CN110092298A - Hoist controlling system, method and device - Google Patents
Hoist controlling system, method and device Download PDFInfo
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- CN110092298A CN110092298A CN201810096045.1A CN201810096045A CN110092298A CN 110092298 A CN110092298 A CN 110092298A CN 201810096045 A CN201810096045 A CN 201810096045A CN 110092298 A CN110092298 A CN 110092298A
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- China
- Prior art keywords
- connector
- position data
- generating set
- wind power
- power generating
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a kind of hoist controlling systems, method and device, to improve the efficiency of wind power generating set lifting operation.Hoist controlling system, comprising: the second locating module, positioning reference station, the console with the first locating module, the second locating module and positioning reference station communication connection being separately positioned in wind power generating set on the first locating module and the second connector on the first connector；First locating module, for acquiring the position data of the first connector in real time；Second locating module, for acquiring the position data of the second connector in real time；Positioning reference station, for determining position data correction value；Console, for the position data according to position data correction value, the position data of the first connector and the second connector, determine the positional relationship of the first connector and the second connector, and the positional relationship according to the first connector and the second connector, control the lifting operation of wind power generating set.
Description
Technical field
The present invention relates to technical field of wind power generation more particularly to a kind of hoist controlling systems, method and device.
Background technique
With the continuous development of wind generating technology, the height of wind power generating set is usually at 90 meters or more at present, and with
The cabin of wind power generating set, generator and impeller (including: wheel hub and blade) it is increasingly heavier, wind power generating set is hung
Dress work also becomes more and more difficult.
As shown in Figure 1, impeller flange is completely coincident with generator flange in wind power generating set after installation is complete,
The vertical line of wind power generator impeller hub axis and vertical direction (or the axis of wind power generator impeller wheel hub and level side
To) there is an angle 10, angle 10 is 5 degree or so.
Below by taking impeller lifts as an example, illustrate actual installation process.As shown in Fig. 2, in order to realize above-mentioned mounting structure, leaf
Wheel lifting is main manually to estimate to command lifting to operate.Specifically, when impeller hangs suitable height, impeller and power generation
The alignment work of machine needs three staff to cooperate with and complete.Three staff are respectively as follows: high altitude operation personnel 21, hang
Fill commanding 22 and crane operator 23.Wherein, high altitude operation personnel 21 are responsible for checking that crane hangs impeller in high-altitude
Angle and differential location；Lifting commanding 22, which takes charge, lifts work；Crane operator 23 is responsible for hanging vehicle operation
Crane.When the alignment work of impeller and generator is completed in collaboration, high altitude operation personnel 21 and lifting commanding 22 by pair
It says that the mode of machine is linked up, lifts commanding 22 by gesture and deliver a signal to crane operator 23.
It is above-mentioned that the mode for completing impeller and generator alignment work is cooperateed with by three staff, on the one hand, tripartite links up
Efficiency is poor, and timeliness is difficult to ensure, and when information is transmitted between three staff is easy to happen information and intersects special delivery
Mistake；On the other hand, in the case where visibility is undesirable, people's is unsighted, and the difficulty of lifting work is commanded with artificial range estimation
Degree will greatly increase.In actual installation process, these factors will all reduce the efficiency of lifting operation.
Summary of the invention
The embodiment of the invention provides a kind of hoist controlling systems, method and device, hang to improve wind power generating set
Pretend the efficiency of industry.
In a first aspect, the embodiment of the present invention provides a kind of hoist controlling system, hoist controlling system includes: to be separately positioned on
The second locating module on the first locating module and the second connector, positioning datum in wind power generating set on the first connector
It stands, the console with the first locating module, the second locating module and positioning reference station communication connection；Wherein,
First locating module, for acquiring the position data of the first connector in real time；
Second locating module, for acquiring the position data of the second connector in real time；
Positioning reference station, for determining based on the position data obtained to self poisoning and the geographical position coordinates of itself
Position data correction value；
Console, for the position according to position data correction value, the position data of the first connector and the second connector
Data are set, determine the positional relationship of the first connector and the second connector, and the position according to the first connector and the second connector
Relationship is set, the lifting operation of wind power generating set is controlled.
In some embodiments of first aspect, console is specifically used for:
Based on position data correction value, respectively the position data to the first connector and the position data of the second connector into
Row amendment, obtains the position data of revised first connector and the position data of revised second connector；
According to the position data of the position data of revised first connector and revised second connector, is determined
The positional relationship of a connection piece and the second connector；
According to the positional relationship of the first connector and the second connector, the lifting operation of wind power generating set is controlled.
In some embodiments of first aspect, console includes the controller and data radio station of communication connection；Wherein,
Data radio station is communicated to connect with the first locating module, the second locating module and positioning reference station, for receiving
The positional number for the second connector that the position data for the first connector that first locating module is sent, the second locating module are sent
According to and the position data correction value that sends of positioning reference station, and by the position data of the first connector, the position of the second connector
It sets data and position data correction value is forwarded to controller；
Controller, for according to the position data correction value, the position data of the first connector and the second company received
The position data of fitting determines the positional relationship of the first connector and the second connector, and connects according to the first connector and second
The positional relationship of fitting controls the lifting operation of wind power generating set.
In some embodiments of first aspect, console includes the controller and data radio station of communication connection；Wherein,
Data radio station is communicated to connect with the first locating module, the second locating module and positioning reference station, for receiving
The positional number for the second connector that the position data for the first connector that first locating module is sent, the second locating module are sent
According to and positioning reference station send position data correction value, and be based on position data correction value, respectively to the first connector
Position data and the position data of the second connector are modified, and obtain the position data and amendment of revised first connector
The position data of the second connector afterwards, by the position data of revised first connector and revised second connector
Position data is sent to controller；
Controller, for the position data and revised second connection according to revised first connector received
The position data of part determines the positional relationship of the first connector and the second connector, and according to the first connector and the second connection
The positional relationship of part controls the lifting operation of wind power generating set.
In some embodiments of first aspect, the first connector is the impeller of wind power generating set, and the second connector is
The generator of wind power generating set；
First locating module includes the sub- locating module of at least three impellers, and the sub- locating module setting of at least one impeller exists
On the wheel hub of impeller, the sub- locating module of at least two impellers is arranged on the blade of impeller, wherein the first locating module determines wind
The aerial statue of power generator group impeller；
Second locating module includes at least one cabin locating module, and the second locating module determines that wind power generating set generates electricity
The air position of machine central axes.
In some embodiments of first aspect, leaf tip is specifically arranged in the sub- locating module of impeller on blade.
In some embodiments of first aspect, controller is specifically used for: according to revised first connection received
The position data of the position data of part and revised second connector determines that the position of the first connector and the second connector is closed
System, and the positional relationship according to the first connector and the second connector control the impeller and generator axis of wind power generating set
Money keeps predeterminated position relationship.
Plane and generator central axes in some embodiments of first aspect, where the impeller of wind power generating set
Angle is default setting angle.
Second aspect, the embodiment of the present invention provide a kind of hoist controlling method, applied to providing in first aspect embodiment
Hoist controlling system, hoist controlling method includes:
The position data of first connector and the position data of the second connector in acquisition wind power generating set in real time；
Obtain the position data correction value for being modified to position data；
According to the position data of position data correction value, the position data of the first connector and the second connector, determine
The positional relationship of first connector and the second connector；
According to the positional relationship of the first connector and the second connector, the lifting operation of wind power generating set is controlled.
In some embodiments of second aspect, according to position data correction value, the position data of the first connector and
The position data of second connector determines the positional relationship of the first connector and the second connector, comprising:
Based on position data correction value, respectively the position data to the first connector and the position data of the second connector into
Row amendment, obtains the position data of revised first connector and the position data of revised second connector；
According to the position data of the position data of revised first connector and revised second connector, is determined
The positional relationship of a connection piece and the second connector.
In some embodiments of second aspect, the first connector is the impeller of wind power generating set, and the second connector is
The generator of wind power generating set；
According to the positional relationship of the first connector and the second connector, the lifting operation of wind power generating set is controlled, comprising:
According to the positional relationship of the first connector and the second connector, control in the impeller and generator of wind power generating set
Axis money keeps predeterminated position relationship.
Plane and generator central axes in some embodiments of second aspect, where the impeller of wind power generating set
Angle is default setting angle.
The third aspect, the embodiment of the present invention provide a kind of hoist controlling device, comprising:
Acquisition module, for acquiring the position data of the first connector and the second connector in wind power generating set in real time
Position data；
Module is obtained, for obtaining the position data correction value for being modified to position data；
Processing module, for according to position data correction value, the position data of the first connector and the second connector
Position data determines the positional relationship of the first connector and the second connector；
Control module controls wind power generating set for the positional relationship according to the first connector and the second connector
Lifting operation.
In some embodiments of the third aspect, processing module is specifically used for:
Based on position data correction value, respectively the position data to the first connector and the position data of the second connector into
Row amendment, obtains the position data of revised first connector and the position data of revised second connector；
According to the position data of the position data of revised first connector and revised second connector, is determined
The positional relationship of a connection piece and the second connector.
In some embodiments of the third aspect, the first connector is the impeller of wind power generating set, and the second connector is
The generator of wind power generating set；
Control module is specifically used for: according to the positional relationship of the first connector and the second connector, controlling wind-driven generator
The impeller and generator axis money of group keep predeterminated position relationship.
Plane and generator central axes in some embodiments of the third aspect, where the impeller of wind power generating set
Angle is default setting angle.
Hoist controlling system, method and device according to embodiments of the present invention, are acquired in real time by the first locating module
The position data of first connector, the second locating module acquire the position data of the second connector in real time, and by positioning datum
Stand provide position data correction value, enable console according to position data correction value, the position data of the first connector, with
And second connector position data, determine the positional relationship of the first connector and the second connector, and according to the first connector
With the positional relationship of the second connector, the lifting operation of wind power generating set is controlled.With in the prior art by manually estimating
Mode commands lifting operation to compare, avoid in lifting operating process communication efficiency is poor, information transmit it is error-prone and by visibility
The problem of influence, improves the efficiency of lifting operation.
Detailed description of the invention
The present invention may be better understood from the description with reference to the accompanying drawing to a specific embodiment of the invention wherein,
The same or similar appended drawing reference indicates the same or similar feature.
Fig. 1 is the mounting structure schematic diagram of impeller and generator in existing wind power generating set；
Fig. 2 is the schematic diagram of a scenario that impeller lifting operates in wind power generating set in the prior art；
The structural schematic diagram of Fig. 3 hoist controlling system provided in an embodiment of the present invention；
Fig. 4 is the schematic flow diagram of hoist controlling method provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of hoist controlling device provided in an embodiment of the present invention.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, many details are proposed, in order to provide complete understanding of the present invention.But to those skilled in the art
It will be apparent that the present invention can be implemented in the case where not needing some details in these details.Below to implementation
The description of example is used for the purpose of providing by showing example of the invention and better understanding of the invention.The present invention never limits
In any concrete configuration set forth below and algorithm, but cover under the premise of without departing from the spirit of the present invention element,
Any modification, replacement and the improvement of component and algorithm.In the the accompanying drawings and the following description, well known structure and skill is not shown
Art is unnecessary fuzzy to avoid causing the present invention.
Hoist controlling system provided in an embodiment of the present invention, method and device, acquire by the first locating module in real time
The position data of a connection piece, the second locating module acquire the position data of the second connector in real time, and by positioning reference station
There is provided position data correction value, enable console according to position data correction value, the position data of the first connector and
The position data of second connector, determines the positional relationship of the first connector and the second connector, and according to the first connector and
The positional relationship of second connector controls the lifting operation of wind power generating set.With the side in the prior art by manually estimating
Formula commander's lifting operation is compared, avoid in lifting operating process communication efficiency is poor, information transmit it is error-prone and by visibility shadow
Loud problem improves the efficiency of lifting operation.
It should be noted that hoist controlling system provided in an embodiment of the present invention, method and device, are applicable not only to control
Lifting operation between each component of wind power generating set, and it is suitable for controlling other lifting operations.The following embodiments of the present invention
In be illustrated namely the first connector is with wind power generating set leaf so that the lifting for controlling wind power generating set impeller operates as an example
It is illustrated for wheel, the second connector is illustrated by taking the generator of wind power generating set as an example.
Hoist controlling system provided in an embodiment of the present invention, method and device are carried out specifically below with reference to Fig. 3-Fig. 5
It is bright.
Fig. 3 shows the structural schematic diagram of hoist controlling system provided in an embodiment of the present invention.As shown in figure 3, first connects
Fitting is by taking wind power generating set impeller as an example, and the second connector is by taking the generator of wind power generating set as an example.
Hoist controlling system provided in an embodiment of the present invention, comprising: be separately positioned in wind power generating set on impeller
First locating module 31 and the second locating module 32 being arranged in wind power generating set on generator, positioning reference station 33, with
The console 34 that first locating module 31, the second locating module 32 and positioning reference station 33 communicate to connect；Wherein,
First locating module 31, for acquiring the position data of wind power generating set impeller in real time.
Second locating module 32, for acquiring the position data of generator of wind generating set in real time.
Positioning reference station 33, for based on the position data obtained to self poisoning and the geographical position coordinates of itself, really
Data correction value is set in positioning.
Console 34, for being sent out according to position data correction value, the position data of wind power generating set impeller and wind-force
The position data of electric set generator determines the positional relationship of impeller and generator, and closes according to the position of impeller and generator
System controls the lifting operation of wind power generating set.
In the embodiment of the present invention, global positioning system is can be used in the first locating module 31 and the second locating module 32
(Global Positioning System, GPS) is positioned, and GLONASS (GLOBAL NAVIGATION also can be used
SATELLITE SYSTEM, GLONASS) positioning system positioned, and Beidou Navigation System can also be used to be positioned, this hair
It is bright not limit this.
It should be noted that the first locating module 31 and the second locating module 32, can using identical positioning method into
Row positioning can also be positioned using different positioning methods, and which is not limited by the present invention.Certainly, when it is implemented,
One locating module 31 and the second locating module 32 generally use identical positioning method and are positioned, for example, the first locating module
31 and second locating module 32 be all made of GPS positioning.
When it is implemented, wind power generating set can be arranged in by modes such as magnetic force, absorption in the first locating module 31
On impeller, the second locating module 32 again may be by the modes such as magnetic force, absorption and be arranged on the generator of wind power generating set.
In practical application, the first locating module 31 for acquiring the position data of wind power generating set impeller, acquisition in real time
To the position data of wind power generating set impeller be used to determine the aerial statue of wind power generating set impeller.
When it is implemented, impeller includes wheel hub and blade two parts, in order to be collected based on the first locating module 31
Position data determine the aerial statue position of wind power generating set impeller, the first locating module 31 needs to acquire in impeller respectively
The position data of wheel hub and blade.
In one embodiment, the first locating module 31 may include the sub- locating module of at least three impellers, and at least
One sub- locating module of impeller is arranged on the wheel hub of impeller, and the blade of impeller is arranged in the sub- locating module of at least two impellers
On.In such embodiment, the sub- locating module of at least two impellers on blade is set, for acquiring the positional number of blade
According to the sub- locating module of impeller arranged on the hub is used to acquire the position data of wheel hub.
In another embodiment, the first locating module 31 may include the sub- locating module of at least four impellers, and at least
One sub- locating module of impeller is arranged on the wheel hub of impeller, and the blade of impeller is arranged in the sub- locating module of at least three impellers
On.In such embodiment, the sub- locating module of at least three impellers on blade is set, for acquiring the positional number of blade
According to the sub- locating module of impeller arranged on the hub is used to acquire the position data of wheel hub.
When it is implemented, can be based on collecting after the position data of the position data and wheel hub that collect blade
The position data of blade determine the plan-position of blade, the air position of wheel hub is determined based on the position data of wheel hub, in turn
According to the air position of the plan-position for the blade determined and wheel hub, the aerial statue of wind power generating set impeller is determined.
It should be noted that the sub- positioning mould of at least two impellers on blade is arranged in above two embodiment
Block or the sub- locating module of at least three impellers need to acquire the position data namely at least two impellers of at least two blades
Sub- locating module or the sub- locating module of at least three impellers need to be arranged at least two blades.
In order to further increase the accuracy of determining wind generator set blade position data, impeller on blade is fixed
Position module specifically can be set in leaf tip, namely the position on blade far from wheel hub is arranged in.
In practical application, the second locating module 32 is adopted for acquiring the position data of generator of wind generating set in real time
The position data of the generator of wind generating set collected is used to determine the air position of generator central axes.
In one embodiment, the second locating module 32 includes at least one cabin locating module.When it is implemented, by
It is arranged in the cabin in the generator of wind power generating set, and cabin is fixed on the top of wind-power generating unit tower, usual machine
The amplitude of fluctuation in cabin is smaller, therefore, when a cabin locating module is arranged on the generator of wind power generating set, can also tie
The position data for closing target point in the position data and predetermined tower top of cabin locating module acquisition, determines wind-driven generator
The air position of group generator central axes.Wherein, target point can be predetermined on tower top and be located on generator central axes
Location point.
In another embodiment, the second locating module 32 includes at least two cabin locating modules.When it is implemented, can
To combine at least two collected position datas of cabin locating module, the aerial of generator of wind generating set central axes is determined
Position.
When it is implemented, the aerial statue and generator central axes that determine wind power generating set impeller air position it
Afterwards, that is, can determine the positional relationship of impeller and generator in wind power generating set, so based on impeller in wind power generating set with
The positional relationship of generator, the impeller and generator axis money for controlling wind power generating set keep predeterminated position relationship, namely control
System lifting operates so that the impeller and generator axis money of wind power generating set keep predeterminated position relationship.
In practical application, the impeller and generator axis money of wind power generating set keep predeterminated position relationship, refer to wind-force
The angle of plane and generator central axes where the impeller of generating set is default setting angle.Wherein, setting angle is preset
It can need to be configured according to actual installation, for example, default setting angle is 90 degree.
In practical application, lifting operation needs the impeller of wind power generating set and generator carrying out stringent alignment, because
This, by the way of satellite positioning in wind power generating set impeller and generator position when, it is necessary to improve the essence of positioning
Degree.Specifically, the factors such as satellite orbital error, atmospheric effect will cause the position data and reality of satellite positioning acquisition
There is biggish error between position coordinates, in order to eliminate error, improve positioning accuracy, in hoist controlling system in the embodiment of the present invention
Positioning reference station 33 is set in system, and the position data correction value provided by positioning reference station 33 eliminates the first locating module 31
The error of collected position data and the collected position data of the second locating module 32 is improved to wind power generating set impeller
With the positioning accuracy of generator.
Certainly, it should be noted that due to the position data correction value provided using positioning reference station 33, it is fixed to eliminate first
The error of the position collected position data of module 31 and the collected position data of the second locating module 32, therefore, positioning datum
The positioning side that the positioning method that 33 pairs of self poisonings use of standing should be used with the first locating module 31 and the second locating module 32
Formula is identical.For example, if the first locating module 31 and the second locating module 32 use GPS positioning, positioning reference station 33
GPS should be used to position itself.
When it is implemented, positioning reference station 33 is sat based on the position data obtained to self poisoning and the geographical location of itself
Mark, determines position data correction value.For example, if the actual geographic position coordinates of positioning reference station 33 are (x, y, z), and lead to
The position data for crossing the positioning reference station 33 got to 33 satellite positioning of positioning reference station is (x1, y1, z1), then for eliminating
The position data correction value of error is (x1- x, y1- y, z1-z)。
When it is implemented, positioning accuracy equally can be improved, therefore, in frame by the accuracy for improving position correction value
If when positioning reference station 33, Ying Jinliang is erected at the higher position of unobscured and topography, avoid being erected at high building, thick forest, water
Near the pool, high voltage transmission line and signal transmitting tower, to reduce influence of the signal interference to position data correction value accuracy.
In the embodiment of the present invention, in the first locating module 31, the second locating module 32 and positioning reference station 33 can within
Signal projector is set, the data information of acquisition is sent to console 34 in real time.And it can be connect in console 34 with built-in signal
Receive device, the data information that real-time reception the first locating module 31, the second locating module 32 and positioning reference station 33 are sent.
When it is implemented, console 34 receives the position for the wind power generating set impeller that the first locating module 31 acquires in real time
Data receive the position data for the generator of wind generating set that the second locating module 32 acquires in real time, and receive positioning base
The position data correction value that quasi- station 33 is sent.
In position data, the position data of generator of wind generating set, Yi Jiwei for receiving wind power generating set impeller
After setting data correction value, according to position data correction value, the position data and wind power generating set of wind power generating set impeller
The position data of generator determines the positional relationship of wind power generating set impeller and generator of wind generating set, and according to true
The positional relationship of the wind power generating set impeller and generator of wind generating set made, control wind power generating set impeller are hung
Dress operation.
Specifically, console 34 is primarily based on the position data correction value received, respectively to wind power generating set leaf
The position data of wheel and the position data of generator of wind generating set are modified, and obtain revised wind power generating set leaf
The position data of the position data of wheel and revised generator of wind generating set, with obtain in wind power generating set impeller and
The accurate position data of generator.
And then it is generated electricity according to the position data of revised wind power generating set impeller and revised wind power generating set
The position data of machine determines the positional relationship of wind power generating set impeller and generator of wind generating set, and final according to really
The positional relationship of the wind power generating set impeller and generator of wind generating set made, control wind power generating set impeller are hung
Dress operation.
Certainly, in other embodiments of the present invention, according to the position data of revised wind power generating set impeller and repairing
The position data of generator of wind generating set after just determines wind power generating set impeller and generator of wind generating set
When positional relationship, the visual 3-D image of full view can also be simulated by dimensional Modeling Technology in console 34, and
The 3-D image simulated is shown in the display of console 34, to assist the lifting behaviour of control wind power generating set impeller
Make.
Specifically, in the embodiment of the present invention, console 34 may include data radio station and controller two parts.
In one embodiment, the wind power generating set leaf that the first locating module 31 is sent specifically is received by data radio station
The position data and positioning reference station for the generator of wind generating set that the position data of wheel, the second locating module 32 are sent
The 33 position data correction values sent, and by the position data of wind power generating set impeller, the position of generator of wind generating set
It sets data and position data correction value is forwarded to controller.
By controller according to position data correction value, the position data and wind power generating set of wind power generating set impeller
The position data of generator determines the positional relationship of wind power generating set impeller and generator of wind generating set, and according to true
The positional relationship of the wind power generating set impeller and generator of wind generating set made, control wind power generating set impeller are hung
Dress operation.
In such embodiment, it is responsible for the reception and forwarding of data information by the data radio station in console 34, not only can
Higher transmission speed is enough used, and the safety of data can be verified in data radio station, to guarantee that data are believed
The security performance of breath.
In another embodiment, the wind power generating set that the first locating module 31 is sent specifically is received by data radio station
The position data and positioning datum for the generator of wind generating set that the position data of impeller, the second locating module 32 are sent
It stands the 33 position data correction values sent, and based on the position data correction value received, respectively to wind power generating set impeller
Position data and the position data of generator of wind generating set be modified, obtain revised wind power generating set impeller
Position data and revised generator of wind generating set position data, then by revised wind power generating set leaf
The position data of wheel and the position data of revised generator of wind generating set are sent to controller.
Controller receives the position data of revised wind power generating set impeller that data radio station is sent and revised
The position data of generator of wind generating set, according to the position data of the revised wind power generating set impeller received and
The position data of revised generator of wind generating set determines wind power generating set impeller and generator of wind generating set
Positional relationship, and according to the positional relationship of wind power generating set impeller and generator of wind generating set determined, control
The lifting of wind power generating set impeller operates.
In such embodiment, data radio station not only receives the first locating module 31, the second locating module 32 and positioning
The data that base station 33 is sent, and the position data correction value sent using positioning reference station 33, to the first locating module 31
The position data acquired in real time with the second locating module 32 is modified, and revised position data is sent to controller,
So that controller can be directly based upon the position data received, the impeller of wind power generating set and the position of generator are determined
Relationship is set, position data is modified without controller, reduces the calculation amount of controller.
The lifting of impeller in wind power generating set is combined to operate to hoist controlling system provided in an embodiment of the present invention above
It is illustrated, it should be appreciated that the lifting operation and other upper air installing operations of other components in wind power generating set, together
Sample is applicable in hoist controlling system provided in an embodiment of the present invention, for example, the lifting of generator operates in wind power generating set.
Based on the hoist controlling system shown in Fig. 3, the embodiment of the invention also provides one kind to be applied to above-mentioned hoist controlling
The hoist controlling method of system, as shown in figure 4, hoist controlling method provided in an embodiment of the present invention, comprising:
Step 401, the position data of the first connector and the position of the second connector in wind power generating set are acquired in real time
Data.
Step 402, the position data correction value for being modified to position data is obtained.
Step 403, according to the position of position data correction value, the position data of the first connector and the second connector
Data determine the positional relationship of the first connector and the second connector.
Step 404, the positional relationship according to the first connector and the second connector controls the lifting behaviour of wind power generating set
Make.
In one embodiment, according to position data correction value, the position data of the first connector and the second connection
The position data of part determines the positional relationship of the first connector and the second connector, comprising: it is based on position data correction value, point
It is other that the position data of first connector and the position data of the second connector are modified, obtain revised first connector
Position data and revised second connector position data；According to the position data of revised first connector and repair
The position data of the second connector after just, determines the positional relationship of the first connector and the second connector.
In one embodiment, the first connector is the impeller of wind power generating set, and the second connector is wind-power electricity generation
The generator of unit；According to the positional relationship of the first connector and the second connector, the lifting operation of wind power generating set is controlled,
Include: the positional relationship according to the first connector and the second connector, controls the impeller and generator axis of wind power generating set
Money keeps predeterminated position relationship.
In one embodiment, the plane where the impeller of wind power generating set and the angle of generator central axes are pre-
If setting angle.
Based on same inventive concept, the embodiment of the invention also provides a kind of hoist controlling devices.As shown in figure 5, this
The hoist controlling device that inventive embodiments provide, comprising:
Acquisition module 51, for acquiring the position data of the first connector and the second connector in wind power generating set in real time
Position data.
Module 52 is obtained, for obtaining the position data correction value for being modified to position data.
Processing module 53, for according to position data correction value, the position data of the first connector and the second connector
Position data, determine the positional relationship of the first connector and the second connector.
Control module 54 controls wind power generating set for the positional relationship according to the first connector and the second connector
Lifting operation.
In one embodiment, processing module 53 is specifically used for: being based on position data correction value, connects respectively to first
The position data of part and the position data of the second connector are modified, obtain revised first connector position data and
The position data of revised second connector；Connected according to the position data of revised first connector and revised second
The position data of fitting determines the positional relationship of the first connector and the second connector.
In one embodiment, the first connector is the impeller of wind power generating set, and the second connector is wind-power electricity generation
The generator of unit；Control module is specifically used for: according to the positional relationship of the first connector and the second connector, control wind-force hair
The impeller and generator axis money of motor group keep predeterminated position relationship.
In one embodiment, the plane where the impeller of wind power generating set and the angle of generator central axes are pre-
If setting angle.
It should be clear that all the embodiments in this specification are described in a progressive manner, each embodiment it
Between the same or similar part may refer to each other, the highlights of each of the examples are it is different from other embodiments it
Place.For device embodiment, related place may refer to the declaratives of embodiment of the method.Not office of the embodiment of the present invention
It is limited to particular step and structure described above and shown in figure.Those skilled in the art can understand the present invention in fact
Apply be variously modified after the spirit of example, modification and addition, or the sequence between changing the step.Also, it is risen in order to concise
See, omits the detailed description to known method technology here.
It needs to define, the embodiment of the present invention is not limited to specific configuration described above and shown in figure and place
Reason.And the detailed description to known method technology for brevity, is omitted here.In the above-described embodiments, it describes and shows
Several specific steps are gone out as example.But the method process of the embodiment of the present invention be not limited to it is described and illustrated
Specific steps, those skilled in the art can be variously modified after the spirit for understanding the embodiment of the present invention, modify and
Addition, or the sequence between changing the step.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
It closes.When realizing in hardware, it may, for example, be electronic circuit, specific integrated circuit (ASIC), firmware appropriate, insert
Part, function card etc..When being realized with software mode, the element of the embodiment of the present invention is used to execute the program of required task
Or code segment.Perhaps code segment can store in machine readable media program or the data by carrying in carrier wave are believed
It number is sent in transmission medium or communication links." machine readable media " may include be capable of storage or transmission information any
Medium.The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM
(EROM), floppy disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can via such as because
The computer network of special net, Intranet etc. is downloaded.
Those skilled in the art will be understood that above-described embodiment is illustrative and not restrictive.In different embodiments
The different technologies feature of middle appearance can be combined, to obtain beneficial effect.Those skilled in the art are in research attached drawing, explanation
On the basis of book and claims, the embodiment of other variations of revealed embodiment is will be understood that and realized.In right
In claim, term " comprising " is not precluded from other devices or steps；Indefinite article "one" be not excluded for it is multiple；Term " the
One ", " second " is for indicating title not for any specific sequence of expression.Any appended drawing reference in claim is not
It should be understood limiting of its scope.The function of the multiple portions occurred in claim can be by an individual hardware
Or software module is realized.Certain technical characteristic appearance are not meant in different dependent claims cannot be by these skills
Art feature is combined to obtain beneficial effect.
Claims (16)
1. a kind of hoist controlling system, the lifting for controlling wind power generating set is operated, which is characterized in that the hoist controlling
System includes: on the first locating module and the second connector being separately positioned in the wind power generating set on the first connector
The second locating module, positioning reference station, with first locating module, second locating module and the positioning datum
Stand communication connection console；Wherein,
First locating module, for acquiring the position data of first connector in real time；
Second locating module, for acquiring the position data of second connector in real time；
The positioning reference station, for determining based on the position data obtained to self poisoning and the geographical position coordinates of itself
Position data correction value；
The console, for according to the position data of the position data correction value, first connector and described
The position data of two connectors determines the positional relationship of first connector and second connector, and according to described
The positional relationship of a connection piece and second connector controls the lifting operation of the wind power generating set.
2. system according to claim 1, which is characterized in that the console is specifically used for:
Based on the position data correction value, the position of the position data to first connector and second connector respectively
It sets data to be modified, obtains the position data of revised first connector and the positional number of revised second connector
According to；
According to the position data of the position data of revised first connector and revised second connector, described is determined
The positional relationship of a connection piece and second connector；
According to the positional relationship of first connector and second connector, the lifting behaviour of the wind power generating set is controlled
Make.
3. system according to claim 1, which is characterized in that the console includes that the controller sum number of communication connection passes
Radio station；Wherein,
The data radio station, with first locating module, second locating module and the positioning reference station communication link
It connects, for receiving position data, second locating module hair of first connector that first locating module is sent
The position data correction value that the position data of second connector sent and the positioning reference station are sent, and will be described
The position data of first connector, the position data of second connector and the position data correction value are forwarded to institute
State controller；
The controller, for according to receive the position data correction value, the position data of first connector, with
And the position data of second connector, determine the positional relationship of first connector and second connector, and according to
According to the positional relationship of first connector and second connector, the lifting operation of the wind power generating set is controlled.
4. system according to claim 1, which is characterized in that the console includes that the controller sum number of communication connection passes
Radio station；Wherein,
The data radio station, with first locating module, second locating module and the positioning reference station communication link
It connects, for receiving position data, second locating module hair of first connector that first locating module is sent
The position data correction value that the position data of second connector sent and the positioning reference station are sent, and it is based on institute
Rheme sets data correction value, and the position data to first connector and the position data of second connector carry out respectively
Amendment, obtains the position data of revised first connector and the position data of revised second connector, after amendment
The position data of the first connector and the position data of revised second connector be sent to the controller；
The controller, for the position data and revised second connection according to revised first connector received
The position data of part determines the positional relationship of first connector and second connector, and according to first connection
The positional relationship of part and second connector controls the lifting operation of the wind power generating set.
5. system according to claim 3 or 4, which is characterized in that first connector is the wind power generating set
Impeller, second connector be the wind power generating set generator；
First locating module includes the sub- locating module of at least three impellers, and the sub- locating module setting of at least one impeller exists
On the wheel hub of the impeller, the sub- locating module of at least two impellers is arranged on the blade of the impeller, wherein described first is fixed
Position module determines the aerial statue of wind power generating set impeller；
Second locating module includes at least one cabin locating module, and second locating module determines wind power generating set
The air position of generator central axes.
6. system according to claim 5, which is characterized in that the sub- locating module of impeller on the blade is specifically arranged
In leaf tip.
7. system according to claim 5, which is characterized in that the controller is specifically used for: according to the amendment received
The position data of the position data of the first connector afterwards and revised second connector determines first connector and institute
The positional relationship of the second connector, and the positional relationship according to first connector and second connector are stated, institute is controlled
The impeller and generator axis money for stating wind power generating set keep predeterminated position relationship.
8. system according to claim 7, which is characterized in that plane and hair where the impeller of the wind power generating set
The angle of motor central axes is default setting angle.
9. a kind of hoist controlling method, is applied to hoist controlling system of any of claims 1-8, feature exists
In the hoist controlling method, comprising:
The position data of first connector and the position data of the second connector in acquisition wind power generating set in real time；
Obtain the position data correction value for being modified to position data；
According to the position of the position data correction value, the position data of first connector and second connector
Data determine the positional relationship of first connector and second connector；
According to the positional relationship of first connector and second connector, the lifting behaviour of the wind power generating set is controlled
Make.
10. according to the method described in claim 9, it is characterized in that, described according to the position data correction value, described first
The position data of the position data of connector and second connector determines that first connector and described second connects
The positional relationship of fitting, comprising:
Based on the position data correction value, the position of the position data to first connector and second connector respectively
It sets data to be modified, obtains the position data of revised first connector and the positional number of revised second connector
According to；
According to the position data of the position data of revised first connector and revised second connector, described is determined
The positional relationship of a connection piece and second connector.
11. according to the method described in claim 9, it is characterized in that, first connector is the wind power generating set
Impeller, second connector are the generator of the wind power generating set；
The positional relationship according to first connector and second connector, controls hanging for the wind power generating set
Dress operation, comprising:
According to the positional relationship of first connector and second connector, control the impeller of the wind power generating set with
Generator axis money keeps predeterminated position relationship.
12. according to the method for claim 11, which is characterized in that plane where the impeller of the wind power generating set with
The angle of generator central axes is default setting angle.
13. a kind of hoist controlling device characterized by comprising
Acquisition module, for acquiring the position of the position data of the first connector and the second connector in wind power generating set in real time
Data；
Module is obtained, for obtaining the position data correction value for being modified to position data；
Processing module, for according to the position data correction value, the position data of first connector and described second
The position data of connector determines the positional relationship of first connector and second connector；
Control module controls the wind-force hair for the positional relationship according to first connector and second connector
The lifting of motor group operates.
14. device according to claim 13, which is characterized in that the processing module is specifically used for:
Based on the position data correction value, the position of the position data to first connector and second connector respectively
It sets data to be modified, obtains the position data of revised first connector and the positional number of revised second connector
According to；
According to the position data of the position data of revised first connector and revised second connector, described is determined
The positional relationship of a connection piece and second connector.
15. device according to claim 13, which is characterized in that first connector is the wind power generating set
Impeller, second connector are the generator of the wind power generating set；
The control module is specifically used for: according to the positional relationship of first connector and second connector, controlling institute
The impeller and generator axis money for stating wind power generating set keep predeterminated position relationship.
16. device according to claim 15, which is characterized in that plane where the impeller of the wind power generating set with
The angle of generator central axes is default setting angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810096045.1A CN110092298B (en) | 2018-01-31 | 2018-01-31 | Hoisting control system, method and device |
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| CN201810096045.1A CN110092298B (en) | 2018-01-31 | 2018-01-31 | Hoisting control system, method and device |
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| CN115676627A (en) * | 2022-11-10 | 2023-02-03 | 广东粤水电新能源装备有限公司 | Intelligent wind generating set hoisting auxiliary deviation correcting system |
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| CN110092298B (en) | 2020-12-11 |
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Address after: No.107 Shanghai Road, Urumqi Economic and Technological Development Zone, Urumqi City, Xinjiang Uygur Autonomous Region Patentee after: Jinfeng Technology Co.,Ltd. Address before: No.107 Shanghai Road, Urumqi Economic and Technological Development Zone, Urumqi City, Xinjiang Uygur Autonomous Region Patentee before: XINJIANG GOLDWIND SCIENCE & TECHNOLOGY Co.,Ltd. |