Load calibration method of transmission chain, controller and wind generating set

Abstract

The invention provides a load calibration method of a transmission chain, a controller and a wind generating set. The load calibration method comprises the steps that yaw control and / or variable pitch control are / is conducted on the wind generating set, so that the wind generating set generates vortex-induced vibration; when the wind generating set generates vortex-induced vibration, a first load at a preset position on a transmission chain is obtained; acquiring a detection value corresponding to the strain of the preset position under the first load; and according to the first load and the detection value, obtaining a calibration relationship between the first load at the preset position on the transmission chain and the detection value. According to the load calibration method disclosed by the embodiment of the invention, the load of the transmission chain can be accurately calibrated.

Description

Technical Field

[0001] The present application relates to the field of wind power, and more specifically, to a method for calibrating the load of a drive train, a controller, and a wind turbine generator set. Background Art

[0002] With the development of wind turbine generator sets (referred to as wind turbines, turbines, or generator sets for short) towards large-scale, the load of the drive train of the wind turbine has received increasing attention. There may be deviations in the load during the design process of the generator set, and it is necessary to determine the accuracy of the design model through measured loads.

[0003] Common load calibration methods include using the gravitational moment of the blade to rotate the blade under low wind conditions to obtain detection signals, establishing a corresponding functional relationship between the known gravitational moment and the detection signals, and obtaining the calibration relationship.

[0004] In addition, the weight of the nacelle of the wind turbine can be used to obtain the load signal response of the tower of the generator set through the yaw action, thereby establishing a functional calibration relationship between the measurement signal and the tower load.

[0005] For a wind turbine generator set whose drive train is mainly of a cylindrical structure, generally, a part with a relatively regular shape is selected to paste strain gauges, and then the load calibration is carried out by the bypass calibration method.

[0006] However, the current load calibration methods can meet the requirements of load calibration for blades, towers, and main bearings. However, at the same time, with the changes in the generator set, the increase in stiffness, and the decrease in the signal-to-noise ratio, the existing load calibration methods are not stable enough to accurately calibrate the load of the drive train. Especially when calibrating the load of the gearbox located at the rear end of the drive train, due to its irregular shape, it is very difficult to accurately calibrate it with traditional load calibration methods, and it is necessary to develop a load calibration method to obtain accurate drive train load data.

[0007] The above information is only presented as background information, but it does not mean that all of the above information constitutes the prior art of the present disclosure. Summary of the Invention

[0008] In order to solve at least one of the above technical problems, the present disclosure provides a method for calibrating the load of a drive train, a controller, and a wind turbine generator set.

[0009] One of the purposes of the present disclosure is to provide a load calibration method capable of calibrating the load of a drive train.

[0010] According to a first aspect of the present disclosure, there is provided a method for calibrating the load of a drive train of a wind turbine, the load calibration method comprising: performing yaw control and / or pitch control on the wind turbine to cause the wind turbine to generate vortex-induced vibration; during the generation of vortex-induced vibration of the wind turbine, obtaining a first load at a predetermined position on the drive train; obtaining a detection value corresponding to the strain at the predetermined position under the first load; and obtaining a calibration relationship between the first load and the detection value at the predetermined position on the drive train according to the first load and the detection value.

[0011] According to an embodiment of the present disclosure, the step of obtaining the first load at the predetermined position on the drive train during the generation of vortex-induced vibration of the wind turbine may include: during the generation of vortex-induced vibration of the wind turbine, obtaining a second load at the blade root of the wind turbine; and obtaining the first load at the predetermined position on the drive train according to the second load.

[0012] According to an embodiment of the present disclosure, the step of obtaining the first load at the predetermined position on the drive train according to the second load may include: calculating the first load at the predetermined position on the drive train according to the second load and an equivalent beam support moment distribution model of the drive train.

[0013] The predetermined position is the input shaft of the gearbox of the drive train. The step of calculating the first load at the predetermined position on the drive train according to the second load and the equivalent beam support moment distribution model of the drive train may include: calculating the moment received by the impeller of the wind turbine according to the second load; and calculating the first load at the predetermined position on the drive train according to the moment, the distance from the rear bearing to the front bearing of the drive train, the distance from the torque arm of the gearbox to the rear bearing, the equivalent mass of the impeller, the equivalent mass of the main shaft of the drive train, and the equivalent total mass of the generator and the gearbox of the wind turbine, wherein the blade root is connected to the impeller, the impeller is connected to one side of the front bearing, the other side of the front bearing is connected to one end of the main shaft, the other end of the main shaft is connected to one side of the rear bearing, and the other side of the rear bearing is connected to the input shaft of the gearbox.

[0014] According to an embodiment of the present disclosure, the first load may be calculated according to the loads at other positions of the drive train except the predetermined position and the equivalent beam support moment distribution model of the drive train.

[0015] According to an embodiment of the present disclosure, the step of obtaining the calibration relationship between the first load and the detection value at the predetermined position on the drive train according to the first load and the detection value may include: fitting the first load and the detection value to obtain the calibration relationship.

[0016] According to an embodiment of the present disclosure, the steps of performing yaw control and / or pitch control on a wind turbine to cause the wind turbine to generate vortex-induced vibration may include: performing yaw control on the wind turbine to adjust the wind-facing angle of the wind turbine to a first yaw angle range corresponding to vortex-induced vibration; and / or, performing pitch control on the blades of the wind turbine to pitch the blades of the wind turbine to a first pitch angle range corresponding to vortex-induced vibration.

[0017] According to an embodiment of the present disclosure, the first yaw angle range may include greater than or equal to 30° and less than or equal to 140°, or greater than or equal to 210° and less than or equal to 330°; wherein, the step of performing pitch control on the blades of the wind turbine to pitch the blades of the wind turbine to a first pitch angle range corresponding to vortex-induced vibration may include: controlling the blades of the wind turbine to feather.

[0018] According to an embodiment of the present disclosure, the load calibration method may be performed when the wind speed is within the vortex-induced vibration wind speed range, wherein the vortex-induced vibration wind speed range may be determined in advance according to the span length of the blades of the wind turbine and the frequency of vortex-induced vibration.

[0019] According to an embodiment of the present disclosure, the step of obtaining the second load at the blade root of the wind turbine may include: measuring the second load at the blade root by using a calibrated load sensor that measures the load at the blade root of the wind turbine.

[0020] According to an embodiment of the present disclosure, the step of obtaining a detection value corresponding to the strain at a predetermined position under a first load may include: obtaining the detection value through a strain sensor provided between the gearbox of the transmission chain and the rear bearing of the transmission chain.

[0021] According to a second aspect of the present disclosure, there is provided a computer-readable storage medium, which may store a program or instructions, and when the program or instructions are run by a processor, the processor is caused to execute the above load calibration method.

[0022] According to a third aspect of the present disclosure, there is provided a controller for a wind turbine, the controller may include a processor and a memory, and the memory stores a program or instructions, and when the program or instructions are run by the processor, the processor is caused to execute the above load calibration method.

[0023] According to a fourth aspect of the present disclosure, there is provided a wind turbine, which includes the above controller.

[0024] The load calibration method according to an embodiment of the present disclosure can obtain the actual bending moment input load of the transmission chain, thereby determining the accuracy of the gearbox load design.

[0025] The load calibration method according to an embodiment of the present disclosure can determine the load distribution of the unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram showing a gearbox transmission chain according to an embodiment of the present disclosure;

[0027] Figure 2 is a flowchart showing a load calibration method according to a first embodiment of the present disclosure;

[0028] Figure 3 is a flowchart showing a method for obtaining a first load according to an embodiment of the present disclosure;

[0029] Figure 4 is a flowchart showing a load loading process according to an embodiment of the present disclosure;

[0030] Figure 5 is an equivalent beam support moment distribution model showing an embodiment of the present disclosure;

[0031] Figure 6 is a graph showing a detected value and a first load according to an embodiment of the present disclosure.

[0032] Hereinafter, the present disclosure will be described in detail with reference to the drawings. Throughout the drawings, the same or similar elements will be denoted by the same or similar reference numerals. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following detailed description is used to help obtain a comprehensive understanding of the methods, devices, and / or systems described herein. However, the order of operations described herein is merely an example and is not limited to those set forth herein. Rather, equivalent substitutions or changes can be made, except for operations that must occur or be performed in a specific order. In addition, descriptions of well-known content in the art will be omitted or simplified for greater clarity and conciseness.

[0034] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure pertains after understanding the present disclosure. Unless explicitly defined as such herein, terms (such as those defined in a general dictionary) should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and should not be idealized or interpreted too formally.

[0035] Unless otherwise specified, the same reference numerals generally refer to the same elements (e.g., components, steps, and methods). Reference numerals that have appeared in previous embodiments and reappear in subsequent embodiments may be omitted. Additionally, the technical features described in different or the same embodiments can be combined in any manner, as long as the combined embodiment or technical solution is complete and can solve the technical problems of this application or achieve the technical effects described or not described in this disclosure but determinable based on the above complete technical solution.

[0036] Figure 1 is a schematic structural view of a transmission chain including a gearbox according to an embodiment of the present disclosure.

[0037] The blade root is generally connected to the impeller of the wind turbine generator set. Referring to Figure 1 , one side (left side) of the front bearing 1 is connected to the impeller, the other side (right side) of the front bearing 1 is connected to one end of the main shaft 10, the other end of the main shaft 10 is connected to one side (left side) of the rear bearing 11, and the other side of the rear bearing 11 is connected to the input shaft 20 of the gearbox 30. The gearbox 30 is installed on the pedestal of the wind turbine generator set. Elastic support members 40 may be provided on both sides of the gearbox 30, and the elastic support members 40 can play roles such as buffering and vibration reduction. Additionally, the gearbox 30 is also connected to the generator.

[0038] The above transmission chain structure is merely the transmission chain structure of a semi-direct drive unit. With different types of wind turbine generator sets, the transmission chain may have different structures. Although not shown, the elastic support member 40 may include an elastic support frame torsion arm (i.e., Figure 5 the torsion arm shown).

[0039] As described above, it is relatively difficult to calibrate the load of the gearbox located at the rear end of the transmission chain, mainly because of the irregular shape, it is difficult to find a suitable position to install the load application component (e.g., applying load through a jack, etc.). Therefore, it is very difficult to accurately calibrate it with traditional load calibration methods.

[0040] According to the load calibration method of an embodiment of the present disclosure, the vortex-induced vibration of the wind turbine generator set is used as an excitation to apply a load to the shafting or gearbox of the wind turbine generator set, obtain the detection value detected by the load sensor at the corresponding position and the load at the corresponding position, and determine the load distribution of the unit by determining the calibration relationship between the two. Here, the vortex-induced vibration means that when a fluid (wind) flows through the surface of a slender cylindrical shape (e.g., a tower), due to the instability of the boundary layer, a pair of anti-symmetric vortices will break away downstream. The generation and release of the vortices are directly related to the periodic change of the excitation on the surface of the tower. When the frequency of the excitation is close to the natural frequency of the tower, the vibration of the tower is amplified, and the vibration simultaneously reversely affects the flow field and intensifies the excitation, forming a large-amplitude vibration. Such a fluid-structure interaction phenomenon is called vortex-induced vibration. The following combinesFigures 2 to 5 Describe in detail the load calibration method of the present disclosure.

[0041] Figure 2 is a flowchart showing the load calibration method according to the first embodiment of the present disclosure, Figure 3 is a flowchart showing the acquisition method of the first load according to the embodiment of the present disclosure; Figure 4 is a flowchart showing the load loading process according to the embodiment of the present disclosure; Figure 5 is a diagram showing the equivalent beam support moment distribution model according to the embodiment of the present disclosure.

[0042] Referring to Figure 2 , the load calibration method of the drive train of a wind turbine according to the first embodiment of the present disclosure may include steps S210, S220, S230, and S240.

[0043] In step S210, perform yaw control and / or pitch control on the wind turbine to cause the wind turbine to generate vortex-induced vibration.

[0044] As an example, the unit can be controlled to adjust the three blades to a pitch angle range that is prone to induce vortex-induced vibration. Generally, it is appropriate to set the pitch angles of the three blades to about 90°, that is, the three blades can be feathered to a safe position.

[0045] In addition to pitching, vortex-induced vibration of the wind turbine can also be induced by yawing. The windward angle can be adjusted to be within a yaw angle range that is prone to induce vortex-induced vibration. Generally, the yaw angle range can be greater than or equal to 30° and less than or equal to 140°, or greater than or equal to 210° and less than or equal to 330°.

[0046] Referring to Figure 3 , step S210 of performing yaw control and / or pitch control on the wind turbine to cause the wind turbine to generate vortex-induced vibration may include steps S211 and S212.

[0047] In step S211, perform yaw control on the wind turbine to adjust the windward angle of the wind turbine to be within a first yaw angle range corresponding to vortex-induced vibration.

[0048] In step S212, perform pitch control on the blades of the wind turbine to pitch the blades of the wind turbine to be within a first pitch angle range corresponding to vortex-induced vibration.

[0049] As an example, the yaw angle and the pitch angle can be detected, and corresponding control can be executed in response to the yaw angle and the pitch angle not being within the angle range corresponding to vortex-induced vibration.

[0050] For example, when the yaw angle is within the first yaw angle range, pitch control can be performed only on the wind turbine generator; when the pitch angle is within the first pitch angle range, yaw control can be performed only on the wind turbine generator. In addition, when the yaw angle is not within the first yaw angle range and the pitch angle is not within the first pitch angle range, yaw control can be performed on the wind turbine generator first, and then pitch control can be performed on the wind turbine generator. If vortex-induced vibration has occurred in the wind turbine generator during the yaw control process, pitch control on the wind turbine generator can be stopped. In addition, yaw is more likely to induce vortex-induced vibration than pitch. Therefore, yaw control is performed first, and then it is determined whether vortex-induced vibration has occurred before performing yaw control again. In this way, it is easier to quickly induce vortex-induced vibration.

[0051] Whether vortex-induced vibration occurs in the wind turbine generator can be judged according to the corresponding vibration sensor. However, this is only an example, and it can also be judged by other means. For example, it can be judged whether vortex-induced vibration occurs according to whether the relevant flag bit is set.

[0052] The first yaw angle range can include greater than or equal to 30° and less than or equal to 140°, or greater than or equal to 210° and less than or equal to 330°. That is to say, yaw control can be performed on the wind turbine generator to adjust the wind-facing angle of the wind turbine generator to greater than or equal to 30° and less than or equal to 140°, or greater than or equal to 210° and less than or equal to 330°.

[0053] The step of performing pitch control on the blades of the wind turbine generator to pitch the blades of the wind turbine generator to the first pitch angle range corresponding to vortex-induced vibration may include: controlling the blades of the wind turbine generator to feather. For example, the three blades of the wind turbine generator can be controlled to feather simultaneously.

[0054] To ensure the safety of the unit, load calibration can be performed by inducing vortex-induced vibration as an excitation when the wind speed is within a predetermined wind speed range. That is to say, the load calibration method according to the embodiments of the present disclosure can be performed when the wind speed is within the vortex-induced vibration wind speed range. The magnitude of the wind speed can be measured by an anemometer. As an example, the vortex-induced vibration wind speed range of the blades can be calculated according to the parameters of the blades. The vortex-induced vibration wind speed range can be determined in advance according to the span length of the blades of the wind turbine generator and the frequency of vortex-induced vibration, etc.

[0055] As an example, the range of the wind speed for vortex-induced vibration can be: 6 m / s ≤ V1 ≤ 10 m / s. From experience, it is known that the blades can be excited to undergo vortex-induced vibration under a certain yaw alignment state. The frequency f of the vortex-induced vibration can be expressed by the Strouhal number: f = St * V / D. Wherein, St is a function of the cross-sectional shape of the component and the Reynolds number. In the present disclosure, St can be an empirical value (St can take a constant), V is the velocity perpendicular to the axis of the component (i.e., the range of the wind speed for vortex-induced vibration), and D is the diameter of the cylinder or other characteristic length of the cylinder (i.e., the length of the blade in the spanwise direction). Therefore, the range of the wind speed for vortex-induced vibration can be calculated based on the spanwise length of the blade and the frequency of the vortex-induced vibration.

[0056] The range of the wind speed for vortex-induced vibration, the range of the first pitch angle, and the range of the first yaw angle can be adjusted adaptively. That is to say, when the range of the wind speed for vortex-induced vibration changes, the range of the first pitch angle and the range of the first yaw angle can also be adjusted adaptively.

[0057] In step S220, during the generation of vortex-induced vibration in the wind turbine generator set, a first load at a predetermined position on the drive train is obtained.

[0058] The predetermined position on the drive train can be any position on the drive train as Figure 1 shown. As an example, the predetermined position on the drive train can be the main shaft 10, the rear bearing 11, the input shaft of the gearbox, and so on. Thus, the load calibration method according to the embodiments of the present disclosure can determine the load distribution at any position on the drive train.

[0059] Referring to Figure 3 , in step S220 of obtaining the first load at a predetermined position on the drive train during the generation of vortex-induced vibration in the wind turbine generator set, it may include step S221 and step S222.

[0060] In step S221, during the generation of vortex-induced vibration in the wind turbine generator set, a second load at the blade root of the wind turbine generator set is obtained.

[0061] The second load at the blade root can be detected by a load sensor installed at the blade root, and the load sensor can be installed on the inner surface of the blade root. The installation position of the load sensor is not specifically limited. Generally, load sensors are provided at the blade roots of wind turbine generators to monitor load changes. Calculating the load at a predetermined position on the drive train through the load sensor at the blade root does not require additional installation of a load sensor, and the installation of the load sensor at the blade root is relatively convenient, and the detection accuracy is also relatively high. In addition, the load sensor at the blade root can be adjusted by adjusting the torque of the wind turbine generator, etc., the application of the load is relatively convenient, and it can be calibrated by existing calibration methods. The steps of obtaining the second load at the blade root of the wind turbine generator include: using a calibrated load sensor that measures the load at the blade root of the wind turbine generator to measure the second load at the blade root.

[0062] In step S222, the first load at a predetermined position on the drive train is obtained according to the second load. The first load at a predetermined position on the drive train can be calculated according to the second load.

[0063] The steps of obtaining the first load at a predetermined position on the drive train according to the second load may include: calculating the first load at a predetermined position on the drive train according to the second load and the equivalent beam support moment distribution model of the drive train.

[0064] When vortex-induced vibration occurs, the load data of the blade (the load at the blade root) can be recorded. At this time, the bending moment of the impeller, that is, the bending moment received by the main shaft, is all transmitted to the main bearing by the bending moment received by the blade root. The loads at different positions on the main bearing are calculated through the bearing sharing principle. At this time, it can be divided into two cases. From a design perspective, all bending moments will be borne by the front bearing and the rear bearing. Then, the data of the input shaft of the gearbox will be very small at this time, which is in line with the design principle. If the sensor value of the input shaft of the gearbox is relatively large at this time, then the bending moment load cannot be ignored. The calibration relationship here can distribute the bending moment based on the beam support principle, and the specific distribution relationship is as Figure 5 shown.

[0065] Refer to Figure 5 , the equivalent mass center of the impeller, the equivalent mass center of the main shaft system (i.e., the main shaft), the equivalent mass center of the generator and the gearbox can all be determined in advance according to the structure of the drive train.

[0066] Refer to Figure 5 , the predetermined position can be the input shaft of the gearbox of the drive train. The steps of calculating the first load at a predetermined position on the drive train according to the second load and the equivalent beam support moment distribution model of the drive train may include: calculating the bending moment received by the impeller of the wind turbine generator according to the second load. As an example, the received bending moment can be calculated in combination with the impeller azimuth angle and the second load.

[0067] For example, it can be calculated by the following formula (1):

[0068]

[0069] In formula (1), My is the bending moment received by the impeller, and M1, M2, and M3 are the bending moments in the y direction (i.e., the second load) of the three blades respectively. is the azimuth angle of the impeller. The y direction here is the direction perpendicular to the axis of the main shaft.

[0070] The predetermined position can be the input shaft of the gearbox of the transmission chain. According to the second load and the equivalent beam support bending moment distribution model of the transmission chain, the steps of calculating the first load at the predetermined position on the transmission chain further include calculating the first load at the predetermined position on the transmission chain according to the bending moment received by the impeller, the distance L2 from the rear bearing to the front bearing of the transmission chain, the distance L3 from the torque arm of the gearbox to the rear bearing, the equivalent mass of the impeller, the equivalent mass of the main shaft of the transmission chain, and the equivalent total mass of the generator and the gearbox of the wind turbine generator.

[0071] Refer to Figure 5 , and the model of the transmission chain here can correspond to Figure 1 the transmission chain structure shown. That is to say, the other side of the front bearing is connected to one end of the main shaft, the other end of the main shaft is connected to one side of the rear bearing, and the other side of the rear bearing is connected to the input shaft of the gearbox.

[0072] As an example, the steps of calculating the first load at the predetermined position on the transmission chain according to the bending moment received by the impeller, the distance L2 from the rear bearing to the front bearing of the transmission chain, the distance L3 from the torque arm of the gearbox to the rear bearing, the equivalent mass of the impeller, the equivalent mass of the main shaft of the transmission chain, and the equivalent total mass of the generator and the gearbox of the wind turbine generator may include: determining the product of the sum of the equivalent mass of the impeller, the equivalent mass of the main shaft of the transmission chain, and the equivalent total mass and the sum of the distance L2 from the rear bearing to the front bearing of the transmission chain and the distance L3 from the torque arm to the rear bearing as the second bending moment; and determining the sum of the second bending moment and the bending moment received by the impeller as the first load. The bending moment received by the impeller is a fluctuating moment, and the direction is changing. It can be stipulated that the counterclockwise moment is positive and the clockwise moment is negative.

[0073] It should be noted that in addition to Figure 5 the equivalent beam support bending moment distribution model shown, other equivalent beam support bending moment distribution models can also be adopted. For example, the equivalent beam support bending moment distribution model may be different with different selected positions.

[0074] The first load can also be calculated according to the loads at other positions of the transmission chain except the predetermined position and the equivalent beam support bending moment distribution model of the transmission chain. The other positions here can preferably be positions convenient for installing strain gauges. For example, the loads at other positions can be the loads at the blade root as described above, the loads at the main shaft position, the loads at the front bearing position, and so on.

[0075] Referring to Figure 2 , in step S230, a detection value corresponding to the strain at the predetermined position under the first load is obtained.

[0076] When applying the load by inducing vortex-induced vibration, a detection value corresponding to the strain at the above-mentioned predetermined position under the first load can be obtained. As an example, the above-mentioned detection value can be obtained through a strain gauge (strain sensor), and the above-mentioned detection value can be a detected current value, a detected voltage value, and so on.

[0077] The step of obtaining a detection value corresponding to the strain at the predetermined position under the first load may include: obtaining the detection value through a strain sensor provided between the gearbox of the transmission chain and the rear bearing of the transmission chain.

[0078] In one example, the above-mentioned strain gauge or strain sensor can be arranged at the above-mentioned predetermined position. For example, the strain gauge can be attached to the outer surface of the main shaft 10, the outer surface of the rear bearing 11, between the input shaft of the gearbox and the rear bearing, and so on. In addition to the strain gauge, the strain at the first load can also be detected by other strain sensors.

[0079] In step S240, a calibration relationship between the first load and the detection value at the predetermined position on the transmission chain is obtained according to the first load and the detection value. The calibration relationship here can be a functional relationship. As an example, the functional relationship here can be a linear functional relationship.

[0080] The step of obtaining a calibration relationship between the first load and the detection value at the predetermined position on the transmission chain according to the first load and the detection value includes: fitting the first load and the detection value to obtain the calibration relationship (to be described in detail later with reference to Figure 6 ). The curve fitting here can be polynomial fitting.

[0081] Figure 6 is a graph showing the detection value and the first load according to an embodiment of the present disclosure.

[0082] Taking the input shaft of the gearbox as an example of the predetermined position on the transmission chain, referring to Figure 6 , the detection value (detected voltage) at the position of the input shaft can be as Figure 6As shown by the curve G11, the first load at the position of the input shaft is as shown by the curve G12. Among them, the part S circled by the dashed line represents the vibration curve part in the vortex-induced vibration state with a pitch angle of 90°. The detection value can be recorded by selecting the peak value and the fluctuation value of the curve G11, and the peak value and the trough value at the corresponding moment of the curve G12 can be selected to record the first load value. Thus, a calibration function reflecting the relationship between the two can be obtained by fitting based on the recorded detection value and the corresponding first load value.

[0083] Referring to Figure 6 , for the curve G11, the voltage values of six points (i.e., A, B, C, D, E, and F) can be selected as the detection values, and for the curve G12, the load values of six points at the corresponding moments can be selected as the first load, so as to obtain six groups of detection value-load value data. The above-mentioned calibration relationship can be obtained by fitting according to the six groups of detection value-load value data obtained.

[0084] As an example, the load at any position (for example, the load at the main shaft position) can also be calculated. Thus, according to the load calibration method of the embodiments of the present disclosure, the load distribution at any position on the transmission chain can be determined.

[0085] The load calibration method according to the embodiments of the present disclosure has been described above with reference to the drawings. However, it should be understood that: each step shown in the drawings can be implemented by software, hardware, firmware, or any combination of the above items, and can correspond to pure software code, and can also correspond to a module combining software and hardware. As an example, a computer-readable storage medium stores a program or instruction corresponding to the above steps. When the program or instruction is run by a processor, the processor is prompted to execute the above load calibration method.

[0086] The instructions stored in the above computer-readable storage medium can run in an environment deployed in computer devices such as clients, hosts, proxy devices, servers, etc. It should be noted that the instructions can also be used to execute additional steps other than the above steps or perform more specific processing when executing the above steps. The content of these additional steps and further processing has been mentioned in the description of the related methods with reference to the drawings, so it will not be repeated here to avoid repetition.

[0087] It should be noted that the load calibration method according to the embodiments of the present disclosure can fully rely on the running of computer programs or instructions to achieve the corresponding functions, that is, each device corresponds to each step in the functional architecture of the computer program, so that the entire system is called through a special software package (for example, the lib library) to achieve the corresponding functions.

[0088] The present disclosure may provide a controller for a wind turbine, the controller may include a processor and a memory, and the memory stores programs or instructions. When the programs or instructions are run by the processor, the processor is caused to execute the above-mentioned load calibration method.

[0089] On the other hand, when the controller of the present disclosure is implemented in software, firmware, middleware or microcode, the program code or code segment for performing corresponding operations may be stored in a computer-readable medium such as a storage medium, so that at least one processor or at least one computing device can execute the corresponding operations by reading and running the corresponding program code or code segment. Additionally, when the computer-readable medium or storage medium is executed by the processor, the processor is caused to execute the above-mentioned load calibration method.

[0090] For example, according to an exemplary embodiment of the present disclosure, a computer device including a readable medium storing computer program instructions may be provided, wherein when the instructions are run by at least one computing device, the at least one computing device is caused to execute at least one of the above steps.

[0091] According to an embodiment of the present disclosure, a wind turbine may further be provided, and the wind turbine may include the above-mentioned controller.

[0092] The load calibration method according to the embodiment of the present disclosure can accurately calibrate the load at a predetermined position such as the input shaft of the gearbox.

[0093] The load calibration method according to the embodiment of the present disclosure utilizes vortex-induced vibration to apply a load, which can conveniently apply the load and facilitate load calibration.

[0094] The load calibration method according to the embodiment of the present disclosure can obtain the actual bending moment input load of the transmission chain, thereby determining the accuracy of the gearbox load design.

[0095] The load calibration method according to the embodiment of the present disclosure can determine the load distribution of the unit.

Claims

1. A method for calibrating the load of a drive chain of a wind turbine, characterized in that, The load calibration method includes: Performing yaw control and / or pitch control on the wind turbine to cause the wind turbine to generate vortex-induced vibration; During the period when the wind turbine generates vortex-induced vibration, obtaining a first load at a predetermined position on the drive train; Obtaining a detection value corresponding to the strain at the predetermined position under the first load; Obtaining a calibration relationship between the first load and the detection value at the predetermined position on the drive train according to the first load and the detection value.

2. The load calibration method for the drive train of a wind turbine according to claim 1, characterized in that, The step of obtaining a first load at a predetermined position on the drive train during the period when the wind turbine generates vortex-induced vibration includes: During the period when the wind turbine generates vortex-induced vibration, obtaining a second load at the blade root of the wind turbine; Obtaining the first load at the predetermined position on the drive train according to the second load.

3. The load calibration method for the drive train of a wind turbine according to claim 2, characterized in that, The step of obtaining the first load at the predetermined position on the drive train according to the second load includes: Calculating the first load at the predetermined position on the drive train according to the second load and the equivalent beam support moment distribution model of the drive train.

4. The method for calibrating the load of the drive train of a wind turbine according to claim 3, characterized in that, The predetermined position is the input shaft of the gearbox of the drive train. The step of calculating the first load at the predetermined position on the drive train according to the second load and the equivalent beam support moment distribution model of the drive train includes: Calculating the moment received by the impeller of the wind turbine according to the second load; Calculating the first load at the predetermined position on the drive train according to the moment, the distance from the rear bearing to the front bearing of the drive train, the distance from the torque arm of the gearbox to the rear bearing, the equivalent mass of the impeller, the equivalent mass of the main shaft of the drive train, and the equivalent total mass of the generator and the gearbox of the wind turbine. Wherein, the blade root is connected to the impeller, one side of the impeller is connected to the front bearing, the other side of the front bearing is connected to one end of the main shaft, the other end of the main shaft is connected to one side of the rear bearing, and the other side of the rear bearing is connected to the input shaft of the gearbox.

5. The load calibration method for the drive train of a wind turbine according to claim 1, characterized in that, The first load is calculated according to the load at other positions of the drive train except the predetermined position and the equivalent beam support moment distribution model of the drive train.

6. The load calibration method for the drive train of a wind turbine according to any one of claims 1 to 5, characterized in that, The step of obtaining a calibration relationship between the first load and the detection value at the predetermined position on the drive train according to the first load and the detection value includes: fitting the first load and the detection value to obtain the calibration relationship.

7. The load calibration method for the drive train of a wind turbine according to claim 1, characterized in that The step of performing yaw control and / or pitch control on the wind turbine to cause the wind turbine to generate vortex-induced vibration includes: Performing yaw control on the wind turbine to adjust the wind-facing angle of the wind turbine to be within a first yaw angle range corresponding to vortex-induced vibration; And / or Performing pitch control on the blades of the wind turbine to pitch the blades of the wind turbine to be within a first pitch angle range corresponding to vortex-induced vibration.

8. The load calibration method for the drive train of a wind turbine according to claim 7, characterized in that, The first yaw angle range includes greater than or equal to 30° and less than or equal to 140°, or greater than or equal to 210° and less than or equal to 330°; Among them, the step of performing pitch control on the blades of the wind turbine to pitch the blades of the wind turbine to a first pitch angle range corresponding to vortex-induced vibration includes: controlling the blades of the wind turbine to feather.

9. The load calibration method for the drive train of a wind turbine according to claim 1, characterized in that, The load calibration method is performed when the wind speed is within the vortex-induced vibration wind speed range, where the vortex-induced vibration wind speed range is determined in advance according to the span length of the blades of the wind turbine and the frequency of vortex-induced vibration.

10. The method for calibrating the load of the drive train of a wind turbine according to claim 2, characterized in that, The step of obtaining the second load at the root of the blade of the wind turbine includes: measuring the second load at the root of the blade by using a calibrated load sensor that measures the load at the root of the blade of the wind turbine.

11. The load calibration method for the drive train of a wind turbine according to claim 1, characterized in that, The step of obtaining a detection value corresponding to the strain at the first load at the predetermined position includes: obtaining the detection value through a strain sensor provided between the gearbox of the transmission chain and the rear bearing of the transmission chain.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instruction, and when the program or instruction is run by a processor, it causes the processor to execute the load calibration method according to any one of claims 1 to 11.

13. A controller of a wind turbine generator, characterized in that, It includes a processor and a memory, the memory stores a program or instruction, and when the program or instruction is run by the processor, it causes the processor to execute the load calibration method according to any one of claims 1 to 11.

14. A wind power generating set, characterized in that, It includes a controller according to claim 13.

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