Yaw system test methods, apparatus, electronic equipment and readable storage media

Abstract

This invention provides a yaw system testing method, apparatus, electronic device, and readable storage medium, belonging to the field of wind turbine testing technology. The yaw system includes a yaw braking mechanism and a yaw drive mechanism. The method includes: acquiring braking torque information of the yaw braking mechanism; determining the theoretical drive torque of the yaw drive mechanism based on the braking torque information; controlling the yaw braking mechanism to generate a corresponding target braking torque based on the braking torque information; controlling the yaw drive mechanism to generate the corresponding theoretical drive torque after a first preset time period; acquiring the change in yaw angle of the yaw system after a second preset time period; if the change is less than or equal to a preset threshold, the yaw system is deemed qualified; otherwise, the yaw system is deemed unqualified, and an alarm is generated. This invention can realize performance testing of the yaw system and accurately verify whether the operation of the yaw system meets the design requirements.

Description

Technical Field

[0001] This invention relates to the field of wind turbine testing technology, specifically to a yaw system testing method, a yaw system testing device, an electronic device, and a readable storage medium. Background Technology

[0002] As wind turbine generators develop towards larger 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] The yaw system is a crucial component of a wind turbine's ability to yaw. During yaw, the braking system provides damping to ensure stability; after yaw, it provides greater braking force to keep the turbine stationary. To ensure the reliability of the yaw braking system, its performance must be tested before the turbine is put into operation.

[0004] In the existing technology, the factory testing methods for yaw braking systems mainly target the brake or brake pad body. However, the yaw braking system is a complex system that includes a hydraulic system, a brake and its pipelines. Due to installation errors and system coordination, it is impossible to ensure the performance of the entire braking system by only testing the performance of a single component. Summary of the Invention

[0005] The purpose of this invention is to provide a yaw system testing method, apparatus, electronic device, and readable storage medium to solve the problem that, due to installation errors and system compatibility issues, performance testing of only a single component (such as the brake or brake pad body) of the yaw braking system cannot ensure the performance of the entire braking system.

[0006] To achieve the above objectives, embodiments of the present invention provide a yaw system testing method, wherein the yaw system includes: a yaw braking mechanism and a yaw driving mechanism, and the method includes:

[0007] Confirmation that the start test command has been received;

[0008] Obtain the braking torque information of the yaw braking mechanism;

[0009] Based on the braking torque information, the theoretical driving torque of the yaw drive mechanism is determined;

[0010] Based on the braking torque information, the yaw braking mechanism is controlled to generate the corresponding target braking torque.

[0011] From the moment when the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate the corresponding theoretical driving torque for a second preset time, and the change in yaw angle of the yaw system is obtained.

[0012] If the change in yaw angle is less than or equal to a preset threshold, the yaw system is deemed qualified; if the change in yaw angle is greater than the preset threshold, the yaw system is deemed unqualified and an alarm is generated.

[0013] Optionally, based on the braking torque information, the theoretical driving torque of the yaw drive mechanism is determined, including:

[0014] Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0015] Optionally, based on the braking force input signal, the theoretical driving torque of the yaw drive mechanism is determined, including:

[0016] The theoretical driving torque of the yaw drive mechanism is calculated using the following formula:

[0017] ;

[0018] in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

[0019] Optionally, the start test command and the braking force input signal are input by the operator via buttons, touch screen, or voice.

[0020] Secondly, embodiments of the present invention also provide a yaw system testing device, the yaw system comprising: a yaw braking mechanism and a yaw driving mechanism, the device comprising:

[0021] The instruction receiving module is used to receive the start test instruction;

[0022] The first data acquisition module is used to acquire the braking torque information of the yaw braking mechanism;

[0023] The drive torque determination module is used to determine the theoretical drive torque of the yaw drive mechanism based on the braking torque information.

[0024] The first control module is used to control the yaw braking mechanism to generate the corresponding target braking torque based on the braking torque information.

[0025] The second control module is used to control the yaw drive mechanism to generate the corresponding theoretical drive torque for a second preset time after the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, and to obtain the yaw angle change of the yaw system after a first preset time.

[0026] The judgment output module is used to determine that the yaw system is qualified when the change in yaw angle is less than or equal to a preset threshold; and to determine that the yaw system is unqualified and generate an alarm when the change in yaw angle is greater than the preset threshold.

[0027] Optionally, the drive torque determination module is specifically used for:

[0028] Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0029] Optionally, the drive torque determination module is specifically used for:

[0030] The theoretical driving torque of the yaw drive mechanism is calculated using the following formula:

[0031] ;

[0032] in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

[0033] Optionally, the start test command and the braking force input signal are input by the operator via buttons, touch screen, or voice.

[0034] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the yaw system testing method described above.

[0035] Fourthly, embodiments of the present invention also include a readable storage medium storing instructions for causing a machine to perform the aforementioned yaw system test method.

[0036] This technical solution achieves comprehensive performance testing of the yaw system by conducting 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.

[0037] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0039] Figure 1 This is a flowchart of the yaw system testing method provided by the present invention;

[0040] Figure 2 This is a schematic diagram of the yaw system testing device provided by the present invention;

[0041] Figure 3 This is a schematic diagram of the yaw system provided by the present invention;

[0042] Figure 4 This is a schematic block diagram of the testing method for the yaw system provided by the present invention.

[0043] Explanation of reference numerals in the attached figures

[0044] 10 - Command receiving module; 20 - First data acquisition module; 30 - Drive torque determination module;

[0045] 40 - First control module; 50 - Second control module; 60 - Judgment output module. Detailed Implementation

[0046] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0047] In the embodiments of the present invention, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use.

[0048] The terms “first,” “second,” “third,” etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0049] The terms "parallel" and "perpendicular" do not mean that the components must be absolutely parallel or perpendicular, but rather that they can be slightly tilted. For example, "parallel" simply means that its direction is more parallel than "perpendicular," not that the structure must be completely parallel, but that it can be slightly tilted.

[0050] The terms "horizontal," "vertical," and "sag" do not imply that a component must be absolutely horizontal, vertical, or sagging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0051] Furthermore, terms like "roughly" and "basically" are used to indicate that the content does not require absolute precision, but rather allows for a certain degree of deviation. For example, "roughly equal" does not simply mean absolute equality; in actual production and operation, achieving absolute "equality" is difficult, and a certain degree of deviation is generally present. Therefore, besides absolute equality, "roughly equal to" also includes the aforementioned situation where a certain degree of deviation exists. Using this as an example, in other cases, unless otherwise specified, terms like "roughly" and "basically" have similar meanings.

[0052] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "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 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 invention based on the specific circumstances.

[0053] Figure 1 This is a flowchart of the yaw system testing method provided by the present invention; Figure 2 This is a schematic diagram of the yaw system testing device provided by the present invention; Figure 3 This is a schematic diagram of the yaw system provided by the present invention; Figure 4 This is a schematic block diagram of the testing method for the yaw system provided by the present invention.

[0054] like Figure 1 As shown, this embodiment provides a yaw system including: a yaw braking mechanism and a yaw drive mechanism, and the method includes:

[0055] Confirmation that the start test command has been received;

[0056] Obtain the braking torque information of the yaw braking mechanism;

[0057] Based on the braking torque information, the theoretical driving torque of the yaw drive mechanism is determined;

[0058] Based on the braking torque information, the yaw braking mechanism is controlled to generate the corresponding target braking torque.

[0059] From the moment when the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate the corresponding theoretical driving torque for a second preset time, and the change in yaw angle of the yaw system is obtained.

[0060] If the change in yaw angle is less than or equal to a preset threshold, the yaw system is deemed qualified; if the change in yaw angle is greater than the preset threshold, the yaw system is deemed unqualified and an alarm is generated.

[0061] Specifically, in this embodiment, such as Figure 3-4 As shown, the yaw system includes a yaw braking mechanism and a yaw drive mechanism, both mounted on the frame. The yaw braking mechanism includes a hydraulic station, a yaw brake caliper, and a yaw brake disc. The hydraulic station controls the amount of hydraulic oil supplied to the brake caliper to achieve disengagement and clamping of the brake caliper and the yaw brake disc, as well as adjustment of the braking torque during clamping. 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, and the output teeth of the yaw reducer mesh with the outer ring of the yaw bearing. The frequency converter is connected to the yaw motor, allowing adjustment of the yaw motor's operating power and speed. After reduction by the reducer, the driving torque applied by the yaw reducer to the yaw bearing is adjusted. The yaw brake caliper, frame, and inner ring of the yaw bearing are fixedly connected by bolts, and the three components move in a circular motion around the tower during the yaw motion.

[0062] In another implementation, the braking torque information of the yaw braking mechanism included in the braking force input signal includes multiple different braking torques, such as 10%, 30%, 60%, 80%, and 100% of the maximum braking torque. During the test, the yaw test is specifically performed in the order of increasing braking torque.

[0063] Before the test begins, the frame is placed on the test platform so that it can rotate under the driving torque generated by the yaw drive mechanism and brake under the braking torque generated by the yaw braking mechanism. In addition, a PLC controller is set up to control the entire test process. The controller is connected to the frequency converter and hydraulic station for the operation of the frequency converter and hydraulic station.

[0064] At the start of the test, a start test command and a braking force input signal are first sent to the controller. Upon receiving the start test command, the controller acquires the braking force input signal, which includes the braking torque information of the yaw braking mechanism. Based on the braking torque information of the braking force input signal, the controller determines the theoretical driving torque of the yaw drive mechanism. Based on the braking torque information of the braking force input signal, the controller controls the yaw braking mechanism to generate the corresponding target braking torque. From the moment the actual braking torque generated by the yaw braking 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 the actual driving torque generated by the actuator reaches the theoretical driving torque, after a second preset time period, the controller acquires the change in yaw angle of the yaw system. If the change in yaw angle is less than or equal to a preset threshold, it indicates that under the current braking torque, the applied driving torque cannot cause the frame to rotate. In this case, 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 change in yaw angle is greater than the preset threshold, it indicates that under the current braking torque, the applied driving torque will cause the frame to rotate. In this case, 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. The alarm can be generated using a combination of audible and visual alarms to remind the operator. The first and second preset time periods can be set to the same length or to different lengths. By setting the first and second preset time periods before data acquisition and judgment, sporadic errors can be effectively avoided, improving the accuracy of the test. The preset threshold can be set to 0 degrees.

[0065] Specifically, in this embodiment, yaw half-brake test and yaw full-brake test are carried out by the controller.

[0066] During the yaw half-brake test, the controller controls the yaw braking mechanism to generate the corresponding target braking torque (e.g., 10% of the maximum braking torque). After a first preset time interval, starting from the moment the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, the controller controls the yaw drive mechanism to generate the corresponding theoretical driving torque. After a second preset time interval, starting from the moment the actual driving torque generated by the yaw drive mechanism reaches the theoretical driving torque, the controller acquires the yaw angle change of the yaw system. If the yaw angle change is less than or equal to a preset threshold, it indicates that under the current braking torque, the applied driving torque cannot cause the frame to rotate. In this case, 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 indicates that under the current braking torque, the applied driving torque will cause the frame to rotate. In this case, 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.

[0067] During the yaw full brake test, the controller controls the yaw braking mechanism to generate the corresponding target braking torque (e.g., maximum braking torque). After a first preset time interval, starting from the moment the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, the controller controls the yaw drive mechanism to generate the corresponding theoretical driving torque. After a second preset time interval, starting from the moment the actual driving torque generated by the yaw drive mechanism reaches the theoretical driving torque, the controller acquires the yaw angle change of the yaw system. If the yaw angle change is less than or equal to a preset threshold, it indicates that under the current braking torque, the applied driving torque cannot cause the frame to rotate. In this case, 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 indicates that under the current braking torque, the applied driving torque will cause the frame to rotate. In this case, 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.

[0068] The above-mentioned test scheme conducts yaw tests under different braking torques and different driving torques, realizing comprehensive performance testing of the yaw system. It can accurately verify whether the operation of the yaw system meets the design requirements, and can promptly grasp the operation status of the yaw system, so as to carry out timely production management, improve product quality, and ensure the service life of wind turbine units.

[0069] Further, in one specific implementation, determining the theoretical driving torque of the yaw drive mechanism based on the braking torque information includes:

[0070] Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0071] In this scheme, the relationship table or fitting curve is obtained by analyzing and fitting 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. The calculated data results are accurate and can ensure the accuracy of the test results.

[0072] Further, in one specific implementation, determining the theoretical driving torque of the yaw drive mechanism based on the braking torque information includes:

[0073] The theoretical driving torque of the yaw drive mechanism is calculated using the following formula:

[0074] ;

[0075] in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

[0076] 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, thereby carrying out yaw tests under different braking torques and different driving torques. The calculated data results are accurate and can ensure the accuracy of the test results.

[0077] Furthermore, in one specific implementation, the start test command and the braking force input signal are input by the operator via buttons, touch screen, or voice.

[0078] Specifically, during the test, computers, tablets, mobile phones, etc. are connected to the controller for communication. Operators use computers, tablets, mobile phones, etc. to input braking force signals through buttons, touch screens, or voice, and send the braking force input signals to the controller. The controller interprets the braking force input signal and extracts the braking torque information of the yaw braking mechanism (such as the magnitude and percentage of the torque) to adjust and control the braking torque generated by the yaw braking mechanism.

[0079] like Figure 2 As shown, this embodiment provides a yaw system testing device. The yaw system includes: a yaw braking mechanism and a yaw drive mechanism. The device includes:

[0080] Instruction receiving module 10 is used to receive the start test instruction;

[0081] The first data acquisition module 20 is used to acquire the braking force input signal, which includes the braking torque information of the yaw braking mechanism.

[0082] The drive torque determination module 30 is used to determine the theoretical drive torque of the yaw drive mechanism based on the braking force input signal.

[0083] The first control module 40 is used to control the yaw braking mechanism to generate a corresponding target braking torque based on the braking force input signal.

[0084] The second control module 50 is used to control the yaw drive mechanism to generate the corresponding theoretical drive torque for a second preset time after the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, and to obtain the yaw angle change of the yaw system.

[0085] The judgment output module 60 is used to determine that the yaw system is qualified when the change in yaw angle is less than or equal to a preset threshold; and to determine that the yaw system is unqualified and generate an alarm when the change in yaw angle is greater than the preset threshold.

[0086] Furthermore, in one specific implementation, the drive torque determination module is specifically used for:

[0087] Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information.

[0088] Furthermore, in one specific implementation, the drive torque determination module is specifically used for:

[0089] The theoretical driving torque of the yaw drive mechanism is calculated using the following formula:

[0090] ;

[0091] in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

[0092] Furthermore, in one specific implementation, the start test command and the braking force input signal are input by the operator via buttons, touch screen, or voice.

[0093] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the yaw system testing method described above.

[0094] This embodiment provides a readable storage medium storing instructions that cause a machine to perform the yaw system test method described above.

[0095] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0096] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0097] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within 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 without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0098] Furthermore, various different implementations of the present invention can be combined arbitrarily, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed in the present invention.

Claims

1. A method for testing a yaw system, the yaw system comprising: A yaw braking mechanism and a yaw drive mechanism, characterized in that the method includes: Confirmation that the start test command has been received; Obtain the braking torque information of the yaw braking mechanism, which includes multiple different braking torques, and the tests are conducted in the order of increasing braking torque during the test; Based on the braking torque information, the theoretical driving torque of the yaw drive mechanism is determined; Based on the braking torque information, the yaw braking mechanism is controlled to generate the corresponding target braking torque. From the moment when the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, after a first preset time, the yaw drive mechanism is controlled to generate the corresponding theoretical driving torque for a second preset time, and the change in yaw angle of the yaw system is obtained. If the change in yaw angle is less than or equal to a preset threshold, the yaw system is deemed qualified; if the change in yaw angle is greater than the preset threshold, the yaw system is deemed unqualified and an alarm is generated. The determination of the theoretical driving torque of the yaw drive mechanism based on the braking torque information includes: Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information. Alternatively, the theoretical driving torque of the yaw drive mechanism can be calculated using the following formula: ； in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

2. The yaw system testing method according to claim 1, characterized in that, The start test command and braking force input signal are input by the operator via buttons, touch screen or voice. The braking force input signal includes the braking torque information of the yaw braking mechanism.

3. A yaw system testing apparatus, the yaw system comprising: A yaw braking mechanism and a yaw drive mechanism, characterized in that the device comprises: The instruction receiving module is used to receive the start test instruction; The first data acquisition module is used to acquire the braking torque information of the yaw braking mechanism. The braking torque information includes multiple different braking torques, and the tests are conducted in the order of increasing braking torque during the test. The drive torque determination module is used to determine the theoretical drive torque of the yaw drive mechanism based on the braking torque information. The first control module is used to control the yaw braking mechanism to generate the corresponding target braking torque based on the braking torque information. The second control module is used to control the yaw drive mechanism to generate the corresponding theoretical drive torque for a second preset time after the actual braking torque generated by the yaw braking mechanism reaches the target braking torque, and to obtain the yaw angle change of the yaw system after a first preset time. The judgment output module is used to determine that the yaw system is qualified when the change in yaw angle is less than or equal to a preset threshold; and to determine that the yaw system is unqualified and generate an alarm when the change in yaw angle is greater than the preset threshold. Specifically, the drive torque determination module is used for: Based on the braking torque information of the yaw braking mechanism, the theoretical driving torque of the yaw drive mechanism is determined by a relationship table or a fitting curve; wherein, the relationship table or the fitting curve is used to characterize the relationship between the yaw braking mechanism and the corresponding theoretical driving torque of the yaw drive mechanism under different braking torque information. Alternatively, the theoretical driving torque of the yaw drive mechanism can be calculated using the following formula: ； in, This represents the theoretical driving torque of the yaw drive mechanism. , These are the fitting coefficients; This provides information on the braking torque of the yaw braking mechanism.

4. The yaw system testing device according to claim 3, characterized in that, The start test command and braking force input signal are input by the operator via buttons, touch screen or voice. The braking force input signal includes the braking torque information of the yaw braking mechanism.

5. 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, it implements the yaw system testing method according to any one of claims 1-2.

6. A readable storage medium, characterized in that, The readable storage medium stores instructions for causing the machine to perform the yaw system test method as described in any one of claims 1-2.

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