Wind turbine generator yaw system analogue simulation method and system

Abstract

The invention discloses an analogue simulation method and system for a yaw system of a wind turbine generator, and the method comprises the steps: building a rigid-flexible coupling dynamic model of a yaw main body comprising a main frame in consideration of the influence of the deformation of the main frame, a driver housing and a gear shaft on the unbalance loading of a gear; and a rigid-flexible coupling dynamical model of the yaw driver comprising an aircraft driver housing and a yaw gear shaft. A rigid-flexible coupling dynamic model corresponding to a yaw driver is imported into a rigid-flexible coupling dynamic model corresponding to a yaw main body, and a yaw system rigid-flexible coupling model capable of simulating the yaw capacity of a fan and the meshing stress of the tooth surface of a yaw gear more truly is constructed, so that the authenticity of a dynamic simulation result of a yaw system is improved. The influence of yaw control logic on yaw control is considered, a dynamics control program is written according to the yaw control logic and implanted into a yaw system rigid-flexible coupling model, yaw control of the wind turbine generator is truly simulated, and the authenticity of the dynamics simulation result of the yaw system is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of computer-aided design using simulation methods, and in particular to a simulation method and system for a yaw system of a wind turbine generator set. Background Art

[0002] At present, the yaw system of large wind turbines still uses traditional engineering algorithms for the selection of yaw drive motors. The yaw drive motors selected by the engineering algorithm often give a higher safety factor, which can ensure the normal yaw of the wind turbine, and are helpless in the face of the common yaw gear tooth breakage problem in the yaw system of wind turbines. In the current price war environment faced by the wind power industry, cost reduction and efficiency improvement have become the key considerations in the design of wind turbines. Therefore, by establishing a dynamic simulation model of the yaw system of a wind turbine and performing a dynamic simulation analysis on the yaw drive capability of the yaw system, the safety factor of the yaw system can be reduced while ensuring that the unit can yaw normally, thereby achieving the purpose of reducing costs.

[0003] However, the current yaw system dynamics simulation model does not consider the impact of the deformation of the wind turbine main frame, drive housing and gear shaft on the gear eccentric load, as well as the impact of the yaw control logic on the yaw control. These factors will affect the authenticity of the yaw system dynamics simulation results. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention proposes a wind turbine yaw system simulation method and system, which can improve the authenticity of the dynamic simulation results of the yaw system. The specific technical solution is as follows:

[0005] In a first aspect, a method for simulating a yaw system of a wind turbine is provided. In a first implementable manner of the first aspect, the method comprises:

[0006] Construct a rigid-flexible coupling dynamic model corresponding to the yaw body including the main frame and the yaw drive including the yaw drive housing and the yaw gear shaft, and write a dynamic control program based on the yaw control logic of the wind turbine;

[0007] Importing the rigid-flexible coupling dynamics model corresponding to the yaw drive into the rigid-flexible coupling dynamics model corresponding to the yaw body, and implanting a dynamics control program to construct a rigid-flexible coupling model of the yaw system;

[0008] The yaw system rigid-flexible coupling model is used for simulation to obtain relevant simulation data.

[0009] In combination with the first implementable manner of the first aspect, in a second implementable manner of the first aspect, constructing a rigid-flexible coupling dynamic model corresponding to the yaw body includes:

[0010] Construct a three-dimensional model of the main frame, and construct a flexible body model of the main frame through the three-dimensional model of the main frame;

[0011] Importing the main frame flexible body model into the dynamics simulation software, creating a ring gear rigid body model according to corresponding parameters, and assembling the ring gear rigid body model to the corresponding main nodes of the main frame flexible body model;

[0012] The corresponding device prosthesis is created at the corresponding main node of the main frame flexible body model, and the corresponding weight and moment of inertia are added, so as to construct the rigid-flexible coupling dynamic model corresponding to the yaw body.

[0013] In combination with the second implementable manner of the first aspect, in a third implementable manner of the first aspect, constructing a main frame flexible body model through a main frame three-dimensional model includes:

[0014] Importing the main frame three-dimensional model into finite element software for meshing to obtain a corresponding main frame mesh model;

[0015] Set the main node at the corresponding centroid position of the main frame grid model to build the main frame finite element model;

[0016] Performing modal reduction on the main frame finite element model to obtain the main frame flexible body model.

[0017] In combination with the first implementable manner of the first aspect, in a fourth implementable manner of the first aspect, constructing a rigid-flexible coupling dynamic model corresponding to the yaw drive includes:

[0018] Constructing a 3D model of the yaw drive housing and a 3D model of the yaw gear shaft respectively;

[0019] The yaw drive housing soft body model and the yaw gear shaft soft body model are respectively constructed through the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model;

[0020] Importing the yaw drive housing soft body model and the yaw gear shaft soft body model into the dynamics simulation software, and creating a yaw gear rigid body model according to corresponding parameters to couple to the yaw gear shaft soft body model;

[0021] The yaw drive housing soft body model and the yaw gear shaft soft body model are connected by spring force elements, and equivalent spring parameters are set according to bearing parameters to construct a rigid-flexible coupling dynamic model of the yaw drive.

[0022] In combination with the fourth implementable manner of the first aspect, in a fifth implementable manner of the first aspect, constructing a yaw drive housing soft body model and a yaw gear shaft soft body model includes:

[0023] Importing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model into finite element software respectively, and meshing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model respectively;

[0024] Main nodes are respectively set in the divided yaw drive housing mesh model and the yaw gear shaft mesh model, and the main nodes are set to be coupled with corresponding components according to the contact surface mesh through flexible units, so as to construct the yaw drive housing finite element model and the yaw gear shaft finite element model;

[0025] Modal reduction is performed on the finite element model of the yaw drive housing and the finite element model of the yaw gear shaft respectively to obtain the yaw drive housing soft body model and the yaw gear shaft soft body model.

[0026] In combination with the first implementable manner of the first aspect, in a sixth implementable manner of the first aspect, the dynamics control program includes:

[0027] A drive motor control program configured to control the start-up timing, motor deceleration timing, motor electromagnetic braking timing of the drive motor, and control the drive torque of the motor by utilizing a motor T / N curve;

[0028] The yaw brake control program is configured to control the pressure release timing and pressure increase timing of the brake, and to control the positive pressure on the friction plate during the pressure increase process and the pressure release process.

[0029] In combination with the first implementable manner of the first aspect, in a seventh implementable manner of the first aspect, the rigid-flexible coupling dynamic model corresponding to the yaw drive is imported multiple times as a subsystem into the rigid-flexible coupling dynamic model corresponding to the yaw body.

[0030] In combination with the first implementable manner of the first aspect, in an eighth implementable manner of the first aspect, performing simulation by using the rigid-flexible coupling model of the yaw system includes:

[0031] A time-sequential torque rotating around the rotation axis is applied to the main frame of the rigid-flexible coupling model of the yaw system to simulate the external load on the unit during the actual yaw process.

[0032] In combination with the first implementable manner of the first aspect, in a ninth implementable manner of the first aspect, performing simulation by using the rigid-flexible coupling model of the yaw system includes:

[0033] Real-time monitoring of the driving motor speed, and the motor driving torque can be obtained by combining the motor T / N curve interpolation;

[0034] The driving torque is amplified by a speed reducer and then directly applied to the gear shaft of each driving motor in a direction opposite to the external load, so as to simulate the yaw of the fan against the external load.

[0035] In a second aspect, a wind turbine yaw system simulation system is provided, comprising:

[0036] A construction module is configured to construct a rigid-flexible coupling dynamic model corresponding to a yaw body including a main frame and a yaw drive including a yaw drive housing and a yaw gear shaft, and to write a dynamic control program based on a yaw control logic of the wind turbine generator set;

[0037] A coupling module is configured to import the rigid-flexible coupling dynamic model corresponding to the yaw drive into the rigid-flexible coupling dynamic model corresponding to the yaw body, and implant a dynamic control program to construct a rigid-flexible coupling model of the yaw system;

[0038] The simulation module is configured to perform simulation through the rigid-flexible coupling model of the yaw system to obtain relevant simulation data.

[0039] Beneficial effects: The method and system for simulating the yaw system of a wind turbine of the present invention are adopted, and considering the influence of the deformation of the main frame, the drive housing and the gear shaft on the gear eccentric load, a rigid-flexible coupling dynamic model corresponding to the yaw body including the main frame and a rigid-flexible coupling dynamic model corresponding to the yaw drive including the drive housing and the yaw gear shaft are constructed. By importing the rigid-flexible coupling dynamic model corresponding to the yaw drive into the rigid-flexible coupling dynamic model corresponding to the yaw body, a rigid-flexible coupling model of the yaw system can be constructed, which can more realistically simulate the yaw capability of the wind turbine and the meshing stress of the yaw gear tooth surface, thereby improving the authenticity of the dynamic simulation results of the yaw system. In addition, considering the influence of the yaw control logic on the yaw control, a corresponding dynamic control program is written according to the yaw control logic and implanted into the rigid-flexible coupling model of the yaw system, which more realistically simulates the yaw control of the wind turbine and further improves the authenticity of the dynamic simulation results of the yaw system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation of the present invention, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0041] Figure 1 A flow chart of a method for simulating a yaw system of a wind turbine provided by an embodiment of the present invention;

[0042] Figure 2 A system block diagram of a wind turbine yaw system simulation system provided by an embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram of the main frame grid model;

[0044] Figure 4It is a schematic diagram of the main frame flexible body model obtained after mode reduction;

[0045] Figure 5 Schematic diagram of the rigid-flexible coupling dynamic model corresponding to the yaw drive;

[0046] Figure 6 It is a schematic diagram of the rigid-flexible coupling model of the yaw system;

[0047] Figure 7 The main frame speed and drive motor speed data are obtained by simulating the rigid-flexible coupling model of the yaw system;

[0048] Figure 8 The meshing stress data of the yaw gear tooth surface obtained by simulating the rigid-flexible coupling model of the yaw system. DETAILED DESCRIPTION

[0049] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0050] like Figure 1 The flowchart of the simulation method of the yaw system of a wind turbine is shown, and the simulation method includes:

[0051] Step 1: construct a rigid-flexible coupling dynamic model corresponding to a yaw body including a main frame and a yaw drive including a yaw drive housing and a yaw gear shaft, and write a dynamic control program based on the yaw control logic of the wind turbine;

[0052] Step 2: Import the rigid-flexible coupling dynamic model corresponding to the yaw drive into the rigid-flexible coupling dynamic model corresponding to the yaw body, and implant a dynamic control program to construct a rigid-flexible coupling model of the yaw system;

[0053] Step 3: Perform simulation using the rigid-flexible coupling model of the yaw system to obtain relevant simulation data.

[0054] Specifically, the yaw system of a wind turbine usually includes a main frame, yaw bearing, yaw gear ring, brake disc, hydraulic brake, yaw drive, etc., and the yaw drive consists of a drive motor, a reducer, a drive housing, a yaw gear, a gear shaft, a drive bearing, etc. The yaw gear ring and yaw gear can be directly created as rigid body models in the dynamics software, so there is no need to draw a solid model. The brake disc and hydraulic brake can be equivalently replaced by the friction element in the dynamics software, and there is no need to draw a solid model.

[0055] Therefore, firstly, only the three-dimensional models corresponding to the yaw drive housing, yaw gear shaft and main frame in the yaw system of the wind turbine can be established, and based on the three-dimensional models corresponding to the yaw drive housing and yaw gear shaft, the rigid-flexible coupling dynamic model corresponding to the yaw drive including the yaw drive housing and the yaw gear shaft, and the rigid-flexible coupling dynamic model corresponding to the yaw body including the main frame can be constructed in the dynamic simulation software. Considering the influence of the yaw control logic on the yaw control, the corresponding dynamic control program can also be written according to the yaw control logic.

[0056] Then, the rigid-flexible coupling dynamic model corresponding to the built yaw drive can be imported into the rigid-flexible coupling dynamic model corresponding to the yaw body, and the gear meshing force element can be added, and the material, damping, tooth side clearance and other parameters can be set. At the same time, the yaw system dynamic control program written in the previous article can be implanted to establish a yaw system rigid-flexible coupling model that can truly simulate the yaw ability of the wind turbine and the yaw gear tooth surface meshing stress. The constructed yaw system rigid-flexible coupling model is as follows: Figure 6 shown.

[0057] Finally, the yaw control simulation was carried out through the established rigid-flexible coupling model of the yaw system, and the data such as the drive motor speed, main frame speed, main frame yaw angle and yaw gear tooth surface meshing stress were extracted through post-processing software. The specific results are as follows: Figure 7 , Figure 8 The yaw angle data of the main frame can verify whether the yaw is in place. The fluctuation of the main frame speed shows that the rigid-flexible coupling model is closer to the actual situation than the full-rigid model. The speed data of the drive motor can clarify the influence of the drive bearing on the yaw stability.

[0058] In this embodiment, optionally, in step 1, constructing a rigid-flexible coupling dynamic model corresponding to the yaw body includes:

[0059] Construct a three-dimensional model of the main frame, and construct a flexible body model of the main frame through the three-dimensional model of the main frame;

[0060] Importing the main frame flexible body model into the dynamics simulation software, creating a ring gear rigid body model according to corresponding parameters, and assembling the ring gear rigid body model to the corresponding main nodes of the main frame flexible body model;

[0061] The corresponding device prosthesis is created at the corresponding main node of the main frame flexible body model, and the corresponding weight and moment of inertia are added, so as to construct the rigid-flexible coupling dynamic model corresponding to the yaw body.

[0062] Specifically, when constructing the rigid-flexible coupling dynamic model corresponding to the yaw body, the main frame three-dimensional model can be constructed first, and the main frame three-dimensional model can be processed accordingly through finite element software to establish the main frame flexible body model. Then the established main frame flexible body model is imported into the dynamic simulation software, and in the dynamic simulation software, the ring gear rigid body model is created according to the parameters of the yaw ring gear such as the tooth top height, tooth bottom height, displacement coefficient, tooth width, gear inner diameter, number of teeth and module.

[0063] Then, according to the relative position relationship between the main node corresponding to the main frame and the ring gear, the ring gear rigid body model is coupled to the corresponding main node of the main frame soft body model, and the ring gear rigid body model is set to rotate relative to the main frame soft body model. Finally, the equipment prostheses corresponding to the nacelle, main gearbox, generator, hub and blades are created at the corresponding main nodes of the main frame soft body model, and the main nodes corresponding to the equipment prostheses and the main frame soft body model are set to a fixed relationship. Then, the weight and moment of inertia are added to the equipment prostheses to build a rigid-flexible coupling dynamic model that can truly simulate the yaw body.

[0064] In this embodiment, optionally, the main frame flexible body model is constructed through the main frame three-dimensional model, including:

[0065] Importing the main frame three-dimensional model into finite element software for meshing to obtain a corresponding main frame mesh model;

[0066] Set the main node at the corresponding centroid position of the main frame grid model to build the main frame finite element model;

[0067] Performing modal reduction on the main frame finite element model to obtain the main frame flexible body model.

[0068] Specifically, when establishing the main frame flexible body model, the established main frame three-dimensional model can be first imported into the finite element software for meshing, and the corresponding main frame mesh model can be obtained as follows: Figure 3 As shown. Then, the main nodes used to connect other components are selected as the reduction points in the main frame mesh model. The main frame mesh model mainly selects the yaw gear ring, brake disc, hydraulic brake, nacelle, main gearbox, main shaft, wind wheel, blades and the center of mass of each drive as the main nodes. Finally, the main frame finite element model after the main nodes are selected is modally reduced to obtain the main frame flexible body model.

[0069] It should be understood that by performing modal reduction on the main frame finite element model, it is possible to obtain the main frame flexible body model without setting any boundary conditions by simply assigning material properties to the main frame finite element model, performing modal frequency analysis, generating substructures, releasing the degrees of freedom of all condensation points, and submitting the calculation. In this embodiment, the material parameters are: elastic modulus of 2.1*105MPa, Poisson's ratio of 0.3, and density of 7.85*10-9t / mm. The constructed main frame flexible body model is as follows: Figure 4 shown.

[0070] In this embodiment, optionally, in step 1, constructing a rigid-flexible coupling dynamic model corresponding to the yaw drive includes:

[0071] Constructing a three-dimensional model of the yaw drive housing and a three-dimensional model of the yaw gear shaft respectively;

[0072] The yaw drive housing soft body model and the yaw gear shaft soft body model are respectively constructed through the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model;

[0073] Importing the yaw drive housing soft body model and the yaw gear shaft soft body model into the dynamics simulation software, and creating a yaw gear rigid body model according to corresponding parameters to couple to the yaw gear shaft soft body model;

[0074] The yaw drive housing soft body model and the yaw gear shaft soft body model are connected by spring force elements, and equivalent spring parameters are set according to bearing parameters to construct a rigid-flexible coupling dynamic model of the yaw drive.

[0075] Specifically, when constructing the rigid-flexible coupling dynamic model corresponding to the yaw drive, the yaw drive housing 3D model and the yaw gear shaft 3D model can be constructed first. Then, the yaw drive housing 3D model and the yaw gear shaft 3D model are respectively imported into the finite element software, and the yaw drive housing 3D model and the yaw gear shaft 3D model are processed accordingly by the finite element software to establish the yaw drive housing soft body model and the yaw gear shaft soft body model.

[0076] Afterwards, the yaw drive housing soft body model and the yaw gear shaft soft body model can be imported into the dynamic simulation software, and the yaw gear rigid body model can be created based on the parameters such as the tooth top height, tooth bottom height, modification coefficient, tooth width, gear inner diameter, number of teeth and module of the yaw gear, and the relative position relationship between the corresponding main nodes in the yaw gear shaft soft body model can be set. Then, according to the actual motion relationship of the yaw drive, the yaw gear rigid body model is fixed on the yaw gear shaft soft body model. Finally, the relative degrees of freedom of the gear shaft and the drive housing in six directions are released, and the yaw gear shaft soft body model and the yaw drive housing soft body model are connected by spring force elements. The equivalent spring parameters are set after the bearing parameters are converted to construct the following. Figure 5 The rigid-flexible coupling dynamic model corresponding to the yaw drive shown.

[0077] In this embodiment, optionally, constructing a yaw drive housing soft body model and a yaw gear shaft soft body model includes:

[0078] Importing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model into finite element software respectively, and meshing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model respectively;

[0079] Main nodes are respectively set in the divided yaw drive housing mesh model and the yaw gear shaft mesh model, and the main nodes are set to be coupled with corresponding components according to the contact surface mesh through flexible units, so as to construct the yaw drive housing finite element model and the yaw gear shaft finite element model;

[0080] Modal reduction is performed on the finite element model of the yaw drive housing and the finite element model of the yaw gear shaft respectively to obtain the yaw drive housing soft body model and the yaw gear shaft soft body model.

[0081] Specifically, when constructing the yaw drive housing soft body model and the yaw gear shaft soft body model, the yaw drive housing 3D model and the yaw gear shaft 3D model can be respectively imported into finite element software for meshing to obtain the yaw drive housing mesh model and the yaw gear shaft mesh model.

[0082] Then, the main nodes in the yaw drive housing mesh model and the yaw gear shaft mesh model are selected respectively. Among them, the yaw drive housing mesh model selects the centroid positions of the drive bearing, reducer, drive motor and other components, as well as the installation positions of the drive housing and the main frame as the main nodes. The yaw gear shaft mesh model selects the centroid positions of the drive bearing and yaw gear as the main nodes. The main nodes are coupled with the corresponding component installation contact surface mesh using flexible units.

[0083] Finally, the yaw drive housing finite element model and the yaw gear shaft finite element model are modally reduced after the main node is selected, so as to obtain the yaw drive housing soft body model and the yaw gear shaft soft body model. It should be understood that modal reduction does not require any boundary conditions. It only needs to assign material properties to the finite element model, perform modal frequency analysis, generate substructures, release the degrees of freedom of all condensation points, and then submit the calculation to obtain the soft body model of the corresponding parts. Therefore, the calculation amount of the soft body model can be greatly simplified, and the simulation efficiency can be improved.

[0084] In this embodiment, optionally, the dynamics control program includes:

[0085] A drive motor control program configured to control the start-up timing, motor deceleration timing, motor electromagnetic braking timing of the drive motor, and control the drive torque of the motor by utilizing a motor T / N curve;

[0086] The yaw brake control program is configured to control the pressure release timing and pressure increase timing of the brake, and to control the positive pressure on the friction plate during the pressure increase process and the pressure release process.

[0087] Specifically, the dynamic control program can be written in C language based on the yaw control logic of the wind turbine. The dynamic control program includes the drive motor control program and the yaw brake control program. Among them, the drive motor control program mainly controls the start-up time of the drive motor, the motor deceleration time, the motor electromagnetic braking time, and the drive torque of the motor by monitoring the motor speed and interpolating the motor T / N curve.

[0088] The braking principle of the yaw brake is usually to control the hydraulic pressure and thus the thrust of the hydraulic cylinder, so that the friction plate clamps the brake disc and generates friction. Therefore, the control of the wind turbine on the brake can be equivalently converted into the positive pressure control of the friction plate, which is convenient for programming the brake logic in the dynamics software. The yaw brake control program mainly controls the pressure relief and pressure boosting moments. In addition, it also controls the change of the positive pressure value of the friction plate due to the change of pressure at any time during the pressure relief and boosting process. The dynamic control program thus written can truly simulate the yaw control logic of the wind turbine and improve the authenticity of the dynamic simulation results of the yaw system.

[0089] In this embodiment, optionally, the rigid-flexible coupling dynamics model corresponding to the yaw drive is imported as a subsystem into the rigid-flexible coupling dynamics model corresponding to the yaw body for multiple times.

[0090] Specifically, when establishing the rigid-flexible coupling model of the yaw system, the rigid-flexible coupling dynamic model of the constructed yaw drive can be used as a subsystem, and according to the number of drive motors in the yaw system of the wind turbine, the subsystem can be imported into the rigid-flexible coupling dynamic model corresponding to the yaw body multiple times. This can reduce the number of repeated modeling and save modeling time, and is more convenient in model modification and debugging.

[0091] In this embodiment, optionally, simulation is performed using the rigid-flexible coupling model of the yaw system, including:

[0092] A time-sequential torque rotating around the rotation axis is applied to the main frame of the rigid-flexible coupling model of the yaw system to simulate the external load on the unit during the actual yaw process.

[0093] Specifically, when simulating based on the rigid-flexible coupling model of the yaw system, since the yaw system mainly considers the torque around the axial direction, the timing torque rotating around the rotating axis can be directly applied to the main frame to simulate the external load on the unit during the actual yaw process.

[0094] In this embodiment, optionally, simulation is performed using the rigid-flexible coupling model of the yaw system, including:

[0095] Real-time monitoring of the driving motor speed, and the motor driving torque can be obtained by combining the motor T / N curve interpolation;

[0096] The driving torque is amplified by a speed reducer and then directly applied to the gear shaft of each driving motor in a direction opposite to the external load, so as to simulate the yaw of the fan against the external load.

[0097] Specifically, when simulating the yaw system rigid-flexible coupling model, the drive torque of the subsystem can be obtained by real-time monitoring of the drive motor speed and interpolation of the motor T / N curve. The drive torque is amplified by the reducer and directly applied to the gear shaft of each subsystem in the opposite direction to the external load to simulate the wind turbine yaw against the external load.

[0098] like Figure 2 The system block diagram of the wind turbine yaw system simulation system shown in the figure, the simulation system includes:

[0099] A construction module is configured to construct a rigid-flexible coupling dynamic model corresponding to a yaw body including a main frame and a yaw drive including a yaw drive housing and a yaw gear shaft, and to write a dynamic control program based on a yaw control logic of the wind turbine generator set;

[0100] A coupling module is configured to import the rigid-flexible coupling dynamic model corresponding to the yaw drive into the rigid-flexible coupling dynamic model corresponding to the yaw body, and implant a dynamic control program to construct a rigid-flexible coupling model of the yaw system;

[0101] The simulation module is configured to perform simulation through the rigid-flexible coupling model of the yaw system to obtain relevant simulation data.

[0102] Specifically, the simulation system includes a construction module, a coupling module and a simulation module. Among them, the construction module can establish a three-dimensional model corresponding to the yaw drive housing, yaw gear shaft and main frame in the yaw system of the wind turbine, and based on the three-dimensional model corresponding to the yaw drive housing and yaw gear shaft, a rigid-flexible coupling dynamic model corresponding to the yaw drive including the yaw drive housing and the yaw gear shaft, and a rigid-flexible coupling dynamic model corresponding to the yaw body including the main frame are constructed in the dynamic simulation software. Considering the influence of the yaw control logic on the yaw control, the corresponding dynamic control program can also be written according to the yaw control logic.

[0103] The coupling module can import the rigid-flexible coupling dynamics model corresponding to the built yaw drive into the rigid-flexible coupling dynamics model corresponding to the yaw body, add the gear meshing force element, set the material, damping, tooth side clearance and other parameters, and implant the yaw system dynamics control program written in the previous article, so as to establish a yaw system rigid-flexible coupling model that can truly simulate the yaw ability of the wind turbine and the yaw gear tooth surface meshing stress. The simulation module can perform yaw control simulation through the established yaw system rigid-flexible coupling model, and extract data such as the drive motor speed, main frame speed, main frame yaw angle and yaw gear tooth surface meshing stress through post-processing software.

[0104] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A wind turbine yaw system simulation method, characterized in that: include: Construct a rigid-flexible coupling dynamic model corresponding to the yaw body including the main frame and the yaw drive including the yaw drive housing and the yaw gear shaft, and write a dynamic control program based on the yaw control logic of the wind turbine; Importing the rigid-flexible coupling dynamics model corresponding to the yaw drive into the rigid-flexible coupling dynamics model corresponding to the yaw body, and implanting a dynamics control program to construct a rigid-flexible coupling model of the yaw system; The yaw system rigid-flexible coupling model is used for simulation to obtain relevant simulation data.

2. The wind turbine yaw system simulation method according to claim 1, characterized in that: Constructing a rigid-flexible coupling dynamic model corresponding to the yaw body, including: Construct a three-dimensional model of the main frame, and construct a flexible body model of the main frame through the three-dimensional model of the main frame; Importing the main frame flexible body model into the dynamics simulation software, creating a ring gear rigid body model according to corresponding parameters, and assembling the ring gear rigid body model to the corresponding main nodes of the main frame flexible body model; The corresponding device prosthesis is created at the corresponding main node of the main frame flexible body model, and the corresponding weight and moment of inertia are added, so as to construct the rigid-flexible coupling dynamic model corresponding to the yaw body.

3. The wind turbine yaw system simulation method according to claim 2, characterized in that: The main frame soft body model is constructed through the main frame 3D model, including: Importing the main frame three-dimensional model into finite element software for meshing to obtain a corresponding main frame mesh model; Set the main node at the corresponding centroid position of the main frame grid model to build the main frame finite element model; Performing modal reduction on the main frame finite element model to obtain the main frame flexible body model.

4. The wind turbine yaw system simulation method according to claim 1, characterized in that: Constructing a rigid-flexible coupling dynamic model corresponding to the yaw drive, including: Constructing a three-dimensional model of the yaw drive housing and a three-dimensional model of the yaw gear shaft respectively; The yaw drive housing soft body model and the yaw gear shaft soft body model are respectively constructed through the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model; Importing the yaw drive housing soft body model and the yaw gear shaft soft body model into the dynamics simulation software, and creating a yaw gear rigid body model according to corresponding parameters to couple to the yaw gear shaft soft body model; The yaw drive housing soft body model and the yaw gear shaft soft body model are connected by spring force elements, and equivalent spring parameters are set according to bearing parameters to construct a rigid-flexible coupling dynamic model of the yaw drive.

5. The wind turbine yaw system simulation method according to claim 4, characterized in that: Construct the soft body model of the yaw drive housing and the yaw gear shaft, including: Importing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model into finite element software respectively, and meshing the yaw drive housing three-dimensional model and the yaw gear shaft three-dimensional model respectively; Main nodes are respectively set in the divided yaw drive housing mesh model and the yaw gear shaft mesh model, and the main nodes are set to be coupled with corresponding components according to the contact surface mesh through flexible units, so as to construct the yaw drive housing finite element model and the yaw gear shaft finite element model; Modal reduction is performed on the finite element model of the yaw drive housing and the finite element model of the yaw gear shaft respectively to obtain the yaw drive housing soft body model and the yaw gear shaft soft body model.

6. The wind turbine yaw system simulation method according to claim 1, characterized in that: The kinetic control program includes: A drive motor control program configured to control the start-up timing, motor deceleration timing, motor electromagnetic braking timing of the drive motor, and control the drive torque of the motor by utilizing a motor T / N curve; The yaw brake control program is configured to control the pressure release timing and pressure increase timing of the brake, and to control the positive pressure on the friction plate during the pressure increase process and the pressure release process.

7. The wind turbine yaw system simulation method according to claim 1, characterized in that: The rigid-flexible coupling dynamic model corresponding to the yaw drive is imported as a subsystem into the rigid-flexible coupling dynamic model corresponding to the yaw body for multiple times.

8. The wind turbine yaw system simulation method according to claim 1, characterized in that: The simulation is performed by using the rigid-flexible coupling model of the yaw system, including: A time-sequential torque rotating around the rotation axis is applied to the main frame of the rigid-flexible coupling model of the yaw system to simulate the external load on the unit during the actual yaw process.

9. The wind turbine yaw system simulation method according to claim 1, characterized in that: The simulation is performed by using the rigid-flexible coupling model of the yaw system, including: Real-time monitoring of the driving motor speed, and the motor driving torque can be obtained by combining the motor T / N curve interpolation; The driving torque is amplified by a speed reducer and then directly applied to the gear shaft of each driving motor in a direction opposite to the external load, so as to simulate the yaw of the fan against the external load.

10. A wind turbine yaw system simulation system, characterized in that: include: A construction module is configured to construct a rigid-flexible coupling dynamic model corresponding to a yaw body including a main frame and a yaw drive including a yaw drive housing and a yaw gear shaft, and to write a dynamic control program based on a yaw control logic of the wind turbine generator set; A coupling module is configured to import the rigid-flexible coupling dynamic model corresponding to the yaw drive into the rigid-flexible coupling dynamic model corresponding to the yaw body, and implant a dynamic control program to construct a rigid-flexible coupling model of the yaw system; The simulation module is configured to perform simulation through the rigid-flexible coupling model of the yaw system to obtain relevant simulation data.

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