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    • 专利摘要:
    system and method for monitoring the movements of a structure. The present invention relates to a system for monitoring a structure (1), which system comprises at least one inertial measurement device (5) mounted on said structure to detect rotation rates and acceleration values in the inertial system fixed in Earth. a central unit (11) determines a monitoring value based on the rotation rates and acceleration values using a navigation algorithm. additionally, the invention relates to an output unit (12) for generating the monitoring value.
    公开号:BR112016003409B1
    申请号:R112016003409-0
    申请日:2014-08-28
    公开日:2021-06-29
    发明作者:Manfred Krings
    申请人:NORTHROP GRUMMAN LITEF GmbH.；
    IPC主号:
    专利说明:

    [001] The present invention refers to a system and a method for monitoring the movements of a structure.
    [002] Mobile structures, such as buildings and large machines, can suffer movements or oscillations through environmental influences or through their actual operating movements, which can damage the structure or impair the operation. To prevent damage, to plan maintenance or to estimate residual service life, such movements can be observed and monitored.
    [003] For monitoring wind turbines, known sensors such as uniaxial acceleration sensors with piezoelectric technology, strain gauges, photometry systems or laser measurement system are used. By these means, simple changes of position and frequency analysis of the sound emitted by the structure itself can be performed, something that allows the detection of possible damage to parts of the turbine such as the supports, gears or rotor blades.
    [004] Here there is a disadvantage that the measured values detect a movement of the system only uniaxially and only at selected measurement locations.
    [005] International patent application published under No. WO 2012/049492 A1 discloses a system for correcting inertial-derived navigation information for use in navigation in a navigation environment. The system uses information relating to buildings and/or other resources in the navigation environment to correct a deviation in the output of inertial sensors. More specifically, the system uses four indications from the exterior walls of a building to determine the likely direction of travel of a system user when inside a building. This information is used to correct a detour. The system incorporates a stochastic filter, in particular a Kalman filter, to process the inertial data and apply corrections to the inertial data. The Kalman filter also allows the integration of other navigation sensors such as a GPS. The system also extracts indication information from aerial images such as maps and photogrammetry data using edge detection and straight line detection algorithms.
    [006] The US patent application published under No. US 2009/326851 A1 describes an inertial measurement unit that includes a base having a plurality of physically distinct sectors, on which three groups of angular variation detectors are positioned. orthogonally oriented, each group positioned in a different sector of the base. Three orthogonally oriented High-G accelerometers are also positioned on the base, as well as three orthogonally oriented Low-G accelerometers. A processor is positioned on top of the base having software residing on it to receive signals from the three angular variation detector groups and the three High-G accelerometers and the three Low-G accelerometers. The software is also resident in the processor to calculate from the signals received from one or more of the following: a change in attitude, a change in position, a change in angular variation, a change in velocity and a change in unit acceleration over time. of a multiplicity of finite time increments.
    [007] The international patent application published under No. WO 2013/110215 A1 describes a method for determining parameters of a wind turbine. The method may generally include receiving signals from at least one micro inertial measurement unit (MIMU) mounted on or within a wind turbine component and determining at least one wind turbine parameter based on the signals received from the at least one. MIMU.
    [008] German patent DE 10 2006 005 258 A1 discloses a method for determining loads on a mechanical structure and/or damage to or states of the mechanical structure resulting from the loads on the mechanical structure. The rotations of a part of the mechanical structure, which are caused by loads on/damage to the mechanical structure, are measured using a fiber optic rotation sensor that is attached to the part of the structure in a mechanically rigid manner, and the loads on/damage the/states of the mechanical structure are/are inferred from the measured rotation.
    [009] The document "Condition Monitoring and Fault Detection of Wind Turbines and Related Algorithms: A Review" by Z. Hameed et al. (Renewable and Sustainable Energy Reviews, Elsevier Science, New York, Volume 13, No. 1, pages 1-39) describes different techniques for monitoring wind turbines and their outputs.
    [010] It is an objective of the present invention to provide a system and method for monitoring the movements of a structure which allows for an efficient and safe monitoring of the structure and which provides a basis for remedial measures, maintenance planning, and/or estimation of the residual useful life of the parts of the structure.
    [011] This objective is solved by means of a system according to claim 1 for monitoring the movements of a structure and a method according to an additional independent claim for monitoring the movements of a structure. Additional achievements are indicated in the dependent claims.
    [012] A system for monitoring the movements of a structure comprises at least one inertia measuring device, mounted on said structure, to detect rotation rates and acceleration values in the inertial system fixed on the ground. Additionally, the system comprises a central unit for determining a monitoring value based on the rotation rate and the acceleration value by means of a navigation algorithm and an output unit for generating the monitoring value.
    [013] The structure can be an arbitrary object that can be set in motion and/or oscillated through external influences (environmental influences) or internal influences (operational behavior). For example, it can be a building, such as a multi-story building or a transmission tower, or it can be a machine, such as a construction machine, a crane or the like. Additionally, it can also be a structure that is built like a building and operated like a machine, such as, for example, a Ferris wheel, an offshore platform or a wind turbine.
    [014] On the other hand, such structures can be moved through environmental influences such as wind, sea current, impact by waves or movements of the Earth's surface, for example, during earthquakes. On the other hand, such structures can also be moved through their own operational movements such as movement when in work of a part of the structure, operational oscillations or gear vibrations. Additionally, interactions can occur between environmental influences and the internal movements of structures, something that can lead to a complex behavioral movement.
    [015] Such movements and oscillations can damage the structure and can lead to material fatigue such as fatigue cracks or fractures. Additionally, this can influence the operational behavior of the structures and can thus limit the field of application or the operating efficiency.
    [016] Additionally, it is also possible that the structure changes over time, for example, by aging, wear, structural damage, mechanical damage or through environmental influences. For example, in complex mobile structures such as wind turbines, ice build-up or water build-up on rotor blades can occur. Due to material stress and fatigue, material characteristics may change, parts of the structure may become weaker and may crack or crack. Such structure changes are reflected in the structure's movement behavior. For example, the frequency or amplitude of oscillations or movements can change. Changes can be detected based on rotation rates and acceleration values measured by the inertial measurement device. This allows the identification of the need for measures, eg for maintenance, for good performance or for operation, and to carry out such measures before significant damage occurs.
    [017] Therefore, the monitoring of structure movements is something required for reasons of safe operation as well as operational efficiency.
    [018] For the monitoring of movements, one or more inertial measurement devices can be fixed on the structure or on a part of the structure, something that allows detecting the rotation rates and acceleration values occurring on the mounting positions in which it concerns the inertial system fixed on the ground. For this purpose, systems with inertial sensors (acceleration rate and rotation rate sensors) of the MEMS type (mechanical micro electrical systems) and/or FOG IMU (fiber optic inertial gyro measuring units) can be used.
    [019] The detected acceleration values and rotation rates can be transmitted to the central unit, for example, via a wireless network or wired for one-way or two-way communication.
    [020] In the central unit, the velocities and angular velocities as well as the orientation and a position of the inertial measurement device within a space, can be determined based on the rotation rates and acceleration values by means of a navigation algorithm , for example, through an integration or continuous summarization of the measured rates of rotation and acceleration.
    [021] For this purpose, typical navigation algorithms can be used, which are known, for example, from field vehicles, chip or flight navigation, for example, with a Schuler compensation of rotation rates and accelerations detected.
    [022] Based on the measured rotation rates and acceleration values, the calculated (angular) velocities, orientation and/or positional movements of the structure can be detected and monitored. In particular, the movements, oscillations and deflections present at the measurement locations can be determined.
    [023] Additionally, based on this the monitoring value can be determined. The monitoring value can, for example, comprise the measured rotation rate, the measured acceleration value, the calculated (angular) velocity, the orientation and/or the position or an additional value deducted therefrom such as the frequency and/ or the range of motion, twist and/or deflection.
    [024] The monitoring value can be transmitted via wired or wireless communication to the output unit. The output unit may comprise, in a simpler case, a screen to display the monitoring value or its evolution, but it may also comprise additional components such as a data store to collect and document the evolution of the monitoring value in time dependence. Alternatively or additionally the output unit may comprise a complex warning and alarm system.
    [025] Additionally, it is possible to couple the output unit in a manner like a control loop system with frame actuators. In this case depending on the control information of the monitoring value, such as trigger variables, this can be transmitted to the triggers. In the case of monitoring a wind turbine it is, for example, possible to control a relative orientation of the rotor blades depending on a monitoring value that allows the determination of rotor blade flexion to avoid an excessive load on the rotor blades.
    [026] Based on the monitoring value, as well as additional monitoring information, it is possible to determine the movements and oscillations of the structure and thus, for example, determine the malfunction, fatigue or damage. This allows, for example, to estimate the residual life of the structure or its components and can be used as a basis for maintenance planning. Such estimates are, in particular, useful for monitoring structures that are difficult to access (eg offshore wind turbines) and for machines with a high workload (presses from a large pressing industry) for which each of the maintenance is linked to high costs. Additionally, such characteristic values are important in view of the safety requirement, since continuous monitoring is regularly documented and the need for maintenance is immediately indicated.
    [027] According to an embodiment, the inertial measurement device comprises three rotation rate sensors with sensing axes that are linearly independent, one from the others, and/or orthogonal, with respect to each other, respectively, as well as three acceleration sensors with sensing directions that are linearly independent with respect to each other and/or orthogonal to each other, respectively.
    [028] For example, rotation rate sensors can comprise three detection axes x, y and z, which are orthogonal to each other and correspond to the detection directions of the acceleration sensors. By the rotation rate sensors (the gyroscope sensors), the rotational movement can be calculated, while by the acceleration sensors (the translation sensors), the translational movement can be calculated. Thus, arbitrary motions of the inertial measuring device according to the six degrees of freedom can be determined.
    [029] According to one embodiment, the central unit is configured to determine and/or to correct a measurement error of the inertial measurement device on the basis of a boundary condition predetermined by the structure.
    [030] In particular, classic inertial navigation that starts from a predetermined inertial position suffers a continuous increase in orientation or position error that results from the integration or summarization of possible errors or measurement of inaccuracies (for example , zero point error) of the inertial sensors (spin rate and acceleration sensors). This increase is called a derivation.
    [031] To constrain or to compensate a derivation of position and orientation and thus also of the monitoring value, stable requirements and conditions, which are present in the structure, can be considered during the application of the navigation algorithm. These conditions can, for example, be incorporated into navigation in the form of boundary conditions. Therefore, the navigation algorithm can be supported through these requirements and conditions. An error in the result of calculations or an error in the monitoring value can be estimated and/or compensated based on this.
    [032] Taking into account the boundary conditions, this can comprise in the simplest case, a comparison of the boundary condition (for example, a known geographic position of the structure) with calculated values (velocity, angular velocity, position and orientation). Based on this, the error (eg zero point error) of the inertial measuring device (rotating rate and acceleration sensors) can be estimated and the measurement accuracy can be continuously enhanced and improved. For example, the act of taking into account varied and complex boundary conditions can be performed through a Kalman filter within the navigation algorithm.
    [033] According to a further embodiment, the central unit can be configured to determine boundary conditions based on at least one information from a group comprising a substantially stationary position of the structure, a position of at least a part of the structure determined with based on a satellite-based positioning signal, a coercion or restriction of a degree of freedom of a movement of at least a part of the structure, an average value of a movement of at least a part of the structure and/or the device of inertial measurement (for example, predetermined or derived from measurement values or calculated values), and from a wind speed, wind direction, current speed, current direction and/or wave impact direction acting on the structure.
    [034] Therefore, the current conditions of the structure and its arrangement in the environment as well as any other knowledge about environmental conditions can be used to support the navigation algorithm or to estimate or correct the derivation in position or in orientation.
    [035] Such boundary conditions are not known in classic vehicle navigation, since they, in principle, are not present in vehicles. Therefore, in the context of classic vehicle navigation, they are not used for error correction or to avoid drift. During monitoring of moving structures, which can, for example, be arranged stationary, such conditions can however be present and can be used for error correction.
    [036] Error estimation and enhanced and enhanced error correction through boundary conditions make it possible to indicate or calculate the determined values with a higher accuracy or, alternatively, use inertial measurement devices that are less expensive but susceptible to derivation, since the errors that occur can be estimated and corrected.
    [037] In particular, buildings and/or large systems such as wind turbines or offshore platforms or the like are often stationary, for example, installed in a fixed location in the fixed inertial system of the earth. For such systems, the support of the navigation algorithm through boundary conditions is possible.
    [038] A conforming support is also possible for unpositioned fixed structures, if a positioning signal can be used to determine the position of the structure. For example, a global navigation satellite system (GNSS) receiver can be used to receive and evaluate a satellite-based signal to determine a position, for example, a GPS, GLONASS- or Galileo receiver. Alternatively, also something different, eg local optical positioning signal, can be used to determine position, or an optical recognition method can be used, which analyzes an image captured by means of a camera. The position determined in this way can be used to recognize and to correct a drift of the sensors, an error of the calculated position and orientation values, or a systematic error of the monitoring value.
    [039] The boundary condition can also be determined through a coercion or restriction of a degree of freedom of a movement of at least a part of the structure. For example, during rotation and/or oscillation of a rotor blade, a position along the rotor blade and thus, for example, a distance from a point to the center will rarely change. Therefore, the movements of this point are restricted in its degree of freedom by fixing the rotor blade in the center. This coercion or restriction can be used as a boundary condition to recognize or to correct, for example, a systematic measurement error of the sensors.
    [040] Additionally, also, an angle of inclination of at least a part of the structure can be determined as a boundary condition. For example, a tilt of a wind turbine tower can cause a change in the position of an inertial measurement device located in the wind turbine housing. If only the known stationary position of the structure is detected to support the navigation algorithm, the translational motion of the inertial measurement device is possibly considered as the position derivation and a possibly critical slope of the tower will not be recognized. Taking the tilt angle into account allows for separate recognition and monitoring or correction of drift and position tilt.
    [041] Additionally, the boundary condition can be determined based on an average value of a movement of at least a part of the structure and/or the inertial measurement device. For example, it is possible that the part of the structure on which the inertial measuring device is mounted is adjusted for oscillations, for example by wind load or by impact of waves. Oscillations change the position of the inertial measurement device and are detected as acceleration. Notwithstanding and in order to be able to detect a zero point error or a systematic derivation of the inertial measuring device, an average value of the movement over a predetermined period of time can be fixed and can be used as a boundary condition to determine and correct measurement errors, for example, based on a Kalman filter.
    [042] Additionally, the boundary condition can also be determined based on environmental influences acting on the structure. In particular, environmental influences such as a wind speed, a wind direction, a current speed, a current direction and/or a wave impact direction can, for example, for offshore wind turbines or for offshore platforms cause in movements and/or oscillations of wind turbines or offshore platforms, which are measured by the inertial measurement device attached to them. Such environmental influences are therefore acting on the position determination and the orientation of the structure and can therefore be erroneously considered to be a zero point error, eg a systematic derivation, of the inertial measuring device. However, if during measurement correction the boundary condition determined on the basis of environmental influences is taken into account, measurement correction will be possible as well as recognition of the change in position or orientation of the inertial measurement device.
    [043] According to a further embodiment, the system comprises several inertial measurement devices mounted on the frame, in which the central unit is configured to determine the monitoring value based on a relative movement between any two of the various inertial measurement devices .
    [044] Due to the use of various inertial measurement devices, it is possible to measure the movements or oscillations of the structure at various measurement locations (mounting locations of the inertial sensors). Due to this factor, an accurate and exact detection of the relative movements within the structure is possible, something that allows the determination of deflections, twists and/or bends between the measurement locations. Such movements have a direct influence on the material and therefore provide important information for monitoring, for determining maintenance intervals and/or for estimating service life.
    [045] According to an embodiment, the structure may comprise several components coupled together, on at least two of which components an inertial measurement device is disposed, respectively.
    [046] The arrangement of inertial measurement devices on various components allows the monitoring of relative movements of the components with respect to each other, due to which the movement of the components with respect to each other, and in this way, for example , a charge of the coupling devices between the components becomes detectable.
    [047] Various inertial measurement devices can, for example, be used for monitoring a wind turbine with a tower, a housing arranged on top of the tower and a rotor arranged over the housing, the rotor having rotor blades for operationalize a generator.
    [048] When using several inertial measuring devices, arranged on a rotor blade, the bending of the rotor blade, for example, can be detected. Based on this a warning message can be generated and/or an orientation of the rotor blade with respect to the wind can be actively controlled. Because of this, it is possible to recognize and identify and/or prevent damage.
    [049] Additionally, an orientation of the inertial measuring device mounted on the housing with respect to the inertial measuring device mounted on the tower can be determined. Based on this, housing orientation can be evaluated or corrected under consideration of a detected wind direction.
    [050] Therefore, the use of various inertial measurement devices on the structure or on different parts of the structure makes it possible to detect and evaluate structure movements in higher modes and monitor the structure efficiently and effectively.
    [051] According to a further embodiment, the structure is a wind turbine and the inertial measurement device is arranged on a rotor blade of the wind turbine. Here, the wind measuring device can be arranged in such a way that a tangent of a rotation path of the inertial measuring device is orthogonal and/or parallel to none of the detection directions of the rotation rate sensors (oblique/oblique set - angled). Additionally or alternatively the central unit can be configured to determine the boundary condition based on at least one information from the group comprising: gravity acceleration acting cyclically during the rotor revolution over the inertial measuring device, the earth rotation acting cyclically during the revolution of the rotor over the inertial measuring device, and an output signal from a rotor rotating pulse generator.
    [052] The oblique array of sensors on the rotor blade ensures that the sensing axes or directions are not collinearly arranged to a tangent of rotation of the rotor blade. Therefore, all measuring axes are comparatively subjected to acceleration or rotation during the revolution of the rotor blade.
    [053] Because of the arrangement of the inertial measuring device on the rotor blade, the inertial measuring device rotates during operation of the wind turbine in conjunction with the rotor blade. Then, the +/- 1g gravity acceleration acts cyclically during the rotor revolution and over the inertial measuring device. Likewise, the rotation of the earth acts cyclically during the revolution of the rotor over the inertial measuring device. These influences are reflected in the acceleration and rotation rates detected by the inertial measuring device and thus in the output signal of the inertial measuring device.
    [054] The acceleration and gravity rotation of the earth acting cyclically during the rotor revolution is superimposed to the output signal and can be detected and compensated for in the output signal. In particular, they can be used as boundary conditions for the error correction described above. Here it is possible to detect, estimate or compensate systematic errors of the inertial measuring device, in particular of a gyroscope scale factor error of the inertial measuring device. Due to this factor, an error increase by the gyroscope scale factor error can be prevented.
    [055] Such error correction can, in particular, be used during sensor calibration. The oblique assembly of the inertial measuring device on the rotor blade allows the calibration of all measurement axes or the corresponding sensors in this way.
    [056] The output signal of a rotary pulse generator, alternatively or additionally, can also be used to detect the rotor revolution and to evaluate based on this factor, the influence of gravity acceleration or earth rotation on the result. for the measurement and for the calibration of the inertial measuring device.
    [057] According to an additional embodiment, the structure is also a wind turbine. The inertial measuring device is arranged on a housing of the wind turbine. Additionally, the central unit is configured to determine the boundary condition based on a housing rotary encoder.
    [058] For example, the rotary encoder can be installed over a coupling location of the tower and housing. The output signal from the rotary encoder can be compared to an output signal from the inertial measuring device and can be used as a boundary condition for error estimation or for calibrating the inertial measuring device. Due to this, a gyroscope scale factor of the inertial measurement device can be detected or corrected. Consecutively, an orientation of the housing in an azimuth direction can be detected and adapted, for example, with respect to a wind direction. This allows for an optimized use of wind/wind energy. According to a further embodiment, the central unit is configured to determine the monitoring value based on at least one information from the group comprising: an output value of a mathematical model of the structure, a rotation rate, an acceleration, a velocity angular, a speed, an orientation and/or a position at a location of the structure different from the location of the installation of the inertial measuring device, an amplitude and/or a frequency of movement of an oscillation of the structure, and a twist between two different locations of the structure.
    [059] In particular, it is possible to insert in the acceleration and rotation rate values measured by the inertial measurement device, for example, in a mathematical model that is, for example, generated based on finite elements and reflects the physical conditions of the structure, and which can be stored in a storage device. For example, the central unit can input measurement values by accessing the storage device and can successively calculate on the basis of the measurement values a dynamic behavior of the structure. Due to this factor, the mathematical model is stimulated and the dynamic behavior (movements and oscillations) of the structure is simulated.
    [060] Alternatively or additionally, structure state information such as an operating parameter such as a gear setting and/or a wind turbine generated energy can be used to determine the monitoring value. Also, this information can be input into the mathematical model of the structure or it can be compared to the simulated dynamic behavior of the mathematical model. In this way they can on the one hand be used to stimulate the mathematical model and on the other hand to validate the mathematical model.
    [061] For example, as an environmental parameter to determine the monitoring value (satellite-based), positioning signals with respect to the position of at least a part of the structure, an orientation of the housing, an angle of rotation of the rotor, a pitch/pitch of the rotor blades, a wind direction and a wind force, a where direction and a wave force, a current, a temperature and an energy output of, for example, a wind turbine can be considered. For example, information regarding a measured wind direction can be used to assess or to correct a housing orientation in an azimuth direction.
    [062] Additionally, the central unit can be configured to determine the movements of a location of the structure that differs from the installation location of the inertial measurement device. This can be achieved by inserting the three-dimensional rotation rates and accelerations into the mechanical model, in which the rotation rates and accelerations are measured using one or several inertial measurement devices with different installation locations from the said location of the structure. Based on this, it is also possible to calculate the movements with respect to additional locations of the structure. For example, torsions between two different locations of the structure, for example between two different locations of a rotor blade or a tower, and in this way the mechanical loads of the structure can be detected. In this way, the movements with the highest modes can be determined or calculated. This allows for more efficient modeling and monitoring of movements and oscillations of the entire structure.
    [063] Additionally, the monitoring value can be determined based on an amplitude and/or a frequency of movement of a structure oscillation. In particular, based on the measured acceleration values, for example three-dimensional, oscillations of the structure or its parts, and thus the sound produced by the structure, can be detected. This allows the identification of mechanical damage on the structure, for example, on the operating section of a wind turbine (for example, fractures and wear of gears, ratchets, and/or supports which lead to changes in the sounds produced by the structure ).
    [064] Through an analysis of the sound produced by the structure based on the inertial measurement devices that are arranged on the rotor blades, ice accumulation on or cracks on the rotor blades can, for example, be detected and measured maintenance services can be started.
    [065] According to a further embodiment, the central unit can be configured to capture a threshold value of the monitoring value and transmit, after exceeding at least one of the threshold values, the information to the output unit. It can be configured to transmit, based on the monitoring value, a proposal for triggering variables to adjust the triggers on the structure to the output unit. Alternatively or additionally, the central unit can be configured to transmit the trigger variables to the triggers based on the monitoring value.
    [066] This realization allows a plurality of monitoring possibilities ranging from boundary monitoring and excess boundary message and the determination of control proposals for an active regulation of the dynamic behavior of the structure.
    [067] This allows for the identification and notification of imminent damages. In the context of wind turbine maintenance, the identification and notification of ice build-up, rotor imbalance or gear damage allows for safe operation and identification of maintenance and management needs.
    [068] Additionally, maintenance personnel can be assisted by the outputs of the output unit, for example, by generating proposals for the control of the wind turbine. For example, a modification of the orientation of the rotor blades or a modification of the gear setting can be proposed. By this, damage can be avoided and better utilization can be obtained.
    [069] Additionally, the central unit can transmit, in addition to the monitoring value output, acting variables to the structure actuators. This allows for a quick reaction to a detected critical state based on the monitoring value and allows, for example, to move, after damage to the gears, the rotor blades quickly and actively out of the wind direction. Additionally, an energy output control that is adapted to existing needs and at the same time conserves material can be realized.
    [070] Depending on the critical level of the determined monitoring value, the transmission of the drive variables to the drives may depend on human confirmation by the maintenance personnel.
    [071] A method for monitoring the movements of a structure comprises detecting rates of rotation and acceleration values in the ground-fixed inertial system of at least one inertial measuring device mounted on the structure, determining a monitoring value with base on the rotation rates and acceleration values by means of a navigation algorithm, and the output of the monitoring value.
    [072] The method can, by way of example, be performed in any arbitrary realization of the system described above.
    [073] According to one embodiment, the method may comprise inputting the rotation rates and acceleration values into a mathematical model of the structure, validating the mathematical model based on a comparison of the evolution of the measured rotation rates and the measured acceleration values, respectively, with the rotation rates and acceleration values calculated by the model and the determination of the monitoring value based on the mathematical model.
    [074] This method allows stimulation of the mathematical model, for example, with measurement values and calculation based on the stimulus of the dynamic behavior of the model, for example, step by step for a predetermined period of time, measurement values corresponding of the acceleration and rotation rate sensors of the inertial measuring device can be detected during the corresponding period of time in parallel. By comparing the detected and calculated rates of rotation of angular velocity, velocity, orientation or position that can be or are calculated based on the rates of rotation, the mathematical model can be validated.
    [075] For example, the mathematical model can be considered to be adequate if the derivations are always smaller than a predetermined boundary. If this is not the case, a need for adapting the mathematical model or calculation method can be identified. Based on the validated mathematical model, the monitoring value can be determined and output.
    [076] According to a further embodiment of the method, the structure can comprise at least a part of a wind turbine with a rotor and rotor blades, in which the inertial measurement device is arranged on one of the rotor blades. The method may comprise calibrating the inertial measuring unit based on the acceleration of gravity acting cyclically during the rotor revolution over the inertial measuring unit, and/or based on a rotor rotary encoder (according to the manner here described above).
    [077] From an oblique mounting of the inertial measurement device on one of the rotor blades, the zero point error and the gyroscope scale factor of the inertial measurement device can be estimated and corrected during calibration. This method can, in particular, be useful during wind turbine startup.
    [078] According to a further embodiment, the structure comprises at least a part of a wind turbine with a rotor and rotor blades, in which the inertial measuring device is arranged on the rotor. The method comprises detecting an imbalance of the rotor based on the detected rotation rates and acceleration values.
    [079] This method can, in particular, be used for rotor balancing. Imbalances can be detected and corrected, which allows for efficient operation and fatigue proof of the wind turbine. Brief Description of Drawings
    [080] These and other features of the invention will be discussed based on the examples being considered from the accompanying figures which are to be found below.
    [081] Fig. 1 illustrates a system for monitoring a wind turbine based on the measurement results of various inertial measurement devices through a navigation algorithm; and
    [082] Fig. 2 illustrates a schematic diagram of a system for monitoring a wind turbine based on a mathematical model.
    [083] Fig. 1 illustrates a system for monitoring the movements of a wind turbine 1 constituting a structure. Detailed Description of Preferred Achievement
    [084] The wind turbine 1 comprises a tower 2, which is erect on the ground, and on which a housing 3 with a rotor 4 therein provided with rotor blades 4a, 4b and 4c, is disposed. On the wind turbine 1 or its components 2, 3, 4, 4a, 4b and 4c, one or more inertial measuring devices 5 are arranged, respectively. These said devices are illustrated in the drawing by means of small boxes and are not separately referred to with reference to signs for the sake of clarity.
    [085] The inertial measurement devices 5 each comprise three rotation rate sensors that have sensing axes that are linearly independent of each other and/or orthogonal to each other, as well as three acceleration sensors having each sensing directions that are linearly independent of each other and/or orthogonal to each other. Its output signals can be used to determine, by means of a navigation algorithm, for example, known from a vehicle, ship, or flight navigation, a calculation of angular velocities and velocities or orientations and positions of the respective 5 inertial measurement devices in a ground-mounted inertial system.
    [086] As a basis for such calculations, a transmission unit 6 collects the values measured by the inertial measurement device 5 as well as, if necessary, environmental parameters and status information of the wind turbines measured by an additional sensor unit 7 . Environmental parameters can refer, for example, to wind direction, wind strength, temperature, wave direction and/or wave strength (eg for offshore structures). The status information can refer to a state of the wind turbine and comprise, for example, an orientation of the housing 3, an angle of rotation of the rotor 4, a pitch/pitch or a bending of the rotor blades 4a, 4b and 4c and an energy output of the generated energy. Additionally, the status information can also comprise, for example, a positioning signal received from a satellite 8, which can be received from the sensor unit 7 and transmitted to the transmission unit 6.
    [087] The collected data can, for example, be sent from the transmission unit 6 via a wireless or wired communication to a receiver 9 of a monitoring device 10. The monitoring device 10 can be located locally in the surroundings of the wind turbine 1 but, may also be located remotely from the wind turbine 1. A local arrangement of the monitoring device 10 may also include an arrangement in or on the wind turbine 1 or an arrangement in its close surroundings. For example, the monitoring device 10 can be provided in a monitoring and control center of a wind farm that includes wind turbine 1. A remote arrangement from wind turbine 1 is, for example, advantageous for offshore wind turbines.
    [088] The monitoring device 10 may comprise a central unit 11 for determining the monitoring value based on the transmitted data, in particular based on the rotation rates and acceleration values measured by the inertial measuring devices 5. For example , the central unit 11 can perform a classic navigation algorithm with a Schuler compensation.
    [089] Due to this factor, each of the inertial measurement devices can calculate an angular velocity and a velocity of a movement, and a position and an orientation within a space. Additional relative motions of the inertial measurement devices with respect to each other can be determined and evaluated. Based on this, a monitoring value can be determined, for example, a spacing/heaving of one of the rotor blades 4c or a twisting of the tower 2 caused by a wind load.
    [090] The monitoring value can be sent to an output unit 12, which makes available or indicates the monitoring value, for example, to operational personnel. Alternatively, the tracking value can also be captured in a storage 13 and stored for documentary purposes.
    [091] For the use of classical navigation algorithms for monitoring the structure's movements, there is the possibility of including restrictions and conditions, which result from structural characteristics of the structure in the navigation algorithm and in particular in the error estimation or error correction.
    [092] In particular, errors are typically superimposed on the measurement values of inertial measurement devices 5, which are based, for example, on a zero point error or a scale factor error of the acceleration and rotation sensors used . During the determination of directional and angular velocities or position and orientation, these errors are integrated and lead to a progressive derivation.
    [093] For monitoring the physical conditions of structure structures, they can be considered as boundary conditions for the navigation algorithm and can be considered in the context of error correction, for example, through a Kalman filter. Such boundary conditions are, for example, a (geographical) position of the structure, which is fixed in principle for buildings or for structures built on solid soil. For offshore structures, position can, for example, be determined by means of a satellite based on positioning signals (GPS). Additionally, boundary conditions can also be determined as described hereinabove from environmental information or by means of additional sensors, for example, by means of a tower tilt sensor.
    [094] The boundary conditions allow an estimation and correction of systematic errors of measurement results of inertial measurement devices. Because of this, an accurate determination of position and orientation becomes possible, which provides a useful basis for determining monitoring value. Additional boundary conditions that can lead to an intensification and improvement of estimation and error correction have already been described above and can be used in the realization illustrated in Fig. 1.
    [095] Additionally, the central unit 11 of the monitoring device 10 can be configured to capture threshold values of the monitoring value and to send information to an output unit 12, if at least one of these thresholds is exceeded. Boundary presetting allows detection and notification of imminent damage as well as a need for maintenance and adjustment.
    [096] The central unit 11 can also make, carry out, based on the monitoring value, a proposal for acting variables to adjust wind turbine drivers 1. Such proposals can be indicated to operational personnel, for example, by the output unit 12. Such proposals may, for example, comprise the orientation of the housing 3 in accordance with a detected wind direction, the orientation of the rotor blades with respect to an output to be generated, and/or a shutdown of the wind turbine, for example, because of imminent damage or in the event of damage.
    [097] Additionally, the central unit 11 can transmit the acting variables via a transmission unit 14 to a receiving unit 15 of the wind turbine 1. In the wind turbine 1, the received acting variables can be used to control the drives of the wind turbine in accordingly, and to initiate, for example, the rotation of the housing 3 or the orientation of the rotor blades 4a, 4b, and 4c.
    [098] Additionally, the central unit 11 can, for example, determine the monitoring value based on a mathematical model that calculates a dynamic behavior of wind turbine 1 and can, for example, be stored in storage 13. Rotation rates and the accelerations measured by the inertial measuring devices 5 or the velocities, angular velocities, positions and orientations determined therefrom can be entered into the mathematical model, which calculates, simulates or dynamically represents based on this, the dynamic behavior of the wind turbine.
    [099] Also, additional data measured by sensor unit 7 and transmitted by transmission unit 6, such as environmental parameters and state information, can be used for model stimulation.
    [0100] The calculated dynamic behavior can be tested and evaluated against the background or additional measurement values in the inertial measurement devices 5 or in the additional state information such that these values allow in parallel the stimulus and support of the mathematical model .
    [0101] The mathematical model can, for example, be used to detect and to evaluate the movements of wind turbine 1 with higher modes, such as that, for example, torsions of the tower 2 or the bending of the rotor blades 4a, 4b and 4c.
    [0102] A level of detail of the calculation steps of the mathematical model can be determined with respect to the desired computing accuracy and the computing power available. If the monitoring device 10 and in particular the central unit 11 has a sufficient computer capacity, calculations and evaluation can be carried out substantially under real-time conditions with only some small delay.
    [0103] During operation, the system for monitoring the wind turbine or the monitoring method implemented therein can be used as condition monitoring systems by comparing movements, oscillations, frequencies and/or amplitudes determined with predetermined thresholds . In the context of condition monitoring, warnings can be issued if boundaries are exceeded.
    [0104] Additionally, the measurement and calculation values can be considered as control variables that, on the one hand allow the optimized adjustment of the wind turbine 1 with regard to the acting forces and on the other hand with regard to the energy to be made available. This allows for good use in parallel with the material conservation operation.
    [0105] An assessment of changes in load and different loads over an extended period allows the determination of a residual useful life of the wind turbine 1 or its components, and/or the planning of maintenance measures.
    [0106] As already indicated here above, the measurement and calculation values can also be used during development and during testing of structures as well as during initialization to detect and correct, for example, excessive loads and unbalances.
    [0107] Fig. 2 shows a schematic diagram of a realization of a monitoring system, for example, the monitoring system of Fig. 1.
    [0108] In the passage mentioned here above, the sensors and their arrangements are described. Accordingly, tower 2, housing 3 and rotor blades 4a, 4b and 4c each comprise n inertial measuring devices (IMU: inertial measuring unit), which are mounted in different positions of the respective components, respectively. .
    [0109] The inertial measurement devices 5 send data to the navigation units of the respective components that are illustrated in the middle part of Fig. 2, within which the navigation calculations based on the navigation algorithm are performed. Here, for example, velocities, angular velocities, positions and orientations of the inertial measuring devices can be determined. Navigation is supported, respectively, by means of additional data or boundary conditions of the structure, for example, by means of a GPS signal, a housing orientation, an angle of rotation of the rotor, and/or a spacing/heaving of the blades of the rotor. As described here above, this information can be used, for example, for error estimation, error correction and/or for sensor calibration.
    [0110] The lower part of Fig. 2 illustrates the filtering based on the data model in which the navigation calculation results as well as additional environmental parameters (wind direction, wind force, temperature, wave direction, wave force ) and status information (housing orientation, rotor rotation angle, rotor blade pitch/pitch, output power) of wind turbine 1 are entered. In this process, data can be processed continuously or substantially in real-time. Model-based filtering can therefore correspond to a simulation that allows the model-supported evaluation of data “on line”, for example, without delay, for example, according to possibly pre-adjusted conditions in real time.
    [0111] In the context of model-supported filtration, a mathematical model of the wind turbine is used to calculate the dynamic behavior of wind turbine 1. As described here above, navigation data can stimulate, support and validate the model. Model-supported filtering provides as output, for example, information regarding the state of movement of selected positions, warnings after pre-defined boundaries being exceeded, and/or lifetime characteristics. These results can, for example, be sent to output unit 12 to make them accessible to operational personnel. In fact, this can be done in the context of condition monitoring of maintenance planning and/or in the context of an active regulation of the wind turbine 1.
    [0112] As a result, using inertial measurement systems and classic navigation algorithms in the field of buildings and facilities, monitoring can allow efficient monitoring and regulation of the respective structure. The boundary conditions valid for such buildings and facilities can be used to estimate and compensate for errors that typically occur in the context of inertial navigation (zero point and scale factor errors). Based on this, efficient operation on the one hand and ease conservation of wind turbines on the other hand, and cost-optimized maintenance planning can be achieved and achieved.
    权利要求:
    Claims (12)
    [0001]
    1. System for monitoring the movements of a stationary structure (1) comprising: at least one inertial measuring device (5) mounted on the structure (1) to determine rotation rates and acceleration values in an inertial system fixed on land, a central unit (11) for determining a monitoring value based on the rotation rate and acceleration values by means of a navigation algorithm, and an output unit (12) for outputting the monitoring value, characterized by the fact that the central unit (11) is configured to determine and/or correct a measurement error of the inertial measurement device (5) based on a boundary condition predetermined by the structure to support the navigation algorithm; and the central unit (11) is configured to determine boundary conditions based on at least one information from a group comprising: a substantially stationary position of the structure (1), a restriction of a degree of freedom of movement of at least a part of the frame (1), an angle of inclination of at least a part of the frame (1), and an average value of a movement of at least a part of the frame (1) and/or of the inertial measuring device (5).
    [0002]
    2. System according to claim 1, characterized in that the inertial measurement device (5) comprises three rotation rate sensors having detection axes that are each linearly independent of each other and/or orthogonal to each other. others, as well as three acceleration sensors having sensing directions that are each linearly independent of each other and/or orthogonal to each other.
    [0003]
    3. System according to any one of the preceding claims, characterized in that it comprises a plurality of inertial measurement devices (5) mounted on the structure, in which the central unit (11) is configured to determine the monitoring value based on a relative movement between any two of said plurality of inertial measurement devices (5).
    [0004]
    4. System according to any one of the preceding claims, characterized in that the structure (1) comprises a plurality of components (2, 3, 4, 4a, 4b, 4c) that are coupled to each other, in which a device The inertial measurement device (5) is mounted on at least two of the components (2, 3, 4, 4a, 4b, 4c), respectively.
    [0005]
    5. System according to any one of the preceding claims, characterized in that the structure is a wind turbine (1) and the inertial measurement device (5) is arranged on a rotor blade (4a, 4b, 4c) of the turbine wind power (1), wherein the inertial measuring device (5) is arranged in such a way that a tangent of a rotational path of the inertial measuring device (5) is not perpendicular to and/or parallel to any of the detection directions the rotation rate sensors; and/or the central unit (11) is configured to determine the boundary conditions based on at least one information from the group comprising: the acceleration of gravity acting cyclically during a revolution of the rotor (4) over the inertial measuring device (5 ), the rotation of the earth acting cyclically during the revolution of the rotor (4) over the inertial measuring device (5), and an output signal from a rotor rotating pulse generator (4).
    [0006]
    6. System according to any one of the preceding claims, characterized in that the structure is a wind turbine (1) and the inertial measurement device is arranged on a housing (3) of the wind turbine (1), in which the unit central (11) is configured to determine the boundary condition based on a housing rotary encoder (3).
    [0007]
    7. System according to any one of the preceding claims, characterized in that the central unit is configured to determine the monitoring value based on at least one information from the group comprising: an output value of a mathematical model of the structure (1 ), a structure state information (1), an environmental parameter, a rotation rate, an acceleration, an angular velocity, a velocity, an orientation and/or a position of a location of the structure different from a location of installation of the inertial measuring device (5), a twist between two different locations of the structure, and an amplitude and/or a frequency of movement of an oscillation of the structure.
    [0008]
    8. System according to any one of the preceding claims, characterized in that the central unit (11) is configured to capture threshold values of the monitoring value and send information to the output unit (12), if at least one of the values boundary is exceeded; send, based on the monitoring value, a proposal for acting variables to adjust the structure triggers (1) to the output unit (12) and/or send, based on the monitoring value, the acting variables to the triggers.
    [0009]
    9. Method for monitoring the movements of a structure (1) characterized in that it comprises: determining rotation rates and acceleration values in the inertial system fixed on land of at least one inertial measuring device (5) mounted on the structure (1 ), determine the monitoring value based on rotation rates and acceleration values by means of a navigation algorithm, determine and correct a measurement error of the inertial measurement device (5) based on a boundary condition predetermined by the structure ; and generate a monitoring value, in which a measurement error of the inertial measurement device (5) is determined and/or corrected based on the boundary condition predetermined by the structure, and the boundary condition is determined based on at least one information of a group comprising: a substantially stationary position of the structure (1), a restriction of a degree of freedom of movement of at least a part of the structure (1), an angle of inclination of at least a part of the structure (1), and an average value of a movement of at least a part of the structure (1) and/or the inertial measuring device (5).
    [0010]
    10. Method according to claim 9, characterized in that it comprises: feeding the rotation rates and acceleration values into a mathematical model of the structure, validating the mathematical model based on a comparison of the evolution of the rotation rates and the measured acceleration values with the rotation rates and acceleration values, respectively, which are calculated with the model, and determine the monitoring value based on the mathematical model.
    [0011]
    11. Method according to claim 9 or 10, characterized in that the structure comprises at least a part of a wind turbine (1) having a rotor (4) with rotor blades (4a, 4b, 4c), wherein the inertial measuring device (5) is arranged on one of the rotor blades (4a, 4b, 4c), comprising calibrating the inertial measuring device (5) on the basis of gravity acceleration acting cyclically during one revolution of the rotor (4 ) over the inertial measuring device (5), based on the rotation of the earth that acts cyclically during the revolution of the rotor (4) over the inertial measuring device (5), and/or based on a rotary encoder of the rotor (4).
    [0012]
    12. Method according to any one of claims 9 to 11, characterized in that the structure comprises at least a part of a wind turbine (1) having a rotor (4) in which the inertial measurement device (5) is disposed on the rotor (4), comprising detecting an imbalance of the rotor (4) based on the rates of rotation and acceleration values detected.
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    同族专利:
    公开号 | 公开日
    DK3042210T3|2018-01-15|
    KR101838053B1|2018-03-13|
    AU2014314608A1|2016-04-21|
    JP6190535B2|2017-08-30|
    AU2014314608B2|2018-10-04|
    KR20160040654A|2016-04-14|
    JP2016534348A|2016-11-04|
    RU2636412C2|2017-11-23|
    IL244025A|2016-09-29|
    CA2922772A1|2015-03-05|
    WO2015028153A1|2015-03-05|
    EP3042210A1|2016-07-13|
    EP3042210B1|2017-10-04|
    ZA201601153B|2017-11-29|
    ES2655262T3|2018-02-19|
    CN105531592A|2016-04-27|
    US20160222946A1|2016-08-04|
    CN105531592B|2020-09-15|
    BR112016003409A2|2017-08-01|
    RU2016104110A|2017-10-09|
    IL244025D0|2016-04-21|
    DE102013014622A1|2015-03-05|
    CA2922772C|2017-01-24|
    SG11201601596VA|2016-04-28|
    PT3042210T|2018-01-10|
    NZ718462A|2019-05-31|
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    法律状态:
    2018-11-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-05-12| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-11| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-06-29| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/08/2014, OBSERVADAS AS CONDICOES LEGAIS. |
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    DE102013014622.4A|DE102013014622A1|2013-09-02|2013-09-02|System and method for determining movements and vibrations of moving structures|
    DE102013014622.4|2013-09-02|
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