CN-122014518-A - Wind driven generator blade deformation monitoring method based on micro inertial device and satellite navigation

CN122014518ACN 122014518 ACN122014518 ACN 122014518ACN-122014518-A

Abstract

The invention provides a wind driven generator blade deformation monitoring method based on a micro inertial device and satellite navigation, according to the method, firstly, deformation detection points are selected on each blade of a fan, a micro inertial measurement unit and a satellite navigation system are installed at each detection point, and satellite-to-position information and attitude information of the detection points when the blades are stationary are collected for initial calibration. And then, completing data acquisition of an inertial measurement unit and a satellite navigation system in a real-time measurement stage under the real working condition of the blade, performing inertial/satellite integrated navigation calculation, and finally realizing deformation displacement and deformation angle calculation of the fan blade based on coordinate conversion. The invention provides an effective scheme for online acquisition of the deformation data of the fan blade and the health detection of the fan in a real working scene, and has important practical application value.

Inventors

SUN YIHONG
HU HUAWEI
WANG HAIJUN
LI HAIQIANG
ZOU SIYUAN
MENG XIANCHUN
ZHUANG GUANGCHEN
GUO YUSHENG
HAN JIURUI
ZHOU YANAN

Assignees

北京自动化控制设备研究所

Dates

Publication Date: 20260512
Application Date: 20251222

Claims (10)

1. A wind turbine blade deformation monitoring method based on micro inertial devices and satellite navigation, the method comprising: Firstly, selecting deformation detection points on each blade of a fan; step two, installing a micro inertial measurement unit and a satellite navigation system at the deformation detection point; Step three, carrying out fan blade information pre-calibration, wherein the pre-calibration information comprises a blade coordinate system and initial blade shape information; acquiring micro inertial measurement units and satellite navigation information of each detection point on the blade in real time; step five, calculating an inertial/satellite combined navigation result of each measuring point based on the micro inertial device measurement data and the satellite navigation data; and step six, calculating the deformation displacement and deformation angle of the measuring point according to the calculation results of the step three and the step five.
2. The method according to claim 1, wherein the method for selecting the deformation detection point of the fan blade comprises the following steps: And drawing a straight line from the key point of the blade root to the top of the blade, and selecting five detection points on the straight line, wherein the five detection points are respectively the blade root, the midpoint of the straight line, the blade vertex, the midpoint of the connecting line of the blade root and the midpoint of the straight line and the midpoint of the connecting line of the blade vertex and the midpoint of the straight line.
3. The method according to claim 1, wherein the second step specifically comprises: Mounting a micro inertial measurement unit at the deformation detection point; The satellite navigation system uses a satellite navigation system with an RTK function, and the specific components are formed and installed as follows: The system comprises a chip-level mobile station navigation solution circuit, a chip-level RTK receiving radio station, a microminiature mobile station receiving antenna and a microminiature RTK receiving antenna, wherein the mobile station navigation solution circuit and the satellite navigation reference station are configured with a matched communication protocol, a double-antenna satellite navigation positioning and orientation system is arranged at a fan center rotating shaft, and the two antennas are arranged along the straight line direction of the rotating shaft.
4. The method of claim 1, wherein the satellite navigation reference station and the RTK transmitting station are installed within 100 meters of the ground.
5. The method according to claim 1, wherein the step three specifically comprises: 1) And (3) calibration data acquisition: selecting windless weather, starting a ground reference station and a satellite navigation system of each measuring point, setting the static time of a blade, collecting fan center rotating shaft transposition data in the static time, and recording as Counterclockwise positive, level zero; Collecting position information of a double-antenna satellite navigation system at a central rotating shaft of a fan within a static set time, calculating a mean value, and recording as ; Collecting course angle information of a double-antenna satellite navigation system at a fan center rotating shaft within static set time, calculating a mean value, and recording as Counterclockwise is positive, north is zero; Collecting position information sent by RTK satellite navigation chips of measuring points of each fan blade within static set time, calculating average value, and recording the position information of the jth measuring point of the ith blade as Wherein, the measuring point j of the root of the blade is 1, and the measuring point mark j is sequentially added with one from the root of the blade to the top of the blade; The micro inertial measurement unit of each measuring point executes initial alignment when in rest, and the rolling angle result obtained by the initial alignment is recorded as Recording the pitch angle result obtained by initial alignment as Wherein i and j represent that the measuring point j of the blade root of the jth measuring point of the ith blade is 1, and the marks j of the measuring points from the blade root to the blade top are sequentially added by one; 2) Establishing a blade coordinate system: for each blade, a blade coordinate system is established, and the blade coordinate system of the ith blade is defined as follows, wherein the origin of coordinates is set as Taking the back-to-front direction of two satellite antennas at the central rotating shaft of the fan as an X axis, taking the direction of the root of the fan blade pointing to the top of the blade as a Y axis, and designing the Z axis, the X axis and the Y axis according to the right-hand rule; 3) Calculating the initial shape information of the blade: the initial shape information of the blade refers to the relative positions of each measuring point on the blade relative to the root of the blade when the blade is not deformed The calculation steps are as follows: , Wherein, the For the coordinate transformation matrix, the calculation formula is as follows: 。
6. The method of claim 1, wherein the set time is ten minutes.
7. The method according to claim 1, wherein the fourth step comprises: 1) Satellite navigation data acquisition: starting a ground reference station and each measuring point satellite navigation system, collecting indexing data of a fan center rotating shaft, and recording the indexing data as The anticlockwise direction is positive, the horizontal direction is zero, and the position information of the double-antenna satellite navigation system at the central rotating shaft of the fan is acquired and recorded as The course angle information of the double-antenna satellite navigation system at the central rotating shaft of the fan is collected and recorded as Acquiring position information sent by RTK satellite navigation chips of blade measuring points of each fan, and recording the position information of the jth measuring point of the ith blade as Wherein, the measuring point j of the root of the blade is 1, and the measuring point mark j is sequentially added with one from the root of the blade to the top of the blade; 2) And (3) collecting data of an inertial measurement unit: collecting gyroscope data and accelerometer data output by micro inertial measurement units of measuring points of all fan blades, and recording the gyroscope data of the jth measuring point of the ith blade as Wherein, the measuring point j of the blade root is 1, and the measuring point mark j is sequentially added with one from the blade root to the blade top. Accelerometer data at the jth measuring point of the ith blade is recorded as Wherein, the measuring point j of the blade root is 1, and the measuring point mark j is sequentially added with one from the blade root to the blade top.
8. The method according to claim 1, wherein the fifth step specifically comprises: 1) Establishing a state equation and a measurement equation of the integrated navigation system: the equation of state is , wherein, Is that From moment to moment A step-by-step transfer matrix of time; exciting noise sequences for systems The value of the time of day, Is in state quantity of The value of the time of day, Is in state quantity of The value of the time of day, Including northeast misalignment angle Error in speed of north Tiandong Latitude error Height error Error in longitude Gyro drift of carrier system Zero offset of carrier system accelerometer Error of carrier tie rod arm Time delay ; The measurement equation is , wherein, For measuring in The numerical value of the moment, that is, the difference between the position and speed information of satellite navigation output and the position and speed information calculated by inertial navigation A value of time; To measure matrix in A value of time; To measure noise sequence A value of time; 2) Based on the state equation and the measurement equation, the inertial navigation error is calculated by using a Kalman filtering algorithm ; 3) Based on inertial navigation error estimation results Correcting inertial navigation: based on inertial navigation error estimation results Correcting inertial navigation to obtain accurate position and posture information of each measuring point, wherein the position information of the jth measuring point of the ith blade is recorded as The measuring point j of the blade root is 1, the marks j of the measuring points from the blade root to the blade top are sequentially added with one, and the roll angle result of the jth measuring point of the ith blade is The pitch angle result of the jth measuring point of the ith blade is that Wherein i and j represent that the measurement point j of the blade root of the jth measurement point of the ith blade is 1, and the measurement point marks j are sequentially increased by one from the blade root to the blade top.
9. The method according to claim 1, wherein in step six, the deformation displacement of the measuring point is obtained by: Calculating projection of relative position of blade measuring point relative to center of rotating shaft under blade coordinate system The calculation formula is as follows: , wherein, For the coordinate transformation matrix, the calculation formula is as follows: , projection of a blade measurement point onto a blade coordinate system using the relative position of the blade measurement point with respect to the center of the shaft Subtracting the initial shape information of the blade to obtain the deformation displacement information of the blade The calculation formula is as follows: 。
10. the method according to claim 1, wherein in step six, the measuring point deformation angle is obtained by: The deformation angle of the measuring point comprises the roll angle of the blade And bending angle The pitch angle and roll angle variation corresponding to inertial/satellite integrated navigation respectively have the following calculation formula: , wherein i and j represent the jth measuring point of the ith blade, the measuring point j of the blade root is 1, and the marks j of the measuring points from the blade root to the blade top are sequentially increased by one.

Description

Wind driven generator blade deformation monitoring method based on micro inertial device and satellite navigation Technical Field The invention belongs to the technical field of wind driven generator blade health monitoring, and particularly relates to a wind driven generator blade deformation monitoring method based on a micro-inertial device and satellite navigation. Background Wind power generator (hereinafter referred to as "wind turbine") blades are key components of wind turbines for receiving wind energy, and their reliability directly affects the safe operation of the wind turbine. Megawatt fan blades extend over 25 meters and up to 60 meters. When the blade rotates at a high speed, the load of the blade is large, the probability of fracture and bending is high, and the health detection of the deformation of the blade has important significance for the structural design optimization, risk early warning and fault investigation of the blade. At present, the acquisition of the deformation information of the blade mainly comprises two modes of mechanical modeling and direct measurement. Because the blade bears more complicated, including aerodynamic force, inertial force, centrifugal force, self gravity etc., and influence factors cover various aspects such as wind speed, wind direction, laminar flow distribution, blade icing, mechanical structure, etc. Therefore, the direct measurement scheme of the deformation of the fan is more practical and effective, and the difficulty of modeling the stress of the fan is high and the whole application scene is difficult to cover. The fan installation environment is abominable, and the blade uses the working condition special, and rotational speed is fast, and traditional measurement scheme often is applicable to laboratory or static measurement when going out, is difficult to directly use under the true working condition of rotating. The traditional deformation measurement scheme mainly comprises a resistance strain gauge measurement method, a fiber bragg grating deformation measurement method, a laser projection method and the like. The resistance strain gauge can directly calculate strain data of a plurality of monitoring points of the blade so as to reconstruct a blade deformation result, but the scheme uses wired connection, the installation engineering quantity of the sensor and the conditioning module thereof is large, the test connecting line is complex, and the resistance strain gauge is only suitable for static detection; the fiber bragg grating deformation measurement is light in weight and free of electromagnetic interference, but the sensor is based on glass fiber, fragile and easy to crack, is unreliable in a scene of rapid rotation of a fan blade, and can carry out non-contact measurement on the profile of the blade by a laser projection method, but the method needs no shielding, is mainly used for detecting the structural size and deformation of a static blade at present, and has low detection accuracy and is difficult to meet the requirement of real-time dynamic deformation monitoring of the blade. Therefore, the existing scheme is difficult to realize high-speed accurate deformation measurement under the working condition of the fan blade, and the real-time dynamic deformation monitoring of the fan becomes a great difficulty which puzzles the design and health maintenance of the fan blade. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a wind driven generator blade deformation monitoring method based on a micro inertial device and satellite navigation. The proposal provided by the invention can output attitude information simultaneously by combined navigation based on inertia on the basis of satellite navigation for position measurement, improve the measurement frequency of blade deformation and realize high-precision time synchronization of a plurality of measuring points by a second pulse signal of satellite navigation. The method provides an effective scheme for online acquisition of the deformation data of the fan blade and fan health detection in a real working scene, and has important practical application value. The technical scheme of the invention is that the invention provides a wind driven generator blade deformation monitoring method based on a micro inertial device and satellite navigation, which comprises the following steps: Firstly, selecting deformation detection points on each blade of a fan; step two, installing a micro inertial measurement unit and a satellite navigation system at the deformation detection point; Step three, carrying out fan blade information pre-calibration, wherein the pre-calibration information comprises a blade coordinate system and initial blade shape information; acquiring micro inertial measurement units and satellite navigation information of each detection point on the blade in real time; s