CN112884727A - Wind turbine blade vibration monitoring method - Google Patents
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Abstract
The invention discloses a method for monitoring vibration of a wind turbine blade, which comprises the following steps: selecting the tip of a blade as a vibration reference point, and aligning a lens of an image acquisition device to the reference point to acquire a vibration image; decomposing the vibration image into frames, and preprocessing each frame to eliminate noise; selecting pixel coordinates of the reference point in each frame, converting the pixel coordinates, recording the pixel coordinates after the reference point conversion, and drawing a relation graph of the converted pixel coordinate values and time t; and step four, performing curve fitting on the relation graph, and performing Fourier change on a fitting curve F (t) to obtain F (omega). The image acquisition device is placed on the base, and the angle is adjusted to align the image acquisition device to the reference point of the blade to be monitored, so that the definition of the acquired image is ensured, and the image can be acquired in real time; and by adopting the method, a relation graph of the pixel coordinate value and the time t is drawn, and the composition and the proportion of the vibration frequency omega are obtained through fitting and Fourier change.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method for monitoring vibration of a wind turbine blade.
Background
The blades are key parts of the wind generating set, account for about 20% of the manufacturing cost of the whole wind generating set, and can be continuously impacted by alternating loads such as aerodynamic force, inertia force and the like in the running process, so that irregular vibration and even deformation are generated. If the vibration is abnormal or the blade is deformed too severely, the damage of the blade can be caused, and huge economic loss is caused. Therefore, the real-time monitoring of the vibration condition of the wind turbine blade is particularly important.
The research on the vibration monitoring of wind turbine blades has attracted attention, and in terms of the prior art, the methods are mainly classified into a contact method and a non-contact method. The former mostly adopts piezoelectric ceramics, accelerometer sensors, gyroscope sensors and the like to be placed on the surface of the blade for measurement; the method has the disadvantages that when the sensor is placed on the surface of the blade, the aerodynamic performance of the wind turbine blade is influenced, and the size of the blade is larger and larger along with the continuous improvement of the single machine power of the wind turbine, so that the method gradually loses the practicability. The latter mainly includes methods of laser vibration measurement and machine vision, wherein the machine vision method mainly based on photogrammetry does not affect the pneumatic performance of the blade due to the convenient installation of equipment, and the high processing precision can reach the sub-pixel level on the basis of realizing dynamic measurement, thus forming a hotspot of current research.
However, in the current research situation, the machine vision method is not yet actually applied to the vibration monitoring of the wind turbine blade, and the blade image acquisition and the vibration frequency calculation both belong to the difficulty of research.
Therefore, how to monitor the vibration of the wind turbine blade is a difficult problem to be solved urgently in the field at the present stage.
Disclosure of Invention
In view of the above, the present invention provides a method for monitoring vibration of a wind turbine blade, which can monitor vibration of the wind turbine blade, acquire a vibration frequency, and solve the problem in the field at the present stage.
A method for monitoring vibration of a wind turbine blade comprises the following steps:
selecting the tip of a blade as a vibration reference point, fixing an image acquisition device on a base of a wind driven generator, and aligning a lens of the image acquisition device to the reference point to acquire a vibration image of the reference point;
decomposing the vibration image into frames, and preprocessing each frame to eliminate noise;
selecting the pixel coordinate of the reference point in each frame, converting the pixel coordinate, recording the pixel coordinate after the conversion of the reference point, and drawing a relation graph of the pixel coordinate value after the conversion and time t;
and step four, performing curve fitting on the relation graph to obtain a fitting curve F (t), performing Fourier change on the fitting curve F (t) to obtain F (omega), drawing a curve graph of the F (omega), and further obtaining the component and the proportion of the vibration frequency omega in the time period.
Preferably, in the method for monitoring the vibration of the wind turbine blade, the process of converting the pixel coordinates in the third step is as follows:
setting the world coordinate system of the reference point as (x)w，yw，zw) Coordinate system of image acquisition device (x)c，yc，zc) Then, the transformation relationship from the world coordinate system to the coordinate coefficiency of the image acquisition device is as follows:
wherein R is a rotation matrix and T is a translation vector;
T＝[tx ty tz]T (3)
wherein
The rotation angles of the x axis, the y axis and the z axis of the world coordinate system around the self, tx，ty，tzRespectively the translation distances of the x axis, the y axis and the z axis of the world coordinate system relative to the original coordinate system;
image capture device coordinates (X, Y) to image coordinates (X)c，yc，zc) The transformation relationship is as follows:
wherein f is the focal length of the image acquisition device;
image coordinates (x)c，yc，zc) The translation to pixel coordinates (u, v) is:
in the formula dx，dyPixel sizes in the x-axis and y-axis directions, respectively, (u)0，v0) Is the image origin coordinate.
Preferably, in the fourth step, a sine function is adopted for fitting to obtain the fitting curve f (t),
f(t)＝689.3*sin(0.5517*t-1.327)+825.7*sin(2.607*t+1.243)+1283*sin(0.791*t+0.518)+721.6*sin(2.639*t+4.229)+771.3*sin(0.8907*t+3.103)+16.91*sin(4.037*t+1.5)+11.33*sin(6.941*t+2.482)+12.92*sin(4.364*t+2.082) (6)
then the process of the first step is carried out,
wherein ω is the vibration frequency; t is time; i is an imaginary unit; e is the base of the natural logarithm function and is about 2.718.
Preferably, in the method for monitoring the vibration of the wind turbine blade, the reference point is calibrated by coating a reflective material on the tip of the blade.
Preferably, the method for monitoring vibration of a wind turbine blade includes the step of preprocessing in the second step: graying the vibration image to obtain a grayscale image of the blade; and filtering the gray level image to remove salt and pepper noise caused by external environment change and Gaussian noise caused by equipment problems.
Preferably, in the method for monitoring the vibration of the wind turbine blade, the image acquisition device is an 80-frame/s binocular industrial camera.
Preferably, in the method for monitoring the vibration of the wind turbine blade, the acquisition time for acquiring the vibration image is 10 s.
Preferably, in the third step, the pixel coordinate value is a pixel coordinate value in a horizontal direction or a pixel coordinate value in a vertical direction.
The invention provides a method for monitoring the vibration of a wind turbine blade, which comprises the following steps: selecting the tip of a blade as a vibration reference point, fixing an image acquisition device on a base of a wind driven generator, and aligning a lens of the image acquisition device to the reference point to acquire a vibration image of the reference point; decomposing the vibration image into frames, and preprocessing each frame to eliminate noise; selecting pixel coordinates of the reference point in each frame, converting the pixel coordinates, recording the pixel coordinates after the reference point conversion, and drawing a relation graph of the converted pixel coordinate values and time t; and step four, performing curve fitting on the relation graph to obtain a fitting curve F (t), performing Fourier transform on the fitting curve F (t) to obtain F (omega), drawing a curve graph of the F (omega), and further obtaining the component and the proportion of the vibration frequency omega in the time period. When the wind turbine operates, the tip of the blade vibrates violently and has larger amplitude, the image acquisition device is placed on the base, and the angle is adjusted to align the image acquisition device to a reference point of the blade to be monitored, so that the definition of an acquired image is ensured, and the image can be acquired in real time; and by adopting the method, a relation graph of the pixel coordinate value and the time t is drawn, and the composition and the proportion of the vibration frequency omega are obtained through fitting and Fourier change. Therefore, the method for monitoring the vibration of the wind turbine blade can monitor the vibration of the wind turbine blade, acquire the vibration frequency and solve the problem in the field at the present stage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a wind turbine in combination with an image capture device in accordance with an embodiment of the present invention;
FIG. 2 is an enlarged view of a blade in combination with an image capture device according to an embodiment of the present invention;
FIG. 3 is a graph showing a relationship between a pixel coordinate value and time t in a dotted line, and a fitting curve of f (t) in a solid line according to an embodiment of the present invention;
FIG. 4 is a graph of the Fourier transform F (ω) in an embodiment of the present invention.
In fig. 1-4:
an image acquisition device-1; a stand-2; a blade-3.
Detailed Description
The core of the specific embodiment is to provide a method for monitoring the vibration of a wind turbine blade, which can monitor the vibration of the wind turbine blade, acquire the vibration frequency and solve the problem in the field at the present stage.
Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.
The method for monitoring the vibration of the wind turbine blade provided by the specific embodiment comprises the following steps of: selecting the tip of a blade 3 as a vibration reference point, fixing an image acquisition device 1 on a base 2 of a wind driven generator, and aligning a lens of the image acquisition device 1 to the reference point to acquire a vibration image of the reference point; decomposing the vibration image into frames, and preprocessing each frame to eliminate noise; selecting pixel coordinates of the reference point in each frame, converting the pixel coordinates, recording the pixel coordinates after the reference point conversion, and drawing a relation graph of the converted pixel coordinate values and time t; and step four, performing curve fitting on the relation graph to obtain a fitting curve F (t), performing Fourier transform on the fitting curve F (t) to obtain F (omega), drawing a curve graph of the F (omega), and further obtaining the component and the proportion of the vibration frequency omega in the time period.
When the wind turbine operates, the vibration of the tip end of the blade 3 is violent, the amplitude is large, the image acquisition device 1 is placed on the base 2, and the angle is adjusted to enable the image acquisition device to be aligned to a reference point of the blade 3 to be monitored, so that the definition of an acquired image is guaranteed, and the image can be acquired in real time; and by adopting the method, a relation graph of the pixel coordinate value and the time t is drawn, and the composition and the proportion of the vibration frequency omega are obtained through fitting and Fourier change.
Therefore, the method for monitoring the vibration of the wind turbine blade 3 can monitor the vibration of the wind turbine blade 3 and obtain the vibration frequency, and solves the problem in the field at the present stage. Please refer to fig. 1-4.
During actual monitoring, each blade can be subjected to vibration monitoring by the method, that is, the three blades 3 shown in fig. 1 can be provided with the image acquisition device 1 on the hub in the same manner, so that the vibration condition of each blade 3 is monitored.
In the method for monitoring vibration of the wind turbine blade 3 according to the specific embodiment, the process of converting the pixel coordinates in the third step is as follows:
world coordinate system (x) with reference pointsw，yw，zw) Coordinate system of image acquisition device (x)c，yc，zc) Then, the transformation relationship from the world coordinate system to the coordinate coefficiency of the image acquisition device is as follows:
wherein R is a rotation matrix and T is a translation vector;
T＝[tx ty tz]T (3)
wherein
The rotation angles of the x axis, the y axis and the z axis of the world coordinate system around the self, tx，ty，tzRespectively the translation distances of the x axis, the y axis and the z axis of the world coordinate system relative to the original coordinate system;
image capture device coordinates (X, Y) to image coordinates (X)c，yc，zc) The transformation relationship is as follows:
wherein f is the focal length of the image acquisition device;
image coordinates (x)c，yc，zc) The translation to pixel coordinates (u, v) is:
in the formula dx，dyPixel sizes in the x-axis and y-axis directions, respectively, (u)0，v0) Is the image origin coordinate.
In the fourth step, the method for monitoring the vibration of the wind turbine blade adopts sine function fitting to obtain a fitting curve f (t),
f(t)＝689.3*sin(0.5517*t-1.327)+825.7*sin(2.607*t+1.243)+1283*sin(0.791*t+0.518)+721.6*sin(2.639*t+4.229)+771.3*sin(0.8907*t+3.103)+16.91*sin(4.037*t+1.5)+11.33*sin(6.941*t+2.482)+12.92*sin(4.364*t+2.082) (6)
then the process of the first step is carried out,
wherein ω is the vibration frequency; t is time; i is an imaginary unit; e is the base of the natural logarithm function and is about 2.718.
Fitting by adopting a sine function to obtain a function f (t); then R is2Is 0.9848, due to R2For judging the coefficient, the value range is 0-1, the larger the value range is, the higher the fitting degree is, namely, the fitting degree is higher, and the vibration condition of the blade 3 can be better reflected.
According to the wind turbine blade vibration monitoring method provided by the specific embodiment, the reference point can be calibrated by coating the reflective material on the tip end of the blade 3, so that the image acquisition device 1 can acquire the position of the reference point better, and the accuracy of data is improved.
Further, the method for monitoring the vibration of the wind turbine blade 3 may include the following steps: the vibration image is grayed to obtain a grayscale image of the blade 3.
In detail, the step of preprocessing may further include: and filtering the gray level image to filter salt and pepper noise generated by external environment change and Gaussian noise generated by equipment problems, thereby improving the accuracy of vibration frequency monitoring.
In the method for monitoring vibration of a wind turbine blade according to the present embodiment, the image capturing device 1 may be an 80 frame/s industrial camera or other image capturing devices 1 capable of performing the same function.
For example, in the vibration monitoring method for the wind turbine blade 3, the acquisition time for acquiring the vibration image may be 10s, when an industrial camera of 80 frames/s is adopted, 800 pictures are obtained after decomposition, and the time interval between two adjacent pictures is 1/80 s.
In the method for monitoring vibration of a wind turbine blade according to the specific embodiment, in the third step, the change of the pixel coordinate may be a change of the pixel coordinate in the horizontal direction; the pixel coordinate change may also be a change in pixel coordinates in the vertical direction. During actual monitoring, the component of the direction with obvious displacement change is found as much as possible so as to facilitate observation and ensure the accuracy of data.
In terms of installation design: the image acquisition device 1 is arranged on the hub, and can adopt three camera lenses to respectively align to the three blades 3 and rotate along with the rotation of the blades 3, thereby ensuring the specificity and the real-time property of the acquired images.
In terms of accuracy: because the blade 3 of the wind driven generator continuously rotates, the blade 3 acquired by the traditional image acquisition mode inevitably generates motion blur, and the improvement of the method reduces the influence of the motion blur on the shot image to a great extent, thereby improving the accuracy of subsequent processing.
In terms of cost control: the blades 3 of the wind driven generator rotate continuously, and in order to ensure the definition of the acquired images, a camera used in the traditional image acquisition mode is a high-frame-rate industrial camera, so that the manufacturing cost is high. The method adopts a common binocular industrial camera, has no strict requirement on the frame rate, and greatly reduces the cost.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method for monitoring vibration of a wind turbine blade is characterized by comprising the following steps:
selecting the tip of a blade (3) as a vibration reference point, fixing an image acquisition device (1) on a base (2) of a wind driven generator, and aligning a lens of the image acquisition device (1) to the reference point to acquire a vibration image of the reference point;
decomposing the vibration image into frames, and preprocessing each frame to eliminate noise;
selecting the pixel coordinate of the reference point in each frame, converting the pixel coordinate, recording the pixel coordinate after the conversion of the reference point, and drawing a relation graph of the pixel coordinate value after the conversion and time t;
and step four, performing curve fitting on the relation graph to obtain a fitting curve F (t), performing Fourier change on the fitting curve F (t) to obtain F (omega), drawing a curve graph of the F (omega), and further obtaining the component and the proportion of the vibration frequency omega in the time period.
2. The method for monitoring the vibration of the wind turbine blade as claimed in claim 1, wherein the process of converting the pixel coordinates in the third step is as follows:
setting the world coordinate system of the reference point as (x)w，yw，zw) Coordinate system of image acquisition device (x)c，yc，zc) Then, the transformation relationship from the world coordinate system to the coordinate coefficiency of the image acquisition device is as follows:
wherein R is a rotation matrix and T is a translation vector;
T＝[tx ty tz]T (3)
wherein
Theta and psi are rotation angles of the x axis, the y axis and the z axis of the world coordinate system around the axis, tx，ty，tzRespectively the translation distances of the x axis, the y axis and the z axis of the world coordinate system relative to the original coordinate system;
image capture device coordinates (X, Y) to image coordinates (X)c，yc，zc) The transformation relationship is as follows:
wherein f is the focal length of the image acquisition device;
image coordinates (x)c，yc，zc) The translation to pixel coordinates (u, v) is:
wherein d isx，dyPixel sizes in the x-axis and y-axis directions, respectively, (u)0，v0) Is the image origin coordinate.
3. The method for monitoring the vibration of the blades of the wind turbine as claimed in claim 1, wherein in the fourth step, fitting is performed by using a sine function to obtain the fitted curve f (t),
f(t)＝689.3*sin(0.5517*t-1.327)+825.7*sin(2.607*t+1.243)+1283*sin(0.791*t+0.518)+721.6*sin(2.639*t+4.229)+771.3*sin(0.8907*t+3.103)+16.91*sin(4.037*t+1.5)+11.33*sin(6.941*t+2.482)+12.92*sin(4.364*t+2.082) (6)
then the process of the first step is carried out,
wherein ω is the vibration frequency; t is time; i is an imaginary unit; e is the base of the natural logarithm function and is about 2.718.
4. The wind turbine blade vibration monitoring method according to claim 1, characterized in that the reference point is calibrated by painting a reflective material on the tip of the blade (3).
5. The method for monitoring the vibration of the wind turbine blade as claimed in claim 1, wherein the step of preprocessing in the second step comprises the following steps: graying the vibration image to obtain a grayscale image of the blade (3); and filtering the gray level image to remove salt and pepper noise caused by external environment change and Gaussian noise caused by equipment problems.
6. The wind turbine blade vibration monitoring method according to claim 1, characterized in that the image acquisition device (1) is an 80 frame/s binocular industrial camera.
7. The method for monitoring the vibration of the wind turbine blade as claimed in claim 1, wherein the acquisition time for acquiring the vibration image is 10 s.
8. The method for monitoring the vibration of the wind turbine blade as claimed in claim 1, wherein in the third step, the pixel coordinate value is a pixel coordinate value in a horizontal direction or a pixel coordinate value in a vertical direction.
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| CN113447113A (en) * | 2021-06-24 | 2021-09-28 | 湖南科技大学 | Large-size blade operation vibration measurement method and device based on networking photography |
| CN114295290A (en) * | 2022-01-04 | 2022-04-08 | 北京航空航天大学 | Online dynamic balance adjusting device of stratospheric aerostat propeller |
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| CN111275665A (en) * | 2019-12-19 | 2020-06-12 | 华中科技大学 | Blade grinding and polishing processing vibration detection system and method based on vision |
| CN112966207A (en) * | 2021-01-28 | 2021-06-15 | 北京清源能控科技有限公司 | Vibration monitoring method based on image acquisition |
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