WO2021218541A1 - 风力发电机组的净空监测系统、监测方法及装置 - Google Patents

风力发电机组的净空监测系统、监测方法及装置 Download PDF

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Publication number
WO2021218541A1
WO2021218541A1 PCT/CN2021/084212 CN2021084212W WO2021218541A1 WO 2021218541 A1 WO2021218541 A1 WO 2021218541A1 CN 2021084212 W CN2021084212 W CN 2021084212W WO 2021218541 A1 WO2021218541 A1 WO 2021218541A1
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WIPO (PCT)
Prior art keywords
blade
wave radar
millimeter wave
monitoring
clearance
Prior art date
Application number
PCT/CN2021/084212
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English (en)
French (fr)
Inventor
李新乐
张琦
Original Assignee
北京金风科创风电设备有限公司
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 北京金风科创风电设备有限公司 filed Critical 北京金风科创风电设备有限公司
Priority to EP21796605.0A priority Critical patent/EP4123172A4/en
Priority to US17/996,488 priority patent/US20230204014A1/en
Priority to CA3180147A priority patent/CA3180147A1/en
Priority to BR112022021736A priority patent/BR112022021736A2/pt
Priority to AU2021262176A priority patent/AU2021262176B2/en
Publication of WO2021218541A1 publication Critical patent/WO2021218541A1/zh

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    • 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
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • F03D—WIND MOTORS
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • 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
    • F03D—WIND MOTORS
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/80—Arrangement of components within nacelles or towers
    • F03D80/82—Arrangement of components within nacelles or towers of electrical components
    • 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
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/33—Proximity of blade to tower
    • 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
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/805—Radars
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • This application relates to the technical field of wind power generation equipment control. Specifically, this application relates to a headroom monitoring system, monitoring method and device of a wind power generating set.
  • the embodiment provides a monitoring system, a monitoring method and a device for the clearance of a wind power generating set.
  • an embodiment of the present application provides a headroom monitoring system for a wind turbine generator set, including a processor and a millimeter wave radar communicatively connected with the processor;
  • the millimeter wave radar is installed outside the nacelle of the wind turbine generator towards the left side of the impeller; the detection direction of the millimeter wave radar points to the lower left of the movement area where the impeller rotates around the central axis of the impeller, and is used to monitor the movement of each blade in the movement area data;
  • the processor is used to determine the blade clearance between each blade and the tower of the wind turbine according to the motion data.
  • the nacelle has a cabin shell extending along the axial direction of the central axis of the impeller in the wind turbine generator set, and the millimeter wave radar is installed on the cabin side wall close to the top wall of the cabin.
  • the distance between the probe of the millimeter wave radar and the blade tip portion is 60 to 110 meters.
  • the processor determines the trajectory information of the blade tip moving toward the tower according to the motion data.
  • the angle between the detection centerline of the millimeter wave radar and the first reference plane is in the range of 20 degrees to 30 degrees;
  • the angle between the detection centerline of the millimeter wave radar and the second reference plane is in the range of 15 degrees to 20 degrees;
  • the angle between the detection centerline of the millimeter wave radar and the third reference plane is in the range of 40 degrees to 50 degrees.
  • the first reference plane is parallel to the axis of rotation of the impeller of the wind turbine and parallel to the axis of the tower;
  • the second reference plane is perpendicular to the rotation axis of the impeller and parallel to the axis of the tower;
  • the third reference plane is perpendicular to the first reference plane and perpendicular to the second reference plane.
  • this application provides a wind power generating set, including the clearance monitoring system as described in the first aspect of this application.
  • this application provides a method for monitoring the clearance of wind turbines, which is applied to the clearance monitoring system as described in the first aspect of this application.
  • the clearance monitoring method includes:
  • the trajectory information of the blade tip moving toward the tower is determined according to the motion data, and the blade clearance between each blade and the tower is determined according to the trajectory information.
  • the motion data includes: the monitoring angle of the blade tip of the blade relative to the detection center line of the millimeter wave radar, and the monitoring distance of the blade tip of the blade relative to the geometric center of the millimeter wave radar.
  • this application provides a device for monitoring the clearance of a wind turbine generator set, including:
  • the acquisition module is used to acquire the motion data of each blade monitored by the millimeter wave radar in the motion area where the blade rotates around the central axis of the impeller;
  • the ranging module is used to determine the blade clearance between each blade and the tower according to the motion data.
  • this application provides a computer-readable storage medium.
  • the computer storage medium is used to store computer instructions.
  • the headroom of the wind turbine generator set as described in the third aspect of this application is realized. Monitoring methods.
  • Fig. 1 is a schematic structural frame diagram of a wind power generator set according to an exemplary embodiment
  • FIG. 2 is a schematic plan view of the detection range of a millimeter wave radar according to an exemplary embodiment
  • Fig. 3 is a schematic structural diagram of a wind power generating set according to an exemplary embodiment
  • Fig. 4 is a schematic diagram of a movement trajectory of a blade according to an exemplary embodiment
  • Fig. 5 is a schematic structural diagram of a headroom monitoring system for a wind power generating set according to an exemplary embodiment
  • Fig. 6 is a schematic diagram of an installation position of a millimeter wave radar on a wind power generating set according to an exemplary embodiment
  • Fig. 7 is a front view of the structure of a wind power generator set according to an exemplary embodiment
  • Fig. 8 is a structural side view of a wind power generator set according to an exemplary embodiment
  • Fig. 9 is a top view of the structure of a wind power generator set according to an exemplary embodiment
  • Fig. 10 is a schematic flow chart of a method for monitoring the clearance of a wind power generating set according to an exemplary embodiment
  • Fig. 11 is a schematic diagram of monitoring parameters of a millimeter wave radar according to an exemplary embodiment
  • Fig. 12 is a schematic diagram of a blade tip running track according to an exemplary embodiment
  • FIG. 13 is a schematic flowchart of a method for determining the blade clearance between each blade and the tower according to motion data according to an exemplary embodiment
  • Fig. 14 is a schematic structural frame diagram of a headroom monitoring device for a wind power generating set according to an exemplary embodiment
  • Fig. 15 is a schematic diagram of a polar coordinate system according to an exemplary embodiment.
  • the impeller In a wind turbine, the impeller includes a hub and three blades extending outward from the hub.
  • the impeller rotates around the center line of the impeller to drive the generator to convert wind energy into electrical energy.
  • Clearance distance refers to the minimum distance between the tip of the blade and the surface of the tower when the blade passes the front of the tower during the rotation of the impeller around the center line of the impeller. In fact, it can be abstracted from the running track curve of the tip to the outermost contour of the tower. The actual minimum distance value of the line can be referred to as clearance.
  • the wind power generating set needs to be continuously monitored.
  • the embodiment of the first aspect of the present application provides a headroom monitoring system 1400 of a wind turbine generator 1000, as shown in FIG.
  • the millimeter wave radar 1420 is installed outside the nacelle 1100 of the wind turbine generator 1000 toward the left side of the impeller 1300; The movement data of the blade 1310 in the movement area.
  • the processor 1411 is used to receive the motion data, and according to the motion data, determine the blade clearance between each blade 1310 and the tower 1200 of the wind turbine generator 1000.
  • the clearance monitoring system 1400 of the wind turbine generator 1000 provided in the present application can monitor the motion data of the blade tip 1311 moving toward the tower 1200 through the millimeter wave radar 1420 arranged on the left side of the nacelle 1100, and then use these motion data to accurately determine The clearance distance between the tip 1311 and the tower 1200.
  • the monitoring system 1400 is not affected by bad weather and can realize all-weather clearance monitoring.
  • the blade tip 1311 in this embodiment refers to the part located at the farthest end of the blade and having a length ranging from one-tenth to one-fifth of the full length of the blade.
  • nacelle left side herein is defined as the left side of the nacelle when viewed from the direction of the nacelle toward the impeller.
  • the nacelle is now abstracted as a mass point, and the mass point is taken as the origin of the polar coordinate system.
  • the plane corresponding to the polar coordinate system is parallel to the rotating plane of the impeller around the center line of the impeller.
  • the blade rotation direction is clockwise
  • the left direction of the nacelle is the 3 o'clock position along the clockwise direction
  • the bottom of the nacelle is the 6 o'clock position along the clockwise direction
  • the right direction of the nacelle It is the 9 o'clock position in the clockwise direction
  • the upper part of the nacelle is the 12 o'clock position in the clockwise direction.
  • the left side of the nacelle can also be defined as viewing from the direction of the wind direction towards the impeller, taking the nacelle as the origin of the polar coordinates, and the millimeter wave radar is set at a position outside the nacelle with a polar coordinate angle of about 3 o'clock. Place.
  • the millimeter wave radar used in this embodiment works in the frequency domain of 30-300 GHz, and the wavelength is in the range of 1 to 10 mm.
  • the wavelength of this frequency domain is between microwave and centimeter wave. Therefore, the millimeter wave radar has both microwave radar and centimeter wave radar.
  • millimeter-wave radar is that it is only sensitive to the speed of radial movement along the detection centerline, that is, when the monitored object moves radially along the detection centerline, the millimeter-wave radar can locate the position of the monitored object, and when the monitored object moves radially When the object moves along the vertical direction of the detection centerline, the millimeter-wave radar cannot identify the monitored object; another working feature is that the beam width of the millimeter-wave radar radiation pattern is very small, and it can only detect objects within a limited range.
  • the detection area of the millimeter wave radar is a conical area extending outward from the probe, and the included angle of the conical area is represented as a detection angle range 1422.
  • the detection centerline 1421 of the millimeter-wave radar refers to the angular bisector of the detection angle range 1422 of the millimeter-wave radar, and the radiation direction refers to the propagation direction of the signal radiated by the millimeter-wave radar.
  • the installation attitude and installation position of the millimeter wave radar 1420 in order to capture the velocity of the blade tip 1311 of the blade 1310 along the detection centerline of the millimeter wave radar 1420.
  • Weight When the wind power generating set 1000 is operating, the impeller 1300 including a plurality of blades 1310 is in a rotating state.
  • the installation attitude and installation position of the millimeter wave radar 1420 provided in this embodiment enable the millimeter wave radar 1420 to accurately sense when the blade 1310 enters the detection range of the millimeter wave radar 1420, when the blade tip 1311 has a radial component in the moving speed , So as to accurately determine the position of the blade tip 1311.
  • the wind power generator set 1000 specifically includes a tower 1200, a millimeter wave radar 1420, a nacelle 1100, and an impeller 1300.
  • the impeller 1300 may include several blades 1310. What is shown in FIG. 3 is a situation where the impeller 1300 includes three blades 1310. D0 in FIG. 3 is the distance between the tip 1311 of a blade 1310 closest to the tower 1200 and the tower 1200, that is, the clearance distance between the blade 1310 and the tower 1200.
  • the millimeter wave radar 1420 is arranged outside the nacelle 1100 of the wind turbine generator 1000.
  • the millimeter wave radar 1420 is arranged on the side of the nacelle 1100.
  • a certain blade 1310 on the impeller 1300 moves from the top end 1321 of the movement area to the bottom end 1322, and sweeps a track area 1320 formed.
  • the side of the nacelle 1100 corresponding to the track area 1320 is millimeter waves.
  • the radar 1420 is placed on the side of the nacelle 1100.
  • the default direction of the nacelle 1100 toward the ground is the downward direction.
  • the above-mentioned trajectory area is on the left side of the nacelle 1100. If the impeller 1300 of the wind turbine generator set 1000 rotates counterclockwise during operation, referring to the rotation direction F in FIG. 4, the above-mentioned trajectory area is in the nacelle 1100. To the right. Normally, the impeller 1300 of the wind turbine generator set 1000 rotates in a clockwise direction during operation, so the millimeter wave radar 1420 is installed on the nacelle 1100 of the wind turbine generator set 1000 toward the left side of the impeller 1300.
  • the present application provides a headroom monitoring system 1400 for a wind turbine generator set 1000.
  • the headroom monitoring system 1400 for a wind turbine generator set 1000 shown in FIG. 5 includes: a processor 1411, a memory 1412 and millimeter wave radar 1420.
  • the processor 1411 and the memory 1412 are electrically connected to each other, for example, connected through a bus 1413.
  • the millimeter wave radar 1420 is electrically connected to the processor 1411 through the bus 1413.
  • the processor 1411 can be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), and an FPGA (Field-Programmable Gate). Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in conjunction with the disclosure of this application.
  • the processor 1411 may also be a combination that implements computing functions, for example, includes a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
  • the bus 1412 may include a path to transfer information between the above-mentioned components.
  • the bus 1412 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus or the like.
  • the bus 1412 can be divided into an address bus, a data bus, a control bus, and so on. For ease of presentation, only one thick line is used to represent in FIG. 5, but it does not mean that there is only one bus or one type of bus.
  • the memory 1413 may be ROM (Read-Only Memory) or other types of static storage devices that can store static information and instructions, RAM (random access memory), or other types that can store information and instructions
  • the dynamic storage device can also be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disc storage, optical disc storage ( Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be stored by a computer Any other media taken, but not limited to this.
  • the clearance monitoring system 1400 may further include a transceiver 1414.
  • the transceiver 1414 can be used for signal reception and transmission.
  • the transceiver 1414 may allow the headroom monitoring system 1400 to communicate wirelessly or wiredly with other devices to exchange data. It should be noted that in actual applications, the transceiver 1414 is not limited to one.
  • the headroom monitoring system 1400 may further include an input device 1415.
  • the input device 1415 can be used to receive input numbers, characters, images and/or sound information, or to generate signal inputs related to user settings and function control of the clearance monitoring system 1400.
  • the input device 1415 may include, but is not limited to, one or more of touch screen, physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackball, mouse, joystick, camera, sound pickup, etc.
  • the headroom monitoring system 1400 may further include an output device 1416.
  • the output device 1416 can be used to output or display the information processed by the processor 1411.
  • the output device 1416 may include, but is not limited to, one or more of a display device, a speaker, a vibration device, and the like.
  • FIG. 5 shows a headroom monitoring system 1400 with various devices, it should be understood that it is not required to implement or have all of the illustrated devices. It may be implemented alternatively or provided with more or fewer devices.
  • the memory 1412 is used to store application program codes for executing the solutions of the present application, and the processor 1411 controls the execution.
  • the processor 1411 is configured to execute application program codes stored in the memory 1412 to implement any one of the wind turbine headroom monitoring methods provided in the embodiments of the present application. These monitoring methods are described in detail in the subsequent parts of the specific embodiments of the present application .
  • the nacelle 1100 has a cabin extending along the central axis 601 of the impeller 1300 of the wind turbine generator 1000, and the cabin shown includes a cabin close to the tower 1200
  • the nacelle 1100 on the wind turbine generator set 1000 is usually polygonal in cross section parallel to the plane where the impeller is located.
  • the millimeter wave radar 1420 is installed on the nacelle 1100 towards the left side of the impeller 1300 and is close to the top wall 1120 of the nacelle, that is, millimeter wave.
  • the radar 1420 is far away from the impeller 1300, and when its detection range is relatively narrow, it can have as large a detection field as possible, and fully detect the motion data of the tip 1311 of the blade 1310.
  • the processor 1411 determines the blade clearance between the blade 1310 and the tower of the wind turbine generator according to the motion data. Due to the all-weather and all-weather characteristics of the millimeter-wave radar 1420, the clearance monitoring system 1400 can realize all-weather clearance monitoring and improve the data integrity of the clearance condition monitoring.
  • the detection angle of the millimeter wave radar 1420 should be able to be able to move from the top 1321 of the movement area to the bottom 1322 when the blade tip rotates around the central axis 601 of the impeller, in the area close to the tower. Identify the radial velocity component of the blade tip 1311 along the millimeter wave radar 1420 to detect the center line. Therefore, in the circular movement of the blade tip toward the tower, an early warning is given in the area where the blade tip is close to the tower, so as to prevent the blade tip part from colliding with the tower.
  • the detection direction of the millimeter-wave radar points to the lower left of the movement area of the impeller rotating around the central axis.
  • the detection centerline of the millimeter-wave radar 1420 and the first reference plane are The included angle is the first angle
  • the included angle between the detection center line of the millimeter wave radar 1420 and the second reference plane is the second angle
  • the included angle between the detection center line of the millimeter wave radar 1420 and the third reference plane is the third angle.
  • the first reference plane is parallel to the central axis 601 of the impeller 1300 of the wind turbine generator set 1000 and parallel to the axis 602 of the tower 1200.
  • the second reference plane is perpendicular to the central axis 601 of the impeller 1300 and parallel to the axis 602 of the tower 1200.
  • the third reference plane is perpendicular to the first reference plane and perpendicular to the second reference plane.
  • the attitude of the millimeter wave radar 1420 is appropriately set, and the millimeter wave radar 1420 is on the nacelle 1100
  • the attitude can be determined by the first angle, the second angle and the third angle.
  • the specific values of the first angle, the second angle and the third angle can be based on the height of the tower 1200 of the wind turbine 1000, the length of the blade 1310, etc. Be specific.
  • the definition Figure 7 shows a front view of the wind turbine generator set 1000, which is viewed from the impeller 1300 of the wind turbine generator set 1000.
  • the structure of the wind turbine generator set 1000 is as before
  • M1 is the projection of the first reference surface on the second reference surface
  • the line L1 is the projection of the detection centerline of the millimeter wave radar 1420 on the second reference surface
  • the ray P1 and The range between the rays P2 is the projection of the monitoring range of the millimeter wave radar 1420 on the second reference plane
  • the angle A between M1 and L1 is the first angle.
  • the included angle A is in the range of 20 degrees to 30 degrees.
  • Figure 8 shows a side view of the wind turbine generator set 1000.
  • the structure of the wind turbine generator set 1000 is a schematic diagram of the structure projected on the first datum plane described above, where M2 is the second datum plane on the first datum plane.
  • the line L2 is the projection of the detection centerline of the millimeter wave radar 1420 on the first reference plane, and the range between the ray P3 and the ray P4 is the projection of the monitoring range of the millimeter wave radar 1420 on the first reference plane,
  • the angle B between M2 and L2 is the second angle. In an example, the included angle B is in the range of 15 degrees to 20 degrees.
  • Figure 9 shows a top view of the wind turbine generator 1000.
  • M3 is the projection of the first reference plane on the third reference plane
  • the line L3 is the projection of the detection centerline of the millimeter wave radar 1420 on the third reference plane.
  • the range between the ray P5 and the ray P6 is the projection of the monitoring range of the millimeter wave radar 1420 on the third reference plane
  • the included angle C between M3 and L3 is the third angle.
  • the included angle C is in the range of 40 degrees to 50 degrees.
  • the linear distance between the probe of the millimeter wave radar 1420 and the blade tip 1311 is between 60 meters and 110 meters.
  • the detection direction of the millimeter-wave radar 1420 is specifically, when viewed from the nacelle toward the impeller, the detection direction points to the lower left of the movement area of the impeller 1310 rotating around the centerline 601. Since the blade clearance is below the nacelle 1100, and the plane of the motion area of the impeller 1310 is parallel to the polar coordinate plane described above with the nacelle as the origin of the polar coordinate system, the lower left of the motion area of the impeller 1310 is also the lower left of the nacelle.
  • the millimeter-wave radar 1420 monitors the trajectory moving toward the tower 1200 in the trajectory area 1320 when the blade tip rotates around the central axis 601 of the impeller during operation, instead of moving away from or away from the tower 1200, so as to realize that the blade tip will be Provide early warning before colliding with the tower.
  • the embodiment of the second aspect of the present application provides a wind power generating set including the clear distance monitoring system as described in the foregoing embodiment.
  • the embodiment of the third aspect of the present application provides a method for monitoring the headroom of the wind turbine generator 1000, which is applied as described in the embodiment of the first aspect of the present application
  • the clearance monitoring system 1400 of the various wind turbine generator sets 1000 of the, the clearance monitoring method specifically includes the following steps:
  • S200 Determine the clearance distance between each blade 1310 and the tower 1200 according to the motion data.
  • the clearance monitoring system 1400 obtains the motion data of the blade 1310 through the millimeter wave radar 1420, and then accurately determines the clearance distance between each blade 1310 and the tower 1200 during the rotation of the impeller according to the motion data.
  • the blade clearance is the distance between the tip 1311 of each blade 1310 on the impeller 1300 of the wind turbine generator 1000 and the tower 1200.
  • the method for monitoring the headroom of the wind turbine generator 1000 provided in the present application can make full use of the working characteristics of the millimeter wave radar 1420.
  • the millimeter wave radar 1420 is appropriately arranged on the left side of the nacelle 1100 to monitor the blades 1310 that are continuously rotating toward the tower 1200. Motion data, and then use these motion data to fully determine the clearance distance between the blade 1310 and the tower 1200.
  • the clearance monitoring method has high sensitivity and is less affected by bad weather. It can realize all-weather clearance monitoring and improve the clearance. Monitoring data integrity.
  • the motion data specifically includes the following content: the monitoring angle of the blade tip 1311 of the blade 1310 relative to the detection centerline of the millimeter wave radar 1420 , And the monitoring distance of the tip 1311 of the blade 1310 relative to the center of the probe of the millimeter wave radar 1420.
  • the center of the probe represents the mass point of the millimeter-wave radar 1420, and is the starting point of the detection signal line. It is also an abstract process for describing various position parameters in this application. Because the millimeter-wave radar in practice must have a certain geometric shape , So the center of the probe can be equivalent to the geometric center of the millimeter wave radar.
  • the step of obtaining the motion data of each blade 1310 in the motion area of the blade 1310 monitored by the millimeter wave radar 1420 specifically includes:
  • the preset acquisition frequency multiple monitoring angles and multiple monitoring distances corresponding to the monitoring angles are measured.
  • the monitoring angle is ⁇
  • the monitoring distance is S.
  • the beam width of the radiation pattern of the millimeter wave radar 1420 is small, it can only clearly perceive the monitored object 20 within a limited angle range near the detection center line, and the monitored object may be the tip 1311 of the blade 1310. And the millimeter-wave radar is only sensitive to the velocity along the radial direction of the detection centerline.
  • the tip 1311 of the blade 1310 when a certain blade 1310 rotates into the range of the radiation pattern of the millimeter-wave radar 1420, the tip 1311 of the blade 1310 is at the The radial velocity component v within the range changes from small to large, and then the blade 1310 gradually leaves the range of the radiation pattern of the millimeter wave radar 1420 after passing the critical point, so the radial velocity component v in this range gradually changes from The larger becomes smaller, so in this range, the radial velocity component v of the blade tip 1311 has a maximum value.
  • the millimeter wave radar 1420 can determine the position of the blade tip 1311 at the maximum value of the radial velocity component most clearly. According to this principle, the position of the millimeter-wave radar 1420 in the wind turbine generator 1000 on the nacelle 1100 is determined in advance, and the movement data of the blade tip 1311 is obtained to clearly monitor the trajectory of the blade tip 1311 moving toward the tower.
  • the tower 1200 is a stable structure.
  • the external dimensions are known, so the tower 1200 is abstracted as a straight line l 2 , or even a mass point.
  • the geometric center of the tower 1200 is used to represent the tower 1200, and the geometric center of the tower 1200 is calculated between the geometric center of the tower 1200 and the trajectory of the blade tip 1311 Pitch.
  • the complete blade tip 1311 movement trajectory cannot be obtained.
  • the determination of the above-mentioned line segment requires at least two points.
  • the collection frequency is preset to collect data of multiple points. These points are all from the static blade tip of the millimeter wave radar 1420 at the same position. According to the monitoring of 1311, in actual conditions, the wind speed is always changing. Even though it is the monitoring data of the same location, the two adjacent monitoring results are not the same. Therefore, one can be determined by two monitoring data with different data values.
  • a set of monitoring angle and monitoring distance data is the monitoring angle and the monitoring distance corresponding to the monitoring angle.
  • the step of determining the blade clearance between each blade 1310 and the tower 1200, as shown in FIG. 13, specifically includes the following step:
  • S210 Determine the trajectory information of the blade tip 1311 moving toward the tower according to at least two sets of monitoring angles and monitoring distances.
  • S220 Determine the distance between the geometric center of the millimeter wave radar 1420 and the trajectory of the blade tip 1311 moving toward the tower according to the trajectory information of the blade tip 1311 moving toward the tower and the position information of the geometric center of the millimeter wave radar 1420.
  • S230 Determine the blade clearance between the blade 1310 and the tower 1200 according to the distance between the geometric center of the millimeter wave radar 1420 and the trajectory of the blade tip 1311 moving toward the tower, and the distance information between the millimeter wave radar 1420 and the tower 1200 .
  • the original data obtained by the millimeter wave radar 1420 (that is, the monitoring angle ⁇ and the monitoring distance S) are two polar coordinate data in the polar coordinates with the geometric center of the millimeter wave radar 1420 as the origin, in order to facilitate the calculation of the line segment and the geometric center
  • the distance between polar data is converted into plane coordinate data. Then, the distance between the geometric center of the millimeter wave radar 1420 and the trajectory of the blade tip 1311 moving toward the tower is determined according to the trajectory information of the blade tip 1311 moving toward the tower in the plane coordinates and the position information of the geometric center of the millimeter wave radar 1420.
  • the distance information between the geometric center of the millimeter wave radar 1420 and the tower 1200 is known and determined information, it can be determined according to the distance between the geometric center of the millimeter wave radar 1420 and the trajectory of the blade tip 1311 moving toward the tower Blade clearance.
  • the specific method for determining the straight line information of the blade tip 1311 in the corresponding plane coordinate system is as follows: S210 The group monitors the angle and distance to determine the trajectory information of the blade tip 1311 moving towards the tower, including:
  • each monitoring angle and each monitoring distance, as well as the second and third angles determine the tip 1311 coordinate information of the tip 1311 of each blade 1310 in the plane coordinate system;
  • the plane where the plane coordinate system is located is the third The reference plane, the origin of the plane coordinate system is the geometric center of the millimeter wave radar 1420, the first coordinate axis of the plane coordinate system is parallel to the rotation axis of the impeller 1300, and the second coordinate axis of the plane coordinate system is perpendicular to the rotation axis of the impeller 1300.
  • the trajectory information of the blade tip 1311 moving toward the tower is determined.
  • a ray passing through the origin and parallel to the rotation axis of the impeller 1300 is the first coordinate axis, which can be specifically determined as the X axis, so as to pass through the origin O and be with
  • the ray perpendicular to the rotation axis of the impeller 1300 is the second coordinate axis, which can be specifically determined as the Y axis, forming an XOY plane coordinate system.
  • the position data of the blade tip 1311 monitored by the millimeter wave radar 1420 originally belonging to the polar coordinate system is determined according to the coordinate system transformation method in mathematics to determine the coordinate data of the blade tip 1311 position data in the XOY plane coordinate system.
  • the specific transformation method can use the following formula (1) and formula (2):
  • x is the abscissa of the blade tip 1311 in the XOY plane coordinate system
  • y is the ordinate of the blade tip 1311 in the XOY plane coordinate system
  • ⁇ is the monitoring angle in the position data of the blade tip 1311
  • S is the blade tip For the monitoring distance in the 1311 location data
  • B is the second angle
  • C is the third angle.
  • a virtual straight line that can reflect the position of the trajectory of the blade tip 1311 moving toward the tower is determined.
  • the embodiment of the fourth aspect of the present application provides a headroom monitoring device 10 of a wind turbine generator 1000, as shown in FIG. 14, which specifically includes an acquisition module 11 and a ranging module 12.
  • the acquisition module 11 is used to acquire the motion data of each blade 1310 monitored by the millimeter wave radar 1420 in the motion area where the blade 1310 rotates around the central axis 601 of the impeller.
  • the ranging module 12 is used to determine the blade clearance between each blade 1310 and the tower 1200 according to the motion data.
  • the headroom monitoring device of the wind turbine generator 1000 provided in the present application can use the monitored motion data of the continuously rotating blade 1310 on the tower 1200 to fully determine the blade headroom between the blade 1310 and the tower 1200.
  • This monitoring work It is less affected by bad weather, can realize all-weather clearance monitoring, and improve the data integrity of the clearance condition monitoring.
  • the motion data acquired by the acquisition module 11 includes: the monitoring angle of the blade tip 1311 of the blade 1310 relative to the detection centerline of the millimeter wave radar 1420, and the monitoring of the geometric center of the blade tip 1311 of the blade 1310 relative to the millimeter wave radar 1420 distance.
  • the obtaining module 11 obtains the movement data of each blade 1310 in the movement area of the blade 1310 monitored by the millimeter wave radar 1420, specifically including: according to the preset collection frequency, multiple monitoring angles and multiple corresponding to the monitoring angles are measured Monitoring distance.
  • the distance measurement module 12 determines the blade clearance between each blade 1310 and the tower 1200 according to the motion data, which specifically includes: determining the information of the straight line where the blade tip 1311 is located according to at least two sets of monitoring angles and monitoring distances . According to the information of the line where the blade tip 1311 is located and the position information of the geometric center of the millimeter wave radar 1420, the monitoring distance between the geometric center of the millimeter wave radar 1420 and the line where the blade tip 1311 is located is determined.
  • the blade clearance between the blade 1310 and the tower 1200 is determined.
  • the ranging module 12 determines the information of the straight line where the blade tip 1311 is located based on at least two monitoring angles and monitoring distances, which specifically includes: determining each group of monitoring angles and monitoring distances, as well as the second and third angles.
  • the coordinate axis is parallel to the rotation axis of the impeller 1300, and the second coordinate axis of the plane coordinate system is perpendicular to the rotation axis of the impeller 1300. According to the coordinate information of all the blade tips 1311 in the preset time period, the information of the straight line where the blade tip 1311 is located is determined.
  • the embodiments of the present application provide a non-transitory computer-readable storage medium for storing computer instructions.
  • the method for monitoring the headroom of the wind turbine generator described in the third aspect of the present application is executed.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of this application, unless otherwise specified, “plurality” means two or more.

Abstract

一种风力发电机组（1000）的净空监测系统（1400）、监测方法及装置，净空监测系统（1400）包括处理器（1411）、以及与处理器通信连接的毫米波雷达（1420）；毫米波雷达（1420）安装于风力发电机组（1000）的机舱（1100）上朝向叶轮（1300）的左侧部；毫米波雷达（1420）指向叶轮（1300）的运动区域，用于监测叶轮（1300）上每个叶片（1310）在运动区域中的运动数据；处理器（1411）用于接收运动数据；根据运动数据，确定出每个叶片（1310）与风力发电机组（1000）的塔架（1200）之间的叶片净空。监测系统受恶劣天气的影响更小，能够实现全天候的净空监测，提高了对净空工况监测的数据完整性。还公开了一种风力发电机组的净空监测方法和监测装置。

Description

风力发电机组的净空监测系统、监测方法及装置 技术领域
本申请涉及风力发电设备控制技术领域，具体而言，本申请涉及一种风力发电机组的净空监测系统、监测方法及装置。
背景技术
风力发电机组向大兆瓦机组发展，随着叶轮直径增大，叶片长度的不断增加，叶轮运转时叶片的挠度变化幅度更大，因此造成叶片的叶尖与塔筒之间的净空区域越来越狭窄。在大风天气情况下，一方面，大直径叶轮使风力发电能够捕获更多风能，风电转换效率更高；但另一方面，净空区域狭窄的风力发电机组容易发生叶片碰撞塔筒，造成风电机组毁损的风险。
发明内容
实施例提供了一种风力发电机组的净空的监测系统、监测方法及装置。
第一方面，本申请实施例提供了一种风力发电机组的净空监测系统，包括处理器、以及与处理器通信连接的毫米波雷达；
毫米波雷达安装于风力发电机组的机舱外部朝向叶轮的左侧部；毫米波雷达的探测方向指向叶轮绕叶轮中心轴旋转的运动区域的左下方，用于监测每个叶片在运动区域中的运动数据；
处理器用于根据运动数据，确定出每个叶片与风力发电机组的塔架之间的叶片净空。
在第一个方面的某些实现方式中，机舱具有沿风力发电机组中叶轮中心轴的轴向延伸的舱壳，毫米波雷达安装于靠近舱顶壁的舱侧壁上。
结合第一个方面和上述实现方式，在第一个方面的某些实现方式中，在毫米波雷达的探测范围内，毫米波雷达的探头与叶尖部分之间的距离为60 至110米。
结合第一个方面和上述实现方式，在第一个方面的某些实现方式中，在叶轮的旋转过程中，处理器根据运动数据确定叶尖朝向塔架运动的轨迹信息。
结合第一个方面和上述实现方式，在第一个方面的某些实现方式中，
毫米波雷达的探测中心线与第一基准面的夹角为20度至30度范围；
毫米波雷达的探测中心线与第二基准面的夹角为15度至20度范围；
毫米波雷达的探测中心线与第三基准面的夹角为40度至50度范围。
结合第一个方面和上述实现方式，在第一个方面的某些实现方式中，
第一基准面平行于风力发电机组的叶轮的旋转轴线，并且平行于塔架的轴线；
第二基准面垂直于叶轮的旋转轴线，并且平行于塔架的轴线；
第三基准面垂直第一基准面，并且垂直于第二基准面。
第二个方面，本申请提供了一种风力发电机组，包括如本申请第一个方面描述的净空监测系统。
第三个方面，本申请提供了一种风力发电机组的净空监测方法，应用于如本申请第一个方面描述的净空监测系统，净空监测方法包括：
获取毫米波雷达监测到的每个叶片在叶片绕叶轮中心轴旋转的运动区域中的运动数据；
根据运动数据确定叶尖朝向塔架运动的轨迹信息，根据轨迹信息确定出每个叶片与塔架之间的叶片净空。
在第三个方面的某些实现方式中，运动数据包括：叶片的叶尖相对于毫米波雷达探测中心线的监测角度，以及叶片的叶尖相对于毫米波雷达的几何中心的监测距离。
第四个方面，本申请提供了一种风力发电机组的净空的监测装置，包括：
获取模块，用于获取毫米波雷达监测到的每个叶片在叶片绕叶轮中心轴旋转的运动区域中的运动数据；
测距模块，用于根据运动数据，确定出每个叶片与塔架之间的叶片净空。
第五个方面，本申请提供了一种计算机可读存储介质，计算机存储介质 用于存储计算机指令，当计算机指令在计算机上运行时，实现如本申请第三个方面描述的风力发电机组的净空的监测方法。
本申请附加的方面和优点将在下面的描述中部分给出，这些将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1为根据示例性实施例的一种风力发电机组的结构框架示意图；
图2为根据示例性实施例的毫米波雷达的探测范围的平面示意图；
图3为根据示例性实施例的一种风力发电机组的结构示意图；
图4为根据示例性实施例的叶片的运动轨迹的示意图；
图5为根据示例性实施例的一种风力发电机组的净空监测系统的结构示意图；
图6为根据示例性实施例的一种风力发电机组上毫米波雷达安装位置示意图；
图7为根据示例性实施例的一种风力发电机组的结构正视图；
图8为根据示例性实施例的一种风力发电机组的结构侧视图；
图9为根据示例性实施例的一种风力发电机组的结构俯视图；
图10为根据示例性实施例的一种风力发电机组的净空监测方法的方法流程示意图；
图11为根据示例性实施例的一种毫米波雷达监测参数示意图；
图12为根据示例性实施例的叶尖运行轨迹示意图；
图13为根据示例性实施例的根据运动数据，确定出每个叶片与塔架之间的叶片净空的方法流程示意图；
图14为根据示例性实施例的一种风力发电机组的净空监测装置的结构框架示意图；
图15为根据示例性实施例的极坐标系示意图。
具体实施方式
下面详细描述本申请，本申请实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的部件或具有相同或类似功能的部件。此外，如果已知技术的详细描述对于示出的本申请的特征是不必要的，则将其省略。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能解释为对本申请的限制。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本申请所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与本领域上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。应该进一步理解的是，本申请的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
在风力发电机组中，叶轮包括轮毂和由轮毂向外延伸的三个叶片。叶轮绕叶轮中心线旋转以驱动发电机运行，将风能转换为电能。净空距离是指叶轮绕叶轮中心线旋转过程中，叶片掠过塔筒前方时叶片叶尖部分与塔筒表面的最小间距，实际上可以抽象成叶尖部分的运行轨迹曲线到塔筒最外轮廓线的实际最小距离值，可简称为净空。为了避免风力发电机组上的叶轮在转动时碰撞风力发电机组的塔筒，造成风力发电机组毁坏的事故，需要对净空这一参数保持持续监测。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将 结合附图，对本申请的实施例进行描述。
本申请第一个方面的实施例提供了一种风力发电机组1000的净空监测系统1400，如图1所示，包括处理器1411、以及与处理器1411通信连接的毫米波雷达1420。
其中，毫米波雷达1420安装于风力发电机组1000的机舱1100外部朝向叶轮1300的左侧部；毫米波雷达1420的探测方向指向叶轮绕叶轮中心轴旋转的运动区域，用于监测叶轮1300上每个叶片1310在运动区域中的运动数据。
处理器1411用于接收运动数据，并根据运动数据，确定出每个叶片1310与风力发电机组1000的塔架1200之间的叶片净空。
本申请提供的风力发电机组1000的净空的监测系统1400能够通过设置在机舱1100左侧部的毫米波雷达1420监测朝向塔架1200运动的叶尖1311的运动数据，再利用这些运动数据精确地确定出叶尖1311与塔架1200之间的净空距离。该监测系统1400不受恶劣天气的影响，能够实现全天候的净空监测。
本实施例的叶尖1311是指位于叶片最远端，长度为叶片全长的十分之一至五分之一范围的部分。为准确说明机舱1100外部朝向叶轮1300的左侧部的位置，本文“机舱左侧部”定义为，从机舱朝向叶轮的方向观察时机舱的左侧部。
参考图15，现将机舱抽象为质点，并以该质点作为极坐标系的原点，该极坐标系对应的平面与叶轮绕叶轮中心线的旋转平面平行。从来风方向朝向叶轮观察，叶片旋转方向为顺时针，机舱的左方向即为沿该顺时针方向的3点钟位置，机舱的下方为沿该顺时针方向的6点钟位置，机舱的右方向为沿该顺时针方向的9点钟位置，机舱的上方为沿该顺时针方向的12点钟位置。
本实施例中，“机舱左侧部”还可定义为，从来风方向朝向叶轮的方向观察，以机舱作为极坐标原点，毫米波雷达设置在机舱外部极坐标角度约为3点钟方向的位置处。
本实施例采用的毫米波雷达工作在30～300GHz频域范围，波长为1～10mm范围，此频域的波长介于微波和厘米波之间，因此毫米波雷达兼有微波雷达和厘米波雷达的一些优点。同厘米波雷达相比，毫米波雷达具有体积小、质量轻和空间分辨率高的特点。而与红外、激光、电视等探测设备相比，毫米波导引头穿透雾、烟、灰尘的能力强，具有全天候全天时的特点。
毫米波雷达的一个工作特点是，仅对沿探测中心线径向运动的速度敏感，即当被监测物体沿探测中心线径向运动时，毫米波雷达能够定位被监测物体位置，而当被监测物体沿探测中心线的垂直方向运动时，毫米波雷达并不能识别被监测物体；另一个工作特点是，毫米波雷达辐射方向图的波束宽度很小，只能探测到有限范围内的物体。
本实施例中，如图2所示，毫米波雷达的探测区域为自探头向外延伸的圆锥形区域，该圆锥形区域的夹角表示为探测角度范围1422。毫米波雷达的探测中心线1421是指毫米波雷达探测角度范围1422的角平分线，而辐射方向是指毫米波雷达辐射出的信号的传播方向。
为了准确获取叶尖1311的运行位置，需要对毫米波雷达1420的安装姿态和安装位置进行预先设定，以便捕获叶片1310的叶尖1311部分沿毫米波雷达1420的探测中心线径向运动的速度分量。风力发电机组1000运行时，包括若干叶片1310的叶轮1300处于旋转状态。本实施例提供的毫米波雷达1420的安装姿态和安装位置，使得当叶片1310进入毫米波雷达1420的探测范围内时，叶尖1311运动速度存在径向分量时能够被毫米波雷达1420精确地感知，从而准确判断叶尖1311的位置。
如图3所示，风力发电机组1000具体包括塔架1200、毫米波雷达1420、机舱1100和叶轮1300等部件，叶轮1300可包括若干个叶片1310。图3中示出的是叶轮1300包括三个叶片1310的情形。图3中D0是最靠近塔架1200的某一叶片1310的叶尖1311与塔架1200之间的间距，也即是叶片1310与塔架1200之间的净空距离。
具体地，毫米波雷达1420设置在风力发电机组1000的机舱1100外 部。为了监测叶尖1311朝向塔架1200运动时的运行轨迹，而不是监测叶尖1311远离塔架1200运动时的运行轨迹，毫米波雷达1420设置在机舱1100的侧部。如图4所示，叶轮1300上某一个叶片1310由运动区域的最顶端1321运动到最底端1322，扫过形成的一轨迹区域1320，该轨迹区域1320对应的机舱1100的侧部就是毫米波雷达1420在机舱1100上安置的侧部。以机舱1100朝向叶轮1300的方向为前方，即图4中直线上箭头所指向的方向，默认机舱1100朝向地面的方向为下方，若风力发电机组1000的叶轮1300是顺时针方向旋转，参考图4中的旋转方向E，则上述轨迹区域在机舱1100的左侧，若风力发电机组1000的叶轮1300在工作时是逆时针方向旋转，参考图4中的旋转方向F，则上述轨迹区域在机舱1100的右侧。通常情况下，风力发电机组1000的叶轮1300在工作时是沿顺时针方向旋转，因此毫米波雷达1420安装于风力发电机组1000的机舱1100上朝向叶轮1300的左侧部。
本申请在一个可选实施例中提供了一种风力发电机组1000的净空监测系统1400，如图5所示，图5所示的风力发电机组1000的净空监测系统1400包括：处理器1411、存储器1412和毫米波雷达1420。其中，处理器1411和存储器1412相互电连接，如通过总线1413相连。毫米波雷达1420通过总线1413与处理器1411电连接。
处理器1411可以是CPU(Central Processing Unit，中央处理器)，通用处理器，DSP(Digital Signal Processor，数据信号处理器)，ASIC(Application Specific Integrated Circuit，专用集成电路)，FPGA(Field－Programmable Gate Array，现场可编程门阵列)或者其他可编程逻辑器件、晶体管逻辑器件、硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。处理器1411也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等。
总线1412可包括一通路，在上述组件之间传送信息。总线1412可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线或 EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。总线1412可以分为地址总线、数据总线、控制总线等。为便于表示，图5中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
存储器1413可以是ROM(Read-Only Memory，只读存储器)或可存储静态信息和指令的其他类型的静态存储设备，RAM(random access memory，随机存取存储器)或者可存储信息和指令的其他类型的动态存储设备，也可以是EEPROM(Electrically Erasable Programmable Read Only Memory，电可擦可编程只读存储器)、CD-ROM(Compact Disc Read-Only Memory，只读光盘)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。
可选地，净空监测系统1400还可以包括收发器1414。收发器1414可用于信号的接收和发送。收发器1414可以允许净空监测系统1400与其他设备进行无线或有线通信以交换数据。需要说明的是，实际应用中收发器1414不限于一个。
可选地，净空监测系统1400还可以包括输入设备1415。输入设备1415可用于接收输入的数字、字符、图像和/或声音信息，或者产生与净空监测系统1400的用户设置以及功能控制有关的信号输入。输入设备1415可包括但不限于触摸屏、物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆、拍摄装置、拾音器等中的一种或多种。
可选地，净空监测系统1400还可以包括输出设备1416。输出设备1416可用于输出或展示经过处理器1411处理的信息。输出设备1416可以包括但不限于显示装置、扬声器、振动装置等中的一种或多种。
虽然图5示出了具有各种装置的净空监测系统1400，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
可选的，存储器1412用于存储执行本申请方案的应用程序代码，并由处理器1411来控制执行。处理器1411用于执行存储器1412中存储的 应用程序代码，以实现本申请实施例提供的任一种风力发电机组1000的净空监测方法，这些监测方法在本申请具体实施例的后续部分中详细描述。
可行的，在上述实施例的一种实现方式中，如图6所示，机舱1100具有沿风力发电机组1000的叶轮1300的中心轴601延伸的舱壳，所示舱壳包括靠近塔架1200的舱底壁1110、远离塔架1200的舱顶壁1120、以及连接舱底壁1110和舱顶壁1120的舱侧壁1130；毫米波雷达1420安装于靠近舱顶壁1120的舱侧壁1130上。风力发电机组1000上的机舱1100沿与叶轮所在平面平行的横截面形状通常是多边形，毫米波雷达1420安装于机舱1100上朝向叶轮1300的左侧部，并且靠近舱顶壁1120，也即毫米波雷达1420间隔叶轮1300较远，在自身探测范围较为狭窄的情况下，能够具有尽可能大的探测视野，充分探测到叶片1310的叶尖1311的运动数据。处理器1411根据运动数据确定出叶片1310与风力发电机组的塔架之间的叶片净空。由于毫米波雷达1420全天候全天时的特点，净空监测系统1400能够实现全天候的净空监测，提高对净空工况监测的数据完整性。进一步而言，毫米波雷达1420的探测角度应当能够在叶尖绕叶轮中心轴601旋转时，在由运动区域的最顶端1321运动到最底端1322的过程中，在接近塔架的区域内能够识别叶尖1311沿毫米波雷达1420探测中心线的径向速度分量。从而在叶尖朝向塔架的圆周运动中，在叶尖接近塔架的区域内提前预警，防止叶尖部分碰撞塔架。
可行的，在本申请的一个实现方式中，毫米波雷达的探测方向指向所述叶轮绕中心轴旋转的运动区域的左下方，具体地，毫米波雷达1420的探测中心线与第一基准面的夹角为第一角度，毫米波雷达1420的探测中心线与第二基准面的夹角为第二角度，以及毫米波雷达1420的探测中心线与第三基准面的夹角为第三角度。其中，第一基准面平行于风力发电机组1000的叶轮1300的中心轴线601，并且平行于塔架1200的轴线602。第二基准面垂直于叶轮1300的中心轴线601，并且平行于塔架1200的轴线602。第三基准面垂直第一基准面，并且垂直于第二基准面。
如前文所述，基于毫米波雷达1420自身的工作特点，以及精确测量 叶片1310与塔架1200之间的净空的需要，适当地设置毫米波雷达1420的姿态，而毫米波雷达1420在机舱1100上的姿态可由第一角度、第二角度和第三角度具体确定，而第一角度、第二角度和第三角度的具体数值，可根据风力发电机组1000的塔架1200高度、叶片1310长度等数据具体确定。
为准确理解上述角度数据，可通过以下实例以及附图进行理解：
如图7～图9所示，定义图7所示为风力发电机组1000的正视图，该正视图为面向风力发电机组1000的叶轮1300观察，在该视图下，风力发电机组1000的结构是前文描述的第二基准面上的结构示意图，其中M1为第一基准面在第二基准面上的投影，直线L1为毫米波雷达1420的探测中心线在第二基准面上的投影，射线P1和射线P2之间的范围是为毫米波雷达1420的监测范围在第二基准面上的投影，M1与L1的夹角A即为第一角度。在一个示例中，夹角A为20度至30度范围。
图8所示为风力发电机组1000的侧视图，该视图下，风力发电机组1000的结构是前文描述的第一基准面上投影的结构示意图，其中M2为第二基准面在第一基准面上的投影，直线L2为毫米波雷达1420的探测中心线在第一基准面上的投影，射线P3和射线P4之间的范围是为毫米波雷达1420的监测范围在第一基准面上的投影，M2与L2的夹角B即为第二角度。在一个示例中，夹角B为15度至20度范围。
图9所示为风力发电机组1000的俯视图，该视图下，M3为第一基准面在第三基准面上的投影，直线L3为毫米波雷达1420的探测中心线在第三基准面上的投影，射线P5和射线P6之间的范围是为毫米波雷达1420的监测范围在第三基准面上的投影，M3与L3的夹角C即为第三角度。在一个示例中，夹角C为40度至50度范围。
如图7～图9所示的安装方式，毫米波雷达1420的探头与叶尖1311的直线距离为60米至110米之间。
本申请中，毫米波雷达1420的探测方向具体为，自机舱朝向叶轮观察，探测方向指向叶轮1310绕中心线601旋转的运动区域的左下方。由 于叶片净空位于机舱1100下方，并且叶轮1310的运动区域所在平面与前文描述的以机舱作为极坐标系的原点的极坐标平面平行，叶轮1310的运动区域的左下方，也是机舱的左下方。毫米波雷达1420在工作过程中监测叶尖绕叶轮中心轴601转动时，在轨迹区域1320内朝向塔架1200运动的轨迹，而非远离或离开塔架1200运动的轨迹，从而实现在叶尖将要碰撞塔架之前进行提前预警。本申请第二个方面的实施例提供了一种风力发电机组，该风力发电机组包括如前述实施例中描述的净空距离监测系统。
为了实现对风力发电机组1000的净空的全天候准确监测，本申请第三个方面的实施例提供了一种风力发电机组1000的净空监测方法，应用于如本申请第一个方面的实施例中描述的各项风力发电机组1000的净空监测系统1400，如图10所示，净空监测方法具体包括如下步骤：
S100：获取毫米波雷达1420监测到的每个叶片1310在绕叶轮中心轴601旋转运动区域中的运动数据。
S200：根据运动数据，确定出每个叶片1310与塔架1200之间的净空距离。
首先净空监测系统1400通过毫米波雷达1420获取叶片1310的运动数据，然后根据该运动数据，准确地确定出叶轮旋转过程中的每个叶片1310与塔架1200之间的净空距离。正如前文描述，叶片净空即是风力发电机组1000的叶轮1300上各个叶片1310的叶尖1311与塔架1200的间距。
本申请提供的风力发电机组1000的净空监测方法，能够充分利用毫米波雷达1420的工作特点，通过适当设置在机舱1100左侧部的毫米波雷达1420，监测朝向塔架1200不断转动的叶片1310的运动数据，再利用这些运动数据充分地确定出叶片1310与塔架1200之间的净空距离，该净空监测方法灵敏度高，受恶劣天气的影响更小，能够实现全天候的净空监测，提高了对净空监测的数据完整性。
可行的，在本申请第三个方面实施例的一种实现方式中，如图11所示，运动数据具体包括以下内容：叶片1310的叶尖1311相对于毫米波雷 达1420探测中心线的监测角度，以及叶片1310的叶尖1311相对于毫米波雷达1420的探头中心的监测距离。探头中心是代表毫米波雷达1420的质点，是探测信号线出射的起点，也是一种为描述本申请中各种位置参数而进行的抽象处理，由于实际当中的毫米波雷达必然具有一定的几何形状，因此探头中心可等同于毫米波雷达的几何中心。
而获取毫米波雷达1420监测到的每个叶片1310在叶片1310的运动区域中的运动数据的步骤，具体包括：
根据预设采集频率，测得多个监测角度和多个与监测角度对应的监测距离。图11中，监测角度即为γ，而监测距离即为S。
由于毫米波雷达1420具有的辐射方向图的波束宽度很小，只能清楚地感知探测中心线附近有限角度范围内的被监测物体20，该被监测物体可以是叶片1310的叶尖1311。并且毫米波雷达仅对沿探测中心线径向的速度敏感，在一个示例中，当某一叶片1310旋转进入到毫米波雷达1420的辐射方向图的范围内，该叶片1310的叶尖1311在该范围内的径向运动速度分量v由小变大，然后叶片1310经过临界点后又逐渐离开毫米波雷达1420的辐射方向图的范围内，因此在该范围内的径向速度分量v又逐渐由大变小，因此在该范围内，叶尖1311的径向速度分量v存在一个极大值。根据毫米波雷达1420的工作原理，对于处于径向速度分量极大值的叶尖1311，毫米波雷达1420能够最为清晰地确地其位置。根据这一原理，预先确定好风力发电机组1000中毫米波雷达1420在机舱1100上的位置，获取该叶尖1311的运动数据，以清晰监测到叶尖1311朝向塔筒运动的轨迹。
如图12所示，为了计算叶片1310与塔架1200之间的净空距离，实际上是计算叶尖1311运动轨迹与塔架1200最大轮廓线之间的间距，而塔架1200是一稳定结构，外形尺寸已知，因此将塔架1200抽象为一条直线l 2，甚至是一个质点，例如以塔架1200的几何中心代表塔架1200，计算塔架1200的几何中心与叶尖1311运动轨迹之间的间距。实际上，由于毫米波雷达探测角度的局限性，无法获取完整的叶尖1311运动轨迹。仅仅能 够探测到叶尖1311运动轨迹上的靠近塔架1200的一段线段l 1，通过该线段l 1与塔架1200所在直线l 2之间的距离，或者说是l 1与塔架1200的几何中心(x 0,0)之间的间距，即可得知叶片1310与塔架1200之间的叶片净空。通过以上过程，能够实现将空间测距模型变化成平面测距模型，更方便地计算叶片净空。
上述线段的确定至少需要两个点，在本申请中，通过预设采集频率，采集多个点的数据，这些点均来自于静止状态的毫米波雷达1420对同一位置点的运动状态的叶尖1311的监测得到，在实际情况下，风速始终处于变化当中，尽管是同一位置点的监测数据，相邻两次的监测结果亦不相同，因此能够通过两个数据值不同的监测数据，确定一条能够代表叶尖1311运动轨迹的线段。预设采集频率下，每次采集到的监测角度与监测距离相互对应，一组监测角度和监测距离的数据，即是监测角度以及与监测角度对应的监测距离。
可行的，在本申请第三个方面实施例的一种实现方式中，根据运动数据，确定出每个叶片1310与塔架1200之间的叶片净空的步骤，如图13所示，具体包括下列步骤：
S210：根据至少两组监测角度和监测距离，确定叶尖1311朝向塔架运动的轨迹信息。
S220：根据叶尖1311朝向塔架运动的轨迹信息和毫米波雷达1420的几何中心的位置信息，确定毫米波雷达1420的几何中心与叶尖1311朝向塔架运动的轨迹的距离。
S230：根据毫米波雷达1420的几何中心与叶尖1311朝向塔架运动的轨迹的距离，以及毫米波雷达1420与塔架1200之间的间距信息，确定叶片1310与塔架1200之间的叶片净空。
毫米波雷达1420获取到的原始数据(即监测角度γ和监测距离S)是一种以毫米波雷达1420的几何中心为原点的极坐标当中的两个极坐标数据，为便于计算线段与几何中心的间距，将极数据转化为平面坐标数据。然后根据平面坐标当中的叶尖1311朝向塔架运动的轨迹信息，以及毫米 波雷达1420的几何中心的位置信息，确定毫米波雷达1420的几何中心与叶尖1311朝向塔架运动的轨迹的距离。由于毫米波雷达1420的几何中心与塔架1200之间的间距信息是已知的确定信息，因此，根据毫米波雷达1420的几何中心与叶尖1311朝向塔架运动的轨迹的距离，即可确定叶片净空。
可行的，在本申请实施例的一种实现方式中，根据极坐标系中的叶尖1311坐标数据，确定对应的平面坐标系中的叶尖1311所在直线的信息具体方法如下：S210根据至少两组监测角度和监测距离，确定叶尖1311朝向塔架运动的轨迹信息，包括：
根据每个监测角度和每个监测距离，以及第二角度和第三角度，确定每个叶片1310的叶尖1311在平面坐标系中的叶尖1311坐标信息；平面坐标系所在的平面为第三基准面，平面坐标系的原点为毫米波雷达1420的几何中心，平面坐标系的第一坐标轴平行于叶轮1300的旋转轴线，平面坐标系的第二坐标轴垂直于叶轮1300的旋转轴线。
根据预设时间周期内的全部叶尖1311坐标信息，确定叶尖1311朝向塔架运动的轨迹信息。
如图12所示，以毫米波雷达1420的几何中心为原点O，经过该原点且与叶轮1300的旋转轴线平行的射线为第一坐标轴，具体可确定为X轴，以经过原点O且与叶轮1300的旋转轴线垂直的射线为第二坐标轴，具体可确定为Y轴，形成了一XOY平面坐标系。将原本属于极坐标系中的毫米波雷达1420监测到的叶尖1311位置数据，根据数学中的坐标系转化方法，确定该叶尖1311位置数据在上述XOY平面坐标系中的坐标数据。具体的变换方法可采用下述公式(1)和公式(2)：
x＝S·sin(γ)·sin(B)·cos(C)，公式(1)；
y＝S·sin(γ)·sin(B)·sin(C)，公式(2)；
上述公式中，x为叶尖1311在XOY平面坐标系中的横坐标，y为叶尖1311在XOY平面坐标系中的纵坐标，γ为叶尖1311位置数据中的监测角度，S为叶尖1311位置数据中的监测距离，B为第二角度，C为第三 角度。
根据在预设时间周期内获取到的若干个叶尖1311坐标信息，确定一条能够反映叶尖1311朝向塔架运动的轨迹的位置的虚拟直线。
基于同一发明构思，本申请第四个方面的实施例提供了一种风力发电机组1000的净空监测装置10，如图14所示，具体包括获取模块11和测距模块12。
其中，获取模块11用于获取毫米波雷达1420监测到的每个叶片1310在叶片1310绕叶轮中心轴601旋转的运动区域中的运动数据。而测距模块12用于根据运动数据，确定出每个叶片1310与塔架1200之间的叶片净空。
本申请提供的风力发电机组1000的净空监测装置，能够利用监测到的塔架1200上不断转动的叶片1310的运动数据，充分地确定出叶片1310与塔架1200之间的叶片净空，该监测工作受恶劣天气的影响更小，能够实现全天候的净空监测，提高了对净空工况监测的数据完整性。
可行的，获取模块11获取到的运动数据包括：叶片1310的叶尖1311相对于毫米波雷达1420探测中心线的监测角度，以及叶片1310的叶尖1311相对于毫米波雷达1420的几何中心的监测距离。获取模块11获取毫米波雷达1420监测到的每个叶片1310在叶片1310的运动区域中的运动数据的步骤，具体包括：根据预设采集频率，测得多个监测角度和多个与监测角度对应的监测距离。
可行的，测距模块12根据运动数据，确定出每个叶片1310与塔架1200之间的叶片净空的步骤，具体包括：根据至少两组监测角度和监测距离，确定叶尖1311所在直线的信息。根据叶尖1311所在直线的信息和毫米波雷达1420的几何中心的位置信息，确定毫米波雷达1420的几何中心与叶尖1311所在直线的监测距离。根据毫米波雷达1420的几何中心与叶尖1311所在直线的监测距离，以及毫米波雷达1420与塔架1200之间的间距信息，确定叶片1310与塔架1200之间的叶片净空。
可行的，测距模块12根据至少两个监测角度和监测距离，确定叶尖1311 所在直线的信息，具体包括：根据每组监测角度和监测距离，以及第二角度和第三角度，确定每个叶片1310的叶尖1311在平面坐标系中的叶尖1311坐标信息；平面坐标系所在的平面为第三基准面，平面坐标系的原点为毫米波雷达1420的几何中心，平面坐标系的第一坐标轴平行于叶轮1300的旋转轴线，平面坐标系的第二坐标轴垂直于叶轮1300的旋转轴线。根据预设时间周期内的全部叶尖1311坐标信息，确定叶尖1311所在直线的信息。
基于同一发明构思，本申请实施例提供了一种非暂时性计算机可读存储介质，用于存储计算机指令。当计算机指令被运行时，执行本申请第三个方面中描述的任一项的风力发电机组的净空的监测方法。应用本申请实施例，至少能够实现如下有益效果：全天候进行净空监测，提高对净空工况监测的数据完整性。
本技术领域技术人员可以理解，本申请中已经讨论过的各种操作、方法、流程中的步骤、措施、方案可以被交替、更改、组合或删除。进一步地，具有本申请中已经讨论过的各种操作、方法、流程中的其他步骤、措施、方案也可以被交替、更改、重排、分解、组合或删除。进一步地，具有本申请中公开的各种操作、方法、流程中的步骤、措施、方案也可以被交替、更改、重排、分解、组合或删除。
术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
应该理解的是，虽然附图的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，其可以以其他的顺序执行。而且，附图的流程图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，其执行顺序也不必然是依次进行，而是可以与其他步骤或者其他步骤的子步骤或者阶段的至少一部分轮流或者交替 地执行。
以上所述仅是本申请的部分实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。
附图标记说明：
10-风力发电机组的净空监测装置，20-被监测物体；
11-获取模块，12-测距模块；
1000-风力发电机组，1100-机舱，1200-塔架，1300-轮毂，1400-风力发电机组的净空监测系统；
1110-舱底壁，1120-舱顶壁，1130-舱侧壁；
1310-叶片，1311-叶尖，1320-轨迹区域，1321-最顶端位置，1322-最底端位置；
1411-处理器，1412-存储器，1413-总线，1414-收发器，1415-输入设备，1416-输出设备；
1420-毫米波雷达，1421-探测中心线，1422-探测范围。

Claims (12)

  1. 一种风力发电机组的净空监测系统，包括处理器、以及与所述处理器通信连接的毫米波雷达；
    所述毫米波雷达安装于所述风力发电机组的机舱外部朝向叶轮的左侧部，所述毫米波雷达的探测方向指向所述叶轮绕叶轮中心轴旋转的运动区域的左下方，用于监测每个叶片在所述运动区域中的运动数据；
    所述处理器用于根据所述运动数据确定出每个所述叶片与所述风力发电机组的塔架之间的叶片净空。
  2. 根据权利要求1所述的净空监测系统，其中，所述机舱具有沿所述叶轮中心轴的轴向延伸的舱壳，所述毫米波雷达安装于靠近舱顶壁的舱侧壁上。
  3. 根据权利要求1所述的净空监测系统，其中，在毫米波雷达的探测范围内，所述毫米波雷达的探头与叶尖部分之间的距离为60至110米。
  4. 根据权利要求1所述的净空监测系统，其中，在所述叶轮的旋转过程中，所述处理器根据所述运动数据确定叶尖朝向所述塔架运动的轨迹信息。
  5. 根据权利要求1所述的净空监测系统，其中，
    所述毫米波雷达的探测中心线与第一基准面的夹角为20度至30度范围；
    所述毫米波雷达的探测中心线与第二基准面的夹角为15度至20度范围；
    所述毫米波雷达的探测中心线与第三基准面的夹角为40度至50度范围。
  6. 根据权利要求5所述的净空监测系统，其中，
    所述第一基准面平行于所述风力发电机组的叶轮中心轴线，并且平行于所述塔架的轴线；
    所述第二基准面垂直于所述叶轮的中心轴线，并且平行于所述塔架的轴线；
    所述第三基准面垂直所述第一基准面，并且垂直于所述第二基准面。
  7. 一种风力发电机组，包括如权利要求1～6中任一项所述的净空监测系统。
  8. 一种风力发电机组的净空监测方法，包括：
    获取毫米波雷达监测到的每个叶片在所述叶片绕叶轮中心轴旋转的运动区域中的运动数据，其中，所述毫米波雷达安装于所述风力发电机组的机舱外部朝向叶轮的左侧部，所述毫米波雷达的探测方向指向所述叶轮绕叶轮中心轴旋转的运动区域的左下方；
    根据所述运动数据确定叶尖朝向塔架运动的轨迹信息；以及
    根据所述轨迹信息确定出每个所述叶片与塔架之间的叶片净空。
  9. 根据权利要求8所述的净空监测方法，其中，所述运动数据包括：
    所述叶片的叶尖相对于所述毫米波雷达探测中心线的监测角度，以及所述叶片的叶尖相对于所述毫米波雷达的监测距离。
  10. 根据权利要求9所述的净空监测方法，其中，
    根据至少两组所述监测角度和所述监测距离，确定所述叶尖朝向塔架运动的轨迹信息。
  11. 一种风力发电机组的净空监测装置，包括：
    获取模块，用于获取毫米波雷达监测到的每个叶片在绕叶轮中心轴旋转的运动区域中的运动数据；
    测距模块，用于根据所述运动数据，确定出每个所述叶片与塔架之间的叶片净空。
  12. 一种非暂时性计算机可读存储介质，所述非暂时性计算机可读存储介质用于存储计算机指令，当所述计算机指令被运行时，执行如权利要求8～10中任一项所述的风力发电机组的净空监测方法。
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CN113962045A (zh) * 2021-12-22 2022-01-21 东方电气风电股份有限公司 一种以风力发电机组叶片运行轨迹计算净空距离方法
CN113962045B (zh) * 2021-12-22 2022-03-15 东方电气风电股份有限公司 一种以风力发电机组叶片运行轨迹计算净空距离方法
CN114510846A (zh) * 2022-04-18 2022-05-17 天津航大天元航空技术有限公司 一种风力发电场的安全评估方法、装置及电子设备
CN114510846B (zh) * 2022-04-18 2022-07-22 天津航大天元航空技术有限公司 一种风力发电场的安全评估方法、装置及电子设备
CN114718811A (zh) * 2022-06-09 2022-07-08 东方电气风电股份有限公司 一种基于gps监测风机叶片状态的自适应控制方法
CN116027314A (zh) * 2023-02-21 2023-04-28 湖南联智监测科技有限公司 一种基于雷达数据的风机叶片净空距离监测方法
CN116148832A (zh) * 2023-04-21 2023-05-23 湖南联智监测科技有限公司 一种相控阵雷达监测风力发电机叶片净空方法及装置
CN116148832B (zh) * 2023-04-21 2023-06-20 湖南联智监测科技有限公司 一种相控阵雷达监测风力发电机叶片净空方法及装置

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