CN115962091A - Multi-baseline wind turbine generator attitude adjusting system based on satellite - Google Patents
Multi-baseline wind turbine generator attitude adjusting system based on satellite Download PDFInfo
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Abstract
The attitude adjustment system comprises a plurality of antenna modules for receiving satellite signals, a plurality of radio frequency front end modules, each radio frequency front end module is used for receiving the satellite signals sent by each satellite signal receiving antenna and preprocessing the received satellite signals to obtain a plurality of corresponding first signals, a plurality of positioning modules, each positioning module is used for receiving the first signals transmitted by each radio frequency front end module and processing the plurality of first signals to obtain a plurality of second signals, and the attitude adjustment module is used for receiving the second signals respectively transmitted by the plurality of positioning modules, obtaining a target cabin of the wind turbine generator by utilizing an attitude angle calculation method according to the plurality of received second signals and adjusting the azimuth angle of the wind turbine generator to the target cabin azimuth angle. The method and the device improve the accuracy of the azimuth angle of the engine room, are not affected by human interference or weather environment, and are suitable for various scenes.
Description
Technical Field
The application relates to the technical field of wind power generation, in particular to a multi-baseline wind turbine attitude adjusting system based on a satellite.
Background
The wind power is used as the clean renewable energy power generation mode which is most used in a large scale at present, and has good development prospect and research value. The wind direction of a cabin of the wind turbine generator is equal to the sum of a yaw angle of the wind turbine generator and a wind angle (the actual wind direction and the angle deviation of the normal direction of the windward side of a turbine blade), wherein the wind angle is closely related to a control strategy of the wind turbine generator, the data precision is high, and the deviation is small; however, if the wind turbine generator is not accurately north-aligned when being planted, the wind turbine generator has a yaw angle, and if the wind turbine generator has a yaw angle, an error occurs in wind direction calculation, and then the generated energy of the wind turbine generator is affected. The 'north-to-north' is the default installation requirement of the wind turbine generator, and the 'north-to-north' is used for ensuring that the directions of the engine rooms are completely consistent when the yaw angle of all the wind turbine generators is 0. Therefore, the wind turbine needs to perform cabin north alignment in real time to ensure the accuracy of wind direction calculation.
In the related art, the methods for performing the cabin north alignment of the wind turbine generator include the following two methods:
the method comprises the following steps: the cabin is subjected to north alignment in a compass mode, but the azimuth angle of the cabin measured by the compass is inaccurate due to the interference of a magnetic field near the cabin of the wind turbine generator.
The second method comprises the following steps: an angle measuring instrument (as shown in figure 1) is adopted, the angle measuring instrument is arranged on the head, and forms an angle difference with another north-pointing fan of the wind power station to obtain the azimuth angle of the cabin, but the method can be interfered by people, has low measuring precision, is greatly influenced by operation weather, and cannot realize real-time north-pointing of the cabin.
Disclosure of Invention
The application provides a multi-baseline wind turbine attitude adjusting system based on a satellite to solve the technical problems in the related art.
An embodiment of a first aspect of the present application provides a multi-baseline wind turbine attitude adjustment system based on a satellite, the attitude adjustment system includes:
a plurality of antenna modules for receiving satellite signals;
the system comprises a plurality of radio frequency front-end modules, a plurality of satellite signal receiving antennas and a plurality of radio frequency front-end modules, wherein each radio frequency front-end module is used for receiving a satellite signal sent by each satellite signal receiving antenna and preprocessing the received satellite signal to obtain a plurality of corresponding first signals;
the positioning modules are used for receiving first signals transmitted by the radio frequency front end modules and processing the first signals to obtain a plurality of second signals;
and the attitude adjusting module is used for receiving the second signals respectively transmitted by the positioning modules, obtaining a target cabin azimuth angle of the wind turbine generator by utilizing an attitude angle calculation method according to the received second signals, and adjusting the wind turbine generator to the target cabin azimuth angle.
Optionally, each radio frequency front end module performs pre-filtering and low noise amplification on the received satellite signal to obtain the first signal.
Optionally, each positioning module includes a down-conversion processing module, a first processing module, and a second processing module;
the down-conversion processing module is used for performing two-stage down-conversion and digital sampling processing on the preprocessed signal by using a radio frequency chip to obtain a digital intermediate frequency signal;
the first processing module is used for carrying out carrier stripping and code stripping on the digital intermediate-frequency signal by utilizing a correlator FPGA to obtain a second signal;
and the second processing module is used for finishing the loop processing work of the second signal by utilizing the baseband processor.
Optionally, the obtaining, by the attitude adjustment module, a target cabin azimuth angle of the wind turbine generator by using an attitude angle calculation method according to the received multiple second signals includes:
decoding the plurality of second signals to obtain observation data;
preprocessing the observation data to obtain a corrected observation signal;
carrying out antenna single-point positioning through the corrected observation signal, and carrying out pseudo-range differential positioning;
cycle slip detection, repair and marking based on polynomial fitting or Kalman filtering, and filtering out unnecessary interference electromagnetic wave signals;
establishing a carrier phase double-difference observation equation, resolving a floating ambiguity and a covariance matrix, and respectively performing classical navigation positioning system algorithm calculation such as LAMBDA ambiguity search fixing and baseline resolution based on fixed ambiguity to obtain an azimuth angle of an engine room;
carrying out post-test residual error analysis on the cabin azimuth angle to obtain a target cabin azimuth angle;
and adjusting the cabin azimuth angle of the wind turbine generator to the target cabin azimuth angle.
Optionally, the system further includes a power management module;
and the power supply management module is used for supplying power to the attitude adjusting system and monitoring the working voltage and the working current of the sensitive device.
Optionally, the system further includes a system monitoring module;
the system monitoring module is used for monitoring the environmental variables of the wind turbine generator in real time, wherein the environmental variables comprise at least one of the following:
humidity;
(ii) a temperature;
wind speed.
Optionally, the antenna module is configured to receive a satellite long-wavelength band signal.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
the attitude adjustment system comprises a plurality of antenna modules for receiving satellite signals, a plurality of radio frequency front end modules, each radio frequency front end module is used for receiving the satellite signals sent by each satellite signal receiving antenna and preprocessing the received satellite signals to obtain a plurality of corresponding first signals, a plurality of positioning modules, each positioning module is used for receiving the first signals transmitted by each radio frequency front end module and processing the plurality of first signals to obtain a plurality of second signals, and the attitude adjustment module is used for receiving the second signals respectively transmitted by the plurality of positioning modules, obtaining a target cabin of the wind turbine generator by utilizing an attitude angle calculation method according to the plurality of received second signals and adjusting the azimuth angle of the wind turbine generator to the target cabin azimuth angle. Therefore, the antenna module receives the long-wave band signal of the satellite and does not generate interference effect with the short-wave electromagnetic field of the engine room, so that the accuracy of the azimuth angle of the engine room is ensured. Meanwhile, the corresponding multiple basebands are formed through the multiple positioning modules, the attitude adjusting module can accurately obtain the target cabin azimuth angle of the wind turbine generator system by utilizing the attitude angle calculating method based on the multiple second signals processed by the multiple basebands, the accuracy of the cabin azimuth angle is improved, and the method is not influenced by human interference or weather environment and is suitable for multiple scenes.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a wind turbine generator system according to an embodiment of the present application, illustrating a north-to-north nacelle;
fig. 2a is a schematic structural diagram of a multi-baseline wind turbine attitude adjustment system based on a satellite according to an embodiment of the present application;
fig. 2b is a schematic structural diagram of a received signal of the satellite-based multi-baseline wind turbine attitude adjustment system according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.
The multi-baseline wind turbine attitude adjustment system based on the satellite according to the embodiment of the present application is described below with reference to the accompanying drawings.
Example one
Fig. 2a is a schematic structural diagram of an attitude adjustment system for a multi-baseline wind turbine based on a satellite according to an embodiment of the present application, and as shown in fig. 2a, the attitude adjustment system may include:
at least one satellite signal receiving antenna 201a for receiving satellite signals;
a plurality of radio frequency front end modules 202a, each radio frequency front end module being configured to receive a satellite signal sent by one satellite signal receiving antenna, and pre-process the received satellite signal to obtain a plurality of corresponding first signals;
the positioning modules 203a are used for receiving the first signals transmitted by the radio frequency front end modules and processing the first signals to obtain a plurality of second signals;
the attitude adjusting module 204a is configured to receive the second signals respectively transmitted by the multiple positioning modules, obtain a target cabin azimuth angle of the wind turbine generator by using an attitude angle calculation method according to the received multiple second signals, and adjust the wind turbine generator to the target cabin azimuth angle.
In the embodiment of the present disclosure, the antenna modules may be configured to receive a long-wavelength band signal (e.g., an L-band) of a Beidou satellite or a GPS signal, so that an interference effect is not generated with a short-wave electromagnetic field of an engine room, and it is ensured that the received satellite long-wavelength band signal can be directly used for measurement and calculation. And, in the disclosed embodiments, at least two antenna modules may be included.
For example, in the embodiment of the present disclosure, it is assumed that two antenna modules are included, and the two antenna modules are respectively used for receiving satellite signals transmitted by two satellite signal receiving antennas disposed at the front-rear axis of the nacelle. Fig. 2b is a schematic structural diagram of a received signal of the satellite-based multi-baseline wind turbine attitude adjustment system according to an embodiment of the present application. As shown in fig. 2b, the wind turbine generator is provided with two satellite signal receiving antennas, namely an antenna 1 and an antenna 2, and the antenna 1 and the antenna 2 are respectively arranged at the front and rear axes of the nacelle. In the embodiment of the present disclosure, the distance between the two satellite signal receiving antennas is increased according to the actual space above the cabin, for example, the distance between the two satellite signal receiving antennas is at least ensured to be about 3 m.
Further, in the embodiment of the present disclosure, each rf front-end module performs pre-filtering and low-noise amplification on a received satellite signal to obtain a first signal, so as to clean and mark the signal to filter a noise signal and a discontinuous signal of the satellite, thereby providing an accurate signal for a subsequent positioning module. And after each radio frequency front end module obtains the corresponding first signal, the obtained first signal is transmitted to a positioning module connected with the radio frequency front end module.
In the embodiment of the present disclosure, each of the positioning modules includes a down-conversion processing module 2031a, a first processing module 2032a, and a second processing module 2033a;
the down-conversion processing module 2031a is configured to perform two-stage down-conversion and digital sampling processing on the preprocessed signal by using a radio frequency chip to obtain a digital intermediate-frequency signal;
the first processing module 2032a is configured to perform carrier stripping and code stripping on the digital intermediate frequency signal by using a correlator FPGA to obtain a second signal;
the second processing module 2033a is configured to complete loop processing of the second signal by using the baseband processor.
In this embodiment of the disclosure, the down-conversion processing module may perform two-stage down-conversion and digital sampling processing on the preprocessed signal by using an XN117 radio frequency chip to obtain a digital intermediate frequency signal, and transmit the digital intermediate frequency signal to the first processing module. Wherein, the XN117 rf chip is a dual-channel rf chip.
In this embodiment of the present disclosure, the first processing module and the second processing module perform baseband processing on the digital intermediate frequency signal, so as to separate a carrier signal and a code signal from a satellite signal, so as to be used in a subsequent attitude adjusting module.
Further, in the embodiment of the present disclosure, the method for obtaining the azimuth angle of the target nacelle of the wind turbine generator by the attitude angle calculation method according to the received multiple second signals by the attitude adjustment module may include the following steps:
and step 1, decoding the plurality of second signals to obtain observation data.
In the embodiment of the present disclosure, the original observation data of the antenna is obtained by decoding the plurality of second signals.
And 2, preprocessing the observation data to obtain a corrected observation signal.
In the embodiment of the disclosure, whether the carrier has cycle slip or not can be judged based on a turbo edit single-station data preprocessing method, and the primary analysis of the original observation data is performed, so that the data with obvious and unreasonable observation signals are removed, and the corrected observation signals are obtained.
And 3, carrying out antenna single-point positioning through the corrected observation signal, and carrying out pseudo-range differential positioning.
In an embodiment of the present disclosure, the receiver pseudorange observation equation may be expressed as:
where P is pseudo-range observed value, c is light speed, δ t r To receive the clock difference, δ t J Is the satellite clock error, d ion As ionospheric refraction error, d trop For tropospheric refractive error, epsilon P Receiver t from satellite to reception time at which signal is transmitted, where ρ is the observation noise of pseudo-range s Satellite coordinates of
And the receiver is at the signal reception time t r Position (x) of tr ，y tr ，z tr ) And (3) calculating:
the satellite coordinates and the satellite clock error can be calculated from the broadcast ephemeris given by the navigation message, so that the position of the receiver can be calculated by observing more than four satellites at the same time. Suppose (X) r ,Y r ,Z r ) Characterizing the unknowns for the receiver coordinates can be approximated as (X) 0 ,Y 0 ,Z 0 ) Sum of correction values (dX, dY, dZ):
X r ＝X 0 +dX,Y r ＝Y 0 +dY,Z r ＝Z 0 +dZ
and, the satellite-to-receiver theoretical distance can be expanded into a linear form:
wherein S represents a certain time, ρ 0 ＝X s -X 0 ) 2 +Y s -Y 0 ) 2 +Z s -Z 0 ) 2
The simplified pseudo-range linear observation equation is in a proper form of
V＝AX-L,P
Wherein X represents the correction (dX, dY, dZ, c delta t) of the receiver coordinate and clock difference, and A is a coefficient needleIs a
L is a constant term comprising>
And other correction items; and P is a weight matrix of the observation equation.
And, receiver coordinates and clock differences can be obtained according to the least squares principle:
further, in the embodiment of the present disclosure, there are many other errors in the satellite positioning, and based on this, a single difference pseudorange observation equation needs to be established to solve the other errors, so as to further reduce the error of the range measurement.
Specifically, the single-differenced pseudorange observation equation may be:
wherein R is i Is the pseudorange (not fully accurate range) for satellite i, delta represents the difference between the stations (single difference),
calculated for the secondary station by means of the pseudo-range theory, calculated from the approximate coordinates of the secondary station and the satellite coordinates, and->
Is a theoretical calculation of the pseudorange of the primary station, dX R For the coordinate correction of a secondary station>
Δ ε is the single difference noise, which is the cosine of the direction from the secondary station to satellite i, such as the signal loss of the satellite signal through the atmospheric ionosphere and troposphere.
And 4, detecting, repairing and marking cycle slip based on polynomial fitting or Kalman filtering, and filtering out unnecessary interference electromagnetic wave signals.
In the embodiment of the present disclosure, the kalman filter is mainly used for cycle slip detection, and when a large burst exists between a filter value and a current observation value, a cycle slip may occur, and at this time, a signal needs to be repaired by the cycle slip, that is, a part where the signal is lost is repaired.
Specifically, in the embodiment of the present disclosure, the kalman filtering is performed on the premise that some parameters in the observation equation satisfy a certain dynamic equation. The sequential adjustment method in metrology is a special case of kalman filtering: the parameters remain constant for each observation epoch, i.e. X k ＝X k-1 . The mathematical model of the kalman filter mainly comprises an observation equation and a dynamic equation:
wherein, X k Indicating the correction of the receiver coordinates and clock differences (dX, dY, dZ, c δ t), c being the speed of light.
And 5, establishing a carrier phase double-difference observation equation, resolving a floating ambiguity and a covariance matrix, and respectively performing classical navigation positioning system algorithm calculation such as LAMBDA ambiguity search fixing and baseline resolution based on fixed ambiguity to obtain an azimuth angle of the engine room.
In the embodiment of the present disclosure, the carrier phase double difference equation is the same as that in the prior art, and details of the embodiment of the present disclosure are not described herein.
And 6, carrying out post-test residual error analysis on the cabin azimuth angle to obtain a target cabin azimuth angle.
And 7, adjusting the azimuth angle of the cabin of the wind turbine generator to the target cabin azimuth angle.
It should be noted that, in the embodiment of the present disclosure, by using the attitude angle calculation method, multiple second signals obtained through multiple base bands corresponding to multiple positioning modules may be processed, and a corresponding azimuth angle of a target nacelle of a wind turbine generator may be accurately obtained based on processed data, so that accuracy of the azimuth angle of the target nacelle is improved.
Further, in the embodiment of the present disclosure, the posture adjustment system may further include a power management module 205a. The power management module is used for supplying power to the attitude adjustment system and monitoring the working voltage and the working current of the sensitive device. In the embodiment of the disclosure, the power management module adopts a highly reliable power monitoring technology to realize real-time detection of the working voltage and the working current of the sensitive device, so that damage to the hardware of the receiver caused by a severe environment can be avoided. Meanwhile, the power management module can flexibly close part of hardware modules and flexibly configure software functions according to task requirements through a power management technology combining software and hardware, and ultra-low power consumption operation of the attitude adjustment system is achieved.
Also, in the embodiment of the present disclosure, the posture adjustment system may further include a system monitoring module 206a. The system monitoring module is used for monitoring the environmental variables of the wind turbine generator in real time, wherein the environmental variables can include at least one of the following:
humidity;
(ii) a temperature;
wind speed.
Further, in the embodiment of the present disclosure, the posture adjustment system further satisfies the following performance conditions to ensure that the functional module can complete posture adjustment of the wind turbine generator:
(1) The working frequency meter can comprise GPS-L1CA (1.227 GHZ, 1.575 GHZ) of GPS series, BD-B1I (1.561 GHZ) and BD-B3I (1.268 GHZ) of Beidou series and other models, and the models are all more than 120 channels;
(2) The acceleration of the support carrier is more than or equal to 5g, and the acceleration is more than or equal to 2g/s;
(3) The precision of the carrier pseudo range is superior to the carrier phase of 0.75 m;
(4) Attitude measurement accuracy: azimuth angle: (0.2 °) 1 meter baseline;
(5) Positioning accuracy: position: WGS-84,1 σ, three-axis) speed ≦ 10 m: less than or equal to 0.2m/s (WGS-84, 1 sigma, three axes);
(6) Time service precision: the UTC time schedule is better than 1us;
(7) The data update rate is 1Hz;
(8) The power consumption is less than or equal to 5W, and the power supply voltage is 5V;
(9) The antenna adopts an SMA interface.
In summary, in the multi-baseline wind turbine attitude adjustment system based on the satellite provided by the present application, the attitude adjustment system includes a plurality of antenna modules for receiving satellite signals, a plurality of radio frequency front end modules, each radio frequency front end module is configured to receive a satellite signal sent by each satellite signal receiving antenna and preprocess the received satellite signal to obtain a plurality of corresponding first signals, a plurality of positioning modules, each positioning module is configured to receive the first signal transmitted by each radio frequency front end module and process the plurality of first signals to obtain a plurality of second signals, and the attitude adjustment module is configured to receive the second signals transmitted by the plurality of positioning modules respectively, obtain a target nacelle azimuth of the wind turbine by using an attitude angle calculation method according to the plurality of received second signals, and adjust the wind turbine to the target nacelle. Therefore, the antenna module receives the long-wave band signal of the satellite and does not generate interference effect with the short-wave electromagnetic field of the engine room, so that the accuracy of the azimuth angle of the engine room is ensured.
Meanwhile, the corresponding multiple basebands are formed through the multiple positioning modules, the attitude adjusting module can accurately obtain the target cabin azimuth angle of the wind turbine generator system by utilizing the attitude angle calculating method based on the multiple second signals processed by the multiple basebands, the accuracy of the cabin azimuth angle is improved, and the method is not influenced by human interference or weather environment and is suitable for multiple scenes.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in multiple embodiments or examples of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (7)
1. The utility model provides a many baselines wind turbine generator system attitude adjustment system based on satellite which characterized in that, attitude adjustment system includes:
a plurality of antenna modules for receiving satellite signals;
the satellite signal receiving system comprises a plurality of radio frequency front-end modules, a plurality of satellite signal receiving antennas and a plurality of radio frequency front-end modules, wherein each radio frequency front-end module is used for receiving a satellite signal sent by each satellite signal receiving antenna and preprocessing the received satellite signal to obtain a plurality of corresponding first signals;
the positioning modules are used for receiving the first signals transmitted by the radio frequency front end modules and processing the first signals to obtain a plurality of second signals;
and the attitude adjusting module is used for receiving the second signals respectively transmitted by the positioning modules, obtaining a target cabin azimuth angle of the wind turbine generator by utilizing an attitude angle calculation method according to the received second signals, and adjusting the wind turbine generator to the target cabin azimuth angle.
2. The system of claim 1, wherein the rf front-end module performs pre-filtering and low-noise amplification on the received satellite signal to obtain the first signal.
3. The system of claim 1, wherein the positioning module comprises a down-conversion processing module, a first processing module, and a second processing module;
the down-conversion processing module is used for performing two-stage down-conversion and digital sampling processing on the preprocessed signal by using a radio frequency chip to obtain a digital intermediate frequency signal;
the first processing module is used for carrying out carrier stripping and code stripping on the digital intermediate frequency signal by utilizing a correlator FPGA to obtain a second signal;
and the second processing module is used for finishing the loop processing work of the second signal by utilizing the baseband processor.
4. The system of claim 1, wherein obtaining a target nacelle azimuth angle of the wind turbine using an attitude angle calculation method based on the received second signals comprises:
decoding the plurality of second signals to obtain observation data;
preprocessing the observation data to obtain a corrected observation signal;
carrying out antenna single-point positioning through the corrected observation signal and carrying out pseudo-range differential positioning;
cycle slip detection, repair and marking based on polynomial fitting or Kalman filtering, and filtering out unnecessary interference electromagnetic wave signals;
establishing a carrier phase double-difference observation equation, resolving a floating ambiguity and a covariance matrix, and respectively performing classical navigation positioning system algorithm calculation such as LAMBDA ambiguity search fixation, fixed ambiguity baseline resolution and the like to obtain an azimuth angle of an engine room;
carrying out post-test residual error analysis on the cabin azimuth angle to obtain a target cabin azimuth angle;
and adjusting the cabin azimuth angle of the wind turbine generator to the target cabin azimuth angle.
5. The system of claim 1, further comprising a power management module;
and the power supply management module is used for supplying power to the attitude adjusting system and monitoring the working voltage and the working current of the sensitive device.
6. The system of claim 1, further comprising a system monitoring module;
the system monitoring module is used for monitoring the environmental variables of the wind turbine generator in real time, wherein the environmental variables comprise at least one of the following:
humidity;
(ii) temperature;
wind speed.
7. The system of claim 1, wherein the antenna module is configured to receive satellite long band signals.
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