CN109387202B - Wind tower and method for measuring and calculating miniature attitude of wind tower - Google Patents
Wind tower and method for measuring and calculating miniature attitude of wind tower Download PDFInfo
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Abstract
The invention provides a wind tower, wherein at least one measuring and calculating device is arranged outside the wind tower and used for measuring the attitude of the wind tower, the measuring and calculating device comprises a gyroscope, an acceleration inertial sensor and a collecting and transmitting circuit, and the acceleration inertial sensor and the gyroscope are arranged in the same radial direction at the same height of the wind tower; another aspect of the invention provides a method for measuring and calculating a micro-attitude by a wind tower. The invention has the advantages of simple structure, high measurement precision and lower cost of used parts, solves the technical problem, has the cost advantage and has popularization and application values.
Description
Technical Field
The invention relates to the field of wind power generation, in particular to a wind tower and a method for measuring and calculating the micro-attitude of the wind tower.
Background
Wind energy is one of important renewable clean energy sources, offshore wind energy resources in China are rich, offshore wind power construction is accelerated, and the method has important significance for promoting haze treatment, energy structure adjustment and economic development mode conversion in coastal areas.
The wind power generator is an important power device for converting wind energy into electric energy, and generally comprises a wind wheel, a generator, a direction regulator, a tower (wind tower), a speed-limiting safety mechanism, an energy storage device and the like. The wind tower is connected with the foundation, supports the generator positioned in the air, bears various loads caused by the operation of the generator and loads applied by natural environments such as wind, earthquakes and the like, is one of main stress components, is easy to generate phenomena such as resonance, fatigue and the like, and influences the stability of the wind tower, thereby threatening the safe operation of the whole wind generating set. The offshore wind power single machine has large installed capacity, the natural environment is more complex, and correspondingly, the stability of the wind tower is more challenged.
In order to ensure the safety of the generator in the operation process, the micro posture of the wind tower needs to be monitored in real time in the operation process of the generator, and the performance and the state change of the wind tower need to be known in real time, so that the potential risk can be found in time, and the emergency situation can be successfully dealt with. However, the attitude change of the wind tower is very small, and simultaneously, because the wind tower is influenced by various factors, the attitude change is irregular, so that the existing wind tower does not have a device for directly measuring or indirectly measuring the self micro attitude through calculation and a corresponding calculation method, which causes potential safety hazard to the operation of the wind driven generator.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a wind tower and a method for measuring and calculating the micro-attitude of the wind tower, and can solve the problems that the current wind tower does not have the functions of measuring and calculating the micro-attitude of the wind tower, and cannot monitor and guarantee the running safety of a generator in real time.
In order to achieve the above object, an aspect of the present invention provides a wind tower, wherein at least one measurement and calculation device is installed outside the wind tower, the measurement and calculation device comprises a gyroscope, an acceleration inertial sensor and a collection and transmission circuit, and the acceleration inertial sensor and the gyroscope are installed in the same radial direction at the same height of the wind tower.
The gyroscope is used for measuring the angular speed of the wind tower movement; the acceleration inertial sensor is used for measuring the tangential resultant acceleration of the motion track of the wind tower; the acquisition and transmission circuit is used for acquiring the angular velocity of the wind tower motion measured by the gyroscope and the tangential resultant acceleration of the wind tower motion track measured by the acceleration inertial sensor, and calculating the micro attitude of the wind tower by combining the angular velocity and the tangential resultant acceleration.
Furthermore, the measuring and calculating device also comprises a filter circuit used for filtering the signals measured by the acceleration inertial sensor;
further, the acquisition and transmission circuit calculates the micro attitude of the wind tower by combining the angular velocity and the tangential resultant acceleration as follows:
wherein, L is the installation height of the measuring and calculating device from the bottom of the wind tower, omega is the angular velocity, a is the tangential resultant acceleration, and g is the gravity acceleration;
furthermore, the measuring and calculating devices are multiple and are sequentially arranged along the radial direction of the same height of the wind tower;
furthermore, the measuring and calculating devices are multiple and are sequentially arranged along the axial direction of the wind tower;
the invention also provides a method for measuring and calculating the miniature attitude of the wind tower based on the measuring and calculating device of the wind tower, which simplifies the wind tower into a beam, simplifies the movement of the wind tower into circular movement taking the bottom of the wind tower as the center of a circle and the installation height of the measuring and calculating device from the bottom of the wind tower as the radius under the action of external force, and comprises the following steps:
measuring the tangential resultant acceleration a of the motion track of the wind tower;
measuring the angular velocity omega of the wind tower movement;
step three, according to the formula
And calculating to obtain the micro attitude theta of the wind tower, wherein L is the installation height of the measuring and calculating device from the bottom of the wind tower, omega is the angular velocity, a is the tangential resultant acceleration, and g is the gravity acceleration.
The wind tower provided by the embodiment of the invention has the functions of measuring and calculating the micro attitude of the wind tower, and the real-time monitoring of the micro attitude of the wind tower is realized by means of the acceleration inertial sensor, the gyroscope, the acquisition and transmission circuit and the corresponding calculation method. The invention has the advantages of simple structure, higher measurement precision, lower cost of used parts, solving the technical problem, having cost advantage and having popularization and application values.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a block diagram of a measurement computing device according to an embodiment of the present invention;
FIG. 2 is a simplified model diagram of a wind tower according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps that are closely related to the scheme according to the present invention are shown in the drawings, and other details that are not so relevant to the present invention are omitted.
The wind tower is an important component of the wind driven generator and is a main stressed part, and the state of the wind tower needs to be known in the operation process of the wind driven generator so as to ensure the safe operation of the wind driven generator. The wind tower is in the sea or on a hillside and can be impacted by external forces such as sea waves or wind, so that the wind tower vibrates. At the initial stage of vibration, the wind tower is in a forced vibration state, and the vibration at the moment is irregular vibration; after a certain time, the forced vibration reaches a stable state, the vibration frequency of the wind tower is equal to the vibration frequency of the periodic external force, the amplitude is kept unchanged, and at the moment, the forced vibration is converted into simple harmonic motion. However, in practice, under the impact of sea waves, the wind tower is forced to vibrate most of the time, and does not vibrate periodically or move in simple harmonic mode.
Because the motion of the wind tower is irregular and the attitude change is very small, the attitude of the wind tower is difficult to measure and calculate, the current wind tower does not have the function of measuring and calculating the self miniature attitude, the real-time monitoring on the wind tower cannot be realized, and the loss of the function can bury potential safety hazards for the operation of wind power generation.
In order to solve the above problems, the present invention provides a wind tower, wherein at least one measurement and calculation device is installed outside the wind tower, the measurement and calculation device includes a gyroscope, an acceleration inertial sensor and a collection and transmission circuit, and the acceleration inertial sensor and the gyroscope are installed in the same radial direction at the same height of the wind tower.
The gyroscope is used for measuring the angular speed of the wind tower movement; the acceleration inertial sensor is used for measuring the tangential resultant acceleration of the motion track of the wind tower; the acquisition and transmission circuit is used for acquiring the angular velocity of the wind tower motion measured by the gyroscope and the tangential resultant acceleration of the wind tower motion track measured by the acceleration inertial sensor, and calculating the micro attitude of the wind tower by combining the angular velocity and the tangential resultant acceleration.
Wherein, the gyroscope can be selected from a silicon micro gyroscope, an optical fiber gyroscope, a quartz gyroscope and the like, and the single-axis type, the double-axis type, the three-axis type and the like can realize the purpose of the invention. The wind tower does irregular tiny amplitude swinging motion in the air under the action of external force, namely, the motion of the wind tower occurs in an infinite number of vertical planes formed by an infinite number of radial directions of the wind tower and the wind tower. An acceleration inertial sensor capable of measuring a radial motion attitude of the wind tower; a single-axis gyroscope can measure the motion attitude of the wind tower in one radial direction, correspondingly, a double-axis gyroscope can measure the motion attitude of the wind tower in two orthogonal radial directions, and a three-axis gyroscope can measure the motion attitude of the wind tower in two orthogonal radial directions (the other direction orthogonal to the two orthogonal radial directions is the axial direction of the wind tower). Therefore, in the invention, a measurement and calculation device comprises at least one acceleration inertial sensor and a gyroscope, and when the measurement and calculation device is installed, one measurement direction of the acceleration inertial sensor and the gyroscope is ensured to be in the same radial direction of the same height of the wind tower, and the wind tower is used for measuring the motion postures in the same radial direction of the same height.
What acceleration inertial sensor transmitted is analog signal, need be converted into digital signal through the conversion module in gathering transmission circuit, and concrete connected mode is: the output end of the acceleration inertial sensor is connected with the acquisition transmission circuit, the input end of the acquisition module is connected with the acceleration inertial sensor and used for receiving an analog signal of the acceleration inertial sensor and converting the analog signal into a first digital signal, and the output end of the acquisition module is connected with the calculation module and used for transmitting the first digital signal to the calculation module for calculation.
The gyroscope outputs digital signals, the specific connection mode is that the output end of the gyroscope is connected with the acquisition transmission circuit, the input end of the acquisition module is connected with the gyroscope and used for receiving second digital signals of the gyroscope, and the output end of the acquisition module is connected with the calculation module and used for transmitting the second digital signals to the computer module for calculation.
In order to improve the strength of the signal while ensuring the integrity of the signal, a filter circuit can be added in the measurement and calculation device for filtering the signal measured by the acceleration inertial sensor.
The acquisition and transmission circuit comprises a calculation module, and after receiving the angular velocity of the wind tower motion measured by the acceleration inertial sensor and the tangential resultant acceleration of the wind tower motion track measured by the gyroscope, the calculation module calculates the micro attitude theta of the wind tower according to a set formula, wherein the specific formula is as follows:
wherein, L is the installation height of the measuring and calculating device from the bottom of the wind tower, omega is the angular velocity of the wind tower movement, a is the tangential resultant acceleration of the wind tower movement track, and g is the gravity acceleration.
Because the wind tower is influenced by various external forces, the acting directions and the acting sizes of the various external forces are irregular, the moving direction of the wind tower is not unique, and the postures of the wind tower in different radial directions need to be measured as many as possible in order to measure the postures of the wind tower more comprehensively.
Meanwhile, the wind tower is higher, and the directions and the sizes of the external forces applied to the wind towers at different heights are different, so that the movement of each section of the wind tower can be asynchronous, and the postures can be measured at different heights of the wind tower in order to more accurately measure the postures of the wind tower. For this reason, a plurality of measurement and calculation devices on the wind tower need to be arranged, and the plurality of measurement and calculation devices are sequentially arranged along the axial direction of the wind tower.
The invention also provides a method for measuring and calculating the miniature attitude of the wind tower by the wind tower, which is characterized in that the wind tower is simplified into a beam by referring to fig. 2, the movement of the wind tower is simplified into circular movement taking the bottom of the wind tower as the center of a circle and the installation height of a measuring and calculating device from the bottom of the wind tower as the radius under the action of external force, and the method comprises the following steps:
measuring the tangential resultant acceleration a of the motion track of the wind tower;
measuring the angular velocity omega of the wind tower movement;
step three, according to the formula
And calculating to obtain the miniature attitude theta of the wind tower, wherein L is the installation height of the measuring and calculating device from the bottom of the wind tower, omega is the angular velocity, a is the tangential resultant acceleration, and g is the gravity acceleration.
However, after the motion track of the wind tower is divided into countless sections, each section of track can be regarded as a part of variable-acceleration circular motion, so that the motion of the wind tower is simplified into a variable-acceleration circular motion model, the real motion situation of the wind tower can be well simulated, and the micro-attitude calculated by the model has high accuracy. With reference to fig. 2, the derivation of the wind tower attitude θ is calculated as follows:
the tangential acceleration of the wind tower at the installation position of the measuring and calculating device is as follows:
the component of the gravitational acceleration in the tangential direction is:
gtangential direction＝gsinθ
The tangential resultant acceleration at the installation of the wind tower measurement and calculation device is:
from this, the attitude θ of the wind tower can be derived as:
wherein L is the installation height of the measuring and calculating device from the bottom of the wind tower; omega is the angular velocity of the wind tower motion, measured by a gyroscope; a is the tangential resultant acceleration of the motion trail of the wind tower, and is measured by an acceleration inertial sensor; g is the acceleration of gravity.
In practice, the attitude θ of the wind tower is very small, so according to mathematical theory, θ ≈ sin θ can be considered. The wind tower attitude theta is as follows:
after working for a certain time, the stored attitude data is downloaded to the computer through computer processing software so as to be convenient for subsequent processing and analysis.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The above devices and methods of the present invention can be implemented by hardware, or can be implemented by hardware and software. The present invention relates to a computer-readable program which, when executed by a logic section, enables the logic section to realize the above-described apparatus or constituent section, or to realize the above-described various methods or steps. The present invention also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like, for storing the above program.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (5)
1. A wind tower is characterized in that at least one measurement and calculation device is installed outside the wind tower, the measurement and calculation device comprises a gyroscope, an acceleration inertial sensor and a collection and transmission circuit, and the acceleration inertial sensor and the gyroscope are installed on the same radial direction of the same height of the wind tower;
the gyroscope is used for measuring the angular speed of the wind tower movement;
the acceleration inertial sensor is used for measuring the tangential resultant acceleration of the motion track of the wind tower;
the acquisition and transmission circuit is used for acquiring the angular velocity of the wind tower motion measured by the gyroscope and the tangential resultant acceleration of the wind tower motion track measured by the acceleration inertial sensor, and calculating the micro attitude of the wind tower by combining the angular velocity and the tangential resultant acceleration, and the acquisition and transmission circuit calculates the micro attitude of the wind tower by combining the angular velocity and the tangential resultant acceleration as follows:
wherein L is the installation height of the measurement and calculation device from the bottom of the wind tower, ω is the angular velocity, a is the tangential resultant acceleration, and g is the gravitational acceleration.
2. The wind tower of claim 1, wherein the measurement computing device further comprises a filter circuit for filtering the signals measured by the acceleration inertial sensor.
3. The wind tower according to claim 1, wherein the plurality of measurement and calculation devices are arranged in sequence along a radial direction of the same height of the wind tower.
4. The wind tower of claim 1, wherein the measurement and calculation device is a plurality of measurement and calculation devices arranged in sequence along the axial direction of the wind tower.
5. A method for measuring and calculating the micro-attitude of a wind tower based on the wind tower of any one of claims 1 to 4, wherein the wind tower is simplified into a beam, and the motion of the wind tower is simplified into a circular motion with the bottom of the wind tower as the center and the installation height of the measuring and calculating device from the bottom of the wind tower as the radius under the action of external force, the method comprises the following steps:
measuring the tangential resultant acceleration a of the motion trail of the wind tower;
measuring the angular speed omega of the wind tower movement;
step three, according to the formula
And calculating the micro attitude theta of the wind tower, wherein L is the installation height of the measuring and calculating device from the bottom of the wind tower, omega is the angular velocity, a is the tangential resultant acceleration, and g is the gravity acceleration.
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| CN103645489A (en) * | 2013-11-22 | 2014-03-19 | 航天恒星科技有限公司 | A spacecraft GNSS single antenna attitude determination method |
| CN103899293A (en) * | 2012-12-26 | 2014-07-02 | 中国石油化工股份有限公司 | System used for measuring impact vibration state of downhole instrument while drilling |
| CN103921778A (en) * | 2013-01-10 | 2014-07-16 | 英飞凌科技股份有限公司 | Wheel localizer, wheel localization device, system, and method for locating a position of a wheel |
| CN106052623A (en) * | 2016-07-18 | 2016-10-26 | 西安交通大学 | Non-rotating central installation type angular displacement measurement sensor and measurement method thereof |
| CN106093468A (en) * | 2016-06-30 | 2016-11-09 | 航天科工惯性技术有限公司 | A kind of device measured for angular acceleration |
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- 2017-08-08 CN CN201710670179.5A patent/CN109387202B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103899293A (en) * | 2012-12-26 | 2014-07-02 | 中国石油化工股份有限公司 | System used for measuring impact vibration state of downhole instrument while drilling |
| CN103921778A (en) * | 2013-01-10 | 2014-07-16 | 英飞凌科技股份有限公司 | Wheel localizer, wheel localization device, system, and method for locating a position of a wheel |
| CN103267527A (en) * | 2013-06-08 | 2013-08-28 | 重庆绿色智能技术研究院 | System and method for realizing tower stability monitoring and early-warning |
| CN103645489A (en) * | 2013-11-22 | 2014-03-19 | 航天恒星科技有限公司 | A spacecraft GNSS single antenna attitude determination method |
| CN106093468A (en) * | 2016-06-30 | 2016-11-09 | 航天科工惯性技术有限公司 | A kind of device measured for angular acceleration |
| CN106052623A (en) * | 2016-07-18 | 2016-10-26 | 西安交通大学 | Non-rotating central installation type angular displacement measurement sensor and measurement method thereof |
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