Wind field measurement over complex landforms based on Multi-rotor Unmanned Aircraft
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摘要: 本文研究了利用多旋翼无人机搭载风速风向测量设备对不同地貌上空平面风场实测分析的方法。以北京市延庆区某试验基地内的测风塔为参考，首先对无人机测风准确性进行研究，其次取相同时间段内测风塔与不同测点位置无人机的实测风速风向数据进行正交分解处理，分析得到无人机和测风塔风速、湍流度的相互比值关系，通过测风塔数据和比值关系，可以推知空中不同测点的风速和风向数据，进而获得复杂地貌影响下的上空风场状况。实测结果表明：修正后无人机平均风速、平均风向与测风塔相比误差较小，无人机测量得到湍流度较测风塔更大，通过滑动平均法可以一定程度上减小无人机测得的湍流度；空中平面风场状况受地貌影响较大，复杂地貌上空风场波动更大。通过现场实测，初步验证了应用多旋翼无人机搭载风速仪在不同地貌上空实现空中平面风场测量的可行性，可为局部区域风场测量、风电场微观选址等提供新思路和新方法。Abstract: The purpose of this study is to explore the method of measuring planar wind field over different landforms based on Multi-rotor Unmanned Aircraft (MUA) equipped with a wind speed and direction measurement device. In this study, a wind tower of a test base in Yanqing, Beijing is used as a reference. Firstly, the accuracy of MUA wind measurement is studied. Then, the wind speed and direction measured by MUA at different measuring points and the wind tower in the same period are taken for orthogonal decomposition to obtain the ratio of wind speed and turbulence between MUA and the wind tower. Through the data of the wind tower and the ratio, the wind speed and direction of different positions are deduced, and the wind field over the complex landform is obtained. The results show that the error of MUA average wind speed and average wind direction after correction is smaller. The turbulence measured by MUA is larger than that measured by the wind tower, and the turbulence measured by MUA can be reduced partly by the moving average method. The wind field conditions are greatly affected by the landforms, and the wind field over complex landforms fluctuate more frequently. The study verifies the feasibility of using MUA equipped with an anemometer to measure the planar wind field over different landforms, which can provide reference ideas and methods for wind field measurement in a local area and micrositing of wind farms.
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图 5 测风塔、修正后无人机风速风向时程图
Figure 5. Wind speed and direction time history of wind tower and modified UAV
图 6 测风塔、滑动平均后无人机风速风向时程图
Figure 6. Wind speed and wind direction time history of wind tower and UAV after moving average
表 1 超声波风速仪参数
Table 1. Parameters of ultrasonic anemometer
型号 风速测量 风向测量 量程 精度 量程 精度 SA210 0~50 m/s 0.5 m/s
(v≤10 m/s)，
5%
(v >10 m/s)0~359° ±4°
(v≥3 m/s)WindSonic 0~60 m/s ±2% 0~359° ±3°
(v =12 m/s)
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表 2 风速标定结果
Table 2. Wind speed calibration results
控制风速/(m·s-1) 4 6 8 10 眼镜蛇探头风速/(m·s-1) 3.57 5.43 7.22 9.12 SA210风速/(m·s-1) 3.58 5.41 7.25 9.11 误差/% 0.28 －0.37 0.42 －0.11 眼镜蛇探头风速/(m·s-1) 3.63 5.44 7.32 9.25 WindSonic风速/(m·s-1) 3.65 5.42 7.34 9.28 误差/% 0.42 －0.38 0.16 0.27
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表 3 风速修正系数
Table 3. Correction coefficient of wind speed
风速区间/(m·s-1) [0, 6.5) [6.5, 7.5) [7.5, 8.5) [8.5, 9.5) [9.5, 10.5) [10.5, 11.5) [11.5, 12.5) 修正系数α 1.000 1.005 1.020 1.035 1.050 1.065 1.080
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表 4 无人机风速修正前后数据对比
Table 4. Data comparison before and after MUA wind speed correction
测风塔数据 无人机风速原始数据 无人机风速修正后数据 数值 绝对误差 相对误差 数值 绝对误差 相对误差 平均风速U 7.57 m/s 7.86 m/s 0.29 m/s 3.81% 7.61 m/s 0.04m/s 0.53% 平均风向 124.35° 127.84° 3.49° 2.81% 127.91° 3.56° 2.86% ux 6.25 m/s 6.21 m/s －0.04 m/s －0.70% 6.00 m/s -0.25m/s －4.00% uy －4.27 m/s －4.82 m/s －0.55 m/s 12.84% －4.67 m/s -0.40 m/s 9.37% σx 1.45 m/s 1.90 m/s 0.45 m/s 31.03% 1.75 m/s 0.30 m/s 20.69% Ix 19.09% 24.14% 5.05% 26.45% 22.98% 3.89% 20.38% σy 1.16 m/s 1.48 m/s 0.32 m/s 27.59% 1.43 m/s 0.27 m/s 23.28% Iy 15.32% 18.90% 3.58% 23.37% 18.77% 3.45% 22.52% 注：表中相对误差=100%×(无人机数据-测风塔数据)/测风塔数据；绝对误差=无人机数据-测风塔数据。
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表 5 无人机风向修正前后数据对比
Table 5. Data comparison before and after MUA wind direction correction
测风塔数据 无人机风向修正前数据 无人机风向修正后数据 数值 绝对误差 相对误差 数值 绝对误差 相对误差 平均风速U 7.57 m/s 7.61 m/s 0.04 m/s 0.53% 7.61 m/s 0.04m/s 0.53% 平均风向 124.35° 127.91° 3.56° 2.86% 24.42° 0.07° 0.06% ux 6.25 m/s 6.00 m/s －0.25 m/s －4.00% 6.28 m/s 0.03 m/s 0.48% uy －4.27 m/s －4.67 m/s －0.40 m/s 9.37% －4.30 m/s －0.03 m/s 0.70% σx 1.45 m/s 1.75 m/s 0.30 m/s 20.69% 1.79 m/s 0.34 m/s 23.45% Ix 19.09% 22.98% 3.89% 20.38% 23.54% 4.45% 23.31% σy 1.16 m/s 1.43 m/s 0.27 m/s 23.28% 1.37 m/s 0.21 m/s 18.10% Iy 15.32% 18.77% 3.45% 22.52% 18.06% 2.74% 15.17% 注：表中相对误差=100%×(无人机数据-测风塔数据)/测风塔数据；绝对误差=无人机数据-测风塔数据。
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表 6 无人机数据滑动平均修正前后结果对比
Table 6. Comparison of results before and after MUA data moving average correction
测风塔数据 滑动平均修正前数据 滑动平均修正后数据 数值 绝对误差 相对误差 数值 绝对误差 相对误差 平均风速U 7.57 m/s 7.61 m/s 0.04m/s 0.53% 7.61 m/s 0.04m/s 0.53% 平均风向 124.35° 124.42° 0.07° 0.06% 124.42° 0.07° 0.06% ux 6.25 m/s 6.28 m/s 0.03m/s 0.48% 6.28 m/s 0.03m/s 0.48% uy -4.27 m/s -4.30 m/s -0.03 m/s 0.70% -4.30 m/s -0.03 m/s 0.70% σx 1.45 m/s 1.79 m/s 0.34 m/s 23.45% 1.67 m/s 0.22 m/s 15.17% Ix 19.09% 23.54% 4.45% 23.31% 21.99% 2.90% 15.19% σy 1.16 m/s 1.37 m/s 0.21 m/s 18.10% 1.21 m/s 0.05 m/s 4.31% Iy 15.32% 18.06% 2.74% 15.17% 15.93% 0.61% 3.98% 注：表中相对误差=100%×(无人机数据-测风塔数据)/测风塔数据；绝对误差=无人机数据-测风塔数据
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表 7 x方向风速分量比CSx
Table 7. The ratio of wind speed component in x direction CSx
-100 -80 -60 -40 -20 0 20 40 60 80 100 100 0.956 0.926 0.903 0.991 0.908 1.021 0.895 0.900 0.899 0.889 0.981 80 0.914 0.970 1.045 0.993 0.925 1.002 1.048 0.919 0.967 0.893 0.904 60 0.910 0.889 0.900 0.868 1.044 0.980 0.948 0.917 0.942 0.885 0.889 40 0.912 0.991 1.000 0.931 0.881 0.910 0.930 0.956 0.955 0.864 0.927 20 0.966 0.968 0.876 0.877 0.919 0.895 0.906 0.868 0.886 0.879 0.915 0 0.892 0.966 0.956 0.920 0.949 1.000 0.939 0.947 0.934 0.903 0.918 -20 0.982 0.943 0.987 0.889 0.924 0.930 0.959 0.961 0.979 0.873 0.993 -40 1.020 0.952 0.938 0.896 0.952 0.902 1.027 0.941 0.943 0.940 0.917 -60 1.014 0.904 0.885 0.954 0.909 0.931 1.098 0.976 0.962 0.999 0.853 -80 0.925 0.943 0.918 0.955 0.970 0.884 1.025 0.928 0.954 0.971 0.960 -100 0.986 0.993 0.959 1.021 0.880 0.928 1.014 0.975 0.900 0.926 1.054
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表 8 y方向风速分量比CSy
Table 8. The ratio of wind speed component in y direction CSy
-100 -80 -60 -40 -20 0 20 40 60 80 100 100 0.734 0.671 2.498 0.563 1.266 0.924 0.993 1.045 0.925 1.022 0.930 80 0.927 0.872 3.540 0.180 1.119 1.073 0.887 0.970 1.108 1.130 0.938 60 0.730 3.181 0.987 1.166 0.708 1.093 1.074 0.913 0.965 0.988 1.164 40 0.909 2.162 1.152 0.758 0.940 0.931 0.965 1.086 0.941 1.042 0.904 20 1.051 0.676 1.251 0.897 3.313 0.959 1.138 1.047 1.021 0.858 0.997 0 0.842 1.148 3.467 0.964 0.871 1.000 0.767 1.104 0.756 0.931 1.309 -20 2.113 0.417 0.659 0.930 1.602 0.804 0.404 3.738 3.629 0.556 0.662 -40 0.731 0.357 1.148 0.672 0.993 0.543 0.798 0.672 1.247 1.290 0.376 -60 0.933 1.057 1.192 0.625 1.084 1.412 2.584 1.177 0.766 0.821 3.418 -80 2.141 0.734 1.157 3.119 0.983 0.116 1.498 0.522 0.330 0.695 0.761 -100 0.894 0.887 0.669 0.702 0.693 0.506 1.438 0.865 1.278 0.880 1.473
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表 9 风向比CD
Table 9. The ratio of wind direction CD
-100 -80 -60 -40 -20 0 20 40 60 80 100 100 0.979 0.988 0.987 0.989 0.987 1.008 0.988 0.979 0.991 0.981 1.000 80 1.001 0.991 0.992 0.988 1.002 0.995 1.009 0.988 0.984 0.977 0.995 60 0.981 0.977 0.994 1.000 0.987 0.988 0.987 0.995 0.993 0.986 0.981 40 1.000 0.987 0.997 0.995 1.005 0.997 0.993 0.984 0.997 0.981 0.998 20 1.002 0.988 0.979 1.001 0.991 0.994 0.978 0.982 0.983 0.998 0.990 0 0.995 1.008 0.996 1.002 0.996 1.000 1.007 0.986 1.015 0.993 0.972 -20 1.005 0.982 0.995 1.005 1.003 0.996 0.984 1.012 0.985 0.996 1.002 -40 0.995 0.986 1.007 0.986 1.004 0.994 1.005 1.011 1.015 1.008 0.986 -60 1.001 0.997 0.994 1.000 0.990 0.982 0.985 0.995 1.004 1.002 1.003 -80 0.987 1.001 0.999 0.987 1.000 0.979 0.998 1.008 1.008 1.004 0.997 -100 0.996 0.997 0.990 0.994 0.991 0.981 1.002 0.973 0.990 1.000 0.997
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表 10 x方向湍流度分量比CTx
Table 10. The ratio of turbulence component in x direction CTx
-100 -80 -60 -40 -20 0 20 40 60 80 100 100 1.074 1.365 0.853 1.209 0.844 1.119 1.281 1.039 1.355 0.878 1.187 80 1.281 1.314 1.057 1.047 1.050 0.769 0.678 0.830 0.989 1.123 0.975 60 1.041 1.106 0.879 0.908 0.970 1.045 0.946 0.925 1.039 0.998 1.537 40 1.111 1.192 1.186 0.811 1.226 0.827 0.948 1.123 0.553 1.297 1.010 20 1.172 1.099 1.155 1.144 0.851 0.753 1.027 1.171 1.172 0.747 1.215 0 1.123 0.935 0.917 1.269 0.722 1.000 0.942 0.916 1.250 0.947 0.917 -20 0.633 1.019 1.028 1.164 0.976 1.096 1.431 1.644 0.714 1.260 1.155 -40 0.932 0.960 0.671 0.816 0.642 0.663 0.540 1.017 1.285 1.194 1.306 -60 0.993 1.126 0.699 0.731 0.920 1.038 0.806 1.034 0.789 0.755 0.994 -80 1.005 0.931 0.953 0.764 0.565 0.772 0.755 0.821 1.319 0.874 0.697 -100 0.784 0.665 0.753 1.316 0.737 1.449 0.881 0.855 0.949 1.286 0.945
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表 11 y方向湍流度分量比CTy
Table 11. The ratio of turbulence component in y direction CTy
-100 -80 -60 -40 -20 0 20 40 60 80 100 100 0.814 1.013 0.682 1.242 1.337 0.617 1.245 1.074 0.613 0.498 0.691 80 0.693 0.579 0.955 0.865 0.716 1.011 0.804 0.769 1.035 0.855 1.062 60 1.050 0.866 1.043 0.439 0.568 0.944 1.035 1.010 0.800 0.898 0.749 40 0.695 0.740 0.580 1.217 0.517 1.185 1.066 0.746 0.691 0.770 0.689 20 0.900 0.609 0.454 0.860 0.751 1.225 0.671 1.615 1.130 0.733 0.408 0 0.694 1.134 0.942 0.831 1.151 1.000 1.112 0.774 0.791 1.035 1.198 -20 0.791 0.541 0.911 1.044 1.026 0.832 1.165 1.047 1.328 1.064 1.091 -40 0.891 1.278 0.912 0.818 0.774 0.999 1.029 0.805 0.998 0.469 0.789 -60 0.754 0.905 0.713 0.583 1.211 0.757 1.076 1.195 0.374 1.240 1.175 -80 1.084 0.704 0.676 1.240 0.731 0.873 1.012 1.022 0.780 0.636 1.091 -100 0.467 0.872 0.644 0.594 0.954 0.953 1.270 1.322 0.597 1.007 1.019
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