of one or more sensors may change depending on the operation status of the device.
  • the sensor may fail or age. In such a case, it becomes difficult to efficiently maintain the operation of the device.
  • patent document 1 when the measurement sensor of a certain wind power generator fails, it replaces with the measurement sensor of the other wind power generator which exists in the periphery.
  • sufficient consideration has not been given to the correlation between measurement sensors (substitute sensors) of other wind power generation devices existing in the vicinity and measurement sensors (failure sensors) in which a failure has occurred. Further, no consideration is given to correction of data of the alternative sensor and the failure sensor.
  • Patent Document 2 when an abnormality occurs in any one of the sensors, the correction value (temperature shift amount) is added to the measurement value obtained by the alternative sensor, but the correction value is a preset value. Therefore, if there is a change in the installation environment of the showcase, it may be difficult to cope with the method of correcting the measurement value of the alternative sensor using a preset correction value. Therefore, the present invention obtains an alternative sensor and a correction value based on real-time measurement data obtained from a plurality of sensors installed in the device, and is thus capable of following the change of the surrounding environment with good follow-up and optimal device operation.
  • a driving support system and a driving support method are provided.
  • a driving support system obtains a correlation between a plurality of sensors based on measurement data obtained by a target device on which a plurality of different types of sensors are installed, and the plurality of sensors, and An arithmetic processing unit that selects a sensor having a high correlation obtained as an alternative sensor, and an operation management database that stores at least the correlation among the plurality of sensors, and the arithmetic processing unit has one sensor malfunctioning or maintenance
  • a correction function that defines a difference between the one sensor and an alternative sensor of the one sensor is obtained, and the alternative sensor and the correction function are output to the target device.
  • the driving support method obtains a correlation between the plurality of sensors based on measurement data obtained by a plurality of different types of sensors installed in the target device, and selects the sensor having the high obtained correlation as an alternative sensor.
  • the calculated correlation between the plurality of sensors is stored in the operation management database, and when one sensor is subject to failure or maintenance, the difference between the one sensor and the alternative sensor of the one sensor is defined.
  • a correction function to be obtained is obtained, and the alternative sensor and the correction function are output to the target device.
  • the present invention by obtaining an alternative sensor and a correction value based on real-time measurement data obtained from a plurality of sensors installed in a device, it is possible to optimally operate the device with good follow-up to changes in the surrounding environment. It is possible to provide a driving support system and a driving support method that can support the vehicle. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.
  • FIG. 1 is an overall schematic configuration diagram of a driving support system according to an embodiment of the present invention. It is a functional block diagram of the control apparatus shown in FIG. It is a functional block diagram of the electronic terminal installed in the operation management center shown in FIG. It is a figure which shows an example of the data structure of sensor operating condition data. It is a figure which shows an example of the correlation table between sensors. It is a figure which shows an example of a list
  • Examples of the application target devices of the driving support system and the driving support method according to the present invention include various industrial plants such as a wind power generator, a thermal power plant, and a chemical plant.
  • industrial plants such as a wind power generator, a thermal power plant, and a chemical plant.
  • an object apparatus is a wind power generator
  • an example of the present invention is described using a drawing.
  • each Example shown below is similarly applicable also to various industrial plants including power plants, such as the above-mentioned thermal power plant, and a chemical plant.
  • FIG. 1 is an overall schematic configuration diagram of a driving support system according to an embodiment of the present invention.
  • the driving support system 1 is installed in a wind power generator 2 as a target device, an electronic terminal 5 installed in the operation management center 3, and a wind power generator 2 described in detail later.
  • a communication network 6 that connects the electronic terminal 5 and the control device 31 so that they can communicate with each other.
  • the communication network 6 is wired or wireless.
  • a wind power generator 2 as an example of a target device (also simply referred to as a device) includes a blade 24 that rotates by receiving wind, a hub 23 that supports the blade 24, a nacelle 22, and a nacelle 22.
  • a tower 21 that is movably supported is provided.
  • a main shaft 25 connected to the hub 23 and rotating together with the hub 23, a shrink disk 26 connected to the main shaft 25, a speed increasing device 27 connected to the main shaft 25 via the shrink disk 26 and increasing the rotation speed,
  • a generator 28 that performs a power generation operation by rotating the rotor at a rotational speed increased by the speed increaser 27.
  • the part that transmits the rotational energy of the blade 24 to the generator 28 is called a power transmission unit.
  • the main shaft 25, the shrink disk 26, and the speed increaser 27 are included in the power transmission unit.
  • the speed increaser 27 and the generator 28 are held on the main frame 29.
  • the blade 24 and the hub 23 constitute a rotor.
  • a power converter 30 that converts power frequency, a switching switch and transformer (not shown) for switching current, and a control device are provided at the bottom (lower part) of the tower 21. 31 etc. are arranged.
  • a control panel or SCADA Supervision Control And Data Acquisition
  • SCADA Supplemental Control And Data Acquisition
  • a downwind type wind power generator will be described as an example, but the present invention can be similarly applied to an upwind type wind power generator.
  • the rotor is configured by the three blades 24 and the hub 23 is shown, the present invention is not limited to this, and the rotor may be configured by the hub and at least one blade 24.
  • the sensor 4 installed in the wind power generator 2 includes, for example, an anemometer 4 a installed at the top of the nacelle 22, a pitch angle sensor installed at the base of the blade 24 and measuring the pitch angle of the blade 24, and the direction of the nacelle 22
  • a yaw angle sensor that measures the angle a strain sensor that measures the stress applied to the blade 24, a thermometer 4b that is installed above the nacelle 22 and measures the outside air temperature, a thermometer that measures the temperature in the nacelle 22, and the nacelle
  • the hygrometer 4c which measures the humidity in 22 is included.
  • the sensor which measures the rotation speed of the generator 28, the electric power generation amount etc. which are not shown in figure is included. In addition, it is not restricted to the structure which installs all the above-mentioned sensors.
  • the control device 31 acquires measurement data from the above-described wind direction anemometer 4a, the thermometer 4b that measures the outside air temperature, the hygrometer 4c that measures the humidity in the nacelle 22, and the various sensors 4 described above via signal lines. Based on the acquired measurement data, the pitch angle, the nacelle azimuth angle, the generator rotation speed, etc. are appropriately controlled, and the acquired measurement data is installed in the operation management center 3 via the communication network 6. To the electronic terminal 5.
  • FIG. 2 is a functional block diagram of the control device 31 shown in FIG.
  • the control device 31 includes a data collection unit 32, a data processing unit 33, a device control unit 34, an input I / F 35, an output I / F 36, a communication I / F 37, and a device data storage unit D100. These are connected to each other so as to be accessible by an internal bus 38.
  • the data collection unit 32, the data processing unit 33, and the device control unit 34 are, for example, a processor (not shown) such as a CPU (Central Processing Unit), a ROM that stores various programs, a RAM that temporarily stores calculation process data,
  • a processor such as a CPU reads out and executes various programs stored in the ROM, and stores an operation result as an execution result in the RAM or the external storage device.
  • the data collection unit 32 acquires measurement data from the anemometer 4a, the thermometer 4b, the hygrometer 4c, and the various sensors 4 described above via the input I / F 35 and the internal bus 38.
  • the data collection unit 32 temporarily stores the measurement data acquired via the internal bus 38 in the device data storage unit D100.
  • the data processing unit 33 processes measurement data from the anemometer 4a, the thermometer 4b, the hygrometer 4c, and the various sensors 4 transferred from the data collection unit 32 via the internal bus 38. Then, the data processing unit 33 temporarily stores the processed result in a predetermined storage area of the device data storage unit D100 via the internal bus 38.
  • the wind speed time series data measured by the wind direction anemometer 4a is subjected to processing such as wind speed interval averaging or FFT (Fast Fourier Transform). Further, noise removal processing or smoothing processing is performed on the measurement data from the strain sensor installed at the base of the blade 24.
  • processing such as wind speed interval averaging or FFT (Fast Fourier Transform).
  • noise removal processing or smoothing processing is performed on the measurement data from the strain sensor installed at the base of the blade 24.
  • the equipment control unit 34 controls the operation of the wind turbine generator 2 based on the data transferred from the data collection unit 32 or the processing result obtained from the data processing unit 33. For example, the operation is continued while controlling parameters such as the direction and rotation speed of the blade 24 based on the wind speed data.
  • the yaw angle control mechanism 42 is connected to the yaw angle control mechanism 42 via the output I / F 36 so that the rotor constituted by the blade 24 and the hub 23 faces the wind direction.
  • An angle control signal is output and / or a pitch angle control signal, which is an inclination angle of the blade 24, is output to the pitch angle control mechanism 41 based on the wind speed data measured by the anemometer 4a via the output I / F 36.
  • a part or all of the data stored in the device data storage unit D100 is transmitted to the communication network 6 via the internal bus 38 and the communication I / F 37, and is installed in the operation management center 3 via the communication network 6. It is transmitted to the terminal 5. Further, a part of data stored in an operation management database D200 constituting the electronic terminal 5 described later in detail is transmitted to the device data storage unit D100 constituting the control device 31 via the communication network 6.
  • FIG. 3 is a functional block diagram of the electronic terminal 5 installed in the operation management center 3 shown in FIG. As shown in FIG. 3, the electronic terminal 5 has an input unit 11, an output unit 12, a data transmission / reception unit 13, and a sensor status analysis unit 19, and an operation status that manages the operation status of the wind power generator 2 that is an example of the device.
  • Management unit 15 correlation calculation unit 16 for calculating correlation of data between sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, various sensors 4 described above), and alternative sensor selection unit for selecting an alternative sensor for each sensor 17, a correction function calculation unit 18 that corrects a difference between a sensor and an alternative sensor, a communication I / F 20a, an input I / F 20b, an output I / F 20c, and an operation management database D200 that stores various data. They are connected to each other via an internal bus 20d.
  • An operation status management unit 15 having a sensor status analysis unit 19, a correlation calculation unit 16, an alternative sensor selection unit 17, and a correction function calculation unit 18 constituting the arithmetic processing unit 14 are, for example, a CPU (Central Processing Unit) (not shown).
  • a CPU Central Processing Unit
  • the data transmitter / receiver 13 is data measured by the sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, various sensors 4 described above) transmitted from the control device 31 of the wind turbine generator 2 via the communication network 6. (Hereinafter also referred to as sensor data) is received via the communication I / F 20a and the internal bus 20d.
  • the data transmission / reception unit 13 transfers the received sensor data to the driving status management unit 15 via the internal bus 20d and stores it as received data in a predetermined storage area of the driving management database D200.
  • the operation status management unit 15 receives the sensor data transferred from the data transmission / reception unit 13 and analyzes the operation status of the sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) from the sensor data.
  • the sensor status analysis unit 19 that outputs the data (hereinafter referred to as sensor operating status data) D204 indicating the operating status of the sensor is output.
  • the sensor operation status data D204 is stored in the operation management database D200 via the internal bus 20d.
  • the sensor status analysis unit 19 compares features such as maximum value, minimum value, and frequency of each sensor (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) from each sensor data with a reference value.
  • the sensor operating status is determined as “failure”. If it falls within the reference value, the sensor operating status is determined to be “normal”.
  • the reference value is set, for example, in advance through the input unit 11 from the relationship between the sensor output and the allowable range in a normal state. Alternatively, it is input via the input unit 11 based on past history information of sensor output or the experience of the operator, and is stored in a predetermined storage area of the operation management database D200 via the input I / F 20b and the internal bus 20d.
  • FIG. 4 shows an example of the data structure of the sensor operation status data D204 output from the sensor status analysis unit 19. As shown in FIG.
  • the data structure (data format) of the sensor operation status D204 includes “sensor name” and “operation status”.
  • the sensor 4 whose “sensor name” is “A1” indicates that the “operation status” is in the “normal” state
  • the correlation calculation unit 16 calculates the correlation between any two sensors with respect to the sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) installed in the wind turbine generator 2. For example, when the measurement data of the sensor 1 is K1 and the measurement data of the sensor 2 is K2, the correlation between the sensor 1 and the sensor 2 is calculated as shown in the following equation (1). *
  • r 12 is the correlation between the sensor 1 and the sensor 2.
  • C 12 is the covariance of the sensor 1 and the sensor 2, is calculated by the following equation (2).
  • S 1 is the variance of the sensor 1, is calculated by the following equation (3).
  • S 2 is the variance of the sensor 2 and is calculated by the following equation (4).
  • x i is measurement data of the sensor 1
  • y i is measurement data of the sensor 2.
  • x ′ is the average value of the measurement data of the sensor 1
  • y ′ is the average value of the measurement data of the sensor 2.
  • n means the number of measurement points of the sensor 1 and sensor 2, that is, the total of sampling points. Therefore, the variance S 1 of the sensor 1 is obtained as the square root of the average value of the square of the deviation between the measurement data at each measurement point (each measurement time point) and the average value of the measurement data.
  • the variance S 2 of the sensor 2 is determined as the square root of the mean of the squares of the deviations between the average value of the measurement data and the measurement data at each measurement point (each measurement time point).
  • the covariance C 12 of the sensor 1 and the sensor 2 is measured and the deviation between the average value and the measurement data at each measurement point of the sensor 1 (each measurement time point), the measurement points of the sensor 2 in (each measurement time point) It is obtained as the average value of the product of the deviation between the data and the average value.
  • the correlation between sensors is stored as a correlation table D205 between sensors in a predetermined storage area of the operation management database D200.
  • FIG. 5 shows an example of a correlation table between sensors.
  • r A1A2 which is the correlation between the sensor A1 and the sensor A2 is “0.5”
  • r A1A4 which is the correlation between the sensor A1 and the sensor A4 is “0.9”.
  • R A1An that is the correlation between the sensor A1 and the sensor An is stored in a matrix of“ 0.8 ”.
  • r 0.92 that is the correlation between the sensor A2 and the sensor A4 is stored as “0.9”
  • r A2An that is the correlation between the sensor A2 and the sensor An is stored as “0.8”.
  • the alternative sensor selection unit 17 selects an alternative sensor for each sensor based on the inter-sensor correlation table D205 and the sensor operation status data D204. Specifically, the alternative sensor selection unit 17 sets a sensor having the highest correlation with the target sensor and having a normal operation state as the alternative sensor. For example, when the target sensor is the sensor A1 and the operation status is “failure”, the sensor having the highest correlation with the target sensor A1 is the sensor A4 having the correlation (r A1A4 ) of “0.9”, and the sensor If the operation status of A4 is “normal”, the sensor A4 is selected as an alternative sensor.
  • the sensor A1 is an anemometer 4a installed at the upper part of the nacelle 22, and the sensor A4 selected as an alternative sensor is a thermometer installed at the upper part of the nacelle 22 in order to measure the outside air temperature.
  • the sensor A2 is a hygrometer 4c that is installed in the nacelle 22 and measures the humidity in the nacelle 22.
  • the wind speed data measured by the anemometer 4a has a correlation such as being proportional to the outside air temperature
  • the humidity in the nacelle 22 has a correlation with the outside air temperature.
  • the correction function calculation unit 18 calculates, for each sensor, a data difference from the alternative sensor using history data. For example, when a sensor A and an alternative sensor of the sensor A are the sensor B, the relationship between the measurement data of the sensor A and the sensor B can be described as the following formula (5). *
  • ⁇ T is the difference between the measurement data from sensor A and the measurement data from sensor B.
  • T A is time series data of the sensor A
  • T B is time series data of the sensor B.
  • ⁇ T can be described by the following equation (6) as a function of T B so associated with T B.
  • FIG. 6 shows an example of a list of alternative sensors and correction functions.
  • the information on the correction function of the alternative sensor is stored as data in a list D206 of the alternative sensor and the correction function.
  • the correction function calculation unit 18 writes the information on the correction function of the alternative sensor described above into the alternative sensor and correction function list D206 stored in a predetermined storage area of the operation management database D200 via the internal bus 20d.
  • the sensor A1 is an anemometer 4a installed at the upper part of the nacelle 22, and the sensor A4 selected as an alternative sensor is a temperature installed at the upper part of the nacelle 22 in order to measure the outside air temperature.
  • the total is 4b, and the correction function is F1.
  • the sensor A2 is a hygrometer 4c installed in the nacelle 22 for measuring the humidity in the nacelle 22, and the sensor A4 selected as an alternative sensor is installed above the nacelle 22 for measuring the outside air temperature.
  • the correction function is F2.
  • FIG. 7 shows an example of the operation management database D200.
  • received data D201 captured by the data transmitting / receiving unit 13 via the communication network 6 and the communication I / F 20a, and transmission data D202 transmitted to the control device 31 via the communication I / F 20a and the communication network 6.
  • the control parameter D203, the sensor operation status data D204 for each sensor, the inter-sensor correlation table D205, and the alternative sensor and correction function list D206 are divided into storage areas in the operation management database D200, that is, in different address spaces. Stored.
  • FIG. 8 is a flowchart of the driving support system 1 when all sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) installed in the wind turbine generator 2 are operating normally. It is.
  • step S101 the wind turbine generator 2 starts operating, and various sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) operate.
  • step S102 the data collection unit 32 configuring the control device 31 installed in the wind turbine generator 2 receives the wind direction anemometer 4a, the thermometer 4b, the hygrometer 4c, and the input via the input I / F 35 and the internal bus 38. Measurement data obtained by the various sensors 4 described above is acquired. The data collection unit 32 temporarily stores the measurement data acquired via the internal bus 38 in the device data storage unit D100.
  • step S103 the data processing unit 33 constituting the control device 31 is transferred from the data collection unit 32 via the internal bus 38, and the wind direction anemometer 4a, the thermometer 4b, the hygrometer 4c, and the various sensors 4 described above. For example, data processing such as average wind speed or FFT is performed on the measurement data obtained by the above.
  • step S ⁇ b> 104 part or all of the data stored in the device data storage unit D ⁇ b> 100 is transmitted to the electronic terminal 5 installed in the operation management center 3 via the communication network 6.
  • step S105 the sensor status analysis unit 19 provided in the operation status management unit 15 constituting the electronic terminal 5 transmits each sensor (wind direction anemometer 4a, thermometer 4b) transferred from the data transmission / reception unit 13 via the internal bus 20d.
  • the sensor data from the hygrometer 4c and the various sensors 4) are compared with the reference values stored in a predetermined area of the operation management database D200, and the operating status of each sensor is in a “normal” or “abnormal” state.
  • the sensor operation status data D204 for each sensor is stored in the sensor operation status data D204 for each sensor in the operation management database D200 via the internal bus 20d.
  • “normal” is stored in the “operation status” column of the sensor operation status data D204.
  • step S106 the correlation calculation part 16 which comprises the electronic terminal 5 calculates the correlation between sensors.
  • the correlation calculation unit 16 stores the correlation between the sensors obtained in the inter-sensor correlation table D205 (FIG. 5) in the operation management database D200 via the internal bus 20d.
  • step S ⁇ b> 107 the alternative sensor selection unit 17 constituting the electronic terminal 5 selects an alternative sensor for each sensor based on the inter-sensor correlation table D ⁇ b> 205 and the sensor operation status data D ⁇ b> 204 obtained by the sensor status analysis unit 19.
  • the alternative sensor selection unit 17 stores the alternative sensor of each selected sensor via the internal bus 20d in the “substitute sensor” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200. .
  • step S108 the correction function calculation unit 18 included in the electronic terminal 5 calculates a correction function for correcting a difference in measurement data between each sensor and its alternative sensor.
  • the correction function calculation unit 18 stores the obtained correction function in the “correction function” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200 via the internal bus 20d.
  • step S109 a part of the data stored in the operation management database D200 is transmitted to the control device 31 of the wind turbine generator 2 via the communication I / F 20a and the communication network 6.
  • the equipment control unit 34 constituting the control device 31 performs operation control of the wind turbine generator 2 based on the data received via the communication I / F 37.
  • the driving support system 1 repeatedly executes a series of steps from step S101 to step S109 described above at a predetermined cycle. Therefore, the sensor operation status data D204, the inter-sensor correlation table D205, and the alternative sensor and correction function list D206 for each sensor in the operation management database D200 are updated in a predetermined cycle.
  • FIG. 9 is a flowchart of the driving support system 1 in the operating state of the device.
  • step S201 the operation of the wind turbine generator 2 is started, and various sensors (wind direction anemometer 4a, thermometer 4b, hygrometer 4c, and various sensors 4 described above) are activated.
  • step S202 the data collection unit 32 configuring the control device 31 installed in the wind turbine generator 2 receives the wind direction anemometer 4a, the thermometer 4b, the hygrometer 4c, and the input via the input I / F 35 and the internal bus 38. Measurement data obtained by the various sensors 4 described above is acquired. The data collection unit 32 temporarily stores the measurement data acquired via the internal bus 38 in the device data storage unit D100.
  • step S203 the data processing unit 33 configuring the control device 31 is transferred from the data collection unit 32 via the internal bus 38, and the wind direction anemometer 4a, the thermometer 4b, the hygrometer 4c, and the various sensors 4 described above. For example, data processing such as average wind speed or FFT is performed on the measurement data obtained by the above.
  • step S204 part or all of the data stored in the device data storage unit D100 is transmitted to the electronic terminal 5 installed in the operation management center 3 via the communication network 6.
  • step S205 the sensor status analysis unit 19 provided in the driving status management unit 15 constituting the arithmetic processing unit 14 of the electronic terminal 5 transmits each sensor (wind direction anemometer) transferred from the data transmission / reception unit 13 via the internal bus 20d.
  • 4a, the thermometer 4b, the hygrometer 4c, and the above-mentioned various sensors 4) are compared with the above-mentioned reference values stored in a predetermined area of the operation management database D200, and the operation status of each sensor is “normal”. Alternatively, it is determined that the state is “abnormal”, and the obtained sensor operation status data D204 for each sensor is stored in the sensor operation status data D204 for each sensor in the operation management database D200 via the internal bus 20d.
  • step S206 the operation status management unit 15 accesses the operation management database D200 via the internal bus 20d, and determines whether there is a “failed” state sensor from the sensor operation status data D204. As a result of the determination, if there is a sensor in the “failure” state, the process proceeds to step S211. On the other hand, as a result of the determination, if there is no sensor in the “failed” state, the process proceeds to step S207.
  • step S207 the correlation calculation part 16 which comprises the arithmetic processing part 14 of the electronic terminal 5 calculates the correlation between sensors.
  • the correlation calculation unit 16 stores the correlation between the sensors obtained in the inter-sensor correlation table D205 (FIG. 5) in the operation management database D200 via the internal bus 20d.
  • step S208 the alternative sensor selection unit 17 constituting the arithmetic processing unit 14 of the electronic terminal 5 performs the sensor operation status data D204 obtained by the inter-sensor correlation table D205 and the sensor status analysis unit 19 for each sensor. Select an alternative sensor.
  • the alternative sensor selection unit 17 stores the alternative sensor of each selected sensor via the internal bus 20d in the “substitute sensor” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200.
  • step S209 the correction function calculation unit 18 constituting the arithmetic processing unit 14 of the electronic terminal 5 calculates a correction function for correcting a difference in measurement data between each sensor and its alternative sensor.
  • the correction function calculation unit 18 stores the obtained correction function in the “correction function” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200 via the internal bus 20d.
  • step S210 a part of the data stored in the operation management database D200 is transmitted to the control device 31 of the wind turbine generator 2 via the communication I / F 20a and the communication network 6.
  • the equipment control unit 34 constituting the control device 31 performs operation control of the wind turbine generator 2 based on the data received via the communication I / F 37.
  • step S211 the operating status management unit 15 determines that the operating status is "abnormal” from the sensor operating status data D204 for each sensor in which the operating status, "normal” or “abnormal” is stored for each sensor. Extract information about sensors in state. Thereby, the driving condition management unit 15 acquires the failure sensor list and transfers it to the alternative sensor selection unit 17 via the internal bus 20d.
  • step S212 the alternative sensor selection unit 17 accesses the operation management database D200 via the internal bus 20d, and refers to the alternative sensor and correction function list D206 (FIG. 6), so that the sensor in the “failure” state is obtained. For each (failure sensor), the alternative sensor and the correction function are read, and the alternative sensor and the correction function are transferred to the correction function calculation unit 18 via the internal bus 20d.
  • the correction function calculation unit 18 calculates the data of the sensor (failure sensor) in the “failure” state based on the alternative sensor and the correction function transferred from the alternative sensor selection unit 17. Specifically, the correction function calculation unit 18 reads measurement data from the alternative sensor from the reception data D201 stored in the operation management database D200, and the read measurement data from the alternative sensor and the alternative sensor selection unit 17 Based on the transferred correction function, measurement data of the sensor (failure sensor) determined to be in the “failure” state is obtained by calculation. For example, when the sensor A is a failure sensor and the sensor B is an alternative sensor to the sensor A, the failure sensor data is calculated by the following equation (7). *
  • T 'A is the data of the calculated sensor A (failure sensor)
  • T B is the measurement data of the sensor B is an alternative sensor
  • f (T B) is a correction function.
  • the correction function calculation unit 18 transmits the data of the calculated sensor (failure sensor) in the “failure” state to the control device 31 of the wind turbine generator 2 via the communication I / F 20a and the communication network 6.
  • the equipment control unit 34 constituting the control device 31 performs operation control of the wind turbine generator 2 based on the data received via the communication I / F 37. As a result, even if one of the plurality of sensors installed in the wind turbine generator 2 fails, an alternative sensor is selected based on real-time measurement data obtained from the plurality of sensors.
  • the failure sensor data is obtained from the measurement data and the correction function of the alternative sensor, and the operation of the wind turbine generator 2 can be continued. Accordingly, it is possible to optimally support the operation of the wind turbine generator 2 with good followability to changes in the surrounding environment.
  • the configuration is shown in which the electronic terminal 5 in one operation management center 3 is connected to the control device 31 in the wind power generator 2 through the communication network 6 so as to be able to communicate with each other. It is not limited to. For example, it is good also as a structure which connects the electronic terminal 5 in the some operation management center 3 located mutually remote via the communication network 6.
  • FIG. in the present embodiment the arithmetic processing unit 14 including the driving state management unit 15, the correlation calculation unit 16, the alternative sensor selection unit 17, and the correction function calculation unit 18 is provided in the electronic terminal 5 installed in the driving management center 3.
  • the present invention is not limited to this.
  • the arithmetic processing unit 14 may be similarly incorporated in the control device 31 (FIG.
  • the arithmetic processing unit 14 may be configured as the control device. It is good also as a structure which both 31 and the electronic terminals 5 have. Alternatively, only the control device 31 may include the arithmetic processing unit 14. In this case, it is desirable that the operation management database D200 is also incorporated in the control device 31. Furthermore, in this embodiment, the sensor status analysis unit 19 provided in the driving status management unit 15 determines whether the operating status of each sensor is “normal” or “abnormal”. However, it is not limited to this. For example, in addition to determining “normal” and “abnormal” states, the sensor operation status data may include a replacement time of the sensor itself or a maintenance time of the sensor.
  • the alternative sensor and the correction value are obtained based on the real-time measurement data obtained from a plurality of sensors installed in one device, thereby improving the followability with respect to changes in the surrounding environment.
  • FIG. 10 is an overall schematic configuration diagram of a driving support system according to another embodiment of the present invention
  • FIG. 11 is a flowchart of the driving support system in the operating state of the device.
  • a single wind power generator 2 is used as a target device
  • a wind farm in which a plurality of wind power generators are installed is a target device.
  • the same components as those in the first embodiment are denoted by the same reference numerals, and the description overlapping with that in the first embodiment is omitted below.
  • the driving support system 1a of the present embodiment includes a plurality of wind power generators 2a to 2c, an electronic terminal 5 installed in the operation management center 3, and each wind power generator (2a to 2c). It is comprised from the control network 31 installed in the inside, and the communication network 6 which connects the electronic terminal 5 and the control apparatus 31 so that communication is possible mutually.
  • the communication network 6 is wired or wireless.
  • FIG. 10 shows a case where a wind farm is constituted by three wind power generators 2a to 2c for convenience, but in actuality, a larger number of wind power generators are installed in a large-scale wind farm. .
  • Each sensor (wind direction anemometers 4a to 4a ′′, thermometers 4b to 4b ′′) is sent from the control device 31 of each wind power generator 2a to 2c to the electronic terminal 5 installed in the operation management center 3 via the communication network 6.
  • the measurement data by the hygrometers 4c to 4c ′′ and the various sensors 4) are transmitted. Therefore, the sensor operation status data D204 (FIG. 4) stores more sensor names and their operation status as compared with the first embodiment.
  • the number of sensors in the inter-sensor correlation table D205 (FIG. 5) shown in the embodiment 1 also increases, and the alternative sensor and correction function list D206 shown in the embodiment 1 (FIG. 6). The number of target sensors in) also increases.
  • the wind passing through the wind power generator located on the windward side changes the wind direction, wind speed, etc. due to the rotation of the rotor constituting the wind power generator located on the windward side, Propagated to the wind power generator located on the leeward side.
  • a windmill wake also referred to as a wake.
  • the wind conditions that change when passing through the wind turbine generator located on the windward side are not limited to the wind direction and the wind speed, but also include the turbulent flow characteristics, the vortex shape, and the like.
  • the wind turbine wake (wake) passes through the wind power generator located on the windward side and then flows to the leeward side while spreading. That is, the wind turbine wake propagates to the leeward side while diffusing and generating a vortex (turbulent flow).
  • the wind speed data measured by the anemometer 4a has a correlation such as being proportional to the outside air temperature.
  • the thermometer 4b installed on the top of the nacelle 22 of the wind power generator 2a located and for measuring the outside air temperature is an alternative sensor for the anemometer 4a in the “failure” state.
  • thermometer 4b installed on the upper part of the nacelle 22 of the wind power generator 2a located on the windward side, the wind force located on the leeward side adjacent to the wind power generator 2a located on the windward side. It is desirable to use the thermometer 4b ′ of the power generation device 2b as an alternative sensor.
  • a plurality of sensors installed in each of the plurality of wind power generators 2a to 2c installed in the wind farm.
  • sensors that are influenced by wind turbine wake (wake) in the measurement data and sensors that are not affected by windmill wake (wake) are mixed in the measurement data.
  • the correlation with each sensor is stored for each wind turbine generator, and the stored correlation is influenced by the wind turbine wake (wake) described above.
  • the correlation is low for the same type of sensor, and a high correlation value is stored for the same type of sensor that is not affected by the wind turbine wake (wake).
  • the alternative sensor selection unit 17 selects an alternative sensor for each sensor based on the above-described sensor correlation table D205 and sensor operation status data D204 stored in the operation management database D200.
  • the correction function calculation unit 18 calculates the difference of data from the alternative sensor for each sensor using the history data, and based on the alternative sensor and the correction function transferred from the alternative sensor selection unit 17, Calculate the data of the sensor in the “failed” state (failed sensor).
  • FIG. 11 is a flowchart of the driving support system 1 in the operating state of the device.
  • step S301 the operation of each wind power generator (2a to 2c) is started, and various sensors (wind direction anemometers 4a to 4a ′′, thermometers 4b to 4b ′′, hygrometers 4c to 4c ′′, various sensors 4) are activated. To do.
  • step S302 the data collecting unit 32 constituting the control device 31 (FIG.
  • each wind power generator (2a to 2c) installed in each wind power generator (2a to 2c) receives the anemometer 4a to 4 via the input I / F 35 and the internal bus 38.
  • the data collection unit 32 acquires the device data storage unit D100 via the internal bus 38. Temporarily store measurement data.
  • step S303 the data processing unit 33 constituting each control device 31 transmits the wind direction anemometers 4a to 4a ′′, the thermometers 4b to 4b ′′, and the hygrometer 4c transferred from the data collection unit 32 via the internal bus 38.
  • ⁇ 4c ′′ and the measurement data obtained by the various sensors 4 are subjected to data processing such as average of wind speed or FFT.
  • step S ⁇ b> 304 part or all of the data stored in the device data storage unit D ⁇ b> 100 constituting each control device 31 is transmitted to the electronic terminal 5 installed in the operation management center 3 via the communication network 6.
  • step S305 each sensor transferred from the data transmitter / receiver 13 via the internal bus 20d is transmitted from the sensor transmitter / receiver 13 to the sensor status analyzer 19 provided in the driving status manager 15 constituting the arithmetic processor 14 of the electronic terminal 5 (FIG. 3).
  • sensor data wind direction anemometers 4a to 4a ′′, thermometers 4b to 4b ′′, hygrometers 4c to 4c ′′, various sensors 4) are stored in a predetermined area of the operation management database D200.
  • the sensor operation status data D204 for each calculated sensor is stored in the operation management database D200 via the internal bus 20d.
  • Each sensor operation status data D204 is stored.
  • step S306 the operation status management unit 15 accesses the operation management database D200 via the internal bus 20d, and determines whether there is a “failed” state sensor from the sensor operation status data D204. As a result of the determination, if there is a sensor in the “failed” state, the process proceeds to step S311. On the other hand, as a result of the determination, if there is no sensor in the “failed” state, the process proceeds to step S307.
  • step S207 the correlation calculation part 16 which comprises the arithmetic processing part 14 of the electronic terminal 5 calculates the correlation between sensors.
  • the correlation calculation unit 16 stores the correlation between the sensors obtained in the inter-sensor correlation table D205 (FIG. 5) in the operation management database D200 via the internal bus 20d.
  • step S308 the alternative sensor selection unit 17 constituting the arithmetic processing unit 14 of the electronic terminal 5 performs the sensor operation status data D204 obtained by the inter-sensor correlation table D205 and the sensor status analysis unit 19 for each sensor. Select an alternative sensor.
  • the alternative sensor selection unit 17 stores the alternative sensor of each selected sensor via the internal bus 20d in the “substitute sensor” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200.
  • step S309 the correction function calculation unit 18 included in the arithmetic processing unit 14 of the electronic terminal 5 calculates a correction function for correcting a difference in measurement data between each sensor and its alternative sensor.
  • the calculation of the correction function is executed based on the correlation calculation formulas (formulas (1) to (4)) shown in the first embodiment.
  • the correction function calculation unit 18 stores the obtained correction function in the “correction function” column of the alternative sensor and correction function list D206 (FIG. 6) in the operation management database D200 via the internal bus 20d.
  • step S310 a part of the data stored in the operation management database D200 is transmitted to the control device 31 of each wind power generator (2a to 2c) via the communication I / F 20a and the communication network 6.
  • the equipment control unit 34 configuring the control device 31 performs operation control of each wind power generator (2a to 2c) based on the data received via the communication I / F 37.
  • step S311 the operation status management unit 15 determines that the operation status is “abnormal” from the sensor operation status data D204 for each sensor in which “normal” or “abnormal” is stored for each sensor. Extract information about sensors in state. Thereby, the driving condition management unit 15 acquires the failure sensor list and transfers it to the alternative sensor selection unit 17 via the internal bus 20d.
  • the following processing will be described by taking as an example a case where a failure has occurred in the anemometer 4a installed on the upper part of the nacelle 22 of the wind turbine generator 2a located on the windward side.
  • step S312 the alternative sensor selection unit 17 accesses the operation management database D200 via the internal bus 20d, and refers to the alternative sensor and correction function list D206 (FIG. 6), so that the sensor in the “failure” state is obtained.
  • the alternative sensor and the correction function of the anemometer 4a which is the (failure sensor) are read, and the alternative sensor and the correction function are transferred to the correction function calculation unit 18 through the internal bus 20d.
  • a thermometer 4b that is installed on the nacelle 22 of the wind turbine generator 2a located on the windward side and measures the outside air temperature is selected as a substitute sensor for the anemometer 4a that is a failure sensor. .
  • the correction function calculation unit 18 determines whether the anemometer 4a (failure sensor) in the “failure” state is based on the thermometer 4b selected as the substitute sensor transferred from the substitute sensor selection unit 17 and the correction function. Calculate the data. Specifically, the correction function calculation unit 18 reads the measurement data from the thermometer 4b selected as the alternative sensor from the reception data D201 stored in the operation management database D200, and reads the measurement data from the thermometer 4b read out. Based on the correction function transferred from the alternative sensor selection unit 17, the measurement data of the anemometer 4a (failure sensor) determined to be in the “failure” state is expressed by the equation (7) described in the first embodiment. ).
  • step S314 the correction function calculation unit 18 uses the calculated data of the anemometer 4a (failure sensor) in the “failure” state via the communication I / F 20a and the communication network 6 to control the wind turbine generator 2a.
  • the equipment control unit 34 configuring the control device 31 performs operation control of the wind turbine generator 2 a based on data received via the communication I / F 37.
  • the present Example demonstrated as an example the case where the wind direction anemometer 4a installed in the upper part of the nacelle 22 of the wind power generator 2a located in an upwind side occurred, it is not restricted to this.
  • the thermometer 4b for measuring the outside air temperature that is installed on the nacelle 22 of the wind turbine generator 2a located on the windward side, it is adjacent to the wind turbine generator 2a located on the windward side.
  • the alternative sensor selection unit 17 selects the thermometer 4b ′ of the wind power generator 2b located on the downwind side as an alternative sensor of the thermometer 4b (failure sensor).
  • a sensor installed in another wind power generator Based on real-time measurement data obtained from a plurality of sensors including, as an alternative sensor, a different type of sensor installed in one wind turbine generator having a fault sensor, or installed in another wind turbine generator, A sensor of the same type as the fault sensor of one wind power generator is selected, the fault sensor data is obtained from the measurement data and correction function of the alternative sensor, and the operation of the one wind power generator having the fault sensor may be continued. It becomes possible. Therefore, it is possible to optimally support the operation of a plurality of wind power generators installed in the wind farm with good followability to changes in the surrounding environment including changes in wind conditions.
  • the electronic terminal 5 in one operation management center 3 is connected to the control device 31 in each wind power generator (2a to 2c) via the communication network 6 so as to be able to communicate with each other.
  • the arithmetic processing unit 14 including the driving state management unit 15, the correlation calculation unit 16, the alternative sensor selection unit 17, and the correction function calculation unit 18 is provided in the electronic terminal 5 installed in the driving management center 3.
  • the present invention is not limited to this.
  • the arithmetic processing unit 14 may be similarly incorporated in the control device 31 (FIG.
  • the arithmetic processing unit 14 may be included only in the control device 31 of each wind power generator (2a to 2c). In this case, it is desirable that the operation management database D200 is similarly incorporated in the control device 31 of each wind power generator (2a to 2c).
  • the sensor status analysis unit 19 provided in the driving status management unit 15 determines whether the operating status of each sensor is “normal” or “abnormal”. However, it is not limited to this. For example, in addition to determining “normal” and “abnormal” states, the sensor operation status data may include a replacement time of the sensor itself or a maintenance time of the sensor.
  • one of the plurality of sensors installed in one device has failed. Even if this occurs, different types installed in one device with a fault sensor as an alternative sensor based on real-time measurement data obtained from multiple sensors including sensors installed in other devices Or a sensor of the same type as the failure sensor of one device that is installed in another device, and the failure sensor data is obtained from the measurement data and the correction function of the alternative sensor. It is possible to control the operation of these devices, and it is possible to continue the operation of the plurality of devices as a whole.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Wind Motors (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

La présente invention concerne un système d'aide fonctionnelle et un procédé d'aide fonctionnelle dans lesquels un capteur de substitution et une valeur de correction sont obtenus sur la base de données de mesure en temps réel obtenues à partir d'une pluralité de capteurs installés sur un dispositif, ce par quoi il est possible de faciliter le fonctionnement optimal du dispositif d'une manière qui suit de manière satisfaisante les changements dans l'environnement environnant. Le système d'aide fonctionnelle 1 comprend : un dispositif sujet 2 dans lequel une pluralité de capteurs 4 de types différents sont installés ; un processeur de calcul 14 pour obtenir des corrélations entre la pluralité de capteurs sur la base de données de mesure mesurées par la pluralité de capteurs, et sélectionner des capteurs entre lesquels la corrélation obtenue est élevée en tant que capteurs de substitution ; et une base de données de gestion d'opération D200 pour stocker au moins les corrélations entre la pluralité de capteurs. Si un capteur développe une défaillance ou devient un sujet de maintenance, le processeur de calcul 14 obtient une fonction corrective définissant la différence entre le capteur et le capteur de substitution pour le capteur, et envoie le capteur de substitution et la fonction corrective au dispositif sujet 2
PCT/JP2017/042526 2016-12-15 2017-11-28 Système d'aide fonctionnelle et procédé d'aide fonctionnelle WO2018110268A1 (fr)

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WO2022153525A1 (fr) * 2021-01-18 2022-07-21 株式会社ユーラステクニカルサービス Dispositif de correction de direction du vent, dispositif de génération de modèle, procédé de correction, procédé de génération de modèle et programme
WO2022264286A1 (fr) * 2021-06-15 2022-12-22 三菱電機株式会社 Dispositif de support de gestion de ligne, procédé de support de gestion de ligne et programme

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