Yaw bearing vibration response acquisition method and system considering peeling and crack faults

Abstract

The invention specifically discloses a yaw bearing vibration response acquisition method and system considering peeling and crack faults. The method comprises the following steps: calculating an initial contact angle of a four-point contact ball bearing under the influence of a peach-shaped raceway, contact deformation between a rolling body and an inner ring and an outer ring of the four-point contact ball bearing, and contact deformation between the rolling body and a retainer; calculating the contact deformation between the rolling body and the inner ring and the outer ring of the bearing, the contact rigidity between the rolling body and the inner ring, the outer ring and the retainer of the bearing, the contact force between the rolling body and the inner ring, the outer ring and the retainer of the bearing, the pressure stress of any point on the contact surface between the rolling body and the raceway, and the traction torque between the rolling body and the raceway; and constructing a kinetic model of the fault four-point contact ball bearing, and calculating the vibration response of the four-point contact ball bearing considering inner ring peeling, outer ring peeling, rolling body peeling and retainer crack of the bearing. By adopting the technical scheme, stripping and crack faults are considered, and the more accurate vibration response of the four-point contact ball bearing is obtained.

Description

Technical Field

[0001] The present invention belongs to the technical field of yaw bearings, and relates to a method and system for acquiring vibration responses of a yaw bearing taking into account spalling and crack faults. Background Art

[0002] With the rapid development of wind power technology, the yaw bearing is installed at the bottom of the wind turbine nacelle as a supporting component for wind turbines to capture energy against the wind and an important component for adjusting the direction of the wind turbine. The yaw bearing is mostly made of four-point contact ball bearings, which bear the combined effects of axial force, radial force and overturning moment. Once the yaw bearing fails, the entire wind turbine will stop running, causing irreparable losses. Therefore, it is very important to study the working status of the four-point contact ball bearing of wind power.

[0003] The factors that affect the motion state of the wind power four-point contact ball bearing include the size of the external load, the bearing speed, the deformation of the bearing components, the fault type, the fault size, etc. In order to obtain the motion state and vibration characteristics of the wind power four-point contact ball bearing when there is a fault, it is necessary to establish a wind power four-point contact bearing dynamics model that takes into account the bearing inner ring peeling, outer ring peeling, rolling element peeling and cage crack faults. By solving the bearing dynamics model, the motion state of each bearing component at each moment and the vibration characteristics of the four-point contact ball bearing when there is a fault are obtained.

[0004] Previous studies have focused on the static analysis of wind power four-point contact ball bearings, analyzing their load distribution, structural strength, life, etc. The motion state and vibration characteristics of the bearing will also affect the life of the bearing, and the fault has a non-negligible impact on the motion state and vibration characteristics of the bearing. Therefore, the dynamic model of wind power four-point contact ball bearings considering spalling and crack faults needs to be supplemented. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for obtaining the vibration response of a yaw bearing taking into account spalling and crack faults, to construct a dynamic model of a faulty four-point contact ball bearing taking into account spalling and crack faults, and to obtain a more accurate vibration response of the four-point contact ball bearing.

[0006] In order to achieve the above object, the basic scheme of the present invention is: a method for obtaining the vibration response of a yaw bearing considering spalling and crack faults, comprising the following steps:

[0007] S1, obtaining the parameters of the four-point contact ball bearing assembly to be calculated, considering the influence of the double half inner ring and the outer ring peach-shaped raceway of the four-point contact ball bearing as having a gasket between the two half raceways, and calculating the initial contact angle of the four-point contact ball bearing under the influence of the gasket thickness;

[0008] S2, calculate the contact deformation between the rolling element and the inner and outer rings of the four-point contact ball bearing taking into account the thickness of the gasket;

[0009] The contact angle of the actual bearing operation is calculated by the contact deformation obtained, and the contact deformation between the rolling element and the cage is calculated by the distance between the center of the rolling element and the center of the cage pocket;

[0010] S3, according to the contact deformation between the rolling element and the inner ring, outer ring and cage of the four-point contact ball bearing obtained in step S2, based on the inner ring spalling, outer ring spalling and rolling element spalling models of the four-point contact ball bearing, calculating the contact deformation between the rolling element and the inner ring and outer ring of the bearing when the fault occurs;

[0011] S4, based on the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is no fault, and based on the inner ring spalling, outer ring spalling, rolling element spalling and cage crack model of the four-point contact ball bearing, calculate the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is a fault;

[0012] S5, according to the contact deformation between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present determined in step S3 and the contact stiffness when the fault is present determined in step S4, considering the multi-point contact phenomenon during the operation of the four-point contact ball bearing, calculate the contact force between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present;

[0013] S6, calculating the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated;

[0014] S7, based on the contact force between the rolling element and the inner ring, outer ring and retaining cage calculated in step S5 and the traction force calculated in step S6, a dynamic model of the faulty four-point contact ball bearing is constructed, and the vibration response of the four-point contact ball bearing considering the peeling of the inner ring, outer ring, rolling element and retaining cage is calculated.

[0015] The working principle and beneficial effects of this basic scheme are: this technical scheme takes into account spalling and crack failures, and based on inner ring spalling, outer ring spalling and rolling element spalling failures, cage crack failures, and combined failures, a faulty four-point contact ball bearing dynamics model is constructed to obtain the vibration response of the four-point contact ball bearing that considers various information data, making the analysis more accurate.

[0016] Further, the parameters of the four-point contact ball bearing assembly to be calculated include basic parameters, bearing speed and comprehensive elastic constant;

[0017] The basic parameters include elastic modulus, Poisson's ratio, bearing pitch diameter, number of rollers, bearing speed, friction coefficient between gasket angle components, and contact stiffness between rolling element and inner ring, outer ring raceway and cage when there is no fault;

[0018] The assembly comprises a bearing inner ring, a bearing outer ring, rolling elements and a cage.

[0019] Collect corresponding parameter information to facilitate subsequent calculations.

[0020] Furthermore, since the inner and outer rings of the four-point contact ball bearing are both "peach-shaped", the double half inner ring and outer ring are considered to have gaskets added during the processing process. The method for calculating the initial contact angle of the four-point contact ball bearing under the influence of gasket thickness is:

[0021] S101, calculate the gasket thickness b at the inner raceway and outer raceway according to the design value of the gasket angle of the inner raceway and outer raceway dpi , b dpo :

[0022] b dpi / o =(2f i / o -1)D w sinα si / o

[0023] Among them, the subscripts i and o represent the inner circle and outer circle; f i is the inner raceway groove radius coefficient, f o is the outer raceway groove radius coefficient, D w Indicates the rolling element diameter, α si is the design value of the inner ring gasket angle, α so is the design value of the outer ring gasket angle;

[0024] S102, calculate the initial contact angle α0:

[0025]

[0026] Among them, r i is the inner raceway groove radius, r o is the outer raceway groove radius, P d It is radial clearance.

[0027] Since the inner and outer rings of the four-point contact ball bearing are both "peach-shaped", the double half inner ring and outer ring are considered to have gaskets added during the processing process, and the initial contact angle of the four-point contact ball bearing under the influence of gasket thickness is calculated to facilitate subsequent use.

[0028] Further, in step S2, the method for calculating the contact deformation between the rolling element and the inner ring and outer ring of the four-point contact ball bearing, and the contact deformation between the rolling element and the cage considering the thickness of the gasket is as follows:

[0029] S201, considering that the outer ring of the bearing is fixed and the inner ring of the bearing is deformed by force, the center position of the inner ring raceway and the center position of the rolling element change, and the contact deformation δ of the nth rolling element and the left half raceway of the inner ring of the bearing, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring is calculated. iln, δ irn , δ oln , δ orn :

[0030]

[0031] Among them, the subscripts i and o represent the inner ring and outer ring; the subscripts l and r represent the left end and right end of the raceway; the subscript n represents the nth rolling element; the subscripts x and y represent the x direction and y direction; xn Indicates the distance from the center of the nth rolling element to the center of the outer raceway in the x direction, X yn A represents the distance from the center of the nth rolling element to the center of the outer raceway in the y direction. x Indicates the distance from the center of the inner raceway to the center of the outer raceway in the x direction, A y Indicates the distance from the center of the inner raceway to the center of the outer raceway in the y direction; r i and r o are the inner and outer ditch radius, b dpi 、b dpo Indicates the thickness of the gasket at the inner and outer raceways, D w Indicates the rolling element diameter;

[0032] S202, considering the influence of contact deformation between rolling element and raceway in four-point contact ball bearing on contact angle, calculate the contact angle α between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring iln , α irn , α oln , α orn :

[0033]

[0034] S203, for the nth rolling element, calculate the contact deformation δ between the nth rolling element and the cage according to the distance between the center of the rolling element and the center of the corresponding cage pocket. cn :

[0035] δ cn =0.5D m ×(θ bn -θ cn )

[0036] Among them, subscript c represents the cage, subscript b represents the rolling element, and D m Indicates the pitch diameter, θ bn represents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the nth pocket of the cage.

[0037] Based on different situations, the contact deformation data of the corresponding situations are calculated.

[0038] Further, step S3 is based on the inner ring peeling, outer ring peeling and rolling element peeling models of the four-point contact ball bearing. Considering that the number of contact points of the four-point contact ball bearing changes during operation, when the rolling element is not in contact with the raceway, the fault exists but does not have a substantial impact. The contact deformation of the rolling element and the inner and outer rings of the bearing when the fault is present is calculated as δ i *、δ o *:

[0039] δ i * = k f (δ i -H i -H o -H b )

[0040] δ o * = k f (δ o -H i -H o -H b )

[0041] Among them, δ i , δ o Indicates the contact deformation between the rolling element and the inner and outer rings of the bearing; k f Expressing the contact coefficient:

[0042]

[0043] H i , H b ,H o They represent the displacement excitation caused by inner raceway spalling, rolling element spalling and outer raceway spalling respectively; H represents the displacement excitation caused by spalling failure:

[0044]

[0045] Among them, D w is the rolling element diameter, b bl is the peeling width, h is the peeling depth; θ bn is the azimuth angle of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e is the middle position of the spalling fault, and mod is the remainder function in Matlab.

[0046] When there is a spalling fault, the contact deformation between the rolling element and the inner and outer rings will introduce additional displacement excitation. Considering the multi-point contact phenomenon during the operation of the four-point contact ball bearing, the contact deformation between the rolling element and the inner and outer rings of the bearing when there is a fault is calculated based on the inner ring spalling, outer ring spalling and rolling element spalling models of the bearing.

[0047] Further, step S4 calculates the contact stiffness of the rolling element with the inner ring, outer ring and cage of the bearing when there is a fault, based on the inner ring spalling, outer ring spalling, rolling element spalling and cage crack model of the four-point contact ball bearing, and the contact stiffness of the rolling element with the inner ring, outer ring and cage of the bearing when there is a fault. The specific steps are:

[0048] S401, when there is a fault, the time-varying contact stiffness between the rolling element and the inner and outer rings is K i / o *:

[0049]

[0050] Among them, K i / o Indicates the contact stiffness between the rolling element and the inner and outer raceways when there is no fault, K bli / o is the contact stiffness at the spalling point of the inner and outer raceways; θ bn is the azimuth of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e It is the middle position of the spalling fault;

[0051] S402: When there is a crack in the kth cage lintel, the contact stiffness between the kth and k+1th rolling elements and the cage changes. When there is a crack, the contact stiffness between the rolling element and the cage is K c *:

[0052]

[0053] Among them, K lwc is the contact stiffness between the kth and k+1th rolling elements and the cracked cage, and n represents the nth rolling element.

[0054] When a bearing has a spalling fault, the original contact surface between the rolling element and the bearing raceway is cut off, and the actual contact area is smaller than the contact area in a fault-free situation. Based on the inner ring spalling, outer ring spalling and rolling element spalling models of rolling ball bearings, the contact stiffness between the rolling element and the inner and outer rings of the bearing when a fault occurs is calculated.

[0055] Further, step S5 calculates the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when the fault is present, based on the contact deformation between the rolling element and the inner ring, the outer ring and the cage when the fault is present determined in step S3 and the contact stiffness when the fault is present determined in step S4, taking into account the multi-point contact phenomenon during the operation of the four-point contact ball bearing, and based on the Hertz contact theory, which is Q iln , Q irn , Q oln , Q orn , Q cn :

[0056] Q iln=K i *×(δ iln *) 1.5

[0057] Q irn =K i *×(δ irn *) 1.5

[0058] Q oln =K o *×(δ oln *) 1.5

[0059] Q orn =K o *×(δ orn *) 1.5

[0060] Q cn =K c *×(0.5D m ×(θ bn -θ cn )-0.5P c ) 1.5

[0061] Among them, P c is the pocket clearance, subscripts i and o represent the inner ring and outer ring; subscripts l and r represent the left and right ends of the raceway; subscript n represents the nth rolling element; subscript c represents the cage, and subscript b represents the rolling element; D m Indicates the pitch diameter, θ bn represents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the cage's nth pocket, δ iln , δ irn , δ oln , δ orn They represent the contact deformation between the nth rolling element and the left half of the inner ring raceway, the right half of the inner ring raceway, the left half of the outer ring raceway, and the right half of the outer ring raceway of the bearing respectively.

[0062] The calculation is simple and easy to operate.

[0063] Further, step S6 calculates the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated. The specific steps are as follows:

[0064] S601, based on Hertz contact theory, calculate the major semi-axis a* and minor semi-axis b* of the contact area:

[0065]

[0066] Among them, the subscripts a* and b* represent the major and minor semi-axis; is the coefficient related to the principal curvature difference function of the contact point; η represents the comprehensive elastic constant; Q is the normal contact load between the rolling element and the raceway; ∑ρ is the principal curvature sum function of the contact point;

[0067] S602, calculate the maximum compressive stress P0 at the center of the contact surface based on the major and minor semi-axis:

[0068]

[0069] S603, calculate the compressive stress P(x, y) at any point on the contact surface based on the major semi-axis, minor semi-axis and maximum compressive stress:

[0070]

[0071] Where x and y represent the distance from the contact point in the x and y directions;

[0072] S604, calculating the traction torque T between the rolling element and the raceway;

[0073]

[0074] Among them, μ is the friction coefficient between the rolling element and the raceway.

[0075] Based on the comprehensive elastic constants calculated by S1, the principal curvature of the contact point and the normal contact load between the rolling element and the raceway, the required parameters are calculated using the Hertz contact theory, which is easy to operate.

[0076] Further, in step S7, a dynamic model of a faulty four-point contact ball bearing is constructed, and a specific method for calculating the vibration response of a four-point contact ball bearing considering the inner ring spalling, outer ring spalling, rolling element spalling and cage cracking of the bearing is as follows:

[0077] S701, according to the contact force between the rolling element and the inner ring, outer ring and cage of the bearing calculated in step S5 and the traction force calculated in step S6, based on the Newtonian mechanics theory, the dynamic equation of the faulty four-point contact ball bearing is obtained, and the dynamic equation of the inner ring is:

[0078]

[0079] Among them, the superscript η and ξ represent the major and minor semi-axis directions of the contact ellipse area; the subscripts i and o represent the inner ring and outer ring, the subscripts l and r represent the left and right ends of the raceway; the subscript n represents the nth rolling element; the subscript c represents the cage, and the subscript b represents the rolling element; m i is the mass of the inner ring, a xi 、a yi 、a zi is the acceleration of the inner circle in the x, y, and z directions, Fx 、F y 、F z is the external load acting on the inner ring in the x, y, and z directions, Q iln , Q irn , Q oln , Q orn , Q cn is the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when there is a fault, α iln , α irn , α oln , α orn is the contact angle between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring, T η iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the long semi-axis of the contact area, T η irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the long semi-axis of the contact area, T ξ iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the minor axis in the contact area, T ξ irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the minor axis of the contact area, θ bn Indicates the azimuth angle of the nth rolling element;

[0080] The rolling element dynamics equation is:

[0081]

[0082] Wherein, the subscripts x and y represent the x-direction and the y-direction; m b Indicates the mass of the rolling element, J b represents the moment of inertia of the rolling element, a xb 、a yb 、a zb is the acceleration of the rolling element in the x, y, and z directions, β xb , β yb , β zb is the angular acceleration of the rolling element in the x, y, and z directions, F dn Indicates the resistance torque of the lubricating oil, f cn Indicates the friction between the rolling element and the cage; D w Indicates the rolling element diameter;

[0083] The cage dynamic equation is:

[0084]

[0085] Among them, mc Indicates the quality of the cage; a yc 、a zc is the acceleration of the cage in the y and z directions, β xc is the angular acceleration of the cage in the x direction; Q cn is the contact force between the nth rolling element and the cage when there is a fault, θ cn is the center azimuth of the cage pocket;

[0086] S702, solving the constructed dynamic equations of the inner ring, rolling element and cage, can analyze the vibration response of the four-point contact ball bearing considering the bearing inner ring, outer ring, rolling element spalling and cage crack failure.

[0087] The dynamic equations of each component are obtained and analyzed to obtain a more accurate vibration response of the four-point contact ball bearing.

[0088] The present invention also provides a yaw bearing vibration response acquisition system considering spalling and crack faults, comprising a data acquisition unit and a processing unit, wherein the data acquisition unit is used to acquire parameters of a four-point contact ball bearing assembly to be calculated, and an output end of the data acquisition unit is connected to an input end of the processing unit;

[0089] The processing unit executes the method of the present invention, constructs a dynamic model of a faulty four-point contact ball bearing, and obtains the vibration response of the four-point contact ball bearing taking into account the inner ring spalling, outer ring spalling, rolling element spalling and cage cracking of the bearing.

[0090] This system uses a data acquisition unit and a processing unit, considers spalling and crack faults, and constructs a dynamic model of a faulty four-point contact ball bearing to obtain more accurate vibration response information. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 It is a flow chart of a method for obtaining vibration response of a yaw bearing considering spalling and crack faults of the present invention;

[0092] Figure 2 It is a schematic structural diagram of the outer ring spalling of the yaw bearing vibration response acquisition method considering spalling and crack faults of the present invention;

[0093] Figure 3 It is a structural schematic diagram of inner ring spalling in the method for obtaining vibration response of a yaw bearing considering spalling and crack faults of the present invention;

[0094] Figure 4 It is a structural schematic diagram of rolling element spalling in the method for obtaining vibration response of a yaw bearing considering spalling and crack faults of the present invention;

[0095] Figure 5It is a structural schematic diagram of a cage crack in a method for obtaining vibration response of a yaw bearing considering spalling and crack faults of the present invention;

[0096] Figure 6 It is a schematic diagram of a coordinate system of a method for acquiring vibration response of a yaw bearing taking into account spalling and crack faults according to the present invention. DETAILED DESCRIPTION

[0097] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0098] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0099] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0100] The present invention discloses a method for obtaining the vibration response of a yaw bearing considering spalling and crack faults, including inner ring spalling, outer ring spalling and rolling element spalling faults, cage crack faults, and compound faults. The method studies the influence of different fault types, fault sizes, fault orientations, and compound faults on the dynamic characteristics of the model, ensuring the correctness of the vibration response while being closer to reality. Figure 1 As shown in FIG. 1 , the method for obtaining the vibration response of a yaw bearing considering spalling and crack faults includes the following steps:

[0101] S1, obtaining the parameters of the four-point contact ball bearing assembly to be calculated, considering the influence of the double half inner ring and the outer ring peach-shaped raceway of the four-point contact ball bearing as the addition of a gasket between the two half raceways, and calculating the initial contact angle of the four-point contact ball bearing under the influence of the gasket thickness (i.e., the peach-shaped raceway);

[0102] S2, based on the Pythagorean theory, calculates the contact deformation between the rolling element and the inner and outer rings of the four-point contact ball bearing taking into account the thickness of the gasket;

[0103] The contact angle of the actual bearing operation is calculated by the contact deformation obtained, and the contact deformation between the rolling element and the cage is calculated by the distance between the center of the rolling element and the center of the cage pocket;

[0104] S3, based on the contact deformation between the rolling element and the inner ring, outer ring and cage of the four-point contact ball bearing obtained in step S2, based on the inner ring peeling of the four-point contact ball bearing (such as Figure 3 As shown), outer ring peeling (as shown Figure 2 as shown) and rolling element peeling (as shown Figure 4 The model shown in Figure 1 considers that the number of contact points of a four-point contact ball bearing changes during operation. When the rolling element is not in contact with the raceway, the fault exists but does not have a substantial impact. The contact deformation between the rolling element and the inner and outer rings of the bearing is calculated when the fault is present.

[0105] S4, based on the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is no fault, based on the inner ring peeling, outer ring peeling, rolling element peeling and cage cracking of the four-point contact ball bearing (such as Figure 5 The contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing is calculated using the model shown in Figure 1.

[0106] S5, according to the contact deformation between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present determined in step S3 and the contact stiffness when the fault is present determined in step S4, considering the multi-point contact phenomenon during the operation of the four-point contact ball bearing, based on the Hertz contact theory, calculate the contact force between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present;

[0107] S6, calculating the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated obtained in step S1;

[0108] S7, based on the contact force between the rolling element and the inner ring, outer ring and retaining cage calculated in step S5 and the traction force calculated in step S6, based on Newton's mechanics theory, construct a dynamic model of the faulty four-point contact ball bearing, and calculate the vibration response of the four-point contact ball bearing considering the peeling of the inner ring, outer ring, rolling element and retaining cage.

[0109] In a preferred embodiment of the present invention, the parameters of the four-point contact ball bearing assembly to be calculated include basic parameters, bearing speed and comprehensive elastic constant;

[0110] Basic parameters include elastic modulus, Poisson's ratio, bearing pitch diameter, number of rollers, bearing speed, friction coefficient between gasket angle components, and contact stiffness between rolling element and inner ring, outer ring raceway and cage when there is no fault;

[0111] The assembly includes a bearing inner ring, a bearing outer ring, rolling elements and a cage.

[0112] In a preferred embodiment of the present invention, since the inner and outer rings of the four-point contact ball bearing are both "peach-shaped", the double half inner ring and outer ring are considered to have gaskets added during the processing process, and the method for calculating the initial contact angle of the four-point contact ball bearing under the influence of the gasket thickness is:

[0113] S101, calculate the gasket thickness b at the inner raceway and outer raceway according to the design value of the gasket angle of the inner raceway and outer raceway dpi 、b dpo :

[0114] b dpi / o =(2f i / o -1)D w sinα si / o

[0115] Among them, the subscripts i and o represent the inner circle and outer circle; f i is the inner raceway groove radius coefficient, f o is the outer raceway groove radius coefficient, D w Indicates the rolling element diameter, α si is the design value of the inner ring gasket angle, α so is the design value of the outer ring gasket angle;

[0116] S102, calculate the initial contact angle α0:

[0117]

[0118] Among them, r i is the inner raceway groove radius, r o is the outer raceway groove radius, P d is the radial clearance. i / o is the groove curvature radius coefficient, r i / o is the radius of curvature of the groove.

[0119] In a preferred embodiment of the present invention, in step S2, the method for calculating the contact deformation between the rolling element and the inner ring and outer ring of the four-point contact ball bearing considering the thickness of the gasket, and the contact deformation between the rolling element and the cage is as follows:

[0120] S201, considering that the outer ring of the bearing is fixed and the inner ring of the bearing is deformed by force, the center position of the inner ring raceway and the center position of the rolling element change, and the contact deformation δ of the nth rolling element and the left half raceway of the inner ring of the bearing, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring is calculated. iln , δ irn , δ oln , δ orn :

[0121]

[0122] Among them, the subscripts i and o represent the inner ring and outer ring; the subscripts l and r represent the left end and right end of the raceway; the subscript n represents the nth rolling element; the subscripts x and y represent the x direction and y direction; xn Indicates the distance from the center of the nth rolling element to the center of the outer raceway in the x direction, X yn A represents the distance from the center of the nth rolling element to the center of the outer raceway in the y direction. x Indicates the distance from the center of the inner raceway to the center of the outer raceway in the x direction, A y Indicates the distance from the center of the inner raceway to the center of the outer raceway in the y direction; r i and r o are the inner and outer ditch radius, b dpi 、b dpo Indicates the thickness of the gasket at the inner and outer raceways, D w Indicates the rolling element diameter;

[0123] S202, considering the influence of contact deformation between rolling element and raceway in four-point contact ball bearing on contact angle, calculate the contact angle α between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring iln , α irn , α oln , α orn :

[0124]

[0125] S203, for the nth rolling element, calculate the contact deformation δ between the nth rolling element and the cage according to the distance between the center of the rolling element and the center of the corresponding cage pocket. cn :

[0126] δ cn =0.5D m ×(θ bn -θ cn )

[0127] Among them, subscript c represents the cage, subscript b represents the rolling element, and D m Indicates the pitch diameter, θ bnrepresents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the nth pocket of the cage.

[0128] In a preferred embodiment of the present invention, when there is a spalling fault, the contact deformation between the rolling element and the inner ring and the outer ring will introduce additional displacement excitation. Considering the multi-point contact phenomenon during the operation of the four-point contact ball bearing, step S3 is based on the inner ring spalling, outer ring spalling and rolling element spalling models of the four-point contact ball bearing. Considering that the number of contact points of the four-point contact ball bearing changes during the operation process, when the rolling element is not in contact with the raceway, the fault exists but does not have a substantial impact. The contact deformation between the rolling element and the inner ring and outer ring of the bearing when the fault is present is calculated as δ i *、δ o *:

[0129] δ i * = k f (δ i -H i -H o -H b )

[0130] δ o * = k f (δ o -H i -H o -H b )

[0131] Among them, δ i , δ o k represents the contact deformation between the rolling element and the inner and outer rings of the bearing (as determined in step S201); f Expressing the contact coefficient:

[0132]

[0133] H i , H b ,H o They represent the displacement excitation caused by inner raceway spalling, rolling element spalling and outer raceway spalling respectively; H represents the displacement excitation caused by spalling failure:

[0134]

[0135] Among them, D w is the rolling element diameter, b bl is the peeling width, h is the peeling depth; θ bn is the azimuth angle of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e is the middle position of the spalling fault, and mod is the remainder function in Matlab.

[0136] In a preferred embodiment of the present invention, when a bearing has a spalling fault, the original contact surface between the rolling element and the bearing raceway is cut off, and the actual contact area is smaller than the contact area when there is no fault. Step S4 calculates the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is no fault, based on the inner ring spalling, outer ring spalling, rolling element spalling and cage crack model of the four-point contact ball bearing, and the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is a fault, and the specific steps are:

[0137] S401, when there is a fault, the time-varying contact stiffness between the rolling element and the inner and outer rings is K i / o *:

[0138]

[0139] Among them, K i / o Indicates the contact stiffness between the rolling element and the inner and outer raceways when there is no fault, K bli / o is the contact stiffness at the peeling point of the inner and outer raceways, K represents the contact stiffness between the rolling element and the raceway when there is no fault; θ bn is the azimuth of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e It is the middle position of the spalling fault;

[0140] S402: When there is a crack in the cage, the contact stiffness of the cage will be affected. When there is a crack in the kth cage beam, the contact stiffness between the kth and k+1th rolling elements and the cage will change. When there is a crack, the contact stiffness between the rolling element and the cage is K c *:

[0141]

[0142] Among them, K lwc is the contact stiffness between the kth and k+1th rolling elements and the cracked cage, and n represents the nth rolling element.

[0143] In a preferred embodiment of the present invention, step S5 calculates the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when the fault occurs, based on the contact deformation between the rolling element and the inner ring, the outer ring and the cage when the fault occurs, determined in step S3, and the contact stiffness when the fault occurs, determined in step S4, taking into account the multi-point contact phenomenon during the operation of the four-point contact ball bearing, and based on the Hertz contact theory, which is Q iln , Q irn , Q oln , Q orn , Q cn :

[0144] Q iln =K i*×(δ iln *) 1.5

[0145] Q irn =K i *×(δ irn *) 1.5

[0146] Q oln =K o *×(δ oln *) 1.5

[0147] Q orn =K o *×(δ orn *) 1.5

[0148] Q cn =K c *×(0.5D m ×(θ bn -θ cn )-0.5P c ) 1.5

[0149] Among them, P c is the pocket clearance, subscripts i and o represent the inner ring and outer ring; subscripts l and r represent the left and right ends of the raceway; subscript n represents the nth rolling element; subscript c represents the cage, and subscript b represents the rolling element; D m Indicates the pitch diameter, θ bn represents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the cage's nth pocket, δ iln , δ irn , δ oln , δ orn They represent the contact deformation between the nth rolling element and the left half of the inner ring raceway, the right half of the inner ring raceway, the left half of the outer ring raceway, and the right half of the outer ring raceway of the bearing respectively.

[0150] In a preferred embodiment of the present invention, step S6 calculates the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated. The specific steps are as follows:

[0151] S601, based on Hertz contact theory, calculate the major semi-axis a* and minor semi-axis b* of the contact area:

[0152]

[0153] Among them, the subscripts a* and b* represent the major and minor semi-axis; is the coefficient related to the principal curvature difference function of the contact point; η represents the comprehensive elastic constant; Q is the normal contact load between the rolling element and the raceway; ∑ρ is the principal curvature sum function of the contact point;

[0154] S602, calculate the maximum compressive stress P0 at the center of the contact surface based on the major and minor semi-axes calculated in S601:

[0155]

[0156] S603, calculate the compressive stress P(x, y) at any point on the contact surface based on the major semi-axis, minor semi-axis and maximum compressive stress:

[0157]

[0158] Where x and y represent the distance from the contact point in the x and y directions;

[0159] S604, calculating the traction torque T between the rolling element and the raceway according to the compressive stress at each point calculated above;

[0160]

[0161] Among them, μ is the friction coefficient between the rolling element and the raceway.

[0162] In a preferred embodiment of the present invention, in step S7, a dynamic model of a faulty four-point contact ball bearing is constructed, and a specific method for calculating the vibration response of a four-point contact ball bearing considering the inner ring peeling, outer ring peeling, rolling element peeling and cage cracking of the bearing is as follows:

[0163] S701, according to the contact force between the rolling element and the inner ring, outer ring and cage of the bearing calculated in step S5 and the traction force calculated in step S6, based on the Newtonian mechanics theory, the dynamic equation of the faulty four-point contact ball bearing is obtained, and the dynamic equation of the inner ring is:

[0164]

[0165] Among them, the superscript η and ξ represent the major and minor semi-axis directions of the contact ellipse area; the subscripts i and o represent the inner ring and outer ring, the subscripts l and r represent the left and right ends of the raceway; the subscript n represents the nth rolling element; the subscript c represents the cage, and the subscript b represents the rolling element; m i is the mass of the inner ring, a xi 、a yi 、a zi is the acceleration of the inner circle in the x, y, and z directions; is the angle between the rolling element coordinate system and the bearing coordinate system, such as Figure 6 As shown;

[0166] F x 、Fy 、F z is the external load acting on the inner ring in the x, y, and z directions, Q iln , Q irn , Q oln , Q orn , Q cn is the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when there is a fault, α iln , α irn , α oln , α orn is the contact angle between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring, T η iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the long semi-axis of the contact area, T η irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the long semi-axis of the contact area, T ξ iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the minor axis in the contact area, T ξ irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the minor axis of the contact area, θ bn Indicates the azimuth angle of the nth rolling element;

[0167] The rolling element dynamics equation is:

[0168]

[0169] Wherein, the subscripts x and y represent the x-direction and the y-direction; m b Indicates the mass of the rolling element, J b represents the moment of inertia of the rolling element, a xb 、a yb 、a zb is the acceleration of the rolling element in the x, y, and z directions, β xb , β yb , β zb is the angular acceleration of the rolling element in the x, y, and z directions, F dn Indicates the resistance torque of the lubricating oil, f cn Indicates the friction between the rolling element and the cage; D w Indicates the rolling element diameter;

[0170] The cage dynamic equation is:

[0171]

[0172] Among them, m cIndicates the quality of the cage; a yc 、a zc is the acceleration of the cage in the y and z directions, β xc is the angular acceleration of the cage in the x direction; Q cn is the contact force between the nth rolling element and the cage when there is a fault, θ cn is the center azimuth of the cage pocket;

[0173] S702, solving the constructed dynamic equations of the inner ring, rolling element and cage, can analyze the vibration response of the four-point contact ball bearing considering the bearing inner ring, outer ring, rolling element spalling and cage crack failure.

[0174] The present invention also provides a yaw bearing vibration response acquisition system taking into account spalling and crack faults, including a data acquisition unit and a processing unit. The data acquisition unit is used to acquire parameters of a four-point contact ball bearing assembly to be calculated, and the output end of the data acquisition unit is electrically connected to the input end of the processing unit.

[0175] The processing unit executes the method of the present invention, constructs a dynamic model of a faulty four-point contact ball bearing, and obtains the vibration response of the four-point contact ball bearing taking into account the inner ring spalling, outer ring spalling, rolling element spalling and cage cracking of the bearing.

[0176] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0177] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for obtaining vibration response of a yaw bearing considering spalling and crack faults, characterized in that: The steps include: S1, obtaining the parameters of the four-point contact ball bearing assembly to be calculated, considering the influence of the double half inner ring and the outer ring peach-shaped raceway of the four-point contact ball bearing as having a gasket between the two half raceways, and calculating the initial contact angle of the four-point contact ball bearing under the influence of the gasket thickness; S2, calculate the contact deformation between the rolling element and the inner and outer rings of the four-point contact ball bearing taking into account the thickness of the gasket; calculate the contact angle of the actual operation of the bearing through the obtained contact deformation, and calculate the contact deformation between the rolling element and the cage through the distance between the center of the rolling element and the center of the cage pocket; S3, according to the contact deformation between the rolling element and the inner ring, outer ring and cage of the four-point contact ball bearing obtained in step S2, based on the inner ring spalling, outer ring spalling and rolling element spalling models of the four-point contact ball bearing, calculating the contact deformation between the rolling element and the inner ring and outer ring of the bearing when the fault occurs; S4, based on the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is no fault, and based on the inner ring spalling, outer ring spalling, rolling element spalling and cage crack model of the four-point contact ball bearing, calculate the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is a fault; S5, according to the contact deformation between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present determined in step S3 and the contact stiffness when the fault is present determined in step S4, considering the multi-point contact phenomenon during the operation of the four-point contact ball bearing, calculate the contact force between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is present; S6, calculating the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated; S7, based on the contact force between the rolling element and the inner ring, outer ring and retaining cage calculated in step S5 and the traction force calculated in step S6, a dynamic model of the faulty four-point contact ball bearing is constructed, and the vibration response of the four-point contact ball bearing considering the peeling of the inner ring, outer ring, rolling element and retaining cage is calculated.

2. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 1, characterized in that: The parameters of the four-point contact ball bearing assembly to be calculated include basic parameters, bearing speed and comprehensive elastic constant; The basic parameters include elastic modulus, Poisson's ratio, bearing pitch diameter, number of rollers, bearing speed, friction coefficient between gasket angle components, and contact stiffness between rolling element and inner ring, outer ring raceway and cage when there is no fault; The assembly comprises a bearing inner ring, a bearing outer ring, rolling elements and a cage.

3. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 1, characterized in that: Since the inner and outer rings of the four-point contact ball bearing are both "peach-shaped", the double half inner ring and outer ring are considered to have gaskets added during the processing. The method for calculating the initial contact angle of the four-point contact ball bearing under the influence of gasket thickness is: S101, calculate the gasket thickness b at the inner raceway and outer raceway according to the design value of the gasket angle of the inner raceway and outer raceway dpi , b dpo : b dpi / o =(2f i / o -1)D w sinα si / o Among them, the subscripts i and o represent the inner circle and outer circle; f i is the inner raceway groove radius coefficient, f o is the outer raceway groove radius coefficient, D w Indicates the rolling element diameter, α si is the design value of the inner ring gasket angle, α so is the design value of the outer ring gasket angle; S102, calculate the initial contact angle α0: Among them, r i is the inner raceway groove radius, r o is the outer raceway groove radius, P d It is radial clearance.

4. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 1, characterized in that: In step S2, the method for calculating the contact deformation between the rolling element and the inner ring and outer ring of the four-point contact ball bearing, and the contact deformation between the rolling element and the cage, taking into account the thickness of the gasket, is as follows: S201, considering that the outer ring of the bearing is fixed and the inner ring of the bearing is deformed by force, the center position of the inner ring raceway and the center position of the rolling element change, and the contact deformation δ of the nth rolling element and the left half raceway of the inner ring of the bearing, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring is calculated. iln , δ irn , δ oln , δ orn : Among them, the subscripts i and o represent the inner ring and outer ring; the subscripts l and r represent the left end and right end of the raceway; the subscript n represents the nth rolling element; the subscripts x and y represent the x direction and y direction; xn Indicates the distance from the center of the nth rolling element to the center of the outer raceway in the x direction, X yn A represents the distance from the center of the nth rolling element to the center of the outer raceway in the y direction. x Indicates the distance from the center of the inner raceway to the center of the outer raceway in the x direction, A y Indicates the distance from the center of the inner raceway to the center of the outer raceway in the y direction; r i and r o are the inner and outer ditch radius, b dpi , b dpo Indicates the thickness of the gasket at the inner and outer raceways, D w Indicates the rolling element diameter; S202, considering the influence of contact deformation between rolling element and raceway in four-point contact ball bearing on contact angle, calculate the contact angle α between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring iln , α irn , α oln , α orn : S203, for the nth rolling element, calculate the contact deformation δ between the nth rolling element and the cage according to the distance between the center of the rolling element and the center of the corresponding cage pocket. cn : d cn =0.5D m ×(θ bn -θ cn ) Among them, subscript c represents the cage, subscript b represents the rolling element, and D m Indicates the pitch diameter, θ bn represents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the nth pocket of the cage.

5. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 1, characterized in that: Step S3 is based on the inner ring peeling, outer ring peeling and rolling element peeling models of four-point contact ball bearings. Considering that the number of contact points of the four-point contact ball bearings changes during operation, when the rolling element is not in contact with the raceway, the fault exists but does not have a substantial impact. The contact deformation between the rolling element and the inner and outer rings of the bearing when the fault occurs is calculated as δ i *、δ o *: d i *=k f (d i -H i -H o -H b ) d o *=k f (d o -H i -H o -H b ) Among them, δ i , δ o Indicates the contact deformation between the rolling element and the inner and outer rings of the bearing; k f Expressing the contact coefficient: H i , H b ,H o They represent the displacement excitation caused by inner raceway spalling, rolling element spalling and outer raceway spalling respectively; H represents the displacement excitation caused by spalling failure: Among them, D w is the rolling element diameter, b bl is the peeling width, h is the peeling depth; θ bn is the azimuth angle of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e is the middle position of the spalling fault, and mod is the modulo function in Matlab.

6. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 1, characterized in that: Step S4 calculates the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is a fault, based on the inner ring spalling, outer ring spalling, rolling element spalling and cage crack model of the four-point contact ball bearing, and the contact stiffness between the rolling element and the inner ring, outer ring and cage of the bearing when there is a fault. The specific steps are as follows: S401, when there is a fault, the time-varying contact stiffness between the rolling element and the inner and outer rings is K i / o *: Among them, K i / o Indicates the contact stiffness between the rolling element and the inner and outer raceways when there is no fault, K bli / o is the contact stiffness at the spalling point of the inner and outer raceways; θ bn is the azimuth of the center of the nth rolling element, θ0 is the starting azimuth of the spalling failure, θ e It is the middle position of the spalling fault; S402: When there is a crack in the kth cage lintel, the contact stiffness between the kth and k+1th rolling elements and the cage changes. When there is a crack, the contact stiffness between the rolling element and the cage is K c *: Among them, K lwc is the contact stiffness between the kth and k+1th rolling elements and the cracked cage, and n represents the nth rolling element.

7. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 6, characterized in that: Step S5: Based on the contact deformation between the rolling element and the inner ring, outer ring and cage of the bearing when the fault is determined in step S3 and the contact stiffness when the fault is determined in step S4, the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when the fault is calculated based on the Hertz contact theory, which is Q iln , Q irn , Q oln , Q orn , Q cn : Q iln =K i *×(δ iln *) 1.5 Q irn =K i *×(δ irn *) 1.5 Q oln =K o *×(δ oln *) 1.5 Q orn =K o *×(δ orn *) 1.5 Q cn =K c *×(0.5D m ×(θ bn -θ cn )-0.5P c ) 1.5 Among them, P c is the pocket clearance, subscripts i and o represent the inner ring and outer ring; subscripts l and r represent the left and right ends of the raceway; subscript n represents the nth rolling element; subscript c represents the cage, and subscript b represents the rolling element; D m Indicates the pitch diameter, θ bn represents the azimuth angle of the center of the nth rolling element, θ cn Indicates the azimuth angle of the center of the cage's nth pocket, δ iln , δ irn , δ oln , δ orn They represent the contact deformation between the nth rolling element and the left half of the inner ring raceway, the right half of the inner ring raceway, the left half of the outer ring raceway, and the right half of the outer ring raceway of the bearing respectively.

8. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 7, characterized in that: Step S6 calculates the compressive stress at any point on the contact surface between the rolling element and the raceway, and the traction torque between the rolling element and the raceway according to the parameters of the four-point contact ball bearing assembly to be calculated. The specific steps are as follows: S601, based on Hertz contact theory, calculate the major semi-axis a* and minor semi-axis b* of the contact area: Among them, the subscripts a* and b* represent the major and minor semi-axis; is the coefficient related to the principal curvature difference function of the contact point; η represents the comprehensive elastic constant; Q is the normal contact load between the rolling element and the raceway; ∑ρ is the principal curvature sum function of the contact point; S602, calculate the maximum compressive stress P0 at the center of the contact surface based on the major and minor semi-axis: S603, calculate the compressive stress P(x, y) at any point on the contact surface based on the major semi-axis, minor semi-axis and maximum compressive stress: Where x and y represent the distance from the contact point in the x and y directions; S604, calculating the traction torque T between the rolling element and the raceway; Among them, μ is the friction coefficient between the rolling element and the raceway.

9. The method for obtaining vibration response of a yaw bearing considering spalling and crack faults according to claim 8, characterized in that: In step S7, a dynamic model of a faulty four-point contact ball bearing is constructed, and a specific method for calculating the vibration response of a four-point contact ball bearing considering inner ring spalling, outer ring spalling, rolling element spalling, and cage cracks is as follows: S701, according to the contact force between the rolling element and the inner ring, outer ring and cage of the bearing calculated in step S5 and the traction force calculated in step S6, based on the Newtonian mechanics theory, the dynamic equation of the faulty four-point contact ball bearing is obtained, and the dynamic equation of the inner ring is: Among them, the superscript η and ξ represent the major and minor semi-axis directions of the contact ellipse area; the subscripts i and o represent the inner ring and outer ring, the subscripts l and r represent the left and right ends of the raceway; the subscript n represents the nth rolling element; the subscript c represents the cage, and the subscript b represents the rolling element; m i is the mass of the inner ring, a xi 、a yi 、a zi is the acceleration of the inner circle in the x, y, and z directions, F x 、F y 、F z is the external load acting on the inner ring in the x, y, and z directions, Q iln , Q irn , Q oln , Q orn , Q cn is the contact force between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, the right half raceway of the outer ring and the cage when there is a fault, α iln , α irn , α oln , α orn is the contact angle between the nth rolling element and the left half raceway of the inner ring, the right half raceway of the inner ring, the left half raceway of the outer ring, and the right half raceway of the outer ring, T η iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the long semi-axis of the contact area, T η irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the long semi-axis of the contact area, T ξ iln is the traction torque between the nth rolling element and the left raceway of the inner ring in the direction of the minor axis in the contact area, T ξ irn is the traction torque between the nth rolling element and the right raceway of the inner ring in the direction of the minor axis of the contact area, θ bn Indicates the azimuth angle of the nth rolling element; The rolling element dynamics equation is: Wherein, the subscripts x and y represent the x-direction and the y-direction; m b Indicates the mass of the rolling element, J b represents the moment of inertia of the rolling element, a xb 、a yb 、a zb is the acceleration of the rolling element in the x, y, and z directions, β xb , β yb , β zb is the angular acceleration of the rolling element in the x, y, and z directions, F dn Indicates the resistance torque of the lubricating oil, f cn Indicates the friction between the rolling element and the cage; D w Indicates the rolling element diameter; The cage dynamic equation is: Among them, m c Indicates the quality of the cage; a yc 、a zc is the acceleration of the cage in the y and z directions, β xc is the angular acceleration of the cage in the x direction; Q cn is the contact force between the nth rolling element and the cage when there is a fault, θ cn is the center azimuth of the cage pocket; S702, solving the constructed dynamic equations of the inner ring, rolling element and cage, can analyze the vibration response of the four-point contact ball bearing considering the bearing inner ring, outer ring, rolling element spalling and cage crack failure.

10. A yaw bearing vibration response acquisition system considering spalling and crack faults, characterized in that: It includes a data acquisition unit and a processing unit, wherein the data acquisition unit is used to obtain the parameters of the four-point contact ball bearing assembly to be calculated, and the output end of the data acquisition unit is connected to the input end of the processing unit; The processing unit executes the method described in one of claims 1-9, constructs a dynamic model of a faulty four-point contact ball bearing, and obtains the vibration response of the four-point contact ball bearing taking into account bearing inner ring spalling, outer ring spalling, rolling element spalling, and cage cracks.

Images