Three-dimensional automatic centering control method and system for wind power gear box test, and medium

Abstract

The invention discloses a three-dimensional automatic centering control method and system for a wind power gear box test and a medium. The system comprises a main motor, a tested gearbox, a main motor moving device, a laser centering instrument and a control system. The control system receives deviation data measured by the laser centering instrument, calculates the three-dimensional movement amount of the main motor and outputs a control instruction, and the main motor is driven to move to achieve automatic centering. According to the method, automatic adjustment is achieved through closed-loop control until the deviation meets the preset threshold value, high-precision and automatic shafting centering is achieved, and the centering efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic centering control of wind turbine gearbox testing devices, and particularly relates to a three-dimensional automatic centering control method, system and medium for wind turbine gearbox testing. BACKGROUND

[0002] The statements in this section merely provide background information related to the present disclosure and can not constitute the prior art.

[0003] In a wind turbine gearbox production enterprise, the gearbox testing table is crucial, mainly used for various tests and evaluations of products to ensure that they meet quality standards and performance requirements. During the testing table setup process, the transmission shaft system centering accuracy significantly affects the test results of the gearbox. Therefore, during installation, repeated adjustments are needed to ensure that the centering accuracy meets the testing requirements of the system.

[0004] In the traditional centering method of the gearbox transmission shaft system, a laser centering instrument and a manually adjusted motor base position are used to achieve the centering. The specific steps are as follows: 1) Install the transmitter and receiver of the laser centering instrument on the connecting shaft of the gearbox and the motor, and adjust the position; 2) Manually start the motor at a slow speed and let it rotate one revolution; 3) Read the centering deviation data on the display of the laser centering instrument; 4) Manually adjust the position of the motor base according to the deviation data; 5) Start the motor again, read the deviation data, and confirm whether the data meets the requirements The above is the common centering operation mode, but it has the following disadvantages and shortcomings: 1) Manual data reading may result in data reading errors; 2) Manual rotation of the motor and movement of the motor base are slow and inefficient; 3) When the motor is rotating, someone needs to operate near the rotating part, which poses a risk of mechanical injury. SUMMARY

[0005] The present application aims at the problems of low efficiency, poor precision, repeated debugging and insufficient operation safety in the process of transmission shaft centering of the existing wind turbine gearbox test bench, and provides a three-dimensional automatic centering control method, system and computer readable storage medium for wind turbine gearbox testing, which realizes automatic measurement, automatic calculation and automatic adjustment of centering deviation through the cooperative control of the laser centering instrument, the control system and the three-dimensional moving motor base, solves the problems of low efficiency, large error and high safety risk of manual centering, realizes high-precision automatic centering of the transmission shaft system, significantly improves the test bench building efficiency and centering precision, and reduces the operation risk.

[0006] The technical scheme of the present application is as follows: A three-dimensional automatic centering control system for wind turbine gearbox testing, comprising: A main motor and a measured gearbox, the output shaft of the main motor is connected with the input shaft of the measured gearbox; A main motor moving device capable of driving the main motor to move in three-dimensional directions; A laser centering instrument for measuring the centering deviation between the output shaft of the main motor and the input shaft of the measured gearbox and outputting deviation data; A control system for receiving the deviation data and calculating the movement amount of the main motor in three-dimensional directions, and outputting corresponding control instructions, and the main motor moving device moves along the three-dimensional directions according to the control instructions, so that the main motor moves to the target position.

[0007] Further, the main motor moving device comprises: A motor base, a motor base driving device and a motor base moving motor; the main motor is installed on the motor base, and the motor base moving motor can drive the motor base to move in three-dimensional directions under the driving of the motor base driving device, so that the main motor moves to the target position.

[0008] Further, the laser centering instrument comprises: A centering instrument host, a probe S and a probe M; Wherein, the probe S is arranged on the side of the measured gearbox, and the probe M is installed on the side of the main motor; the probe S and the probe M are used for measuring the relative displacement and angular deviation of the output shaft of the main motor and the input shaft of the measured gearbox in horizontal and vertical directions, and sending the measured signals to the centering instrument host, so as to calculate the deviation data by the centering instrument host.

[0009] Further, the centering instrument host transmits the deviation data to the upper computer by wireless communication, and the upper computer transmits the deviation data to the control system by wired communication.

[0010] Further, the main motor driving device can control the rotation speed of the main motor according to the control instruction issued by the control system.

[0011] Further, the control system issues a control instruction to the main motor driving device to make the main motor run at a low speed so as to measure the data of the laser alignment instrument.

[0012] Further, the control system compares the deviation data with a deviation threshold value, if the deviation data is greater than the deviation threshold value, the movement amount of the main motor in three-dimensional directions is calculated and the corresponding control instruction is output, if the deviation data is less than or equal to the deviation threshold value, it indicates that the alignment meets the requirements.

[0013] Further, the control system performs closed-loop control according to the deviation data output by the laser alignment instrument until the deviation data meets the preset deviation threshold value.

[0014] The application further provides a three-dimensional automatic alignment control method for testing a wind power gear box, which is based on the three-dimensional automatic alignment control system and comprises the following steps. An initialization step is provided, in which the main motor and the gear box to be tested are provided, and the output shaft of the main motor is connected to the input shaft of the gear box to be tested through a shaft coupling. A measurement step is provided, in which the relative displacement and angular deviation of the output shaft of the main motor and the input shaft of the gear box to be tested in the horizontal and vertical directions are measured by the laser alignment instrument, the probe S is arranged on the side of the gear box to be tested, the probe M is arranged on the side of the main motor, and the alignment instrument host calculates the deviation data according to the signals sent by the probe S and the probe M. A data transmission step is provided, in which the alignment instrument host sends the deviation data to the upper computer through wireless communication, and the upper computer transmits the deviation data to the control system through wired communication. A control calculation step is provided, in which the control system receives the deviation data and compares the deviation data with a preset deviation threshold value, when the deviation data is greater than the deviation threshold value, the target movement amount of the main motor in three-dimensional directions is calculated and the corresponding control instruction is output. An execution adjustment step is provided, in which the main motor moving device drives the main motor to move to the target position in three-dimensional directions according to the control instruction of the control system. A rotation measurement step is provided, in which the control system issues a control instruction to the main motor driving device to make the main motor run at a low speed so as to make the laser alignment instrument re-measure the alignment deviation between the main motor and the gear box to be tested. A closed-loop iteration step is provided, in which the control system performs closed-loop control according to the updated deviation data, and repeatedly performs the control calculation step and the execution adjustment step until the deviation data is less than or equal to the preset deviation threshold value, and the alignment process is automatically ended.

[0015] The application further provides a computer readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the three-dimensional automatic centering control method for wind power gear box testing.

[0016] Compared with the prior art, the application has the following beneficial effects: 1. Automatic centering is realized, and manual intervention is reduced: by arranging a laser centering instrument, a control system and a main motor moving device between a main motor and a gear box to be tested, the control system automatically receives deviation data measured by the laser centering instrument and calculates movement amounts in three-dimensional directions, and the main motor moving device automatically adjusts the position of the main motor without manual reading and manual adjustment, so that the degree of automation of the centering process is significantly improved.

[0017] 2. The centering accuracy and efficiency are improved: the control system performs closed-loop control according to real-time deviation data of the laser centering instrument, and automatically adjusts through multiple iterations until the deviation meets a preset threshold, so that the centering accuracy is better than 0.02 mm, the average centering time is not more than 10 minutes, and the accuracy and efficiency of the wind power gear box test bench are obviously improved.

[0018] 3. Accurate adjustment in three-dimensional directions is realized: the main motor moving device is composed of a motor base, a base driving device and a three-dimensional moving motor, and can move independently in X, Y and Z directions, so that the main motor and the gear box to be tested are automatically centered in three-dimensional directions in space, and the comprehensive accuracy of shafting coaxiality and parallelism is ensured.

[0019] 4. The measurement process is stable and safe: the control system controls the main motor to run at a low speed, so that the laser centering instrument can accurately measure the deviation in a rotating state, the risk of manual operation near a rotating part is avoided, and the safety of the test bench building and debugging process is improved.

[0020] 5. Communication is reliable, and the system integration is high: the laser centering instrument host communicates with the upper computer in a wireless mode, and the upper computer is connected with the control system in a wired mode, so that real-time data transmission and processing are realized, the system integration is high, and the system is stable and reliable.

[0021] 6. The system is suitable for large wind power gear box testing scenarios: the system structure of the application is simple, the control logic is clear, and the degree of automation is high, so that the application is particularly suitable for centering debugging of large wind power gear box test benches, the test bench building time can be significantly shortened, and the overall testing efficiency and accuracy are improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art based on these drawings.

[0023] Figure 1 It is a three-dimensional automatic centering control system block diagram for wind turbine gearbox test.

[0024] Figure 2 It is a laser centering instrument principle block diagram. DETAILED DESCRIPTION

[0025] It should be noted that the terms "first" and "second" and the like such relational terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0026] The features and performances of the present application will be further described in detail below in combination with the embodiments.

[0027] Embodiment one Please refer to Figure 1 and Figure 2 It is a three-dimensional automatic centering control system for wind turbine gearbox test, specifically comprising: A main motor and a gearbox to be tested, the output shaft of the main motor is connected with the input shaft of the gearbox to be tested; A main motor moving device capable of driving the main motor to move in three-dimensional directions; A laser centering instrument for measuring the centering deviation between the output shaft of the main motor and the input shaft of the gearbox to be tested, and outputting the deviation data; A control system for receiving the deviation data and calculating the movement amount of the main motor in three-dimensional directions, and outputting corresponding control instructions, the main motor moving device moves along the three-dimensional directions according to the control instructions, so that the main motor moves to the target position; That is, the laser centering instrument reads the centering data; through the communication mode, it is transmitted to the control system, the control system controls the main motor moving device through the internal algorithm, so that the main motor moves to the target position.

[0028] In the embodiment, specifically, the main motor moving device comprises: The motor base, the motor base driving device, and the motor base moving motor; the main motor is installed on the motor base, and the motor base moving motor can drive the motor base to move in three-dimensional directions under the driving of the motor base driving device, so that the main motor moves to the target position.

[0029] In the embodiment, specifically, the laser alignment instrument comprises: The alignment instrument main machine, the detector S, and the detector M; The detector S is arranged on the side of the measured gear box, and the detector M is installed on the side of the main motor; the detector S and the detector M are used to measure the relative displacement and angle deviation of the output shaft of the main motor and the input shaft of the measured gear box in the horizontal and vertical directions, and send the measured signals to the alignment instrument main machine, so that the deviation data is calculated by the alignment instrument main machine.

[0030] In the embodiment, specifically, the alignment instrument main machine transmits the deviation data to the upper computer in a wireless communication mode, and the upper computer transmits the deviation data to the control system in a wired communication mode.

[0031] In the embodiment, specifically, the main motor driving device is further included; the main motor driving device can control the rotating speed of the main motor according to the control instruction issued by the control system.

[0032] In the embodiment, specifically, the control system issues the control instruction to the main motor driving device, so that the main motor runs at a low speed, so as to measure the data of the laser alignment instrument.

[0033] In the embodiment, specifically, the control system compares the deviation data with the deviation threshold value; if the deviation data is greater than the deviation threshold value, the moving amount of the main motor in the three-dimensional direction is calculated, and the corresponding control instruction is output; if the deviation data is less than or equal to the deviation threshold value, it is indicated that the alignment meets the requirements.

[0034] In the embodiment, specifically, the control system executes the closed-loop control according to the deviation data output by the laser alignment instrument until the deviation data meets the preset deviation threshold value.

[0035] In the embodiment, specifically, the three-dimensional automatic alignment control system is based on the above, and a three-dimensional automatic alignment control method for testing the wind power gear box is further provided, which specifically comprises the following steps: The initialization step: the main motor and the measured gear box are provided, and the output shaft of the main motor is connected to the input shaft of the measured gear box through the shaft coupling; Measurement step: the relative displacement and angular deviation of the output shaft of the main motor and the input shaft of the measured gearbox in horizontal and vertical directions are measured by the laser alignment instrument, the detector S is arranged on the measured gearbox side, the detector M is arranged on the main motor side, and the alignment instrument main machine calculates the deviation data according to the signals sent by the detector S and the detector M; Data transmission step: the alignment instrument main machine sends the deviation data to the upper computer through wireless communication, and the upper computer transmits the deviation data to the control system through wired communication; Control calculation step: the control system receives the deviation data, compares the deviation data with the preset deviation threshold, calculates the target movement amount of the main motor in three-dimensional directions when the deviation data is greater than the deviation threshold, and outputs the corresponding control instruction; Adjustment execution step: the main motor moving device drives the main motor to move to the target position in three-dimensional directions according to the control instruction of the control system; Rotary measurement step: the control system issues a control instruction to the main motor driving device to make the main motor run at a low speed, so that the laser alignment instrument re-measures the alignment deviation between the main motor and the measured gearbox; Closed loop iteration step: the control system performs closed loop control according to the updated deviation data, repeatedly executes the control calculation step and the adjustment execution step, and automatically ends the alignment process when the deviation data is less than or equal to the preset deviation threshold.

[0036] The application also provides a computer readable storage medium storing a computer program, which is executed by a processor to implement the steps of the three-dimensional automatic alignment control method for wind power gearbox testing.

[0037] The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0038] The computer readable storage medium can include a data signal transported over a carrier wave and can be baseband or propagated along with carriers. The program code embodied on the computer readable storage medium can be transmitted using any apparatus adapted to transmit any sort of signal with information, including without limitation wireless, wired, optical fibers, RF, etc. or any suitable combination thereof.

[0039] The program code can be executed by one or more programmable processors, which can be hardware, software, firmware, or any combination thereof. A processor can be a special purpose processor, such as a digital signal processor, a central processing unit, a microcontroller, a microprocessor associated with a computer system, etc. The program code can be stored on any suitable computer readable storage medium including a memory device or memory media, such as a semiconductor memory device or a magnetic disk. Each of the memory device or memory media, including by way of example a computer readable product, can store, without limitation, data or instructions for execution by one or more processors of a computer system. Executable instructions can be in many forms, including but not limited to, a currently known form, a future known form, human readable form, machine readable form including one or more computer languages, etc. The described data and / or program code might also be downloaded via computer networks.

[0040] The above-described embodiments are merely illustrative for the present application and should not be construed as limiting the scope of protection. It should be indicated that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which should be within the scope of protection of the present application.

[0041] This Background section is intended to provide a general overview of the context of the application, the work of the current named inventors, the work of others in the field, and the work of the current inventors that was done prior to the application date of this application, and is not an admission that any of the work in this section is prior art to the present application, either by implication or by reference.

Claims

1. A three-dimensional automatic centering control system for wind turbine gearbox testing, characterized in that, The application relates to a three-dimensional automatic centering control system. The system comprises a main motor and a measured gear box, the output shaft of the main motor is connected with the input shaft of the measured gear box; A main motor moving device can drive the main motor to move in three-dimensional directions; A laser centering instrument is used for measuring the centering deviation between the output shaft of the main motor and the input shaft of the measured gear box and outputting deviation data; A control system is used for receiving the deviation data, calculating the moving amount of the main motor in three-dimensional directions and outputting corresponding control instructions, and the main motor moving device moves along the three-dimensional directions according to the control instructions so that the main motor moves to a target position.

2. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 1, characterized in that, The main motor moving device comprises a motor base, a motor base driving device and a motor base moving motor, the main motor is installed on the motor base, the motor base moving motor can drive the motor base to move in three-dimensional directions under the driving of the motor base driving device so that the main motor moves to the target position. The laser centering instrument comprises a centering instrument main machine, a detector S and a detector M, the detector S is arranged on the measured gear box side, the detector M is installed on the main motor side, the detector S and the detector M are used for measuring the relative displacement and angle deviation of the output shaft of the main motor and the input shaft of the measured gear box in horizontal and vertical directions and sending the measured signals to the centering instrument main machine, and the centering instrument main machine calculates the deviation data.

3. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 2, characterized in that, The centering instrument main machine transmits the deviation data to an upper computer through wireless communication, and the upper computer transmits the deviation data to the control system through wired communication. The system further comprises a main motor driving device which can control the rotating speed of the main motor according to the control instructions issued by the control system. The control system issues the control instructions to the main motor driving device so that the main motor runs at low speed to facilitate the measurement of the laser centering instrument.

4. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 3, characterized in that, The control system compares the deviation data with a deviation threshold value, if the deviation data is greater than the deviation threshold value, the moving amount of the main motor in three-dimensional directions is calculated and corresponding control instructions are outputted, if the deviation data is less than or equal to the deviation threshold value, it indicates that the centering meets the requirements.

5. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 4, characterized in that, The control system executes closed-loop control according to the deviation data outputted by the laser centering instrument until the deviation data meets the preset deviation threshold value. The three-dimensional automatic centering control system according to any one of claims 1-8 comprises:

6. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 5, characterized in that, An initialization step: a main motor and a measured gear box are provided, the output shaft of the main motor is connected with the input shaft of the measured gear box through a shaft coupling; 7. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 6, characterized in that, A measurement step: a laser centering instrument is used for measuring the relative displacement and angle deviation of the output shaft of the main motor and the input shaft of the measured gear box in horizontal and vertical directions, the detector S is arranged on the measured gear box side, the detector M is arranged on the main motor side, and the centering instrument main machine calculates the deviation data according to the signals sent by the detector S and the detector M; 8. A three-dimensional automatic centering control system for testing a wind turbine gearbox according to claim 7, characterized in that, A data transmission step: the centering instrument main machine transmits the deviation data to an upper computer through wireless communication, and the upper computer transmits the deviation data to a control system through wired communication; 9. A three-dimensional automatic centering control method for wind turbine gearbox testing, characterized in that, A control calculation step: the control system receives the deviation data, compares the deviation data with a preset deviation threshold value, calculates the target moving amount of the main motor in three-dimensional directions when the deviation data is greater than the deviation threshold value and outputs corresponding control instructions. ​ ​ ​ ​ The adjustment step is performed: the main motor moving device drives the main motor to move to the target position in three-dimensional direction according to the control instruction of the control system; The rotation measurement step is performed: the control system issues a control instruction to the main motor driving device, so that the main motor runs at low speed, so that the laser alignment instrument re-measures the alignment deviation between the main motor and the measured gear box; The closed loop iteration step is performed: the control system performs closed loop control according to the updated deviation data, repeatedly performs the control calculation step and the adjustment step, and automatically ends the alignment process when the deviation data is less than or equal to the preset deviation threshold.

10. A computer-readable storage medium storing a computer program, the computer program comprising program instructions configured to: The computer program is executed by the processor to realize the steps of the three-dimensional automatic alignment control method for wind power gear box testing according to claim 9.

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