Model selection design and check optimization method and system of yaw system, medium and equipment

Abstract

The invention relates to the technical field of wind power equipment control, and provides a model selection design and check optimization method and system of a yaw system, a medium and equipment. The method comprises the following steps: establishing a yaw system model selection simulation load database; based on the yaw system model selection simulation load database, calculating the friction torque of a yaw bearing and the friction torque of a sliding bearing; based on the yaw system model selection simulation load database, evaluating the driving capability of the yaw system; based on the yaw system model selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing, the braking capacity of the yaw system is evaluated; the driving capacity and the braking capacity of the yaw system in the starting / stopping process are evaluated; according to the driving capacity and the braking capacity of the yaw system in the starting / stopping process, the torque, corresponding to the maximum braking torque, of the pinion and the torque, corresponding to the maximum driving torque, of the pinion are calculated, the single yaw driving limit torque is obtained, and the strength of the yaw driving pinion is checked.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power equipment control, and in particular to a method, system, medium and equipment for type selection, design and verification optimization of a yaw system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In the existing wind power generation technology, the design of the yaw system mainly considers how to improve its driving and braking capabilities to ensure that the wind turbine can operate normally under various wind direction changes. At present, most yaw systems are driven and braked by mechanical means, such as driving the yaw system through hydraulic motors or electric motors, and braking the yaw system through brake pads or electromagnetic brakes. In addition, some yaw systems also use intelligent control technology to automatically adjust the direction of the yaw system by real-time monitoring of changes in wind direction, thereby improving the operating efficiency of the yaw system.

[0004] Although the existing yaw system can meet the operating requirements of wind turbines to a certain extent, there are still some problems and shortcomings in practical applications. First, during the design process of the existing yaw system, only the driving ability and braking ability are often considered, while other aspects of performance, such as the stability and reliability of the yaw system, are ignored. Secondly, during the operation of the existing yaw system, the operating efficiency of the yaw system may be reduced due to various reasons (such as sudden changes in wind direction, equipment failure, etc.), and may even cause the wind turbine to shut down. In addition, during the design process of the existing yaw system, a large number of experiments and tests are often required, which not only increases the R&D cost, but also prolongs the R&D cycle. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method, system, medium and equipment for the selection, design and verification optimization of a yaw system. The present invention can effectively reduce the design cost of the yaw system, improve the operating reliability of the unit and ensure the normal operation of the yaw system, and improve the operating efficiency of the wind turbine generator set.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a method for designing, selecting and optimizing a yaw system.

[0008] A yaw system selection design and verification optimization method, comprising:

[0009] Establish a simulation load database for yaw system selection;

[0010] Based on the yaw system selection simulation load database, calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0011] Evaluate the driving capability of the yaw system based on the yaw system selection simulation load database;

[0012] Evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0013] Evaluate the driving and braking capabilities of the yaw system during start / stop;

[0014] According to the driving and braking capabilities of the yaw system during the start / stop process, the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque are calculated to obtain the single yaw drive limit torque to check the strength of the yaw drive pinion.

[0015] Furthermore, the friction torque of the sliding bearing is calculated using the following formula:

[0016] M r-sliding =M uper +M bottom

[0017] Among them, M r-sliding Indicates the friction torque of the sliding bearing, M uper Represents the friction torque of the upper pad, M bottom Represents the friction torque of the bottom pad.

[0018] Further, the method for evaluating the driving capability of the yaw system includes:

[0019] M t ≤T rated-yaw , the probability of exceeding the set running time: P ≥ 90%;

[0020] T rated-yaw ≤M t ≤T max-yaw , the probability of exceeding the set running time: P ≤ 10%;

[0021] T max-yaw ≤M t , the probability of exceeding the set running time: P = 0%;

[0022] Gearbox maximum output torque: T amx-motor-input =T amx-motor *i gear *η gear ;

[0023] Yaw rated drive torque: Trated-yaw =N*T amx-motor *i all *η all ;

[0024] Maximum yaw drive torque: T amx-motor =T amx-motor *i all *η all ;

[0025] Among them, M t Indicates the yaw moment under normal power generation conditions, T rated-yaw represents the yaw rated drive torque, P represents the operating time probability, T max-yaw Indicates the yaw operation limit torque, T max-motor-input Indicates the maximum output torque of the gearbox, T max-motor Indicates the maximum driving torque of the yaw motor, i gearbox Indicates the gearbox transmission ratio, η gear Indicates the gearbox transmission efficiency, T rated-yaw represents the rated yaw drive torque, N represents the number of yaw drives, i all represents the total transmission ratio, η all Indicates the overall transmission efficiency.

[0026] Further, the braking capability of the yaw system is evaluated, the method comprising:

[0027] Effective electromagnetic braking torque: T e =N*η1*T motor-brake *i all / η all ;

[0028] Total braking torque: T all-brake =T e +M f-max (M r-bearing or M r-sliding );

[0029] The safety performance of the braking system needs to meet the following requirements: T all-brake / M Z ≥90%;

[0030] When the yaw braking system cannot overcome the external load and produces a small slip, it must meet the following requirements: effective yaw moment M under extreme working conditions Z-RMS-2S ≤T all-brake ;

[0031] Among them, T e represents the effective electromagnetic braking torque, N represents the number of yaw drives, η1 represents the motor transmission efficiency, T motor-brake Indicates electromagnetic brake torque, T all-brake Indicates the total braking torque, M f-maxIndicates the limiting friction torque of the bearing or gear ring, M Z Indicates the rotation torque during yaw operation, M Z-RMS-2S Indicates the effective yaw moment M Z average value.

[0032] Furthermore, the driving capability of the yaw system during the start / stop process is evaluated, and the method includes:

[0033] Yaw system start-up: idling condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process;

[0034] Yaw system stop: idling condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process;

[0035] Conditions to be met: (M Z-iding -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake ;

[0036] Among them, M Z-iding Indicates the yaw torque under idling condition, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

[0037] Furthermore, the braking capability of the yaw system during the start / stop process is evaluated, the method comprising:

[0038] Yaw system start-up: normal power generation condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process;

[0039] Yaw system stop: normal power generation condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process;

[0040] Conditions to be met: (M Z-normal -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake .

[0041] Among them, M Z-normal Indicates the yaw torque under normal operating conditions, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

[0042] Furthermore, the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque are calculated to obtain the single yaw drive limit torque, which is expressed by the following formula:

[0043] Calculate the torque of the pinion corresponding to the maximum braking torque: M1 = i gearbox *(1+20%)*T motor-brake ;

[0044] Calculate the torque of the pinion corresponding to the maximum driving torque: M2 = i gearbox *T rated-yaw *2.8*η gear ;

[0045] According to the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque, calculate the single yaw drive limit torque: T drive =MAX(M1,M2);

[0046] Among them, M1 represents the torque of the pinion corresponding to the maximum braking torque, i gearbox Indicates the gearbox transmission ratio, T motor-brake Indicates electromagnetic brake torque, M2 indicates the torque of the pinion corresponding to the maximum driving torque, T rated-yaw Indicates the yaw rated drive torque.

[0047] A second aspect of the present invention provides a yaw system selection, design, and calibration optimization system.

[0048] A yaw system selection design and verification optimization system, comprising:

[0049] A database establishment module is configured to: establish a yaw system selection simulation load database;

[0050] A first calculation module is configured to calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing based on the yaw system selection simulation load database;

[0051] A first evaluation module is configured to: evaluate the driving capability of the yaw system based on a yaw system selection simulation load database;

[0052] A second evaluation module is configured to: evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0053] A third evaluation module is configured to: evaluate the driving ability and braking ability of the yaw system during the start / stop process;

[0054] The second calculation module is configured to calculate the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque according to the driving ability and braking ability of the yaw system during the start-up / shutdown process, and obtain a single yaw drive limit torque to check the strength of the yaw drive pinion.

[0055] A third aspect of the present invention provides a computer-readable storage medium.

[0056] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the method for selecting, designing, verifying and optimizing a yaw system as described in the first aspect above.

[0057] A fourth aspect of the present invention provides a computer device.

[0058] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for selecting, designing and verifying and optimizing a yaw system as described in the first aspect above are implemented.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The present invention not only takes into account the driving capability and braking capability of the yaw system, but also comprehensively optimizes other performance aspects, such as the stability and reliability of the yaw system, thereby improving the overall performance of the yaw system.

[0061] The present invention evaluates the driving and braking capabilities of the yaw system during the start-up / shutdown process and verifies the tooth strength of the yaw system, thereby enabling the yaw system to operate efficiently under various wind direction changes, thereby avoiding reduced operating efficiency due to sudden changes in wind direction, equipment failures, etc., and even the problem of possible shutdown of the wind turbine.

[0062] The present invention reduces the need for experiments and tests through scientific design and optimization, thereby reducing research and development costs and shortening the research and development cycle.

[0063] The present invention effectively protects the thermal relay system and the yaw motor by setting the conditions that need to be met for the safety performance of the braking system and the conditions that need to be met when the yaw braking system cannot overcome the external load and produces a slight slip, thereby preventing overheating or motor overload and improving the safety of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0065] Figure 1 It is a flow chart of the method for selecting, designing, verifying and optimizing the yaw system shown in the present invention. DETAILED DESCRIPTION

[0066] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0067] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0069] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0070] Embodiment 1

[0071] like Figure 1 As shown, this embodiment provides a method for the selection, design and verification and optimization of a yaw system. This embodiment uses the method applied to a server as an example for illustration. It is understandable that the method can also be applied to a terminal, and can also be applied to a system including a terminal, a server and a server, and is implemented through the interaction between the terminal and the server. The server can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network servers, cloud communications, middleware services, domain name services, security services CDN, and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in this application. In this embodiment, the method includes the following steps:

[0072] Establish a simulation load database for yaw system selection;

[0073] Based on the yaw system selection simulation load database, calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0074] Evaluate the driving capability of the yaw system based on the yaw system selection simulation load database;

[0075] Evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0076] Evaluate the driving and braking capabilities of the yaw system during start / stop;

[0077] According to the driving and braking capabilities of the yaw system during the start / stop process, the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque are calculated to obtain the single yaw drive limit torque to check the strength of the yaw drive pinion.

[0078] The present invention provides a method for selecting, designing and verifying an optimization method for a yaw system, comprising: establishing a yaw system selection simulation load database, evaluating the braking capability of the yaw system and the driving capability of the yaw system, and then verifying the strength of the yaw system teeth, aiming to improve the stability and reliability of the yaw system, ensure the normal operation of the yaw system under conditions of sudden changes in wind direction, equipment failures, etc., improve the operating efficiency of the wind turbine generator set, and at the same time, through optimized design, reduce the experiments and tests required for the yaw system in the design process, reduce R&D costs, and shorten the R&D cycle.

[0079] The present embodiment is described in detail below. The method for selecting, designing and checking and optimizing a yaw system described in the present embodiment includes the following steps:

[0080] Step (1): Establish a yaw system selection simulation load database;

[0081] Step (2): Calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing according to the whole machine parameters and the yaw system selection simulation load database;

[0082] Step (3): Based on the yaw system selection simulation load database, the drive capability design of the yaw system is evaluated;

[0083] Step (4): Select the simulation load database and yaw bearing / yaw gear ring, yaw gearbox, and yaw motor according to the yaw system;

[0084] Step (5): Evaluation of the driving and braking capabilities of the yaw system during start-up / shutdown;

[0085] Step (6): Check the strength of the yaw drive pinion.

[0086] In some embodiments, step (1) includes: by building a simulation model, according to the wind turbine load design requirements in the IEC61400 standard, calculating the fatigue load and limit load required for the yaw system, and establishing a complete load database according to the actual operating environment of the wind farm, extracting the load required for yaw selection and verification according to the requirements, and the yaw bearing overturning moment M xy , axial force F Z , radial force F xy , yaw drive speed, effective yaw moment of yaw bearing under all working conditions M Z Average value (2s), fatigue load LDD, etc.

[0087] In some embodiments, the fatigue condition Mz probability statistics included in step (1) is calculated using the following formula:

[0088]

[0089]

[0090] Among them, λ is the scale parameter, k is the shape parameter, x is the value (variable) of fatigue condition Mz, and F(x) represents the probability value corresponding to different x values.

[0091] In some embodiments, the yaw bearing friction torque described in step (2) is calculated using the following formula:

[0092] M r-bearing =μ / 2(4.4*Mk +F z *D L +2.2*F xy *D L *1.73)+M emp

[0093] Among them, M r-bearing represents the yaw bearing friction torque, μ represents the friction coefficient, M k Denotes the overturning moment, F xy Indicates radial force, F z Indicates the axial force, D L Indicates the bearing rotation diameter, M emp Represents the no-load friction torque.

[0094] In some embodiments, the friction torque of the sliding bearing described in step (2) can be calculated based on the magnitude of the pressure applied to each sliding pad and the friction coefficient, including the upper pad and the bottom pad:

[0095] M r-sliding =M uper +M bottom

[0096] Among them, M r-sliding Indicates the friction torque of the sliding bearing, M uper Represents the friction torque of the upper pad, M bottom Represents the friction torque of the bottom pad.

[0097] In some embodiments, the drive capability design evaluation of the yaw system in step (3) includes: the yaw drive torque requirement meets more than 100% of the operating time, the maximum drive torque M max-drive To meet the maximum torque of all power generation conditions, in order to balance cost and driving capacity, the rated torque needs to meet more than 90% of the operating time, that is:

[0098] M t ≤T rated-yaw Probability of operating for more than 20 years: P ≥ 90%;

[0099] T rated-yaw ≤M t ≤T max-yaw Probability of operating time exceeding 20 years: P ≤ 10%;

[0100] T max-yaw ≤M t Probability of exceeding 20 years of operation time: P = 0% (yaw motor cannot operate normally);

[0101] Gearbox maximum output torque: T max-motor-input =T max-motor *igearbox *η gear ;

[0102] Yaw rated drive torque: T rated-yaw =N*T max-motor *i all *η all ;

[0103] Maximum yaw drive torque: T max-motor =T max-motor *i all *η all .

[0104] Among them, M t Indicates the yaw moment under normal power generation conditions, T rated-yaw represents the yaw rated drive torque, P represents the operating time probability, T max-yaw Indicates the yaw operation limit torque, T max-motor-input Indicates the maximum output torque of the gearbox, T max-motor Indicates the maximum driving torque of the yaw motor, i gearbox Indicates the gearbox transmission ratio, η gear Indicates the gearbox transmission efficiency, T rated-yaw represents the rated yaw drive torque, N represents the number of yaw drives, i all represents the total transmission ratio, η all Indicates the overall transmission efficiency.

[0105] In some embodiments, the braking capacity of the yaw system is designed and evaluated in step (4), and the method includes: generally, the yaw braking needs to meet the braking capacity of all extreme working conditions, but such working conditions are extremely harsh and the unit cost will increase too much. The braking capacity evaluation method considers that some operating conditions can produce slight slip under certain conditions, and includes the following steps:

[0106] Effective electromagnetic braking torque: T e =N*η1*T motor-brake *i all / η all ;

[0107] Total braking torque: T all-brake =T e +M f-max (M r-bearing or M r-sliding );

[0108] The safety performance of the braking system needs to meet the following requirements: T all-brake / M Z ≥90%;

[0109] When the yaw braking system cannot overcome the external load and produces a small slip, it must meet the following requirements: effective yaw moment M under extreme working conditions Z-RMS-2S ≤T all-brake (Protect the thermal relay system and yaw motor to prevent overheating or motor).

[0110] Among them, T e represents the effective electromagnetic braking torque, N represents the number of yaw drives, η1 represents the motor transmission efficiency, T motor-brake Indicates electromagnetic brake torque, T all-brake Indicates the total braking torque, M f-max Indicates the limiting friction torque of the bearing or gear ring, M Z Indicates the rotation torque during yaw operation, M Z-RMS-2S Indicates the effective yaw moment M Z Average value (2s).

[0111] In some embodiments, the method for evaluating the driving capability and braking capability of the yaw system during the start-up / shutdown process in step (5) includes:

[0112] (a) Yaw system start-up 1: idling condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor not started and yaw clamp pressure relief to 30%, electromagnetic brake mainly provides braking torque during the start-up process;

[0113] Yaw system stop 1: idling condition + first yaw clamp pressure builds up to 30% + then yaw motor withdraws + then electromagnetic brake holds the brake. During the stop process, the electromagnetic brake mainly provides braking torque.

[0114] Conditions to be met:

[0115] (M Z-iding -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake ;

[0116] Among them, M Z-iding Indicates the yaw torque under idling condition, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, and N represents the number of yaw drives.

[0117] (b) Yaw system start-up 2: normal power generation condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor not started and yaw clamp pressure relief to 30%, electromagnetic brake mainly provides braking torque during the start-up process;

[0118] Yaw system stop 2: Normal power generation condition + yaw clamp pressure build-up to 30% + yaw motor withdrawal + rear electromagnetic brake. During the stop process, the electromagnetic brake is mainly used to provide braking torque.

[0119] Conditions to be met:

[0120] (M Z-normal -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake

[0121] Among them, M Z-normal Indicates the yaw torque under normal operating conditions.

[0122] In some embodiments, the yaw drive tooth strength check in step (6) comprises:

[0123] Calculate the torque of the pinion corresponding to the maximum braking torque:

[0124] M1=i gearbox *(1+20%)*T motor-brake

[0125] Calculate the torque of the pinion corresponding to the maximum driving torque:

[0126] M2=i gearbox *T rated-yaw *2.8*η gear

[0127] According to the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque, the single yaw drive limit torque is calculated:

[0128] T drive =MAX(M1,M2)

[0129] Among them, M1 represents the torque of the pinion corresponding to the maximum braking torque, M2 represents the torque of the pinion corresponding to the maximum driving torque, T drive Represents the single yaw drive limit torque.

[0130] The present invention establishes a yaw system selection simulation load database by collecting and collating parameters of various types of yaw systems, including but not limited to parameters of yaw bearings / yaw gear rings, yaw gearboxes, yaw motors, etc. The database will provide important data support for subsequent yaw system design and evaluation. According to the yaw system selection simulation load database, the braking capacity of the yaw system is evaluated. Specifically, by calculating parameters such as the effective electromagnetic braking torque and the total braking torque, the safety performance of the braking system is evaluated, and it is ensured that the yaw braking system can operate normally under extreme conditions. During the start / shutdown process of the yaw system, by calculating the driving capacity and braking capacity of the yaw motor, it is ensured that the yaw system can operate stably under various conditions. By calculating the torque of the pinion corresponding to the maximum braking torque and the maximum driving torque, the tooth strength of the yaw system is checked to ensure the stability and reliability of the yaw system. The implementation of the above technical means aims to ensure the driving and braking capabilities of the yaw system while improving the stability and reliability of the yaw system, ensuring the normal operation of the yaw system in the event of sudden changes in wind direction, equipment failures, etc., and improving the operating efficiency of wind turbines. At the same time, through optimized design, the experiments and tests required for the yaw system in the design process can be reduced, thereby reducing R&D costs and shortening the R&D cycle.

[0131] Embodiment 2

[0132] This embodiment provides a yaw system selection design and calibration optimization system.

[0133] A yaw system selection design and verification optimization system, comprising:

[0134] A database establishment module is configured to: establish a yaw system selection simulation load database;

[0135] A first calculation module is configured to calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing based on the yaw system selection simulation load database;

[0136] A first evaluation module is configured to: evaluate the driving capability of the yaw system based on a yaw system selection simulation load database;

[0137] A second evaluation module is configured to: evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing;

[0138] A third evaluation module is configured to: evaluate the driving ability and braking ability of the yaw system during the start / stop process;

[0139] The second calculation module is configured to calculate the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque according to the driving ability and braking ability of the yaw system during the start-up / shutdown process, and obtain a single yaw drive limit torque to check the strength of the yaw drive pinion.

[0140] In some embodiments, the friction torque of the sliding bearing is calculated using the following formula:

[0141] M r-sliding =M uper +M bottom

[0142] Among them, M r-sliding Indicates the friction torque of the sliding bearing, M uper Represents the friction torque of the upper pad, M bottom Represents the friction torque of the bottom pad.

[0143] In some embodiments, the method of evaluating the driving capability of the yaw system includes:

[0144] M t ≤T rated-yaw , the probability of exceeding the set running time: P ≥ 90%;

[0145] T rated-yaw ≤M t ≤T max-yaw , the probability of exceeding the set running time: P ≤ 10%;

[0146] T max-yaw ≤M t , the probability of exceeding the set running time: P = 0%;

[0147] Gearbox maximum output torque: T amx-motor-input =T amx-motor *i gear *η gear ;

[0148] Yaw rated drive torque: T rated-yaw =N*T amx-motor *i all *η all ;

[0149] Maximum yaw drive torque: T amx-motor =T amx-motor *i all *η all ;

[0150] Among them, M t Indicates the yaw moment under normal power generation conditions, T rated-yaw represents the yaw rated drive torque, P represents the operating time probability, Tmax-yaw Indicates the yaw operation limit torque, T max-motor-input Indicates the maximum output torque of the gearbox, T max-motor Indicates the maximum driving torque of the yaw motor, i gearbox Indicates the gearbox transmission ratio, η gear Indicates the gearbox transmission efficiency, T rated-yaw represents the rated yaw drive torque, N represents the number of yaw drives, i all represents the total transmission ratio, η all Indicates the overall transmission efficiency.

[0151] In some embodiments, evaluating a braking capability of a yaw system includes:

[0152] Effective electromagnetic braking torque: T e =N*η1*T motor-brake *i all / η all ;

[0153] Total braking torque: T all-brake =T e +M f-max (M r-bearing or M r-sliding );

[0154] The safety performance of the braking system needs to meet the following requirements: T all-brake / M Z ≥90%;

[0155] When the yaw braking system cannot overcome the external load and produces a small slip, it must meet the following requirements: effective yaw moment M under extreme working conditions Z-RMS-2S ≤T all-brake ;

[0156] Among them, T e represents the effective electromagnetic braking torque, N represents the number of yaw drives, η1 represents the motor transmission efficiency, T motor-brake Indicates electromagnetic brake torque, T all-brake Indicates the total braking torque, M f-max Indicates the limiting friction torque of the bearing or gear ring, M Z Indicates the rotation torque during yaw operation, M Z-RMS-2S Indicates the effective yaw moment M Z average value.

[0157] In some embodiments, evaluating the driving capability of the yaw system during a startup / shutdown process includes:

[0158] Yaw system start-up: idling condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process;

[0159] Yaw system stop: idling condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process;

[0160] Conditions to be met: (M Z-iding -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake ;

[0161] Among them, M Z-iding Indicates the yaw torque under idling condition, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

[0162] In some embodiments, evaluating the braking capability of the yaw system during a start / stop process includes:

[0163] Yaw system start-up: normal power generation condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process;

[0164] Yaw system stop: normal power generation condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process;

[0165] Conditions to be met: (M Z-normal -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake .

[0166] Among them, M Z-normal Indicates the yaw torque under normal operating conditions, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

[0167] In some embodiments, the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque are calculated to obtain a single yaw drive limit torque, which is expressed by the following formula:

[0168] Calculate the torque of the pinion corresponding to the maximum braking torque: M1 = i gearbox *(1+20%)*T motor-brake ;

[0169] Calculate the torque of the pinion corresponding to the maximum driving torque: M2 = i gearbox *T rated-yaw *2.8*η gear ;

[0170] According to the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque, calculate the single yaw drive limit torque: T drive =MAX(M1,M2);

[0171] Among them, M1 represents the torque of the pinion corresponding to the maximum braking torque, i gearbox Indicates the gearbox transmission ratio, T motor-brake Indicates electromagnetic brake torque, M2 indicates the torque of the pinion corresponding to the maximum driving torque, T rated-yaw Indicates the yaw rated drive torque.

[0172] Embodiment 3

[0173] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for selecting, designing, verifying and optimizing the yaw system described in the first embodiment are implemented.

[0174] Embodiment 4

[0175] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the method for selecting, designing, verifying and optimizing the yaw system described in the first embodiment are implemented.

[0176] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0177] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0181] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. The selection, design and verification optimization method of the yaw system is characterized by: include: Establish a simulation load database for yaw system selection; Based on the yaw system selection simulation load database, calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing; Evaluate the driving capability of the yaw system based on the yaw system selection simulation load database; Evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing; Evaluate the driving and braking capabilities of the yaw system during start / stop; According to the driving and braking capabilities of the yaw system during the start / stop process, the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque are calculated to obtain the single yaw drive limit torque to check the strength of the yaw drive pinion.

2. The method for selecting, designing and checking and optimizing the yaw system according to claim 1, characterized in that: The friction torque of the sliding bearing is calculated using the following formula: M r-sliding =M uper +M bottom Among them, M r-sliding Indicates the friction torque of the sliding bearing, M uper Represents the friction torque of the upper pad, M bottom Represents the friction torque of the bottom pad.

3. The method for selecting, designing and checking and optimizing the yaw system according to claim 1, characterized in that: The method for evaluating the driving capability of the yaw system comprises: M t ≤T rated-yaw , the probability of exceeding the set running time: P ≥ 90%; T rated-yaw ≤M t ≤T max-yaw , the probability of exceeding the set running time: P ≤ 10%; T max-yaw ≤M t , the probability of exceeding the set running time: P = 0%; Gearbox maximum output torque: T amx-motor-input =T amx-motor *i gear *η gear ; Yaw rated drive torque: T rated-yaw =N*T amx-motor *i all *η all ; Maximum yaw drive torque: T amx-motor =T amx-motor *i all *η all ; Among them, M t Indicates the yaw moment under normal power generation conditions, T rated-yaw represents the yaw rated drive torque, P represents the operating time probability, T max-yaw Indicates the yaw operation limit torque, T max-motor-input Indicates the maximum output torque of the gearbox, T max-motor Indicates the maximum driving torque of the yaw motor, i gearbox Indicates the gearbox transmission ratio, η gear Indicates the gearbox transmission efficiency, T rated-yaw represents the rated yaw drive torque, N represents the number of yaw drives, i all represents the total transmission ratio, η all Indicates the overall transmission efficiency.

4. The method for selecting, designing and checking and optimizing the yaw system according to claim 1, characterized in that: Evaluate the braking capability of the yaw system by: Effective electromagnetic braking torque: T e =N*η1*T motor-brake *i all / η all ; Total braking torque: T all-brake =T e +M f-max (M r-bearing or M r-sliding ); The safety performance of the braking system needs to meet the following requirements: T all-brake / M Z ≥90%; When the yaw braking system cannot overcome the external load and produces a small slip, it must meet the following requirements: effective yaw moment M under extreme working conditions Z-RMS-2S ≤T all-brake ; Among them, T e represents the effective electromagnetic braking torque, N represents the number of yaw drives, η1 represents the motor transmission efficiency, T motor-brake Indicates electromagnetic brake torque, T all-brake Indicates the total braking torque, M f-max Indicates the limiting friction torque of the bearing or gear ring, M Z Indicates the rotation torque during yaw operation, M Z-RMS-2S Indicates the effective yaw moment M Z average value.

5. The method for selecting, designing and checking and optimizing the yaw system according to claim 1, characterized in that: Evaluate the yaw system's ability to drive during start / stop by: Yaw system start-up: idling condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process; Yaw system stop: idling condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process; Conditions to be met: (M Z-iding -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake ; Among them, M Z-iding Indicates the yaw torque under idling condition, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

6. The method for selecting, designing and optimizing the yaw system according to claim 1, characterized in that: Evaluate the braking capability of the yaw system during start / stop procedures by: Yaw system start-up: normal power generation condition + yaw clamp pressure relief first + electromagnetic brake release later, yaw motor is not started and yaw clamp pressure relief to the set threshold, electromagnetic brake provides braking torque during the start-up process; Yaw system stop: normal power generation condition + first yaw clamp pressure builds up to the set threshold + then yaw motor withdraws + then electromagnetic brakes, and the electromagnetic brake provides braking torque during the stop process; Conditions to be met: (M Z-normal -M f-max ) / i gearbox / Z bearing *Z gearbox / N≤T motor-brake . Among them, M Z-normal Indicates the yaw torque under normal operating conditions, M f-max Indicates the limiting friction torque of the bearing or gear ring, i gearbox Indicates the gearbox transmission ratio, Z bearing Indicates the number of teeth on the yaw bearing or gear ring, Z gearbox represents the number of yaw drive teeth, N represents the number of yaw drives, T motor-brake Indicates electromagnetic brake torque.

7. The method for selecting, designing and checking and optimizing the yaw system according to claim 1, characterized in that: Calculate the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque to obtain the single yaw drive limit torque, which is expressed by the following formula: Calculate the torque of the pinion corresponding to the maximum braking torque: M1 = i gearbox *(1+20%)*T motor-brake ; Calculate the torque of the pinion corresponding to the maximum driving torque: M2 = i gearbox *T rated-yaw *2.8*η gear ; According to the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque, calculate the single yaw drive limit torque: T drive =MAX(M1,M2); Among them, M1 represents the torque of the pinion corresponding to the maximum braking torque, i gearbox Indicates the gearbox transmission ratio, T motor-brake Indicates electromagnetic brake torque, M2 indicates the torque of the pinion corresponding to the maximum driving torque, T rated-yaw Indicates the yaw rated drive torque.

8. The yaw system selection, design and calibration optimization system is characterized by: include: A database establishment module is configured to: establish a yaw system selection simulation load database; A first calculation module is configured to calculate the friction torque of the yaw bearing and the friction torque of the sliding bearing based on the yaw system selection simulation load database; A first evaluation module is configured to: evaluate the driving capability of the yaw system based on a yaw system selection simulation load database; A second evaluation module is configured to: evaluate the braking capacity of the yaw system based on the yaw system selection simulation load database, the friction torque of the yaw bearing and the friction torque of the sliding bearing; A third evaluation module is configured to: evaluate the driving ability and braking ability of the yaw system during the start / stop process; The second calculation module is configured to calculate the torque of the pinion corresponding to the maximum braking torque and the torque of the pinion corresponding to the maximum driving torque according to the driving ability and braking ability of the yaw system during the start-up / shutdown process, and obtain a single yaw drive limit torque to check the strength of the yaw drive pinion.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method for selecting, designing, verifying and optimizing the yaw system as described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the method for selecting, designing, verifying and optimizing the yaw system according to any one of claims 1 to 7 are implemented.

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