CN112861389A - Wind power gear box vibration monitoring position optimization method, system, medium and equipment - Google Patents
Wind power gear box vibration monitoring position optimization method, system, medium and equipment Download PDFInfo
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Abstract
The invention discloses a method and a system for optimizing vibration monitoring position of a wind power gear box, which comprises the following steps: establishing a multi-body dynamic model of a transmission system of the wind turbine generator; optimizing a multi-body dynamic model of a transmission system of a wind turbine generator: performing flexible body modeling on a gearbox body of the gearbox, and selecting a plurality of reference positions as virtual sensors at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox; performing dynamic calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring the motion states of all parts in a gear box and a virtual sensor, and constructing a relation of a rotating speed-a time domain effective value; and comparing the relation between the rotating speed of each component in the virtual sensor and the rotating speed-time domain effective value of each component in the gear box, and if the trends of the virtual sensor and the rotating speed-time domain effective value are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point. The method and the system have the advantages of high accuracy, simulation and test combination to realize closed loop and the like.
Description
Technical Field
The invention mainly relates to the technical field of wind power, in particular to a method, a system, a medium and equipment for optimizing a vibration monitoring position of a wind power gear box.
Background
The vibration monitoring system is used for guaranteeing the normal operation of the wind turbine generator. For a transmission system of a megawatt double-fed machine set, monitored components mainly comprise a main shaft, a gearbox, a generator and a tower. The gear box is used as a core mechanical component of the double-fed unit, so that the fault factors are more, the fault rate is relatively higher, the monitoring of the gear box is the key point of the online detection system of the fan, and the importance is placed on how to improve the accuracy and the effectiveness of the detection of the gear box.
The wind power high-speed heavy-load gearbox is complex in structure and multiple in external interfaces, tested parts mainly comprise a rotating shaft and a gear, and an acceleration sensor is selected by a main engine plant under the common condition, and the running condition of the shaft or the gear is judged by measuring the motion characteristics transmitted to the surface of the box body by a shafting. The vibration is the transmission of energy wave, and for the fault characteristics brought by gear fault and improper shafting installation, the vibration energy passes through the bearing and the box body, reaches the measured position and has been attenuated for many times, and has produced very big difference with original fault characteristics, so generally speaking the selected position of sensor all considers near the measured piece to be can. Through the modal and dynamic analysis of the gear box and even the transmission chain, the relationship between the shafting vibration and the gear box surface vibration can be completely evaluated, a scientific basis is provided for the point selection of a monitoring system, so that modal nodes are found out, the overall mode and the local mode of the gear box are distinguished, and the running condition of parts inside the gear box is reasonably evaluated according to the motion condition of a measured point.
Generally, the sensors are selected to be close to the object to be measured. However, the wind power high-speed heavy-load gearbox is complex in internal structure and more in external interfaces. The surface of the box body has structures such as various reinforcing ribs, mounting bosses, bearing end covers, thin walls of the box body and the like, and the whole mode of the gear box is difficult to calculate due to complex boundary conditions of the gear box, so that the vibration monitoring cannot effectively detect the faults of parts, and the conditions of missing report, delayed alarm and the like occur. Therefore, the installation position of the monitoring sensor of the gearbox is optimized, the reasonable layout is realized, and the key point of improving the accuracy and the effectiveness of the online detection system of the fan is realized.
The test result of the vibration sensor of the fan vibration monitoring system is neither relatively larger nor relatively smaller, and the test result is better, and the correlation with the motion state of the tested part is better. In the wind power heavy-duty gearbox, target parts to be measured are all rotating parts, such as a planet carrier, a gear, a shaft and a bearing, so that direct measurement cannot be carried out, and in a common situation, a sensor can only be arranged on the surface of a box body, so that multiple attenuation exists when the motion characteristics of the measured parts are transmitted to the sensor. Therefore, in order to measure the motion state of key components in the gearbox more accurately, the position of the vibration sensor needs to be arranged reasonably.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a method, a system, a medium and equipment for optimizing the vibration monitoring position of a wind power gear box with high accuracy.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a vibration monitoring position optimization method for a wind power gear box is characterized by comprising the following steps:
s01, establishing a multi-body dynamic model of the wind turbine transmission system;
s02, optimizing a multi-body dynamic model of a wind turbine transmission system: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
s03, performing dynamic calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring the motion states of each component in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
and S04, comparing the relation between the rotating speed of each component in the virtual sensor and the rotating speed of each component in the gear box and the time domain effective value, and if the trends of the two are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point.
As a further improvement of the above technical solution, after step S04, the method further includes:
s05, arranging a vibration sensor at the optimal monitoring point to perform frequency sweep vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, finishing the optimization; otherwise, returning to the step S01, adjusting the multi-body dynamic model of the wind turbine transmission system and correcting the modeling parameters according to the test result.
As a further improvement of the above technical solution, in step S06, a bode plot of the rotation speed-effective value of each reference position is drawn according to the test result, the peak-to-peak value of the test result and the simulation result is compared, if the deviation between the peak-to-peak value and the rotation speed is smaller than a preset threshold, and the spectrogram of the test result at the rotation speed of the peak-to-peak value is extracted to be consistent with the simulation spectrum, the test result is consistent with the simulation result, and the optimization is finished.
As a further improvement of the above technical solution, in step S03, the motion state includes a speed and an acceleration; each part comprises a shaft, a bearing and a gear.
As a further improvement of the above technical solution, in step S04, if the trend of the relationship between the virtual sensor and the rotation speed-time domain effective value of each component inside the gearbox does not match, the process returns to step S02 to optimize the modeling of the flexible body of the gearbox.
As a further improvement of the above technical solution, in step S01, the shaft, the planet carrier and the gear inside the gear box are subjected to flexible body modeling; the positions and data of the main nodes of the flexible body model corresponding to the shaft and the gear should ensure that the errors of the first-order torsion and bending modal frequency of the flexible body model and the original model are controlled within a preset standard deviation.
The invention also discloses a vibration monitoring position optimization system of the wind power gear box, which comprises
The model building module is used for building a multi-body dynamic model of the transmission system of the wind turbine generator;
the model optimization module is used for optimizing a multi-body dynamic model of the transmission system of the wind turbine generator: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
the motion state acquisition module is used for performing dynamic calculation on a pre-constructed wind turbine generator set transmission chain simulation model, acquiring the motion states of all parts in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
and the data comparison module is used for comparing the relationship between the rotating speed of each component in the virtual sensor and the rotating speed-time domain effective value of each component in the gear box, and if the trends of the virtual sensor and the rotating speed-time domain effective value are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point.
As a further improvement of the above technical solution, the method further comprises:
the vibration testing module is used for arranging a vibration sensor at the optimal monitoring point to carry out frequency sweep vibration testing;
the data verification module is used for comparing the test result with the simulation result, and if the test result is consistent with the simulation result, the optimization is finished; otherwise, the multi-body dynamic model of the wind turbine transmission system is adjusted and the modeling parameters are corrected according to the test result.
The invention further discloses a computer-readable storage medium on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the wind power gearbox vibration monitoring position optimization method as described above.
The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is characterized in that when being executed by the processor, the computer program executes the steps of the wind power gearbox vibration monitoring position optimization method.
Compared with the prior art, the invention has the advantages that:
(1) according to the method for optimizing the vibration monitoring position of the wind turbine gearbox, the mathematical model of the transmission system of the wind turbine generator is established, the dynamic response of parts such as an inner shaft, a bearing and a gear of the gearbox and the surface of the box body of the gearbox is calculated, the correlation of the parts is contrasted and analyzed, and the optimal arrangement of the point positions of the vibration monitoring sensor of the gearbox is selected based on the corresponding judgment standard.
(2) The method starts from two aspects of specific test and simulation calculation simultaneously to analyze the relevance of the motion conditions of the parts in the box body and the surface of the box body, combines the sweep frequency test of a transmission system chain test bed, compares a Bode diagram and a peak-to-peak frequency spectrum, optimizes modeling parameters, verifies a simulation result, and unifies theory and actual measurement.
(3) According to the invention, after the optimal arrangement of the point positions of the sensors is monitored, the modeling parameters are adjusted by combining with the actual test result, the accuracy of the arrangement scheme is verified, and the closed loop is realized. The vibration testing system, the data processing method, the modal analysis theory, the wind turbine generator transmission chain multi-body dynamics analysis and other multi-subject advantages are integrated, a closed loop design idea of testing and simulation is established, an installation scheme of equipment health management can be optimized in a prototype trial-manufacturing stage, scientific basis and theoretical support are provided for actual selection and operation, and failure problems such as false alarm, missing alarm, delayed alarm and the like are avoided.
(4) The invention provides an optimization method suitable for the installation position of a sensor of a gearbox vibration monitoring system of a wind generating set, which is combined with theoretical analysis to reasonably optimize the sensor position matching of the gearbox vibration monitoring system, so that the running conditions of an internal shaft, a bearing and a gear can be more accurately reflected, and more effective data is provided for subsequent fault diagnosis work such as time domain and frequency domain analysis.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
FIG. 2 is a topological diagram of a gearbox dynamics model of the present invention.
FIG. 3 is a kinematic modeling topology of the drive chain of the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1, the method for optimizing the vibration monitoring position of the wind power gearbox of the embodiment includes the following steps:
s01, establishing a multi-body dynamic model of the wind turbine transmission system;
s02, optimizing a multi-body dynamic model of a wind turbine transmission system: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
s03, performing dynamic calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring the motion states of each component in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
s04, comparing the relation between the rotating speed of each component in the virtual sensor and the rotating speed-time domain effective value of each component in the gear box, and if the trends of the two are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point; and if the trend of the relation between the virtual sensor and the rotating speed-time domain effective value of each component in the gearbox does not accord with the trend, returning to the step S02 to continuously optimize the modeling of the flexible body of the gearbox.
According to the method for optimizing the vibration monitoring position of the wind turbine gearbox, the mathematical model of the transmission system of the wind turbine generator is established, the dynamic response of parts such as the shaft, the bearing and the gear in the gearbox and the surface of the gearbox body is calculated, the correlation of the parts is contrasted and analyzed, the optimal arrangement of the point positions of the vibration monitoring sensor of the gearbox is selected based on the corresponding judgment standard, and the accuracy is high.
Further, after step S04, a verification test for the optimal monitoring is further included, which specifically includes:
s05, arranging a vibration sensor at the optimal monitoring point to perform frequency sweep vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, finishing the optimization; otherwise, returning to the step S01, adjusting the multi-body dynamic model of the wind turbine transmission system and correcting the modeling parameters according to the test result.
Specifically, in step S05, according to the optimization of the position of the monitoring point, a frequency sweep vibration test is performed on the wind turbine generator transmission chain back-to-back test bed; in step S06, a bode plot of the rotation speed-effective value of each reference position is drawn according to the test result, the peak-to-peak value of the test result and the simulation result is compared, if the deviation between the peak-to-peak value and the rotation speed is smaller than a preset threshold (e.g., 30%), and the spectrogram extracted from the test result at the peak-to-peak value rotation speed is consistent with the simulation spectrum, the test result is consistent with the simulation result, and the optimization is finished; otherwise, returning to the step S01, adjusting the multi-body dynamic model of the wind turbine transmission system and correcting the modeling parameters according to the test result.
According to the invention, after the optimal arrangement of the point positions of the sensors is monitored, the modeling parameters are adjusted by combining with the actual test result, the accuracy of the arrangement scheme is verified, and the closed loop is realized. The vibration testing system, the data processing method, the modal analysis theory, the wind turbine generator transmission chain multi-body dynamics analysis and other multi-subject advantages are integrated, a closed loop design idea of testing and simulation is established, an installation scheme of equipment health management can be optimized in a prototype trial-manufacturing stage, scientific basis and theoretical support are provided for actual selection and operation, and failure problems such as false alarm, missing alarm, delayed alarm and the like are avoided.
The dynamic response of the internal parts of the gearbox and the surface of the box body is calculated by establishing a multi-body dynamic simulation model, modal nodes are avoided, and the mounting position of the sensor with the optimal vibration transmission path is selected.
The method starts from two aspects of specific test and simulation calculation simultaneously to analyze the relevance of the motion conditions of the parts in the box body and the surface of the box body, combines the sweep frequency test of a transmission system chain test bed, compares a Bode diagram and a peak-to-peak frequency spectrum, optimizes modeling parameters, verifies a simulation result, and unifies theory and actual measurement.
As shown in fig. 2 and fig. 3, in this embodiment, in step S01, a multi-body dynamics model of the transmission system of the wind turbine is established by using a multi-body dynamics software (e.g., Simpack) according to a standard specification (e.g., GL specification) of industry analysis, wherein main components such as a shaft, a planet carrier, a large gear and the like inside the gearbox are modeled by using a flexible body. The flexible body modeling is mainly formed by performing substructure analysis through finite element software and compressing a mass and rigidity matrix of an original model. The formed flexible body mainly replaces the dynamic characteristics of the original model through the degrees of freedom of a plurality of main nodes. Therefore, the positions and the number of the main nodes are key to influence the modeling accuracy of the flexible body, and the positions and the number of the main nodes are selected to maximally ensure the consistency of the important modal frequencies with the original model in addition to considering the interface with the whole system model. For general rotating structures such as shafts and gears, the positions and the number of the main nodes are selected to ensure that the errors of the first-order torsion and bending modal frequency of the flexible body and an original model are controlled within 5 percent. The method is a principle of modeling of the flexible body inside the gearbox and is a foundation for guaranteeing the accuracy of a subsequent optimization method. Of course, the flexible body modeling should also minimize the error of other low order modal frequencies (e.g., stretching, etc.).
In this embodiment, in step S02, at least three reference positions are provided for each monitoring point, and the reference positions are arranged on the surface of the box body corresponding to each gear pair of the gear box according to the industry specification or selection experience of the wind turbine generator vibration monitoring system test point arrangement, and are respectively bound by using the master node as the virtual sensor.
In the present embodiment, in step S03, the motion state includes velocity and acceleration; each part comprises a shaft, a bearing and a gear.
The invention also discloses a vibration monitoring position optimization system of the wind power gear box, which comprises
The model building module is used for building a multi-body dynamic model of the transmission system of the wind turbine generator;
the model optimization module is used for optimizing a multi-body dynamic model of the transmission system of the wind turbine generator: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
the motion state acquisition module is used for performing dynamic calculation on a pre-constructed wind turbine generator set transmission chain simulation model, acquiring the motion states of all parts in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
and the data comparison module is used for comparing the relationship between the rotating speed of each component in the virtual sensor and the rotating speed-time domain effective value of each component in the gear box, and if the trends of the virtual sensor and the rotating speed-time domain effective value are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point.
In the embodiment, the device further comprises a vibration testing module, wherein the vibration testing module is used for arranging a vibration sensor at the optimal monitoring point to perform frequency sweep vibration testing; the data verification module is used for comparing the test result with the simulation result, and if the test result is consistent with the simulation result, the optimization is finished; otherwise, the multi-body dynamic model of the wind turbine transmission system is adjusted and the modeling parameters are corrected according to the test result.
The wind power gearbox vibration monitoring position optimization system is used for executing the optimization method and has the advantages of the optimization method.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the computer program executes the steps of the wind power gearbox vibration monitoring position optimization method. Meanwhile, the embodiment of the invention also discloses computer equipment which comprises a processor and a memory, wherein the memory is stored with a computer program, and the computer program executes the steps of the wind power gear box vibration monitoring position optimization method when being executed by the processor. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. The memory may be used to store computer programs and/or modules, and the processor may perform various functions by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A vibration monitoring position optimization method for a wind power gear box is characterized by comprising the following steps:
s01, establishing a multi-body dynamic model of the wind turbine transmission system;
s02, optimizing a multi-body dynamic model of a wind turbine transmission system: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
s03, performing dynamic calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring the motion states of each component in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
and S04, comparing the relation between the rotating speed of each component in the virtual sensor and the rotating speed of each component in the gear box and the time domain effective value, and if the trends of the two are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point.
2. The method for optimizing the vibration monitoring position of the wind power gearbox according to the claim 1, wherein after the step S04, the method further comprises the following steps:
s05, arranging a vibration sensor at the optimal monitoring point to perform frequency sweep vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, finishing the optimization; otherwise, returning to the step S01, adjusting the multi-body dynamic model of the wind turbine transmission system and correcting the modeling parameters according to the test result.
3. The method for optimizing the vibration monitoring position of the wind power gearbox according to claim 2, wherein in step S06, a Bode diagram of the rotating speed-effective value of each reference position is drawn according to the test result, the peak-to-peak value of the test result and the simulation result is compared, if the deviation between the peak-to-peak value and the rotating speed is smaller than a preset threshold value, and the spectrogram extracted from the test result at the peak-to-peak value rotating speed is consistent with the simulation frequency spectrum, the test result is consistent with the simulation result, and the optimization is finished.
4. The wind power gearbox vibration monitoring position optimization method according to claim 1, 2 or 3, characterized in that in step S03, the motion states comprise speed and acceleration; each part comprises a shaft, a bearing and a gear.
5. The method for optimizing the vibration monitoring position of the wind power gearbox according to the claim 1, the claim 2 or the claim 3, wherein in the step S04, if the trend of the relation between the virtual sensor and the rotation speed-time domain effective value of each component inside the gearbox does not conform, the method returns to the step S02 to optimize the gearbox flexible body model.
6. The wind power gearbox vibration monitoring position optimization method according to claim 1, 2 or 3, characterized in that in step S01, flexible body modeling is performed on shafts, planet carriers and gears inside the gearbox; the positions and data of the main nodes of the flexible body model corresponding to the shaft and the gear should ensure that the errors of the first-order torsion and bending modal frequency of the flexible body model and the original model are controlled within a preset standard deviation.
7. Wind-powered electricity generation gear box vibration monitoring position optimization system, its characterized in that includes
The model building module is used for building a multi-body dynamic model of the transmission system of the wind turbine generator;
the model optimization module is used for optimizing a multi-body dynamic model of the transmission system of the wind turbine generator: the method comprises the following steps of performing flexible body modeling on a gearbox body, selecting a plurality of reference positions at each monitoring point on the surface of the gearbox body corresponding to each gear pair of the gearbox, and binding the reference positions by using a main node respectively to serve as a virtual sensor;
the motion state acquisition module is used for performing dynamic calculation on a pre-constructed wind turbine generator set transmission chain simulation model, acquiring the motion states of all parts in the gearbox and the virtual sensor, and constructing a relation of a rotating speed-a time domain effective value;
and the data comparison module is used for comparing the relationship between the rotating speed of each component in the virtual sensor and the rotating speed-time domain effective value of each component in the gear box, and if the trends of the virtual sensor and the rotating speed-time domain effective value are consistent, selecting the position of the virtual sensor closest to the motion state of each component in the gear box as an optimal monitoring point.
8. The wind turbine gearbox vibration monitoring position optimization system of claim 7, further comprising:
the vibration testing module is used for arranging a vibration sensor at the optimal monitoring point to carry out frequency sweep vibration testing;
the data verification module is used for comparing the test result with the simulation result, and if the test result is consistent with the simulation result, the optimization is finished; otherwise, the multi-body dynamic model of the wind turbine transmission system is adjusted and the modeling parameters are corrected according to the test result.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of optimizing a vibration monitoring position of a wind power gearbox according to any one of claims 1 to 6.
10. Computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when executed by the processor, performs the steps of the wind power gearbox vibration monitoring position optimization method according to any of the claims 1 to 6.
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| CN201911183650.3A CN112861389B (en) | 2019-11-27 | 2019-11-27 | Wind power gear box vibration monitoring position optimization method, system, medium and equipment |
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| CN201911183650.3A CN112861389B (en) | 2019-11-27 | 2019-11-27 | Wind power gear box vibration monitoring position optimization method, system, medium and equipment |
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