CN102809422A - Wind turbine driving system torsional vibration measurement method and device - Google Patents

Wind turbine driving system torsional vibration measurement method and device Download PDF

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CN102809422A
CN102809422A CN2012103069866A CN201210306986A CN102809422A CN 102809422 A CN102809422 A CN 102809422A CN 2012103069866 A CN2012103069866 A CN 2012103069866A CN 201210306986 A CN201210306986 A CN 201210306986A CN 102809422 A CN102809422 A CN 102809422A
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signal
wind energy
energy conversion
conversion system
torsional vibration
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CN102809422B (en
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董礼
于迟
杨怀宇
程庆阳
苏宝定
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Guodian United Power Technology Co Ltd
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Abstract

The invention relates to a wind turbine driving system torsional vibration measurement method and a wind turbine driving system torsional vibration measurement device. The method includes the steps of: synchronously collecting pulse signals of the rotating speed of the front end of a principal shaft of a driving chain and the rotating speed of the tail end of a power generator, and conducting A/D (Analog to Digital) conversion on the signals; calculating the shafting equivalent speed difference of the driving chain; conducting fast Fourier transformation on an equivalent speed difference sequence signal to obtain a frequency domain signal of the equivalent speed difference sequence signal; filtering the frequency domain signal; and working out the torsional angle acceleration and the torsional angle through Fourier differential and integral inverse transformation. The device comprises two rotary encoders which are respectively installed at the front end of the principal shaft and the tail end of the power generator, and a signal processing unit connected with the two rotary encoders. The device disclosed by the invention requires no independent signal acquisition unit and is simple in structure, small in size, stable and reliable in performance, long in service life, and can effectively get rid of noises and interfering signals to obtain accurate shafting torsional angle.

Description

A kind of wind energy conversion system kinematic train torsion measuring method and device
Technical field
The present invention relates to technical field of wind power generation, particularly relate to a kind of wind energy conversion system kinematic train torsion measuring method and device.
Background technology
The twisting vibration of axle system is a kind of important vibration mode, and the long term of torsional oscillation can produce harm to the part on axle and the axle, even causes burst accident.The rotating speed of aerogenerator is constantly to change, so the transmission chain rivet is that the moment of torsion of load is also in continuous variation.During to the wind energy conversion system torsional vibration measurement, need to adapt to rotating speed and the moment of torsion that changes constantly.The torsion measuring method of wind energy conversion system is more complicated more than the torsion measuring method of other rotating machineries.
Mostly present torsional vibration measurement technology is to constant fast operating mode design, and like strain gauge method, this method can not be applied to aerogenerator.Method to the variable speed operating mode has phase difference method and frequency counting method; But they need be that fluted disc or scrambler and corresponding sensor are installed in two ends at axle all; Though vibration measurement with laser method and CCD method can realize dynamic torsional vibration measurement, cost is high and strict to working environment.
Above-mentioned measuring method is not suitable for aerogenerator because of there is above-mentioned defective in it.Therefore how to found and a kind ofly both can realize dynamic torsional vibration measurement; Effective cancelling noise and undesired signal; Obtaining accurately, axle is windup-degree and acceleration; Can reduce cost again and satisfy the method and the device of the torsional vibration measurement of aerogenerator kinematic train, become the technical matters that present industry is badly in need of solution.
Summary of the invention
The present invention provides a kind of aerogenerator kinematic train torsion measuring method; Make it utilize frequency domain differential, integral algorithm based on threshold values filtering correction; Effective cancelling noise and undesired signal; Obtaining accurately axle is that acceleration reverses in windup-degree and axle system, realizes the extraction of dynamic torsional vibration measurement information, solves the problem that can't accurately measure dynamic torsional oscillation and reduce cost at present.
For solving the problems of the technologies described above, a kind of wind energy conversion system kinematic train of the present invention torsion measuring method may further comprise the steps:
The pulse signal of the terminal rotating speed of A, synchronous acquisition driving-chain front-end of spindle rotating speed and generator, and carry out the A/D conversion;
B, to calculate the transmission chain rivet according to following formula be equivalent speed discrepancy,
θ · = ω 2 N - ω 1 ,
Wherein, For the transmission chain rivet is equivalent speed discrepancy, ω 1Be driving-chain front-end of spindle rotating speed, ω 2Be the terminal rotating speed of generator, N is the ratio of gear of wheel box;
The sequence signal of C, equivalent speed discrepancy
Figure BDA00002056024400023
is done Fourier transform, obtains this signal frequency-domain signal;
D, frequency-region signal is carried out filtering;
E, through filtered frequency-region signal being carried out Fourier's differential, integration inverse transformation, try to achieve torsion angle acceleration and windup-degree respectively.
As further improvement, step D is with the frequency content of amplitude in spectrogram less than noise possibility maximum amplitude, and the frequency content zero setting of meshing frequency.
Described noise possibly maximum amplitude be:
Figure BDA00002056024400024
wherein, Pn is the power of noise signal.
In addition, the present invention also provides a kind of wind energy conversion system kinematic train torsional vibration measurement device, makes its speed probe that utilizes blower fan itself as measuring unit; Simple in structure; Be applicable to the characteristics that the wind energy conversion system rotation speed change is big, effectively cancelling noise and undesired signal, obtaining accurately, axle is that acceleration reverses in windup-degree and axle system; Realize the extraction of dynamic torsional vibration measurement information, overcome the deficiency of prior art.
For solving the problems of the technologies described above, a kind of wind energy conversion system kinematic train of the present invention torsional vibration measurement device comprises: be installed in two terminal rotary encoders of front-end of spindle and generator respectively, and the signal processing apparatus that is connected with two rotary encoders.
As further improvement, the described rotary encoder that is installed in front-end of spindle adopts absolute rotary encoder, is installed in the terminal rotary encoder of generator and adopts incremental rotary encoder.
The described rotary encoder that is installed in front-end of spindle adopts metal code disk, is installed in the terminal rotary encoder of generator and adopts the glass code-disc.
Described signal processing apparatus comprises single-chip microcomputer signal processing unit, storage unit and signal transmitting unit.
Said signal transmitting unit is connected with wind energy conversion system master control system or computing machine.
Described rotary encoder all is equipped with protective cover outward.
After adopting above design, the present invention compared with prior art has the following advantages at least:
1, need not independent signal gathering unit, the speed probe that utilizes blower fan itself is as measuring unit, and is simple in structure.The speed probe of wind energy conversion system self is a scrambler.Rotary encoder is the speed displacement sensor of light harvesting mechanical & electrical technology in one.When rotary coder shaft drove the grating disc spins, the light that sends through light-emitting component was cut into interrupted light by grating dish slit, and was received element reception generation initialize signal.This signal is exported pulse or code signal after follow-up processing of circuit.Be characterized in that volume is little, in light weight, wide in variety, function is complete, and frequency response is high, and resolution characteristic is high, and moment is little, and it is low to consume energy, stable performance, characteristics such as reliable long service life.
2, utilize former and later two speed probe equivalence speed discrepancies to calculate the twisting vibration situation, be applicable to the characteristics that the wind energy conversion system rotation speed change is big.Traditional torsional vibration measurement device is that SI of rotating speed is bigger to axle, is applicable to that the rotation speed change interval is little, the metastable system of rotating speed.Measure driving-chain input/output terminal equivalence speed discrepancy and then calculate windup-degree and the method for acceleration and utilize, directly not relevant with rotating speed, insensitive to the wind energy conversion system fluctuation of speed.
3, reverse acceleration and windup-degree based on frequency domain differential, the integral algorithm reference axis system of threshold values filtering correction.The integration method of vibration signal mainly is divided into hardware integrating circuit and software integral algorithm.Many instruments, instrument have all been used the hardware integrating circuit, but this method in actual use, and signal amplitude and phase place behind the integration can be changed, and waveform even can distort causes precise decreasing.Software integration method commonly used is numerical integrating and frequency domain method.But because the influence of noise and undesired signal, often there is swing trend in the integral result of numerical integrating.The present invention proposes frequency domain differential, integral algorithm based on threshold values filtering correction, effectively filtered noise and undesired signal, obtaining accurately, axle is a windup-degree.
Description of drawings
Above-mentioned only is the general introduction of technical scheme of the present invention, understands technological means of the present invention in order can more to know, below in conjunction with accompanying drawing and embodiment the present invention is done further detailed description.
Fig. 1 is the composition synoptic diagram of wind energy conversion system kinematic train torsional oscillation proving installation of the present invention.
Fig. 2 is wind energy conversion system kinematic train front-end of spindle tach signal figure of the present invention.
Fig. 3 is the terminal tach signal figure of wind energy conversion system kinematic train generator of the present invention.
Fig. 4 is that wind energy conversion system kinematic train axle of the present invention is equivalent speed discrepancy signal graph.
Fig. 5 is that the axle that the present invention measures and calculates is the spectrogram before and after the equivalent speed discrepancy signal frequency domain filtering.
Fig. 6 is that the present invention reverses accelerating curve through the kinematic train that Fourier inversion obtains.
Fig. 7 is the kinematic train windup-degree curve that the present invention obtains through Fourier inversion.
Embodiment
See also shown in Figure 1; The driving-chain of aerogenerator is made up of wind wheel wheel hub, main shaft, wheel box, high speed shaft, generator; Wherein the wheel hub rigidity is very strong, can ignore its twisting vibration, so mainly be to the part between the generator end to main shaft to the torsional vibration measurement of wind energy conversion system driving-chain.
Wind energy conversion system kinematic train torsional vibration measurement device of the present invention; Promptly comprise being installed in front-end of spindle and terminal two rotary encoders (also can use the intrinsic speed probe of wind energy conversion system) of generator respectively, and the signal processing apparatus that is connected with two rotary encoders.
Preferable, the rotary encoder that is installed in front-end of spindle adopts absolute rotary encoder, is installed in the incremental rotary encoder that the terminal rotary encoder of generator adopts the glass code-disc, to satisfy accuracy requirement.
The absolute type encoder optical code disk is looped around on the main shaft outer ring, and many roads optical channel groove is arranged, and the per pass groove is successively with 2 lines, 4 lines, 8 lines, 16 lines ... Layout.Like this, in each position of main shaft, n position absolute encoder is through reading the logical, dark of per pass groove, obtain one group from 2 zero degree side unique 2 scale codings (Gray code) to 2 n-1 power.Such scrambler is by the decision of the mechanical location of main shaft, and it is not had a power failure and the influence of other interference.
Incremental rotary encoder is installed in the generator rear end, and the photoelectric code disk of a tape spool is arranged, and logical, the dark groove of annular is arranged on it; Read by photoemission and receiving device; Obtain A, B, C, four groups of sine wave signals of D, each sine wave differs 90 degree phase differential (is 360 degree with respect to a cycle), with C, D signals reverse; Be superimposed upon A, B two goes up mutually, can strengthen stabilization signal; The pulse of a Z phase of revolution output is to represent the zero-bit reference bit in addition.Because A, B two differ 90 degree, can be through A relatively at preceding still B preceding, the forward and reverse with the differentiation generator through zero pulse, can obtain the zero-bit reference bit of scrambler.
The material of rotary encoder code-disc has glass, metal, plastics etc.The scrambler rotating speed of front-end of spindle is low, and the main shaft diameter is big, uses metal code disk to meet the demands.The scrambler working temperature of generator rear end is high, and the rotation speed change scope is big, selects the glass code-disc for use, its Heat stability is good, and precision is high.And can protective cover be housed outside rotary encoder, and avoid foreign matter shading light electrical induction device, cause inefficacy.
When adopting the intrinsic speed probe of wind energy conversion system, the pulse signal of the scrambler of sensor acquisition becomes discrete digital signal through after the signal Processing.Computational analysis to tach signal will realize through signal processor software at a high speed.In analytic process, also will be with the undesired signal filtering, the authenticity of reduction measured signal.Existing photoelectric sensor on the front-end of spindle speed probe blower fan capable of using is drawn its output signal from the blower fan switch board, also can be and improve the extra installation scrambler of precision.The terminal existing photoelectric encoder of the terminal speed probe of generator blower fan generator capable of using is drawn its signal from switch board.
Two-way tach signal same frequency, synchronous acquisition, and insert signal processing apparatus, this signal processing apparatus comprises single-chip microcomputer signal processing unit, storage unit and signal transmitting unit.Wherein, signal processing unit carries out the AD conversion with the two-way tach signal, exists among the buffer memory, again the data of certain hour is carried out discrete signal linearity, integration, is differentiated, and obtains equivalent speed discrepancy, angle and angular acceleration.Result calculated deposits the storage unit of device in, guarantees to store the historical data of certain hour.Signal transmitting unit uses the pattern of serial communication, with blower fan master controller or PC and be connected transmission data file.
Signal processing unit is made up of decoding circuit, data processing circuit.Wherein, Decoding circuit is the supporting signal receiver of scrambler, to the signal output of dissimilar scramblers, like sinusoidal wave (curtage); Square wave (TTL, HTL); Open collector (PNP, NPN), various ways such as plug-type, the signal receiver interface of scrambler should be corresponding with scrambler.
The major function of data processing circuit is to calculate equivalent speed discrepancy sequence, and obtains corresponding rotary acceleration sequence and axle is the windup-degree sequence through differential, integral algorithm.The hardware cell of circuit is a dsp processor.Program design is at first according to the corresponding relation with moment sampling, with speed of mainshaft ω 1With the generator output end rotational speed omega 2Do poorly with the merchant of wheel box ratio of gear N, obtain equivalent speed discrepancy sequence.The equivalent speed discrepancy sequence that will add up certain-length (like 4096 data points) is deposited in the array like internal memory.Wherein, the integral differential after for ease calculates, and data length should be 2 integer power.Then this equivalence speed discrepancy sequence is carried out the differentiating of the threshold values filtering correction of time domain obtained axle system and reverse the acceleration sequence.Equivalent speed discrepancy sequence is carried out the Frequency Domain Integration computing of threshold values filtering correction again, and obtaining axle is the windup-degree sequence.At last with equivalent speed discrepancy sequence, reverse acceleration sequence, windup-degree sequence and be stored as one with zero-time name txt formatted file.
Wind energy conversion system kinematic train torsion measuring method of the present invention promptly is through gathering wind-powered electricity generation set main shaft front end rotational speed omega 1With the terminal rotational speed omega of generator 2, in conjunction with ratio of gear N,, obtaining the torsional vibration signals of wind energy conversion system driving-chain again through differential, integral processing, concrete steps are described below.
The pulse signal of the terminal rotating speed of step 1, synchronous acquisition driving-chain front-end of spindle rotating speed and generator, and carry out the A/D conversion becomes discrete digital signal ω with the pulse signal of scrambler and sensor 1And ω 2
Step 2, calculating transmission chain rivet are that equivalent speed discrepancy
Figure BDA00002056024400071
computing formula is:
θ · = ω 2 N - ω 1 ,
Wherein, ω 1Be driving-chain front-end of spindle rotating speed, ω 2Be the terminal rotating speed of generator, N is the ratio of gear of wheel box.
Can know according to theory of oscillation; When axle system receives torsional interaction to twist distortion; Windup-degree θ is directly proportional with torque, and torsion angle acceleration
Figure BDA00002056024400073
is directly proportional with torque gradient.The torsional oscillation equation of motion is:
J θ · · + c θ · + kθ = T ( t )
Wherein, J is the moment of inertia of axle system; C is a ratio of damping; K is an elasticity coefficient; T (t) is the time dependent function of load torque of axle system, be that torsion angle acceleration, they are windup-degree for torsion angle speed, θ.This formula is the theoretical formula of system's Analysis of Torsional Vibration; It is thus clear that; Confirmed torsion angle speed (being equivalent speed discrepancy) over time, can try to achieve the change curve of windup-degree and torsion angle acceleration respectively through integration and differential, thereby obtain system's torsional state.
Transmission chain torsion angle acceleration can be the equivalent of the drive chain speed difference
Figure BDA00002056024400078
t for time differential get:
Driving-chain windup-degree θ can be by to driving-chain equivalence speed discrepancy
Figure BDA000020560244000710
Integration to time t obtains: θ = ∫ 0 t θ · Dt .
Step 3; The discrete signal x (t) of equivalent speed discrepancy
Figure BDA000020560244000712
does Fast Fourier Transform (FFT), obtains this signal frequency-domain signal X (ω).
Step 4 with the zero setting of frequency noise composition, is carried out filtering to frequency-region signal.Noise signal is generally the little broadband signal of amplitude, because signal to noise ratio snr=10lg (P s/ P n), P sBe the power of useful signal, P nBe the power of noise signal, then P s=P n10 SNR/10Suppose in signal spectrum, to have the energy signal of n frequency, then, have for signal A P n = Σ i = 1 n A i 2 / ( 1 + 10 SNR / 10 ) , The possible peak swing of noise just does like this
Figure BDA00002056024400081
The amplitude of the effective frequency part of actual vibration signal in the Frequency Domain Integration algorithm, can be significantly less than A usually much larger than noise signal with amplitude in the frequency spectrum nFrequency content zero setting, promptly realized A nBe the frequency domain threshold values filtering integration correction of threshold values, the influence of having removed noise signal.Confirmed that the signal to noise ratio (S/N ratio) of signal can confirm threshold values, thereby realized the filtering of noise signal.In addition, be that the significantly frequency of meshing frequency is generally undesired signal away from axle, also it is changed to zero.
Step 5 is tried to achieve torsion angle acceleration and windup-degree through Fourier's differential, integration inverse transformation.Differential, integral characteristic according to Fourier transform; Have x ' Fourier transform (t) just to be j ω X (ω), and the Fourier transform of
Figure BDA00002056024400082
is X (ω) 1/j ω just.At last the frequency spectrum behind x (t) differential is done the differential signal that inversefouriertransform can obtain x (t), i.e. the torsion angle acceleration signal of axle system; Frequency spectrum behind x (t) integration is done the integrated signal that inverse-Fourier transform can obtain x (t), i.e. the windup-degree signal of axle system.
Aforementioned calculation result saves as the text document form and is kept in the storage card, the from date of automatic this acquisition tasks of called after of data file and the moment, be accurate to millisecond, and can pass through serial communication and computer realization communications.
The above; It only is preferred embodiment of the present invention; Be not that the present invention is done any pro forma restriction, those skilled in the art utilize the technology contents of above-mentioned announcement to make a little simple modification, equivalent variations or modification, all drop in protection scope of the present invention.

Claims (9)

1. wind energy conversion system kinematic train torsion measuring method is characterized in that may further comprise the steps:
The pulse signal of the terminal rotating speed of A, synchronous acquisition driving-chain front-end of spindle rotating speed and generator, and carry out the A/D conversion;
B, to calculate the transmission chain rivet according to following formula be equivalent speed discrepancy,
θ · = ω 2 N - ω 1 ,
Wherein,
Figure FDA00002056024300012
For the transmission chain rivet is equivalent speed discrepancy, ω 1Be driving-chain front-end of spindle rotating speed, ω 2Be the terminal rotating speed of generator, N is the ratio of gear of wheel box;
The sequence signal of C, equivalent speed discrepancy
Figure FDA00002056024300013
is done Fourier transform, obtains this signal frequency-domain signal;
D, frequency-region signal is carried out filtering;
E, through filtered frequency-region signal being carried out Fourier's differential, integration inverse transformation, try to achieve torsion angle acceleration and windup-degree respectively.
2. a kind of wind energy conversion system kinematic train torsion measuring method according to claim 1 is characterized in that said step D is with the frequency content of amplitude in spectrogram less than noise possibility maximum amplitude, and the frequency content zero setting of meshing frequency.
3. a kind of wind energy conversion system kinematic train torsion measuring method according to claim 2 is characterized in that described noise possibly maximum amplitude be:
Figure FDA00002056024300014
Wherein, P nPower for noise signal.
4. wind energy conversion system kinematic train torsional vibration measurement device is characterized in that comprising: be installed in two terminal rotary encoders of front-end of spindle and generator respectively, and the signal processing apparatus that is connected with two rotary encoders.
5. a kind of wind energy conversion system kinematic train torsional vibration measurement device according to claim 4; It is characterized in that the described rotary encoder that is installed in front-end of spindle adopts absolute rotary encoder, is installed in the terminal rotary encoder of generator and adopts incremental rotary encoder.
6. wind energy conversion system kinematic train torsional vibration measurement device according to claim 4 is characterized in that the described rotary encoder that is installed in front-end of spindle adopts metal code disk, is installed in the terminal rotary encoder of generator and adopts the glass code-disc.
7. wind energy conversion system kinematic train torsional vibration measurement device according to claim 4, it is characterized in that: described signal processing apparatus comprises single-chip microcomputer signal processing unit, storage unit and signal transmitting unit.
8. wind energy conversion system kinematic train torsional vibration measurement device according to claim 7, it is characterized in that: said signal transmitting unit is connected with wind energy conversion system master control system or computing machine.
9. a kind of wind energy conversion system kinematic train torsional vibration measurement device according to claim 4 is characterized in that described rotary encoder all is equipped with protective cover outward.
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CN104154989A (en) * 2014-07-25 2014-11-19 新疆金风科技股份有限公司 Vibration monitoring method and vibration monitoring system for unstable state rotating equipment
CN104897352A (en) * 2014-03-05 2015-09-09 国家电网公司 Steam turbine power generator set torsion vibration signal generation device, system and method
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CN106768271A (en) * 2016-12-06 2017-05-31 武汉理工大学 Torsional vibration pick-up and twisting vibration measuring method based on fiber grating
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CN106768271A (en) * 2016-12-06 2017-05-31 武汉理工大学 Torsional vibration pick-up and twisting vibration measuring method based on fiber grating
CN106768271B (en) * 2016-12-06 2019-06-25 武汉理工大学 Torsional vibration pick-up and twisting vibration measurement method based on fiber grating
CN112513610A (en) * 2018-07-30 2021-03-16 曼卡车和巴士欧洲股份公司 Method for detecting a change in the operating behavior of a crankshaft drive of a motor vehicle
CN110160577A (en) * 2019-06-20 2019-08-23 广东工业大学 A kind of angle displacement measurement method of incremental rotary encoder, device and equipment
CN113532891A (en) * 2021-06-16 2021-10-22 武汉理工大学 Synchronous measurement method for rotating speed, torsional vibration and torque signals at two ends of wheel shaft
CN113640537A (en) * 2021-08-04 2021-11-12 远景能源有限公司 Rotating speed detection device and method for low-speed side of wind driven generator
CN114814274A (en) * 2022-04-21 2022-07-29 重庆大学 High-resolution torsional vibration measurement method and system based on image recognition

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