Blade monitoring by actively promoting blade vibrations
Techniques are provided for monitoring blades of a wind turbine by actively promoting blade vibrations by imposing a pitch actuation signal. A method of operating a wind turbine is disclosed where for each blade of a wind turbine, vibrations of the blade are actively promoted by imposing a pitch actuation signal to the pitch actuator, and at least one parameter relating to the blade vibration is determined.
1. A method of operating a wind turbine, the wind turbine comprising a rotor with at least one pitch adjustable rotor blade, where the at least one pitch adjustable rotor blade comprises a pitch actuator for adjusting a pitch angle, the method comprising:
applying a pitch actuation signal to the pitch actuator, the pitch actuation signal being conditioned to promote active blade vibration; and
determining at least one parameter relating to the active blade vibration, wherein promoting the active blade vibration is conducted by:
receiving an edgewise load signal for the at least one pitch adjustable rotor blade, the edgewise load signal being measured in a rotating reference frame;
applying an m-blade coordinate transformation to the edgewise load signal to transform the edgewise load signal to a whirling reference frame along a first and a second reference direction;
selecting a signal component of either the first or the second reference direction to obtain a selected signal component;
filtering the selected signal component at either a backward whirling frequency or a forward whirling frequency to obtain a filtered signal component;
applying an inverse m-blade coordinate transformation to the filtered signal component to obtain a pitch modification signal; and
setting the pitch modification signal the pitch actuation signal for the at least one pitch adjustable rotor blade to actively promote blade vibrations.
2. The method of claim 1 , wherein while the pitch actuation signal is being applied, a selected monitoring parameter is monitored, and when the selected monitoring parameter reaches a threshold, promotion of the active blade vibration is stopped.
3. The method of claim 1 , wherein a selected monitoring parameter is detected, and wherein the at least one parameter relating to the active blade vibration is determined on g basis of a decay of the selected monitoring parameter.
4. The method of claim 1 , wherein the determination of the at least one parameter is based on a sensor signal.
5. The method of claim 1 , wherein the pitch actuation signal is a time varied signal.
6. The method of claim 1 , wherein the application of the pitch actuation signal is correlated with a blade position in a rotor plane of the rotor, such that the application of the pitch actuation signal is conducted in a predefined angular range within the rotor plane.
7. The method of claim 1 , wherein the rotor is rotating at a controlled speed, and wherein Dromotion of the active blade vibration is conducted while the rotor is rotating.
8. The method of claim 1 , wherein the filtering of the selected signal component comprises applying a bandpass filter at the backward whirling frequency or the forward whirling frequency.
9. The method of claim 1 , wherein the determination of the at least one parameter relating to the active blade vibration is done a number of times to establish a baseline for the at least one parameter relating to the active blade vibration, and wherein after a period of operation has endured, a test determination of the at least one parameter relating to the active blade vibration is done and compared to the baseline.
10. The method of claim 9 , wherein the test determination is done by using a distance measure between the test determination of the at least one parameter and the baseline.
11. The method of claim 1 , wherein the method further comprises detecting an operational condition of the wind turbine, and when the operational condition fulfils a test criterion, the method is automatically performed.
12. The method of claim 11 , wherein the operational condition is selected as one of a low wind condition and a service mode.
13. A control system for a wind turbine, the wind turbine comprising a rotor with at least one pitch adjustable rotor blade, where the at least one pitch adjustable rotor blade comprises a pitch actuator for adjusting a pitch angle; the control system comprising:
a pitch actuation unit being configured to actively promote blade vibration in response to a pitch actuation signal being applied to the pitch actuator; and
a control module being configured to determine at least one parameter relating to the active blade vibration, wherein promoting the active blade vibration is conducted by:
receiving an edgewise load signal for the at least one pitch adjustable rotor blade, the edgewise load signal being measured in a rotating reference frame;
applying an m-blade coordinate transformation to the edgewise load signal to transform the edgewise load signal to a whirling reference frame along a first and a second reference direction;
selecting p signal component of either the first or the second reference direction to obtain a selected signal component;
filtering the selected signal component at either a backward whirling frequency or a forward whirling frequency to obtain a filtered signal component;
applying an inverse m-blade coordinate transformation to the filtered signal component to obtain a pitch modification signal; and
setting the pitch modification signal the pitch actuation signal for the at least one pitch adjustable rotor blade to actively promote blade vibrations.
14. The control system of claim 13 , wherein the control module is configured to stop promotion of the active blade vibration when the at least one parameter reaches a threshold.
15. The control system of claim 13 , the control module is configured to determine the at least one parameter by monitoring a decay of the at least one parameter.
16. The control system of claim 13 , wherein the pitch actuation signal is a time varied signal.
17. A computer program product comprising a non-transitory computer readable medium storing software code which, when executed on a data processing system, performs an operation controlling a wind turbine, the wind turbine comprising a rotor with at least one pitch adjustable rotor blade, where the at least one pitch adjustable rotor blade comprises a pitch actuator for adjusting a pitch angle; the operation comprising:
applying a pitch actuation signal to the pitch actuator, the pitch actuation signal being conditioned to actively promote blade vibration on the at least one pitch adjustable rotor blade; and
determining at least one parameter relating to the active blade vibration, wherein promoting the active blade vibration is conducted by:
receiving an edgewise load signal for the at least one pitch adjustable rotor blade, the edgewise load signal being measured in a rotating reference frame;
applying an m-blade coordinate transformation to the edgewise load signal to transform the edgewise load signal to a whirling reference frame along a first and a second reference direction;
selecting a signal component of either the first or the second reference direction to obtain a selected signal component;
filtering the selected signal component at either a backward whirling frequency or a forward whirling frequency to obtain a filtered signal component;
applying an inverse m-blade coordinate transformation to the filtered signal component to obtain a pitch modification signal; and
setting the pitch modification signal the pitch actuation signal for the at least one pitch adjustable rotor blade to actively promote blade vibrations.