CN110092298B - Hoisting control system, method and device - Google Patents
Hoisting control system, method and device Download PDFInfo
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- CN110092298B CN110092298B CN201810096045.1A CN201810096045A CN110092298B CN 110092298 B CN110092298 B CN 110092298B CN 201810096045 A CN201810096045 A CN 201810096045A CN 110092298 B CN110092298 B CN 110092298B
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- 238000009434 installation Methods 0.000 claims description 15
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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
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C13/18—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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Abstract
The invention discloses a hoisting control system, method and device, which are used for improving the efficiency of hoisting operation of a wind generating set. Hoist and mount control system includes: the system comprises a first positioning module, a second positioning module, a positioning reference station, a control console and a control console, wherein the first positioning module is arranged on a first connecting piece in the wind generating set, the second positioning module is arranged on a second connecting piece in the wind generating set, and the control console is in communication connection with the first positioning module, the second positioning module and the positioning reference station; the first positioning module is used for acquiring the position data of the first connecting piece in real time; the second positioning module is used for acquiring the position data of the second connecting piece in real time; a positioning reference station for determining a position data correction value; and the console is used for determining the position relation between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation between the first connecting piece and the second connecting piece.
Description
Technical Field
The invention relates to the technical field of wind power generation, in particular to a hoisting control system, method and device.
Background
With the continuous development of wind power generation technology, the height of the wind generating set is usually above 90 meters at present, and with the increasing weight of the engine room, the generator and the impeller (including the hub and the blades) of the wind generating set, the hoisting work of the wind generating set becomes more and more difficult.
As shown in fig. 1, in the wind turbine generator system after installation, the impeller flange and the generator flange are completely overlapped, and a perpendicular line of the axis of the impeller hub of the wind turbine generator forms an included angle 10 with a vertical direction (or the axis of the impeller hub of the wind turbine generator and a horizontal direction), and the included angle 10 is about 5 degrees.
The actual installation process will be described below by taking impeller hoisting as an example. As shown in fig. 2, in order to realize the installation structure, the impeller is hoisted mainly by manually and visually observing to command the hoisting operation. Specifically, when the impeller is hoisted to a proper height, the alignment work of the impeller and the generator needs three workers to be completed cooperatively. The three workers are respectively: an aerial worker 21, a hoist commander 22, and a crane operator 23. The high-altitude operation personnel 21 is responsible for checking the angle and the deviation position of the crane impeller at high altitude; the hoisting commander 22 is responsible for commanding hoisting work; the crane operator 23 is responsible for operating the crane within the crane. When the alignment work of the impeller and the generator is finished cooperatively, the high-altitude operator 21 communicates with the hoisting commander 22 in an intercom mode, and the hoisting commander 22 transmits signals to the crane operator 23 through gestures.
On one hand, the three-party communication efficiency is poor, the timeliness is difficult to guarantee, and information cross and special delivery errors are easy to occur when information is transmitted among the three workers; on the other hand, under the condition that the visibility is not ideal, the sight of people is blocked, and the difficulty of manually observing and commanding the hoisting work is greatly increased. These factors all reduce the efficiency of the lifting operation during the actual installation process.
Disclosure of Invention
The embodiment of the invention provides a hoisting control system, method and device, which are used for improving the efficiency of hoisting operation of a wind generating set.
In a first aspect, an embodiment of the present invention provides a hoisting control system, where the hoisting control system includes: the system comprises a first positioning module, a second positioning module, a positioning reference station, a control console and a control console, wherein the first positioning module is arranged on a first connecting piece in the wind generating set, the second positioning module is arranged on a second connecting piece in the wind generating set, and the control console is in communication connection with the first positioning module, the second positioning module and the positioning reference station; wherein,
the first positioning module is used for acquiring the position data of the first connecting piece in real time;
the second positioning module is used for acquiring the position data of the second connecting piece in real time;
the positioning reference station is used for determining a position data correction value based on position data obtained by self positioning and self geographical position coordinates;
and the console is used for determining the position relation between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation between the first connecting piece and the second connecting piece.
In some embodiments of the first aspect, the console is specifically configured to:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece;
and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the first aspect, the console comprises a controller and a data transfer station communicatively coupled; wherein,
the data transmission radio station is in communication connection with the first positioning module, the second positioning module and the positioning reference station, and is used for receiving the position data of the first connecting piece sent by the first positioning module, the position data of the second connecting piece sent by the second positioning module and the position data correction value sent by the positioning reference station and forwarding the position data of the first connecting piece, the position data of the second connecting piece and the position data correction value to the controller;
and the controller is used for determining the position relation of the first connecting piece and the second connecting piece according to the received position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the first aspect, the console comprises a controller and a data transfer station communicatively coupled; wherein,
the data transmission station is in communication connection with the first positioning module, the second positioning module and the positioning reference station, and is used for receiving the position data of the first connecting piece sent by the first positioning module, the position data of the second connecting piece sent by the second positioning module and the position data correction value sent by the positioning reference station, correcting the position data of the first connecting piece and the position data of the second connecting piece respectively based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece, and sending the corrected position data of the first connecting piece and the corrected position data of the second connecting piece to the controller;
and the controller is used for determining the position relation of the first connecting piece and the second connecting piece according to the received corrected position data of the first connecting piece and the corrected position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the first aspect, the first connector is an impeller of a wind turbine generator system and the second connector is a generator of the wind turbine generator system;
the first positioning module comprises at least three impeller positioning modules, at least one impeller positioning module is arranged on a hub of an impeller, at least two impeller positioning modules are arranged on blades of the impeller, and the first positioning module determines the air attitude of the impeller of the wind generating set;
the second positioning module comprises at least one cabin positioning module, and the second positioning module determines the air position of the central axis of the generator of the wind generating set.
In some embodiments of the first aspect, the impeller sub-positioning modules on the blades are specifically disposed at the tip portion.
In some embodiments of the first aspect, the controller is specifically configured to: and determining the position relationship between the first connecting piece and the second connecting piece according to the received corrected position data of the first connecting piece and the corrected position data of the second connecting piece, and controlling an impeller of the wind generating set to keep a preset position relationship with the shaft money in the generator according to the position relationship between the first connecting piece and the second connecting piece.
In some embodiments of the first aspect, an angle between a plane in which an impeller of the wind turbine generator system is located and a central axis of the generator is a preset installation angle.
In a second aspect, an embodiment of the present invention provides a hoisting control method, which is applied to the hoisting control system provided in the embodiment of the first aspect, and the hoisting control method includes:
acquiring position data of a first connecting piece and position data of a second connecting piece in the wind generating set in real time;
acquiring a position data correction value for correcting the position data;
determining the position relation of the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece;
and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the second aspect, determining the positional relationship of the first link and the second link according to the position data correction value, the position data of the first link, and the position data of the second link includes:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
In some embodiments of the second aspect, the first connector is an impeller of a wind turbine generator system and the second connector is a generator of the wind turbine generator system;
according to the position relation of first connecting piece and second connecting piece, control wind generating set's hoist and mount operation includes:
and controlling the impeller of the wind generating set and the shaft money in the generator to keep a preset position relation according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the second aspect, the angle between the plane of the impeller of the wind turbine generator set and the central axis of the generator is a preset installation angle.
In a third aspect, an embodiment of the present invention provides a hoisting control device, including:
the acquisition module is used for acquiring the position data of the first connecting piece and the position data of the second connecting piece in the wind generating set in real time;
the acquisition module is used for acquiring a position data correction value for correcting the position data;
the processing module is used for determining the position relation between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece;
and the control module is used for controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the third aspect, the processing module is specifically configured to:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
In some embodiments of the third aspect, the first connector is an impeller of a wind turbine generator system and the second connector is a generator of the wind turbine generator system;
the control module is specifically configured to: and controlling the impeller of the wind generating set and the shaft money in the generator to keep a preset position relation according to the position relation of the first connecting piece and the second connecting piece.
In some embodiments of the third aspect, an angle between a plane in which an impeller of the wind turbine generator system is located and a central axis of the generator is a preset installation angle.
According to the hoisting control system, method and device in the embodiment of the invention, the first positioning module is used for acquiring the position data of the first connecting piece in real time, the second positioning module is used for acquiring the position data of the second connecting piece in real time, and the positioning reference station is used for providing the position data correction value, so that the console can determine the position relation of the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and control the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece. Compared with the prior art in which the hoisting operation is commanded by manual visual inspection, the problems of poor communication efficiency, easy error information transmission and visibility influence in the hoisting operation process are avoided, and the hoisting operation efficiency is improved.
Drawings
The present invention will be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which like or similar reference characters designate like or similar features.
FIG. 1 is a schematic view of an installation structure of an impeller and a generator in a conventional wind turbine generator system;
FIG. 2 is a schematic view of a scenario of an impeller hoisting operation in a wind turbine generator system in the prior art;
fig. 3 is a schematic structural diagram of a hoisting control system provided in the embodiment of the present invention;
fig. 4 is a schematic flow chart of a hoisting control method provided in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a hoisting control device provided in an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is in no way limited to any specific configuration and algorithm set forth below, but rather covers any modification, replacement or improvement of elements, components or algorithms without departing from the spirit of the invention. In the drawings and the following description, well-known structures and techniques are not shown in order to avoid unnecessarily obscuring the present invention.
According to the hoisting control system, method and device provided by the embodiment of the invention, the first positioning module is used for acquiring the position data of the first connecting piece in real time, the second positioning module is used for acquiring the position data of the second connecting piece in real time, and the positioning reference station is used for providing the position data correction value, so that the console can determine the position relation of the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and control the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece. Compared with the prior art in which the hoisting operation is commanded by manual visual inspection, the problems of poor communication efficiency, easy error information transmission and visibility influence in the hoisting operation process are avoided, and the hoisting operation efficiency is improved.
It should be noted that the hoisting control system, method and device provided by the embodiment of the invention are not only suitable for controlling the hoisting operation among all the components of the wind generating set, but also suitable for controlling other hoisting operations. In the following embodiments of the present invention, a hoisting operation of controlling an impeller of a wind turbine generator system is described as an example, that is, the first connecting member is described by taking the impeller of the wind turbine generator system as an example, and the second connecting member is described by taking a generator of the wind turbine generator system as an example.
The hoisting control system, method and device provided by the embodiment of the invention are described in detail below with reference to fig. 3 to 5.
Fig. 3 shows a schematic structural diagram of a hoisting control system provided by the embodiment of the invention. As shown in fig. 3, the first connecting member is exemplified by a wind turbine generator, and the second connecting member is exemplified by a generator of the wind turbine generator.
The hoisting control system provided by the embodiment of the invention comprises: a first positioning module 31 respectively arranged on an impeller in the wind generating set, a second positioning module 32 arranged on a generator in the wind generating set, a positioning reference station 33, and a control console 34 in communication connection with the first positioning module 31, the second positioning module 32 and the positioning reference station 33; wherein,
and the first positioning module 31 is used for acquiring the position data of the impeller of the wind generating set in real time.
And the second positioning module 32 is used for acquiring the position data of the generator of the wind generating set in real time.
And a positioning reference station 33 for determining a position data correction value based on the position data obtained by self positioning and the geographical position coordinates of the self.
And the console 34 is used for determining the position relationship between the impeller and the generator according to the position data correction value, the position data of the impeller of the wind generating set and the position data of the generator of the wind generating set, and controlling the hoisting operation of the wind generating set according to the position relationship between the impeller and the generator.
In the embodiment of the present invention, the first Positioning module 31 and the second Positioning module 32 may perform Positioning using a Global Positioning System (GPS), may also perform Positioning using a glonass (Global NAVIGATION SATELLITE SYSTEM, GLONASS) Positioning System, and may also perform Positioning using a beidou NAVIGATION System, which is not limited in this respect.
It should be noted that the first positioning module 31 and the second positioning module 32 may be positioned by using the same positioning method, or may be positioned by using different positioning methods, which is not limited in the present invention. Of course, in practical implementation, the first positioning module 31 and the second positioning module 32 generally use the same positioning method for positioning, for example, both the first positioning module 31 and the second positioning module 32 use GPS for positioning.
In specific implementation, the first positioning module 31 may be disposed on an impeller of the wind turbine generator system by means of magnetic force, adsorption, and the like, and the second positioning module 32 may also be disposed on a generator of the wind turbine generator system by means of magnetic force, adsorption, and the like.
In practical application, the first positioning module 31 is used for acquiring position data of the impeller of the wind generating set in real time, and the acquired position data of the impeller of the wind generating set is used for determining the air attitude of the impeller of the wind generating set.
During specific implementation, the impeller comprises a hub and a blade, and in order to determine the air attitude position of the impeller of the wind generating set based on the position data acquired by the first positioning module 31, the first positioning module 31 needs to acquire the position data of the hub and the blade in the impeller respectively.
In one embodiment, the first positioning module 31 may include at least three impeller positioning modules, and at least one impeller positioning module is disposed on a hub of the impeller and at least two impeller positioning modules are disposed on blades of the impeller. In such an embodiment, at least two impeller positioning modules disposed on the blades are used to acquire position data of the blades, and an impeller positioning module disposed on the hub is used to acquire position data of the hub.
In another embodiment, the first positioning module 31 may include at least four impeller positioning modules, at least one impeller positioning module is disposed on a hub of the impeller, and at least three impeller positioning modules are disposed on blades of the impeller. In such an embodiment, at least three impeller positioning modules are provided on the blades for acquiring positional data of the blades, and an impeller positioning module is provided on the hub for acquiring positional data of the hub.
During specific implementation, after the position data of the blade and the position data of the hub are collected, the plane position of the blade can be determined based on the collected position data of the blade, the aerial position of the hub is determined based on the position data of the hub, and then the aerial attitude of the impeller of the wind generating set is determined according to the determined plane position of the blade and the aerial position of the hub.
It should be noted that, in the two embodiments, at least two impeller sub-positioning modules or at least three impeller sub-positioning modules disposed on the blades need to acquire position data of at least two blades, that is, at least two impeller sub-positioning modules or at least three impeller sub-positioning modules need to be disposed on at least two blades.
In order to further improve the accuracy of the determined position data of the blades of the wind generating set, the impeller sub-positioning module on the blades can be specifically arranged at the blade tip part, namely, the part of the blades far away from the hub.
In practical application, the second positioning module 32 is configured to collect position data of the generator of the wind generating set in real time, and the collected position data of the generator of the wind generating set is used to determine an aerial position of a central axis of the generator.
In one embodiment, the second positioning module 32 includes at least one nacelle positioning module. In specific implementation, because the generator of the wind generating set is arranged in the engine room, and the engine room is fixed at the top end of the tower of the wind generating set, the swing amplitude of the engine room is usually small, when the generator of the wind generating set is provided with an engine room positioning module, the aerial position of the central axis of the generator of the wind generating set can be determined by combining the position data acquired by the engine room positioning module and the position data of the target point on the tower top which is predetermined. The target point may be a predetermined position point on the tower top on the central axis of the generator.
In another embodiment, the second positioning module 32 comprises at least two nacelle positioning modules. During specific implementation, the aerial position of the central axis of the generator of the wind generating set can be determined by combining position data acquired by at least two cabin positioning modules.
During specific implementation, after the aerial posture of the impeller of the wind generating set and the aerial position of the central axis of the generator are determined, the position relationship between the impeller and the generator in the wind generating set can be determined, and then the impeller of the wind generating set and the central axis of the generator are controlled to keep a preset position relationship based on the position relationship between the impeller and the generator in the wind generating set, namely, the hoisting operation is controlled to enable the impeller of the wind generating set and the central axis of the generator to keep the preset position relationship.
In practical application, the impeller of the wind generating set keeps a preset position relation with the axis of the generator, which means that the angle between the plane where the impeller of the wind generating set is located and the axis of the generator is a preset installation angle. Wherein, predetermine installation angle and can set up according to actual installation needs, for example, predetermine installation angle and be 90 degrees.
In practical application, the impeller and the generator of the wind generating set need to be strictly aligned in the hoisting operation, and therefore, when the impeller and the generator of the wind generating set are positioned in a satellite positioning manner, the positioning accuracy must be improved. Specifically, the satellite orbit error, the atmospheric influence and other factors can cause a large error between position data acquired by satellite positioning and actual position coordinates, in order to eliminate the error and improve the positioning accuracy, in the embodiment of the invention, the positioning reference station 33 is arranged in the hoisting control system, and the error between the position data acquired by the first positioning module 31 and the position data acquired by the second positioning module 32 is eliminated through the position data correction value provided by the positioning reference station 33, so that the positioning accuracy of the impeller and the generator of the wind generating set is improved.
Of course, it should be noted that, since the position data correction value provided by the positioning reference station 33 is used to eliminate the error between the position data acquired by the first positioning module 31 and the position data acquired by the second positioning module 32, the positioning reference station 33 should position itself in the same manner as the first positioning module 31 and the second positioning module 32. For example, if the first positioning module 31 and the second positioning module 32 use GPS positioning, the positioning reference station 33 should also use GPS to position itself.
In specific implementation, the positioning reference station 33 determines the position data correction value based on the position data obtained by positioning itself and the geographical position coordinates of itself. For example, if the actual geographic position coordinates of the positioning reference station 33 are (x, y, z), the position data of the positioning reference station 33 acquired by satellite positioning of the positioning reference station 33 is (x)1，y1，z1) The position data correction value for eliminating the error is (x)1-x，y1-y，z1-z)。
In the specific implementation, the positioning accuracy can be improved by improving the accuracy of the position correction value, so that the positioning reference station 33 should be erected at a position with a wide view and a high terrain as much as possible to avoid being erected near a high-rise building, a forest, a pond, a high-voltage power transmission line and a signal transmitting tower, so as to reduce the influence of signal interference on the accuracy of the position data correction value.
In the embodiment of the present invention, the first positioning module 31, the second positioning module 32, and the positioning reference station 33 may all have internal signal transmitters therein to transmit the acquired data information to the console 34 in real time. The console 34 may be provided with a signal receiver therein to receive data information transmitted from the first positioning module 31, the second positioning module 32, and the positioning reference station 33 in real time.
In specific implementation, the console 34 receives the position data of the wind generating set impeller acquired by the first positioning module 31 in real time, receives the position data of the wind generating set generator acquired by the second positioning module 32 in real time, and receives the position data correction value sent by the positioning reference station 33.
After receiving the position data of the impeller of the wind generating set, the position data of the generator of the wind generating set and the position data correction value, determining the position relation between the impeller of the wind generating set and the generator of the wind generating set according to the position data correction value, the position data of the impeller of the wind generating set and the position data of the generator of the wind generating set, and controlling the lifting operation of the impeller of the wind generating set according to the determined position relation between the impeller of the wind generating set and the generator of the wind generating set.
Specifically, the console 34 first corrects the position data of the impeller of the wind turbine generator system and the position data of the generator of the wind turbine generator system based on the received position data correction value, respectively, to obtain corrected position data of the impeller of the wind turbine generator system and corrected position data of the generator of the wind turbine generator system, so as to obtain accurate position data of the impeller and the generator in the wind turbine generator system.
And then determining the position relation between the impeller of the wind generating set and the generator of the wind generating set according to the corrected position data of the impeller of the wind generating set and the corrected position data of the generator of the wind generating set, and finally controlling the lifting operation of the impeller of the wind generating set according to the determined position relation between the impeller of the wind generating set and the generator of the wind generating set.
Of course, in other embodiments of the present invention, when the position relationship between the impeller of the wind turbine generator set and the generator of the wind turbine generator set is determined according to the corrected position data of the impeller of the wind turbine generator set and the corrected position data of the generator of the wind turbine generator set, a full-view visualized three-dimensional image may also be simulated in the console 34 by a three-dimensional modeling technique, and the simulated three-dimensional image is displayed on the display of the console 34 to assist in controlling the lifting operation of the impeller of the wind turbine generator set.
Specifically, in the embodiment of the present invention, the console 34 may include two parts, namely a data transmission station and a controller.
In one embodiment, the data transmission station receives the position data of the wind generating set impeller sent by the first positioning module 31, the position data of the wind generating set generator sent by the second positioning module 32, and the position data correction value sent by the positioning reference station 33, and forwards the position data of the wind generating set impeller, the position data of the wind generating set generator, and the position data correction value to the controller.
And the controller determines the position relation between the impeller of the wind generating set and the generator of the wind generating set according to the position data correction value, the position data of the impeller of the wind generating set and the position data of the generator of the wind generating set, and controls the lifting operation of the impeller of the wind generating set according to the determined position relation between the impeller of the wind generating set and the generator of the wind generating set.
In this embodiment, the data transmission station in the console 34 is responsible for receiving and forwarding the data information, so that not only can a higher transmission speed be adopted, but also the security of the data can be verified in the data transmission station to ensure the security performance of the data information.
In another embodiment, the data transmission station receives the position data of the impeller of the wind generating set sent by the first positioning module 31, the position data of the generator of the wind generating set sent by the second positioning module 32, and the position data correction value sent by the positioning reference station 33, and corrects the position data of the impeller of the wind generating set and the position data of the generator of the wind generating set respectively based on the received position data correction value to obtain the corrected position data of the impeller of the wind generating set and the corrected position data of the generator of the wind generating set, and then sends the corrected position data of the impeller of the wind generating set and the corrected position data of the generator of the wind generating set to the controller.
The controller receives the corrected position data of the impeller of the wind generating set and the corrected position data of the generator of the wind generating set, which are sent by the data transmission station, determines the position relationship between the impeller of the wind generating set and the generator of the wind generating set according to the received corrected position data of the impeller of the wind generating set and the corrected position data of the generator of the wind generating set, and controls the hoisting operation of the impeller of the wind generating set according to the determined position relationship between the impeller of the wind generating set and the generator of the wind generating set.
In this embodiment, the data transmission station not only receives the data sent by the first positioning module 31, the second positioning module 32 and the positioning reference station 33, but also corrects the position data acquired by the first positioning module 31 and the second positioning module 32 in real time by using the position data correction value sent by the positioning reference station 33, and sends the corrected position data to the controller, so that the controller can determine the position relationship between the impeller of the wind turbine generator and the generator directly based on the received position data, the controller is not required to correct the position data, and the calculation amount of the controller is reduced.
The hoisting control system provided by the embodiment of the invention is described above with reference to the hoisting operation of the impeller in the wind generating set, and it should be understood that the hoisting operation of other components in the wind generating set and other overhead hoisting operations are also applicable to the hoisting control system provided by the embodiment of the invention, for example, the hoisting operation of the generator in the wind generating set.
Based on the hoisting control system shown in fig. 3, an embodiment of the present invention further provides a hoisting control method applied to the hoisting control system, and as shown in fig. 4, the hoisting control method provided in the embodiment of the present invention includes:
At step 402, a position data correction value for correcting the position data is acquired.
And step 403, determining the position relationship between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece.
And step 404, controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In one embodiment, determining the position relationship of the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece comprises: respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece; and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
In one embodiment, the first connector is an impeller of a wind generating set and the second connector is a generator of the wind generating set; according to the position relation of first connecting piece and second connecting piece, control wind generating set's hoist and mount operation includes: and controlling the impeller of the wind generating set and the shaft money in the generator to keep a preset position relation according to the position relation of the first connecting piece and the second connecting piece.
In one embodiment, the angle between the plane of the impeller of the wind generating set and the central axis of the generator is a preset installation angle.
Based on the same inventive concept, the embodiment of the invention also provides a hoisting control device. As shown in fig. 5, the hoisting control device provided in the embodiment of the present invention includes:
and the acquisition module 51 is used for acquiring the position data of the first connecting piece and the position data of the second connecting piece in the wind generating set in real time.
An obtaining module 52 is configured to obtain a position data correction value for correcting the position data.
And the processing module 53 is configured to determine a position relationship between the first connecting element and the second connecting element according to the position data correction value, the position data of the first connecting element, and the position data of the second connecting element.
And the control module 54 is used for controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
In one embodiment, the processing module 53 is specifically configured to: respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece; and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
In one embodiment, the first connector is an impeller of a wind generating set and the second connector is a generator of the wind generating set; the control module is specifically configured to: and controlling the impeller of the wind generating set and the shaft money in the generator to keep a preset position relation according to the position relation of the first connecting piece and the second connecting piece.
In one embodiment, the angle between the plane of the impeller of the wind generating set and the central axis of the generator is a preset installation angle.
It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For the device embodiments, reference may be made to the description of the method embodiments in the relevant part. Embodiments of the invention are not limited to the specific steps and structures described above and shown in the drawings. Those skilled in the art may make various changes, modifications and additions or change the order between the steps after appreciating the spirit of the embodiments of the invention. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.
It is to be understood that embodiments of the invention are not limited to the specific configurations and processes described above and shown in the drawings. And a detailed description of known process techniques is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the embodiments of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art may make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the embodiments of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of an embodiment of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It will be appreciated by persons skilled in the art that the above embodiments are illustrative and not restrictive. Different features which are present in different embodiments may be combined to advantage. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art upon studying the drawings, the specification, and the claims. In the claims, the term "comprising" does not exclude other means or steps; the indefinite article "a" does not exclude a plurality; the terms "first" and "second" are used to denote a name and not to denote any particular order. Any reference signs in the claims shall not be construed as limiting the scope. The functions of the various parts appearing in the claims may be implemented by a single hardware or software module. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Claims (16)
1. A hoist control system for controlling the hoist operation of a wind generating set, the hoist control system comprising: the system comprises a first positioning module and a second positioning module which are respectively arranged on a first connecting piece and a second connecting piece in the wind generating set, a positioning reference station, and a control console which is in communication connection with the first positioning module, the second positioning module and the positioning reference station; wherein,
the first positioning module is used for acquiring the position data of the first connecting piece in real time;
the second positioning module is used for acquiring the position data of the second connecting piece in real time;
the positioning reference station is used for determining a position data correction value based on position data obtained by self positioning and self geographic position coordinates;
and the console is used for determining the position relation between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation between the first connecting piece and the second connecting piece.
2. The system of claim 1, wherein the console is specifically configured to:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece;
and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
3. The system of claim 1, wherein the console comprises a controller and a data transfer station communicatively coupled; wherein,
the data transmission station is in communication connection with the first positioning module, the second positioning module and the positioning reference station, and is configured to receive the position data of the first connecting piece sent by the first positioning module, the position data of the second connecting piece sent by the second positioning module and the position data correction value sent by the positioning reference station, and forward the position data of the first connecting piece, the position data of the second connecting piece and the position data correction value to the controller;
the controller is used for determining the position relation of the first connecting piece and the second connecting piece according to the received position data correction value, the position data of the first connecting piece and the position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
4. The system of claim 1, wherein the console comprises a controller and a data transfer station communicatively coupled; wherein,
the data transmission station is in communication connection with the first positioning module, the second positioning module and the positioning reference station, and is used for receiving the position data of the first connecting piece sent by the first positioning module, the position data of the second connecting piece sent by the second positioning module and the position data correction value sent by the positioning reference station, respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece, and sending the corrected position data of the first connecting piece and the corrected position data of the second connecting piece to the controller;
the controller is used for determining the position relation of the first connecting piece and the second connecting piece according to the received corrected position data of the first connecting piece and the corrected position data of the second connecting piece, and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
5. The system of claim 3 or 4, wherein the first connection is an impeller of the wind power plant and the second connection is a generator of the wind power plant;
the first positioning module comprises at least three impeller positioning modules, at least one impeller positioning module is arranged on a hub of the impeller, at least two impeller positioning modules are arranged on blades of the impeller, and the first positioning module determines the air attitude of the impeller of the wind generating set;
the second positioning module comprises at least one cabin positioning module, and the second positioning module determines the air position of the central axis of the generator of the wind generating set.
6. The system of claim 5, wherein the impeller sub-positioning modules on the blades are specifically disposed at the tip portion.
7. The system of claim 5, wherein the controller is specifically configured to: and determining the position relationship between the first connecting piece and the second connecting piece according to the received corrected position data of the first connecting piece and the corrected position data of the second connecting piece, and controlling an impeller of the wind generating set to keep a preset position relationship with a central axis of a generator according to the position relationship between the first connecting piece and the second connecting piece.
8. The system of claim 7, wherein the angle between the plane of the impeller of the wind turbine generator set and the central axis of the generator is a preset installation angle.
9. A hoisting control method is applied to the hoisting control system of any one of claims 1 to 8, and is characterized by comprising the following steps:
acquiring position data of a first connecting piece and position data of a second connecting piece in the wind generating set in real time;
acquiring a position data correction value for correcting the position data;
determining the position relation of the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece;
and controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
10. The method according to claim 9, wherein determining the positional relationship of the first link and the second link based on the position data correction value, the position data of the first link, and the position data of the second link comprises:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
11. The method of claim 9, wherein the first connection is an impeller of the wind turbine generator set and the second connection is a generator of the wind turbine generator set;
according to the position relation of the first connecting piece and the second connecting piece, the hoisting operation of the wind generating set is controlled, and the method comprises the following steps:
and controlling an impeller of the wind generating set to keep a preset position relation with a central axis of the generator according to the position relation of the first connecting piece and the second connecting piece.
12. The method according to claim 11, wherein the angle between the plane of the impeller of the wind turbine generator set and the central axis of the generator is a preset installation angle.
13. A hoisting control device applied to the hoisting control system of any one of claims 1-8, characterized by comprising:
the acquisition module is used for acquiring the position data of the first connecting piece and the position data of the second connecting piece in the wind generating set in real time;
the acquisition module is used for acquiring a position data correction value for correcting the position data;
the processing module is used for determining the position relation between the first connecting piece and the second connecting piece according to the position data correction value, the position data of the first connecting piece and the position data of the second connecting piece;
and the control module is used for controlling the hoisting operation of the wind generating set according to the position relation of the first connecting piece and the second connecting piece.
14. The apparatus of claim 13, wherein the processing module is specifically configured to:
respectively correcting the position data of the first connecting piece and the position data of the second connecting piece based on the position data correction value to obtain corrected position data of the first connecting piece and corrected position data of the second connecting piece;
and determining the position relation of the first connecting piece and the second connecting piece according to the corrected position data of the first connecting piece and the corrected position data of the second connecting piece.
15. The apparatus of claim 13, wherein the first connector is an impeller of the wind turbine generator set and the second connector is a generator of the wind turbine generator set;
the control module is specifically configured to: and controlling an impeller of the wind generating set to keep a preset position relation with a central axis of the generator according to the position relation of the first connecting piece and the second connecting piece.
16. The device of claim 15, wherein the angle between the plane of the impeller of the wind turbine generator set and the central axis of the generator is a preset installation angle.
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| CN201810096045.1A CN110092298B (en) | 2018-01-31 | 2018-01-31 | Hoisting control system, method and device |
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| CN115676627B (en) * | 2022-11-10 | 2023-05-05 | 广东粤水电新能源装备有限公司 | Intelligent wind generating set lifting auxiliary deviation rectifying system |
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| CN102536663A (en) * | 2010-12-20 | 2012-07-04 | 通用电气公司 | Method for controlling a wind turbine, and wind turbine arrangement |
| CN103147917A (en) * | 2013-02-26 | 2013-06-12 | 上海电机学院 | Blower state detecting system and method based on GPS |
| WO2016023781A1 (en) * | 2014-08-12 | 2016-02-18 | Wobben Properties Gmbh | Method for installing a rotor blade on a wind turbine |
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| WO2015165463A1 (en) * | 2014-04-28 | 2015-11-05 | Liftra Ip Aps | Method and device for automatic control of the position of a burden suspended in a main wire on a crane |
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|---|---|---|---|---|
| CN102536663A (en) * | 2010-12-20 | 2012-07-04 | 通用电气公司 | Method for controlling a wind turbine, and wind turbine arrangement |
| CN103147917A (en) * | 2013-02-26 | 2013-06-12 | 上海电机学院 | Blower state detecting system and method based on GPS |
| WO2016023781A1 (en) * | 2014-08-12 | 2016-02-18 | Wobben Properties Gmbh | Method for installing a rotor blade on a wind turbine |
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