JP6190535B2 - 移動監視システム及び移動監視方法 - Google Patents
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- G—PHYSICS
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Description
[先行技術文献]
[特許文献1]国際公開公報WO2012/049492
[特許文献2]米国公開公報2009/326851
[特許文献3]国際公開公報WO2013/110215
[特許文献4]ドイツ公開公報10 2006 005 258
Claims (12)
- 構造物(1)の移動監視システムにおいて、
前記構造物に搭載され、地上に固定された参照システムの回転速度及び加速度値を測定する複数の慣性測定装置(5)と、
前記回転速度及び加速度値に基づき慣性ナビゲーションアルゴリズムによって監視値を求める中央ユニット(11)とを備え、
前記中央ユニット(11)は、前記構造物ごとに予め決定される境界条件に基づいて、前記慣性測定装置(5)の測定誤差を測定及び/又は補正するように構成され、
前記中央ユニット(11)は、前記複数の慣性測定装置(5)のうち少なくとも2つの装置間の相対的移動に基づき前記監視値を求めるように構成される移動監視システム。 - 前記慣性測定装置(5)は、それぞれが互いに独立及び/又は互いに直交する3つの検出軸と、それぞれが互いに線形独立及び/又は互いに直交する3つの検出方向とを有する請求項1に記載の移動監視システム。
- 前記中央ユニット(11)は、
前記構造物(1)の略静止位置と、
衛星測位信号に基づき測定される前記構造物(1)の少なくとも一部の位置と、
前記構造物(1)の少なくとも一部の移動の自由度の制約と、
前記構造物(1)の少なくとも一部の傾斜角と、
前記構造物(1)の少なくとも一部及び/又は前記慣性測定装置(5)の移動の平均値と、
前記構造物(1)に作用する環境的影響とを含むグループの少なくとも1つの情報に基づき前記境界条件を定める請求項1又は2に記載の移動監視システム。 - 前記構造物(1)は、互いに結合された複数の構成部品(2、3、4、4a、4b、4c)を有し、
1つの慣性測定装置が前記構成部品(2、3、4、4a、4b、4c)の少なくとも2つにそれぞれ搭載される請求項1〜3のいずれかに記載の移動監視システム。 - 風力タービン(1)の移動監視システムにおいて、
前記風力タービン(1)の回転ブレード(4a、4b、4c)上に設置され、地上に固定された参照システムの回転速度及び加速度値を測定する少なくとも1つの慣性測定装置(5)と、
前記回転速度及び加速度値に基づき慣性ナビゲーションアルゴリズムによって監視値を求める中央ユニット(11)とを備え、
前記中央ユニット(11)は、前記構造物ごとに予め決定される境界条件に基づいて、前記慣性測定装置(5)の測定誤差を測定及び/又は補正するように構成され、
前記中央ユニット(11)は、
前記ロータ(4)の旋回中に前記慣性測定装置(5)に周期的に作用する重力加速度と、
前記ロータ(4)の旋回中に前記慣性測定装置(5)に周期的に作用する地球の自転と、
前記ロータ(4)の回転パルス発生器の出力信号とを含むグループの少なくとも1つの情報に基づいて前記境界条件を定めるように構成される移動監視システム。 - 前記慣性測定装置(5)は、その回転経路の接線が前記回転速度センサの前記検出方向のいずれに対しても直交及び/又は平行にならないように設置される請求項5に記載の移動監視システム。
- 前記構造物が風力タービン(1)であり、前記慣性測定装置が前記風力タービン(1)のハウジング(3)上に設置され、
前記中央ユニット(11)は、前記ハウジング(3)のロータリエンコーダに基づいて前記境界条件を定めるように構成される請求項1〜6のいずれかに記載の移動監視システム。 - 前記中央ユニット(11)は、
前記構造物(1)の数学モデルの出力値と、
前記構造物(1)の状態情報と、
環境パラメータと、
前記慣性測定装置(5)の搭載部位とは異なる前記構造物の部位の回転速度、加速度、角速度、速度、方位及び/又は位置と、
前記構造物の異なる2つの部位間の捻れと、
前記構造物の振動移動の振幅及び/又は周波数とを含むグループの少なくとも1つの情報に基づいて前記監視値を求めるように構成される請求項1〜7のいずれかに記載の移動監視システム。 - 前記中央ユニット(11)は、
前記監視値の閾値を取り込み、前記閾値の少なくとも1つを超えれば、前記出力ユニット(12)に情報を送り、
前記監視値に基づき前記構造物(1)のアクチュエータを調整する作動変数の提案を前記出力ユニット(12)に送り、及び/又は
前記監視値に基づき前記作動変数を前記アクチュエータに送るように構成される請求項1〜8のいずれかに記載の移動監視システム。 - 地上に固定された参照システムにおいて、構造物(1)に搭載した少なくとも1つの慣性測定装置(5)の回転速度及び加速度値を測定し、
前記回転速度及び加速度値に基づき慣性ナビゲーションアルゴリズムにより監視値を求め、
前記構造物ごとに予め定められる境界条件に基づき、前記測定された回転速度及び加速度値の測定誤差を測定及び/又は補正する移動監視方法であって、
前記構造物が、回転ブレード(4a、4b、4c)付きのロータ(4)を有する風力タービン(1)の少なくとも一部を備え、前記慣性測定装置(5)が前記回転ブレード(4a、4b、4c)の1つに設置され、
前記ロータ(4)の旋回中に前記慣性測定装置(5)に周期的に作用する重力加速度に基づき、前記ロータ(4)の旋回中に前記慣性測定装置(5)に周期的に作用する地球の自転に基づき、及び/又は、前記ロータ(4)のロータリエンコーダに基づき、前記慣性測定装置(5)を較正する移動監視方法。 - 回転速度及び加速度値を前記構造物の数学モデルに入力し、
前記測定された回転速度及び加速度値と、前記モデルを用いて算出された回転速度及び加速度値とのそれぞれの比較に基づき前記数学モデルを検証し、
前記数学モデルに基づき前記監視値を求める請求項10に記載の移動監視方法。 - 前記構造物が、ロータ(4)を有する風力タービン(1)の少なくとも一部を備え、前記慣性測定装置(5)が前記ロータ(4)に設置され、
前記検出された回転速度及び加速度値に基づいて前記ロータ(4)の不均衡を検出する請求項10又は11に記載の移動監視方法。
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DE102013014622.4A DE102013014622A1 (de) | 2013-09-02 | 2013-09-02 | System und Verfahren zum Bestimmen von Bewegungen und Schwingungen bewegter Strukturen |
DE102013014622.4 | 2013-09-02 | ||
PCT/EP2014/002345 WO2015028153A1 (de) | 2013-09-02 | 2014-08-28 | System und verfahren zum bestimmen von bewegungen und schwingungen bewegter strukturen |
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DE102016117191A1 (de) * | 2016-09-13 | 2018-03-15 | fos4X GmbH | Verfahren und Vorrichtung zur Ermittlung von Belastungen auf einen Turm einer Windenergieanlage |
CN106649798B (zh) * | 2016-12-28 | 2024-02-09 | 山西和信基业科技股份有限公司 | 一种基于北斗高精度的结构监测数据对比及关联分析方法 |
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EP4234927A3 (en) * | 2017-04-13 | 2023-09-20 | NTN Corporation | State monitoring device, state monitoring system, and state monitoring method |
CN109117858B (zh) * | 2017-06-26 | 2024-02-13 | 北京金风科创风电设备有限公司 | 监测风力发电机叶片结冰的方法及装置 |
DE102017118133A1 (de) * | 2017-08-09 | 2019-02-14 | Wobben Properties Gmbh | System zur Erfassung und Überwachung einer Drehzahl eines Rotors |
EP3447443B1 (de) * | 2017-08-23 | 2019-12-18 | MOBA - Mobile Automation AG | Mobile arbeitsmaschine mit einem neigungssensorsystem |
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EP3042210B1 (de) | 2017-10-04 |
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CA2922772A1 (en) | 2015-03-05 |
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BR112016003409B1 (pt) | 2021-06-29 |
NZ718462A (en) | 2019-05-31 |
CN105531592A (zh) | 2016-04-27 |
KR20160040654A (ko) | 2016-04-14 |
WO2015028153A1 (de) | 2015-03-05 |
AU2014314608A1 (en) | 2016-04-21 |
US20160222946A1 (en) | 2016-08-04 |
CA2922772C (en) | 2017-01-24 |
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KR101838053B1 (ko) | 2018-03-13 |
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