CN112861389B - 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 wind power gear box vibration monitoring position optimization method and system, comprising the following steps: establishing a multi-body dynamics model of a transmission system of the wind turbine generator; optimizing a multi-body dynamics model of a wind turbine transmission system: modeling a flexible body of a gearbox body, 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; carrying out dynamics calculation on a pre-constructed wind turbine generator transmission chain simulation model, obtaining the motion states of all parts and virtual sensors in a gear box, and constructing a relation between rotating speed and a time domain effective value; and comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends 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, combination of simulation and test 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 wind power gear box vibration monitoring position optimizing method, a system, a medium and equipment.
Background
The vibration monitoring system is used for guaranteeing normal operation of the wind turbine generator. For the transmission system of the megawatt double-fed machine set, the monitored components mainly comprise a main shaft, a gear box, a generator and a tower. The gearbox is used as a core mechanical component of the doubly-fed machine set, so that the fault factors are more, the fault rate is relatively higher, the monitoring of the gearbox is an important point of an online detection system of the fan, and how to improve the accuracy and the effectiveness of the detection of the gearbox is important.
The wind power high-speed heavy-load gearbox is complex in structure, the external interfaces are more, the tested parts mainly comprise a rotating shaft and a gear, an acceleration sensor is selected to be used by a main engine factory under normal conditions, and the running condition of the shaft or the gear is judged by measuring the motion characteristics transmitted to the surface of the gearbox body by a shafting. Vibration is a transmission of energy waves, and for fault characteristics caused by gear faults and improper installation of a shaft system, vibration energy passes through a bearing and a box body, reaches a detected position and is subjected to multiple attenuation, and the vibration is quite different from the original fault characteristics, so that the selected position of a sensor is considered to be close to the detected part. Through the modal and dynamics analysis of the gear box and even the transmission chain, the relation between the shafting vibration and the gear box surface vibration can be completely evaluated, a scientific basis is provided for the selection point of the monitoring system, so that modal nodes are found out, the integral mode and the local mode of the gear box are distinguished, and the operation condition of the internal parts of the gear box is reasonably evaluated according to the movement condition of the measuring point.
Generally, the selection position of the sensor is considered to be close to the measured piece. But wind-powered electricity generation high-speed heavy-duty gear box inner structure is complicated, and the external interface is more. Various reinforcing ribs, mounting bosses, bearing end covers, thin walls of the box body and other structures exist on the surface of the box body, and the whole mode of the gearbox is more difficult to calculate due to complex boundary conditions of the gearbox, so that the vibration monitoring cannot effectively detect part faults, and conditions such as missing report, delay alarm and the like are caused. Therefore, optimizing the installation position of the monitoring sensor of the gear box, and reasonably arranging the monitoring sensor are important points for improving the accuracy and the effectiveness of the online detection system of the fan.
The test result of the vibration sensor of the fan vibration monitoring system is not relatively larger and better, or is relatively smaller and better, but is more relevant and better to the motion state of the tested part. In a wind power heavy-duty gearbox, the measured target parts are all rotating parts, such as a planet carrier, a gear, a shaft and a bearing, so that direct measurement cannot be performed, and in general, 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 more accurately measure the movement state of key parts in the gear box, the positions of the vibration sensors need to be reasonably arranged.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a wind power gear box vibration monitoring position optimization method, system, medium and equipment with high accuracy.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the wind power gear box vibration monitoring position optimizing method is characterized by comprising the following steps of:
s01, establishing a multi-body dynamics model of a transmission system of the wind turbine generator;
s02, optimizing a multi-body dynamics model of a transmission system of the wind turbine generator system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
s03, carrying out dynamics calculation on a pre-built wind turbine transmission chain simulation model, obtaining motion states of all parts and virtual sensors in the gearbox, and constructing a relation between a rotating speed and a time domain effective value;
s04, comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each part in the gear box, and if the two trends are consistent, selecting the position of the virtual sensor closest to the motion state of each part in the gear box as an optimal monitoring point.
As a further improvement of the above technical solution, after step S04, further includes:
s05, arranging vibration sensors at optimal monitoring points to perform sweep frequency vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, ending the optimization; otherwise, returning to the step S01, adjusting a multi-body dynamics model of the wind turbine transmission system and correcting 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, and the peak-peak value of the test result and the simulation result are compared, if the deviation between the peak-peak value and the rotation speed is smaller than the preset threshold, and the spectrogram of the test result under the rotation speed of the peak-peak value is consistent with the simulation spectrum, the test result is consistent with the simulation result, and the optimization is ended.
As a further improvement of the above-described technical solution, in step S03, the motion state includes a velocity and an acceleration; the components include shafts, bearings and gears at each stage.
As a further improvement of the above technical solution, in step S04, if the trend of the relation between the rotational speed of each component inside the gearbox and the time-domain effective value does not coincide, the process returns to step S02 to optimize the gearbox flexible casing modeling.
As a further improvement of the above technical solution, in step S01, the shaft, the planet carrier, the gear inside the gearbox are modeled as a flexible body; the positions and data of the main nodes of the flexible body model corresponding to the shaft and the gear ensure that the first-order torsion and bending modal frequency of the flexible body model and the error of the original model are controlled within a preset standard deviation.
The invention also discloses a vibration monitoring position optimizing system of the wind power gear box, which comprises
The model building module is used for building a multi-body dynamics model of the wind turbine transmission system;
the model optimization module is used for optimizing a multi-body dynamics model of the wind turbine transmission system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
the motion state acquisition module is used for carrying out dynamics calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring motion states of all parts and virtual sensors in the gearbox and constructing a relation between rotating speed and a time domain effective value;
and the data comparison module is used for comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends are consistent, the position of the virtual sensor closest to the motion state of each component in the gear box is selected as the optimal monitoring point.
As a further improvement of the above technical solution, further comprising:
the vibration test module is used for arranging vibration sensors at optimal monitoring points to perform sweep frequency vibration test;
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 dynamics model of the wind turbine transmission system is adjusted, and modeling parameters are corrected according to the test result.
The invention further discloses a computer readable storage medium having stored thereon a computer program, characterized in that the computer program when run by a processor performs the steps of the wind power gearbox vibration monitoring position optimization method as described above.
The invention also discloses a computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when run by the processor, performs the steps of the wind power gearbox vibration monitoring position optimization method as described above.
Compared with the prior art, the invention has the advantages that:
(1) According to the wind power gear box vibration monitoring position optimization method, a mathematical model of a wind turbine generator system is established, dynamic responses of parts such as a gear box inner shaft, a bearing and a gear and the surface of a gear box body are calculated, correlations of the dynamic responses are compared and analyzed, and optimal arrangement of gear box vibration monitoring sensor point positions is selected based on corresponding judgment standards.
(2) The invention starts from two aspects of specific test and simulation calculation at the same time, analyzes the relevance between the parts in the box body and the surface movement condition of the box body, combines the sweep test of the transmission system chain test bed, compares the Bode diagram and the peak-to-peak value frequency spectrum, optimizes the modeling parameters, verifies the simulation result, and unifies the theory and the actual measurement.
(3) According to the invention, after the optimal arrangement of the sensor points is monitored, modeling parameters are adjusted by combining with an actual test result, the accuracy of an arrangement scheme is verified, and a closed loop is realized. The vibration testing system, the data processing method, the modal analysis theory, the wind turbine generator system transmission chain multi-body dynamics analysis and other multi-disciplinary advantages are combined, a closed loop design thought of test and simulation is established, the installation scheme of equipment health management can be optimized in a sample test stage, scientific basis and theoretical support are provided for actual selection and operation, and failure problems such as false alarm, missing alarm and delayed alarm are avoided.
(4) The invention provides an optimization method suitable for the sensor installation position of the gearbox vibration monitoring system of the wind generating set, which is used for reasonably optimizing the sensor position matching of the gearbox vibration monitoring system by combining theoretical analysis, so that the running conditions of an internal shaft, a bearing and a gear can be reflected more accurately, and more effective data is provided for subsequent time domain and frequency domain analysis and other fault diagnosis works.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
FIG. 2 is a topology of a kinetic model of a gearbox of the present invention.
FIG. 3 is a topology of the drive train dynamics modeling of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, the wind power gear box vibration monitoring position optimizing method of the embodiment includes the following steps:
s01, establishing a multi-body dynamics model of a transmission system of the wind turbine generator;
s02, optimizing a multi-body dynamics model of a transmission system of the wind turbine generator system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
s03, carrying out dynamics calculation on a pre-built wind turbine transmission chain simulation model, obtaining motion states of all parts and virtual sensors in the gearbox, and constructing a relation between a rotating speed and a time domain effective value;
s04, comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends 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; if the trend of the relation between the rotational speed and the time domain effective value of each component in the gearbox does not coincide with the virtual sensor, returning to the step S02 to continuously optimize the modeling of the gearbox flexibility.
According to the wind power gear box vibration monitoring position optimization method, the mathematical model of the wind turbine generator system is established, the dynamic responses of parts such as the inner shaft, the bearing and the gear of the gear box and the surface of the gear box body are calculated, the correlation is compared and analyzed, the optimal arrangement of the gear box vibration monitoring sensor point positions is selected based on the corresponding judgment standard, and the accuracy is high.
Further, after step S04, a verification test for the above-mentioned optimal monitoring is further included, specifically including:
s05, arranging vibration sensors at optimal monitoring points to perform sweep frequency vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, ending the optimization; otherwise, returning to the step S01, adjusting a multi-body dynamics model of the wind turbine transmission system and correcting modeling parameters according to the test result.
Specifically, in step S05, according to optimization of the position of the monitoring point, a sweep vibration test is performed on a back-to-back test bed of a transmission chain of the wind turbine generator; 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 are compared, if the deviation between the peak-to-peak value and the rotation speed is smaller than a preset threshold (for example, 30%), and the spectrogram of the test result under the condition that the rotation speed of the peak-to-peak value is extracted 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 dynamics model of the wind turbine transmission system and correcting modeling parameters according to the test result.
According to the invention, after the optimal arrangement of the sensor points is monitored, modeling parameters are adjusted by combining with an actual test result, the accuracy of an arrangement scheme is verified, and a closed loop is realized. The vibration testing system, the data processing method, the modal analysis theory, the wind turbine generator system transmission chain multi-body dynamics analysis and other multi-disciplinary advantages are combined, a closed loop design thought of test and simulation is established, the installation scheme of equipment health management can be optimized in a sample test stage, scientific basis and theoretical support are provided for actual selection and operation, and failure problems such as false alarm, missing alarm and delayed alarm are avoided.
According to the invention, 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 sensor installation position with the optimal vibration transmission path is selected.
The invention starts from two aspects of specific test and simulation calculation at the same time, analyzes the relevance between the parts in the box body and the surface movement condition of the box body, combines the sweep test of the transmission system chain test bed, compares the Bode diagram and the peak-to-peak value frequency spectrum, optimizes the modeling parameters, verifies the simulation result, and unifies the theory and the actual measurement.
In the embodiment, as shown in fig. 2 and 3, in step S01, a multi-body dynamics model of a transmission system of a wind turbine generator is built by using multi-body dynamics software (e.g. simplack) according to standard specifications (e.g. GL specifications) of industry analysis, wherein main components such as a shaft, a planet carrier, a large gear and the like in a gear box are modeled by adopting 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 replaces the dynamics of the original model mainly through the degrees of freedom of a plurality of main nodes. Therefore, the position and the number of the main nodes are key to influence the modeling accuracy of the flexible body, and the selection of the position and the number of the main nodes not only considers the interface with the whole system model, but also ensures the consistency of the important modal frequency and the original model to the maximum extent. For general rotation structures, such as shafts, gears and the like, the positions and the number of the main nodes are selected to ensure that the first-order torsion and bending modal frequency of the flexible body and the error of the original model are controlled within 5 percent. The method is a principle of modeling the flexible body in the gear box and is also a basis for ensuring the accuracy of a subsequent optimization method. Of course, the flexible body modeling should also minimize errors in other low order modal frequencies (e.g., stretching, etc.).
In this embodiment, in step S02, at least three reference positions of each monitoring point are arranged on the surface of the box corresponding to each gear pair of each stage of the gear box according to the industry specification or selection experience of the arrangement of the testing points of the vibration monitoring system of the wind turbine generator, and the master node binding is used as the virtual sensor respectively.
In the present embodiment, in step S03, the motion state includes a velocity and an acceleration; the components include shafts, bearings and gears at each stage.
The invention also discloses a vibration monitoring position optimizing system of the wind power gear box, which comprises
The model building module is used for building a multi-body dynamics model of the wind turbine transmission system;
the model optimization module is used for optimizing a multi-body dynamics model of the wind turbine transmission system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
the motion state acquisition module is used for carrying out dynamics calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring motion states of all parts and virtual sensors in the gearbox and constructing a relation between rotating speed and a time domain effective value;
and the data comparison module is used for comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends are consistent, the position of the virtual sensor closest to the motion state of each component in the gear box is selected as the optimal monitoring point.
In this embodiment, the vibration testing device further includes a vibration testing module, configured to arrange a vibration sensor at an optimal monitoring point to perform a sweep frequency vibration test; 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 dynamics model of the wind turbine transmission system is adjusted, and modeling parameters are corrected according to the test result.
The wind power gear box vibration monitoring position optimizing system is used for executing the optimizing method and has the advantages as described by the optimizing 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 the computer program executes the steps of the wind power gear box vibration monitoring position optimizing method when being run by a processor. Meanwhile, the embodiment of the invention also discloses computer equipment which comprises a processor and a memory, wherein a computer program is stored in the memory, and the computer program executes the steps of the wind power gear box vibration monitoring position optimizing method when being run by the processor. The present invention may be implemented by implementing all or part of the procedures in the methods of the embodiments described above, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. The memory may be used to store computer programs and/or modules, and the processor performs various functions by executing or executing the computer programs and/or modules stored in the memory, and 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, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid state storage device, etc.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the invention. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (7)
1. The wind power gear box vibration monitoring position optimizing method is characterized by comprising the following steps of:
s01, establishing a multi-body dynamics model of a transmission system of the wind turbine generator;
s02, optimizing a multi-body dynamics model of a transmission system of the wind turbine generator system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
s03, carrying out dynamics calculation on a pre-built wind turbine transmission chain simulation model, obtaining motion states of all parts and virtual sensors in the gearbox, and constructing a relation between a rotating speed and a time domain effective value;
s04, comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends 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;
after step S04, further comprising:
s05, arranging vibration sensors at optimal monitoring points to perform sweep frequency vibration test;
s06, comparing the test result with the simulation result, and if the test result is consistent with the simulation result, ending the optimization; otherwise, returning to the step S01, adjusting a multi-body dynamics model of the wind turbine transmission system, and correcting modeling parameters according to a test result;
in step S06, a bode plot of the rotation speed-effective value of each reference position is drawn according to the test result, and the peak-peak value of the test result and the simulation result are compared, if the deviation between the peak-peak value and the rotation speed is smaller than the preset threshold value, and the spectrogram of the test result under the rotation speed of the peak-peak value is extracted and kept consistent with the simulation spectrum, the test result is consistent with the simulation result, and the optimization is finished;
in step S01, wherein the shaft, planet carrier, gear inside the gearbox are modeled as a flexible body; the positions and data of the main nodes of the flexible body model corresponding to the shaft and the gear ensure that the first-order torsion and bending modal frequency of the flexible body model and the error of the original model are controlled within a preset standard deviation.
2. The method for optimizing vibration monitoring position of a wind power gearbox according to claim 1, wherein in step S03, the motion state comprises a speed and an acceleration; the components include shafts, bearings and gears at each stage.
3. The method according to claim 1, wherein in step S04, if the trend of the relation between the rotational speed of each component inside the gearbox and the time domain effective value does not coincide with the virtual sensor, the method returns to step S02 to optimize the gearbox flexible casing model.
4. A wind power gearbox vibration monitoring position optimization system performing the steps of the wind power gearbox vibration monitoring position optimization method according to any one of claims 1 to 3, characterized by comprising
The model building module is used for building a multi-body dynamics model of the wind turbine transmission system;
the model optimization module is used for optimizing a multi-body dynamics model of the wind turbine transmission system: modeling a flexible body of 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 by using a master node respectively to serve as a virtual sensor;
the motion state acquisition module is used for carrying out dynamics calculation on a pre-constructed wind turbine generator transmission chain simulation model, acquiring motion states of all parts and virtual sensors in the gearbox and constructing a relation between rotating speed and a time domain effective value;
and the data comparison module is used for comparing the relation between the virtual sensor and the rotation speed-time domain effective value of each component in the gear box, and if the two trends are consistent, the position of the virtual sensor closest to the motion state of each component in the gear box is selected as the optimal monitoring point.
5. The wind power gearbox vibration monitoring location optimization system of claim 4, further comprising:
the vibration test module is used for arranging vibration sensors at optimal monitoring points to perform sweep frequency vibration test;
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 dynamics model of the wind turbine transmission system is adjusted, and modeling parameters are corrected according to the test result.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being run by a processor, performs the steps of the wind power gearbox vibration monitoring position optimization method according to any one of claims 1 to 3.
7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when run by the processor, performs the steps of the wind power gearbox vibration monitoring position optimization method according to any one of claims 1 to 3.
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