Yaw driving assembly performance detection method, device and equipment and storage medium

Abstract

The invention discloses a yaw driving assembly performance detection method, device and equipment and a storage medium, and is applied to the field of wind turbine generator maintenance. The method comprises the following steps: determining a current operation mode of a yaw driving assembly at a current detection time point; the equivalent wind load of the yaw driving assembly is determined based on the wind speed data within the operation time in the current operation mode; based on the braking force and the friction coefficient in the current operation mode, the braking torque in the current operation mode is determined; based on the braking torque and the equivalent wind load in the current operation mode, an equivalent external load in the current operation mode is determined and stored; and the equivalent load of the yaw driving assembly is determined based on the equivalent external loads in all the operation modes within the total operation time, and performance detection is conducted based on the equivalent load. According to the method, the change of the braking torque in the yaw starting and stopping process is considered in the load calculation process, so that the obtained load is more accurate, the performance detection result of the yaw driving assembly is improved, and a yaw system of the wind turbine generator can stably operate.

Description

Technical Field

[0001] The present invention relates to the field of wind turbine maintenance, and in particular to a yaw drive component performance detection method, a yaw drive component performance detection device, an electronic device and a computer-readable storage medium. Background Art

[0002] The yaw system of a wind turbine is an important part of a wind turbine. Its main function is to sense changes in wind direction, control the direction of the wind turbine nacelle and the wind rotor, and make the wind rotor always face the direction of the wind, thereby maximizing the capture of wind energy and improving power generation efficiency. The yaw drive component of a wind turbine is the core part of the yaw system. Its main function is to convert the instructions of the yaw controller into actual yaw actions, so that the nacelle and wind rotor of the wind turbine can accurately align with the wind direction, thereby maximizing the capture of wind energy.

[0003] Therefore, the performance test of the yaw controller is helpful for the normal operation of the yaw system of the wind turbine. The conventional calibration method of the yaw drive component is to perform performance calibration based on the load of the yaw drive component output by the Bladed software. Bladed software is a professional wind turbine modeling and load calculation software, but because Bladed software cannot simulate the yaw start-stop action, the obtained load does not take into account the change of the braking torque during the yaw start-stop process, making the final performance evaluation result inaccurate. Summary of the invention

[0004] The purpose of the present invention is to provide a yaw drive component performance detection method, device, equipment and storage medium, which are applied to the field of wind turbine maintenance. This method makes the obtained load more accurate by considering the change of braking torque during yaw start and stop in the process of calculating the yaw drive component load, thereby improving the performance detection result of the yaw drive component and enabling the yaw system of the wind turbine to operate stably.

[0005] In order to solve the above technical problems, the present invention provides a yaw drive assembly performance detection method, comprising:

[0006] Determine the current operation mode of the yaw drive assembly at the current detection time point; the types of operation modes include: starting process, operation phase, braking process and braking phase;

[0007] Acquire the operation time in the current operation mode, acquire the wind speed data during the operation time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data;

[0008] Acquire a braking force and a friction coefficient in the current operating mode, and determine a braking torque in the current operating mode based on the braking force and the friction coefficient;

[0009] Determine and store the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode;

[0010] The equivalent load of the yaw drive assembly is determined based on the equivalent external loads in all operating modes during the total operating time, and performance detection is performed based on the equivalent load.

[0011] Optionally, obtaining a braking force and a friction coefficient in the current operating mode, and determining a braking torque in the current operating mode based on the braking force and the friction coefficient includes:

[0012] Determine the power form of the yaw drive assembly; the power form includes: hydraulic braking, mechanical braking and mechanical-hydraulic hybrid braking;

[0013] Determine the cumulative running time of all starting processes, running stages and braking processes within the total running time, and determine the friction coefficient under the power form based on the cumulative running time;

[0014] Determine the braking force and effective braking radius of a single brake under the power form;

[0015] The braking torque in the current operating mode is determined based on the number of brakes, the friction coefficient, the braking force, and the effective braking radius.

[0016] Optionally, determining the friction coefficient in the power form based on the accumulated running time includes:

[0017] Determining a critical distance of relative movement between the friction plate and the brake disc when the friction coefficient reaches a stable friction coefficient range;

[0018] When the relative movement distance between the friction plate and the brake disc is within the range from zero to the critical distance, the product of the accumulated running time and the friction coefficient in the initial state is determined as the value of the friction coefficient;

[0019] When the distance of relative movement between the friction plate and the brake disc is greater than the critical distance, the value of the friction coefficient is determined within the stable friction coefficient range.

[0020] Optionally, determining and storing an equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode includes:

[0021] Determine the number of teeth of a small gear and the number of teeth of a large gear of the yaw drive assembly, and determine the ratio of the number of teeth of the small gear to the number of teeth of the large gear as the gear ratio;

[0022] Determining the equivalent wind load in the current operation mode based on the wind speed in the wind zone of the operation area;

[0023] If the type of the current operating mode is a starting process, an operating stage or a braking process, the sum of the equivalent wind load and the braking torque in the current operating mode is multiplied by the gear ratio to obtain the equivalent external load in the current operating mode;

[0024] If the type of the current operating mode is a braking stage, multiplying the difference between the equivalent wind load and the braking torque in the current operating mode by the gear ratio to obtain the equivalent external load in the current operating mode;

[0025] At each current detection time point, the equivalent external load in the current operating mode is stored.

[0026] Optionally, determining the equivalent wind load in the current operation mode based on the wind speed in the wind zone of the operation area includes:

[0027] Dividing the wind zone of the operating area into a plurality of sub-wind zones based on the extreme wind speed in the wind zone of the operating area;

[0028] The equivalent wind speed of the wind zone in the operating area is determined based on the wind speed in each of the sub-wind zones, and the equivalent wind load in the current operating mode is determined based on the equivalent wind speed.

[0029] Optionally, determining the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes during the total operating time includes:

[0030] Obtaining the number of operations of each type of operation mode within the total operation time, inputting the number of operations and the equivalent external load under each operation mode into a fatigue load model, and obtaining the equivalent load of the yaw drive assembly output by the fatigue load model;

[0031] The expression of the fatigue load model is:

[0032] ;

[0033] Where M driver-eq is the equivalent load, j1, j2, j3 and j4 are the operation times of the starting process, the operation phase, the braking process and the braking phase in the total operation time respectively, and M drivera-i1 and t r-i1 are the equivalent external load and single operation time of the i1th startup process, M driverb-i2 and t r-i2 are the equivalent external load and single operation time of the i2th operation stage, M driverc-i3 and t r-i3 are the equivalent external load and single running time of the i3th braking process, Mdriverd-i4 and t r-i4 are the equivalent external load and single running time of the i4th braking stage respectively, and p is the slope of the Woehler damage line of the material.

[0034] Optionally, the performing performance detection based on the equivalent load includes:

[0035] Inputting the equivalent load into a yaw drive component calibration system to obtain an output safety factor value of the yaw drive component;

[0036] Determine whether the safety factor value meets a preset standard; if so, determine that the yaw drive assembly passes the performance test.

[0037] In order to solve the above technical problems, the present invention provides a yaw drive assembly performance detection device, comprising:

[0038] The first module is used to determine the current operation mode of the yaw drive assembly at the current detection time point; the types of operation modes include: starting process, operation phase, braking process and braking phase;

[0039] The second module is used to obtain the operation time in the current operation mode, obtain the wind speed data during the operation time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data;

[0040] A third module is used to obtain the braking force and the friction coefficient in the current operating mode, and determine the braking torque in the current operating mode based on the braking force and the friction coefficient;

[0041] A fourth module is used to determine and store an equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode;

[0042] The fifth module is used to determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes within the total operating time, and perform performance detection based on the equivalent load.

[0043] In order to solve the above technical problems, the present invention provides an electronic device, comprising:

[0044] Memory, for storing computer programs;

[0045] A processor is used to implement the above-mentioned yaw drive component performance detection method when executing the computer program.

[0046] In order to solve the above technical problem, the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the above-mentioned yaw drive component performance detection method is implemented.

[0047] It can be seen that the method of the present invention determines the current operating mode of the yaw drive component at the current detection time point; the types of operating modes include: starting process, operating stage, braking process and braking stage; obtaining the operating time in the current operating mode, obtaining the wind speed data during the operating time, and determining the equivalent wind load of the yaw drive component based on the wind speed data; obtaining the braking force and friction coefficient in the current operating mode, and determining the braking torque in the current operating mode based on the braking force and the friction coefficient; determining and storing the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode; determining the equivalent load of the yaw drive component based on the equivalent external loads in all operating modes within the total operating time, and performing performance detection based on the equivalent load.

[0048] The method of the present invention takes into account the change of the braking torque during the yaw start-stop process when calculating the load of the yaw drive component, so that the obtained load is more accurate, thereby improving the performance test result of the yaw drive component and enabling the yaw system of the wind turbine to operate stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0050] Figure 1 A flow chart of a method for detecting performance of a yaw drive assembly provided by an embodiment of the present invention;

[0051] Figure 2 This is a structural block diagram of a yaw drive assembly performance detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] At present, the conventional performance test method of yaw drive components is to test them according to the component load output by Bladed software. The component load is formed by the superposition of wind load and the braking torque brought by the yaw brake. However, since Bladed software cannot simulate the yaw start-stop action, the changes in the yaw error angle and the yaw brake braking torque caused by the yaw start-stop control strategy during the yaw start-stop process, as well as the uneven load brought by multiple groups of yaw drive components, will cause instantaneous impact on the yaw drive components, which is also a load that Bladed software cannot give.

[0054] In addition, due to control strategies such as the yaw error angle, the unit will frequently start and stop yaw. The impact caused by the start and stop is a load that cannot be given by simulation. If the yaw error angle accuracy requirement is higher, or the control protection measures are conservative, the number of starts and stops will increase several times. Therefore, the load on the yaw drive component can no longer be evaluated according to the theoretical load. If it is not considered in the early stage of the design, the premature failure of the yaw system (excessive wear, broken teeth, damage to internal components) will directly result in a loss of power generation, especially for offshore units, which have poor maintenance accessibility, which will also result in huge cost losses.

[0055] The fatigue calculations of large and small gears in conventional yaw drive components do not take into account the impact fatigue caused by the yaw start-stop process. Combined with the yaw frequency of the unit, the yaw start-stop moment, the intervention of rolling yaw hydraulic pressure, the impact of sliding yaw friction, etc., the fatigue impact on the gear parts cannot be underestimated, which will accelerate the life of the teeth, cause excessive wear, and even tooth breakage.

[0056] Therefore, the method of the present invention considers the change of the braking torque during the yaw start and stop process when calculating the load of the yaw drive assembly, so that the obtained load is more accurate, thereby improving the performance test results of the yaw drive assembly and enabling the yaw system of the wind turbine to operate stably.

[0057] The following combination Figure 1 , Figure 1 A flowchart of a yaw drive assembly performance detection method provided by an embodiment of the present invention, the method may include:

[0058] S101: Determine the current operation mode of the yaw drive assembly at the current detection time point; the types of operation modes include: a startup process, an operation phase, a braking process and a braking phase.

[0059] This embodiment can first determine the current operating mode of the yaw drive assembly at the current detection time point. This embodiment does not limit the specific method of performing performance detection on the yaw drive assembly. Real-time detection can be performed, or multiple detection time points can be set according to preset rules for performance detection.

[0060] Therefore, this embodiment may have multiple detection time points. When the time reaches the current detection time point, this embodiment may determine the current operation mode of the yaw drive assembly at the current detection time point.

[0061] Generally, the entire life cycle of a yaw drive assembly can be divided into four modes: yaw start-up process, yaw operation phase, yaw braking process and yaw braking phase. Therefore, in this embodiment, the types of operation modes include: start-up process, operation phase, braking process and braking phase.

[0062] S102: Acquire the operating time in the current operating mode, acquire the wind speed data during the operating time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data.

[0063] This embodiment can obtain the operating time in the current operating mode, obtain the wind speed data during the operating time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data.

[0064] Since the current detection time point may be between the mode start time point and the mode end time point of the current operating mode, the operating time in the current operating mode in this embodiment may be the period from the mode start time point of the current operating mode to the current detection time point.

[0065] This embodiment does not limit the specific method of determining the equivalent wind load of the yaw drive assembly based on wind speed data. Generally, the wind zone in the operating area is divided into multiple sub-wind zones based on the extreme wind speed in the wind zone in the operating area; the equivalent wind speed of the wind zone in the operating area is determined based on the wind speed in each sub-wind zone, and the equivalent wind load in the current operating mode is determined based on the equivalent wind speed.

[0066] Specifically, this embodiment can be based on the limit wind speed V ex , the wind zone of the operating area is divided into g sub-wind zones, the wind speed of each sub-wind zone is obtained, and the equivalent wind speed of the wind zone of the operating area is determined based on the wind speed in each sub-wind zone, and the equivalent wind load in the current operating mode is determined based on the equivalent wind speed. Specifically, this embodiment can combine the Markov matrix and the Weil distribution to determine the equivalent wind load.

[0067] S103: Acquire the braking force and friction coefficient in the current operating mode, and determine the braking torque in the current operating mode based on the braking force and friction coefficient.

[0068] This embodiment can obtain the braking force and the friction coefficient in the current operating mode, and determine the braking torque in the current operating mode based on the braking force and the friction coefficient.

[0069] Generally, the braking torque can be provided by a hydraulic station and / or mechanical sliding, so the braking torque can be provided by three power forms, namely hydraulic braking, mechanical braking and mechanical-hydraulic mixed braking.

[0070] This embodiment can determine the power form of the yaw drive assembly, and calculate the braking torque in the current operating mode according to the calculation method of the braking torque in each power form.

[0071] Furthermore, the cumulative running time of all starting processes, running stages and braking processes within the total running time is determined, and the friction coefficient under the power form is determined based on the cumulative running time; the braking force and effective braking radius of a single brake under the power form are determined; and the braking torque under the current operating mode is determined based on the number of brakes, friction coefficient, braking force and effective braking radius.

[0072] Specifically, the calculation method of the braking torque under each power form can be shown as follows:

[0073] ;

[0074] Among them, M brake is the braking torque, specifically, M brake1 is the braking torque under hydraulic braking, M brake2 is the braking torque under mechanical braking, M brake3 is the braking torque under mechanical-hydraulic hybrid braking, k 1 is the friction coefficient under hydraulic braking (including hydraulic braking in mechanical-hydraulic hybrid braking), k 2 is the friction coefficient under mechanical braking (including mechanical braking in mechanical-hydraulic hybrid braking), N 1 、F 1 , L 1 are the number of brakes, braking force and effective braking radius under hydraulic braking, N 2 、F 2 , L 2 are the number of brakes, braking force and effective braking radius under mechanical braking, N 31 、F 31 , L 31 are the number of brakes, braking force and effective braking radius under hydraulic braking in mechanical-hydraulic hybrid braking, N 32 、F 32 , L 32 They are the number of brakes, braking force and effective braking radius under mechanical braking in mechanical-hydraulic hybrid braking.

[0075] Since the pressure value will change with the start-stop control strategy under hydraulic braking, the braking force F under hydraulic braking 1And the braking force F under hydraulic braking in mechanical-hydraulic hybrid braking 31 The braking force F is a variable value during the start-stop process. 1 and braking force F 31 The calculation method is not the same.

[0076] Specifically, in this embodiment, the braking force F 1 The calculation method can be shown as follows:

[0077] ;

[0078] Among them, F 1a is the first stable pressure during the operation stage, F 1A is the first stable pressure during the braking phase, t b is the running time during the braking process, t s is the running time of the startup process, the first function a(t b ) is determined by the charging performance of the hydraulic station, and the second function A(t s ) is determined by the pressure relief performance of the hydraulic station.

[0079] Specifically, in this embodiment, the braking force F 31 The calculation method can be shown as follows:

[0080] ;

[0081] Among them, F 3b is the second stable pressure during the operation stage, F 3B is the second stable pressure during the braking phase, t b is the running time during the braking process, t s is the running time of the startup process, the third function b(t b ) is determined by the charging performance of the hydraulic station, and the fourth function B(t s ) is determined by the pressure relief performance of the hydraulic station.

[0082] Since the friction coefficient is in the initial state and is not in full contact and meshing, it is in the initial stage of micro-motion. When the generation and removal of wear debris reach a dynamic balance and the friction coefficient reaches a stable stage, this embodiment does not limit the specific calculation method of the friction coefficient.

[0083] Specifically, in this embodiment, the time period from the revelation detection time point to the current detection time point may be determined as the total operating time of the yaw drive assembly.

[0084] Furthermore, the cumulative running time of all the startup processes, running phases and braking processes during the total running time is determined. 1 Startup process, n 2Operation phases and n 3 braking process, the cumulative running time can be n 1 The running time of the startup process, n 2 The running time of each running stage is related to n 3 The sum of the running times of the braking processes.

[0085] In this embodiment, the current detection time point can be between the mode start time point and the mode end time point of the current operating mode. Therefore, when the current operating mode has not been completed, this embodiment can calculate the current detection time point as the mode end time point of the current operating mode, that is, it is assumed that the current operating mode has been completed at the current detection time point.

[0086] This embodiment can determine the critical distance of relative movement between the friction plate and the brake disc when the friction coefficient reaches the stable friction coefficient range; when the distance of relative movement between the friction plate and the brake disc is between zero and the critical distance, the product of the accumulated running time and the initial state friction coefficient is determined as the value of the friction coefficient; when the distance of relative movement between the friction plate and the brake disc is greater than the critical distance, the value of the friction coefficient is determined from within the stable friction coefficient range.

[0087] Specifically, the calculation method of the friction coefficient can be shown as follows:

[0088] ;

[0089] Among them, k i is the friction coefficient, T is the cumulative running time, k i0 is the friction coefficient in the initial state, k imin is the minimum boundary value of the stable friction coefficient range, k imax is the maximum boundary value of the stable friction coefficient range, i is 1 or 2, representing the hydraulic braking mode (including hydraulic braking in mechanical-hydraulic hybrid braking) and mechanical braking mode (including mechanical braking in mechanical-hydraulic hybrid braking), respectively, S i is the relative movement distance between the friction plate and the brake disc, S i0 is the critical distance.

[0090] S104: Determine and store the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode.

[0091] In this embodiment, the equivalent external load in the current operating mode can be determined and stored based on the braking torque and the equivalent wind load in the current operating mode.

[0092] In this embodiment, the number of teeth on the small gear and the number of teeth on the large gear of the yaw drive assembly can be first determined, and the ratio of the number of teeth on the small gear to the number of teeth on the large gear can be determined as the gear ratio; and the equivalent wind load in the current operating mode can be determined based on the wind speed in the wind zone of the operating area.

[0093] If the current operating mode is a starting process, an operating stage or a braking process, the sum of the equivalent wind load and the braking torque in the current operating mode is multiplied by the gear ratio to obtain the equivalent external load in the current operating mode; if the current operating mode is a braking stage, the difference between the equivalent wind load and the braking torque in the current operating mode is multiplied by the gear ratio to obtain the equivalent external load in the current operating mode.

[0094] Specifically, if the type of the current operating mode is the starting process, the operating stage or the braking process, the calculation method of the equivalent external load can be shown as follows:

[0095] ;

[0096] If the current operating mode is the braking stage, the calculation method of the equivalent external load can be shown as follows:

[0097] ;

[0098] Among them, M driver is the equivalent external load, M wind is the equivalent wind load, M brake is the braking torque, Z 1 is the number of teeth on the pinion, Z 2 Large gear teeth number.

[0099] In this embodiment, at each current detection time point, the equivalent external load in the current operation mode can be stored for use in calculating the equivalent load. This embodiment does not limit the storage format of data, which can be determined based on actual applications.

[0100] S105: Determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes during the total operating time, and perform performance testing based on the equivalent load.

[0101] In this embodiment, the equivalent load of the yaw drive assembly can be determined based on the equivalent external loads in all operating modes within the total operating time, and the performance test can be performed based on the equivalent load.

[0102] This embodiment does not limit the specific method of determining the equivalent load of the yaw drive assembly based on the equivalent external load in all operating modes during the total operating time. Generally, the equivalent tooth surface pitting fatigue and tooth root bending fatigue loads during the starting process and braking process can be obtained in combination with the equivalent torque in ISO6336-6 (the calculation standard for the load-bearing capacity of spur gears and helical gears).

[0103] Specifically, this embodiment can obtain the number of operations of each type of operation mode within the total operation time, input the number of operations and the equivalent external load under each operation mode into the fatigue load model, and obtain the equivalent load of the yaw drive component output by the fatigue load model;

[0104] The expression of fatigue load model is:

[0105] ;

[0106] Where M driver-eq is the equivalent load, j1, j2, j3 and j4 are the number of operations in the starting process, running phase, braking process and braking phase in the total running time, M drivera-i1 and t r-i1 are the equivalent external load and single running time of the i1th startup process, M driverb-i2 and t r-i2 are the equivalent external load and single operation time of the i2th operation stage, M driverc-i3 and t r-i3 are the equivalent external load and single operation time of the i3th braking process, M driverd-i4 and t r-i4 are the equivalent external load and single running time of the i4th braking stage respectively, p is the slope of the material Woehler damage line (fatigue curve), generally the tooth surface fatigue is taken as 6.61, and the tooth root fatigue is taken as 8.738.

[0107] Since there may be multiple detection time points in this embodiment, when the time reaches each detection time point, the equivalent external load at the current detection time point can be obtained. In this embodiment, the equivalent external load can be stored for calculation of the equivalent load at each detection time point.

[0108] In this embodiment, the current detection time point can be between the mode start time point and the mode end time point of the current operating mode. Therefore, when the current operating mode has not been completed, this embodiment can calculate the current detection time point as the mode end time point of the current operating mode, that is, the current operating mode at the current detection time point can be defaulted to be a complete operating mode.

[0109] This embodiment does not limit the specific method of performing performance testing based on equivalent loads. Generally, the equivalent load can be input into the yaw drive component calibration system to obtain the output safety factor value of the yaw drive component; determine whether the safety factor value meets the preset standard; if so, determine that the yaw drive component has passed the performance test.

[0110] Specifically, this embodiment can write the calculation method of the above-mentioned equivalent load into the server in the form of a program, and through cloud computing, combined with the on-site wind speed and the yaw system start-stop control strategy, the equivalent load is input into the yaw drive component verification system to obtain the safety factor value of the yaw drive component.

[0111] This embodiment can determine whether the safety factor value meets the preset standard, such as the verification result of the yaw drive component in IEC61400-1 (international standard wind power design requirements). If it meets the standard, it can be considered that the yaw drive component is running stably and has passed the performance test; if it does not meet the standard, it can be considered that there is a problem with the yaw drive component, and staff can be arranged to check on the machine based on the actual situation.

[0112] Based on the above embodiments, the method of the present invention considers the change of braking torque during yaw start and stop when calculating the load of the yaw drive assembly, so that the obtained load is more accurate, thereby improving the performance test results of the yaw drive assembly and enabling the yaw system of the wind turbine to operate stably.

[0113] The following combination Figure 2 , Figure 2 This is a structural block diagram of a yaw drive assembly performance detection device provided by an embodiment of the present invention. The device may include:

[0114] The first module 100 is used to determine the current operation mode of the yaw drive assembly at the current detection time point; the types of operation modes include: starting process, operation phase, braking process and braking phase;

[0115] The second module 200 is used to obtain the operation time in the current operation mode, obtain the wind speed data during the operation time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data;

[0116] The third module 300 is used to obtain the braking force and the friction coefficient in the current operating mode, and determine the braking torque in the current operating mode based on the braking force and the friction coefficient;

[0117] A fourth module 400 is used to determine and store an equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode;

[0118] The fifth module 500 is used to determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes within the total operating time, and perform performance detection based on the equivalent load.

[0119] Based on the above embodiments, the method of the present invention considers the change of braking torque during yaw start and stop when calculating the load of the yaw drive assembly, so that the obtained load is more accurate, thereby improving the performance test results of the yaw drive assembly and enabling the yaw system of the wind turbine to operate stably.

[0120] Based on the above embodiment, the third module 300 may include:

[0121] The first unit is used to determine the power form of the yaw drive assembly; the power form includes: hydraulic braking, mechanical braking and mechanical-hydraulic hybrid braking;

[0122] The second unit is used to determine the cumulative running time of all starting processes, running stages and braking processes in the total running time, and determine the friction coefficient under the power form based on the cumulative running time;

[0123] A third unit is used to determine the braking force and effective braking radius of a single brake under the power form;

[0124] The fourth unit is used to determine the braking torque in the current operating mode based on the number of brakes, the friction coefficient, the braking force and the effective braking radius.

[0125] Based on the above embodiments, the second unit may include:

[0126] The first subunit is used to determine the critical distance of relative movement between the friction plate and the brake disc when the friction coefficient reaches the stable friction coefficient range;

[0127] A second subunit is used to determine the product of the accumulated running time and the initial state friction coefficient as the value of the friction coefficient when the relative movement distance between the friction plate and the brake disc is within a range from zero to the critical distance;

[0128] The third subunit is configured to determine the value of the friction coefficient within the stable friction coefficient range when the relative movement distance between the friction plate and the brake disc is greater than the critical distance.

[0129] Based on the above embodiments, the fourth module 400 may include:

[0130] A fifth unit is used to determine the number of teeth of the small gear and the number of teeth of the large gear of the yaw drive assembly, and determine the ratio of the number of teeth of the small gear to the number of teeth of the large gear as the gear ratio;

[0131] A sixth unit, configured to determine the equivalent wind load in the current operation mode based on the wind speed in the wind zone of the operation area;

[0132] A seventh unit is used for, if the type of the current operating mode is a starting process, an operating stage or a braking process, multiplying the sum of the equivalent wind load and the braking torque in the current operating mode by the gear ratio to obtain the equivalent external load in the current operating mode;

[0133] An eighth unit is used for, if the type of the current operating mode is a braking stage, multiplying the difference between the equivalent wind load and the braking torque in the current operating mode by the gear ratio to obtain the equivalent external load in the current operating mode;

[0134] The ninth unit is used to store the equivalent external load in the current operation mode at each current detection time point.

[0135] Based on the above embodiments, the sixth unit may include:

[0136] A fourth subunit, configured to divide the wind zone of the operating area into a plurality of sub-wind zones based on a limit wind speed in the wind zone of the operating area;

[0137] The fifth subunit is used to determine the equivalent wind speed of the wind zone in the operating area based on the wind speed in each of the sub-wind zones, and determine the equivalent wind load in the current operating mode based on the equivalent wind speed.

[0138] Based on the above embodiments, the fifth module 500 may include:

[0139] A tenth unit is used to obtain the number of operations of each type of operation mode within the total operation time, input the number of operations and the equivalent external load under each operation mode into a fatigue load model, and obtain the equivalent load of the yaw drive assembly output by the fatigue load model;

[0140] The expression of the fatigue load model is:

[0141] ;

[0142] Where M driver-eq is the equivalent load, j1, j2, j3 and j4 are the operation times of the starting process, the operation phase, the braking process and the braking phase in the total operation time respectively, and M drivera-i1 and tr-i1 are the equivalent external load and single operation time of the i1th startup process, M driverb-i2 and t r-i2 are the equivalent external load and single operation time of the i2th operation stage, M driverc-i3 and t r-i3 are the equivalent external load and single running time of the i3th braking process, M driverd-i4 and t r-i4are the equivalent external load and single running time of the i4th braking stage respectively, and p is the slope of the Woehler damage line of the material.

[0143] Based on the above embodiments, the fifth module 500 may include:

[0144] An eleventh unit is used for inputting the equivalent load into a yaw drive component calibration system to obtain an output safety factor value of the yaw drive component;

[0145] The twelfth unit is used to determine whether the safety factor value meets a preset standard; if so, determine that the yaw drive assembly has passed the performance test.

[0146] Based on the above embodiments, the present invention further provides an electronic device, which may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiments may be implemented. Of course, the device may also include various necessary network interfaces, power supplies, and other components.

[0147] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by an execution terminal or a processor, the method provided in the embodiment of the present invention can be implemented; the storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0148] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for detecting the performance of a yaw drive assembly, characterized in that: include: Determine the current operating mode of the yaw drive assembly at the current detection time point; The types of operation modes include: starting process, operation phase, braking process and braking phase; Acquire the operation time in the current operation mode, acquire the wind speed data during the operation time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data; Acquire a braking force and a friction coefficient in the current operating mode, and determine a braking torque in the current operating mode based on the braking force and the friction coefficient; Determine and store the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode; The equivalent load of the yaw drive assembly is determined based on the equivalent external loads in all operating modes during the total operating time, and performance detection is performed based on the equivalent load.

2. The yaw drive assembly performance detection method according to claim 1, characterized in that: Acquiring a braking force and a friction coefficient in the current operating mode, and determining a braking torque in the current operating mode based on the braking force and the friction coefficient, comprises: Determine the power form of the yaw drive assembly; the power form includes: hydraulic braking, mechanical braking and mechanical-hydraulic hybrid braking; Determine the cumulative running time of all starting processes, running stages and braking processes within the total running time, and determine the friction coefficient under the power form based on the cumulative running time; Determine the braking force and effective braking radius of a single brake under the power form; The braking torque in the current operating mode is determined based on the number of brakes, the friction coefficient, the braking force, and the effective braking radius.

3. The yaw drive assembly performance detection method according to claim 2, characterized in that: Determining the friction coefficient in the power mode based on the accumulated running time includes: Determining a critical distance of relative movement between the friction plate and the brake disc when the friction coefficient reaches a stable friction coefficient range; When the relative movement distance between the friction plate and the brake disc is within the range from zero to the critical distance, the product of the accumulated running time and the initial state friction coefficient is determined as the value of the friction coefficient; When the distance of relative movement between the friction plate and the brake disc is greater than the critical distance, the value of the friction coefficient is determined within the stable friction coefficient range.

4. The yaw drive assembly performance detection method according to claim 1, characterized in that: Determining and storing the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode includes: Determine the number of teeth of a small gear and the number of teeth of a large gear of the yaw drive assembly, and determine the ratio of the number of teeth of the small gear to the number of teeth of the large gear as the gear ratio; Determining the equivalent wind load in the current operation mode based on the wind speed in the wind zone of the operation area; If the type of the current operating mode is a starting process, an operating stage or a braking process, the sum of the equivalent wind load and the braking torque in the current operating mode is multiplied by the gear ratio to obtain the equivalent external load in the current operating mode; If the type of the current operating mode is a braking stage, multiplying the difference between the equivalent wind load and the braking torque in the current operating mode by the gear ratio to obtain the equivalent external load in the current operating mode; At each current detection time point, the equivalent external load in the current operating mode is stored.

5. The yaw drive assembly performance detection method according to claim 4, characterized in that: Determining the equivalent wind load in the current operation mode based on the wind speed in the wind zone of the operation area includes: Dividing the wind zone of the operating area into a plurality of sub-wind zones based on the extreme wind speed in the wind zone of the operating area; The equivalent wind speed of the wind zone in the operating area is determined based on the wind speed in each of the sub-wind zones, and the equivalent wind load in the current operating mode is determined based on the equivalent wind speed.

6. The yaw drive assembly performance detection method according to claim 1, characterized in that: Determining the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes during the total operating time includes: Obtaining the number of operations of each type of operation mode within the total operation time, inputting the number of operations and the equivalent external load under each operation mode into a fatigue load model, and obtaining the equivalent load of the yaw drive assembly output by the fatigue load model; The expression of the fatigue load model is: ； Where M driver-eq is the equivalent load, j1, j2, j3 and j4 are the operation times of the starting process, the operation phase, the braking process and the braking phase in the total operation time respectively, and M drivera-i1 and t r-i1 are the equivalent external load and single operation time of the i1th startup process, M driverb-i2 and t r-i2 are the equivalent external load and single operation time of the i2th operation stage, M driverc-i3 and t r-i3 are the equivalent external load and single running time of the i3th braking process, M driverd-i4 and t r-i4 are the equivalent external load and single running time of the i4th braking stage respectively, and p is the slope of the Woehler damage line of the material.

7. The yaw drive assembly performance detection method according to claim 1, characterized in that: The performance test is performed based on the equivalent load, including: Inputting the equivalent load into a yaw drive component calibration system to obtain an output safety factor value of the yaw drive component; Determine whether the safety factor value meets a preset standard; if so, determine that the yaw drive assembly passes the performance test.

8. A yaw drive assembly performance detection device, characterized in that: include: The first module is used to determine the current operation mode of the yaw drive assembly at the current detection time point; The types of operation modes include: starting process, operation phase, braking process and braking phase; The second module is used to obtain the operation time in the current operation mode, obtain the wind speed data during the operation time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data; A third module is used to obtain the braking force and the friction coefficient in the current operating mode, and determine the braking torque in the current operating mode based on the braking force and the friction coefficient; A fourth module is used to determine and store an equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode; The fifth module is used to determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes within the total operating time, and perform performance detection based on the equivalent load.

9. An electronic device, characterized in that: include: Memory, for storing computer programs; A processor, configured to implement the yaw drive assembly performance detection method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the yaw drive assembly performance detection method according to any one of claims 1 to 7 is implemented.

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