Ultrasonic guided wave detection and positioning method and device for defects of fan main shaft in rotating state

Abstract

The application discloses a kind of rotating state fan main shaft defect ultrasonic guided wave detection positioning method and equipment, this method is arranged in front of fan main shaft ultrasonic guided wave excitation transducer, and multiple ultrasonic guided wave receiving transducers are uniformly arranged in front of main shaft along the circumference;In the rotating state of main shaft, excitation transducer excites ultrasonic guided wave along the generatrix direction of main shaft, and all receiving transducers receive echo signal;The received signal is analyzed, and all signal characteristics are extracted;All signal characteristics are analyzed in turn, and the position coordinates in each signal characteristic are obtained;Signal characteristic position coordinates are optimized, and feature type is judged;For the feature judged as main shaft defect, positioning is carried out according to position coordinates, and the damage degree is evaluated according to the maximum amplitude of signal using inversion algorithm.The method can carry out effective detection and evaluation of main shaft defect in the rotating state of fan main shaft, and is a kind of non-contact online detection method.

Description

Technical Field

[0001] This application relates to the field of wind power testing technology, and in particular to a method, device, electronic equipment and storage medium for ultrasonic guided wave detection and location of defects in the main shaft of a wind turbine under rotating conditions. Background Technology

[0002] Wind turbines (hereinafter referred to as wind turbines) are crucial equipment in wind power generation. The main shaft is the core component of the wind turbine, playing a vital role in connecting the turbine blades and nacelle, and transmitting force and energy. The safety of the main shaft significantly impacts the overall performance of the wind turbine. However, during operation, the wind turbine main shaft is subjected to bending loads, torsional loads, and even various combined loads for extended periods. This makes it highly susceptible to fatigue cracks or even fractures due to fatigue, bending, torsion, or tensile stress. Damage to the main shaft results in prolonged downtime, high repair costs, and significant economic losses. Therefore, the safety inspection and assessment of the wind turbine main shaft is essential. However, the main shaft is constantly rotating during wind turbine operation, making online inspection or monitoring difficult. Existing inspection technologies, both domestically and internationally, mostly require shutting down the wind turbine or even disassembling the main shaft for offline inspection. Disassembling and offline inspection of the main shaft involves substantial engineering work, consuming significant manpower, material resources, and financial resources. Furthermore, wind turbine shutdowns disrupt power supply, affecting power system stability and causing substantial economic losses. Furthermore, offline safety monitoring of the fan spindle cannot provide timely and effective assessment of its dynamic operating status, hindering accurate understanding of the spindle's structural health and remaining lifespan. Therefore, it is necessary to find a method that can effectively monitor the spindle while it is rotating online. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the first objective of this application is to propose an ultrasonic guided wave detection and localization method for defects in the main shaft of a fan under rotation, which aims to carry out effective detection and evaluation of defects in the main shaft of the fan under rotation.

[0005] The second objective of this application is to provide an ultrasonic guided wave detection and positioning device for defects in the main shaft of a fan under rotation.

[0006] The third objective of this application is to propose an electronic device.

[0007] The fourth objective of this application is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, the first aspect of this application proposes a method for ultrasonic guided wave detection and localization of defects in a fan main shaft under rotational conditions, comprising:

[0009] An ultrasonic guided wave excitation transducer is set at a first preset position at the front end of the wind turbine main shaft, and multiple ultrasonic guided wave receiving transducers are evenly arranged along the axial direction at a second preset position at the front end of the wind turbine main shaft.

[0010] While the main shaft is rotating, ultrasonic guided wave excitation transducers are used to excite ultrasonic guided waves along the main shaft generatrix direction, and echo signals are simultaneously received at all ultrasonic guided wave receiving transducers.

[0011] Analyze the signals received by the ultrasonic guided wave receiver transducer and extract all signal features;

[0012] The extracted signal features are analyzed sequentially, and the position coordinates of each signal feature are obtained by solving the problem.

[0013] The obtained signal feature location coordinates are optimized, and the signal feature type is further determined.

[0014] To identify the characteristics of the spindle defect, the location is determined based on the obtained position coordinates, and the degree of damage is assessed using an inversion algorithm based on the maximum amplitude of the signal.

[0015] The ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer both adopt the principle of electromagnetic induction and are composed of coils and permanent magnets. The ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer are separated from the surface of the main shaft of the fan by a preset lifting distance to ensure that the main shaft can rotate normally. During the rotation of the main shaft, the positions of the ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer remain unchanged.

[0016] The analysis of the signals received by the ultrasonic guided wave receiver transducer includes:

[0017] Set a preset amplitude threshold, and sequentially judge the threshold value of the signal received by each ultrasonic guided wave receiver transducer.

[0018] When the amplitude of the signal received by one of the ultrasonic guided wave receiving transducers is greater than the preset amplitude threshold, the signal is determined to be the echo signal of the main shaft defect or end face feature.

[0019] The signal characteristics F are formed by extracting the channel sequence number k of the current echo signal, the time interval t between the receiving time and the start time t0 of the ultrasonic guided wave excitation, and the maximum signal amplitude A. j (k,t,A); where j represents the j-th signal feature among all extracted signal features.

[0020] The position coordinates of the ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer are set as P(x,y), where x represents the distance of the position from the front end of the main shaft in the direction of the main shaft generatrix, in meters; and y represents the radian of the position rotating clockwise along the main shaft circumference of the ultrasonic guided wave excitation transducer, in rads.

[0021] Among them, the extracted signal features F are processed sequentially. j Analyzing (k,t,A), we can obtain the position coordinates P of each signal feature. j (x,y), position coordinates P j The x and y in (x, y) are solved jointly using the following system of equations:

[0022]

[0023] Among them, v guide This indicates the propagation speed of ultrasonic guided waves in the main shaft of the wind turbine, expressed in m / s; v rotate This indicates the speed at which the main shaft of the fan rotates clockwise in the circumferential direction, in rad / s; the operator % represents the remainder.

[0024] In the step of optimizing the obtained feature location coordinates and further determining the feature type,

[0025] The feature position coordinates P obtained by the solution j The position coordinates P are obtained after optimization of (x, y). j (x′, y′) satisfy the following formula:

[0026]

[0027] Where l represents the length of the generatrix of the wind turbine's main shaft.

[0028] The method for determining the signal feature type is as follows:

[0029] If the position coordinate information of the signal feature satisfies x==0, then the feature is the main axis end face;

[0030] Otherwise, this feature is a principal axis defect.

[0031] To achieve the above objectives, a second aspect of this application provides an ultrasonic guided wave detection and positioning device for defects in a fan main shaft under rotation, comprising:

[0032] The module is used to set an ultrasonic guided wave excitation transducer at a first preset position at the front end of the wind turbine main shaft, and to uniformly arrange multiple ultrasonic guided wave receiving transducers along the axial direction at a second preset position at the front end of the wind turbine main shaft.

[0033] The acquisition module is used to excite ultrasonic guided waves along the generatrix of the spindle using an ultrasonic guided wave excitation transducer while the spindle is rotating, and to simultaneously receive echo signals at all ultrasonic guided wave receiving transducers.

[0034] The extraction module is used to analyze the signals received by the ultrasonic guided wave receiver transducer and extract all signal features;

[0035] The position coordinate solving module is used to analyze the extracted signal features sequentially and solve for the position coordinates of each signal feature;

[0036] The position coordinate optimization and judgment module is used to optimize the obtained signal feature position coordinates and further determine the signal feature type.

[0037] The detection and positioning module is used to locate the defects in the spindle based on the obtained position coordinates and to evaluate the degree of damage based on the maximum amplitude of the signal using an inversion algorithm.

[0038] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a processor and a memory communicatively connected to the processor;

[0039] The memory stores instructions that the computer executes;

[0040] The processor executes computer execution instructions stored in memory to implement the method described above.

[0041] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

[0042] Unlike existing technologies, this invention provides a method, device, electronic equipment, and storage medium for ultrasonic guided wave detection and localization of defects in a rotating wind turbine main shaft. This method employs an ultrasonic guided wave transducer, based on the principle of electromagnetic induction, to achieve non-contact excitation and reception of guided waves. A certain lift-off distance exists between the transducer and the surface of the wind turbine main shaft to ensure normal rotation. Compared to existing disassembly inspection or offline in-situ inspection, this method enables online detection while the wind turbine main shaft is rotating. This invention uses ultrasonic guided wave detection, requiring only a transducer at one end of the main shaft to detect and locate defects across the entire shaft. Compared to existing scanning inspection methods, this method offers significant advantages in terms of ease of implementation and cost-effectiveness.

[0043] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0044] Figure 1 This is a flowchart illustrating a method for ultrasonic guided wave detection and location of defects in the main shaft of a fan under rotating conditions, provided by the present invention.

[0045] Figure 2 This is a schematic diagram of the structure of the main shaft of a fan under test in an ultrasonic guided wave detection and positioning method for defects in a fan main shaft under rotation provided by the present invention.

[0046] Figure 3 This is a schematic diagram showing the distribution and installation of the excitation transducer and the receiving transducer in an ultrasonic guided wave detection and location method for defects in the main shaft of a wind turbine under rotating conditions, provided by the present invention.

[0047] Figure 4 This is a schematic diagram of the structure of an ultrasonic guided wave detection and positioning device for defects in the main shaft of a fan under rotating conditions, provided by the present invention. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0049] The following description, with reference to the accompanying drawings, illustrates an ultrasonic guided wave detection and location method and apparatus for detecting defects in the main shaft of a fan under rotating conditions.

[0050] Figure 1 This is a flowchart illustrating a method for ultrasonic guided wave detection and localization of defects in a rotating fan shaft, as provided in an embodiment of this application. The method includes the following steps:

[0051] S1: An ultrasonic guided wave excitation transducer is set at the first preset position at the front end of the wind turbine main shaft, and multiple ultrasonic guided wave receiving transducers are evenly arranged along the axial direction at the second preset position at the front end of the wind turbine main shaft.

[0052] In an embodiment of the present invention, a first preset position P0(0,0) is set at the front end of the main shaft of the wind turbine, where one ultrasonic guided wave excitation transducer is arranged. N ultrasonic guided wave receiving transducers are evenly arranged circumferentially at the front end of the main shaft, with the positions of each ultrasonic guided wave receiving transducer as follows: Where i = 1, 2, ..., N, and the value of N is at least N ≥ 3, with N = 250 being preferred.

[0053] Specifically, in this embodiment, the fan main shaft to be tested is as follows: Figure 2 As shown, the spindle material is 42CrMo4, the spindle generatrix length is 5.8m, and the circumferential rotational speed of the spindle is v. rotate= 45 rad / s, the propagation speed of the ultrasonic guided wave in the principal axis v guide =5400m / s. The position coordinates of each transducer are P(x,y), where x represents the distance from the front end of the main shaft along the generatrix direction of the main shaft, in meters; y represents the radian of the position rotating clockwise along the circumference of the main shaft along the excitation transducer, in rads.

[0054] Furthermore, in one embodiment of the present invention, the ultrasonic guided wave detection and positioning method for defects in the main shaft of a wind turbine under rotational conditions is characterized in that the ultrasonic guided wave excitation transducer and receiving transducer employ the principle of electromagnetic induction and are composed of coils and permanent magnets, and the distribution of the excitation transducer and receiving transducer is as follows: Figure 3 As shown, there is a certain lift-off distance d between the transducer and the surface of the fan main shaft to ensure that the main shaft can rotate normally. During the rotation of the main shaft, the position of the transducer remains unchanged.

[0055] S2: When the main shaft is rotating, ultrasonic guided wave excitation transducers are used to excite ultrasonic guided waves along the main shaft generatrix direction, and echo signals are received simultaneously at all ultrasonic guided wave receiving transducers.

[0056] In embodiments of the present invention, a setting is made at a v on the main shaft of the fan. rotate Under the rotating state at a certain speed, starting from time t0, an ultrasonic guided wave excitation transducer is used to excite ultrasonic guided waves along the generatrix of the main shaft. The guided waves move at a speed of v. guide The signal propagates at high speed and is reflected when it encounters features such as spindle defects or end faces, forming an echo signal. The echo signal is simultaneously received at N ultrasonic waveguide receiving transducers.

[0057] S3: Analyze the signal received by the ultrasonic guided wave receiver transducer and extract all signal features.

[0058] Combining the previous step, the signals received by the N ultrasonic guided wave receiver transducers are analyzed, and all signal features F are extracted. j (k,t,A), where j represents the j-th signal feature among all extracted signal features, k indicates that the signal is received by the k-th channel, t represents the time interval between the moment the signal is received and the moment t0 when the ultrasonic guided wave is started to be excited, and A represents the maximum amplitude of the signal.

[0059] In one embodiment of the present invention, the analysis of signals received by N receiving transducers includes:

[0060] Set a preset amplitude threshold, and sequentially judge the threshold value of the signal received by each ultrasonic guided wave receiver transducer.

[0061] When the amplitude of the signal received by one of the ultrasonic guided wave receiving transducers is greater than the preset amplitude threshold, the signal is determined to be the echo signal of the main shaft defect or end face feature.

[0062] The signal characteristics F are formed by extracting the channel sequence number k of the current echo signal, the time interval t between the receiving time and the start time t0 of the ultrasonic guided wave excitation, and the maximum signal amplitude A. j (k,t,A).

[0063] Specifically, a suitable threshold T is set, and the signals received by N ultrasonic guided wave transducers are judged sequentially. When the signal amplitude is greater than the threshold T, the signal is determined to be the echo signal of the main shaft defect or end face feature. The channel sequence number k of the current echo signal, the time interval t between the receiving time and the start time t0 of the ultrasonic guided wave excitation, and the maximum signal amplitude A are extracted to form the signal feature F. j (k,t,A), where j represents the j-th signal feature among all extracted signal features.

[0064] After performing the above operations, a total of 6 signal features were extracted: F1(4,2.15ms,0.92), F2(8,4.30ms,0.36), F3(2,36.02ms,0.42), F4(4,37.04ms,0.74), F5(4,54.59ms,0.91), and F6(8,56.74ms,0.33).

[0065] S4: Analyze the extracted signal features in sequence and solve for the position coordinates of each signal feature.

[0066] In one embodiment of the present invention, the extracted signal features F are sequentially processed. j Analyzing (k,t,A), we obtain the position coordinates P. j In equation (x, y), x and y can be solved jointly using the following system of equations:

[0067]

[0068] Among them, v guide This indicates the propagation speed of ultrasonic guided waves in the main shaft of the wind turbine, expressed in m / s; v rotate This indicates the speed at which the main shaft of the fan rotates clockwise in the circumferential direction, in rad / s; the operator % represents the remainder.

[0069] After performing the above operations, the position coordinates of the six signal features are obtained as follows: P1 (5.8m, 0rad), P2 (11.6m, 0rad), P3 (3m, 1.56rad), P4 (5.8m, 1.57rad), P5 (5.8m, 2.36rad), P6 (11.6m, 2.36rad).

[0070] S5: Optimize the obtained signal feature location coordinates and further determine the signal feature type.

[0071] The feature position coordinates P obtained by the solution j The position coordinates P are obtained after optimization of (x, y). j (x′, y′) should satisfy the following formula:

[0072]

[0073] Where l represents the length of the generatrix of the wind turbine's main shaft.

[0074] After performing the above operations, it can be seen that signal features F1 and F2 are the first and second echo features of the ultrasonic guided wave excited at time t0 on the end face of the spindle, respectively; signal feature F3 is the echo feature at the defect; signal feature F4 is the first echo feature of the ultrasonic guided wave after passing through the defect on the end face of the spindle; signal features F5 and F6 are the first and second echo features of the ultrasonic guided wave excited at a certain time after t0 on the end face of the spindle, respectively.

[0075] S6: For the characteristics of the main shaft defect, locate it according to the obtained position coordinates, and evaluate its damage degree using the inversion algorithm based on its maximum signal amplitude.

[0076] Specifically, signal characteristic F3 is the echo characteristic at the defect location P3 (3m, 1.56rad).

[0077] Figure 4 This is a schematic diagram of the structure of an ultrasonic guided wave detection and positioning device for defects in the main shaft of a fan under rotating conditions, provided in an embodiment of this application.

[0078] like Figure 4 As shown, the device 300 includes:

[0079] Setting module 310 is used to set an ultrasonic guided wave excitation transducer at a first preset position at the front end of the wind turbine main shaft, and to uniformly arrange multiple ultrasonic guided wave receiving transducers along the axial direction at a second preset position at the front end of the wind turbine main shaft.

[0080] The acquisition module 320 is used to excite ultrasonic guided waves along the generatrix of the main shaft using an ultrasonic guided wave excitation transducer while the main shaft is rotating, and to simultaneously receive echo signals at all ultrasonic guided wave receiving transducers.

[0081] Extraction module 330 is used to analyze the signal received by the ultrasonic guided wave receiving transducer and extract all signal features;

[0082] The position coordinate solving module 340 is used to analyze the extracted signal features sequentially and solve for the position coordinates of each signal feature;

[0083] The position coordinate optimization and judgment module 350 is used to optimize the obtained signal feature position coordinates and further determine the signal feature type;

[0084] The detection and positioning module 360 ​​is used to locate the main shaft defect based on the obtained position coordinates and evaluate the degree of damage based on the maximum amplitude of the signal using an inversion algorithm.

[0085] To implement the above embodiments, this application also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0086] To implement the above embodiments, this application also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0087] To implement the above embodiments, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0088] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0089] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0090] This application is intended to provide an implementation scheme for users to selectively prevent the use or access to their personal information data. Specifically, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information is de-identified to protect user privacy.

[0091] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0094] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0095] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0096] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0097] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0098] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for ultrasonic guided wave detection and localization of defects in a fan main shaft under rotation, characterized in that, include: An ultrasonic guided wave excitation transducer is set at a first preset position at the front end of the wind turbine main shaft, and multiple ultrasonic guided wave receiving transducers are evenly arranged along the axial direction at a second preset position at the front end of the wind turbine main shaft. While the main shaft is rotating, ultrasonic guided wave excitation transducers are used to excite ultrasonic guided waves along the main shaft generatrix direction, and echo signals are simultaneously received at all ultrasonic guided wave receiving transducers. Analyze the signals received by the ultrasonic guided wave receiver transducer and extract all signal features; The extracted signal features are analyzed sequentially, and the position coordinates of each signal feature are obtained by solving the problem. The obtained signal feature location coordinates are optimized, and the signal feature type is further determined. For the characteristics of the main shaft defect, the location is determined based on the obtained position coordinates, and the degree of damage is evaluated using an inversion algorithm based on the maximum amplitude of the signal. Both the ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer adopt the principle of electromagnetic induction and are composed of coils and permanent magnets. The ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer have a preset lifting distance from the surface of the fan main shaft to ensure that the main shaft can rotate normally. During the rotation of the main shaft, the positions of the ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer remain unchanged; The analysis of the signal received by the ultrasonic guided wave receiver transducer includes: A preset amplitude threshold is set, and the amplitude of the signal received by each ultrasonic waveguide receiving transducer is judged according to the threshold in turn. When the amplitude of the signal received by one of the ultrasonic guided wave receiving transducers is greater than the preset amplitude threshold, the signal is determined to be the echo signal of the main shaft defect and end face feature. Extract the channel sequence number of the current echo signal respectively k The time of receiving the ultrasonic guided wave is far from the time of its initial excitation. t 0 time interval t and maximum signal amplitude A The signal features F j ( k , t , A );in, j This represents the first of all extracted signal features. j Individual signal characteristics; Let the position coordinates of the ultrasonic guided wave excitation transducer and the ultrasonic guided wave receiving transducer be P( x , y ),in x This indicates the distance of this position from the front end of the spindle in the direction of the spindle generatrix, in meters (m). y This indicates the radian angle at which the position rotates clockwise along the main axis of the ultrasonic waveguide transducer, in rad. The extracted signal features F are processed sequentially. j ( k , t , A The analysis was performed to obtain the position coordinates P of each signal feature. j ( x , y Position coordinates P j ( x , y In ) x and y Solve the following system of equations together: in, v guide This indicates the propagation speed of ultrasonic guided waves in the main shaft of the wind turbine, expressed in m / s. v rotate This indicates the speed at which the main shaft of the fan rotates clockwise in the circumferential direction, in rad / s; the % operator represents the remainder.

2. The ultrasonic guided wave detection and positioning method for defects in the main shaft of a fan under rotational conditions according to claim 1, characterized in that, In the step of optimizing the obtained feature position coordinates and further determining the feature type, The feature position coordinates P obtained by the solution j ( x , y The optimized position coordinates are obtained after optimization. Satisfy the following formula: in, l This indicates the length of the generatrix of the wind turbine's main shaft.

3. The ultrasonic guided wave detection and positioning method for defects in the main shaft of a fan under rotational conditions according to claim 1, characterized in that, The method for determining the type of signal characteristics is as follows: If the location coordinate information of the signal features satisfies x If == 0, then this feature is the main shaft end face; Otherwise, this feature is a principal axis defect.

4. An ultrasonic guided wave detection and positioning device for defects in a fan main shaft under rotation, characterized in that, The ultrasonic guided wave detection and localization method for defects in the main shaft of a wind turbine under rotating conditions, as described in any one of claims 1-3, includes: The module is used to set an ultrasonic guided wave excitation transducer at a first preset position at the front end of the wind turbine main shaft, and to uniformly arrange multiple ultrasonic guided wave receiving transducers along the axial direction at a second preset position at the front end of the wind turbine main shaft. The acquisition module is used to excite ultrasonic guided waves along the generatrix of the spindle using an ultrasonic guided wave excitation transducer while the spindle is rotating, and to simultaneously receive echo signals at all ultrasonic guided wave receiving transducers. The extraction module is used to analyze the signals received by the ultrasonic guided wave receiver transducer and extract all signal features; The position coordinate solving module is used to analyze the extracted signal features sequentially and solve for the position coordinates of each signal feature; The position coordinate optimization and judgment module is used to optimize the obtained signal feature position coordinates and further determine the signal feature type. The detection and positioning module is used to locate the defects in the spindle based on the obtained position coordinates and to evaluate the degree of damage based on the maximum amplitude of the signal using an inversion algorithm.

5. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-3.

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