Wind power blade fatigue test method, device and equipment and storage medium

Abstract

The invention discloses a wind power blade fatigue test method, device and equipment and a storage medium, and relates to the technical field of material testing, and the method comprises the steps: obtaining a target moving track of a to-be-tested wind power blade; according to the target moving track, determining excitation force at the joint of the connecting rod mechanism and the to-be-tested wind power blade; and determining the output torque of the driving motor according to the excitation force, and controlling the driving motor to execute the output torque so as to drive the connecting rod mechanism to swing the to-be-tested wind power blade according to the target moving track. The running track of the blade is associated with the exciting force of the equipment and the output torque of the motor, and step-by-step conversion is carried out, so that the fatigue test of the wind power blade according to the set track is ensured, and the adaptability of the five-connecting-rod fatigue test equipment and the accuracy of the test result are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of material testing, and particularly to a fatigue testing method, device, equipment and storage medium for wind turbine blades. Background Art

[0002] With the continuous improvement of the requirements for blade performance in the wind power generation industry, the blades of wind turbines are developing rapidly towards the direction of large-scale. Under this background, the ground-fixed five-link fatigue testing equipment is expected to gradually become the mainstream approach in the future large blade testing field by virtue of its excellent excitation ability and comprehensive functional configuration.

[0003] However, the application of this equipment is still in its infancy, and the actual usage experience is relatively scarce. In terms of the operation control logic, the drive motor in the equipment often has difficulty driving the wind turbine blade to swing in the required manner and strength, making the movement of the blade unable to strictly follow the operation trajectory of the fatigue test task target, or only being able to perform fatigue tests according to a simple operation trajectory. As a result, it is difficult to accurately adapt to the test requirements of different specifications of large blades, and it is difficult to ensure the stability of the test process and the reliability of the test results. This has greatly restricted the full play of the effectiveness of the five-link fatigue testing equipment in large blade testing, and it is urgent for professionals in related fields to conduct in-depth research and optimization improvements to promote its better service for the development of the wind power generation industry. Summary of the Invention

[0004] The main purpose of the present application is to provide a fatigue testing method, device, equipment and storage medium for wind turbine blades, aiming to solve the technical problem of improving the effectiveness of the five-link fatigue testing equipment in blade fatigue testing.

[0005] To achieve the above object, the present application proposes a fatigue testing method for wind turbine blades. The fatigue testing method for wind turbine blades is applied to a fatigue testing equipment for wind turbine blades. The fatigue testing equipment for wind turbine blades includes a link mechanism and a drive motor connected to one end of the link mechanism. The other end of the link mechanism is connected to the wind turbine blade to be tested. The fatigue testing method for wind turbine blades includes:

[0006] Obtaining the target operation trajectory of the wind turbine blade to be tested;

[0007] Determining the excitation force at the connection between the link mechanism and the wind turbine blade to be tested according to the target operation trajectory;

[0008] Determining the output torque of the drive motor according to the excitation force, and controlling the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested according to the target operation trajectory.

[0009] In one embodiment, the other end of the linkage mechanism is connected to a blade fixture through a bearing, the blade fixture is used to clamp the wind power blade to be measured, the target operating trajectory includes the displacement and rotation angle of the wind power blade to be measured, and the excitation force includes a horizontal component force and a vertical component force;

[0010] The step of determining the excitation force at the connection between the linkage mechanism and the wind power blade to be measured according to the target operating trajectory includes:

[0011] According to the displacement, the rotation angle and a preset first relationship matrix, determine the horizontal component force and the vertical component force at the connection between the linkage mechanism and the blade fixture, wherein the first relationship matrix is used to establish the arithmetic relationship between the position and the rotation angle, and the horizontal component force and the vertical component force.

[0012] In one embodiment, before the step of determining the horizontal component force and the vertical component force at the connection between the linkage mechanism and the blade fixture according to the displacement, the rotation angle and a preset first relationship matrix, further included:

[0013] Obtain the elastic modulus of the wind power blade to be measured, as well as the moment of inertia, cross-sectional area and cross-sectional position of the wind power blade to be measured at the cross-section, wherein the cross-section is located at the position where the wind power blade to be measured is clamped by the blade fixture, and the cross-sectional position is the length from the cross-section to the fixed position of the wind power blade to be measured;

[0014] Construct the first relationship matrix according to the elastic modulus, the moment of inertia, the cross-sectional area and the cross-sectional position.

[0015] In one embodiment, the excitation force includes a horizontal component force and a vertical component force, the driving motor includes a first driving motor and a second driving motor, the output torque includes the first output torque of the first driving motor and the second output torque of the second driving motor, and the step of determining the output torque of the driving motor according to the excitation force includes:

[0016] According to the horizontal component force, the vertical component force and a preset second relationship matrix, determine the first output torque and the second output torque, wherein the second relationship matrix is used to establish the arithmetic relationship between the horizontal component force and the vertical component force, and the first output torque and the second output torque.

[0017] In one embodiment, the linkage mechanism includes a first excitation swing arm, a second excitation swing arm, a first transmission rod, and a second transmission rod. Among them, one end of the first excitation swing arm is connected to the first driving motor, and the other end of the first excitation swing arm is connected to a blade fixture through a bearing. The blade fixture is used to clamp the wind power blade to be tested. One end of the second excitation swing arm is connected to the second driving motor, and the other end of the second excitation swing arm is connected to the blade fixture through a bearing;

[0018] Before the step of determining the first output torque and the second output torque according to the horizontal component force, the vertical component force, and a preset second relationship matrix, the following steps are further included:

[0019] Obtain a first length, a second length, a third length, a fourth length, a fifth length, a first included angle, and a second included angle. Among them, the first length is the distance from the connection point of the first driving motor and the first excitation swing arm to the connection point of the first excitation swing arm and the first transmission rod; the second length is the distance from the connection point of the first excitation swing arm and the first transmission rod to the top end; the third length is the distance from the connection point of the second excitation swing arm and the second transmission rod to the top end; the fourth length is the distance from the connection point of the second driving motor and the second excitation swing arm to the connection point of the second excitation swing arm and the second transmission rod; the fifth length is the distance from the connection point of the first driving motor and the first excitation swing arm to the connection point of the second excitation swing arm and the second transmission rod; the first included angle is the included angle between the first excitation swing arm and a preset horizontal direction; the second included angle is the included angle between the second excitation swing arm and the horizontal direction;

[0020] Construct the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle.

[0021] In one embodiment, the step of constructing the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle includes:

[0022] Construct a first function and a second function respectively according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle;

[0023] Perform total differentiation on the first function and the second function respectively to obtain each differential element, and construct a candidate relationship matrix based on each differential element;

[0024] Transpose the candidate relationship matrix to obtain the second relationship matrix.

[0025] In one embodiment, an angle measurement component is arranged on the link mechanism. After the step of controlling the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested along the target operation trajectory, the following steps are further included:

[0026] Monitoring the real-time operation trajectory of the blade to be tested according to the angle measurement component, and comparing the real-time operation trajectory with the target operation trajectory;

[0027] In the case where the real-time operation trajectory does not conform to the target operation trajectory, adjusting the output torque according to the real-time operation trajectory.

[0028] In addition, to achieve the above object, the present application further provides a wind turbine blade fatigue test device. The wind turbine blade fatigue test device is applied to a wind turbine blade fatigue test equipment, and the wind turbine blade fatigue test equipment includes a link mechanism and a drive motor for driving the link mechanism to move. The wind turbine blade fatigue test device includes:

[0029] A target acquisition module for acquiring the target operation trajectory of the wind turbine blade to be tested from the fatigue test task of the wind turbine blade to be tested, wherein the wind turbine blade to be tested is connected to the top end of the link mechanism;

[0030] A first determination module for determining the excitation force at the top end according to the target operation trajectory;

[0031] A second determination module for determining the output torque of the drive motor according to the excitation force, and controlling the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested.

[0032] In addition, to achieve the above object, the present application further provides an electronic device, and the device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the wind turbine blade fatigue test method as described above.

[0033] In addition, to achieve the above object, the present application further provides a storage medium. The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the wind turbine blade fatigue test method as described above are implemented.

[0034] In addition, to achieve the above object, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the wind turbine blade fatigue test method as described above are implemented.

[0035] One or more technical solutions proposed in this application have at least the following technical effects:

[0036] First, this application obtains the target operation trajectory of the wind turbine blade to be tested from the fatigue test task of the wind turbine blade to be tested, so as to clearly know the ideal motion state that the wind turbine blade to be tested should have during the fatigue test, providing an accurate basis and direction for subsequent operations such as determining the exciting force and the output torque of the motor, and ensuring that the entire test process is carried out based on the target operation trajectory that meets the test requirements. Then, according to the target operation trajectory, the exciting force at the top of the connecting rod mechanism of the wind turbine blade fatigue test equipment is determined. By analyzing the target motion trajectory of the blade, the exciting force required to make the blade move along this trajectory is calculated at the top, establishing the connection between the blade motion and the force, and transforming the kinematic requirements of the blade into mechanical indicators, providing a key intermediate parameter for accurately controlling the output torque of the motor in the future, helping to achieve precise loading of the blade fatigue test, improving the accuracy and reliability of the test results, and ensuring that the load borne by the blade during the test is consistent with the actual operating conditions. Finally, according to the exciting force, the output torque of the drive motor in the wind turbine blade fatigue test equipment is determined, and the drive motor is controlled to execute the output torque to drive the connecting rod mechanism to swing the wind turbine blade to be tested. Thus, the abstract exciting force requirement is transformed into a specific output torque instruction that can be executed by the motor, realizing precise drive control of the connecting rod mechanism and the wind turbine blade, ensuring that the motor drives the blade to swing in the required manner and strength, and making the motion of the blade strictly follow the target operation trajectory, thereby ensuring the stability of the fatigue test process and the effectiveness of the test results, effectively solving the problem of how to accurately realize the mechanical requirements of the blade through the equipment, and improving the applicability and efficiency of the five-link fatigue test equipment in the wind turbine blade test.

[0037] In summary, by connecting the operation trajectory of the blade with the exciting force and the output torque of the equipment and performing step-by-step conversion, this application avoids the technical problems that traditional test equipment is difficult to accurately adapt to the test requirements of large-scale blades of different specifications and difficult to ensure the stability and reliability of the test process. This method realizes accurate determination of the exciting force through the target operation trajectory, and then accurately controls the output torque of the drive motor to ensure that the wind turbine blade undergoes fatigue testing according to the established trajectory, effectively improving the adaptability of the five-link fatigue test equipment and the accuracy of the test results, promoting the development and application of this equipment in the field of large-scale wind turbine blade testing, and providing strong technical support for the progress of the wind power generation industry. Description of the Drawings

[0038] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments that conform to this application, and are used together with the specification to explain the principles of this application.

[0039] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a schematic flowchart provided for the first embodiment of the fatigue test method of the wind turbine blade of the present application;

[0041] Figure 2 It is a schematic scene diagram of the fatigue test method of the wind turbine blade provided for the first embodiment of the present application;

[0042] Figure 3 It is a schematic flowchart provided for the second embodiment of the fatigue test method of the wind turbine blade of the present application;

[0043] Figure 4 It is a schematic module structure diagram of the fatigue test device for the wind turbine blade of the embodiment of the present application;

[0044] Figure 5 It is a schematic device structure diagram of the hardware operating environment involved in the fatigue test method of the wind turbine blade in the embodiment of the present application.

[0045] The implementation, functional features, and advantages of the purpose of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0046] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0047] To better understand the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings of the specification and the specific implementation manners.

[0048] The main solution of the embodiment of the present application is: obtaining the target operating trajectory of the wind turbine blade to be tested; determining the excitation force at the connection between the link mechanism and the wind turbine blade to be tested in the wind turbine blade fatigue test device according to the target operating trajectory; determining the output torque of the drive motor in the wind turbine blade fatigue test device according to the excitation force, and controlling the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested according to the target operating trajectory.

[0049] Since the application of the current five-link fatigue test equipment is still in its infancy, there is a lack of actual usage experience. In terms of the operation control logic, the drive motor in the equipment often has difficulty driving the wind turbine blade to swing in the required manner and with the required force, making the movement of the blade unable to strictly follow the operation trajectory of the fatigue test task target, or only being able to perform fatigue tests according to a simple operation trajectory. As a result, it is difficult to accurately adapt to the test requirements of large blades of different specifications, and it is also difficult to ensure the stability and reliability of the test process. This has greatly restricted the full play of the efficiency of the five-link fatigue test equipment in large blade tests, and it is urgent for professionals in related fields to conduct in-depth research and optimization to promote its better service for the development of the wind power generation industry.

[0050] This application provides a solution. By linking the operation trajectory of the blade with the exciting force and the motor output torque of the equipment and performing step-by-step conversion, it avoids the technical problems such as the difficulty of traditional test equipment in accurately adapting to the test requirements of large blades of different specifications and the difficulty of ensuring the stability and reliability of the test process. This method realizes the accurate determination of the exciting force through the target operation trajectory, and then accurately controls the motor output torque, ensuring that the wind turbine blade performs fatigue tests according to the established trajectory, effectively improving the adaptability of the five-link fatigue test equipment and the accuracy of the test results, promoting the development and application of this equipment in the field of large wind turbine blade tests, and providing strong technical support for the progress of the wind power generation industry.

[0051] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions. Hereinafter, an electronic device will be taken as an example to illustrate this embodiment and the following embodiments.

[0052] Based on this, the embodiment of this application provides a method for fatigue testing of wind turbine blades, referring to Figure 1 , Figure 1 is a schematic flowchart of the first embodiment of the method for fatigue testing of wind turbine blades in this application.

[0053] In this embodiment, the method for fatigue testing of wind turbine blades is applied to a wind turbine blade fatigue test equipment. The wind turbine blade fatigue test equipment includes a link mechanism and a drive motor connected to one end of the link mechanism. The other end of the link mechanism is connected to the wind turbine blade to be tested. The method for fatigue testing of wind turbine blades includes steps S10 to S30:

[0054] Step S10, obtain the target operation trajectory of the wind turbine blade to be tested;

[0055] It should be noted that the target operation trajectory refers to the motion parameters such as displacement and rotation angle that the wind turbine blade should reach in the fatigue test.

[0056] It is understandable that, since it is necessary to clarify the motion state that the blade should achieve during the test, step S10 is carried out, which can avoid the inaccuracy and waste of resources caused by blind testing, thereby providing an accurate basis for the subsequent calculation of the exciting force and output torque.

[0057] Exemplarily, the design specifications and actual operating conditions of the wind turbine blade can be deeply analyzed first to clarify the loads and motion requirements it should withstand during the fatigue test. Then, the target operating trajectory data corresponding to the wind turbine blade to be tested is retrieved from the pre-established fatigue test task file, and these data are usually stored in the form of parameters such as the displacement and rotation angle of the blade during the test. For example, for a large wind turbine blade, the target operating trajectory may include the horizontal displacement (e.g., within the range of ±2 meters during the test cycle), vertical displacement (e.g., within the range of ±1.5 meters), and the rotation angle around the blade root (e.g., within the range of ±10 degrees) of the blade tip at different time points under specific wind speed and direction conditions. By reading these data, an accurate kinematic basis is provided for subsequent operations such as determining the exciting force.

[0058] Step S20: Determine the exciting force at the connection between the link mechanism and the wind turbine blade to be tested according to the target operating trajectory;

[0059] It should be noted that the exciting force refers to the force applied at the top of the link mechanism to make the blade move along the target operating trajectory.

[0060] It is understandable that, since it is currently difficult for the five-link fatigue test equipment to effectively establish the relationship between the motor output torque and the blade operating trajectory, which limits the full play of the efficiency of the five-link fatigue test equipment in the test of large blades, step S20 is carried out. By analyzing the target motion trajectory of the blade, the exciting force required to make the blade move along this trajectory at the connection between the link mechanism and the wind turbine blade to be tested is calculated, establishing the connection between the blade motion and the force, converting the kinematic requirements of the blade into mechanical indicators, avoiding the deviation of the test results caused by the inability to accurately determine the force on the blade, realizing the establishment of the relationship between the blade motion and the force, providing a key intermediate parameter for the subsequent accurate control of the motor output torque, helping to achieve precise loading of the blade fatigue test, improving the accuracy and reliability of the test results, and ensuring that the loads borne by the blade during the test are consistent with the actual operating conditions.

[0061] Exemplarily, based on the obtained target operating trajectory, the kinematic and dynamic principles in classical mechanics are used to determine the exciting force. For example, for the displacement and angular displacement changes of the blade tip in the target operating trajectory, a mechanical model of the wind turbine blade can be established using finite element analysis software, inputting the target operating trajectory data, and calculating the required horizontal exciting force and vertical exciting force at the blade tip at each moment through numerical simulation.

[0062] In a feasible implementation manner, the other end of the link mechanism is connected to the blade fixture through a bearing, the blade fixture is used to clamp the wind turbine blade to be tested, the target operating trajectory includes the displacement and angular displacement of the wind turbine blade to be tested, and the exciting force includes a horizontal component force and a vertical component force;

[0063] Step S20 may further include step S21:

[0064] Step S21, determining the horizontal component force and the vertical component force at the connection between the link mechanism and the blade fixture according to the displacement, the angular displacement, and a preset first relationship matrix, where the first relationship matrix is used to establish an arithmetic relationship between the position and the angular displacement, and the horizontal component force and the vertical component force.

[0065] It should be noted that the first relationship matrix refers to a mathematical matrix, which, based on the physical characteristics and mechanical principles of the blade, establishes a quantitative relationship between the blade displacement, angular displacement, and exciting force, and is used to convert the displacement and angular displacement into the corresponding exciting forces in the horizontal and vertical directions through matrix operations.

[0066] It can be understood that since it is necessary to convert the kinematic parameters (displacement and angular displacement) of the blade into mechanical parameters (horizontal and vertical exciting forces), performing step S21 can avoid technical problems such as inaccuracy and deviation of test results caused by estimating the blade force only relying on experience or simplified assumptions, realizing the accurate conversion of the motion requirements of the blade into specific force indicators, thereby improving the accuracy and reliability of the determination of the exciting force and ensuring that the subsequent motor control can accurately meet the test requirements of the blade.

[0067] Exemplarily, the horizontal component force F x and the vertical component force F y can refer to Figure 2 , and calculate the horizontal component force F x , d y , d z and the angular displacement θ x , θ y , θ z , and a preset first relationship matrix K 2*6 at the top of the link mechanism, and the vertical component force F x and the vertical component force F y:

[0068]

[0069] Among them, d x 、d y 、d z are the displacements of the wind power blade to be measured in the x, y, and z-axis directions respectively, and θ x 、θ y 、θ z are the angles between the wind power blade to be measured and the x, y, and z axes respectively.

[0070] In this embodiment, by adopting a preset mathematical relationship matrix, the kinematic parameters such as the displacement and rotation angle of the blade are related to the exciting forces in the horizontal and vertical directions, avoiding the problems such as inaccurate testing and poor reliability caused by the difficulty in accurately converting kinematic parameters into mechanical parameters in the traditional method, realizing the accurate conversion of the motion requirements of the blade into specific force indexes, thereby improving the accuracy and reliability of the determination of the exciting force, ensuring that the subsequent motor control can accurately meet the blade test requirements, and achieving the technical effects of making the test process more stable and the test results more accurate.

[0071] In a feasible embodiment, before step S21, steps S021 to S022 are further included:

[0072] Step S021, obtaining the elastic modulus of the wind power blade to be measured, as well as the moment of inertia, cross-sectional area, and cross-sectional position of the wind power blade at the cross-section, where the cross-section is located at the position where the wind power blade to be measured is clamped by the blade fixture, and the cross-sectional position is the length from the cross-section to the fixed position of the wind power blade to be measured;

[0073] It should be noted that the elastic modulus is a mechanical property index of the wind power blade, which represents the ratio of stress to strain within the elastic deformation stage of the material, reflecting the ability of the material to resist elastic deformation; it determines the degree of elastic deformation of the blade when stressed; the moment of inertia is a geometric parameter that measures the ability of the cross-section to resist bending deformation, which is related to the shape and size of the cross-section and reflects the ability of the blade cross-section to resist bending under the action of a bending moment; the cross-sectional area refers to the area of the cross-section of the wind power blade, and this value reflects the size of the blade cross-section; the cross-sectional position refers to the distance from the clamped cross-section to the fixed position of the blade.

[0074] It can be understood that, since it is necessary to obtain the key physical parameters of the wind turbine blade, as these parameters are the basis for constructing the first relationship matrix and can accurately reflect the mechanical properties of the blade, thus providing accurate data support for determining the excitation force, step S021 is carried out. This can avoid the problem that the construction of the first relationship matrix is inaccurate due to the lack of blade physical parameters, which in turn affects the calculation accuracy of the excitation force, thereby providing a reliable data basis for constructing an accurate first relationship matrix and ensuring the accuracy and reliability of the subsequent excitation force calculation.

[0075] Step S022: Construct the first relationship matrix according to the elastic modulus, the moment of inertia of the cross-section, the cross-sectional area, and the cross-sectional position.

[0076] It can be understood that, since it is necessary to establish a quantitative relationship between the kinematic parameters (displacement and rotation angle) and mechanical parameters (horizontal component force and vertical component force) of the blade in order to accurately calculate the excitation force, step S022 is carried out. This can avoid the problem that the calculation of the excitation force is inaccurate due to the failure to consider the physical characteristics of the blade, which in turn affects the reliability of the test results, thereby combining the physical characteristics and kinematic parameters of the blade to construct a first relationship matrix that can accurately reflect the force condition of the blade, improving the calculation accuracy of the excitation force, and providing a reliable basis for subsequent motor control.

[0077] Exemplarily, construct the first relationship matrix K according to the elastic modulus E, the moment of inertia of the cross-section I, the cross-sectional area A, and the cross-sectional position l 2*6 :

[0078]

[0079] It can be understood that the first relationship matrix K 2*6 can be a part of the stiffness matrix K in the Euler beam model, where the stiffness matrix K is:

[0080]

[0081] [[ID=2,5]]Since the remaining elements in K except those used in K 2*6 only establish the relationship between the z-axis component force of the excitation force and the bending moment generated by the excitation force, and the displacement d x 、d y 、d z and the rotation angle θ x 、θ y 、θ z of the wind turbine blade to be tested, and the z-axis component force of the excitation force and the bending moment generated by the excitation force have little actual impact on the fatigue test process and can be ignored, so the remaining elements in K are ignored, and only some elements are selected as the first relationship matrix K 2*6 .

[0082] In this embodiment, by obtaining the key physical parameters of the blade and constructing a mathematical relationship matrix based on these parameters, problems such as inaccurate calculation of the exciting force and poor reliability of the test results caused by ignoring the differences in the physical characteristics of the blade are avoided, and the technical effect of combining the actual physical characteristics of the blade with the kinematic parameters to accurately determine the exciting force and improve the test accuracy and reliability is achieved.

[0083] Step S30: Determine the output torque of the drive motor according to the exciting force, and control the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested along the target operation trajectory.

[0084] It should be noted that the output torque refers to the torque required for the drive motor to drive the link mechanism and the blade to move.

[0085] It can be understood that since it is difficult for the current five-link fatigue test equipment to effectively establish the relationship between the output torque of the motor and the blade operation trajectory, which limits the full play of the efficiency of the five-link fatigue test equipment in large blade tests, so step S30 is carried out. By converting the abstract exciting force requirement into a specific output torque command that can be executed by the motor, accurate drive control of the link mechanism and the wind turbine blade is achieved, ensuring that the motor drives the blade to swing in the required manner and strength, and the movement of the blade strictly follows the target operation trajectory, thereby ensuring the stability of the fatigue test process and the effectiveness of the test results.

[0086] Exemplarily, after determining the exciting force, according to the mechanical structure and kinematic relationship of the five-link fatigue test equipment, the output torque of the drive motor is determined through mathematical modeling and matrix operations. Then, using the motor drive control system, the calculated output torque value is converted into a control signal of the motor, such as a pulse width modulation signal, to accurately control the operation of the drive motor, so that the motor rotates according to the calculated output torque, thereby driving the link mechanism to swing and prompting the wind turbine blade to perform fatigue tests along the target operation trajectory, effectively realizing the accurate conversion from the exciting force to the motor control, and ensuring the stability and accuracy of the test process.

[0087] In a feasible embodiment, the exciting force includes a horizontal component force and a vertical component force, the drive motor includes a first drive motor and a second drive motor, the output torque includes the first output torque of the first drive motor and the second output torque of the second drive motor, and the step of determining the output torque of the drive motor according to the exciting force in step S30 may further include step S31:

[0088] Step S31: Determine the first output torque and the second output torque according to the horizontal component force, the vertical component force, and a preset second relationship matrix, where the second relationship matrix is used to establish an arithmetic relationship between the horizontal component force and the vertical component force, and the first output torque and the second output torque.

[0089] It should be noted that the second relationship matrix refers to a mathematical matrix. Based on the mechanical structure and kinematic model of the device, this matrix establishes a quantitative relationship between the horizontal component force, the vertical component force, and the output torque of the drive motor, and is used to convert the exciting force into the corresponding motor output torque through matrix operations, ensuring that the motor can accurately provide the required power, so as to achieve accurate fatigue testing of the blade.

[0090] It can be understood that since it is necessary to convert the exciting force received by the blade into the output torque of the motor, achieve precise control of the motor, and ensure that the link mechanism can accurately drive the blade to move along the target trajectory, so performing step S31 can avoid problems such as inaccurate motor control and deviation of the blade movement trajectory from the target caused by the inability to accurately convert the exciting force into the motor output torque. Thus, it realizes the connection between mechanical parameters (exciting force) and device control parameters (motor output torque), and achieves precise torque control through a mathematical model, improving the control accuracy and testing efficiency of the testing device.

[0091] Exemplarily, first obtain the detailed mechanical structure parameters of the five-link fatigue testing device, including information such as the lengths, angles, and connection relationships of the components in the link mechanism, and then construct the second relationship matrix J according to these parameters T This matrix is essentially a mathematical model, which converts the horizontal component force F x and the vertical component force into the corresponding motor output torque through matrix operations. In this way, the first output torque T1 required to be output by the first drive motor and the second output torque T2 required to be output by the second drive motor can be accurately calculated:

[0092]

[0093] Thus, precise control of the motor is achieved, ensuring that the link mechanism can drive the wind turbine blade to perform fatigue testing according to the predetermined motion requirements.

[0094] In this embodiment, by constructing a mathematical relationship matrix, the exciting forces in the horizontal and vertical directions received by the blade are converted into the motor output torque, avoiding problems such as mismatch between the torque output and the actual force received by the blade, low testing accuracy, and unstable device control caused by directly controlling the motor. It realizes the accurate conversion of mechanical parameters into motor control parameters, improves the control accuracy of the testing device and the reliability of the testing results, and ensures that the wind turbine blade performs fatigue testing according to the predetermined trajectory.

[0095] In a feasible implementation, the linkage mechanism includes a first excitation swing arm, a second excitation swing arm, a first transmission rod, and a second transmission rod. Wherein, one end of the first excitation swing arm is connected to the first driving motor, and the other end of the first excitation swing arm is connected to the blade fixture through a bearing. The blade fixture is used to clamp the wind power blade to be tested. One end of the second excitation swing arm is connected to the second driving motor, and the other end of the second excitation swing arm is connected to the blade fixture through a bearing;

[0096] Before step S31, steps S031 to S032 may also be included:

[0097] Step S031, obtain a first length, a second length, a third length, a fourth length, a fifth length, a first angle, and a second angle. Wherein, the first length is the distance from the connection between the first driving motor and the first excitation swing arm to the connection between the first excitation swing arm and the first transmission rod; the second length is the distance from the connection between the first excitation swing arm and the first transmission rod to the top end; the third length is the distance from the connection between the second excitation swing arm and the second transmission rod to the top end; the fourth length is the distance from the connection between the second driving motor and the second excitation swing arm to the connection between the second excitation swing arm and the second transmission rod; the fifth length is the distance from the connection between the first driving motor and the first excitation swing arm to the connection between the second excitation swing arm and the second transmission rod; the first angle is the angle between the first excitation swing arm and a preset horizontal direction; the second angle is the angle between the second excitation swing arm and the horizontal direction;

[0098] It should be noted that there are various connection methods between the transmission rod and the excitation swing arm. It can be a bearing connection, or the bearing can be replaced with a similar hinge structure.

[0099] Exemplarily, referring to Figure 2 , the wind power blade fatigue test equipment in the figure includes a blade fixture 1, a transmission rod 2, an excitation swing arm 3, and a driving electrical appliance 4. Obtain a first length l1, a second length l2, a third length l3, a fourth length l4, a fifth length l5, a first angle and a second angle

[0100] Step S032, construct the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first angle, and the second angle.

[0101] It can be understood that, in order to accurately convert the excitation force received by the blade into the motor output torque and achieve precise control of the test equipment, step S032 is carried out, which can avoid problems such as inaccurate torque calculation, deviation of the test trajectory of the blade from the target, and affect the reliability of the test results and the stability of the equipment. Constructing this matrix can accurately reflect the mechanical structure and kinematic relationship of the equipment, realize the accurate conversion of the excitation force to the motor torque, improve the test accuracy and the control stability of the equipment, and ensure that the blade is tested according to the predetermined trajectory.

[0102] In this embodiment, by accurately measuring the mechanical structure parameters of the equipment and using these parameters to construct a mathematical matrix, problems such as inaccurate calculation of the motor output torque and unstable control of the blade motion trajectory caused by ignoring the structural differences and geometric relationships of the equipment are avoided, realizing the accurate conversion of the excitation force to the motor output torque, improving the control accuracy of the test equipment and the reliability of the blade fatigue test, and ensuring that the test requirements of the blade can be accurately adapted under different equipment conditions.

[0103] This embodiment provides a fatigue test method for wind turbine blades. By relating the operating trajectory of the blade to the excitation force and motor output torque of the equipment and performing step-by-step conversion, technical problems such as the difficulty of traditional test equipment to accurately adapt to the test requirements of different specifications of large blades and the difficulty of ensuring the stability and reliability of the test process are avoided. This method realizes the accurate determination of the excitation force through the target operating trajectory, and then accurately controls the output torque of the drive motor to ensure that the wind turbine blade undergoes fatigue testing according to the established trajectory, effectively improving the adaptability of the five-link fatigue test equipment and the accuracy of the test results, promoting the development and application of this equipment in the field of large wind turbine blade testing, and providing strong technical support for the progress of the wind power generation industry.

[0104] In a feasible embodiment, step S032 may include steps S01 to S03:

[0105] Step S01, constructing a first function and a second function respectively according to the first length, the second length, the third length, the fourth length, the fifth length, the first angle and the second angle;

[0106] Exemplarily, according to the first length l1, the second length l2, the third length l3, the fourth length l4, the fifth length l5, the first angle and the second angle construct a first function and a second function

[0107] Step S02, performing total differentiation on the first function and the second function respectively to obtain each differential element, and constructing a candidate relationship matrix based on each differential element;

[0108] Exemplarily, for the first function and the second function perform total differentiation respectively to obtain respective differential elements, and construct a candidate relationship matrix J based on each differential element:

[0109]

[0110] Step S03, transpose the candidate relationship matrix to obtain the second relationship matrix.

[0111] Exemplarily, transpose J to obtain the second relationship matrix J T .

[0112] In this embodiment, through mathematical modeling and differential analysis, the problem that it is difficult to directly establish the relationship between the exciting force and the motor output torque due to the complex structure of the device is avoided, ensuring the applicability and control accuracy of the test device under different structural parameters. The precise correlation between the geometric parameters and mechanical parameters of the device is realized through function and matrix operations, improving the accuracy of the motor output torque calculation and the stability of the test process, and ensuring the reliability and efficiency of the wind turbine blade fatigue test.

[0113] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned embodiment one can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , an angle measurement component is arranged on the link mechanism. After step S30, the wind turbine blade fatigue test method further includes steps S100 to S200:

[0114] Step S100, monitor the real-time operation trajectory of the to-be-tested blade according to the angle measurement component, and compare the real-time operation trajectory with the target operation trajectory;

[0115] It should be noted that the angle measurement component refers to a sensor or measuring device installed on the link mechanism for measuring the swing angle of the blade, such as an encoder, an angle sensor, etc., which can obtain the motion angle information of the blade in real time; the real-time operation trajectory refers to the actual motion path and posture of the wind turbine blade during the fatigue test, including motion parameters such as the displacement and rotation angle of the blade changing with time.

[0116] It can be understood that in order to grasp the actual motion state of the wind turbine blade in real time during the fatigue test, so as to timely detect deviations and make adjustments, step S100 is performed, which can avoid the problem that the blade operation trajectory deviates from the target trajectory due to lack of real-time monitoring and cannot be detected in time, thereby affecting the accuracy and reliability of the test results, so as to monitor the motion of the blade in real time, ensure its operation according to the predetermined target trajectory, and improve the stability of the test process and the credibility of the test results.

[0117] Exemplarily, a high-precision angle measurement component, such as an optical encoder or a rotational sensor, is installed on the link mechanism of the five-link fatigue test equipment. These components are usually installed at the fixed points of the five-link to capture the swing angle of the link mechanism in real time. As the test progresses, the angle measurement component collects data at a set high-frequency sampling rate. These data reflect the real-time operating trajectory of the blade, including parameters such as displacement and rotation angle. The collected data is transmitted to the control system, where the data of the target operating trajectory is pre-stored. These target trajectories are set based on the design specifications and test requirements of the blade. Through a dedicated comparison algorithm, the system compares the real-time operating trajectory data with the target trajectory data point by point and calculates the deviation value. For example, indicators such as root mean square deviation or maximum deviation are used to quantify the difference between the two. If the deviation value is within the set tolerance range, the operation is considered normal; otherwise, subsequent adjustment steps are triggered.

[0118] Step S200, in the case where the real-time operating trajectory does not conform to the target operating trajectory, adjust the output torque according to the real-time operating trajectory.

[0119] It can be understood that in actual operation, the wind turbine blade may deviate from the target trajectory due to various interference factors (such as slight deformation of the mechanical structure, motor performance fluctuations, etc.). Therefore, performing step S200 can avoid problems such as the test result being distorted due to the continuous accumulation of trajectory deviations, or even damage to the blade or test equipment. By adjusting the motor output torque in real time, the operating trajectory of the blade can be returned to the target trajectory, ensuring the accuracy of the test process and the safety of the equipment, and improving the consistency and reliability of the test results.

[0120] Exemplarily, for a 1:1 biaxial test, the blade trajectory is an ellipse. By real-time monitoring the lengths of the major and minor axes of the real-time operating trajectory and comparing them with the lengths of the target major and minor axes in the target operating trajectory, if it is found that the major axis of the ellipse is still short by 20%, the exciting force torque corresponding to the major axis can be changed by increasing the output torque of the driving motor, such as increasing it by 20%, to achieve the target operating trajectory.

[0121] In this embodiment, by using the angle measurement component for real-time monitoring and feedback control, problems such as the accumulation of blade operating trajectory deviations, inaccurate test results, and potential damage to the equipment caused by the lack of real-time monitoring and adjustment are avoided. The dynamic monitoring and precise control of the blade movement are realized, ensuring the stability and reliability of the test process, and improving the accuracy of the test results and the safety of the equipment.

[0122] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the fatigue test method of the wind turbine blade of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0123] The present application also provides a wind turbine blade fatigue test device. Please refer to Figure 4 , the wind turbine blade fatigue test device is applied to a wind turbine blade fatigue test equipment. The wind turbine blade fatigue test equipment includes a linkage mechanism and a driving motor connected to one end of the linkage mechanism. The other end of the linkage mechanism is connected to the wind turbine blade to be tested. The wind turbine blade fatigue test device includes:

[0124] A target acquisition module 10, configured to acquire the target operation trajectory of the wind turbine blade to be tested;

[0125] A first determination module 20, configured to determine the excitation force at the connection between the linkage mechanism and the wind turbine blade to be tested according to the target operation trajectory;

[0126] A second determination module 30, configured to determine the output torque of the driving motor according to the excitation force, and control the driving motor to execute the output torque to drive the linkage mechanism to swing the wind turbine blade to be tested along the target operation trajectory.

[0127] Optionally, the other end of the linkage mechanism is connected to a blade fixture through a bearing. The blade fixture is used to clamp the wind turbine blade to be tested. The target operation trajectory includes the displacement and rotation angle of the wind turbine blade to be tested. The excitation force includes a horizontal component force and a vertical component force;

[0128] The first determination module 20 is further configured to:

[0129] Determine the horizontal component force and the vertical component force at the connection between the linkage mechanism and the blade fixture according to the displacement, the rotation angle, and a preset first relationship matrix, where the first relationship matrix is used to establish the arithmetic relationship between the position and the rotation angle, and the horizontal component force and the vertical component force.

[0130] Optionally, the first determination module 20 is further configured to:

[0131] Acquire the elastic modulus of the wind turbine blade to be tested, as well as the moment of inertia, cross-sectional area, and cross-sectional position of the wind turbine blade at the cross-section, where the cross-section is located at the position where the wind turbine blade to be tested is clamped by the blade fixture, and the cross-sectional position is the length from the cross-section to the fixed position of the wind turbine blade to be tested;

[0132] Construct the first relationship matrix according to the elastic modulus, the moment of inertia, the cross-sectional area, and the cross-sectional position.

[0133] Optionally, the exciting force includes a horizontal component force and a vertical component force, the driving motor includes a first driving motor and a second driving motor, the output torque includes a first output torque of the first driving motor and a second output torque of the second driving motor, and the second determination module 30 is further configured to:

[0134] Determine the first output torque and the second output torque according to the horizontal component force, the vertical component force, and a preset second relationship matrix, where the second relationship matrix is used to establish an arithmetic relationship between the horizontal component force and the vertical component force, and the first output torque and the second output torque.

[0135] Optionally, the link mechanism includes a first exciting swing arm, a second exciting swing arm, a first transmission rod, and a second transmission rod. One end of the first exciting swing arm is connected to the first driving motor, and the other end of the first exciting swing arm is connected to a blade fixture through a bearing. The blade fixture is used to clamp the wind power blade to be measured. One end of the second exciting swing arm is connected to the second driving motor, and the other end of the second exciting swing arm is connected to the blade fixture through a bearing;

[0136] The second determination module 30 is further configured to:

[0137] Obtain a first length, a second length, a third length, a fourth length, a fifth length, a first angle, and a second angle, where the first length is the distance from the connection between the first driving motor and the first exciting swing arm to the connection between the first exciting swing arm and the first transmission rod; the second length is the distance from the connection between the first exciting swing arm and the first transmission rod to the top end; the third length is the distance from the connection between the second exciting swing arm and the second transmission rod to the top end; the fourth length is the distance from the connection between the second driving motor and the second exciting swing arm to the connection between the second exciting swing arm and the second transmission rod; the fifth length is the distance from the connection between the first driving motor and the first exciting swing arm to the connection between the second exciting swing arm and the second transmission rod; the first angle is the angle between the first exciting swing arm and a preset horizontal direction; the second angle is the angle between the second exciting swing arm and the horizontal direction;

[0138] Construct the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first angle, and the second angle.

[0139] Optionally, the second determination module 30 is further configured to:

[0140] Construct a first function and a second function respectively according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle and the second included angle;

[0141] Perform total differentiation on the first function and the second function respectively to obtain each differential element, and construct a candidate relationship matrix based on each differential element;

[0142] Transpose the candidate relationship matrix to obtain the second relationship matrix.

[0143] Optionally, an angle measurement component is arranged on the link mechanism, and the feedback adjustment module 40 in the wind turbine blade fatigue test device is configured to:

[0144] Monitor the real-time operation trajectory of the blade to be tested according to the angle measurement component, and compare the real-time operation trajectory with the target operation trajectory;

[0145] In the case where the real-time operation trajectory does not match the target operation trajectory, adjust the output torque according to the real-time operation trajectory.

[0146] The wind turbine blade fatigue test device provided by the present application adopts the wind turbine blade fatigue test method in the above-mentioned embodiment, and can solve the technical problem of how to improve the efficiency of the five-link fatigue test equipment in blade fatigue testing. Compared with the prior art, the beneficial effects of the wind turbine blade fatigue test device provided by the present application are the same as those of the wind turbine blade fatigue test method provided by the above-mentioned embodiment, and other technical features in the wind turbine blade fatigue test device are the same as the features disclosed in the above-mentioned embodiment method, and will not be elaborated here.

[0147] The present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the wind turbine blade fatigue test method in the first embodiment above.

[0148] Next, refer to Figure 5, which shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application. The electronic devices in the embodiments of the present application may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The illustrated electronic device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0149] As Figure 5 shown, the electronic device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in the read-only memory 1002 or a program loaded from the storage device 1003 into the random access memory 1004. In the random access memory 1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. The input / output interface 1006 is also connected to the bus. Generally, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the electronic device to communicate with other devices wirelessly or wireline to exchange data. Although the figure shows an electronic device having various systems, it should be understood that it is not required to implement or include all the shown systems. Instead, more or fewer systems may be implemented or included.

[0150] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by a processing device 1001, the above functions defined in the methods of the embodiments disclosed in the present application are executed.

[0151] The electronic device provided by the present application adopts the wind turbine blade fatigue test method in the above embodiment, and can solve the technical problem of how to improve the efficiency of the five-link fatigue test device in blade fatigue testing. Compared with the prior art, the beneficial effects of the electronic device provided by the present application are the same as those of the wind turbine blade fatigue test method provided by the above embodiment, and other technical features in the electronic device are the same as those disclosed in the method of the previous embodiment, and will not be described in detail here.

[0152] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0153] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0154] The present application provides a computer-readable storage medium, having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the wind turbine blade fatigue test method in the above embodiment.

[0155] The computer-readable storage medium provided by the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0156] The above computer-readable storage medium may be included in an electronic device; or may exist separately without being assembled into the electronic device.

[0157] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device is caused to: obtain the target operating trajectory of the wind turbine blade to be tested; determine the excitation force at the connection between the connecting rod mechanism and the wind turbine blade to be tested in the wind turbine blade fatigue test device according to the target operating trajectory; determine the output torque of the drive motor in the wind turbine blade fatigue test device according to the excitation force, and control the drive motor to execute the output torque to drive the connecting rod mechanism to swing the wind turbine blade to be tested along the target operating trajectory.

[0158] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0159] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0160] The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0161] The readable storage medium provided in this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned wind turbine blade fatigue test method, and can solve the technical problem of how to improve the efficiency of the five-link fatigue test equipment in blade fatigue testing. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the wind turbine blade fatigue test method provided in the above embodiments, and will not be elaborated here.

[0162] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the wind turbine blade fatigue test method as described above.

[0163] The computer program product provided by the present application can solve the technical problem of how to improve the efficiency of the five-link fatigue test equipment in blade fatigue tests. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the wind turbine blade fatigue test method provided in the above embodiments, and will not be elaborated herein.

[0164] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A fatigue test method for wind turbine blades, characterized in that Applied to a wind turbine blade fatigue testing device, the wind turbine blade fatigue testing device includes a linkage mechanism and a driving motor connected to one end of the linkage mechanism, and the other end of the linkage mechanism is connected to the wind turbine blade to be tested. The wind turbine blade fatigue testing method includes: Obtain the target operating trajectory of the wind turbine blade to be tested; Determine the excitation force at the connection between the linkage mechanism and the wind turbine blade to be tested according to the target operating trajectory; Determine the output torque of the driving motor according to the excitation force, and control the driving motor to execute the output torque to drive the linkage mechanism to swing the wind turbine blade to be tested along the target operating trajectory.

2. The wind turbine blade fatigue test method according to claim 1, characterized in that, The other end of the linkage mechanism is connected to a blade fixture through a bearing. The blade fixture is used to clamp the wind turbine blade to be tested. The target operating trajectory includes the displacement and rotation angle of the wind turbine blade to be tested. The excitation force includes a horizontal component force and a vertical component force; The step of determining the excitation force at the connection between the linkage mechanism and the wind turbine blade to be tested according to the target operating trajectory includes: Determine the horizontal component force and the vertical component force at the connection between the linkage mechanism and the blade fixture according to the displacement, the rotation angle, and a preset first relationship matrix, where the first relationship matrix is used to establish the arithmetic relationship between the position and the rotation angle, and the horizontal component force and the vertical component force.

3. The wind turbine blade fatigue test method according to claim 2, characterized in that Before the step of determining the horizontal component force and the vertical component force at the connection between the linkage mechanism and the blade fixture according to the displacement, the rotation angle, and the preset first relationship matrix, further include: Obtain the elastic modulus of the wind turbine blade to be tested, as well as the moment of inertia, cross-sectional area, and cross-sectional position of the wind turbine blade at the cross-section, where the cross-section is located at the position where the wind turbine blade to be tested is clamped by the blade fixture, and the cross-sectional position is the length from the cross-section to the fixed position of the wind turbine blade to be tested; Construct the first relationship matrix according to the elastic modulus, the moment of inertia, the cross-sectional area, and the cross-sectional position.

4. The wind turbine blade fatigue test method according to claim 1, characterized in that, The excitation force includes a horizontal component force and a vertical component force. The driving motor includes a first driving motor and a second driving motor. The output torque includes the first output torque of the first driving motor and the second output torque of the second driving motor. The step of determining the output torque of the driving motor according to the excitation force includes: Determine the first output torque and the second output torque according to the horizontal component force, the vertical component force, and a preset second relationship matrix, where the second relationship matrix is used to establish the arithmetic relationship between the horizontal component force and the vertical component force, and the first output torque and the second output torque.

5. The wind turbine blade fatigue test method according to claim 4, wherein The linkage mechanism includes a first excitation swing arm, a second excitation swing arm, a first transmission rod, and a second transmission rod. One end of the first excitation swing arm is connected to the first driving motor, and the other end of the first excitation swing arm is connected to the blade fixture through a bearing. The blade fixture is used to clamp the wind turbine blade to be tested. One end of the second excitation swing arm is connected to the second driving motor, and the other end of the second excitation swing arm is connected to the blade fixture through a bearing; Before the step of determining the first output torque and the second output torque according to the horizontal component force, the vertical component force, and a preset second relationship matrix, the following steps are further included: Obtain a first length, a second length, a third length, a fourth length, a fifth length, a first included angle, and a second included angle, where the first length is the distance from the connection between the first drive motor and the first excitation swing arm to the connection between the first excitation swing arm and the first transmission rod; the second length is the distance from the connection between the first excitation swing arm and the first transmission rod to the top end; the third length is the distance from the connection between the second excitation swing arm and the second transmission rod to the top end; the fourth length is the distance from the connection between the second drive motor and the second excitation swing arm to the connection between the second excitation swing arm and the second transmission rod; the fifth length is the distance from the connection between the first drive motor and the first excitation swing arm to the connection between the second excitation swing arm and the second transmission rod; the first included angle is the included angle between the first excitation swing arm and a preset horizontal direction; the second included angle is the included angle between the second excitation swing arm and the horizontal direction; Construct the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle.

6. The fatigue test method for a wind turbine blade according to claim 5, characterized in that, The step of constructing the second relationship matrix according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle includes: Construct a first function and a second function respectively according to the first length, the second length, the third length, the fourth length, the fifth length, the first included angle, and the second included angle; Perform total differentiation on the first function and the second function respectively to obtain respective differential elements, and construct a candidate relationship matrix based on the differential elements; Transpose the candidate relationship matrix to obtain the second relationship matrix.

7. The fatigue test method for a wind turbine blade according to claim 1, characterized in that An angle measurement component is arranged on the link mechanism. After the step of controlling the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested along the target operation trajectory, the following steps are further included: Monitor the real-time operation trajectory of the wind turbine blade to be tested according to the angle measurement component, and compare the real-time operation trajectory with the target operation trajectory; In the case where the real-time operation trajectory does not match the target operation trajectory, adjust the output torque according to the real-time operation trajectory.

8. A fatigue test device for a wind turbine blade, characterized in that, Applied to a wind turbine blade fatigue test device, the wind turbine blade fatigue test device includes a link mechanism and a drive motor connected to one end of the link mechanism, and the other end of the link mechanism is connected to the wind turbine blade to be tested. The wind turbine blade fatigue test device includes: A target acquisition module for acquiring the target operation trajectory of the wind turbine blade to be tested; A first determination module for determining the excitation force at the connection between the link mechanism and the wind turbine blade to be tested according to the target operation trajectory; A second determination module, configured to determine an output torque of the drive motor according to the exciting force, and control the drive motor to execute the output torque to drive the link mechanism to swing the wind turbine blade to be tested along the target operation trajectory.

9. An electronic device, characterized in that, The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the wind turbine blade fatigue test method according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the wind turbine blade fatigue test method according to any one of claims 1 to 7 are implemented.

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