A Yaw Drive Component Performance Detection Method, Device, Equipment and Storage Medium

Abstract

The present invention discloses a method, device, equipment and storage medium for detecting the performance of a yaw drive assembly, which is applied to the field of wind turbine maintenance. It determines the current operating mode of the yaw drive assembly at the current detection time point; determines the equivalent wind load of the yaw drive assembly based on the wind speed data during the operating time in the current operating mode; determines the braking torque in the current operating mode based on the braking force and the friction coefficient in the current operating mode; determines and stores the equivalent external load in the current operating mode based on the braking torque and the equivalent wind load in the current operating mode; determines the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes during the total operating time, and performs performance detection based on the equivalent load. The method of the present invention makes the obtained load more accurate by considering the change of the braking torque during the yaw start-stop process in the process of calculating the load, thereby improving the performance detection result of the yaw drive assembly and enabling the yaw system of the wind turbine to operate stably.

Description

Technical Field

[0001] The present invention relates to the field of maintenance of wind turbine units, and particularly to a method for detecting the performance of a yaw drive assembly, a device for detecting the performance of a yaw drive assembly, an electronic device, and a computer-readable storage medium. Background Art

[0002] The yaw system of a wind turbine unit is an important part of the wind power generation unit. Its main function is to sense the change of wind direction, control the turning of the fan nacelle and the wind turbine rotor, so that the wind turbine rotor always faces the wind direction, thereby maximizing the capture of wind energy and improving the power generation efficiency. The yaw drive assembly of the wind turbine unit 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 the wind turbine rotor of the wind turbine can accurately align with the wind direction, thereby maximizing the capture of wind energy.

[0003] Therefore, the performance detection of the yaw controller is helpful for the normal operation of the yaw system of the wind turbine unit. The conventional verification method for the yaw drive assembly is to calculate the load of the yaw drive assembly output by the Bladed software and perform performance verification based on the load. The Bladed software is a professional software for wind turbine unit modeling and load calculation. However, since the Bladed software cannot simulate the yaw start-stop action, the obtained load does not consider the change of the braking torque during the yaw start-stop process, resulting in inaccurate final performance evaluation results. Summary of the Invention

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

[0005] To solve the above technical problems, the present invention provides a method for detecting the performance of a yaw drive assembly, including:

[0006] Determine the current operation mode of the yaw drive assembly at the current detection time point; the types of the operation mode include: start-up process, operation stage, braking process, and braking stage;

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

[0008] Obtain the braking force and the friction coefficient in the current operation mode, and determine the braking torque in the current operation 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] 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.

[0011] Optionally, obtaining the braking force and the 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 includes:

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

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

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

[0015] 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.

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

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

[0018] When the relative movement distance between the friction plate and the brake disc is within zero to the critical distance, determine the product of the cumulative operating time and the friction coefficient in the initial state as the value of the friction coefficient;

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

[0020] Optionally, 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:

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

[0022] Determine the equivalent wind load in the current operating mode based on the wind speed in the wind area of the operating region;

[0023] When the type of the current operation mode is the starting process, the running stage or the braking process, multiply the sum of the equivalent wind load and the braking torque in the current operation mode by the gear ratio to obtain the equivalent external load in the current operation mode;

[0024] When the type of the current operation mode is the braking stage, multiply the difference between the equivalent wind load and the braking torque in the current operation mode by the gear ratio to obtain the equivalent external load in the current operation mode;

[0025] At each of the current detection time points, store the equivalent external load in the current operation mode.

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

[0027] Divide the operation area wind zone into multiple sub-wind zones based on the limit wind speed in the operation area wind zone;

[0028] Determine the equivalent wind speed of the operation area wind zone based on the wind speed in each of the sub-wind zones, and determine the equivalent wind load in the current operation mode 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 operation modes within the total operation time includes:

[0030] Obtain the number of operations of each type of operation mode within the total operation time, and input the number of operations and the equivalent external loads in each operation mode into a fatigue load model to obtain 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] In the formula, M driver-eq is the equivalent load, j1, j2, j3 and j4 are the numbers of operations of the starting process, the running stage, the braking process and the braking stage within the total operation time in sequence, M drivera-i1 and t r-i1 are the equivalent external load and the single operation time of the i1-th starting process respectively, M driverb-i2 and t r-i2 are the equivalent external load and the single operation time of the i2-th running stage respectively, M driverc-i3 and t r-i3 are the equivalent external load and the single operation time of the i3-th braking process respectively, Mdriverd-i4 and t r-i4 are respectively the equivalent external load and the single - run time in the i4 - th braking stage, and p is the slope of the material Woehler damage line.

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

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

[0036] Judging whether the safety factor value meets a preset standard; if so, determining that the yaw drive component passes the performance detection.

[0037] To solve the above - mentioned technical problems, the present invention provides a performance detection device for a yaw drive component, including:

[0038] A first module for determining the current operating mode of the yaw drive component at the current detection time point; the types of operating modes include: startup process, running stage, braking process, and braking stage;

[0039] A second module for obtaining the running time in the current operating mode, obtaining wind speed data at the running time, and determining the equivalent wind load of the yaw drive component based on the wind speed data;

[0040] A third module for obtaining the braking force and the 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;

[0041] A fourth module for 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;

[0042] A fifth module for determining the equivalent load of the yaw drive component based on the equivalent external loads in all operating modes within the total running time, and performing performance detection based on the equivalent load.

[0043] To solve the above - mentioned technical problems, the present invention provides an electronic device, including:

[0044] A memory for storing a computer program;

[0045] A processor for implementing the above - mentioned yaw drive component performance detection method when executing the computer program.

[0046] To solve the above technical problems, 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 performance detection method for the yaw drive assembly is implemented.

[0047] It can be seen that the method of the present invention determines the current operating mode of the yaw drive assembly at the current detection time point; the types of operating modes include: start-up process, running stage, braking process, and braking stage; obtains the running time in the current operating mode, obtains the wind speed data at the running time, and determines the equivalent wind load of the yaw drive assembly based on the wind speed data; obtains the braking force and friction coefficient in the current operating mode, and determines the braking torque in the current operating mode based on the braking force and friction coefficient; determines and stores the equivalent external load in the current operating mode based on the braking torque and equivalent wind load in the current operating mode; determines the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes within the total running time, and performs performance detection based on the equivalent load.

[0048] In the process of calculating the load of the yaw drive assembly, the method of the present invention considers the change of the braking torque during the yaw start-stop process, making the obtained load more accurate, thereby improving the performance detection result of the yaw drive assembly 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 technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative efforts.

[0050] Figure 1 It is a flowchart of a method for detecting the performance of a yaw drive assembly provided by an embodiment of the present invention;

[0051] Figure 2 It is a structural block diagram of a device for detecting the performance of a yaw drive assembly provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0053] Currently, the conventional performance detection method for the yaw drive assembly is to detect according to the component loads output by the Bladed software. The component loads are the superposition of the wind loads and the braking torques brought by the yaw brakes. However, since the Bladed software cannot simulate the yaw start-stop actions, during the yaw start-stop process, factors such as the yaw error angle, the change in the braking torque of the yaw brake brought by the yaw start-stop control strategy, and the uneven load brought by multiple groups of yaw drive assemblies will all generate instantaneous impacts on the yaw drive assembly, and these are also the loads that the Bladed software cannot give.

[0054] Moreover, due to control strategies such as the yaw error angle, it will cause the unit to frequently yaw start and stop. The impact brought by the start-stop moment is a load that the simulation cannot give. If the accuracy requirement for the yaw error angle is higher, or the control and protection means are conservative, etc., the number of start-stop times will increase several times. Therefore, the load on the yaw drive assembly can no longer be evaluated according to the theoretical load. If not considered in the early design stage, the premature failure (excessive wear, broken teeth, damage to internal components) of the yaw system will directly result in a loss of power generation. Especially for offshore wind turbines, the poor maintainability will also bring huge cost losses.

[0055] In the conventional yaw drive assembly, the fatigue calculations of the large and small gears do not consider the impact fatigue brought by the yaw start-stop process. Considering the yaw frequency of the unit, at the moment of yaw start-stop, the intervention of the rolling yaw hydraulic pressure, the influence of the sliding yaw friction, etc., the fatigue impact on the gear parts cannot be underestimated, which will accelerate the tooth life, cause excessive wear, and even broken teeth.

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

[0057] The following combines Figure 1 , Figure 1 which is a flowchart of a method for detecting the performance of a yaw drive assembly provided by an embodiment of the present invention. The method may include:

[0058] S101: Determine the current operating mode of the yaw drive assembly at the current detection time point; the types of operating modes include: start-up process, running stage, braking process, and braking stage.

[0059] This embodiment may 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 for detecting the performance of the yaw drive assembly. It can be detected in real time, or multiple detection time points can be set according to preset rules for performance detection.

[0060] Therefore, there can be multiple detection time points in this embodiment. When the time reaches the current detection time point, this embodiment can determine the current operating 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 mainly divided into four modes: yaw startup process, yaw operation stage, yaw braking process, and yaw braking stage. Therefore, in this embodiment, the types of operating modes include: startup process, operation stage, braking process, and braking stage.

[0062] S102: Obtain the operating time in the current operating mode, obtain the wind speed data at 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 at 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 can be between the mode start time point and the mode end time point of the current operating mode, therefore, in this embodiment, the operating time in the current operating mode can 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 for determining the equivalent wind load of the yaw drive assembly based on the wind speed data. Generally, the operating area wind zone is divided into multiple sub-wind zones based on the extreme wind speed in the operating area wind zone; the equivalent wind speed of the operating area wind zone is determined based on the wind speeds 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 extreme wind speed V ex , divide the operating area wind zone into g sub-wind zones, obtain the wind speed of each sub-wind zone, and determine the equivalent wind speed of the operating area wind zone based on the wind speeds in each sub-wind zone, and determine the equivalent wind load in the current operating mode based on the equivalent wind speed. Specifically, this embodiment can combine the Markov matrix and the Weibull distribution to determine the equivalent wind load.

[0067] S103: 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.

[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. Therefore, the braking torque can be provided by three power forms, namely hydraulic braking, mechanical braking, and mechanical-hydraulic hybrid 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 under each power form.

[0071] Furthermore, determine the cumulative running time of all start-up processes, running phases, 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; determine the braking torque in the current operating mode 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, k1 is the friction coefficient under hydraulic braking (including the hydraulic braking in mechanical-hydraulic hybrid braking), k2 is the friction coefficient under mechanical braking (including the mechanical braking in mechanical-hydraulic hybrid braking), N1, F1, and L1 are the number of brakes, braking force, and effective braking radius under hydraulic braking respectively, N2, F2, and L2 are the number of brakes, braking force, and effective braking radius under mechanical braking respectively, N 31 , F 31 , L 31 are the number of brakes, braking force, and effective braking radius under the hydraulic braking in mechanical-hydraulic hybrid braking respectively, N 32 , F 32 , L 32 are the number of brakes, braking force, and effective braking radius under the mechanical braking in mechanical-hydraulic hybrid braking respectively.

[0075] Since under hydraulic braking, the pressure value changes with the start-stop control strategy, the braking force F1 under hydraulic braking and the braking force F 31 under the hydraulic braking in mechanical-hydraulic hybrid braking are variable values during the start-stop process. Then, in different types of operating modes, the calculation methods of the braking force F1 and the braking force F 31 are not the same.

[0076] Specifically, the calculation method of the braking force F1 in this embodiment can be shown as the following formula:

[0077] ;

[0078] where F 1a is the first stable pressure during the operation stage, F 1A is the first stable pressure during the braking stage, t b is the running time during the braking process, t s is the running time of the starting process, the first function a(t b ) is determined by the pressurizing 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, the calculation method of the braking force F 31 in this embodiment can be shown as the following formula:

[0080] ;

[0081] where F 3b is the second stable pressure during the operation stage, F 3B is the second stable pressure during the braking stage, t b is the running time during the braking process, t s is the running time of the starting process, the third function b(t b ) is determined by the pressurizing 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 not fully contacted and engaged in the initial state, which belongs to the initial stage of micro motion. Wait until the generation and removal of wear debris reach dynamic equilibrium and the friction coefficient reaches the stable stage. Therefore, this embodiment does not limit the specific calculation method of the friction coefficient.

[0083] Specifically, this embodiment can determine the total running time of the yaw drive assembly as the time period from the inspiration detection time point to the current detection time point.

[0084] Furthermore, determine the cumulative running time of all starting processes, operation stages and braking processes within the total running time. For example, if there are n1 starting processes, n2 operation stages and n3 braking processes within the total running time, the cumulative running time can be the sum of the running times of n1 starting processes, n2 operation stages and n3 braking processes.

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

[0086] This embodiment can determine the critical distance of the relative movement between the friction plate and the brake disc when the friction coefficient reaches the stable friction coefficient range; when the relative movement distance between the friction plate and the brake disc is within zero to the critical distance, the product of the cumulative running time and the friction coefficient in the initial state is determined as the value of the friction coefficient; when the relative movement distance 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 the following formula:

[0088] ;

[0089] where 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 takes 1 or 2, representing the hydraulic braking (including the hydraulic braking in the mechanical-hydraulic hybrid braking) mode and the mechanical braking (including the mechanical braking in the mechanical-hydraulic hybrid braking) mode 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 operation mode based on the braking torque and the equivalent wind load in the current operation mode.

[0091] This embodiment can determine and store the equivalent external load in the current operation mode based on the braking torque and the equivalent wind load in the current operation mode.

[0092] This embodiment can first determine the number of teeth of the pinion and the number of teeth of the large gear of the yaw drive assembly, and determine the gear ratio as the ratio of the number of teeth of the pinion to the number of teeth of the large gear; determine the equivalent wind load in the current operation mode based on the wind speed in the operating area wind zone.

[0093] When the type of the current operation mode is the starting process, the running stage or the braking process, multiply the sum of the equivalent wind load and the braking torque in the current operation mode by the gear ratio to obtain the equivalent external load in the current operation mode; when the type of the current operation mode is the braking stage, multiply the difference between the equivalent wind load and the braking torque in the current operation mode by the gear ratio to obtain the equivalent external load in the current operation mode.

[0094] Specifically, when the type of the current operation mode is the starting process, the running stage or the braking process, the calculation method of the equivalent external load can be shown as the following formula:

[0095] ;

[0096] When the type of the current operation mode is the braking stage, the calculation method of the equivalent external load can be shown as the following formula:

[0097] ;

[0098] Wherein, M driver is the equivalent external load, M wind is the equivalent wind load, M brake is the braking torque, Z1 is the number of teeth of the pinion, and Z2 is the number of teeth of the large gear.

[0099] In this embodiment, at each current detection time point, the equivalent external load in the current operation mode can be stored for calculating the equivalent load. The storage form of the data is not limited in this embodiment and can be determined based on the actual application.

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

[0101] This embodiment can determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operation modes within the total operation time, and perform performance detection based on the equivalent load.

[0102] This embodiment does not limit the specific method for determining the equivalent load of the yaw drive assembly based on the equivalent external loads in all operation modes within the total operation time. Generally, in combination with the equivalent torque in ISO6336-6 (Calculation Standard for Load Carrying Capacity of Spur and Helical Gears), the equivalent tooth surface pitting fatigue and tooth root bending fatigue loads in the starting process and the braking process can be obtained.

[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 loads in each operation mode into the fatigue load model, and obtain the equivalent load of the yaw drive assembly output by the fatigue load model;

[0104] The expression of the fatigue load model is:

[0105] ;

[0106] In the formula, M driver-eq is the equivalent load, j1, j2, j3, and j4 are the number of operations during the startup process, operation stage, braking process, and braking stage within the total operating time in sequence, M drivera-i1 and t r-i1 are the equivalent external load and the single - operation time of the i1 - th startup process respectively, M driverb-i2 and t r-i2 are the equivalent external load and the single - operation time of the i2 - th operation stage respectively, M driverc-i3 and t r-i3 are the equivalent external load and the single - operation time of the i3 - th braking process respectively, M driverd-i4 and t r-i4 are the equivalent external load and the single - operation time of the i4 - th braking stage respectively, p is the slope of the Woehler damage line (fatigue curve) of the material, generally 6.61 for tooth - surface fatigue and 8.738 for tooth - root fatigue.

[0107] Since there can 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. This embodiment can store the equivalent external load for calculating the equivalent load at each detection time point.

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

[0109] This embodiment does not limit the specific method of performing performance detection based on the equivalent load. Generally, the equivalent load can be input into the yaw drive component checking 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, it is determined that the yaw drive component passes the performance detection.

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

[0111] In this embodiment, it is possible to determine whether the safety factor value meets the preset standard, such as the verification result of the yaw drive assembly in IEC61400-1 (International Standard Wind Power Generation Design Requirements). If it meets, it can be considered that the yaw drive assembly operates stably and passes the performance test; if it does not meet, it can be considered that there is a problem with the yaw drive assembly, and staff can be arranged to conduct on-site inspections based on the actual situation.

[0112] Based on the above embodiment, in the process of calculating the load of the yaw drive assembly, the method of the present invention takes into account the change of the braking torque during the yaw start and stop processes, making the obtained load more accurate, thereby improving the performance detection result of the yaw drive assembly and enabling the yaw system of the wind turbine to operate stably.

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

[0114] A first module 100, configured to determine the current operating mode of the yaw drive assembly at the current detection time point; the types of operating modes include: start-up process, running stage, braking process, and braking stage;

[0115] A second module 200, configured to obtain the running time in the current operating mode, obtain the wind speed data at the running time, and determine the equivalent wind load of the yaw drive assembly based on the wind speed data;

[0116] A third module 300, configured 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, configured to 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;

[0118] A fifth module 500, configured to determine the equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes during the total running time, and perform performance detection based on the equivalent load.

[0119] Based on the above embodiment, in the process of calculating the load of the yaw drive assembly, the method of the present invention takes into account the change of the braking torque during the yaw start and stop processes, making the obtained load more accurate, thereby improving the performance detection result 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 forms include: hydraulic braking, mechanical braking, and mechanical-hydraulic hybrid braking;

[0122] The second unit is used to determine the cumulative running time of all start-up processes, running phases, and braking processes during the total running time, and determine the friction coefficient in the power form based on the cumulative running time;

[0123] The third unit is used to determine the braking force and effective braking radius of a single brake in 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 sub-unit is used to determine the critical distance of the relative movement between the friction plate and the brake disc when the friction coefficient reaches the stable friction coefficient range;

[0127] The second sub-unit is used to, when the relative movement distance between the friction plate and the brake disc is within zero to the critical distance, determine the product of the cumulative running time and the friction coefficient in the initial state as the value of the friction coefficient;

[0128] The third sub-unit is used to, when the relative movement distance between the friction plate and the brake disc is greater than the critical distance, determine the value of the friction coefficient from within the stable friction coefficient range.

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

[0130] The fifth unit is used to determine the number of teeth of the pinion 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 pinion to the number of teeth of the large gear as the gear ratio;

[0131] The sixth unit is used to determine the equivalent wind load in the current operating mode based on the wind speed in the wind area of the operating area;

[0132] The seventh unit is used to, if the type of the current operating mode is a start-up process, a running phase, or a braking process, multiply 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] The eighth unit is configured to multiply 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 when the type of the current operating mode is the braking phase.

[0134] The ninth unit is configured to store the equivalent external load in the current operating mode at each of the current detection time points.

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

[0136] The fourth sub-unit is configured to divide the operating area wind zone into multiple sub-wind zones based on the extreme wind speed in the operating area wind zone.

[0137] The fifth sub-unit is configured to determine the equivalent wind speed of the operating area wind zone based on the wind speeds in the respective 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] The tenth unit is configured to obtain the number of times of operation of each type of operating mode during the total operation time, and input the number of times of operation and the equivalent external load in each operating mode into the fatigue load model to 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] In the formula, M driver-eq is the equivalent load, j1, j2, j3, and j4 are the number of times of operation during the start-up process, operation phase, braking process, and braking phase during the total operation time in sequence, M drivera-i1 and tr-i1 are the equivalent external load and the single operation time of the i1th start-up process respectively, M driverb-i2 and t r-i2 are the equivalent external load and the single operation time of the i2th operation phase respectively, M driverc-i3 and t r-i3 are the equivalent external load and the single operation time of the i3th braking process respectively, M driverd-i4 and t r-i4 are the equivalent external load and the single operation time of the i4th braking phase respectively, and p is the slope of the material Woehler damage line.

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

[0144] The eleventh unit is configured to input the equivalent load into the yaw drive assembly checking system to obtain the safety factor value of the output yaw drive assembly;

[0145] The twelfth unit is configured to determine whether the safety factor value meets a preset standard; if so, it is determined that the yaw drive assembly passes 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. Among them, the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided by the above embodiments can be implemented. Of course, the device may further include various necessary network interfaces, power supplies, and other components, etc.

[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 a terminal or a processor, the method provided by the embodiments of the present invention can be implemented; the storage medium may include: various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0148] In this article, relational terms such as first and second are only used 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

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; Determine an 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; Wherein, 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.

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 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.

5. 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: ； In the formula, M driver-eq is the equivalent load, j 1. j 2. j 3 and j 4 are the operation times of the starting process, the operation phase, the braking process and the braking phase in the total operation time, respectively. M drivera-i1 and t r-i1 Respectively i The equivalent external load and single running time of a startup process, M driverb-i2 and t r-i2 Respectively i The equivalent external load and single operation time of the two operation stages, M driverc-i3 and t r-i3 Respectively i The equivalent external load and single running time of the three braking processes, M driverd-i4 and t r-i4 Respectively i The equivalent external load and single running time of the 4 braking stages, p is the slope of the Woehler damage line of the material.

6. 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.

7. 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; A fifth module is used to determine an equivalent load of the yaw drive assembly based on the equivalent external loads in all operating modes within a total operating time, and perform performance detection based on the equivalent load; Wherein, 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.

8. 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 6 when executing the computer program.

9. 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 6 is implemented.

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