Method, system and readable storage medium for determining performance index of yaw system

Abstract

The present application provides a method, a system and a readable storage medium for determining the performance indicators of a yaw system. The method for determining the performance indicators of the yaw system includes: obtaining the pre-tightening force of the yaw caliper of the yaw system. Determining the sequential frictional torque of the yaw caliper according to the yaw timing load and the pre-tightening force of the yaw system. Determining the yaw motor timing load of the yaw system according to the sequential frictional torque and the yaw state of the yaw system, where the yaw state includes downwind yaw, upwind yaw and non-yaw. Determining the performance indicators of the yaw system under the pre-tightening force according to the yaw motor timing load.

Description

Technical Field

[0001] This application relates to the technical field of wind power, and particularly to a method, a system, and a readable storage medium for determining the performance indicators of a yaw system. Background Art

[0002] With the gradual depletion of energy sources such as coal and oil, humans have increasingly attached importance to the utilization of renewable energy. As a clean renewable energy source, wind energy has been increasingly valued by countries around the world. It is very suitable and promising to utilize wind power generation according to local conditions. Wind power generation refers to converting the kinetic energy of the wind into electrical energy by using wind turbines.

[0003] The yaw system is a part of a wind turbine. Its function is to quickly and smoothly align the wind turbine rotor with the wind direction when the direction of the wind speed vector changes, so that the wind turbine rotor can obtain the maximum wind energy.

[0004] During the design process of a wind turbine, the pre-tightening force of the pre-tightening bolts of the yaw caliper in the yaw system is often determined based on the experience of the designer, lacking a design basis and having room for optimization. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a method, a system, and a readable storage medium for determining the performance indicators of a yaw system that can provide a basis for the design of the pre-tightening force of the pre-tightening bolts of the yaw caliper.

[0006] The embodiments of this application provide a method for determining the performance indicators of a yaw system, including:

[0007] Obtain the pre-tightening force of the yaw caliper of the yaw system;

[0008] Determine the time-sequential frictional torque of the yaw caliper according to the yaw time-sequential load of the yaw system and the pre-tightening force;

[0009] Determine the yaw motor time-sequential load of the yaw system according to the time-sequential frictional torque and the yaw state of the yaw system, where the yaw state includes downwind yaw, upwind yaw, and non-yaw;

[0010] Determine the performance indicators of the yaw system under the pre-tightening force according to the yaw motor time-sequential load.

[0011] Optionally, the performance indicators of the yaw system include the coverage ratio of the rated driving capacity of the yaw motor, and the coverage ratio of the rated driving capacity is the ratio of the coverage duration of the rated driving capacity of the yaw motor to the working duration of the yaw motor;

[0012] The step of determining the performance indicators of the yaw system under the pre-tightening force according to the yaw motor time-sequential load includes:

[0013] Determine the rated load according to the rated torque of the yaw motor;

[0014] Accumulate the moments when the load in the yaw motor time-series load is lower than the rated load, which is the coverage moment;

[0015] Determine the product of the coverage moment and the unit time duration to obtain the rated driving ability coverage duration of the yaw motor;

[0016] Determine the rated driving ability coverage ratio of the yaw motor according to the rated driving ability coverage duration of the yaw motor and the working duration of the yaw motor.

[0017] Optionally, the performance index of the yaw system includes the non-starting duration of the yaw motor;

[0018] The determining of the performance index of the yaw system under the pre-tightening force according to the yaw motor time-series load includes:

[0019] Determine the starting load according to the starting torque of the yaw motor;

[0020] Accumulate the moments when the load in the yaw motor time-series load is greater than the starting load, which is the non-starting moment of the yaw motor;

[0021] Determine the product of the non-starting moment and the unit time duration to obtain the non-starting duration of the yaw motor.

[0022] Optionally, the performance index of the yaw system includes the slipping duration of the yaw system;

[0023] The method further includes:

[0024] Accumulate the moments when the torque of the wind in the yaw time-series load is greater than the sum of the time-series frictional torque and the locking torque of the yaw motor, which is the slipping moment;

[0025] Determine the product of the slipping moment and the unit time duration to obtain the slipping duration of the yaw system.

[0026] Optionally, the performance index of the yaw system includes the static strength safety factor of the gear of the yaw motor;

[0027] The determining of the performance index of the yaw system under the pre-tightening force according to the yaw motor time-series load includes:

[0028] Determine the yaw motor limit load according to the yaw limit load in the yaw time-series load;

[0029] Determine the static strength safety factor of the gear according to the yaw motor limit load and the design strength of the yaw motor.

[0030] Optionally, the performance indicators of the yaw system include the static strength safety factor of the yaw bearing of the yaw system;

[0031] Determining the performance indicators of the yaw system under the preload force according to the yaw motor time-sequential load includes:

[0032] Determining the yaw motor ultimate load according to the yaw ultimate load in the yaw time-sequential load;

[0033] Determining the static strength safety factor of the yaw bearing according to the yaw motor ultimate load and the design strength of the yaw bearing of the yaw system;

[0034] Optionally, the performance indicators of the yaw system include the gear fatigue strength safety factor of the yaw motor and / or the yaw bearing fatigue strength safety factor of the yaw bearing of the yaw system;

[0035] Determining the performance indicators of the yaw system under the preload force according to the yaw motor time-sequential load includes:

[0036] Determining the gear fatigue strength safety factor and / or the yaw bearing fatigue strength safety factor according to the yaw motor time-sequential load and the fatigue cumulative damage law.

[0037] Optionally, the yaw caliper includes a plurality of friction plates, and the plurality of friction plates are respectively connected to the yaw bearing of the yaw system;

[0038] Determining the time-sequential frictional torque of the yaw caliper according to the yaw time-sequential load of the yaw system and the preload force includes:

[0039] Determining the normal pressure of the plurality of friction plates according to the yaw time-sequential load and the preload force;

[0040] Determining the time-sequential frictional torque of the yaw caliper according to the normal pressure of the plurality of friction plates.

[0041] The embodiment of the present application provides a system for determining the performance indicators of a yaw system: including one or more processors for implementing the method for determining the performance indicators of the yaw system described in any one of the above.

[0042] The embodiment of the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the method for determining the performance indicators of the yaw system described in any one of the above is implemented.

[0043] The method for determining the performance indicators of the yaw system provided by the embodiments of the present application determines the timing frictional torque of the yaw caliper through the yaw timing load and the pre-tightening force of the yaw caliper, determines the yaw motor timing load in combination with the yaw state of the yaw system, and further determines the performance indicators of the yaw system under the pre-tightening force, which can reflect the influence of the pre-tightening force on the performance indicators of the yaw system. The performance indicators of the yaw system determined according to the pre-tightening force can provide a basis for designing the pre-tightening force of the pre-tightening bolt of the yaw caliper and optimize the pre-tightening force of the yaw caliper. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The figure shows a schematic three-dimensional structure diagram of a wind turbine shown in an embodiment of the present application;

[0045] Figure 2 The figure shows a schematic flow diagram of a method for determining the performance indicators of a yaw system shown in an embodiment of the present application;

[0046] Figure 3 As shown Figure 2 The figure shows a schematic flow diagram of determining the timing frictional torque of the yaw caliper;

[0047] Figure 4 As shown Figure 2 The figure shows a schematic flow diagram of determining the coverage ratio of the rated driving capacity of the yaw motor in the performance indicators of the yaw system;

[0048] Figure 5 As shown Figure 2 The figure shows a schematic flow diagram of determining the non-starting duration of the yaw motor in the performance indicators of the yaw system;

[0049] Figure 6 The figure shows a schematic flow diagram of determining the slipping duration of the yaw system;

[0050] Figure 7 As shown Figure 2 The figure shows a schematic flow diagram of determining the static strength safety factor of the gear in the performance indicators of the yaw system;

[0051] Figure 8 As shown Figure 2 The figure shows a schematic flow diagram of determining the static strength safety factor of the yaw bearing in the performance indicators of the yaw system;

[0052] Figure 9 It is a block diagram of a system for determining the performance indicators of a yaw system according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0054] The terms used in the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the present application should have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The terms "first", "second" and similar terms used in the specification and claims of the present application do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "an" do not denote a limitation of quantity, but mean that there is at least one. "Plurality" or "several" means two or more. The terms "comprising" or "including" and similar terms are intended to cover the elements or items appearing before "comprising" or "including" and the equivalent elements or items listed after "comprising" or "including", and do not exclude other elements or items. The terms "connected" or "coupled" and similar terms are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms "a", "the" and "said" used in the specification and claims of the present application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0055] The method for determining the performance index of the yaw system in the embodiment of the present application includes: obtaining the pre-tightening force of the yaw caliper of the yaw system. Determining the time-sequential frictional torque of the yaw caliper according to the yaw time-sequential load and the pre-tightening force of the yaw system. Determining the yaw motor time-sequential load of the yaw system according to the time-sequential frictional torque and the yaw state of the yaw system, where the yaw state includes downwind yaw, upwind yaw and non-yaw. Determining the performance index of the yaw system under the pre-tightening force according to the yaw motor time-sequential load.

[0056] The method for determining the performance index of the yaw system provided in the embodiment of the present application determines the time-sequential frictional torque of the yaw caliper through the yaw time-sequential load and the pre-tightening force of the yaw caliper, combines the yaw state of the yaw system to determine the yaw motor time-sequential load, and further determines the performance index of the yaw system under the pre-tightening force, which can reflect the influence of the pre-tightening force on the performance index of the yaw system. The performance index of the yaw system determined according to the pre-tightening force can provide a basis for designing the pre-tightening force of the pre-tightening bolt of the yaw caliper and optimize the pre-tightening force of the yaw caliper.

[0057] The present application provides a method, a system and a computer-readable storage medium for determining the performance index of a yaw system. The present application will be described in detail below with reference to the accompanying drawings.

[0058] Figure 1 A wind turbine 10 according to an embodiment of the present application includes a tower 20, a nacelle 21, and a wind wheel 22. Among them, the nacelle 21 is installed on the top of the tower 20, and the tower 20 supports the nacelle 21. The wind wheel 22 is installed on the nacelle 21, and the wind wheel 22 includes a hub 25 and blades 26 installed on the hub 25. In this embodiment, the wind wheel 22 is installed at the front of the nacelle 21. In other embodiments, the wind wheel 22 may also be installed at the rear of the nacelle 21. The number of the blades 26 is three. In other examples, the number of the blades 26 may be set according to actual situations.

[0059] The wind wheel 22 is a component that converts the kinetic energy of the wind into mechanical energy. When the wind blows on the blades 26, aerodynamic forces are generated on the blades 26 to drive the wind wheel 22 to rotate. A generator connected to the wind wheel 22 may be provided in the nacelle 21. The rotation of the wind wheel 22 drives the rotor inside the generator to rotate, thereby realizing power generation.

[0060] During the power generation process of the wind turbine 10, when the direction of the wind speed vector changes, the yaw system (not shown) of the wind turbine 10 aligns the wind wheel 22 of the wind turbine 10 with the wind. The yaw system includes a yaw motor, a yaw bearing, a yaw gear, etc. The yaw bearing is fixedly connected to the chassis of the nacelle 21; the yaw gear is integrated on the periphery of the yaw bearing. The yaw motor includes a yaw motor gear fixedly connected to the output shaft of the yaw motor, and the yaw motor gear meshes with the yaw gear. When the wind turbine 10 needs to yaw, the yaw motor drives the yaw bearing to rotate, so that the nacelle 21 rotates around the axis of the tower 20 to achieve the purpose of aligning with the wind.

[0061] See Figure 2 As shown, an embodiment of the present application provides a method 100 for determining the performance index of a yaw system. The method 100 for determining the performance index of a yaw system includes steps S101 to S104.

[0062] Among them, in step S101, the pre-tightening force of the yaw caliper of the yaw system is obtained.

[0063] The yaw caliper of the yaw system may include a friction plate and a pre-tightening bolt. The friction plate abuts against the yaw bearing, and the frictional torque of the yaw caliper on the yaw bearing can be adjusted by adjusting the pre-tightening force of the pre-tightening bolt. Applying a frictional torque to the yaw bearing can make the yaw bearing rotate smoothly and with damping during the yaw process, which is beneficial to maintaining the stability of the yaw system. The pre-tightening force can be set by the user. Multiple different pre-tightening forces can be obtained.

[0064] In some embodiments, the yaw system may include a plurality of yaw calipers, and the yaw calipers may include a plurality of pre-tightening bolts. The pre-tightening forces of the plurality of pre-tightening bolts may be the same or different. In some embodiments, the pre-tightening force of the pre-tightening bolt may also be represented by the pre-tightening torque of the pre-tightening bolt.

[0065] In step S102, according to the yaw timing load and the pre-tightening force of the yaw system, determine the timing friction torque of the yaw caliper. The yaw timing load may include F X 、F y 、F z 、M X 、M y 、M Z where F X 、F y 、F z respectively represent the forces in the x, y, and z directions, and M X 、M y 、M Z respectively represent the torques in the x, y, and z directions. The yaw timing load may be the yaw load of the wind turbine 10 within a time period. For example, the time period may be 3 months, half a year, etc. In some embodiments, the wind turbine 10 collects the yaw load of the yaw system every 30S. Therefore, the yaw timing load at a certain moment may represent the yaw load within 30S including this moment.

[0066] Please refer to Figure 3 In some embodiments, the timing friction torque of the yaw caliper can be obtained through the following method steps S201 to S202.

[0067] In step S201, according to the yaw timing load and the pre-tightening force, determine the normal pressure of the plurality of friction plates. The yaw caliper may include a plurality of friction plates, and the plurality of friction plates are respectively in contact with the yaw bearing of the yaw system. The plurality of friction plates are respectively in contact with the yaw bearing of the yaw system. In some embodiments, the yaw caliper includes three friction plates, including an upper friction plate located above the yaw bearing, a lower friction plate located below the yaw bearing, and a side friction plate located on the side of the yaw bearing. According to the currently set pre-tightening force and the yaw timing load, calculate the normal pressures on the upper friction plate, the lower friction plate, and the side friction plate. In some embodiments, the yaw caliper may also include two friction plates, four friction plates, etc.

[0068] In step S202, according to the normal pressure of multiple friction plates, the timing frictional torque of the yaw caliper is determined. The yaw load of the yaw timing load corresponds to its moment, so the normal pressure on multiple friction plates also corresponds to the moment of the yaw timing load. According to the normal pressure of the friction plates at different moments, the timing frictional torque of the yaw caliper can be determined. The timing frictional torque indicates that the frictional torque of the yaw caliper corresponds to the moment. The timing frictional torque is the sum of the frictional torques of multiple friction plates. Among them, the frictional torque of the friction plate can be obtained by the formula frictional torque = friction coefficient * lever arm * normal pressure. Among them, the friction coefficient can be determined according to the material of the friction plate, and the lever arm can be the distance from each friction plate to the center of the tower. In this way, the timing frictional torque of the yaw caliper can be obtained through the yaw timing load, which is convenient for calculating the yaw motor timing load in different yaw states.

[0069] Return Figure 2 , in step S103, according to the timing frictional torque and the yaw state of the yaw system, the yaw motor timing load of the yaw system is determined, where the yaw state includes downwind yaw, upwind yaw, and non-yaw.

[0070] The main control system of the wind turbine 10 can control the yaw system to work in different yaw states.

[0071] When the yaw state is non-yaw, the yaw system needs to keep the yaw bearing stationary so that the nacelle of the wind turbine 10 does not rotate. When the yaw system is non-yaw, a locking torque needs to be applied to the output shaft of the yaw motor. If the torque of the wind is greater than the sum of the timing frictional torque and the locking torque, the torque of the wind drives the yaw bearing to rotate, and the yaw bearing and the yaw caliper slip. Among them, the torque of the wind can be obtained through the yaw timing load. The yaw motor timing load can be obtained by the formula yaw motor timing load = acceleration * moment of inertia, where the acceleration is the acceleration of the yaw motor gear rotation. Also, the yaw gear meshes with the yaw motor gear, and the acceleration of the yaw motor gear rotation can be obtained through the acceleration of the yaw bearing, and the acceleration of the yaw bearing rotation can be obtained through the yaw bearing acceleration sensor. In some embodiments, the acceleration of the yaw motor gear rotation can be obtained through the yaw motor acceleration sensor.

[0072] When the yaw system yaws, the locking torque applied to the output shaft of the yaw motor is cancelled so that the yaw motor can drive the yaw bearing to rotate to achieve the purpose of yawing.

[0073] When the yaw state of the yaw system is leeward yaw, the yaw motor sequential load can be calculated by calculating the yaw motor sequential torque, and the yaw motor sequential load can be calculated according to the yaw motor sequential torque. Among them, the yaw motor sequential torque can be obtained through the formula yaw motor sequential torque = sequential friction torque - torque of the wind in the yaw sequential load; the yaw motor sequential load can represent the load at the root of the teeth of the yaw motor gear. Using the yaw motor sequential torque in the leeward yaw state, according to the ISO standard (International Organization for Standardization) or other standards, the yaw motor sequential load in the leeward yaw state can be obtained.

[0074] When the yaw state of the yaw system is windward yaw, the yaw motor sequential load can be calculated by calculating the yaw motor sequential torque, and the yaw motor sequential load can be calculated according to the yaw motor sequential torque. Among them, the yaw motor sequential torque can be obtained through the formula yaw motor sequential torque = sequential friction torque + torque of the wind in the yaw sequential load; the yaw motor sequential load can represent the load at the root of the teeth of the yaw motor gear. Using the yaw motor sequential torque in the windward yaw state, according to the ISO standard (International Organization for Standardization) or other standards, the yaw motor sequential load in the windward yaw state can be obtained.

[0075] In some embodiments, half of the yaw load data in the yaw sequential load can be used to calculate the yaw motor sequential load in the leeward yaw state, and the other half of the yaw load data in the yaw sequential load can be used to calculate the yaw motor sequential load in the windward yaw state. In this way, the yaw sequential load of the yaw system in the windward yaw state and the leeward yaw state can be obtained.

[0076] In some embodiments, the yaw motor sequential loads in different yaw states can be statistically analyzed to obtain the yaw motor load cumulative time load sequence. In some embodiments, different yaw motor load cumulative time load sequences can be obtained according to different statistical requirements. In this way, the visualization degree of the yaw motor load can be improved, and the yaw motor sequential load can be effectively utilized.

[0077] In step S104, according to the yaw motor sequential load, determine the performance index of the yaw system under the pre-tightening force.

[0078] The method for determining the yaw motor load in the embodiments of the present application determines the timing friction torque of the yaw caliper through the yaw timing load and the pre-tightening force of the yaw caliper, determines the yaw motor timing load in combination with the yaw state of the yaw system, and further determines the performance index of the yaw system under the pre-tightening force, which can reflect the influence of the pre-tightening force on the performance index of the yaw system. The performance index of the yaw system determined according to the pre-tightening force can provide a basis for designing the pre-tightening force of the pre-tightening bolt of the yaw caliper and optimize the pre-tightening force of the yaw caliper.

[0079] In some embodiments, the performance index of the yaw system includes the coverage ratio of the rated driving ability of the yaw motor. The coverage ratio of the rated driving ability is the ratio of the coverage duration of the rated driving ability of the yaw motor to the working duration of the yaw motor.

[0080] Please refer to Figure 4 , the coverage ratio of the rated driving ability of the yaw motor can be obtained through steps S401 to S404.

[0081] In step S401, according to the rated torque of the yaw motor, the rated load is determined. The rated torque of the yaw motor can be obtained according to the fixed parameters of the yaw motor. The rated load can be calculated according to the rated torque and the parameters of the yaw motor gear using the ISO standard (International Organization for Standardization) or other standards.

[0082] In step S402, the moments when the load in the yaw motor timing load is lower than the rated load are accumulated as the coverage moments. The yaw motor timing load is compared with the rated load. If the load at a certain moment of the yaw motor timing load is less than the rated load, this moment is accumulated, and finally the coverage moments are obtained. In some implementations, the coverage moments can also include the number of moments when the load in the yaw motor timing load is lower than the rated load.

[0083] In step S403, the product of the coverage moments and the unit duration is determined to obtain the coverage duration of the rated driving ability of the yaw motor. In this way, the duration that the rated torque of the yaw motor can cover under the current pre-tightening force of the yaw caliper can be obtained. The coverage duration of the rated driving ability can be obtained by multiplying the coverage moments by the unit duration. In some embodiments, the coverage duration of the rated driving ability of the yaw motor can also be obtained by multiplying the number of moments when the load in the yaw motor timing load is lower than the rated load by the unit duration. In some embodiments, the unit duration can be the same as the time interval of the yaw timing load. For example, the unit duration can be 30S, 60S, etc.

[0084] In step S404, based on the rated driving ability coverage duration of the yaw motor and the working duration of the yaw motor, determine the rated driving ability coverage ratio of the yaw motor. It can be determined by the formula: rated driving ability coverage ratio of the yaw motor = rated driving ability coverage duration of the yaw motor / working duration of the yaw motor. In some embodiments, the working duration of the yaw motor can be equal to the total duration corresponding to the yaw timing load. In some embodiments, the working duration of the yaw motor can also be set by the user.

[0085] In some embodiments of the present application, by calculating the yaw motor load under the current pre-tightening force, and then obtaining the rated driving ability coverage ratio of the yaw motor under the current pre-tightening force, the rated driving ability coverage ratio of the yaw motor can be improved by adjusting the pre-tightening force of the yaw caliper.

[0086] In some embodiments, the performance index of the yaw system includes the non-starting duration of the yaw motor.

[0087] Please refer to Figure 5 , the non-starting duration of the yaw motor can be obtained through steps S405 to S407.

[0088] In step S405, based on the starting torque of the yaw motor, determine the starting load. The starting torque of the yaw motor can be obtained according to the fixed parameters of the yaw motor. The starting load can be calculated according to the starting torque and the parameters of the yaw motor gear using the ISO standard (International Organization for Standardization) or other standards. In some embodiments, the starting torque = 1.6 * rated torque.

[0089] In step S406, accumulate the moments when the load in the yaw motor timing load is greater than the starting load, which are the non-starting moments of the yaw motor. Compare the yaw motor timing load with the starting load. If the load at a certain moment of the yaw motor timing load is greater than the starting load, then accumulate this moment. Finally, obtain the non-starting moment of the yaw motor. In some embodiments, the non-starting moment of the yaw motor can include the number of moments when the yaw motor timing load is greater than the starting load.

[0090] In step S407, determine the product of the non-starting moment and the unit duration to obtain the non-starting duration of the yaw motor. In this way, the non-starting duration of the yaw motor under the current pre-tightening force of the yaw caliper can be obtained. The method for calculating the non-starting duration of the yaw motor is the same as the method for calculating the rated driving ability coverage duration of the yaw motor in step S403, and reference can be made to the previous text.

[0091] In some embodiments of the present application, by calculating the yaw motor load under the current pre-tightening force, the non-starting duration of the yaw motor under the current pre-tightening force can be obtained, and the non-starting duration of the yaw motor can be reduced by adjusting the pre-tightening force of the yaw caliper.

[0092] In some embodiments, the performance index of the yaw system includes the slipping duration of the yaw system.

[0093] Please refer to Figure 6 , the slipping duration of the yaw system can be obtained through steps S408 - S409.

[0094] In step S408, the moment when the torque of the wind in the yaw time-series load is greater than the sum of the time-series friction torque and the locking torque of the yaw motor is accumulated, and this moment is the slipping moment. The situation of slipping between the yaw bearing and the yaw caliper has been introduced above and will not be elaborated here. If the torque of the wind in the yaw time-series load is greater than the sum of the time-series friction torque and the locking torque of the yaw motor, it is determined that this moment is accumulated, and finally the slipping moment is obtained. In some embodiments, the slipping moment may also include the number of moments when the torque of the wind in the yaw time-series load is greater than the sum of the time-series friction torque and the locking sum of the yaw motor.

[0095] In step S409, the product of the slipping moment and the unit duration is determined to obtain the slipping duration of the yaw system. In this way, the slipping duration of the yaw system under the current pre-tightening force of the yaw caliper can be obtained. The method for calculating the slipping duration of the yaw system is the same as the method for calculating the coverage duration of the rated driving ability of the yaw motor in step S403, and reference can be made to the foregoing.

[0096] In some embodiments of the present application, by calculating the yaw motor load under the current pre-tightening force, the slipping duration of the yaw system under the current pre-tightening force is obtained, and further, the slipping duration of the yaw system can be reduced by adjusting the pre-tightening force of the yaw caliper.

[0097] In some embodiments, the performance index of the yaw system includes the static strength safety factor of the gears of the yaw motor.

[0098] Please refer to Figure 7 , the static strength safety factor of the gears of the yaw motor can be obtained through steps S410 - S411.

[0099] In step S410, according to the yaw limit load in the yaw time-series load, the yaw motor limit load is determined. The yaw limit load can be the larger load in the yaw time-series load, or the yaw load in the yaw time-series load that is greater than the limit threshold. The calculation of the yaw motor limit load can refer to the foregoing. In some embodiments, the yaw motor limit load corresponding to the yaw limit load in the downwind yaw and / or upwind yaw states can be calculated.

[0100] In step S411, according to the ultimate load of the yaw motor and the design strength of the yaw motor, the static strength safety factor of the gear is determined. The ultimate load of the yaw motor can be converted into the actual stress of the yaw motor according to relevant standards. According to the actual stress of the yaw motor and the design strength of the yaw motor, the static strength safety factor of the gear is determined. In some embodiments, the design strength of the yaw motor may include the allowable stress of the yaw motor. The static strength safety factor of the gear can be calculated by the formula: static strength safety factor of the gear = actual stress of the yaw motor / allowable stress of the yaw motor. In other embodiments, the static strength safety factor of the gear can also be determined by other methods.

[0101] By comparing the obtained static strength safety factor of the gear of the yaw motor with the allowable coefficient of the static strength of the gear of the yaw motor, the static strength of the yaw motor is further evaluated to make full use of the calculated time-series load of the yaw motor. According to the evaluation result of the static strength of the yaw motor, the pre-tightening force of the pre-tightening bolt of the yaw caliper can be optimized.

[0102] Please refer to Figure 8 , in some embodiments, the performance index of the yaw system includes the static strength safety factor of the yaw bearing of the yaw system. The static strength safety factor of the yaw bearing of the yaw system can be obtained through steps S412 - S413.

[0103] In step S412, according to the yaw ultimate load in the yaw time-series load, the yaw motor ultimate load is determined. Similar to step S410, it will not be elaborated here.

[0104] In step S413, according to the yaw motor ultimate load and the design strength of the yaw bearing of the yaw system, the static strength safety factor of the yaw bearing is determined. The yaw motor gear meshes with the yaw gear. The forces between the yaw motor gear and the yaw gear are action and reaction forces, which are equal in magnitude and opposite in direction. Therefore, the static strength safety factor of the yaw bearing can be determined through the yaw motor time-series load and the design strength of the yaw bearing. The method for determining the static strength safety factor of the yaw bearing is similar to step S411, and reference can be made to the previous text. By comparing the obtained static strength safety factor of the yaw bearing with the allowable coefficient of the static strength of the yaw bearing, the static strength of the yaw bearing is further evaluated to make full use of the calculated time-series load of the yaw motor. According to the evaluation result of the static strength of the yaw bearing, the pre-tightening force of the pre-tightening bolt of the yaw caliper can be optimized.

[0105] In some embodiments, the performance index of the yaw system includes the gear fatigue strength safety factor of the yaw motor and / or the yaw bearing fatigue strength safety factor of the yaw bearing of the yaw system.

[0106] According to the yaw motor's sequential load and the fatigue cumulative damage law, determine the safety factor of the gear fatigue strength of the yaw motor. By comparing the obtained safety factor of the gear fatigue strength of the yaw motor with the allowable factor of the gear fatigue strength of the yaw motor, further evaluate the gear fatigue strength of the yaw motor, so as to make full use of the calculated sequential load of the yaw motor. According to the evaluation result of the gear fatigue strength of the yaw motor, optimize the pre-tightening force of the pre-tightening bolt of the yaw caliper.

[0107] According to the yaw motor's sequential load and the fatigue cumulative damage law, determine the safety factor of the yaw bearing's fatigue strength of the yaw bearing. The yaw motor gear meshes with the yaw gear. Between the yaw motor gear and the yaw gear, there are action and reaction forces, which are equal in magnitude and opposite in direction. Therefore, according to the yaw motor's sequential load and the fatigue cumulative damage law, the safety factor of the yaw bearing's fatigue strength of the yaw bearing can be determined. By comparing the obtained safety factor of the yaw bearing's fatigue strength of the yaw bearing with the allowable factor of the yaw bearing's fatigue strength, further evaluate the yaw bearing's fatigue strength, so as to make full use of the calculated sequential load of the yaw motor. According to the evaluation result of the yaw bearing's fatigue strength, optimize the pre-tightening force of the pre-tightening bolt of the yaw caliper.

[0108] Figure 9 The block diagram of an embodiment of the yaw system performance index determination system 800 is shown. The determination system 800 includes one or more processors 801 for implementing the optimization method. In some embodiments, the determination system 800 may include a computer-readable storage medium 804. The computer-readable storage medium 804 may store a program that can be called by the processor 801 and may include a non-volatile storage medium. In some embodiments, the determination system 800 may include a memory 803 and an interface 802. In some embodiments, the determination system 800 may also include other hardware according to the actual application.

[0109] The computer-readable storage medium 804 of the embodiment of the present application stores a program thereon. When the program is executed by the processor, the control method is implemented.

[0110] The present application may be implemented in the form of a computer program product using one or more storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing program code therein. The computer-readable storage medium includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for determining the performance indicators of a yaw system, characterized in that Including: Obtaining the pre-tightening force of the yaw caliper of the yaw system; Determining the timing frictional torque of the yaw caliper according to the yaw timing load and the pre-tightening force of the yaw system; Determining the yaw motor timing load of the yaw system according to the timing frictional torque and the yaw state of the yaw system, where the yaw state includes downwind yaw, upwind yaw, and non-yaw; Determining the performance index of the yaw system under the pre-tightening force according to the yaw motor timing load; The performance index of the yaw system includes any one of the rated drive capacity coverage ratio of the yaw motor, the non-starting duration of the yaw motor, the slipping duration of the yaw system, the static strength safety factor of the gear of the yaw motor, the static strength safety factor of the yaw bearing of the yaw system, the fatigue strength safety factor of the gear of the yaw motor, and the fatigue strength safety factor of the yaw bearing of the yaw system.

2. The method for determining the performance index of the yaw system according to claim 1, characterized in that, The performance index of the yaw system includes the rated drive capacity coverage ratio of the yaw motor, and the rated drive capacity coverage ratio is the ratio of the rated drive capacity coverage duration of the yaw motor to the working duration of the yaw motor; The determining the performance index of the yaw system under the pre-tightening force according to the yaw motor timing load includes: Determining the rated load according to the rated torque of the yaw motor; Accumulating the moments when the load in the yaw motor timing load is lower than the rated load as the coverage moments; Determining the product of the coverage moment and the unit duration to obtain the rated drive capacity coverage duration of the yaw motor; Determining the rated drive capacity coverage ratio of the yaw motor according to the rated drive capacity coverage duration of the yaw motor and the working duration of the yaw motor.

3. The method for determining the performance index of the yaw system according to claim 1, characterized in that, The performance index of the yaw system includes the non-starting duration of the yaw motor; The determining the performance index of the yaw system under the pre-tightening force according to the yaw motor timing load includes: Determining the starting load according to the starting torque of the yaw motor; Accumulating the moments when the load in the yaw motor timing load is greater than the starting load as the non-starting moments of the yaw motor; Determining the product of the non-starting moment and the unit duration to obtain the non-starting duration of the yaw motor.

4. The method for determining the performance index of the yaw system according to claim 1, characterized in that The performance index of the yaw system includes the slipping duration of the yaw system; The method further includes: Accumulating the moments when the torque of the wind in the yaw timing load is greater than the sum of the timing frictional torque and the locking torque of the yaw motor as the slipping moments; Determining the product of the slipping moment and the unit duration to obtain the slipping duration of the yaw system.

5. The method for determining the performance index of the yaw system according to claim 1, characterized in that The performance index of the yaw system includes the static strength safety factor of the gear of the yaw motor; The determining the performance index of the yaw system under the pre-tightening force according to the yaw motor timing load includes: Determining the yaw motor limit load according to the yaw limit load in the yaw timing load; Determining the static strength safety factor of the gear according to the yaw motor limit load and the design strength of the yaw motor.

6. The method for determining the performance index of the yaw system according to claim 1, wherein The performance index of the yaw system includes the static strength safety factor of the yaw bearing of the yaw system; Determining the performance indexes of the yaw system under the pre-tightening force according to the yaw motor time-sequential load, including: Determining the yaw motor ultimate load according to the yaw ultimate load in the yaw time-sequential load; Determining the static strength safety factor of the yaw bearing according to the yaw motor ultimate load and the design strength of the yaw bearing of the yaw system.

7. The method for determining the performance index of the yaw system according to claim 1, wherein The performance indexes of the yaw system include the gear fatigue strength safety factor of the yaw motor and / or the yaw bearing fatigue strength safety factor of the yaw bearing of the yaw system; Determining the performance indexes of the yaw system under the pre-tightening force according to the yaw motor time-sequential load, including: Determining the gear fatigue strength safety factor and / or the yaw bearing fatigue strength safety factor according to the yaw motor time-sequential load and the fatigue cumulative damage law.

8. The method for determining the performance index of the yaw system according to claim 1, wherein The yaw caliper includes a plurality of friction plates, and the plurality of friction plates are respectively connected to the yaw bearing of the yaw system; Determining the time-sequential frictional torque of the yaw caliper according to the yaw time-sequential load and the pre-tightening force of the yaw system, including: Determining the normal pressure of the plurality of friction plates according to the yaw time-sequential load and the pre-tightening force; Determining the time-sequential frictional torque of the yaw caliper according to the normal pressure of the plurality of friction plates.

9. A system for determining the performance indicators of a yaw system, characterized in that: Including one or more processors for implementing the method for determining the performance indexes of the yaw system according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, Stored thereon is a program which, when executed by the processor, implements the method for determining the performance indexes of the yaw system according to any one of claims 1-8.

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