Synchronization detection method and system for yaw motor of wind turbine generator

Abstract

The invention discloses a synchronization detection method and system for a yaw motor of a wind turbine generator, and relates to the technical field of operation monitoring of the wind turbine generator. The synchronization detection method for the yaw motor of the wind turbine generator comprises the following steps: evaluating the accuracy of a sensor; synchronous change monitoring; voltage change monitoring; and adjusting synchronism. According to the invention, the sensor accuracy evaluation value is obtained through the obtained sensor monitoring data and whether the sensor accuracy adjustment is carried out is judged; obtaining a synchronous change monitoring value based on a sensor accuracy evaluation value not lower than a preset sensor monitoring accurate threshold value and the yaw operation monitoring data, judging whether a yaw motor changes synchronously, and finally performing synchronization adjustment based on an obtained second synchronous change monitoring value and an unqualified voltage change monitoring value. The effect of improving the synchronization detection accuracy of the yaw motor of the wind turbine generator is achieved, and the problem that in the prior art, the synchronization detection data collection accuracy of the yaw motor of the wind turbine generator is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine operation monitoring, and in particular to a synchronization detection method and system for a yaw motor of a wind turbine. Background Art

[0002] The yaw system of a wind turbine is located between the tower and the main frame and is a vital component of the entire wind turbine. The system consists of multiple sets of precisely designed drive devices (such as yaw motors), sturdy and durable yaw side bearings, efficient sliding pads, and large yaw gear rings. These components work together to ensure the stability and reliability of the yaw system. The core function of the yaw device is to achieve the maximum wind capture efficiency. It receives the wind speed and direction signals measured in real time by the anemometer, and uses advanced synchronous control technology to accurately drive multiple sets of yaw motors to rotate the nacelle around the yaw gear ring. This process requires extremely high synchronization and precision to ensure that the nacelle can be quickly and accurately adjusted to the optimal windward angle, thereby maximizing the wind energy capture efficiency. The synchronization of the yaw motor is of vital importance to the stable operation of the wind turbine. Once the synchronization of the yaw motor is problematic, the nacelle may not be accurately adjusted to the optimal windward angle, thereby reducing the wind energy capture efficiency, and may even cause vibration, noise, and more serious mechanical failures of the unit. Therefore, in the design and operation of wind turbines, great attention must be paid to the synchronization detection and maintenance of the yaw motor to ensure the long-term stable operation and efficient power generation of the unit.

[0003] The existing yaw motor synchronization detection method mainly detects the yaw motor synchronization of the wind turbine by comparing whether the parameters of the wind turbine change during yaw operation and monitoring the abnormal changes of the yaw operation of the wind turbine.

[0004] For example, the invention patent application with publication number: CN118148855A discloses a wind turbine synchronous yaw visual detection system and method, including: an annular slide rail body, arranged at a preset height position at the bottom of the wind turbine tower; a visual robot, arranged on the annular slide rail body and capable of moving along the annular slide rail body, for visually inspecting the wind turbine nacelle; wherein, the monitoring positioning point at the bottom of the wind turbine nacelle, when the wind turbine nacelle yaws at a preset angle, the visual robot moves on the annular slide rail body to a corresponding preset angle, so that the visual robot always corresponds to the monitoring positioning point.

[0005] For example, the yaw test system of a wind turbine generator set disclosed in the invention patent with announcement number CN105508146B includes: a synchronous acquisition control device, the synchronous acquisition control device includes an acquisition controller and a plurality of synchronous acquisition modules connected thereto, the plurality of synchronous acquisition modules are respectively connected to a plurality of detection components arranged on the wind turbine generator set and have the same system clock as the acquisition controller, and the acquisition controller is used to control the plurality of synchronous acquisition modules according to the system clock to respectively obtain status data related to yaw from corresponding detection components.

[0006] However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the present application found that the above technology has at least the following technical problems:

[0007] In the prior art, the working environment of large wind turbines is complex. Under such conditions, the accuracy of sensor data may be affected by a variety of factors, resulting in low accuracy in synchronization detection data collection of the wind turbine yaw motor. Summary of the invention

[0008] The embodiments of the present application solve the problem of low accuracy in data collection of synchronization detection of yaw motors of wind turbines in the prior art by providing a synchronization detection method and system for yaw motors of wind turbines, thereby improving the accuracy of synchronization detection of yaw motors of wind turbines.

[0009] The embodiment of the present application provides a synchronization detection method for a yaw motor of a wind turbine, comprising the following steps: S1, monitoring the yaw motor of a wind turbine in a preset area through a preset sensor synchronization monitoring device to obtain sensor monitoring data, obtaining a sensor accuracy evaluation value based on the sensor monitoring data, and judging whether to adjust the sensor accuracy based on the sensor accuracy evaluation value, wherein the sensor accuracy evaluation value is used to evaluate the accuracy of the sensor monitoring of the yaw motor of the wind turbine; S2, obtaining a synchronization change monitoring value based on a sensor accuracy evaluation value not lower than a preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine, judging whether the yaw motor changes synchronously based on the synchronization change monitoring value, wherein the synchronization change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine when it is running; S3, obtaining a voltage change monitoring value in combination with the first synchronization change monitoring value and the voltage change data obtained by the preset voltage monitoring device, wherein the voltage change monitoring value is used to evaluate the degree of synchronization of the electromagnetic brake voltage when the yaw motor stops running; S4, performing synchronization adjustment based on the obtained second synchronization change monitoring value and the unqualified voltage change monitoring value, wherein the synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor.

[0010] Furthermore, the sensor monitoring data includes noise current, noise voltage, and yaw motor quantity; the yaw operation monitoring data includes yaw rate, yaw motor torque and yaw motor speed; the voltage change data includes electromagnetic brake voltage and yaw motor angular acceleration; the yaw operation monitoring data is acquired through a preset sensor synchronous monitoring device; the preset sensor synchronous monitoring device includes a noise tester, a counter, a motor torque tester and a motor speed tester; the preset voltage monitoring device includes a voltmeter and an acceleration sensor.

[0011] Furthermore, the specific process of obtaining the sensor accuracy evaluation value based on the sensor monitoring data is as follows: an initial electromagnetic interference ratio is obtained by performing a ratio operation on the electromagnetic interference degree value and a preset average noise power threshold obtained from a database; an initial quantity interference ratio is obtained by performing a ratio operation on the quantity interference degree value and a preset maximum threshold of the number of yaw motors obtained from a database; the sensor accuracy evaluation value is obtained by combining the initial electromagnetic interference ratio and the initial quantity interference ratio; the quantity interference degree value is obtained by multiplying the number of yaw motors by a reference second interference influence weight obtained from a database.

[0012] Furthermore, the limiting expression of the sensor accuracy evaluation value is as follows:

[0013]

[0014] In the formula, CZQX q represents the sensor accuracy evaluation value of the qth yaw motor, q=1,2,...,s, q represents the path number of the yaw motor, s represents the total number of yaw motors, DC q It represents the electromagnetic interference degree value of the qth yaw motor, N represents the number of yaw motors, N 0 Indicates the number of yaw motors, DC 0 Indicates the preset average noise power threshold, s 0 Indicates the maximum threshold of the preset number of yaw motors, ρ 1 represents the reference first interference influence weight, ρ 2 represents the reference second interference influence weight, and e represents a natural constant.

[0015] Furthermore, the specific process of obtaining the synchronous change monitoring value based on the sensor accuracy evaluation value not lower than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine is as follows: an initial yaw rate interference ratio is obtained by performing a ratio operation on a preset average yaw rate threshold and a yaw rate obtained from a database; an initial motor power compliance ratio is obtained by performing a preset average yaw power threshold and a motor power compliance value obtained from a database; the motor power compliance value is represented by a result of a product operation of the yaw motor torque and the yaw motor speed; and the synchronous change monitoring value is obtained by combining the initial yaw rate interference ratio, the initial motor power compliance ratio, and a reference first synchronous change weight, a reference second synchronous change weight, and a reference third synchronous change weight obtained from a database.

[0016] Furthermore, the specific process of judging whether the yaw motor changes synchronously according to the synchronous change monitoring value is as follows: judging whether the synchronous change monitoring value is not lower than a preset synchronous change threshold obtained from a database; if so, it indicates that the yaw motor changes synchronously, and the corresponding synchronous change monitoring value is marked as a first synchronous change monitoring value; if not, it indicates that the yaw motor changes asynchronously, and the corresponding synchronous change monitoring value is marked as a second synchronous change monitoring value.

[0017] Furthermore, the specific process of obtaining the voltage change monitoring value by combining the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device is as follows: the electromagnetic brake braking interference degree value is obtained by performing a ratio operation on the preset average electromagnetic brake torque threshold obtained from the database and the product of the torque constant and the electromagnetic brake voltage obtained from the database; the electromagnetic brake inertia interference degree value is obtained by performing a ratio operation on the preset average electromagnetic brake angular acceleration threshold obtained from the database and the yaw motor angular acceleration; the voltage change monitoring value is obtained by combining the electromagnetic brake braking interference degree value, the electromagnetic brake inertia interference degree value and the first synchronous change monitoring value.

[0018] The embodiment of the present application provides a synchronization detection system for the yaw motor of a wind turbine, including a sensor accuracy evaluation module, a synchronization change monitoring module, a voltage change monitoring module and a synchronization adjustment module: wherein the sensor accuracy evaluation module is used to monitor the yaw motor of a wind turbine in a preset area through a preset sensor synchronization monitoring device to obtain sensor monitoring data, obtain a sensor accuracy evaluation value according to the sensor monitoring data, and determine whether to adjust the sensor accuracy based on the sensor accuracy evaluation value, wherein the sensor accuracy evaluation value is used to evaluate the accuracy of the yaw motor of the wind turbine monitored by the sensor; the synchronization change monitoring module is used to determine the sensor accuracy based on a sensor accuracy threshold value that is not lower than a preset sensor monitoring accuracy threshold value. The synchronization evaluation value and the yaw operation monitoring data of the wind turbine are used to obtain a synchronization change monitoring value, and whether the yaw motor changes synchronously is determined according to the synchronization change monitoring value. The synchronization change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine during operation; the voltage change monitoring module is used to obtain a voltage change monitoring value by combining the first synchronization change monitoring value and the voltage change data obtained by the preset voltage monitoring device, and the voltage change monitoring value is used to evaluate the degree of synchronization of the electromagnetic brake voltage when the yaw motor stops running; the synchronization adjustment module is used to perform synchronization adjustment based on the obtained second synchronization change monitoring value and the unqualified voltage change monitoring value, and the synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor.

[0019] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0020] 1. Obtain a sensor accuracy evaluation value through the acquired sensor monitoring data and determine whether to adjust the sensor accuracy. Then, obtain a synchronization change monitoring value based on the sensor accuracy evaluation value that is not less than a preset sensor monitoring accuracy threshold and the yaw operation monitoring data and determine whether the yaw motor changes synchronously. Finally, perform synchronization adjustment based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, thereby improving the reliability of synchronization detection of the yaw motor of the wind turbine set, and further improving the accuracy of synchronization detection of the yaw motor of the wind turbine set, effectively solving the problem of low accuracy of synchronization detection data collection of the yaw motor of the wind turbine set in the prior art.

[0021] 2. The sensor accuracy evaluation value is obtained by combining the initial electromagnetic interference ratio and the initial quantity interference ratio, and then the synchronization change monitoring value is obtained by combining the initial yaw rate interference ratio, the initial motor power compliance ratio and the reference first synchronization change weight, the reference second synchronization change weight and the reference third synchronization change weight obtained from the database. Finally, the voltage change monitoring value is obtained by combining the electromagnetic brake interference degree value, the electromagnetic brake inertia interference degree value and the first synchronization change monitoring value, thereby achieving an improvement in the accuracy of obtaining wind turbine synchronization detection related data, and then achieving a comprehensive improvement in the synchronization detection of the wind turbine yaw motor.

[0022] 3. By judging whether the voltage change monitoring value is lower than the preset voltage synchronization threshold obtained from the database, the corresponding voltage change monitoring value is marked as an unqualified voltage change monitoring value, and finally the unqualified voltage change monitoring value is subjected to clock synchronization processing and redundant processing, thereby realizing the dynamic adjustment of the synchronization of the yaw motor, and then realizing the dynamic detection of the synchronization of the yaw motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flow chart of a method for detecting synchronization of a yaw motor of a wind turbine provided in an embodiment of the present application;

[0024] Figure 2 A statistical diagram of changes in the yaw motor angular acceleration-electromagnetic brake inertial interference degree value provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the structure of a synchronization detection system for a yaw motor of a wind turbine provided in an embodiment of the present application;

[0026] Figure 4 An overall flow chart provided for an embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiment of the present application solves the problem of low accuracy of synchronization detection data collection of yaw motors of wind turbines in the prior art by providing a synchronization detection method and system for the yaw motors of wind turbines. A sensor accuracy evaluation value is obtained through acquired sensor monitoring data, and whether to adjust the sensor accuracy is determined based on the sensor accuracy evaluation value. Then, a synchronization change monitoring value is obtained based on the sensor accuracy evaluation value that is not lower than a preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine. Whether the yaw motor changes synchronously is determined based on the synchronization change monitoring value. Then, a voltage change monitoring value is obtained by combining the first synchronization change monitoring value and the voltage change data obtained by a preset voltage monitoring device. Finally, a synchronization adjustment is performed based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, thereby improving the synchronization detection accuracy of the yaw motor of the wind turbine.

[0028] The technical solution in the embodiment of the present application is to solve the problem of low accuracy of synchronization detection data collection of the yaw motor of the above-mentioned wind turbine set, and the overall idea is as follows:

[0029] The sensor accuracy evaluation value is obtained by acquiring the sensor monitoring data and judging whether to adjust the sensor accuracy. Then, based on the sensor accuracy evaluation value which is not lower than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data, the synchronization change monitoring value is obtained and judging whether the yaw motor changes synchronously. Finally, the synchronization adjustment is performed based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, thereby achieving the effect of improving the synchronization detection accuracy of the yaw motor of the wind turbine.

[0030] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] like Figure 1 As shown, it is a flow chart of a synchronization detection method for a yaw motor of a wind turbine provided by an embodiment of the present application, the method comprising the following steps: S1, sensor accuracy evaluation: monitoring the yaw motor of a wind turbine in a preset area through a preset sensor synchronization monitoring device to obtain sensor monitoring data, obtaining a sensor accuracy evaluation value according to the sensor monitoring data, judging whether to adjust the sensor accuracy based on the sensor accuracy evaluation value, the sensor accuracy evaluation value being used to evaluate the accuracy of the sensor monitoring of the yaw motor of the wind turbine, the sensor accuracy adjustment being used to adjust the sensor accuracy evaluation value to be not less than a preset sensor monitoring accuracy threshold obtained from a database; S2, synchronization change monitoring: obtaining a synchronization change monitoring value based on a sensor accuracy evaluation value not less than a preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine, and determining whether to adjust the sensor accuracy based on the synchronization change monitoring value. Determine whether the yaw motor changes synchronously. The synchronous change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine when it is running; S3, voltage change monitoring: combine the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device to obtain the voltage change monitoring value. The voltage change monitoring value is used to evaluate the degree of synchronization of the electromagnetic brake voltage when the yaw motor stops running. The first synchronous change monitoring value represents the synchronous change monitoring value corresponding to the synchronously changing yaw motor; S4, synchronization adjustment: perform synchronization adjustment based on the obtained second synchronous change monitoring value and the unqualified voltage change monitoring value. The synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor. The unqualified voltage change monitoring value represents the voltage change monitoring value corresponding to the electromagnetic brake voltage that stops changing asynchronously. The second synchronous change monitoring value represents the synchronous change monitoring value corresponding to the yaw motor that changes asynchronously.

[0032] It should be added that the sensor monitoring data includes noise current, noise voltage, and yaw motor number; the yaw operation monitoring data includes yaw rate, yaw motor torque and yaw motor speed; the voltage change data includes electromagnetic brake voltage and yaw motor angular acceleration; the yaw operation monitoring data is obtained through the preset sensor synchronous monitoring equipment; the preset sensor synchronous monitoring equipment includes noise tester, counter, motor torque tester and motor speed tester; the preset voltage monitoring equipment includes voltmeter and acceleration sensor; the sensor monitoring data, voltage change data and yaw operation monitoring data are all single measurement data within a preset time period.

[0033] In this embodiment, the sensor accuracy evaluation value, the synchronous change monitoring value and the voltage change monitoring value are interdependent, and the sensor accuracy evaluation value is a key indicator for judging the reliability of sensor data. The lower the sensor accuracy evaluation value, the greater the error in the sensor data, which will directly affect the accuracy of the synchronous change monitoring value. The voltage change monitoring value also depends on the data input of the sensor, especially the sensors related to the electromagnetic brake voltage. The lower the accuracy evaluation value of these sensors, the more likely it is that the voltage change monitoring value will be inaccurate, which will in turn lead to a decrease in the synchronous change monitoring value and the voltage change monitoring value, thereby improving the accuracy of the synchronization detection of the yaw motor of the wind turbine.

[0034] It needs to be explained that the noise current and noise voltage at the preset position point of the yaw motor output shaft within a preset time period (the starting time point of the preset time period is measured in this embodiment) are measured once by a noise tester, the number of yaw motors in a preset area is measured by a counter, the yaw motor torque at the preset position point of the yaw motor output shaft within a preset time period is measured once by a motor torque tester, the speed of the yaw motor within a preset time period is measured once by a motor speed tester, the electromagnetic brake voltage at the preset position point of the power supply circuit of the yaw motor electromagnetic brake within the preset time period is measured repeatedly by a voltmeter, and the angular acceleration of the yaw motor at the preset position point of the yaw motor output shaft within the preset time period is measured once by an acceleration sensor.

[0035] Furthermore, the specific process of obtaining the sensor accuracy evaluation value according to the sensor monitoring data is as follows: an initial electromagnetic interference ratio is obtained by performing a ratio operation between the electromagnetic interference degree value and a preset average noise power threshold obtained from a database; the initial electromagnetic interference ratio is used to reflect the electromagnetic interference of the yaw motor; an initial quantity interference ratio is obtained by performing a ratio operation between the quantity interference degree value and a preset maximum threshold of the number of yaw motors obtained from a database; the initial quantity interference ratio is used to reflect the quantity interference of the yaw motor; the sensor accuracy evaluation value is obtained by combining the initial electromagnetic interference ratio and the initial quantity interference ratio; the electromagnetic interference degree value (i.e., the DC value in the limiting expression of the sensor accuracy evaluation value) q) is obtained by multiplying the noise current, the noise voltage and the reference first interference influence weight obtained from the database; the reference first interference influence weight is used to evaluate the influence of the electromagnetic interference of the yaw motor on the sensor accuracy evaluation value; the quantity interference degree value (i.e., N in the limiting expression of the sensor accuracy evaluation value) is obtained by multiplying the number of yaw motors and the reference second interference influence weight obtained from the database; the reference second interference influence weight is used to evaluate the influence of the number of yaw motors on the sensor accuracy evaluation value.

[0036] The limiting expression of the sensor accuracy evaluation value is as follows:

[0037]

[0038] DC q =ρ 1 *I q *V q ;

[0039] N=ρ 2 *N 0 ;

[0040] In the formula, CZQX q represents the sensor accuracy evaluation value of the qth yaw motor, q=1,2,...,s, q represents the path number of the yaw motor, s represents the total number of yaw motors, DC q Indicates the electromagnetic interference level of the qth yaw motor (DC q is not 0), N represents the number of yaw motors interference value (N is not 0), I q Represents the noise current of the qth yaw motor, V q Represents the noise voltage of the qth yaw motor, N 0 Indicates the number of yaw motors, DC 0 Indicates the preset average noise power threshold, s 0 Indicates the maximum threshold of the preset number of yaw motors, ρ 1 represents the reference first interference influence weight, ρ 2 represents the reference second interference influence weight, and e represents a natural constant.

[0041] In this embodiment, the aforementioned database is a database for storing various setting data established before the design of a synchronization detection method for the yaw motor of a wind turbine provided in an embodiment of the present application. The database includes but is not limited to electromagnetic interference noise power, yaw rate, noise voltage, etc., and the various numerical values ​​therein are directly set by technical personnel. For example, the preset average noise power threshold is represented by the average value of the yaw motor noise power that is not 0 in the historical time period in the database, and the preset maximum threshold of the number of yaw motors is represented by the maximum value of the number of yaw motors that is not 0 in the historical time period in the database.

[0042] In this embodiment, the reference first interference influence weight and the reference second interference influence weight are the weights corresponding to the noise power and the number of yaw motors in the database, respectively. The reference first interference influence weight and the reference second interference influence weight respectively describe the numerical values ​​corresponding to the degree of influence of the noise power and the number of yaw motors on the sensor accuracy evaluation value, which can be directly obtained from the database when used, and the corresponding relationship is pre-set. For example, the noise power and the number of yaw motors form a mapping set with the weights corresponding to the noise power and the number of yaw motors preset in the database, and the real-time noise power and the number of yaw motors are input into the mapping set to obtain the weights corresponding to the noise power and the number of yaw motors, where the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. In this embodiment, the value range is 0-1.

[0043] It should be understood that the algorithm of this embodiment combines the sensor monitoring data for comprehensive analysis to obtain the sensor accuracy evaluation value. The sensor monitoring data in the algorithm of this embodiment does not exist independently, but is interrelated. The number of yaw motors may directly affect the noise level monitored by the sensor. For example, in a wind turbine, as the number of yaw motors increases, more mechanical vibrations and electromagnetic interference may be generated. The mechanical vibration of the yaw motor may be transmitted to the preset sensor through the structure of the wind turbine, thereby affecting the accuracy of its monitoring data. The operation of the yaw motor may generate an electromagnetic field, which may interfere with the electronic components of the sensor, causing deviations in the monitoring data, thereby increasing the noise current. When there is a noise current in the circuit, it will generate a corresponding noise voltage on the resistor in the circuit. The larger the resistance value, the greater the noise voltage generated by the noise current, which in turn causes the sensor accuracy evaluation value to decrease. The parameters of the algorithm of this embodiment need to be considered together and at the same time to influence the results.

[0044] Specifically, assuming that the noise current I q The range is 500-1000 (mA), the noise voltage V q The range is 1000-2000 (millivolts), refer to the first interference influence weight ρ 1 Fixed to 0.5, refer to the second interference influence weight ρ 2Fixed to 0.5, number of yaw motors N 0 Fixed to 25, preset the maximum threshold of the number of yaw motors s 0 Fixed to 50, preset average noise power threshold DC 0 Fixed to 1 (watt), as shown in Table 1, is a statistical table of changes in sensor accuracy evaluation values:

[0045] Table 1 Statistics of changes in sensor accuracy evaluation values

[0046]

[0047] As can be seen from the table above, as the noise current I q and the noise voltage V q The electromagnetic interference value DC q Gradually increases, sensor accuracy evaluation value CZQX q A gradual decrease means that the degree of electromagnetic interference gradually increases, which in turn will cause the sensor accuracy assessment value to decrease, thereby achieving accurate quantification of the accuracy of the sensor monitoring the yaw motor of the wind turbine, and thus achieving improved synchronization detection accuracy of the yaw motor of the wind turbine.

[0048] Furthermore, the specific process of judging whether to adjust the sensor accuracy based on the sensor accuracy evaluation value is as follows: judging whether the sensor accuracy evaluation value is not lower than the preset sensor monitoring accuracy threshold; when the monitored sensor accuracy evaluation value is not lower than the preset sensor monitoring accuracy threshold, no sensor accuracy adjustment is performed; when the monitored sensor accuracy evaluation value is lower than the preset sensor monitoring accuracy threshold, the sensor accuracy adjustment is performed; the specific process of adjusting the sensor accuracy is as follows: step one, performing filtering processing, when the monitored sensor accuracy evaluation value is not lower than the preset sensor monitoring accuracy threshold, stopping the sensor accuracy adjustment, otherwise executing step two, filtering processing means improving the signal-to-noise ratio of the signal by an adaptive filtering method to reduce electromagnetic interference; step two, sending a prompt to the preset personnel to add a decoupling capacitor at a preset position point between the power supply and the ground of the wind turbine to reduce the influence of power supply noise on the circuit, when the monitored sensor accuracy evaluation value is not lower than the preset sensor monitoring accuracy threshold, stopping the sensor accuracy adjustment, otherwise sending an alarm prompt to the preset personnel.

[0049] In this embodiment, the preset sensor monitoring accuracy threshold is represented by the average value of the sensor accuracy evaluation value in the historical time period in the database, and the adaptive filtering is based on the statistical characteristics of the signal and the minimum mean square error criterion. It assumes that the input signal consists of the expected signal and noise, and then minimizes the mean square error between the expected signal and the output signal by adjusting the parameters of the filter. The decoupling capacitor can absorb the noise on the power line. By filtering out the noise and interference signals on the power line, the decoupling capacitor can reduce the impact of these signals on the sensor output, thereby improving the accuracy of the sensor; the synchronization detection accuracy of the yaw motor of the wind turbine is improved.

[0050] Furthermore, the specific process of obtaining the synchronous change monitoring value based on the sensor accuracy evaluation value not less than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine is as follows: an initial yaw rate interference ratio is obtained by performing a ratio operation on the preset average yaw rate threshold and the yaw rate obtained from the database; the initial yaw rate interference ratio is used to reflect the degree of yaw rate interference of the yaw motor; the preset average yaw power threshold and the motor power compliance value (i.e., P in the restriction expression of the synchronous change monitoring value) obtained from the database are used to obtain the synchronous change monitoring value. q ) obtains the initial motor power compliance ratio; the motor power compliance value is represented by the result of the product operation of the yaw motor torque and the yaw motor speed; the initial motor power compliance ratio is used to reflect the power compliance degree of the yaw motor; the synchronous change monitoring value is obtained by combining the initial yaw rate interference ratio, the initial motor power compliance ratio and the reference first synchronous change weight, the reference second synchronous change weight and the reference third synchronous change weight obtained from the database; the reference first synchronous change weight is used to evaluate the influence of the yaw rate of the yaw motor on the synchronous change monitoring value; the reference second synchronous change weight is used to evaluate the influence of the yaw motor power on the synchronous change monitoring value; the reference third synchronous change weight is used to evaluate the influence of the sensor accuracy evaluation value of the yaw motor on the synchronous change monitoring value.

[0051] Among them, the synchronous change monitoring value is obtained by the following method:

[0052]

[0053] P q =NT q *ZS q ;

[0054] In the formula, TB q represents the synchronous change monitoring value of the qth yaw motor, q = 1, 2, ..., s, q represents the path number of the yaw motor, s represents the total number of yaw motors, w q represents the yaw rate of the qth yaw motor (w q is not 0), Pq Indicates the motor power compliance value of the qth yaw motor (P q Not 0), CZQX q ' represents the sensor accuracy assessment value of the qth yaw motor that is not lower than the preset sensor monitoring accuracy threshold, NT q It represents the yaw motor torque of the qth yaw motor, ZS q represents the yaw motor speed of the qth yaw motor, w 0 Represents the preset average yaw rate threshold, P 0 Represents the preset average yaw power threshold, μ 1 represents the reference first synchronization change weight, μ 2 represents the reference second synchronization change weight, μ 3 Indicates the reference third synchronization change weight.

[0055] It should be added that the specific process of judging whether the yaw motor changes synchronously based on the synchronous change monitoring value is as follows: judge whether the synchronous change monitoring value is not lower than the preset synchronous change threshold obtained from the database; if so, it indicates that the yaw motor changes synchronously, and the corresponding synchronous change monitoring value is marked as the first synchronous change monitoring value; if not, it indicates that the yaw motor changes asynchronously, and the corresponding synchronous change monitoring value is marked as the second synchronous change monitoring value.

[0056] In this embodiment, the preset average yaw rate threshold is represented by the average value of the yaw rates of the yaw motors that are not 0 in the historical time periods in the database, the preset average yaw power threshold is represented by the average value of the yaw powers of the yaw motors that are not 0 in the historical time periods in the database, and the preset synchronous change threshold is represented by the average value of the synchronous change monitoring values ​​in the historical time periods in the database.

[0057] In this embodiment, the first synchronous change weight, the reference second synchronous change weight and the reference third synchronous change weight are the weights corresponding to the motor power, yaw rate and sensor accuracy evaluation values ​​in the database, respectively. The first synchronous change weight, the reference second synchronous change weight and the reference third synchronous change weight respectively describe the numerical values ​​corresponding to the degree of influence of the motor power, yaw rate and sensor accuracy evaluation value on the synchronous change monitoring value, which can be directly obtained from the database when used, and the corresponding relationship is pre-set. For example, the motor power, yaw rate and sensor accuracy evaluation value and the weights corresponding to the motor power, yaw rate and sensor accuracy evaluation value preset in the database form a mapping set, and the real-time motor power, yaw rate and sensor accuracy evaluation value are input into the mapping set to obtain the weights corresponding to the motor power, yaw rate and sensor accuracy evaluation value, wherein the mapping relationship can be a one-to-one correspondence or a many-to-one relationship. In this embodiment, the value range is 0-1.

[0058] It should be understood that the algorithm of this embodiment combines the yaw operation monitoring data and the sensor accuracy evaluation value for comprehensive analysis to obtain the synchronous change monitoring value. In the algorithm of this embodiment, the yaw operation monitoring data and the sensor accuracy evaluation value do not exist independently, but are interrelated. The larger the sensor accuracy evaluation value, the smaller the possibility of deviation in the synchronous change monitoring value. The larger the motor power means that the yaw motor can provide a larger torque, which can more effectively drive the wind turbine to adjust the yaw. The larger the motor power, the faster the motor can overcome external disturbances, ensuring that the wind turbine is adjusted in time and maintains accurate wind direction alignment, thereby enhancing the synchronization of the yaw motor, which in turn leads to an increase in the synchronous change monitoring value. The larger the yaw rate, the more likely it is that the yaw motor will not respond in time, the load will increase, and the control accuracy will decrease. As the yaw rate increases, the yaw motor may need more power to reduce energy consumption, thereby making the synchronization of the yaw motor worse, which in turn leads to a decrease in the synchronous change monitoring value. The parameters of the algorithm of this embodiment need to consider the impact on the results together, so as to achieve the accurate quantification of the degree of synchronization when the yaw motor of the wind turbine is running, thereby achieving the improvement of the synchronization detection accuracy of the yaw motor of the wind turbine.

[0059] Further, the specific process of obtaining the voltage change monitoring value by combining the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device is as follows: the electromagnetic brake interference degree value (i.e., LJ in the limiting expression of the voltage change monitoring value) is obtained by performing a ratio operation between the preset average electromagnetic brake torque threshold obtained from the database and the product of the torque constant and the electromagnetic brake voltage obtained from the database. q ); The electromagnetic brake interference degree value is used to reflect the interference degree of the electromagnetic brake voltage on the voltage change monitoring value when the yaw motor stops running; the electromagnetic brake inertia interference degree value (that is, DGX in the limiting expression of the voltage change monitoring value) is obtained by performing a ratio operation on the preset average electromagnetic brake angular acceleration threshold obtained from the database and the yaw motor angular acceleration. q ); the electromagnetic brake inertia interference degree value is used to reflect the interference degree of the electromagnetic brake angular acceleration on the voltage change monitoring value when the yaw motor stops running; the voltage change monitoring value is obtained by combining the electromagnetic brake braking interference degree value, the electromagnetic brake inertia interference degree value and the first synchronous change monitoring value.

[0060] Among them, the voltage change monitoring value is obtained by the following method:

[0061]

[0062] Where DYTB q Indicates the voltage change monitoring value of the qth yaw motor, q = 1, 2, ..., s, q represents the path number of the yaw motor, s represents the total number of yaw motors, LJ qIndicates the electromagnetic brake interference level of the qth yaw motor (LJ q Not 0), DGX q Indicates the electromagnetic brake inertia interference value of the qth yaw motor (DGX q Not 0), TB q ' represents the first synchronous change monitoring value of the qth yaw motor, DU q represents the electromagnetic brake voltage of the qth yaw motor, α q represents the yaw motor angular acceleration of the qth yaw motor, LJ 0 Indicates the preset average electromagnetic brake torque threshold, DGX 0 represents the preset average electromagnetic brake angular acceleration threshold, k represents the torque constant, and e represents the natural constant.

[0063] In this embodiment, the preset average electromagnetic brake torque threshold is represented by the average value of the electromagnetic brake torque of the yaw motor that is not 0 in the historical time period in the database, the preset average electromagnetic brake angular acceleration threshold is represented by the average value of the electromagnetic brake angular acceleration of the yaw motor that is not 0 in the historical time period in the database, and the torque constant is represented by the average value of the yaw motor torque constant in the historical time period in the database.

[0064] It should be understood that the algorithm of this embodiment combines the voltage change data and the first synchronous change monitoring value for comprehensive analysis to obtain the voltage change monitoring value. In the algorithm of this embodiment, the voltage change data and the first synchronous change monitoring value do not exist independently, but are interrelated. The greater the angular acceleration of the yaw motor, the faster the electromagnetic brake voltage needs to be adjusted to maintain synchronization. The larger the first synchronous change monitoring value, the faster the electromagnetic brake needs to adjust the electromagnetic brake voltage to maintain synchronization. However, due to the change in the rotational acceleration of the object, the electromagnetic brake may be difficult to respond completely synchronously. This lag in response speed will cause the voltage synchronization to deteriorate and the braking torque to increase. The voltage synchronization of the electromagnetic brake is usually worse because the greater the braking torque, the higher the current required to drive the electromagnetic brake system, and the voltage fluctuation may cause the electromagnetic field to be unstable, which in turn causes the voltage change monitoring value to decrease. The parameters of the algorithm of this embodiment need to be considered together and at the same time to affect the results.

[0065] Specifically, assuming that the yaw motor angular acceleration α q The range is 5-10 (rad / s 2 ), preset average electromagnetic brake angular acceleration threshold DGX 0 Fixed to 7.5(rad / s 2 ),like Figure 2 As shown in FIG. 1 , it is a statistical diagram of the change of the yaw motor angular acceleration-electromagnetic brake inertia interference degree value provided in the embodiment of the present application, which is composed of Figure 2It can be seen that as the angular acceleration of the yaw motor gradually increases, the inertial interference degree of the electromagnetic brake gradually decreases, which means that the inertial interference degree of the electromagnetic brake gradually decreases, thereby achieving accurate quantification of the synchronization degree of the electromagnetic brake voltage when the yaw motor stops running, thereby improving the synchronization detection accuracy of the yaw motor of the wind turbine.

[0066] Furthermore, the specific process of performing synchronization adjustment based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value is as follows: determine whether the voltage change monitoring value is lower than the preset voltage synchronization threshold obtained from the database; if so, mark the corresponding voltage change monitoring value as an unqualified voltage change monitoring value, and perform synchronization adjustment: the specific process of synchronization adjustment is: SS1, perform clock synchronization processing, when the monitored unqualified voltage change monitoring value is not lower than the preset voltage synchronization threshold, and the second synchronization change monitoring value is not lower than the preset synchronization change threshold, stop the synchronization adjustment, otherwise execute SS2, the clock synchronization processing means to achieve accurate synchronization of the system clock through the GPS time synchronization method; SS2, perform redundant processing, when the monitored unqualified voltage change monitoring value is not lower than the preset voltage synchronization threshold, and the second synchronization change monitoring value is not lower than the preset synchronization change threshold, stop the synchronization adjustment, otherwise send a prompt to the preset personnel to perform yaw motor maintenance, redundant processing means sending a prompt to the preset personnel to set a backup communication channel in the system to reduce the risk of system paralysis due to single point failure.

[0067] In this embodiment, the preset voltage synchronization threshold is represented by the average value of the voltage change monitoring value in the historical time period in the database. GPS time synchronization utilizes the time information (such as timestamp) and satellite position information contained in the navigation signal transmitted by the GPS (Global Positioning System) satellite, and obtains the time of the receiver's location through processing by the receiver, thereby realizing accurate synchronization of the system clock. The backup communication channel is an application of redundant processing in the communication field. It refers to one or more communication paths set up in addition to the main communication channel, which may include different physical media (such as optical fiber, copper wire, wireless, etc.), different network topologies (such as ring, mesh, etc.) or different communication protocols (such as Ethernet protocol, SNMP (Simple Network Management Protocol, Simple Network Management Protocol), etc.). The activation of the backup communication channel can significantly reduce the impact of single point failures on the system, ensure the continuous operation of the system and the normal transmission of data, and improve the synchronization detection accuracy of the yaw motor of the wind turbine.

[0068] like Figure 3As shown, it is a structural schematic diagram of a synchronization detection system for a yaw motor of a wind turbine provided in an embodiment of the present application. A synchronization detection system for a yaw motor of a wind turbine provided in an embodiment of the present application includes a sensor accuracy evaluation module, a synchronization change monitoring module, a voltage change monitoring module and a synchronization adjustment module: wherein the sensor accuracy evaluation module is used to monitor the yaw motor of a wind turbine in a preset area through a preset sensor synchronization monitoring device to obtain sensor monitoring data, obtain a sensor accuracy evaluation value according to the sensor monitoring data, and judge whether to adjust the sensor accuracy based on the sensor accuracy evaluation value, the sensor accuracy evaluation value is used to evaluate the accuracy of the sensor monitoring of the yaw motor of the wind turbine, and the sensor accuracy adjustment is used to adjust the sensor accuracy evaluation value to not less than a preset sensor monitoring accuracy threshold obtained from a database; the synchronization change monitoring module is used to adjust the sensor accuracy evaluation value based on the sensor accuracy evaluation value and The yaw operation monitoring data of the wind turbine group obtains a synchronous change monitoring value, and whether the yaw motor changes synchronously is determined according to the synchronous change monitoring value. The synchronous change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine group during operation; the voltage change monitoring module is used to obtain a voltage change monitoring value by combining the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device. The voltage change monitoring value is used to evaluate the degree of synchronization of the electromagnetic brake voltage when the yaw motor stops running. The first synchronous change monitoring value represents the synchronous change monitoring value corresponding to the synchronously changing yaw motor; the synchronization adjustment module is used to perform synchronization adjustment based on the obtained second synchronous change monitoring value and the unqualified voltage change monitoring value. The synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor. The unqualified voltage change monitoring value represents the voltage change monitoring value corresponding to the electromagnetic brake voltage that stops changing asynchronously, and the second synchronous change monitoring value represents the synchronous change monitoring value corresponding to the yaw motor that changes asynchronously.

[0069] like Figure 4 As shown, it is the overall flow chart provided by the embodiment of the present application. The sensor accuracy assessment module provides accurate and reliable sensor monitoring data for the synchronization change monitoring module, which is the basis for subsequent synchronization change monitoring and voltage change monitoring. The synchronization change monitoring module provides synchronization change monitoring values ​​for the voltage change monitoring module and the synchronization adjustment module, and provides a basis for synchronization adjustment. The modules complement each other and together constitute a complete wind turbine yaw motor synchronization detection system, which improves the synchronization detection accuracy of the wind turbine yaw motor.

[0070] To summarize, the embodiment of the present application obtains a sensor accuracy evaluation value through the acquired sensor monitoring data and determines whether to adjust the sensor accuracy, then obtains a synchronization change monitoring value based on the sensor accuracy evaluation value not lower than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data and determines whether the yaw motor changes synchronously, and finally performs synchronization adjustment based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, thereby achieving an improvement in the reliability of synchronization detection of the yaw motor of the wind turbine set, and then achieving an improvement in the accuracy of synchronization detection of the yaw motor of the wind turbine set, effectively solving the problem of low accuracy of synchronization detection data collection of the yaw motor of the wind turbine set in the prior art.

[0071] 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 a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, 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, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] 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.

[0073] 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 including 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.

[0074] 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 in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for detecting synchronization of a yaw motor of a wind turbine, characterized in that: The following steps are involved: S1, using a preset sensor synchronous monitoring device to monitor the yaw motor of a wind turbine in a preset area to obtain sensor monitoring data, obtaining a sensor accuracy evaluation value according to the sensor monitoring data, and judging whether to perform sensor accuracy adjustment based on the sensor accuracy evaluation value, wherein the sensor accuracy evaluation value is used to evaluate the accuracy of the sensor in monitoring the yaw motor of the wind turbine; S2, based on the sensor accuracy evaluation value not less than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine, a synchronous change monitoring value is obtained, and whether the yaw motor changes synchronously is determined according to the synchronous change monitoring value, and the synchronous change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine when it is running; S3, combining the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device to obtain a voltage change monitoring value, wherein the voltage change monitoring value is used to evaluate the synchronization degree of the electromagnetic brake voltage when the yaw motor stops running; S4, performing synchronization adjustment based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, wherein the synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor.

2. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 1, characterized in that: The sensor monitoring data includes noise current, noise voltage, and the number of yaw motors; The yaw operation monitoring data includes yaw rate, yaw motor torque and yaw motor speed; The voltage change data includes the electromagnetic brake voltage and the yaw motor angular acceleration; The yaw operation monitoring data is obtained by synchronous monitoring equipment through preset sensors; The preset sensor synchronous monitoring equipment includes a noise tester, a counter, a motor torque tester and a motor speed tester; The preset voltage monitoring device includes a voltmeter and an acceleration sensor.

3. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 2, characterized in that: The specific process of obtaining the sensor accuracy evaluation value based on the sensor monitoring data is as follows: An initial electromagnetic interference ratio is obtained by performing a ratio operation between the electromagnetic interference degree value and a preset average noise power threshold value obtained from a database; An initial quantity interference ratio is obtained by performing a ratio calculation between the quantity interference degree value and a preset maximum threshold value of the yaw motor quantity obtained from a database; The sensor accuracy evaluation value is obtained by combining the initial electromagnetic interference ratio and the initial quantitative interference ratio; The quantitative interference degree value is obtained by multiplying the quantity of the yaw motors by a reference second interference influence weight obtained from a database.

4. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 3, characterized in that: The limiting expression of the sensor accuracy evaluation value is as follows: In the formula, CZQX q represents the sensor accuracy evaluation value of the qth yaw motor, q=1,2,...,s, q represents the path number of the yaw motor, s represents the total number of yaw motors, DC q It represents the electromagnetic interference degree value of the qth yaw motor, N represents the interference degree value of the number of yaw motors, DC0 represents the preset average noise power threshold, s0 represents the preset maximum threshold of the number of yaw motors, and e represents a natural constant.

5. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 4, characterized in that: The specific process of determining whether to adjust the sensor accuracy based on the sensor accuracy evaluation value is as follows: Determine whether the sensor accuracy assessment value is not lower than the preset sensor monitoring accuracy threshold; When the monitored sensor accuracy assessment value is not lower than the preset sensor monitoring accuracy threshold, the sensor accuracy adjustment is not performed; When the monitored sensor accuracy assessment value is lower than the preset sensor monitoring accuracy threshold, the sensor accuracy is adjusted; The specific process of adjusting the sensor accuracy is as follows: Step 1: Perform filtering processing. When the monitored sensor accuracy evaluation value is not lower than the preset sensor monitoring accuracy threshold, stop adjusting the sensor accuracy. Otherwise, perform step 2. Step 2: Send a prompt to the preset personnel to add a decoupling capacitor at a preset position point between the power supply and the ground of the wind turbine to reduce the impact of power supply noise on the circuit. When the monitored sensor accuracy assessment value is not lower than the preset sensor monitoring accuracy threshold, stop adjusting the sensor accuracy. Otherwise, send an alarm prompt to the preset personnel.

6. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 2, characterized in that: The specific process of obtaining the synchronous change monitoring value based on the sensor accuracy evaluation value not less than the preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine is as follows: An initial yaw rate interference ratio is obtained by performing a ratio operation on a preset average yaw rate threshold obtained from a database and the yaw rate; An initial motor power compliance ratio is obtained by obtaining a preset average yaw power threshold and a motor power compliance value from a database; The motor power compliance value is represented by the result of multiplying the yaw motor torque and the yaw motor speed; The synchronous change monitoring value is obtained by combining the initial yaw rate interference ratio, the initial motor power compliance ratio, and the reference first synchronous change weight, the reference second synchronous change weight, and the reference third synchronous change weight obtained from the database.

7. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 6, characterized in that: The specific process of judging whether the yaw motor changes synchronously according to the synchronous change monitoring value is as follows: Determine whether the synchronous change monitoring value is lower than a preset synchronous change threshold obtained from the database; If yes, it indicates that the yaw motor changes synchronously, and the corresponding synchronous change monitoring value is marked as the first synchronous change monitoring value; If not, it indicates that the yaw motor changes asynchronously, and the corresponding synchronous change monitoring value is marked as the second synchronous change monitoring value.

8. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 2, characterized in that: The specific process of obtaining the voltage change monitoring value by combining the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device is as follows: The electromagnetic brake interference degree value is obtained by performing a ratio operation on the preset average electromagnetic brake torque threshold obtained from the database and the product of the torque constant and the electromagnetic brake voltage obtained from the database; The electromagnetic brake inertial interference degree value is obtained by performing a ratio operation on the preset average electromagnetic brake angular acceleration threshold obtained from the database and the yaw motor angular acceleration; The voltage change monitoring value is obtained by combining the electromagnetic brake braking interference degree value, the electromagnetic brake inertia interference degree value and the first synchronous change monitoring value.

9. A method for detecting synchronization of a yaw motor of a wind turbine as claimed in claim 1, characterized in that: The specific process of adjusting the synchronization based on the acquired second synchronous change monitoring value and the unqualified voltage change monitoring value is as follows: Determine whether the voltage change monitoring value is lower than a preset voltage synchronization threshold obtained from a database; If yes, the corresponding voltage change monitoring value is marked as an unqualified voltage change monitoring value, and synchronization adjustment is performed: The specific process of synchronization adjustment is as follows: SS1, perform clock synchronization processing. When the monitored unqualified voltage change monitoring value is not lower than the preset voltage synchronization threshold, and the second synchronization change monitoring value is not lower than the preset synchronization change threshold, stop the synchronization adjustment, otherwise execute SS2; SS2, performs redundant processing. When the monitored unqualified voltage change monitoring value is not lower than the preset voltage synchronization threshold, and the second synchronization change monitoring value is not lower than the preset synchronization change threshold, stop the synchronization adjustment, otherwise send a prompt to the preset personnel to perform yaw motor maintenance.

10. A synchronization detection system for a yaw motor of a wind turbine, characterized in that: It includes sensor accuracy assessment module, synchronization change monitoring module, voltage change monitoring module and synchronization adjustment module: The sensor accuracy evaluation module is used to obtain sensor monitoring data by synchronously monitoring the yaw motor of the wind turbine in the preset area through the preset sensor, obtain the sensor accuracy evaluation value according to the sensor monitoring data, and determine whether to adjust the sensor accuracy based on the sensor accuracy evaluation value, and the sensor accuracy evaluation value is used to evaluate the accuracy of the sensor monitoring the yaw motor of the wind turbine; The synchronization change monitoring module is used to obtain a synchronization change monitoring value based on a sensor accuracy evaluation value that is not less than a preset sensor monitoring accuracy threshold and the yaw operation monitoring data of the wind turbine, and to determine whether the yaw motor changes synchronously according to the synchronization change monitoring value. The synchronization change monitoring value is used to evaluate the degree of synchronization of the yaw motor of the wind turbine when it is running; The voltage change monitoring module is used to combine the first synchronous change monitoring value and the voltage change data obtained by the preset voltage monitoring device to obtain a voltage change monitoring value, and the voltage change monitoring value is used to evaluate the synchronization degree of the electromagnetic brake voltage when the yaw motor stops running; The synchronization adjustment module is used to perform synchronization adjustment based on the acquired second synchronization change monitoring value and the unqualified voltage change monitoring value, and the synchronization adjustment is used to improve the synchronization of the yaw motor and the electromagnetic brake voltage of the yaw motor.

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