High-speed Video Measurement Method of Attitude Angle Applied to Floating Offshore Wind Turbine Model Wind-Wave Tank Test

Qing Zhong, Jiahao Liu, Peng Chen
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Abstract

During the wind-wave tank model test of floating offshore wind turbine (FOWT), acquiring the model attitude angles is one of the key objectives. Due to the environment of the wind-wave tank, there are inevitable shortcomings of traditional contact sensors, such as difficult installation, increased model weight, limited sampling frequency, and incomplete data acquisition. In this paper, a vision-based technology is presented, which mainly consists of (1) construct a high-speed video acquisition network; (2) identify, track and match the circular landmarks on the sequence image, and obtain three-dimensional coordinates of the spatial points using the spatial point reconstruction algorithm; (3) propose a method for computing model attitude angles in sequence images to obtain the pose of the model in each frame; (4) deduce the theoretical accuracy of attitude angle from the obtained accuracy of landmarks, and propose a way to improve the accuracy of landmarks. The model attitude angle acquisition method is verified by experimental measurements of a wind-wave tank model with a 1:50 Spar-type floating wind turbine model, the results show that the point measurement accuracy can reach sub-millimeter level, and the difference between the attitude angle measurement value and the theoretical value is less than 2.34′, which meets the testing requirements. The method proposed can be further extended to the attitude angle measurement in various wind tunnel pool tests.
浮式海上风电模型风浪箱试验中姿态角高速视频测量方法
在浮式海上风力机风箱模型试验中,模型姿态角的获取是关键目标之一。由于风浪罐所处的环境,传统接触式传感器不可避免地存在安装困难、模型重量增加、采样频率受限、数据采集不完整等缺点。本文提出了一种基于视觉的视频采集技术,主要包括:(1)构建高速视频采集网络;(2)对序列图像上的圆形地标进行识别、跟踪和匹配,利用空间点重建算法获得空间点的三维坐标;(3)提出了一种计算序列图像中模型姿态角的方法,以获得模型在每一帧中的位姿;(4)从得到的地标精度推导出姿态角的理论精度,并提出了提高地标精度的方法。通过对风浪箱模型与1:50桅杆式浮式风力机模型的实验测量验证了模型姿态角采集方法,结果表明,点测量精度可达到亚毫米级,姿态角测量值与理论值的差值小于2.34′,满足试验要求。该方法可进一步推广到各种风洞池试验的姿态角测量中。
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