A yaw hydraulic brake pad health condition diagnosis method and related device

Abstract

The application provides a yaw hydraulic brake pad health state diagnosis method and related equipment, and relates to the technical field of wind power generation. After the actual hydraulic braking force value of the yaw hydraulic braking system in the target yaw direction braking process according to the first expected brake pressure or the second expected brake pressure is acquired, the actual friction coefficient value of the yaw hydraulic brake pad included in the yaw hydraulic braking system in the target yaw direction is calculated according to the actual hydraulic braking force value, the first expected brake pressure and the second expected brake pressure. Then, the actual friction coefficient value calculated is subjected to brake pad health diagnosis according to the factory friction coefficient range of the yaw hydraulic brake pad, and the actual health state result of the yaw hydraulic brake pad is obtained. Thus, the actual braking capacity of the yaw hydraulic brake pad is monitored in real time and effectively in the manner of driving the yaw hydraulic braking system to brake, and the health condition of the yaw hydraulic brake pad is diagnosed in time.

Description

Technical Field

[0001] This application relates to the field of wind power generation technology, and more specifically, to a method and related equipment for diagnosing the health status of yaw hydraulic brake pads. Background Technology

[0002] With the continuous development of science and technology, the application of wind power generation technology is becoming increasingly widespread. In the actual use of wind turbine generators, a yaw hydraulic braking system is often needed to guide the turbine's yaw when the wind direction changes, thereby improving the generator's power generation efficiency. It is worth noting that during the use of the yaw hydraulic braking system, wear of the brake pads and / or oil leakage in the hydraulic system can lead to a decrease in the friction coefficient of the yaw hydraulic brake pads. This can cause the yaw hydraulic braking system to fail to effectively lock the turbine's nose position, easily resulting in nose swaying during operation, and even severe yaw slippage and / or yaw dragging, potentially leading to a major accident due to yaw drivetrain failure. Therefore, how to timely and effectively assess the health of the yaw hydraulic brake pads is a crucial technical issue in the current implementation of wind power generation technology.

[0003] Currently, industry-standard diagnostic methods for yaw hydraulic brake pads typically require on-site technicians to remove the brake pads from the yaw hydraulic braking system and then inspect them using specialized equipment and / or visual inspection to determine their actual condition. Alternatively, they may rely on the fact that the yaw hydraulic braking system can only monitor the pressure applied to the brake cylinder, allowing on-site technicians to indirectly identify brake pad malfunctions through visual inspection and yaw system troubleshooting methods. Therefore, existing diagnostic methods are still insufficient for timely and effective assessment of the yaw hydraulic brake pad's health. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and apparatus, computer equipment and readable storage medium for diagnosing the health status of yaw hydraulic brake pads, which can monitor the actual braking capacity of yaw hydraulic brake pads in real time and effectively by driving the yaw hydraulic braking system to brake, and diagnose the health status of the yaw hydraulic brake pads in a timely manner, thereby timely and effectively assessing the health status of the yaw hydraulic brake pads, reducing the labor cost, difficulty and time consumption of brake pad health diagnosis operations.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, this application provides a method for diagnosing the health status of yaw hydraulic brake pads, the method comprising:

[0007] Obtain the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure;

[0008] Based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure, calculate the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction;

[0009] Based on the factory friction coefficient range of the yaw hydraulic brake pad, a brake pad health diagnosis is performed on the calculated actual friction coefficient value to obtain the actual health status result of the yaw hydraulic brake pad.

[0010] In an optional implementation, the step of obtaining the actual hydraulic braking force value of the yaw hydraulic braking system during braking in the target yaw direction according to a first desired brake pressure or a second desired brake pressure includes:

[0011] The actual yaw direction of the yaw hydraulic braking system is set according to the target yaw direction, and the hydraulic brakes included in the yaw hydraulic braking system are controlled to operate according to the first desired brake pressure. At the same time, all yaw motors included in the yaw hydraulic braking system are controlled to rotate according to their respective rated speeds to obtain the first motor torque sum value, wherein the first motor torque sum value is the sum of the actual motor torques of all yaw motors under the action of the first desired brake pressure.

[0012] The hydraulic brake is controlled to operate according to the second desired brake pressure, and all yaw motors are controlled to rotate at their respective rated speeds to obtain the second motor torque sum value, wherein the first motor torque sum value is the sum of the actual motor torques of all yaw motors under the action of the second desired brake pressure;

[0013] The difference between the sum of the torques of the second motor and the sum of the torques of the first motor is calculated to obtain the actual hydraulic braking force value.

[0014] In an optional implementation, the step of calculating the actual coefficient of friction of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure includes:

[0015] The difference between the second desired brake pressure and the first desired brake pressure is calculated to obtain the desired brake pressure difference of the yaw hydraulic braking system during the braking process in the target yaw direction.

[0016] The actual friction coefficient value is obtained by calculating the friction coefficient based on the yaw transmission chain ratio, yaw transmission efficiency, and desired brake pressure difference of the yaw hydraulic braking system, as well as the actual hydraulic braking force and total effective friction surface area of ​​the yaw hydraulic brake pads at the yaw hydraulic braking system.

[0017] In an optional implementation, the calculation process for the actual friction coefficient value is expressed by the following formula:

[0018]

[0019] in, The values ​​are: M (representing the actual friction coefficient of the yaw hydraulic brake pad), n (representing the actual hydraulic braking force of the yaw hydraulic braking system during braking in the target yaw direction), η (representing the yaw transmission chain ratio of the yaw hydraulic braking system), P (representing the desired brake pressure difference of the yaw hydraulic braking system), and A (representing the total effective friction surface area of ​​the yaw hydraulic brake pad at the yaw hydraulic braking system).

[0020] In an optional embodiment, the step of performing a brake pad health diagnosis based on the calculated actual friction coefficient value according to the factory friction coefficient range of the yaw hydraulic brake pad, and obtaining the actual health status result of the yaw hydraulic brake pad, includes:

[0021] Check whether the actual friction coefficient value is within the range of the factory-specified friction coefficient;

[0022] If the actual friction coefficient value is detected to be within the factory friction coefficient range, the actual health status result is output as the yaw hydraulic brake pad is in a healthy state.

[0023] If the actual friction coefficient value is detected to be outside the factory friction coefficient range, a matching reference friction coefficient value is determined within the factory friction coefficient range for the actual friction coefficient value, and the friction coefficient difference between the actual friction coefficient value and the reference friction coefficient value is calculated.

[0024] The friction coefficient difference is evaluated according to the preset brake pad health evaluation strategy, and the actual health status result is output as the brake pad device state that matches the health evaluation result.

[0025] In an optional embodiment, the step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range includes:

[0026] The test determines whether the actual friction coefficient value is closest to the upper limit or lower limit of the factory friction coefficient range.

[0027] If the actual friction coefficient value is detected to be closest to the upper limit of the friction coefficient value, the upper limit of the friction coefficient value is directly used as the reference friction coefficient value.

[0028] If the actual friction coefficient value is detected to be closest to the lower limit of the friction coefficient, the lower limit of the friction coefficient is directly used as the reference friction coefficient value.

[0029] Alternatively, the step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range includes:

[0030] The median friction coefficient value of the range of factory-issued friction coefficients is directly used as the reference friction coefficient value.

[0031] In an optional implementation, the step of performing a health assessment on the friction coefficient difference according to a preset brake pad health assessment strategy, and outputting the actual health status result as the yaw hydraulic brake pad being in a brake pad device state matching the health assessment result, includes:

[0032] Detect whether the absolute value of the friction coefficient difference exceeds a preset friction coefficient difference threshold;

[0033] If the absolute value of the friction coefficient difference is not exceeded by the preset friction coefficient difference threshold, the actual health status result is output as the yaw hydraulic brake pad is in a healthy state; otherwise, the actual health status result is output as the yaw hydraulic brake pad is in an abnormal state.

[0034] In an optional implementation, the brake pad health assessment strategy includes at least one friction coefficient difference range corresponding to each of multiple brake pad health indicators, wherein each brake pad health indicator corresponds to a brake pad device state. The step of performing a health assessment on the friction coefficient difference according to the preset brake pad health assessment strategy and outputting the actual health state result as a brake pad device state matching the health assessment result includes:

[0035] The friction coefficient difference is numerically matched with at least one friction coefficient difference value range corresponding to each of the various brake pad health indicators to obtain the target brake pad health indicator corresponding to the target friction coefficient difference value range where the friction coefficient difference is located.

[0036] The actual health status result is output as the yaw hydraulic brake pad being in the brake pad device state corresponding to the target brake pad health index.

[0037] Secondly, this application provides a health status diagnostic device for yaw hydraulic brake pads, the device comprising:

[0038] The actual braking condition acquisition module is used to acquire the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure.

[0039] The actual friction coefficient calculation module is used to calculate the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure and the second desired brake pressure.

[0040] The actual health status diagnosis module is used to perform brake pad health diagnosis on the calculated actual friction coefficient value based on the factory friction coefficient range of the yaw hydraulic brake pad, and obtain the actual health status result of the yaw hydraulic brake pad.

[0041] Thirdly, this application provides a computer device including a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the health status diagnosis method for yaw hydraulic brake pads as described in any of the foregoing embodiments.

[0042] Fourthly, this application provides a readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the health status diagnosis method for yaw hydraulic brake pads as described in any of the foregoing embodiments.

[0043] In this case, the beneficial effects of the embodiments of this application may include the following:

[0044] After obtaining the actual hydraulic braking force value of the yaw hydraulic braking system during braking in the target yaw direction according to the first desired brake pressure or the second desired brake pressure, this application calculates the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure. Then, based on the factory friction coefficient range of the yaw hydraulic brake pads, a brake pad health diagnosis is performed on the calculated actual friction coefficient value to obtain the actual health status result of the yaw hydraulic brake pads. Thus, by driving the yaw hydraulic braking system to brake, the actual braking capacity of the yaw hydraulic brake pads can be monitored in real time and effectively, and the health status of the yaw hydraulic brake pads can be diagnosed in a timely manner. This reduces the labor cost, difficulty, and time consumption of brake pad health diagnosis operations.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A schematic diagram of the composition of a computer device provided in the embodiments of this application;

[0048] Figure 2 This is a flowchart illustrating the health status diagnosis method for yaw hydraulic brake pads provided in this application embodiment;

[0049] Figure 3 for Figure 2 A flowchart illustrating the sub-steps included in step S210;

[0050] Figure 4 for Figure 2 A flowchart illustrating the sub-steps included in step S220;

[0051] Figure 5 for Figure 2 A flowchart illustrating the sub-steps included in step S230;

[0052] Figure 6 This is a schematic diagram of the health status diagnosis device provided for yaw hydraulic brake pads according to an embodiment of this application.

[0053] Icons: 10-Computer equipment; 11-Memory; 12-Processor; 13-Communication unit; 100-Health status diagnostic device; 110-Actual braking condition acquisition module; 120-Actual friction coefficient calculation module; 130-Actual health status diagnostic module. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0057] In the description of this application, it should be understood that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0058] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0060] Please refer to Figure 1 , Figure 1This is a schematic diagram of the computer equipment provided in an embodiment of this application. In this embodiment, the computer equipment can communicate with the yaw hydraulic braking system of at least one wind turbine unit. By controlling a certain yaw hydraulic braking system to brake under specific conditions (e.g., wind turbine unit shutdown, wind turbine unit operation at low wind speed, etc.), it can monitor the actual braking capacity of the yaw hydraulic brake pads included in the yaw hydraulic braking system in real time and perform timely health status diagnosis on the yaw hydraulic brake pads. This allows for timely and effective assessment of the health status of the yaw hydraulic brake pads, reducing the labor costs required for existing brake pad health diagnosis operations. It also avoids performing brake pad disassembly and indirect brake pad fault analysis, effectively reducing the difficulty and time required for brake pad health diagnosis. The computer equipment 10 can be, but is not limited to, a tablet computer, laptop computer, personal computer, or server.

[0061] In this embodiment, the computer device 10 may include a memory 11, a processor 12, a communication unit 13, and a health status diagnostic device 100 for yaw hydraulic brake pads. The memory 11, processor 12, and communication unit 13 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected via one or more communication buses or signal lines.

[0062] In this embodiment, the memory 11 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 11 is used to store computer programs, and the processor 12 can execute the computer programs accordingly after receiving execution instructions.

[0063] In this embodiment, the processor 12 can be an integrated circuit chip with signal processing capabilities. The processor 12 can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0064] In this embodiment, the communication unit 13 is used to establish a communication connection between the computer device 10 and other electronic devices through a network, and to send and receive data through the network, wherein the network includes wired communication networks and wireless communication networks. For example, the computer device 10 can issue a braking control command to a yaw hydraulic braking system through the communication unit 13, and obtain system operation data obtained by the yaw hydraulic braking system operating according to the braking control command, wherein the system operation data may include the actual output power of each of the yaw motors included in the yaw hydraulic braking system when rotating at its corresponding rated speed.

[0065] In this embodiment, the health status diagnosis device 100 for yaw hydraulic brake pads may include at least one software function module that can be stored in the memory 11 in the form of software or firmware or in the operating system of the computer device 10. The processor 12 can be used to execute the executable modules stored in the memory 11, such as the software function modules and computer programs included in the health status diagnosis device 100 for yaw hydraulic brake pads. The computer device 10 can monitor the actual braking capacity of the yaw hydraulic brake pads in real time and effectively by driving the yaw hydraulic braking system to brake through the health status diagnosis device 100, and perform health status diagnosis on the yaw hydraulic brake pads in a timely manner, thereby timely and effectively assessing the health status of the yaw hydraulic brake pads, reducing the labor cost, difficulty, and time consumption of brake pad health diagnosis operations.

[0066] Understandable Figure 1 The block diagram shown is only a schematic diagram of one configuration of the computer device 10. The computer device 10 may also include components such as... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0067] In this application, to ensure that the computer device 10 can effectively monitor the actual braking capacity of the yaw hydraulic brake pads in real time by driving the yaw hydraulic brake system, and to promptly diagnose the health status of the yaw hydraulic brake pads, thereby timely and effectively assessing the health status of the yaw hydraulic brake pads and reducing the labor costs, difficulty, and time consumption of brake pad health diagnosis operations, this application provides a method for diagnosing the health status of yaw hydraulic brake pads to achieve the aforementioned objective. The following is a detailed description of the health status diagnosis method for yaw hydraulic brake pads provided in this application.

[0068] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a health status diagnosis method for yaw hydraulic brake pads provided in an embodiment of this application. In this embodiment, the health status diagnosis method for yaw hydraulic brake pads may include steps S210 to S230.

[0069] Step S210: Obtain the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure.

[0070] In this embodiment, the target yaw direction can be either a clockwise or counterclockwise yaw direction. The first desired brake pressure corresponding to each yaw direction can be the same or different, and the second desired brake pressure corresponding to each yaw direction can also be the same or different. After selecting the target yaw direction, the computer device 10 can control the yaw hydraulic braking system to be diagnosed to brake in the target yaw direction according to the first desired brake pressure, and acquire system operation data of the yaw hydraulic braking system under the first desired brake pressure. Then, it can control the yaw hydraulic braking system to brake in the target yaw direction according to the second desired brake pressure, and acquire system operation data of the yaw hydraulic braking system under the second desired brake pressure. Based on the obtained system operation data corresponding to the first and second desired brake pressures, the actual hydraulic braking force value generated by the yaw hydraulic braking system during braking in the target yaw direction is directly determined. Thus, by driving the yaw hydraulic braking system to brake, the actual braking capacity of the yaw hydraulic braking system can be monitored in real time and effectively.

[0071] Optionally, in one embodiment of this example, the first desired brake pressure corresponding to the clockwise yaw direction and the counterclockwise yaw direction can be represented by 0 bar, and the second desired brake pressure corresponding to the clockwise yaw direction and the counterclockwise yaw direction can be represented by 10 bar.

[0072] Alternatively, please refer to Figure 3 , Figure 3 yes Figure 2 The flowchart of step S210 includes the sub-steps. In this embodiment, step S210 may include sub-steps S211 to S213, so as to monitor the actual braking capability of the yaw hydraulic braking system in real time and effectively by monitoring the yaw motor torque of the yaw hydraulic braking system in real time during the braking process in the target yaw direction.

[0073] Sub-step S211: Set the actual yaw direction of the yaw hydraulic braking system according to the target yaw direction, and control the hydraulic brakes included in the yaw hydraulic braking system to operate at the first desired brake pressure. At the same time, control all yaw motors included in the yaw hydraulic braking system to rotate at their respective rated speeds to obtain the first motor torque and value.

[0074] Specifically, while controlling the hydraulic brake to operate at a first desired brake pressure, all yaw motors included in the corresponding yaw hydraulic braking system are controlled to rotate at their respective rated speeds. This yields the actual output power of each yaw motor when its speed is stable under the first desired brake pressure. Then, based on the motor torque calculation formula, the rated speed and actual output power of each yaw motor are used to calculate the actual motor torque of each yaw motor under the first desired brake pressure. Finally, the actual motor torques of each yaw motor under the first desired brake pressure are added together to obtain the first sum of motor torques. This first sum of motor torques is the sum of the actual motor torques of all yaw motors under the first desired brake pressure. If the first desired brake pressure is 0 bar, the first sum of motor torques can be used to represent the yaw system friction force of the yaw hydraulic braking system in the target navigation direction.

[0075] In sub-step S212, the hydraulic brake is controlled to operate at the second desired brake pressure, and all yaw motors are controlled to rotate at their respective rated speeds to obtain the second motor torque and value.

[0076] Specifically, when the hydraulic brake is controlled to operate at a second desired brake pressure, all yaw motors in the corresponding yaw hydraulic braking system are controlled to rotate at their respective rated speeds. This yields the actual output power of each yaw motor when its speed is stable under the second desired brake pressure. Then, based on the motor torque calculation formula, the rated speed and actual output power of each yaw motor are used to calculate the motor torque, resulting in the actual motor torque of each yaw motor under the second desired brake pressure. Finally, the actual motor torques of each yaw motor under the second desired brake pressure are added together to obtain the second motor torque sum. This second motor torque sum is the sum of the actual motor torques of all yaw motors under the second desired brake pressure. If the second desired brake pressure is a non-zero positive number, the second motor torque sum can be used to represent the sum of the yaw system friction force and the actual hydraulic braking force in the target navigation direction.

[0077] Sub-step S213 involves performing a difference calculation on the sum of the torques of the second motor and the sum of the torques of the first motor to obtain the actual hydraulic braking force value.

[0078] The actual hydraulic braking force value can be obtained by subtracting the sum of the torques of the first motor from the sum of the torques of the second motor.

[0079] Therefore, this application can monitor the actual braking capacity of the yaw hydraulic braking system in real time and effectively by executing the above sub-steps S211 to S213 and by monitoring the yaw motor torque of the yaw hydraulic braking system during the braking process in the target yaw direction.

[0080] Step S220: Calculate the actual friction coefficient of the yaw hydraulic brake pads in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure.

[0081] In this embodiment, after obtaining the first desired brake pressure, the second desired brake pressure, and the actual hydraulic braking force value of a single yaw hydraulic braking system in the target yaw direction, the computer device 10 can calculate the friction coefficient of the first desired brake pressure, the second desired brake pressure, and the actual hydraulic braking force value based on the motion correlation between the yaw hydraulic brake pads, the hydraulic brake, and the yaw transmission chain structure in the yaw hydraulic braking system. This yields the actual friction coefficient value of the yaw hydraulic brake pads in the target yaw direction, thereby enabling real-time and effective monitoring of the actual braking capability of the yaw hydraulic brake pads by driving the yaw hydraulic braking system for braking.

[0082] Alternatively, please refer to Figure 4 , Figure 4 yes Figure 2 The flowchart illustrates the sub-steps included in step S220. In this embodiment, step S220 may include sub-steps S221 to S222 to monitor the actual braking capability of the yaw hydraulic brake pads in a timely and effective manner.

[0083] Sub-step S221: Perform difference calculation on the second desired brake pressure and the first desired brake pressure to obtain the desired brake pressure difference of the yaw hydraulic braking system during the braking process in the target yaw direction.

[0084] The desired brake pressure difference can be obtained by subtracting the first desired brake pressure from the second desired brake pressure.

[0085] Sub-step S222: The friction coefficient is calculated based on the yaw transmission chain ratio, yaw transmission efficiency, and desired brake pressure difference of the yaw hydraulic braking system, as well as the actual hydraulic braking force and total effective friction surface area of ​​the yaw hydraulic brake pads at the yaw hydraulic braking system, to obtain the actual friction coefficient value.

[0086] The calculation process for the actual friction coefficient value is expressed by the following formula:

[0087]

[0088] in, The values ​​are: M (representing the actual friction coefficient of the yaw hydraulic brake pad), n (representing the actual hydraulic braking force of the yaw hydraulic braking system during braking in the target yaw direction), η (representing the yaw transmission chain ratio of the yaw hydraulic braking system), P (representing the desired brake pressure difference of the yaw hydraulic braking system), and A (representing the total effective friction surface area of ​​the yaw hydraulic brake pad at the yaw hydraulic braking system).

[0089] Therefore, by executing the above sub-steps S221 to S222, this application can monitor the actual braking capacity of the yaw hydraulic brake pads in real time and effectively during the target navigation direction braking process of the yaw hydraulic brake system.

[0090] Step S230: Based on the factory friction coefficient range of the yaw hydraulic brake pads, perform a brake pad health diagnosis on the calculated actual friction coefficient value to obtain the actual health status result of the yaw hydraulic brake pads.

[0091] In this embodiment, the factory friction coefficient range is used to represent the effective friction coefficient value range set at the factory for the corresponding yaw hydraulic brake pad; after determining the actual friction coefficient value of the yaw hydraulic brake pad included in the yaw hydraulic braking system in the target yaw direction, the computer device 10 can compare the determined actual friction coefficient value with the factory friction coefficient range, and output the actual health status result of the yaw hydraulic brake pad in the yaw hydraulic braking system in the target yaw direction according to the friction coefficient comparison result.

[0092] It is understood that, in this embodiment of the application, after selecting the clockwise yaw direction as the target yaw direction, the health status of the yaw hydraulic brake pads in the yaw hydraulic braking system in the clockwise yaw direction can be evaluated in a timely and effective manner according to the above steps S210 to S220. Then, the counterclockwise yaw direction can be selected as the target yaw direction, and the health status of the yaw hydraulic brake pads in the counterclockwise yaw direction can be evaluated in a timely and effective manner according to the above steps S210 to S220, thereby obtaining the actual health status of the yaw hydraulic brake pads in the yaw hydraulic braking system in different yaw directions.

[0093] Alternatively, please refer to Figure 5 , Figure 5 yes Figure 2 The flowchart of step S230 includes the sub-steps. In this embodiment, step S230 may include sub-steps S231 to S234 to effectively assess the actual health status of the yaw hydraulic brake pads in a single yaw hydraulic braking system in the target yaw direction.

[0094] Sub-step S231: Check whether the actual friction coefficient value is within the factory friction coefficient range.

[0095] If the actual friction coefficient of a yaw hydraulic brake pad in a single yaw hydraulic braking system is detected to be within the factory friction coefficient range of the corresponding yaw hydraulic brake pad in the target yaw direction, it indicates that the actual braking capacity of the yaw hydraulic brake pad in the yaw hydraulic braking system must meet the normal capacity standard, and sub-step S232 can be executed at this time; if the actual friction coefficient of a yaw hydraulic brake pad in a single yaw hydraulic braking system is detected to be not within the factory friction coefficient range of the corresponding yaw hydraulic brake pad, it indicates that the actual braking capacity of the yaw hydraulic brake pad in the yaw hydraulic braking system may not meet the normal capacity standard, and sub-step S233 can be executed at this time.

[0096] Sub-step S232 outputs the actual health status result as the yaw hydraulic brake pads being in a healthy state.

[0097] In this embodiment, if the actual friction coefficient value of the yaw hydraulic brake pad in a certain yaw hydraulic braking system is actually within the factory friction coefficient range of the corresponding yaw hydraulic brake pad in the target yaw direction, then the actual health status result of the yaw hydraulic brake pad in the corresponding yaw hydraulic braking system is "the yaw hydraulic brake pad is in a healthy state", wherein the healthy state of the brake pad is used to indicate that the corresponding yaw hydraulic brake pad can be used normally.

[0098] Sub-step S233: Determine a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range, and calculate the friction coefficient difference between the actual friction coefficient value and the reference friction coefficient value.

[0099] If the actual friction coefficient value of the yaw hydraulic brake pad in a certain yaw hydraulic braking system is not within the factory friction coefficient range of the corresponding yaw hydraulic brake pad in the target yaw direction, it indicates that the actual health condition of the yaw hydraulic brake pad in the corresponding yaw hydraulic braking system needs to be effectively determined through a further brake pad health assessment process. At this time, the computer device 10 will select an appropriate reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range of the yaw hydraulic brake pad, and then obtain the friction coefficient difference between the actual friction coefficient value and the reference friction coefficient value by subtracting the reference friction coefficient value from the actual friction coefficient value.

[0100] Optionally, in one embodiment of this example, to simplify the process of selecting a reference friction coefficient, the step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range may include: directly using the median friction coefficient value of the factory friction coefficient range as the reference friction coefficient value.

[0101] Optionally, in another embodiment of this invention, to improve the flexibility of selecting the reference friction coefficient and the accuracy of brake pad health assessment, while ensuring that the final actual health status result is more consistent with the data distribution of the factory friction coefficient range and the actual friction coefficient value, the step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range may include:

[0102] The test determines whether the actual friction coefficient value is closest to the upper limit or lower limit of the factory friction coefficient range.

[0103] If the actual friction coefficient value is detected to be closest to the upper limit of the friction coefficient value, the upper limit of the friction coefficient value is directly used as the reference friction coefficient value.

[0104] If the actual friction coefficient value is detected to be closest to the lower limit of the friction coefficient, the lower limit of the friction coefficient is directly used as the reference friction coefficient value.

[0105] Sub-step S234: Perform a health assessment on the friction coefficient difference according to the preset brake pad health assessment strategy, and output the actual health status result as the yaw hydraulic brake pad is in a brake pad device state that matches the health assessment result.

[0106] In one embodiment of this invention, the brake pad health assessment strategy can directly determine whether the actual health status of the yaw hydraulic brake pad in a single yaw hydraulic braking system is normal or abnormal through a preset friction coefficient difference threshold. In this case, sub-step S234 may include:

[0107] Detect whether the absolute value of the friction coefficient difference exceeds a preset friction coefficient difference threshold;

[0108] If the absolute value of the friction coefficient difference is not exceeded by the preset friction coefficient difference threshold, the actual health status result is output as the yaw hydraulic brake pad is in a healthy state; otherwise, the actual health status result is output as the yaw hydraulic brake pad is in an abnormal state.

[0109] Therefore, this application can directly determine whether the actual health status of the yaw hydraulic brake pad in a single yaw hydraulic braking system is normal (i.e., healthy brake pad) or abnormal (i.e., abnormal brake pad) by using a preset friction coefficient difference threshold.

[0110] Optionally, in another embodiment of this invention, the brake pad health assessment strategy may include at least one friction coefficient difference range corresponding to each of multiple brake pad health indicators (e.g., "Level 1 failure indicator", "Level 2 failure indicator", "Level 3 failure indicator" and "complete failure indicator"), wherein each brake pad health indicator corresponds to a brake pad device state (e.g., the brake pad device states corresponding to the brake pad health indicators "Level 1 failure indicator", "Level 2 failure indicator", "Level 3 failure indicator" and "complete failure indicator" are "Level 1 brake failure state", "Level 2 brake failure state", "Level 3 brake failure state" and "Brake complete failure state" respectively). Then, the above sub-step S234 may include:

[0111] The friction coefficient difference is numerically matched with at least one friction coefficient difference value range corresponding to each of the various brake pad health indicators to obtain the target brake pad health indicator corresponding to the target friction coefficient difference value range where the friction coefficient difference is located.

[0112] The actual health status result is output as the yaw hydraulic brake pad being in the brake pad device state corresponding to the target brake pad health index.

[0113] Therefore, this application can directly assess the actual health status of the yaw hydraulic brake pads in a single yaw hydraulic braking system by using the data standards of various brake pad health indicators.

[0114] This application can monitor the actual braking capacity of the yaw hydraulic brake pads in real time and effectively by performing the above steps S210 to S230 and driving the yaw hydraulic brake system to brake, and promptly diagnose the health status of the yaw hydraulic brake pads, thereby timely and effectively assessing the health status of the yaw hydraulic brake pads, reducing the labor cost, difficulty and time consumption of brake pad health diagnosis operations.

[0115] In this application, to ensure that the computer device 10 can perform the aforementioned health status diagnosis method through the health status diagnosis device 100 for yaw hydraulic brake pads, this application implements the aforementioned functions by dividing the health status diagnosis device 100 into functional modules. The specific composition of the health status diagnosis device 100 for yaw hydraulic brake pads provided in this application will be described below.

[0116] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the composition of a health status diagnostic device 100 for yaw hydraulic brake pads provided in an embodiment of this application. In this embodiment, the health status diagnostic device 100 may include an actual braking condition acquisition module 110, an actual friction coefficient calculation module 120, and an actual health status diagnostic module 130.

[0117] The actual braking condition acquisition module 110 is used to acquire the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure.

[0118] The actual friction coefficient calculation module 120 is used to calculate the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure and the second desired brake pressure.

[0119] The actual health status diagnosis module 130 is used to perform brake pad health diagnosis on the calculated actual friction coefficient value based on the factory friction coefficient range of the yaw hydraulic brake pad, and obtain the actual health status result of the yaw hydraulic brake pad.

[0120] It should be noted that the health status diagnosis device 100 provided in this application for yaw hydraulic brake pads has the same basic principle and technical effect as the aforementioned health status diagnosis method for yaw hydraulic brake pads. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the description of the above-mentioned health status diagnosis method for yaw hydraulic brake pads.

[0121] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of the apparatus, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0122] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0123] In summary, in the yaw hydraulic brake pad health status diagnosis method and apparatus, computer equipment, and readable storage medium provided in this application, after obtaining the actual hydraulic braking force value of the yaw hydraulic braking system during braking in the target yaw direction according to the first desired brake pressure or the second desired brake pressure, this application calculates the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure. Then, based on the factory friction coefficient range of the yaw hydraulic brake pads, the calculated actual friction coefficient value is used to perform brake pad health diagnosis, obtaining the actual health status result of the yaw hydraulic brake pads. Thus, by driving the yaw hydraulic braking system to brake, the actual braking capacity of the yaw hydraulic brake pads can be monitored in real time and effectively, and the health status of the yaw hydraulic brake pads can be diagnosed in a timely manner, so as to effectively assess the health status of the yaw hydraulic brake pads and reduce the labor cost, difficulty, and time consumption of brake pad health diagnosis operations.

[0124] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for diagnosing the health status of yaw hydraulic brake pads, characterized in that, The method includes: Obtain the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure; Based on the actual hydraulic braking force value, the first desired brake pressure, and the second desired brake pressure, the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction is calculated. Specifically, the desired brake pressure difference during braking in the target yaw direction is obtained by performing a difference calculation on the second desired brake pressure and the first desired brake pressure. Then, based on the yaw transmission chain ratio, yaw transmission efficiency, and desired brake pressure difference of the yaw hydraulic braking system, as well as the actual hydraulic braking force value and total effective friction surface area of ​​the yaw hydraulic brake pads at the yaw hydraulic braking system location, the friction coefficient is calculated to obtain the actual friction coefficient value. Based on the factory friction coefficient range of the yaw hydraulic brake pad, a brake pad health diagnosis is performed on the calculated actual friction coefficient value to obtain the actual health status result of the yaw hydraulic brake pad. The step of obtaining the actual hydraulic braking force value of the yaw hydraulic braking system during braking in the target yaw direction according to the first desired brake pressure or the second desired brake pressure includes: The actual yaw direction of the yaw hydraulic braking system is set according to the target yaw direction, and the hydraulic brakes included in the yaw hydraulic braking system are controlled to operate according to the first desired brake pressure. At the same time, all yaw motors included in the yaw hydraulic braking system are controlled to rotate according to their respective rated speeds to obtain the first motor torque sum value, wherein the first motor torque sum value is the sum of the actual motor torques of all yaw motors under the action of the first desired brake pressure. The hydraulic brake is controlled to operate according to the second desired brake pressure, and all yaw motors are controlled to rotate at their respective rated speeds to obtain the second motor torque sum value, wherein the first motor torque sum value is the sum of the actual motor torques of all yaw motors under the action of the second desired brake pressure; The difference between the sum of the torques of the second motor and the sum of the torques of the first motor is calculated to obtain the actual hydraulic braking force value.

2. The method according to claim 1, characterized in that, The calculation process for the actual friction coefficient value is expressed by the following formula: ； in, This is used to represent the actual coefficient of friction value of the yaw hydraulic brake pad. This is used to represent the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction. This is used to indicate the yaw drive chain ratio of the yaw hydraulic braking system. This is used to represent the yaw transmission efficiency of the yaw hydraulic braking system. Used to represent the desired brake pressure difference value of the yaw hydraulic braking system. This is used to represent the total effective friction surface area of ​​the yaw hydraulic brake pads in the yaw hydraulic braking system.

3. The method according to claim 1 or 2, characterized in that, The step of performing a brake pad health diagnosis based on the calculated actual friction coefficient value according to the factory friction coefficient range of the yaw hydraulic brake pad, and obtaining the actual health status result of the yaw hydraulic brake pad, includes: Check whether the actual friction coefficient value is within the range of the factory-specified friction coefficient; If the actual friction coefficient value is detected to be within the factory friction coefficient range, the actual health status result is output as the yaw hydraulic brake pad is in a healthy state. If the actual friction coefficient value is detected to be outside the factory friction coefficient range, a matching reference friction coefficient value is determined within the factory friction coefficient range for the actual friction coefficient value, and the friction coefficient difference between the actual friction coefficient value and the reference friction coefficient value is calculated. The friction coefficient difference is evaluated according to the preset brake pad health evaluation strategy, and the actual health status result is output as the brake pad device state that matches the health evaluation result.

4. The method according to claim 3, characterized in that, The step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range includes: The test determines whether the actual friction coefficient value is closest to the upper limit or lower limit of the factory friction coefficient range. If the actual friction coefficient value is detected to be closest to the upper limit of the friction coefficient value, the upper limit of the friction coefficient value is directly used as the reference friction coefficient value. If the actual friction coefficient value is detected to be closest to the lower limit of the friction coefficient, the lower limit of the friction coefficient is directly used as the reference friction coefficient value. Alternatively, the step of determining a matching reference friction coefficient value for the actual friction coefficient value within the factory friction coefficient range includes: The median friction coefficient value of the range of factory-issued friction coefficients is directly used as the reference friction coefficient value.

5. The method according to claim 3, characterized in that, The step of performing a health assessment on the friction coefficient difference according to a preset brake pad health assessment strategy, and outputting the actual health status result as the brake pad device state matching the health assessment result, includes: Detect whether the absolute value of the friction coefficient difference exceeds a preset friction coefficient difference threshold; If the absolute value of the friction coefficient difference is not exceeded by the preset friction coefficient difference threshold, the actual health status result is output as the yaw hydraulic brake pad is in a healthy state; otherwise, the actual health status result is output as the yaw hydraulic brake pad is in an abnormal state.

6. The method according to claim 3, characterized in that, The brake pad health assessment strategy includes at least one friction coefficient difference range corresponding to each of multiple brake pad health indicators, wherein each brake pad health indicator corresponds to a brake pad device state. The step of performing a health assessment on the friction coefficient difference according to the preset brake pad health assessment strategy and outputting the actual health state result as the brake pad device state matching the health assessment result includes: The friction coefficient difference is numerically matched with at least one friction coefficient difference value range corresponding to each of the various brake pad health indicators to obtain the target brake pad health indicator corresponding to the target friction coefficient difference value range where the friction coefficient difference is located. The actual health status result is output as the yaw hydraulic brake pad being in the brake pad device state corresponding to the target brake pad health index.

7. A health status diagnostic device for yaw hydraulic brake pads, characterized in that, The apparatus is used to implement the health status diagnosis method for yaw hydraulic brake pads according to any one of claims 1-6, and the apparatus comprises: The actual braking condition acquisition module is used to acquire the actual hydraulic braking force value of the yaw hydraulic braking system during the braking process in the target yaw direction according to the first desired brake pressure or the second desired brake pressure. The actual friction coefficient calculation module is used to calculate the actual friction coefficient value of the yaw hydraulic brake pads included in the yaw hydraulic braking system in the target yaw direction based on the actual hydraulic braking force value, the first desired brake pressure and the second desired brake pressure. The actual health status diagnosis module is used to perform brake pad health diagnosis based on the calculated actual friction coefficient value according to the factory friction coefficient range of the yaw hydraulic brake pad, and obtain the actual health status result of the yaw hydraulic brake pad.

8. A computer device, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor, the processor being able to execute the computer program to implement the health status diagnosis method for yaw hydraulic brake pads as described in any one of claims 1-6.

9. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the health status diagnosis method for yaw hydraulic brake pads as described in any one of claims 1-6.

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