CN106503370B - The determination method of large-scale wind electricity set yaw choice of electrical machine method and driving torque - Google Patents
The determination method of large-scale wind electricity set yaw choice of electrical machine method and driving torque Download PDFInfo
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- 238000010187 selection method Methods 0.000 claims abstract 2
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- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
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Abstract
The present invention relates to large-scale wind electricity set yaw choice of electrical machine method and the determination methods of driving torque, the driving torque determines method are as follows: establishes Wind turbines simulation model, solves outer load, tilting moment, axial force, radial force, yaw bearing revolving speed and acceleration suffered by yaw bearing under extreme operating condition；According to above-mentioned parameter, yaw bearing raceway moment of friction is calculated；The mechanical model during set yaw is established, the yaw motor driving torque in During yaw is solved.The selection method are as follows: according to the yaw motor driving torque at each time point, calculate the virtual value and maximum virtual value of tired operating condition yaw motor driving torque, determine the rated value of pre-selection yaw motor, yaw motor is selected according to rated value and driving torque peak value Mp.The principle of the invention is simple, easy to operate, and precision is high, and off-course brake clamp load is effectively reduced in unit safety high reliablity, reduces the abrasion condition of Yaw brake block, extends yaw maintenance period, reduces the maintenance cost of unit.
Description
Technical field
Present invention relates generally to wind-powered electricity generation equipment fields, and in particular to a kind of large-scale wind electricity set yaw choice of electrical machine method
And the determination method of driving torque.
Background technique
A kind of new energy one of of the wind energy as technology maturation, it has also become energy industry focus of attention, with filling in recent years
The rapid raising of machine amount, wind-powered electricity generation operator put forward higher requirements the economic benefit and reliability service of unit.Yaw system is made
For the critical component of Wind turbines, wind wheel can be made to be in upwind position always, directly decide the power benefit of unit, together
When off-course brake unit safety operation and halted state can be provided needed for pre-fastening moment, ensure that the safety of unit.
Yaw motor driving torque directly determines the reliability of yaw system work, selects suitable calculation method not only
Off-course brake clamp load can be effectively reduced, reduce the abrasion condition of Yaw brake block, extend yaw maintenance period, reduce
The maintenance cost of unit can also reduce yaw motor capacity, reduce unit cost.
Summary of the invention
The present invention provides large-scale wind electricity set yaw choice of electrical machine method and the determination methods of driving torque, effectively to drop
Low off-course brake clamp load reduces the abrasion condition of Yaw brake block, extends yaw maintenance period, reduces the maintenance of unit
Cost.
To achieve the above object, the determination method of large-scale wind electricity set yaw motor driving torque of the invention includes as follows
Step:
1) Wind turbines simulation model is established, outer load, tilting moment, axial direction suffered by yaw bearing under extreme operating condition are solved
Power, radial force, yaw bearing revolving speed and acceleration；
2) outer load, tilting moment, axial force, radial force and bearing track pretightning force according to suffered by yaw bearing, calculate inclined
Boat raceway moment of friction；
3) mechanical model during set yaw is established, yaw motor in During yaw is solved according to the mechanical model
Driving torque time series load；The mechanical model includes Rule of judgment are as follows: yaw bearing revolving speed is greater than zero or yaw bearing
Acceleration is greater than zero, and including model parameter: outer load, off-course brake pre-fastening moment and yaw bearing friction suffered by yaw bearing
Torque.
The calculation method of the driving torque time series load of yaw motor in step 3) includes the following steps:
A yaw motor driving torque peak value M) is setp；
B a time point yaw motor driving torque) is calculated:If Mact≤
Mp, then the driving torque at the time point is Mact；
Otherwise, which isSimultaneously compare Mp with
M′actSize, if Mp < M 'act, enable Mp=M 'act, as the yaw motor driving torque peak value of future time point, if Mp >=
M′act, MpIt is constant；Wherein, MzTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawIt is pre- for off-course brake
Clamp force square, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity；
C step B) is repeated), the final yaw motor driving torque for obtaining various time points in During yaw.
Yaw bearing raceway moment of friction M in the step 2)fCalculation formula are as follows:
Wherein, MxyFor tilting moment, DLFor raceway diameter, FzFor axial force, FxyFor radial force, MpreFor bearing rolling
Road pretightning force, μ are coefficient of friction.
Wind turbines prototyping component relevant parameter is utilized in the step 1), imports peripheral control unit, foundation and wind turbine
The group comparable dummy model model machine of model machine function.
Fatigue and the setting condition of limiting condition strictly observe Wind turbines certification guide GL regulation in the step 1), if
Determine unit external condition and operating status, simulates Wind turbines actual bearer situation.
Large-scale wind electricity set yaw choice of electrical machine method of the invention are as follows: first according to above-mentioned large-scale wind electricity set yaw electricity
The determination method of machine driving torque solves the driving torque time series load of yaw motor；According to tired operating condition each time point
Yaw motor driving torque Mact, calculate the virtual value M of yaw motor driving torqueact_RMS, count yaw motor driving
Rated value of the maximum virtual value of torque as pre-selection yaw motor drives according to the rated value of pre-selection yaw motor and yaw motor
Yaw motor needed for dynamic torque peak value is selected.
The virtual value of the yaw motor driving torque is
Root-mean-square value, M are sought in RMS representativezTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawFor yaw brake
Device pre-fastening moment, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity.
The calculation method of the driving torque time series load of yaw motor in step 3) includes the following steps:
A yaw motor driving torque peak value M) is setp；
B a time point yaw motor driving torque) is calculated:If Mact≤
Mp, then the driving torque at the time point is Mact；
Otherwise, which isSimultaneously compare Mp with
M′actSize, if Mp < M 'act, enable Mp=M 'act, as the yaw motor driving torque peak value of future time point, if Mp >=
M′act, MpIt is constant；Wherein, MzTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawIt is pre- for off-course brake
Clamp force square, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity；
C step B) is repeated), the final yaw motor driving torque for obtaining various time points in During yaw.
The beneficial effects of the present invention are: driving torque of the invention determines that method is built by establishing simulation model, calculating
The model parameter of yaw mechanical model in During yaw solves the effective of yaw motor driving torque using force balance principle
Value, it is determined that the pre-program of yaw motor introduces passive yawing, on the basis of guaranteeing that driftage function is smoothly realized, effectively
The driving torque of yaw motor is reduced, to reduce capacity motor, reduces the cost of yaw system.
Detailed description of the invention
Fig. 1 is yaw system model schematic；
Fig. 2 is yaw motor driving torque solution procedure and yaw motor type selecting schematic diagram.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is further described in detail.
The determination embodiment of the method for large-scale wind electricity set yaw motor driving torque of the invention
This method comprises the following steps:
1) Wind turbines simulation model is established, outer load, tilting moment, axial direction suffered by yaw bearing under extreme operating condition are solved
Power, radial force, yaw bearing revolving speed and acceleration；
2) outer load, tilting moment, axial force, radial force and bearing track pretightning force according to suffered by yaw bearing, calculate inclined
Boat raceway moment of friction；
3) mechanical model during set yaw is established, yaw motor in During yaw is solved according to the mechanical model
Driving torque time series load；The mechanical model includes Rule of judgment: yaw bearing revolving speed is greater than zero or yaw bearing adds
Speed is greater than zero, and including model parameter: outer load, off-course brake pre-fastening moment and yaw bearing frictional force suffered by yaw bearing
Square.
Each step of above-described embodiment is elaborated below:
For utilizing Wind turbines prototyping component relevant parameter in step 1), peripheral control unit, foundation and wind turbine are imported
The group comparable dummy model model machine of model machine function.
Simulation calculation carried out to Wind turbines simulation model according to tired operating condition and the setting requirements of limiting condition, fatigue and
The setting condition of limiting condition strictly observes Wind turbines certification guide GL regulation, sets unit external condition and operating status,
Wind turbines actual bearer situation is simulated as far as possible, exports outer load M suffered by yaw bearingz, tilting moment Mxy, axial force FzAnd diameter
To power FxyTime series load and corresponding yaw bearing rotational speed omega of each time pointyWith yaw bearing acceleration ayTime sequence
Column；
As far as possible comprising the various extreme operating conditions that the unit durability period is encountered in simulation process, obtained in this way by emulation
The outer time series carried and outer load suffered by yaw bearing reality suffered by the yaw bearing obtained are as close as possible.
For step 2), yaw bearing raceway moment of friction is solved: according to Rolix and man, other Bearing Factories to raceway
The regulation of frictional force, raceway moment of friction and raceway diameter DL, friction coefficient μ, tilting moment Mxy, axial force Fz,
Radial force FxyAnd raceway pretightning force MpreCorrelation is calculate by the following formula out yaw bearing raceway moment of friction are as follows:
Establish the mechanical model during set yaw for step 3), the mechanical model of the During yaw be include sentencing
Broken strip part: yaw bearing rotational speed omegayWith yaw bearing acceleration ayBe all larger than 0, i.e., | ωy| > 0 or | ay|>0；Also join comprising model
Number: M is carried outside yaw bearingz, off-course brake pre-fastening moment Mc_yaw, yaw bearing moment of friction MfAnd yaw motor braking torque
Mb, yaw system transmission ratio i, transmission efficiency η and yaw motor quantity N mechanical model.By to being solved in step 1)
Time series load is calculated, to solve the driving torque M of yaw motor in During yawact, it is given below and meets condition
|ωy| > 0 or | ay| > 0 yaw motor driving torque MactSpecific solution procedure:
1) setting yaw motor first drives peak value Mp；
2) then according to formulaThe driving torque at certain time point is solved, if Mact≤
Mp, then the time point yaw system belongs to active yawing, driving torque Mact, otherwise the time point yaw system belongs to passive yawing,
Yaw motor drags under the action of wind load, and yaw motor driving torque uses formulaIt asks
It takes, i.e., the yaw motor driving torque at the time point is M 'act, subsequently determine that Mp and M 'actSize, if Mp < M 'act, then increase
Big MpEven Mp=M 'act, by this MpCalculating for next time point driving torque determines, if Mp >=M 'act, then MpNo
Become, still drives peak value as the yaw motor at next time point；
3) it repeats step 2) and calculates the driving torque at all time points, and finally obtain MpMore than or equal to institute's having time
The driving torque of point, the yaw motor driving torque at each time point form the driving torque time sequence of yaw motor in During yaw
It lists lotus.
Large-scale wind electricity set yaw choice of electrical machine embodiment of the method for the invention
This method are as follows: according to the driving torque M of the yaw motor at tired operating condition each time pointact, calculate yaw motor driving
The virtual value M of torqueact_RMS, the maximum virtual value of yaw motor driving torque is counted as the specified of pre-selection yaw motor
Value；Finally according to the selected required yaw motor of the rated value of pre-selection yaw motor and yaw motor driving torque peak value.Specifically:
According to the obtained yaw of step 3) of the determination embodiment of the method for large-scale wind electricity set yaw motor driving torque
The driving torque of motor solves the virtual value of yaw motor driving torque time series load under each tired operating condition, i.e. yaw electricity
The root-mean-square value of machine driving torque time series load, formula are as follows:
The maximum virtual value of yaw motor driving torque time series load is counted as the specified of pre-selection yaw motor
Value.
Yaw motor in During yaw can be found out according to the determination method of large-scale wind electricity set yaw motor driving torque
Driving torque time series load and yaw motor drive peak value, by the yaw motor driving peak value be used for yaw motor choosing
Type, i.e., yaw motor needed for finally being chosen according to two parameters of the rated value of pre-selection yaw motor and yaw motor peak value.
The above is only the preferred embodiment of the present invention, it is real that protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.Those skilled in the art utilize above-mentioned
Technology contents make a little simple modification, equivalent number or modification, all belong to the scope of protection of the present invention.
Claims (5)
1. the determination method of large-scale wind electricity set yaw motor driving torque, which is characterized in that this method comprises the following steps:
1) establish Wind turbines simulation model, solve under extreme operating condition outer load, tilting moment suffered by yaw bearing, axial force,
Radial force, yaw bearing revolving speed and acceleration；
2) outer load, tilting moment, axial force, radial force and bearing track pretightning force according to suffered by yaw bearing, calculate yaw axis
Hold raceway moment of friction；
3) mechanical model during set yaw is established, the drive of yaw motor in During yaw is solved according to the mechanical model
Dynamic torque time series load；The mechanical model includes Rule of judgment are as follows: yaw bearing revolving speed is greater than zero or yaw bearing acceleration
Degree is greater than zero, and including model parameter: outer load, off-course brake pre-fastening moment and yaw bearing frictional force suffered by yaw bearing
Square；
The calculation method of the driving torque time series load of yaw motor in step 3) includes the following steps:
A yaw motor driving torque peak value M) is setp；
B a time point yaw motor driving torque) is calculated:If Mact≤Mp, then
The driving torque at the time point is Mact；
Otherwise, which isCompare Mp and M ' simultaneouslyact
Size, if Mp < M 'act, enable Mp=M 'act, as the yaw motor driving torque peak value of future time point, if Mp >=M
′act, MpIt is constant；Wherein, MzTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawFor off-course brake preload
Torque, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity；
C step B) is repeated), the final yaw motor driving torque for obtaining various time points in During yaw；
Yaw bearing raceway moment of friction M in the step 2)fCalculation formula are as follows:
Wherein, MxyFor tilting moment, DLFor raceway diameter, FzFor axial force, FxyFor radial force, MpreIt is pre- for raceway
Clamp force, μ are coefficient of friction.
2. the determination method of large-scale wind electricity set yaw motor driving torque according to claim 1, which is characterized in that described
Wind turbines prototyping component relevant parameter is utilized in step 1), imports peripheral control unit, is established and Wind turbines model machine function phase
When dummy model model machine.
3. the determination method of large-scale wind electricity set yaw motor driving torque according to claim 1, which is characterized in that described
Fatigue and the setting condition of limiting condition strictly observe Wind turbines certification guide GL regulation in step 1), set unit outer strip
Part and operating status simulate Wind turbines actual bearer situation.
4. a kind of large-scale wind electricity machine using the determination method of large-scale wind electricity set yaw motor driving torque described in claim 1
Group yaw motor selection method, which is characterized in that according to the driving torque M of the yaw motor at tired operating condition each time pointact, meter
Calculate the virtual value M of yaw motor driving torqueact_RMS, the maximum virtual value for counting yaw motor driving torque, which is used as, to be preselected partially
The rated value of avionics machine, according to the selected required yaw electricity of the rated value of pre-selection yaw motor and yaw motor driving torque peak value
Machine；
The virtual value of the yaw motor driving torque isRMS generation
Table seeks root-mean-square value, MzTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawFor off-course brake preload
Torque, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity.
5. large-scale wind electricity set yaw choice of electrical machine method according to claim 4, which is characterized in that
The calculation method of the driving torque time series load of yaw motor in step 3) includes the following steps:
A yaw motor driving torque peak value M) is setp；
B a time point yaw motor driving torque) is calculated:If Mact≤Mp, then
The driving torque at the time point is Mact；
Otherwise, which isCompare Mp and M ' simultaneouslyact
Size, if Mp < M 'act, enable Mp=M 'act, as the yaw motor driving torque peak value of future time point, if Mp >=M
′act, MpIt is constant；Wherein, MzTo be carried outside yaw bearing, MfFor yaw bearing raceway moment of friction, Mc_yawFor off-course brake preload
Torque, i are yaw system transmission ratio, and η is transmission efficiency, and N is yaw motor quantity；
C step B) is repeated), the final yaw motor driving torque for obtaining various time points in During yaw.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109185057B (en) * | 2018-08-21 | 2020-07-14 | 固安华电天仁控制设备有限公司 | Model selection method for motor and driver of variable pitch system of wind generating set |
| CN110082100B (en) * | 2019-03-26 | 2021-01-26 | 明阳智慧能源集团股份公司 | Uniform load test verification method for wind turbine yaw driving system |
| CN110863958B (en) * | 2019-11-25 | 2020-11-06 | 明阳智慧能源集团股份公司 | Method for testing key parameters of yaw system of wind generating set |
| CN112963303B (en) * | 2021-02-22 | 2022-12-23 | 上海电气风电集团股份有限公司 | Yaw load monitoring control method and system for wind turbine generator |
| CN115983054B (en) * | 2023-03-21 | 2023-08-11 | 中车山东风电有限公司 | Capability assessment and load processing method for wind generating set and terminal |
| CN116335878B (en) * | 2023-05-17 | 2023-09-19 | 中车山东风电有限公司 | Reverse slip control method and control terminal for wind turbine generator during off-plane operation |
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| CN103440386A (en) * | 2013-09-06 | 2013-12-11 | 南车株洲电力机车研究所有限公司 | System and method for calculating driving torque of wind driven generator yaw system |
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