CN-121978369-A - Adaptive wind measuring method, device, equipment and medium for anemometer of wind measuring tower

CN121978369ACN 121978369 ACN121978369 ACN 121978369ACN-121978369-A

Abstract

The invention relates to the technical field of wind power generation, and provides a self-adaptive anemometer method, device and equipment for a anemometer tower and a medium. The method comprises the steps of obtaining real-time attitude data of an anemometer, comparing the real-time attitude data with a preset target attitude to obtain an attitude deviation signal, controlling an attitude adjusting mechanism connected between a anemometer and a anemometer to execute motion according to the attitude deviation signal so as to drive the anemometer to conduct attitude adjustment, obtaining original wind speed data measured by the anemometer, and carrying out coordinate transformation on the original wind speed data according to the real-time attitude data to obtain real-time anemometry data. The wind speed and direction real-time measurement device and the wind speed and direction real-time measurement method realize high-precision and high-stability wind speed and direction real-time measurement in the turbulence tower top environment, and remarkably improve the accuracy and reliability of wind resource assessment, fan load calculation and wind farm operation control.

Inventors

Tang Fangchun
HE JIA
FENG JUNXIN
LI XILIN
YU WEI
TANG SHIYAO
SONG HAIBIN
WEI HUICHUN

Assignees

华润电力技术研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20260203

Claims (10)

1. An adaptive anemometer method for a anemometer tower, comprising: Acquiring real-time attitude data of an anemometer; comparing the real-time gesture data with a preset target gesture to obtain a gesture deviation signal; According to the pose deviation signal, controlling a pose adjusting mechanism connected between a wind measuring tower body and the anemometer to execute motion so as to drive the anemometer to adjust pose; and acquiring the original wind speed data measured by the anemometer, and carrying out coordinate transformation on the original wind speed data according to the real-time attitude data to obtain real-time wind measuring data.
2. The adaptive anemometer method according to claim 1, wherein the controlling the pose adjusting mechanism connected between the anemometer and the anemometer according to the pose deviation signal to perform the motion to drive the anemometer to perform pose adjustment comprises: According to the pose deviation signal, calculating the expected pose change of the pose adjusting mechanism through a control algorithm; converting the desired pose change into a driving instruction based on an inverse kinematics model of the pose adjustment mechanism; And controlling the gesture adjusting mechanism to act according to the driving instruction so as to drive the anemometer to adjust the gesture.
3. The adaptive anemometer method of claim 1, wherein the obtaining real-time attitude data of the anemometer comprises: Acquiring original measurement data acquired by a nine-axis attitude sensor fixed on the anemometer; And carrying out fusion calculation on the original measurement data through a self-adaptive Kalman filtering algorithm to obtain the real-time attitude data.
4. A anemometer adaptive anemometer method according to claim 3, wherein the raw measurement data comprises accelerometer data, gyroscope data and magnetometer data, the adaptive kalman filter algorithm being configured to: Evaluating the credibility of the magnetometer data in real time, and adjusting the weight of the magnetometer data in the fusion calculation process based on the obtained evaluation result; And identifying the non-gravity acceleration of the anemometer in real time, and adjusting the weight of the accelerometer data in the fusion calculation process based on the obtained identification result.
5. The adaptive anemometer method according to claim 1, wherein the performing coordinate transformation on the raw wind speed data according to the real-time attitude data to obtain real-time anemometer data comprises: According to the real-time attitude data, the original wind speed data are transformed to a geodetic coordinate system, and a corrected wind speed vector is obtained; Calculating an actual horizontal wind speed and a wind direction angle based on the corrected wind speed vector; and obtaining real-time wind measurement data according to the actual horizontal wind speed and the wind direction angle.
6. The adaptive anemometer method of claim 1 wherein the predetermined target attitude is a fixed attitude with the anemometer held horizontal and the measurement axis of the anemometer aligned with geographic north.
7. The adaptive anemometer method of claim 1 wherein the real-time attitude data includes roll angle, pitch angle and yaw angle.
8. An adaptive anemometer system of anemometer tower, characterized by comprising the following steps: the data acquisition module is used for acquiring real-time attitude data of the anemometer; the deviation calculation module is used for comparing the real-time gesture data with a preset target gesture to obtain a gesture deviation signal; The pose adjusting module is used for controlling a pose adjusting mechanism connected between the anemometer and the anemometer to execute motion according to the pose deviation signal so as to drive the anemometer to adjust pose; the coordinate conversion module is used for acquiring the original wind speed data measured by the anemometer, and carrying out coordinate conversion on the original wind speed data according to the real-time attitude data to obtain real-time wind measuring data.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a anemometer adaptive anemometer method according to any one of claims 1 to 7 when the computer program is executed.
10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a anemometer adaptive anemometry method according to any one of claims 1 to 7.

Description

Adaptive wind measuring method, device, equipment and medium for anemometer of wind measuring tower Technical Field The invention relates to the technical field of wind power generation, in particular to a self-adaptive wind measuring method, device, equipment and medium for a wind meter of a wind measuring tower. Background The wind measuring system is mainly used in the field of wind power generation and comprises the following four aspects of 1, being used for evaluating wind resources in the area in the early stage of wind power plant development, 2, being used for meeting the requirements of micro site selection of the wind power plant and calculation of fan loads in the construction period of the wind power plant, 3, being used for wind power prediction of the wind power plant in the running period of the wind power plant, and 4, being used for carrying out power characteristic test on wind turbines in the running period of the wind power plant. However, as wind turbines develop into larger sizes, the height of the wind towers is continually increasing. The increase in the height of the anemometer tower makes it difficult to adjust the verticality thereof, and the swing amplitude of the tower body (i.e., wind-induced vibration) is significantly increased under the action of wind load. The tower mounted anemometer (e.g., ultrasonic anemometer) produces a complex six degree of freedom motion (i.e., three translational degrees of freedom and three rotational degrees of freedom) therewith. Conventional anemometers only measure wind vectors and do not take into account the motion of their own base. The self motion can be superimposed into the measured data, so that the measured wind speed and wind direction data have huge errors, and the requirements of high-precision wind resource assessment, wind farm microscopic site selection and fan load calculation cannot be met. Disclosure of Invention The invention aims to provide a self-adaptive anemometer method, device, equipment and medium for a anemometer of an anemometer tower, so as to solve the technical problems. The technical scheme includes that the adaptive wind measuring method of the anemometer tower comprises the steps of obtaining real-time attitude data of the anemometer, comparing the real-time attitude data with a preset target attitude to obtain a position deviation signal, controlling a position adjusting mechanism connected between the anemometer tower body and the anemometer to execute movement according to the position deviation signal so as to drive the anemometer to conduct position adjustment, obtaining original wind speed data measured by the anemometer, and conducting coordinate transformation on the original wind speed data according to the real-time attitude data to obtain real-time wind measuring data. The method has the advantages that the attitude data of the anemometer are obtained in real time, the attitude adjusting mechanism is driven to perform active motion compensation according to the attitude data, and meanwhile, the same set of attitude data is utilized to perform coordinate transformation on the original wind speed output by the anemometer, so that the instrument attitude change caused by shaking of a anemometer tower is restrained at a physical level, the measurement error introduced by carrier motion is eliminated at a data level, the high-precision and high-stability real-time measurement of the wind speed and the wind direction in the dynamic oscillation tower top environment is finally realized, and the accuracy and the reliability of wind resource assessment, wind load calculation and wind power plant operation control are remarkably improved. On the basis of the technical scheme, the invention can be improved as follows. Further, the position and posture deviation signal is used for controlling a position and posture adjusting mechanism connected between the wind measuring tower body and the anemometer to execute movement so as to drive the anemometer to conduct position and posture adjustment, the position and posture deviation signal comprises the steps of calculating expected position and posture change of the position and posture adjusting mechanism through a control algorithm according to the position and posture deviation signal, converting the expected position and posture change into a driving instruction based on an inverse kinematics model of the position and posture adjusting mechanism, and controlling the position and posture adjusting mechanism to act according to the driving instruction so as to drive the anemometer to conduct position and posture adjustment. Further, the method for acquiring the real-time attitude data of the anemometer comprises the steps of acquiring original measurement data acquired by a nine-axis attitude sensor fixed on the anemometer, and carrying out fusion calculation on the original measurement data through a self-adaptive Kalman filtering algorithm to obtain the real-time