Yaw system test method and device, electronic equipment and readable storage medium

Abstract

The invention provides a yaw system testing method and device, electronic equipment and a readable storage medium, and belongs to the technical field of wind turbine generator testing. The yaw system comprises a yaw braking mechanism and a yaw driving mechanism. The method comprises the steps that braking torque information of the yaw braking mechanism is obtained; according to the braking torque information, the theoretical driving torque of the yaw driving mechanism is determined; based on the braking torque information, a yaw braking mechanism is controlled to generate a corresponding target braking torque; after a first preset duration, the yaw driving mechanism is controlled to generate a corresponding theoretical driving torque; after a second preset duration, the variable quantity of the yaw angle of the yaw system is obtained; if the variable quantity is smaller than or equal to the preset threshold value, the yaw system is judged to be qualified; otherwise, the yaw system is judged to be unqualified, and an alarm is given. According to the invention, the performance test of the yaw system can be realized, and whether the operation of the yaw system meets the design requirements or not can be accurately verified.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine testing, and in particular to a yaw system testing method, a yaw system testing device, an electronic device and a readable storage medium. Background Art

[0002] As wind turbines develop towards large-megawatt models, the product quality and performance of the units are becoming increasingly important, directly affecting the power generation efficiency and service life of the units.

[0003] Among them, the yaw system is the key system for wind turbines to achieve wind direction. During the yaw process of the unit, the braking system needs to provide damping to ensure yaw stability; after the yaw is completed, the braking system needs to provide greater braking force to keep the unit still. In order to ensure the reliability of the yaw brake system, its performance needs to be tested before the unit is put into operation.

[0004] In the prior art, the factory testing method of the yaw brake system is mainly aimed at the brake or brake pad body. The yaw brake system is a complex system including a hydraulic system, a brake and its pipelines. Due to installation errors and system coordination, only a single component is tested for performance, and the performance of the entire brake system cannot be ensured. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a yaw system testing method, device, electronic device and readable storage medium to solve the above-mentioned problem that due to installation errors and system coordination, only a single component of the yaw brake system (such as a brake or a brake pad body) is tested for performance, and the performance of the entire brake system cannot be ensured.

[0006] In order to achieve the above object, an embodiment of the present invention provides a yaw system testing method, wherein the yaw system comprises: a yaw braking mechanism and a yaw driving mechanism, and the method comprises: Confirming that a start test instruction is received; Obtaining braking torque information of the yaw braking mechanism; determining a theoretical driving torque of the yaw drive mechanism according to the braking torque information; Based on the braking torque information, controlling the yaw braking mechanism to generate a corresponding target braking torque; From the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate a corresponding theoretical drive torque for a second preset time, and a yaw angle change of the yaw system is obtained; If the yaw angle change is less than or equal to a preset threshold, the yaw system is determined to be qualified; if the yaw angle change is greater than the preset threshold, the yaw system is determined to be unqualified and an alarm is generated.

[0007] Optionally, determining the theoretical driving torque of the yaw drive mechanism according to the braking torque information includes: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0008] Optionally, determining the theoretical driving torque of the yaw drive mechanism according to the braking force input signal includes: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ; in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

[0009] Optionally, the start test instruction and the braking force input signal are input by an operator via buttons, a touch screen or voice.

[0010] In a second aspect, an embodiment of the present invention further provides a yaw system testing device, wherein the yaw system comprises: a yaw braking mechanism and a yaw driving mechanism, and the device comprises: An instruction receiving module, used for receiving an instruction to start testing; A first data acquisition module, used to acquire braking torque information of the yaw braking mechanism; A driving torque determination module, used to determine a theoretical driving torque of the yaw drive mechanism according to the braking torque information; A first control module, configured to control a yaw braking mechanism to generate a corresponding target braking torque based on the braking torque information; A second control module is used to control the yaw drive mechanism to generate a corresponding theoretical drive torque for a second preset time after a first preset time has passed since the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, so as to obtain a yaw angle change of the yaw system; The judgment output module is used to judge that the yaw system is qualified when the yaw angle change is less than or equal to a preset threshold; and to judge that the yaw system is unqualified and generate an alarm when the yaw angle change is greater than the preset threshold.

[0011] Optionally, the driving torque determination module is specifically used for: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0012] Optionally, the driving torque determination module is specifically used for: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ; in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

[0013] Optionally, the start test instruction and the braking force input signal are input by an operator via buttons, a touch screen or voice.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned yaw system test method when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned yaw system test method.

[0016] This technical solution implements a comprehensive performance test of the yaw system by performing yaw tests under different braking torques and different driving torques, and can accurately verify whether the operation of the yaw system meets the design requirements.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings: Figure 1 is a flow chart of the yaw system testing method provided by the present invention; Figure 2 It is a structural schematic diagram of the yaw system testing device provided by the present invention; Figure 3 It is a structural schematic diagram of the yaw system provided by the present invention; Figure 4 It is a schematic block diagram of the testing method of the yaw system provided by the present invention.

[0019] Description of Reference Numerals 10-instruction receiving module; 20-first data acquisition module; 30-driving torque determination module; 40 - first control module; 50 - second control module; 60 - judgment output module. DETAILED DESCRIPTION

[0020] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0021] In the embodiments of the present invention, unless otherwise specified, directional words such as "up, down, left, right" generally refer to the directions or positional relationships shown in the accompanying drawings, or the directions or positional relationships in which the inventive product is usually placed when in use.

[0022] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0023] The terms "parallel", "vertical", etc. do not mean that the components must be absolutely parallel or vertical, but can be slightly tilted. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly tilted.

[0024] The terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal, vertical or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In addition, the terms "roughly" and "basically" are intended to explain that the relevant content does not require absolute precision, but can have certain deviations. For example, "roughly equal" does not only mean absolute equality. Since it is difficult to achieve absolute "equality" in actual production and operation, there are generally certain deviations. Therefore, in addition to absolute equality, "roughly equal" also includes the above-mentioned situation with certain deviations. Taking this as an example, in other cases, unless otherwise specified, the terms "roughly" and "basically" have similar meanings to the above.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Figure 1 is a flow chart of the yaw system testing method provided by the present invention; Figure 2 It is a structural schematic diagram of the yaw system testing device provided by the present invention; Figure 3 It is a structural schematic diagram of the yaw system provided by the present invention; Figure 4 It is a schematic block diagram of the testing method of the yaw system provided by the present invention.

[0028] like Figure 1 As shown, this embodiment provides a yaw system comprising: a yaw braking mechanism and a yaw driving mechanism, and the method comprises: Confirming that a start test instruction is received; Obtaining braking torque information of the yaw braking mechanism; determining a theoretical driving torque of the yaw drive mechanism according to the braking torque information; Based on the braking torque information, controlling the yaw braking mechanism to generate a corresponding target braking torque; From the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate a corresponding theoretical drive torque for a second preset time, and a yaw angle change of the yaw system is obtained; If the yaw angle change is less than or equal to a preset threshold, the yaw system is determined to be qualified; if the yaw angle change is greater than the preset threshold, the yaw system is determined to be unqualified and an alarm is generated.

[0029] Specifically, in this embodiment, if Figure 3-4As shown, the yaw system includes: a yaw brake mechanism and a yaw drive mechanism, both of which are arranged on the frame, wherein the yaw brake mechanism includes a hydraulic station, a yaw brake caliper and a yaw brake disc, and the hydraulic station realizes the separation and clamping of the brake caliper and the yaw brake disc, and realizes the adjustment of the braking torque during clamping by controlling the amount of hydraulic oil in the pipeline delivered to the brake caliper; the yaw drive mechanism includes a frequency converter, a yaw motor, a yaw reducer and a yaw bearing, the output shaft of the yaw motor is connected to the yaw reducer, the output teeth of the yaw reducer are meshed and connected with the outer ring of the yaw bearing, the frequency converter is connected to the yaw motor, and the operating power of the yaw motor can be adjusted by the frequency converter to realize speed regulation, and after being decelerated by the reducer, the driving torque applied by the yaw reducer to the yaw bearing is adjusted. The yaw brake caliper, the frame and the inner ring of the yaw bearing are fixedly connected by bolts, and the three are randomly combined to perform circular motion around the tower.

[0030] In another embodiment, the braking torque information of the yaw brake mechanism contained in the braking force input signal includes a plurality of different braking torques, such as 10%, 30%, 60%, 80% and 100% of the maximum braking torque. During the test, the yaw test is performed in the order of increasing braking torque.

[0031] Before the test begins, the frame is placed on the test platform so that the frame can rotate under the driving torque generated by the yaw drive mechanism, and the frame can be braked under the braking torque generated by the yaw brake mechanism; in addition, a PLC controller is provided to control the entire test process. The controller is connected to the frequency converter and the hydraulic station for the operation of the frequency converter and the hydraulic station.

[0032] At the beginning of the test, first, a start test instruction and a braking force input signal are sent to the controller. After receiving the start test instruction, the controller obtains the braking force input signal, and the braking force input signal includes the braking torque information of the yaw brake mechanism; the controller determines the theoretical driving torque of the yaw drive mechanism according to the braking torque information of the braking force input signal; the controller controls the yaw brake mechanism to generate the corresponding target braking torque based on the braking torque information of the braking force input signal; from the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time period, the controller controls the yaw drive mechanism to generate the corresponding theoretical driving torque; From the moment when the actual driving torque generated by the driving mechanism reaches the theoretical driving torque, after the second preset time, the controller obtains the yaw angle change of the yaw system; if the yaw angle change is less than or equal to the preset threshold, it means that under the current braking torque, the applied driving torque cannot cause the frame to rotate. At this time, the braking force provided by the yaw braking mechanism meets the set requirements, and the controller determines that the yaw system is qualified; if the yaw angle change is greater than the preset threshold, it means that under the current braking torque, the applied driving torque will cause the frame to rotate. At this time, the braking force provided by the yaw braking mechanism cannot meet the set requirements, and the controller determines that the yaw system is unqualified and generates an alarm. Among them, the alarm can be generated in a combination of sound and light alarms to remind the operator. The first preset time and the second preset time can be set to the same time length and can be set to different time lengths respectively. After setting the first preset time length and the second preset time length, data collection and judgment are performed, which can effectively avoid occasional errors and improve the accuracy of the test; the preset threshold can be set to 0 degrees.

[0033] Specifically, in this embodiment, the yaw half-brake test and the yaw full-brake test are carried out by the controller.

[0034] When performing a yaw half-brake test, the controller controls the yaw brake mechanism to generate a corresponding target braking torque (for example, 10% of the maximum braking torque); from the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time, the controller controls the yaw drive mechanism to generate a corresponding theoretical driving torque; from the moment when the actual driving torque generated by the yaw drive mechanism reaches the theoretical driving torque, after a second preset time, the controller obtains the yaw angle change of the yaw system; if the yaw angle change is less than or equal to a preset threshold, it means that under the current braking torque, the applied driving torque cannot cause the frame to rotate. At this time, the braking force provided by the yaw brake mechanism meets the set requirements, and the controller determines that the yaw system is qualified; if the yaw angle change is greater than the preset threshold, it means that under the current braking torque, the applied driving torque will cause the frame to rotate. At this time, the braking force provided by the yaw brake mechanism cannot meet the set requirements, and the controller determines that the yaw system is unqualified and generates an alarm.

[0035] When performing a yaw full-brake test, the controller controls the yaw brake mechanism to generate a corresponding target braking torque (for example, a maximum braking torque); from the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time period, the controller controls the yaw drive mechanism to generate a corresponding theoretical driving torque; from the moment when the actual driving torque generated by the yaw drive mechanism reaches the theoretical driving torque, after a second preset time period, the controller obtains the yaw angle change of the yaw system; if the yaw angle change is less than or equal to a preset threshold value, it means that under the current braking torque, the applied driving torque cannot cause the frame to rotate. At this time, the braking force provided by the yaw brake mechanism meets the set requirements, and the controller determines that the yaw system is qualified; if the yaw angle change is greater than the preset threshold value, it means that under the current braking torque, the applied driving torque will cause the frame to rotate. At this time, the braking force provided by the yaw brake mechanism cannot meet the set requirements, and the controller determines that the yaw system is unqualified and generates an alarm.

[0036] The above-mentioned test scheme performs yaw tests under different braking torques and different driving torques to achieve a comprehensive performance test of the yaw system. It can accurately verify whether the operation of the yaw system meets the design requirements and can timely grasp the operation status of the yaw system so as to carry out production management in time, improve product quality and ensure the service life of the wind turbine.

[0037] Further, in a specific implementation manner, determining the theoretical driving torque of the yaw drive mechanism according to the braking torque information includes: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0038] In this scheme, the relationship table or fitting curve is obtained by analyzing and fitting the historical test data; the theoretical driving torque of the yaw drive mechanism can be accurately determined through the relationship table or fitting curve, so as to carry out yaw tests under different braking torques and different driving torques, and the calculated data results are accurate, which can ensure the accuracy of the test results.

[0039] Further, in a specific implementation manner, determining the theoretical driving torque of the yaw drive mechanism according to the braking torque information includes: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ; in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

[0040] In this scheme, the above calculation formula is obtained by analyzing and fitting historical test data; the above calculation formula can accurately determine the theoretical driving torque of the yaw drive mechanism, so as to carry out yaw tests under different braking torques and different driving torques, and the calculated data results are accurate, which can ensure the accuracy of the test results.

[0041] Furthermore, in a specific implementation manner, the start test instruction and the braking force input signal are input by an operator through buttons, a touch screen or voice.

[0042] Specifically, during the test, a computer, tablet, mobile phone, etc. are connected to the controller for communication. An operator inputs a braking force signal through buttons, touch screens, or voice based on the computer, tablet, mobile phone, etc., and sends the braking force input signal to the controller. The controller interprets the braking force input signal and extracts the braking torque information of the yaw brake mechanism (such as the magnitude and percentage of the torque) therein to achieve regulation and control of the braking torque generated by the yaw brake mechanism.

[0043] like Figure 2 As shown, this embodiment provides a yaw system testing device, the yaw system includes: a yaw braking mechanism and a yaw driving mechanism, the device includes: An instruction receiving module 10 is used to receive an instruction to start testing; A first data acquisition module 20, used to acquire a braking force input signal, wherein the braking force input signal includes braking torque information of a yaw braking mechanism; A driving torque determination module 30, configured to determine a theoretical driving torque of the yaw drive mechanism according to the braking force input signal; A first control module 40, configured to control the yaw braking mechanism to generate a corresponding target braking torque based on the braking force input signal; The second control module 50 is used to control the yaw drive mechanism to generate a corresponding theoretical drive torque for a second preset time after the first preset time has passed since the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, so as to obtain a yaw angle change of the yaw system; The judgment output module 60 is used to judge that the yaw system is qualified when the yaw angle change is less than or equal to a preset threshold; and to judge that the yaw system is unqualified and generate an alarm when the yaw angle change is greater than the preset threshold.

[0044] Further, in a specific implementation manner, the driving torque determination module is specifically used to: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0045] Further, in a specific implementation manner, the driving torque determination module is specifically used to: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ; in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

[0046] Furthermore, in a specific implementation manner, the start test instruction and the braking force input signal are input by an operator through buttons, a touch screen or voice.

[0047] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned yaw system test method when executing the computer program.

[0048] This embodiment provides a readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned yaw system testing method.

[0049] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0050] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0051] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, the technical scheme of the embodiments of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner when there is no contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations. In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A yaw system testing method, the yaw system comprising: The yaw braking mechanism and the yaw driving mechanism are characterized in that the method comprises: Confirming that a start test instruction is received; Obtaining braking torque information of the yaw braking mechanism; determining a theoretical driving torque of the yaw drive mechanism according to the braking torque information; Based on the braking torque information, controlling the yaw braking mechanism to generate a corresponding target braking torque; From the moment when the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate a corresponding theoretical drive torque for a second preset time, and a yaw angle change of the yaw system is obtained; If the yaw angle change is less than or equal to a preset threshold, the yaw system is determined to be qualified; if the yaw angle change is greater than the preset threshold, the yaw system is determined to be unqualified and an alarm is generated.

2. The yaw system testing method according to claim 1, characterized in that: Determining a theoretical driving torque of the yaw drive mechanism according to the braking torque information includes: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

3. The yaw system testing method according to claim 1, characterized in that: Determining a theoretical driving torque of the yaw drive mechanism according to the braking torque information includes: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ； in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

4. The yaw system testing method according to claim 1, characterized in that: The test start instruction and the braking force input signal are input by an operator through keys, a touch screen or voice.

5. A yaw system testing device, the yaw system comprising: The yaw braking mechanism and the yaw driving mechanism are characterized in that the device comprises: An instruction receiving module, used for receiving an instruction to start testing; A first data acquisition module, used to acquire braking torque information of the yaw braking mechanism; A driving torque determination module, used to determine a theoretical driving torque of the yaw drive mechanism according to the braking torque information; A first control module, configured to control a yaw braking mechanism to generate a corresponding target braking torque based on the braking torque information; A second control module is used to control the yaw drive mechanism to generate a corresponding theoretical drive torque for a second preset time after a first preset time has passed since the actual braking torque generated by the yaw brake mechanism reaches the target braking torque, so as to obtain a yaw angle change of the yaw system; The judgment output module is used to judge that the yaw system is qualified when the yaw angle change is less than or equal to a preset threshold; and to judge that the yaw system is unqualified and generate an alarm when the yaw angle change is greater than the preset threshold.

6. The yaw system testing device according to claim 5, characterized in that: The driving torque determination module is specifically used for: Based on the braking torque information of the yaw brake mechanism, the theoretical driving torque of the yaw drive mechanism is determined through a relationship table or a fitting curve; wherein the relationship table or the fitting curve is used to characterize the relationship between the yaw brake mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

7. The yaw system testing device according to claim 5, characterized in that: The driving torque determination module is specifically used for: The theoretical driving torque of the yaw drive mechanism is calculated using the following formula: ； in, is the theoretical driving torque of the yaw drive mechanism; , is the fitting coefficient; It is the braking torque information of the yaw brake mechanism.

8. The yaw system testing device according to claim 5, characterized in that: The test start instruction and the braking force input signal are input by an operator through keys, a touch screen or voice.

9. An electronic 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 computer program, the yaw system testing method according to any one of claims 1 to 4 is implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores instructions, which are used to enable a machine to execute the yaw system testing method according to any one of claims 1 to 4.

Images