Detection method and device of execution mechanism, equipment and medium

Abstract

The invention discloses a detection method, device and equipment of an executing mechanism and a medium, and relates to the technical field of wind power generation. According to the embodiment of the invention, the current value of the first execution mechanism can be automatically analyzed, the second current sequence with the current value meeting the stable condition and the third current sequence with the current value meeting the starting characteristic of the first execution mechanism are obtained, and then the working state of the first execution mechanism is detected according to the second current sequence and the third current sequence. The detection of the working state of the first execution mechanism is realized. In the whole process, a current threshold value does not need to be preset, and therefore when the first executing mechanism changes, the current threshold value does not need to be frequently changed. And the problem of inaccurate detection result caused by unreasonable setting of the current threshold value can be avoided without presetting the current threshold value.

Description

Technical Field

[0001] The present application relates to the technical field of wind power generation, and in particular to a detection method, device, equipment and medium for an actuator. Background Art

[0002] For a wind turbine to operate stably, it needs the assistance of actuators such as motors, hydraulic pumps, and heaters. If the actuator is abnormal, it is easy to cause the wind turbine to fail and shut down or fail to start. Therefore, it is necessary to test the actuator. For example, the actuator can be tested before the wind turbine is hoisted on site.

[0003] At present, the main method is to detect whether the working current of the actuator is normal after the actuator is started based on a preset current threshold. This solution can only detect whether the working current of the actuator is normal for a short period of time, and cannot effectively detect the working status of the actuator. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and medium for detecting an actuator, which can effectively solve the problem that related technologies cannot effectively detect the working status of the actuator.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting an actuator, comprising:

[0006] The current value of the first actuator in a preset time period is collected according to a preset sampling frequency to obtain a first current sequence;

[0007] Determining a second current sequence whose current value satisfies a stability condition from the first current sequence;

[0008] According to the second current sequence, determining a third current sequence from the first current sequence, the current value of which satisfies the starting characteristic of the first actuator;

[0009] The working state of the first actuator is detected according to the second current sequence and the third current sequence.

[0010] In a second aspect, an embodiment of the present application provides a detection device for an actuator, comprising:

[0011] A collection module, used for collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence;

[0012] A first determining module, configured to determine a second current sequence whose current value satisfies a stability condition from the first current sequence;

[0013] A second determining module is used to determine, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator according to the second current sequence;

[0014] The detection module is used to detect the working state of the first actuator according to the second current sequence and the third current sequence.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0016] processor;

[0017] a memory for storing computer program instructions;

[0018] When the computer program instructions are executed by the processor, the method according to the first aspect is implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the method described in the first aspect is implemented.

[0020] The embodiment of the present application collects the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence; determines a second current sequence whose current value meets the stability condition from the first current sequence; determines a third current sequence whose current value meets the starting characteristics of the first actuator from the first current sequence according to the second current sequence; and detects the working state of the first actuator according to the second current sequence and the third current sequence. That is, the embodiment of the present application can automatically analyze the current value of the first actuator to obtain a second current sequence whose current value meets the stability condition and a third current sequence whose current value meets the starting characteristics of the first actuator, and then detects the working state of the first actuator according to the second current sequence and the third current sequence, thereby realizing the detection of the working state of the first actuator. The whole process does not need to pre-set the current threshold, so that when the first actuator changes, there is no need to frequently change the current threshold. Moreover, the problem of inaccurate detection results due to unreasonable current threshold setting can be avoided without pre-setting the current threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0022] Figure 1 A schematic diagram for comparing current curves of different actuators provided in an embodiment of the present application;

[0023] Figure 2 A flow chart of a method for detecting an actuator provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram for comparing current curves of another type of actuator provided in an embodiment of the present application;

[0025] Figure 4 A flowchart of another method for detecting an actuator provided in an embodiment of the present application;

[0026] Figure 5 A flowchart of another method for detecting an actuator provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of a current curve when a stall occurs in an actuator provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of a current curve when a circuit in which an actuator is located is broken or the actuator is not working, provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of a detection process of an actuator provided in an embodiment of the present application;

[0030] Fig. 9 A structural diagram of a detection device for an actuator provided in an embodiment of the present application;

[0031] Fig.10 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating examples of the present application. In the accompanying drawings and the following description, at least some of the known structures and technologies are not shown to avoid unnecessary ambiguity in the present application; and, for clarity, the size of some structures may be exaggerated. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.

[0033] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the guyed tower and wind turbine generator set of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] Taking a wind turbine as an example, when detecting the actuator of a wind turbine, the relevant technology mainly detects whether the working current of the actuator is normal based on a preset current threshold. This solution can only detect whether the working current of the actuator is normal in a short period of time, and cannot effectively detect the working status of the actuator.

[0035] For example, reference Figure 1 , Figure 1 A schematic diagram of current curve comparison of different actuators provided in the embodiment of the present application. The horizontal axis represents time (each value represents 20ms, such as -750 represents 750*20=15000ms before the fault, i.e. 15 seconds), the vertical axis represents the current value, and curve 1 and curve 2 are the currents of the two motors respectively, wherein curve 1 is the current curve when motor 1 is working normally, and curve 2 is the current curve when motor 2 is out of phase.

[0036] from Figure 1 It can be seen that at about -1760, the two motors started up and the current value instantly reached about 85A, then curve 1 dropped to about 18A, while curve 2 experienced several large fluctuations. The reason is that the power line of motor 2 was not connected properly, resulting in large fluctuations in the current value.

[0037] It can be seen that if only the current is detected to be less than the current threshold in a short period of time, the working state of the motor cannot be effectively detected. For example, in curve 2, the current values ​​at -1600 to -1300, -1400 to -1100, and -950 to -850 are equivalent to those of curve 1. If only the current in the above range is detected, the working state of motor 2 cannot be effectively detected.

[0038] To this end, the embodiments of the present application provide a method, device, equipment and medium for detecting an actuator, which can effectively solve the problem that related technologies cannot effectively detect the working status of the actuator.

[0039] The following is a detailed description of the method, device, equipment and medium for determining the impeller azimuth angle provided in the embodiments of the present application through specific embodiments.

[0040] Figure 2 The present invention provides a flow chart of a method for detecting an actuator, which can be applied to the control system of a wind turbine generator set. Figure 2 As shown, the detection method of the actuator may include the following steps:

[0041] S210 , collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence.

[0042] S220 , determining a second current sequence whose current value satisfies a stability condition from the first current sequence.

[0043] S230 . Determine, according to the second current sequence, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator.

[0044] S240: Detect the working state of the first actuator according to the second current sequence and the third current sequence.

[0045] The embodiment of the present application collects the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence; determines a second current sequence whose current value meets the stability condition from the first current sequence; determines a third current sequence whose current value meets the starting characteristics of the first actuator from the first current sequence according to the second current sequence; and detects the working state of the first actuator according to the second current sequence and the third current sequence. That is, the embodiment of the present application can automatically analyze the current value of the first actuator to obtain a second current sequence whose current value meets the stability condition and a third current sequence whose current value meets the starting characteristics of the first actuator, and then detects the working state of the first actuator according to the second current sequence and the third current sequence, thereby realizing the detection of the working state of the first actuator. The whole process does not need to pre-set the current threshold, so that when the first actuator changes, there is no need to frequently change the current threshold. Moreover, the problem of inaccurate detection results due to unreasonable current threshold setting can be avoided without pre-setting the current threshold.

[0046] The above steps are described in detail below:

[0047] In S210, the preset sampling frequency is a preset sampling frequency for collecting the current value of the first actuator. For example, the sampling frequency may be set to 50 Hz, that is, the current value of the first actuator is collected once every 20 ms.

[0048] The first actuator may be a yaw motor, an oil pump motor, etc. in a wind turbine generator set, or an actuator in other fields.

[0049] The preset time period may be a time period starting from the start of the first actuator, or a time period starting from a certain time point after the start of the first actuator.

[0050] Exemplarily, the current value of the first actuator in a preset time period can be collected by a current transformer at a preset sampling frequency, wherein the current transformer is connected in series with the first actuator.

[0051] In the embodiment of the present application, the current value of the first actuator collected at a preset sampling frequency is recorded as a first current sequence, that is, the first current sequence includes multiple current values ​​of the first actuator at different times. For example, the first current sequence can characterize the stability characteristics of the first actuator.

[0052] Exemplarily, the first current sequence may be stored in a preset array, which may be an array with a large number of elements, for example, the array may store 1,000 current values, or more, thereby ensuring that data will not overflow during storage.

[0053] Exemplarily, as shown in Table 1, Table 1 is a partial current value of the first actuator collected, and 1-30 represent different moments respectively.

[0054] Table 1 Partial current values ​​of the first actuator

[0055]

[0056]

[0057] Exemplarily, in the process of collecting the current value of the first actuator, the restart signal or reset signal of the first actuator can also be monitored simultaneously. For example, when the restart signal or reset signal of the first actuator is monitored, the current value of the first actuator collected before the first actuator is restarted or reset needs to be cleared to ensure the accuracy of the latest current value.

[0058] The restart signal or reset signal can be triggered manually by the user (digital input instruction) or by the control system (digital output instruction).

[0059] In S220, the second current sequence is a sequence of current values ​​that satisfy a stability condition. The current value satisfies the stability condition, for example, when the difference between current values ​​corresponding to adjacent sampling moments is less than a first threshold, and the duration of the difference being less than the first threshold is greater than or equal to the first duration.

[0060] The first threshold and the first duration can be set according to actual needs. For example, the first threshold can be set to a value between 2 and 3, and the first duration can be set to a value between 10 and 20 seconds. For example, the first duration can be set to 10 seconds, 20 seconds or 30 seconds.

[0061] Exemplarily, the above S220 may include the following steps:

[0062] When the difference between the current values ​​corresponding to adjacent sampling moments is less than the first threshold, and the duration for which the difference is less than the first threshold is greater than or equal to the first duration, the current value is determined as a second current sequence;

[0063] When the difference between the current values ​​corresponding to adjacent sampling moments is smaller than the first threshold, and the duration for which the difference is smaller than the first threshold is smaller than the first duration, an abnormal indication is issued.

[0064] Exemplarily, when it is determined that the difference in current values ​​corresponding to adjacent sampling moments is less than a first threshold, the timer can be started and the counting value can be increased by 1. When it is detected that the difference in current values ​​corresponding to adjacent sampling moments is greater than or equal to the first threshold, the timer stops counting. At this time, it can be determined whether the timing duration is greater than or equal to the first duration.

[0065] When the difference between the current values ​​corresponding to the adjacent sampling moments is no longer less than the first threshold, the count value stops accumulating. Counting the current values ​​whose difference is less than the first threshold can facilitate the subsequent determination of the steady-state working current of the first actuator.

[0066] If the timing duration is greater than or equal to the first duration, that is, the duration during which the difference between the current values ​​corresponding to adjacent sampling moments is less than the first threshold is greater than or equal to the first duration, that is, the current value meets the stability condition, the current value meeting the stability condition can be determined as the second current sequence.

[0067] Taking the first current sequence including the current values ​​in Table 1 as an example, assuming that the first threshold is set to 3 and the first duration is set to 10 seconds, illustratively, according to the above method, the second current sequence can be determined to be the current values ​​marked as 14-30 in Table 1.

[0068] Exemplarily, if the current values ​​corresponding to adjacent sampling moments meet the stability condition, the flag bit can be triggered to facilitate the next step of operation. Exemplarily, the flag bit can be set to TRUE.

[0069] If the timing duration is less than the first duration, that is, the current values ​​at adjacent sampling moments do not meet the stability condition, an abnormal indication may be issued. For example, the abnormal indication may be issued by voice, indicator light, text message, email, or the like.

[0070] Exemplarily, if the current values ​​at adjacent sampling moments do not meet the stability condition, the timing duration of the timer can be reset to zero, and when the difference between the current values ​​corresponding to the adjacent sampling moments is less than the first threshold again, the timer can be restarted, thereby ensuring the accuracy of the second current sequence.

[0071] The embodiment of the present application can obtain a second current sequence by judging whether the difference between the current values ​​at adjacent sampling moments is less than a first threshold value, and when the difference is less than the first threshold value, whether the duration for which the difference is less than the first threshold value is greater than or equal to the first duration. This is helpful for subsequent judgment of the working state of the first actuator, and there is no need to set a specific current threshold value or a specific detection duration, thereby avoiding the problem of inaccurate detection results due to unreasonable settings of the current threshold value and the detection duration.

[0072] Exemplarily, if the flag is not triggered for a long time, for example, the detection time is set to 10 seconds, if the flag is still not triggered after 15 seconds, it can be determined that the collected current value is abnormal, and an abnormal indication can be issued at this time.

[0073] In S230, the third current sequence is a sequence corresponding to current values ​​that meet the startup characteristics of the first actuator. Exemplarily, the third current sequence can represent the startup characteristics of the first actuator.

[0074] Normally, when the first actuator is just started, its current (starting current) is relatively large, usually 4-7 times the rated current. That is, when the first actuator is started, the current value can instantly reach a large value, and then drop to a stable state.

[0075] The current value here satisfies the starting characteristic of the first actuator, and may be a current value continuously greater than the steady-state operating current of the first actuator. That is, the embodiment of the present application may record the current value continuously greater than the steady-state operating current of the first actuator as the third current sequence.

[0076] Exemplarily, the steady-state operating current of the first actuator may be determined based on the second current sequence. Exemplarily, the average of the current values ​​in the second current sequence may be determined as the steady-state operating current of the first actuator.

[0077] In S240, Figure 3Taking curve 3 as an example, the time when the maximum current of actuator 3 is 85A when it starts is relatively short. Although this time period can be skipped by setting the detection time t1, that is, the current value is not detected within t1, when the actuator 4 corresponding to curve 4 is working, the time when the maximum current of actuator 4 is 85A when it starts exceeds t1. If the detection time is set to t1, a fault will be triggered or the process detection will be judged as failed. Although the detection time of the actuator can be increased to t2 in theory, for actuator 3, a long duration may mean that some kind of fault has occurred. For example, for the solenoid valve, it may be the aging of the solenoid or the abnormality of the relay. Therefore, blindly increasing the detection time is not an effective and reasonable solution, and it may also cause hidden dangers.

[0078] by Figure 3 Taking curve 4 as an example, the steady-state operating current of actuator 4 is relatively small, and the circuit threshold is set to A2 to detect passing. However, for actuator 3, if the current threshold is also set to A2, when the steady-state operating current exceeds A2, a fault may be triggered, or the process detection may be judged as not passing.

[0079] It can be seen that unreasonable settings of the current threshold and detection time will affect the accuracy of the current detection results.

[0080] The second current sequence and the third current sequence of the embodiment of the present application can reflect the working characteristics of different actuators, that is, the second current sequence and the third current sequence can be adaptively determined for the current values ​​of different actuators, and then whether the working state of the first actuator is normal can be detected according to the second current sequence and the third current sequence, without setting the current threshold and the detection time, thereby avoiding the problem of the detection result of the actuator being affected by the unreasonable setting of the current threshold and the detection time.

[0081] In addition, the embodiment of the present application does not need to use traditional curve analysis methods to analyze the current curve of the first actuator during the startup process, such as the amplitude, frequency, phase, pulse width, duty cycle and other parameters of the current curve. It can directly use the second current sequence and the third current sequence to detect whether the working state of the first actuator is normal. This simplifies the detection process of the working state of the first actuator and improves the detection efficiency.

[0082] Taking the example that the first actuator includes a yaw motor in a wind turbine generator set, illustratively, the circuit where the yaw motor is located also includes a yaw load, and a change in the yaw load in a preset time period is less than a preset threshold.

[0083] The yaw load is a general term for the gravity and wind resistance of the wind turbine nacelle. When the wind turbine is located in a workshop, there is no wind in the workshop, that is, the wind resistance is 0. At this time, the yaw load, that is, the gravity of the nacelle, is constant.

[0084] When the wind turbine generator set is located on site, that is, outdoors, the yaw load changes due to the change in wind resistance. The change in the yaw load in the embodiment of the present application is less than the preset threshold value in the preset time period, that is, when the wind resistance changes slightly, the above detection scheme is executed in the embodiment of the present application, thereby reducing the influence of wind resistance on the current of the first actuator, and to a certain extent, the working state of the first actuator can be accurately determined. The change in the preset threshold value can be set according to actual needs.

[0085] In the embodiment of the present application, when the change in the yaw load is less than a preset threshold, the working state of the first actuator is detected, which can reduce the influence of wind resistance on the detection result of the yaw motor and improve the accuracy of the detection result.

[0086] Taking the case where the first actuator includes a yaw motor in a wind turbine generator set, and the wind turbine generator set is located outdoors as an example, in some embodiments, the above S210 may include the following steps:

[0087] When the yaw motor is started and the wind direction angle is greater than a preset angle, the current value of the yaw motor in a preset time period is collected according to a preset sampling frequency to obtain a first current sequence.

[0088] For example, the preset angle may be an angle when the wind resistance changes stably, and may be set specifically according to actual conditions. For example, when the wind direction angle is greater than 50°, the wind resistance changes stably, and the preset angle may be set to 50°.

[0089] When the wind resistance changes stably, its impact on the current of the yaw motor is small. At this time, collecting the current of the yaw motor can accurately determine the working status of the yaw motor.

[0090] In the embodiment of the present application, when the yaw motor is started and the wind direction angle is greater than a preset angle, the current value of the yaw motor in a preset time period is collected according to a preset sampling frequency, which can reduce the impact of changes in wind resistance on the yaw motor. When the working status of the yaw motor is subsequently judged based on the current value, the accuracy of the judgment result can be improved.

[0091] In some embodiments, Figure 4 As shown, the detection method of the actuator may include the following steps:

[0092] S410 , collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence.

[0093] S420 , determining a second current sequence whose current value satisfies a stability condition from the first current sequence.

[0094] S430. Determine a steady-state operating current of the first actuator according to each current value in the second current sequence.

[0095] S440, accumulating the steady-state operating current and the first variable to obtain an upper current limit value.

[0096] The first variable is determined according to a first threshold, and the first variable is greater than the first threshold.

[0097] S450 , determining current values ​​that are continuously greater than the current upper limit value from the first current sequence, and determining the current values ​​that are continuously greater than the current upper limit value as a third current sequence.

[0098] S460: Detect the working state of the first actuator according to the second current sequence and the third current sequence.

[0099] Among them, the processes of S410, S420 and S460 are the same as the processes of S210, S220 and S240 mentioned above. For details, please refer to the above embodiment. For the sake of concise description, they will not be repeated here.

[0100] The other steps above are described in detail below:

[0101] In S430, illustratively, the average value of each current value in the second current sequence may be used as the steady-state operating current of the first actuator.

[0102] The first current sequence is still based on Table 1. For example, the second current sequence is the current values ​​marked 14-30. At this time, the first average value ave1 of each current value in the second current sequence can be calculated as 20. That is, the steady-state working current of the first actuator is 20A.

[0103] In S440, the first variable is used to ensure that the current values ​​in the screened third current sequence are all greater than the steady-state operating current of the first actuator.

[0104] Exemplarily, the first variable can be determined based on the first threshold in the above-mentioned stable condition, and the first variable is greater than the first threshold. Exemplarily, the first threshold is 2A, then the first variable needs to be greater than 2A, for example, it can be set to 5A. The embodiment of the present application has no strict restrictions on the setting of the first variable, and appropriate amplification, such as setting it to 10, 15 or 20, will not affect the detection result.

[0105] The steady-state operating current is accumulated with the first variable to obtain the current upper limit value, which is used to determine the third current sequence.

[0106] In S450, after the current upper limit is determined, current values ​​continuously greater than the current upper limit can be determined from the first current sequence to obtain a third current sequence. This can not only effectively detect the state of the current at the moment of starting the first actuator, but also avoid the influence of data fluctuations on the statistical results.

[0107] The first current sequence still takes the above Table 1 as an example, assuming that the first threshold a=3, the first variable b=15, and illustratively, the steady-state working current of the first actuator=20, so the current upper limit can be determined to be 20+15=35A.

[0108] From the above Table 1, it can be determined that the current values ​​of the markers 9-13 are continuously greater than 35A. Therefore, the current values ​​of the markers 9-13 can be determined as the third current sequence.

[0109] The embodiment of the present application can automatically analyze the steady-state operating current of the first actuator based on stable conditions without setting an additional current threshold, and when the flag is triggered, the automatically analyzed steady-state operating current can be fed back to the starting current, that is, the statistics of the third current sequence, so that the statistical results of the third current sequence can be adaptively adjusted according to the steady-state operating current of the first actuator, without pre-setting the rated current value of the first actuator (because different actuators may have different rated currents). Therefore, the intelligent detection is realized to a great extent.

[0110] In some embodiments, the above S450 may include the following steps:

[0111] Subtracting the current values ​​in the second current sequence from the first current sequence to obtain a fourth current sequence;

[0112] For each first current value in the fourth current sequence, when the first current value is greater than the current upper limit value and current values ​​adjacent to the first current value are all greater than the current upper limit value, the first current value and current values ​​adjacent to the first current value and both greater than the current upper limit value are determined as current values ​​continuously greater than the current upper limit value;

[0113] When the first current value is greater than the current upper limit value and the current value adjacent to and after the first current value is less than or equal to the current upper limit value, the current value before the first current value is determined as a current value continuously greater than the current upper limit value.

[0114] The fourth current sequence is a sequence formed by dividing the current values ​​in the second current sequence by the current values ​​in the first current sequence. In some embodiments, before determining the fourth current sequence, data with current values ​​of 0 in the first current sequence may be automatically deleted.

[0115] Exemplarily, the fourth current sequence may be a sequence formed by the current values ​​marked 9-13 in Table 1 above.

[0116] The first current value is any current value in the fourth current sequence. Exemplarily, for each first current value in the fourth current sequence, it can be determined whether the first current value is greater than the current upper limit value. When the first current value is greater than the current upper limit value, it can be further determined whether the current values ​​adjacent to the first current value are also greater than the current upper limit value. The advantage of such processing is that it can ensure that the detected data, that is, the fourth current sequence, is continuous, and the intermediate values ​​in the process of current value decrease can be automatically eliminated, thereby improving the accuracy of the detection result.

[0117] Exemplarily, if the current values ​​before and after the first current value are all greater than the current upper limit, the next first current value may be determined; otherwise, the current value before the first current value is determined as the third current sequence.

[0118] Exemplarily, for the current value marked as 9, the value is 60, which is greater than the current upper limit value of 35, and the current value marked as 10 is also greater than 35. At this time, the next current value can be determined.

[0119] For example, for the current value marked as 10, the current value marked as 11 is 85, which is also greater than 35. The current value marked as 12 can be further judged. The current value marked as 12 is 55, which is greater than 35, but the current value marked as 13 is 30.1, which is less than 35. Therefore, the current values ​​marked as 12 and 13 can be deleted from the fourth current sequence to obtain the third current sequence, that is, the third current sequence is the current values ​​of marks 9-11.

[0120] Exemplarily, if there are no current values ​​continuously greater than the upper limit of the current value or no current value greater than the upper limit of the current value in the fourth current sequence, the third current sequence may be recorded as 0.

[0121] In the embodiment of the present application, for each current value in the fourth current sequence that is greater than the current upper limit value, it can be further determined whether the current value adjacent to the current value is also greater than the current upper limit value, thereby effectively removing the intermediate values ​​in the current decreasing process and improving the accuracy of the third current sequence.

[0122] In some embodiments, Figure 5 As shown, the detection method of the actuator may include the following steps:

[0123] S510 , collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence.

[0124] S520 , determining a second current sequence whose current value satisfies a stability condition from the first current sequence.

[0125] S530 . Determine, according to the second current sequence, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator.

[0126] S540: Determine a first average value of each current value in the second current sequence and a second average value of each current value in the third current sequence.

[0127] S550: Detect whether the working state of the first actuator is normal according to the second average value and the first average value.

[0128] Among them, the process of S510-S530 is the same as the process of S210-S230 mentioned above. For details, please refer to the above embodiment. For the sake of concise description, it will not be repeated here.

[0129] The other steps above are described in detail below:

[0130] In S540, the first average value is the steady-state operating current of the first actuator, and the second average value is the starting current of the first actuator.

[0131] Still taking Table 1 as an example, illustratively, the second current sequence includes 17 current values, corresponding to labels 14 to 30 respectively, and the first average value ave1=20; the third current sequence includes 3 current values, corresponding to labels 9 to 11 respectively, and the second average value ave2=76.66.

[0132] In S550, after the first average value and the second average value are determined, whether the working state of the first actuator is normal can be detected based on the first average value and the second average value, that is, the steady-state working current and the starting current of the first actuator.

[0133] The embodiment of the present application can adaptively detect the working state of the first actuator according to the steady-state working current and the starting current of the first actuator, without setting a current threshold and a detection time, thereby reducing the workload of personnel and realizing intelligent detection.

[0134] In some embodiments, the above S550 may include the following steps:

[0135] When the second average value is the reference value, determining that the first actuator is locked;

[0136] When the first average value is the reference value, it is determined that the first actuator is not working or the circuit where the first actuator is located is broken;

[0137] When the second average value and the first average value are not the reference values ​​and the ratio of the second average value to the first average value is within the first reference interval, it is determined that the working state of the first actuator is normal;

[0138] When the second average value and the first average value are not the reference values, and the ratio of the second average value to the first average value is not within the first reference interval, it is determined that the working state of the first actuator is abnormal.

[0139] Exemplarily, the reference value may be set to 0. Exemplarily, when the first actuator is locked, the current value continues to be large after the first actuator is started, such as Figure 6 As shown, at this time, ave1 obtained based on the above solution is larger, and ave1+b is larger, resulting in no current value greater than ave1+b. At this time, it can be considered that the current values ​​of the third current sequence are all 0, that is, ave2=0.

[0140] Therefore, when ave2=0, that is, when the second average value is the reference value, it can be determined that the first actuator is locked.

[0141] For example, when the circuit where the first actuator is located is broken or the first actuator is not working, the current value of the first actuator remains at 0. Figure 7 As shown, therefore, the current values ​​of the second current sequence are all 0, that is, ave1=0.

[0142] Therefore, when ave1=0, that is, when the first average value is the reference value, it can be determined that the circuit where the first actuator is located is broken, or the first actuator is not working.

[0143] When both ave1 and ave2 are not 0, it can be determined whether the working state of the first actuator is normal based on the ratio of ave2 to ave1.

[0144] Exemplarily, when the ratio of ave2 to ave1 is within the first reference interval, it can be determined that the working state of the first actuator is normal, and when the ratio of ave2 to ave1 is not within the first reference interval, it can be determined that the working state of the first actuator is abnormal.

[0145] For example, when it is determined that the working state of the first actuator is abnormal, an abnormal indication may be issued and the cause of the fault may be output to provide a reference for relevant personnel to check the fault.

[0146] Exemplarily, the first reference interval may be set to [3,7]. Exemplarily, if the ratio of ave2 to ave1 is greater than 0 and less than 3, or the ratio of ave2 to ave1 is greater than 7, it may be determined that the working state of the first actuator is abnormal. If the ratio of ave2 to ave1 is between [3,7], it may be determined that the working state of the first actuator is normal.

[0147] Taking Table 1 as an example, ave1=20, ave2=76.66, it can be determined that the ratio of ave2 to ave1 is 3.833, therefore, it can be determined that the working state of the first actuator is normal.

[0148] Exemplarily, when the ratio of ave2 to ave1 is less than 3 but close to 3, further detection can be performed in combination with manual detection to improve the accuracy of the detection result.

[0149] The embodiment of the present application can detect whether the working status of the first actuator is normal based on the collected current value of the first actuator, effectively solving the problem that the related technology cannot effectively detect abnormal working conditions due to inappropriate parameter settings. It is no longer limited by factors such as the type, manufacturer and model of the actuator, and there is no need to frequently adjust the detection parameters and detection time, thereby realizing intelligent detection of the working status.

[0150] For example, if ave1 and ave2 are both not 0, Figure 8 The detection process of the actuator provided in the embodiment of the present application is described as follows: Figure 8 As shown:

[0151] S810, collecting the current value of the first actuator, and monitoring the restart signal or the reset signal;

[0152] S820, determining whether there is a restart signal or a reset signal for the first actuator, and each time the first actuator is restarted or reset, a clearing operation needs to be performed on the accumulated value, the count value, and the first current sequence;

[0153] S830, the accumulated value, the count value and the first current sequence are cleared; this step is to clear the historical calculation data to ensure the correctness of the latest statistical data;

[0154] S840, collecting the current value of the first actuator according to a preset sampling frequency;

[0155] S850: Whether the front and rear current values ​​are less than a, where a is the first threshold in the above embodiment;

[0156] S860, sum the accumulated values, add 1 to the count value, and start timing;

[0157] S870, whether the timing duration reaches the first duration;

[0158] S880, calculate the average value ave1 and the current upper limit ave1+b;

[0159] S890, counting the current values ​​before and after that are greater than ave1+b, and obtaining ave2;

[0160] S8100, determining whether the ratio of ave2 / ave1 is normal;

[0161] S8110, output normal flag;

[0162] S8120. Output an abnormal flag and issue an abnormal indication.

[0163] The embodiment of the present application adopts a current detection method based on self-feedback in view of the different working currents of the actuator, thereby realizing automatic detection of the working status of the actuator. It is no longer limited by factors such as the type, manufacturer and model of the actuator, and there is no need to pre-set the current threshold, nor is it limited by the detection time. At the same time, during the detection process, current fluctuations can be automatically eliminated, and there is no need to perform boundary detection or fluctuation amplitude detection. This realizes the intelligent detection to a great extent and has wide versatility.

[0164] Based on the same inventive concept, the present application embodiment also provides a detection device for an actuator. Fig. 9 The detection device of the actuator provided in the embodiment of the present application is described in detail.

[0165] Fig. 9 A structural diagram of a detection device for an actuator provided in an embodiment of the present application.

[0166] like Fig. 9 As shown, the detection device of the actuator may include:

[0167] The acquisition module 901 is used to acquire the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence;

[0168] A first determining module 902, configured to determine a second current sequence whose current value satisfies a stability condition from the first current sequence;

[0169] A second determining module 903 is used to determine, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator according to the second current sequence;

[0170] The detection module 904 is used to detect the working state of the first actuator according to the second current sequence and the third current sequence.

[0171] The embodiment of the present application collects the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence; determines a second current sequence whose current value meets the stability condition from the first current sequence; determines a third current sequence whose current value meets the starting characteristics of the first actuator from the first current sequence according to the second current sequence; and detects the working state of the first actuator according to the second current sequence and the third current sequence. That is, the embodiment of the present application can automatically analyze the current value of the first actuator to obtain a second current sequence whose current value meets the stability condition and a third current sequence whose current value meets the starting characteristics of the first actuator, and then detects the working state of the first actuator according to the second current sequence and the third current sequence, thereby realizing the detection of the working state of the first actuator. The whole process does not need to pre-set the current threshold, so that when the first actuator changes, there is no need to frequently change the current threshold. Moreover, the problem of inaccurate detection results due to unreasonable current threshold setting can be avoided without pre-setting the current threshold.

[0172] In some embodiments, the first actuator includes a yaw motor in a wind turbine.

[0173] In some embodiments, the loop where the yaw motor is located further includes a yaw load, and a change in the yaw load within a preset time period is less than a preset threshold.

[0174] In some embodiments, the acquisition module 901 is specifically used to:

[0175] When the yaw motor is started and the wind direction angle is greater than a preset angle, the current value of the yaw motor in a preset time period is collected according to a preset sampling frequency to obtain a first current sequence.

[0176] In some embodiments, the first determining module 902 is specifically configured to:

[0177] When the difference between the current values ​​corresponding to adjacent sampling moments is less than the first threshold, and the duration for which the difference is less than the first threshold is greater than or equal to the first duration, the current value is determined as a second current sequence;

[0178] When the difference between the current values ​​corresponding to adjacent sampling moments is smaller than the first threshold, and the duration for which the difference is smaller than the first threshold is smaller than the first duration, an abnormal indication is issued.

[0179] In some embodiments, the second determining module 903 is specifically configured to:

[0180] Determining the steady-state operating current of the first actuator according to each current value in the second current sequence;

[0181] Accumulate the steady-state working current by a first variable to obtain a current upper limit value, wherein the first variable is determined according to a first threshold value, and the first variable is greater than the first threshold value;

[0182] Current values ​​continuously greater than the current upper limit value are determined from the first current sequence, and the current values ​​continuously greater than the current upper limit value are determined as a third current sequence.

[0183] In some embodiments, the second determining module 903 is specifically configured to:

[0184] Subtracting the current values ​​in the second current sequence from the first current sequence to obtain a fourth current sequence;

[0185] For each first current value in the fourth current sequence, when the first current value is greater than the current upper limit value and current values ​​adjacent to the first current value are all greater than the current upper limit value, the first current value and current values ​​adjacent to the first current value and both greater than the current upper limit value are determined as current values ​​continuously greater than the current upper limit value;

[0186] When the first current value is greater than the current upper limit value and the current value adjacent to and after the first current value is less than or equal to the current upper limit value, the current value before the first current value is determined as a current value continuously greater than the current upper limit value.

[0187] In some embodiments, the detection module 904 is specifically configured to:

[0188] determining a first average value of the current values ​​in the second current sequence and a second average value of the current values ​​in the third current sequence;

[0189] Whether the working state of the first actuator is normal is detected according to the second average value and the first average value.

[0190] In some embodiments, the detection module 904 is specifically configured to:

[0191] When the second average value is the reference value, determining that the first actuator is locked;

[0192] When the first average value is the reference value, it is determined that the first actuator is not working or the circuit where the first actuator is located is broken;

[0193] When the second average value and the first average value are not the reference values ​​and the ratio of the second average value to the first average value is within the first reference interval, it is determined that the working state of the first actuator is normal;

[0194] When the second average value and the first average value are not the reference values, and the ratio of the second average value to the first average value is not within the first reference interval, it is determined that the working state of the first actuator is abnormal.

[0195] The detection device of the actuator provided in the embodiment of the present application can realize Figure 1-8 To avoid repetition, the various processes in the embodiment of the detection method of the actuator shown are not described again here.

[0196] Based on the same inventive concept, the embodiment of the present application also provides an electronic device, which may be, for example, a tablet computer, a notebook computer, a handheld computer, etc. Fig.10 The electronic device provided in the embodiments of the present application is described in detail.

[0197] like Fig.10 As shown, the electronic device may include a processor 101 and a memory 102 for storing computer program instructions.

[0198] The processor 101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0199] The memory 102 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 102 may include a removable or non-removable (or fixed) medium, or the memory 102 is a non-volatile solid-state memory. In one example, the memory 102 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

[0200] The processor 101 reads and executes the computer program instructions stored in the memory 102 to implement Figure 1-Figure 8 The method in the embodiment shown in the figure is achieved Figure 1-Figure 8 The corresponding technical effects achieved by executing the method in the illustrated embodiment are not described in detail here for the sake of brevity.

[0201] In one example, the electronic device may further include a communication interface 103 and a bus 104. Fig.10As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 104 and communicate with each other.

[0202] The communication interface 103 is mainly used to implement communication between various modules, devices and / or equipment in the embodiments of the present application.

[0203] Bus 104 includes hardware, software or both, and each component of electronic device is coupled to each other.For example, but not limitation, bus 104 may include accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, front side bus (Front Side Bus, FSB), Hyper Transport (Hyper Transport, HT) interconnection, industry standard architecture (Industry Standard Architecture, ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 104 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0204] The electronic device collects the current value of the first actuator in a preset time period according to the preset sampling frequency, and after obtaining the first current sequence, the actuator detection method in the embodiment of the present application can be executed, thereby realizing the combination of Figure 1-8 The detection method of the actuator described and Fig. 9 A detection device for an actuator is described.

[0205] In addition, in combination with the detection method of the actuator in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the detection methods of the actuator in the above embodiment is implemented.

[0206] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0207] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0208] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0209] The above reference is according to the method of the present application embodiment, the flow chart of the device (system) and the computer program product and / or the block diagram of the present application embodiment. It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0210] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for detecting an actuator, characterized in that: include: The current value of the first actuator in a preset time period is collected according to a preset sampling frequency to obtain a first current sequence; Determine a second current sequence whose current value satisfies a stability condition from the first current sequence; According to the second current sequence, determining a third current sequence from the first current sequence, the current value of which satisfies the starting characteristic of the first actuator; The working state of the first actuator is detected according to the second current sequence and the third current sequence.

2. The method according to claim 1, characterized in that The first actuator includes a yaw motor in a wind turbine generator set.

3. The method according to claim 2, characterized in that The loop where the yaw motor is located also includes a yaw load, and a change of the yaw load in the preset time period is less than a preset threshold.

4. The method according to claim 2, characterized in that: The step of collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence includes: When the yaw motor is started and the wind direction angle is greater than a preset angle, the current value of the yaw motor in a preset time period is collected according to a preset sampling frequency to obtain a first current sequence.

5. The method according to claim 1, characterized in that The step of determining a second current sequence whose current value satisfies a stability condition from the first current sequence includes: When a difference between current values ​​corresponding to adjacent sampling moments is less than a first threshold value, and a duration for which the difference is less than the first threshold value is greater than or equal to a first duration, determining the current value as a second current sequence; When the difference between the current values ​​corresponding to adjacent sampling moments is smaller than the first threshold, and the duration for which the difference is smaller than the first threshold is smaller than the first duration, an abnormal indication is issued.

6. The method according to claim 5, characterized in that The step of determining, according to the second current sequence, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator, comprises: determining a steady-state operating current of the first actuator according to each current value in the second current sequence; Accumulate the steady-state working current by a first variable to obtain a current upper limit value, wherein the first variable is determined according to the first threshold value, and the first variable is greater than the first threshold value; Current values ​​continuously greater than the current upper limit value are determined from the first current sequence, and current values ​​continuously greater than the current upper limit value are determined as a third current sequence.

7. The method according to claim 6, characterized in that The determining, from the first current sequence, current values ​​that are continuously greater than the current upper limit value comprises: Subtracting the current values ​​in the second current sequence from the first current sequence to obtain a fourth current sequence; For each first current value in the fourth current sequence, when the first current value is greater than the current upper limit value and current values ​​adjacent to the first current value are all greater than the current upper limit value, the first current value and current values ​​adjacent to the first current value and both greater than the current upper limit value are determined as current values ​​continuously greater than the current upper limit value; When the first current value is greater than the current upper limit value and a current value adjacent to and following the first current value is less than or equal to the current upper limit value, the current value preceding the first current value is determined as a current value continuously greater than the current upper limit value.

8. The method according to claim 1, characterized in that The detecting the working state of the first actuator according to the second current sequence and the third current sequence includes: Determine a first average value of the current values ​​in the second current sequence and a second average value of the current values ​​in the third current sequence; Whether the working state of the first actuator is normal is detected according to the second average value and the first average value.

9. The method according to claim 8, characterized in that The step of detecting whether the working state of the first actuator is normal according to the second average value and the first average value to obtain a detection result includes: When the second average value is a reference value, determining that the first actuator is locked; When the first average value is a reference value, it is determined that the first actuator is not working or the circuit where the first actuator is located is broken; When neither the second average value nor the first average value is a reference value, and a ratio of the second average value to the first average value is within a first reference interval, it is determined that the working state of the first actuator is normal; When the second average value and the first average value are both not reference values ​​and the ratio of the second average value to the first average value is not within a first reference interval, it is determined that the working state of the first actuator is abnormal.

10. A detection device for an actuator, characterized in that: include: A collection module, used for collecting the current value of the first actuator in a preset time period according to a preset sampling frequency to obtain a first current sequence; A first determining module, configured to determine a second current sequence whose current value satisfies a stability condition from the first current sequence; a second determining module, configured to determine, from the first current sequence, a third current sequence whose current value satisfies the starting characteristic of the first actuator according to the second current sequence; A detection module is used to detect the working state of the first actuator according to the second current sequence and the third current sequence.

11. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing computer program instructions; When the computer program instructions are executed by the processor, the method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

Images