针对内蒙古等北方高寒地区风电机组叶片覆冰问题,提出风电机组叶片的无人机除冰喷射控制系统。基于STM32F103基础,设计无人机除冰控制系统,从除冰剂喷射控制、传感器采集数据实时监测、遥控操作及装置安全控制等功能需求出发,制定系统方案并完成除冰控制系统总体设计,针对试验中流量控制存在的问题对除冰控制系统的PWM驱动控制部分进行软硬件优化,采用离散式PID控制算法,负反馈闭环控制系统提高流量精度和除冰效率。完成除冰控制装置整合及系统调试,搭建实验平台,选择八旋翼无人机载具并进行参数设置及飞行测试,最终完成整个除冰无人机设备整合,实现精准局部除冰。
Abstract
For the problem of wind turbine blade ice covering in the northern alpine regions such as Inner Mongolia, the unmanned deicing control system for wind turbine blades is proposed for the first time in China. Based on the STM32F103 foundation, the UAV deicing control system is designed, and the de-icing control system design scheme is given from the functional requirements of deicer injection control, real-time monitoring of sensor collection data, remote operation and device safety control, etc. The software and hardware system optimization design is carried out for the designed de-icing control PWM drive control part, using discrete PID control algorithm and negative feedback closed-loop control The system improves flow accuracy and de-icing efficiency. The integration of the deicing control device and system debugging are completed, the experimental platform is built, the eight-rotor UAV carrier is selected and parameter setting and flight testing are carried out, and the integration of the whole de-icing UAV equipment is finally completed to achieve accurate local de-icing.
关键词
风电机组叶片 /
无人机 /
除冰控制系统 /
STM32F103 /
脉宽调制 /
离散式PID控制算法
Key words
wind turbine blades /
UAV /
deicing control system /
STM32F103 /
pulse width modulation（PWM） /
discrete PID control algorithm
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基金
内蒙古自治区科技计划攻关项目（2020GG0314）
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