CN102809422B - Wind turbine driving system torsional vibration measurement method and device - Google Patents
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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
Technical Field
The invention relates to the technical field of wind power generation, in particular to a method and a device for measuring torsional vibration of a transmission system of a wind turbine.
Background
Torsional vibration of a shaft system is an important vibration mode, and the long-term action of the torsional vibration can cause damage to the shaft and parts on the shaft and even cause accidents. The rotational speed of the wind turbine is constantly changing and therefore the torque loading the drive train shaft is also constantly changing. When the torsional vibration of the wind turbine is measured, the rotating speed and the torque which change constantly need to be adapted. The method of measuring torsional vibration of a wind turbine is more complex than that of other rotating machines.
Most of the existing torsional vibration measurement technologies are designed aiming at the working condition of constant speed, such as a strain gauge method, and the method cannot be applied to a wind driven generator. The method aiming at the working condition of variable rotating speed comprises a phase difference method and a frequency counting method, but both of the methods need to install fluted discs or encoders and corresponding sensors at two ends of a shaft system, and although the laser vibration measurement method and the CCD method can realize dynamic torsional vibration measurement, the cost is high and the requirements on the working environment are strict.
The above-mentioned measuring method is not suitable for wind power generators because of the above-mentioned drawbacks. Therefore, how to create a method and a device which can realize dynamic torsional vibration measurement, effectively eliminate noise and interference signals, obtain accurate shafting torsion angle and acceleration, reduce cost and meet the requirement of torsional vibration measurement of a transmission system of a wind driven generator becomes a technical problem which is urgently needed to be solved in the industry at present.
Disclosure of Invention
The invention provides a torsional vibration measuring method of a transmission system of a wind driven generator, which effectively eliminates noise and interference signals by using a frequency domain differentiation and integration algorithm based on threshold value filtering correction to obtain an accurate shafting torsion angle and a shafting torsion acceleration, realizes extraction of dynamic torsional vibration measuring information, and solves the problems that the dynamic torsional vibration cannot be accurately measured at present and the cost is reduced.
In order to solve the technical problem, the invention provides a method for measuring torsional vibration of a wind turbine transmission system, which comprises the following steps:
A. synchronously acquiring pulse signals of the rotating speed of the front end of a main shaft of a transmission chain and the rotating speed of the tail end of a generator, and performing A/D conversion;
B. calculating the equivalent rotating speed difference of the transmission chain shafting according to the following formula,
wherein,
for equivalent rotational speed difference, omega, of the drive train shafting1For the front speed, omega, of the main shaft of the drive chain2The rotating speed of the tail end of the generator is N, and the transmission ratio of the gearbox is N;
C. to equivalent difference of rotation speed
Performing Fourier transform on the sequence signal to obtain a frequency domain signal of the signal;
D. filtering the frequency domain signal;
E. and respectively obtaining the torsion angular acceleration and the torsion angle by carrying out Fourier differentiation and integral inverse transformation on the filtered frequency domain signal.
As a further improvement, step D is to zero out frequency components in the spectrogram having amplitudes less than the maximum possible amplitude of noise, and frequency components of the meshing frequency.
The maximum possible amplitude of the noise is as follows:
where Pn is the power of the noise signal.
In addition, the invention also provides a wind turbine transmission system torsional vibration measuring device, which utilizes the rotation speed sensor of the wind turbine as a measuring unit, has simple structure and is suitable for the characteristic of large rotation speed change of the wind turbine, can effectively eliminate noise and interference signals, obtains accurate shafting torsion angle and shafting torsion acceleration, realizes the extraction of dynamic torsional vibration measuring information and overcomes the defects of the prior art.
In order to solve the above technical problem, the present invention provides a wind turbine transmission system torsional vibration measuring device, which comprises: two rotary encoders respectively mounted at the front end of the main shaft and the tail end of the generator, and a signal processing device connected with the two rotary encoders.
As a further improvement, the rotary encoder arranged at the front end of the main shaft adopts an absolute rotary encoder, and the rotary encoder arranged at the tail end of the generator adopts an incremental rotary encoder.
The rotary encoder arranged at the front end of the main shaft adopts a metal code disc, and the rotary encoder arranged at the tail end of the generator adopts a glass code disc.
The signal processing device comprises a single chip microcomputer signal processing unit, a storage unit and a signal sending unit.
And the signal transmitting unit is connected with a main control system of the wind turbine or a computer.
And protective covers are arranged outside the rotary encoders.
After adopting the design, compared with the prior art, the invention at least has the following advantages:
1. an independent signal acquisition unit is not needed, and a rotating speed sensor of the fan is used as a measuring unit, so that the structure is simple. The wind turbine's own rotational speed sensor is an encoder. The rotary encoder is a speed displacement sensor integrated with optical mechanical and electrical technology. When the rotary encoder shaft drives the grating disk to rotate, light emitted by the light-emitting element is cut into intermittent light rays by the slits of the grating disk, and the intermittent light rays are received by the receiving element to generate an initial signal. The signal is processed by a subsequent circuit and then a pulse or code signal is output. Its advantages are small size, light weight, multiple varieties, full functions, high frequency response, resolution power, low torque, low energy consumption, stable performance, high reliability and long service life.
2. The torsional vibration condition is calculated by utilizing the equivalent rotation speed difference of the front and the rear rotation speed sensors, and the method is suitable for the characteristic of large rotation speed change of the wind turbine. The traditional torsional vibration measuring device has larger sampling interval for the rotating speed of a shaft system, and is suitable for a system with small rotating speed change interval and relatively stable rotating speed. The method for calculating the torsion angle and the acceleration by measuring the equivalent rotating speed difference of the input end and the output end of the transmission chain is not directly related to the rotating speed and is insensitive to the rotating speed fluctuation of the wind turbine.
3. Calculating the torsional acceleration and the torsional angle of the shafting based on a frequency domain differential and integral algorithm of threshold filtering correction. The integration method of the vibration signal is mainly divided into a hardware integration circuit and a software integration algorithm. Many instruments and meters use a hardware integration circuit, but in practical use, the method can change the amplitude and phase of an integrated signal, and even distort the waveform, so that the precision is reduced. Common software integration methods are numerical integration and frequency domain. However, due to the influence of noise and interference signals, the integration result of the numerical integration method tends to have a swing tendency. The invention provides a frequency domain differential and integral algorithm based on threshold filtering correction, which can effectively filter noise and interference signals and obtain an accurate shafting torsion angle.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a schematic diagram of the torsional vibration testing device of the wind turbine transmission system.
FIG. 2 is a diagram of a signal of the rotation speed of the front end of the main shaft of the transmission system of the wind turbine.
FIG. 3 is a diagram of a signal of the generator end rotation speed of the wind turbine transmission system according to the present invention.
FIG. 4 is a diagram of equivalent differential rotational speed signals of a shafting of a wind turbine transmission system.
FIG. 5 is a frequency spectrum before and after frequency-domain filtering of the shafting equivalent rotational speed difference signal measured and calculated by the present invention.
FIG. 6 is a plot of the torsional acceleration of the transmission system after an inverse Fourier transform in accordance with the present invention.
FIG. 7 is a plot of driveline twist angle through an inverse Fourier transform in accordance with the present invention.
Detailed Description
Referring to fig. 1, a transmission chain of a wind turbine generator is composed of a wind wheel hub, a main shaft, a gearbox, a high-speed shaft and a generator, wherein the hub has high rigidity and can ignore torsional vibration of the hub, so that torsional vibration measurement of the transmission chain of the wind turbine generator mainly aims at a part between the main shaft and the tail end of the generator.
The invention relates to a torsional vibration measuring device of a wind turbine transmission system, which comprises two rotary encoders (the inherent rotating speed sensor of the wind turbine can also be used) which are respectively arranged at the front end of a main shaft and the tail end of a generator, and a signal processing device connected with the two rotary encoders.
Preferably, the rotary encoder arranged at the front end of the main shaft adopts an absolute rotary encoder, and the rotary encoder arranged at the tail end of the generator adopts an incremental rotary encoder with a glass code disc so as to meet the precision requirement.
The absolute encoder disk surrounds the spindle outer ring and has a plurality of optical channel scribes, each of which is arranged in 2, 4, 8 and 16 lines … …. Thus, at each position of the spindle, an n-bit absolute encoder obtains a set of unique 2-ary codes (Gray codes) from the zeroth power of 2 to the n-1 power of 2 by reading the pass and the dark of each scribe line. Such an encoder is determined by the mechanical position of the spindle, which is not affected by power outages and other disturbances.
The incremental rotary encoder is arranged at the rear end of the generator, is provided with a photoelectric coded disc with a shaft, is provided with an annular through and dark scribed line, is read by a photoelectric transmitting and receiving device to obtain A, B, C, D four groups of sine wave signals, each sine wave has a phase difference of 90 degrees (relative to a cycle wave of 360 degrees), the C, D signals are reversed and are superposed on A, B two phases, and stable signals can be enhanced; and outputs a Z-phase pulse per revolution to represent a zero reference bit. A, B the phase difference between two phases is 90 degrees, it can judge the positive rotation and reverse rotation of the generator by comparing the A phase with the B phase, the zero position reference position of the encoder can be obtained by the zero position pulse.
The material of the code wheel of the rotary encoder is glass, metal, plastic and the like. The encoder at the front end of the main shaft has low rotating speed and large diameter of the main shaft, and the requirement can be met by using a metal code disc. The encoder at the rear end of the generator has high working temperature and large rotating speed variation range, and a glass coded disc is selected, so that the thermal stability is good and the precision is high. And a protective cover can be arranged outside the rotary encoder, so that the phenomenon that foreign matters shield the photoelectric sensing device to cause failure is avoided.
When the inherent rotating speed sensor of the wind turbine is adopted, the pulse signal of the encoder acquired by the sensor is converted into a discrete digital signal after signal processing. The calculation and analysis of the speed signal are realized by high-speed signal processor software. In the analysis process, interference signals are filtered out, and the authenticity of the detected signals is restored. The spindle front end rotation speed sensor can utilize the existing photoelectric sensor on the fan to lead out the output signal of the spindle front end rotation speed sensor from the fan control cabinet, and an encoder can also be additionally arranged for improving the precision. The generator tail end rotating speed sensor can utilize an existing photoelectric encoder at the tail end of the fan generator to lead out signals of the photoelectric encoder from the control cabinet.
The two paths of rotating speed signals are synchronously acquired at the same frequency and are connected to a signal processing device, and the signal processing device comprises a single chip microcomputer signal processing unit, a storage unit and a signal sending unit. The signal processing unit performs AD conversion on the two paths of rotating speed signals, stores the rotating speed signals in a cache, and performs discrete signal linear, integral and differential operation on data in a certain time to obtain equivalent rotating speed difference, angle and angular acceleration. The calculated result is stored in a storage unit of the device, so that historical data can be stored for a certain time. The signal sending unit is connected with the fan main controller or the PC by using a serial port communication mode, and transmits data files.
The signal processing unit consists of a decoding circuit and a data processing circuit. The decoding circuit is a signal receiving device matched with the encoder, and aiming at signal output of different types of encoders, such as sine waves (current or voltage), square waves (TTL and HTL), open collector circuits (PNP and NPN), push-pull type and other forms, a signal receiving device interface of the encoder corresponds to the encoder.
The data processing circuit has the main functions of calculating an equivalent rotating speed difference sequence and obtaining a corresponding rotating acceleration sequence and a shafting torsion angle sequence through differentiation and integration algorithms. The hardware unit of the circuit is a DSP processor. Programming, namely firstly, according to the corresponding relation of sampling at the same time, converting the rotating speed omega of the main shaft1And the output rotation speed omega of the generator2And making difference with the quotient of the transmission ratio N of the gearbox to obtain an equivalent rotating speed difference sequence. Storing the equivalent rotating speed difference sequence accumulated with a certain length (4096 data points for example) in a memoryIn an array. For the convenience of the integral differential calculation, the data length should be an integer power of 2. And then carrying out differential operation on the equivalent rotating speed difference sequence for threshold filtering correction of a time domain to obtain a shafting torsional acceleration sequence. And then carrying out frequency domain integral operation of threshold value filtering correction on the equivalent rotating speed difference sequence to obtain a shafting torsion angle sequence. And finally, storing the equivalent rotating speed difference sequence, the torsion acceleration sequence and the torsion angle sequence into a txt format file named by the starting time.
The invention relates to a method for measuring torsional vibration of a wind turbine transmission system, which is implemented by acquiring the rotating speed omega of the front end of a main shaft of a wind turbine generator1And generator terminal speed omega2And combining the transmission ratio N, and obtaining a torsional vibration signal of the transmission chain of the wind turbine through differentiation and integration processing.
Step one, pulse signals of the rotating speed of the front end of a main shaft of a transmission chain and the rotating speed of the tail end of a generator are synchronously acquired, A/D conversion is carried out, and the pulse signals of an encoder and a sensor are converted into discrete digital signals omega1And ω2。
Step two, calculating the equivalent rotating speed difference of the transmission chain shafting
The calculation formula is as follows:
wherein, ω is1For the front speed, omega, of the main shaft of the drive chain2The rotating speed at the tail end of the generator is N, and the transmission ratio of the gearbox is N.
According to the vibration theory, when the shafting is subjected to torsional deformation under the action of torque, the torsional angle theta is in direct proportion to the torque, and the torsional angle acceleration
Proportional to the rate of change of torque. The torsional vibration equation of motion is:
wherein J is the rotational inertia of the shafting, c is the damping coefficient, k is the elastic coefficient, T (t) is the function of the change of the load torque of the shafting along with the time,
is the angular acceleration of torsion,
The torsion angular velocity and θ are torsion angles. The formula is a theoretical formula of system torsional vibration analysis, and therefore, the change of the torsional angular velocity (namely equivalent rotational speed difference) along with time is determined, namely, the change curves of the torsional angle and the torsional angular acceleration can be respectively obtained through integration and differentiation, and the torsional vibration state of the system is obtained.
Angular acceleration of drive train
Can be obtained by equivalent difference of rotation speed of the transmission chain
Differentiation over time t yields:
the angle of torsion theta of the drive train can be determined by the difference in equivalent rotational speeds of the drive train
Integration over time t yields: <math><mrow>
<mi>θ</mi>
<mo>=</mo>
<msubsup>
<mo>∫</mo>
<mn>0</mn>
<mi>t</mi>
</msubsup>
<mover>
<mi>θ</mi>
<mo>·</mo>
</mover>
<mi>dt</mi>
<mo>.</mo>
</mrow></math>
step three, equivalent rotating speed difference
The discrete signal X (t) of (a) is subjected to fast fourier transform to obtain a frequency domain signal X (ω) of the signal.
And fourthly, setting the noise frequency component to zero, and filtering the frequency domain signal. The noise signal is usually a wide-band signal with a small amplitude, since the signal-to-noise ratio SNR =10lg (P)s/Pn)，PsIs the power of the useful signal, PnIs the power of the noise signal, then Ps=Pn·10SNR/10. Assuming there are energy signals of n frequencies in the signal spectrum, then for signal A, there is <math><mrow>
<msub>
<mi>P</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<munderover>
<mi>Σ</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msup>
<msub>
<mi>A</mi>
<mi>i</mi>
</msub>
<mn>2</mn>
</msup>
<mo>/</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<msup>
<mn>10</mn>
<mrow>
<mi>SNR</mi>
<mo>/</mo>
<mn>10</mn>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mrow></math> The maximum possible amplitude of the noise is thenThe amplitude of the effective frequency part of the actual vibration signal is usually much larger than that of the noise signal, and in the frequency domain integration algorithm, the amplitude in the frequency spectrum can be obviously smaller than AnZero the frequency component of (A), i.e. realizenAnd the frequency domain threshold value filtering integral correction of the threshold value removes the influence of a noise signal. The threshold value can be determined by determining the signal-to-noise ratio of the signal, so that the noise signal is filtered. In addition, the more significant frequencies away from the shafting meshing frequency are usually interference signals, which are also set to zero.
And step five, obtaining the torsion angular acceleration and the torsion angle through Fourier differential and integral inverse transformation. According to the differentiation and integration characteristics of Fourier transform, the Fourier transform with X' (t) is j ω. X (ω), and
the Fourier transform of (c) is X (ω). 1/j ω. Finally, performing inverse Fourier transform on the frequency spectrum after x (t) differentiation to obtain a differential signal of x (t), namely a torsional angular acceleration signal of a shafting; the integrated frequency spectrum of x (t) is inverse Fourier transformed to obtain the integrated signal of x (t), i.e. the torsion angle signal of the shafting.
The calculation result is stored in a storage card in a text document mode, the data file is automatically named as the starting date and the starting moment of the acquisition task, the accuracy is as high as millisecond, and the data file can be communicated with a computer through serial port communication.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
Claims (3)
1. A wind turbine transmission system torsional vibration measuring method is characterized by comprising the following steps:
A. synchronously acquiring pulse signals of the rotating speed of the front end of a main shaft of a transmission chain and the rotating speed of the tail end of a generator, and performing A/D conversion;
B. calculating the equivalent rotating speed difference of the transmission chain shafting according to the following formula,
wherein,for equivalent rotational speed difference, omega, of the drive train shafting1For the front speed, omega, of the main shaft of the drive chain2The rotating speed of the tail end of the generator is N, and the transmission ratio of the gearbox is N;
C. to equivalent difference of rotation speed
Performing Fourier transform on the sequence signal to obtain a frequency domain signal of the signal;
D. filtering the frequency domain signal;
E. and respectively obtaining the torsion angular acceleration and the torsion angle by carrying out Fourier differentiation and integral inverse transformation on the filtered frequency domain signal.
2. The method as claimed in claim 1, wherein step D is to null the frequency components having amplitudes smaller than the maximum possible amplitude of noise and the frequency components having meshing frequencies in the spectrogram.
3. The method of claim 2, wherein the maximum possible noise amplitude is:wherein, PnIs the power of the noise signal.
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