CN114856934A - Wind turbine generator yaw system fault detection device and method - Google Patents

Abstract

The invention discloses a wind turbine generator yaw system fault detection device and a method, wherein the device comprises: the system comprises a signal acquisition module and a signal processing and fault diagnosis module; the signal acquisition module acquires cabin yaw state information and environmental state information of the wind turbine generator; the signal processing and fault diagnosis module comprises: the yaw frequency converter and the master control PLC unit can carry out data interaction; the main control PLC unit is in data connection with the signal acquisition module and receives environmental state information and cabin yawing state information so as to detect non-motor faults; and detecting the motor faults by the yaw frequency converter. The detection device can be used for acquiring three-phase current, motor temperature and brake feedback signals of the yaw motor, acquiring information such as yaw torsion cable, hydraulic pressure, wind speed and wind direction, yaw vibration transmission and the like, diagnosing the yaw system fault through information processing, and accurately positioning the motor fault.

Description

Wind turbine generator yaw system fault detection device and method

Technical Field

The invention relates to the technical field of wind power equipment detection, in particular to a wind turbine generator yaw system fault detection device and method.

Background

The yaw system is used as an important component of the wind driven generator and is used for receiving a command of the main control system, controlling the engine room to rotate to a set position, carrying out wind alignment of the unit and realizing stable wind direction tracking and changing of the wind wheel. Meanwhile, when the wind generating set winds the cable led out from the interior of the engine room due to the yaw effect, the function of automatically releasing the winding can be realized.

The yawing system mainly comprises a hydraulic system, a yawing motor, a yawing driver, a yawing reduction box, a yawing bearing and other parts. Because the yaw system has a plurality of components, when the yaw system fails, the yaw system cannot be found or accurately positioned in time, the unit can be stopped for a long time to reduce the generating capacity of the unit, and serious damage to components of the yaw system, such as tooth breakage of a gear ring of a yaw bearing, abrasion and breakage of a yaw brake disc, and the like can be caused seriously.

In the prior art, on one hand, various parameters of a yaw system can be acquired by adopting an online monitoring mechanism of the yaw system of the wind turbine generator, original data is screened, screened data is modeled and modeled by adopting a support vector machine algorithm, and a fault diagnosis result is obtained according to a fault diagnosis and service life assessment method. On the other hand, monitoring data acquired in the yaw system can be acquired, the monitoring data are input into a yaw fault diagnosis model, and a fault diagnosis result is output, wherein the fault diagnosis model is acquired by training of known fault diagnosis results and corresponding monitoring data. Monitoring data acquired by the yaw system are input into a yaw fault diagnosis model in real time, and whether the yaw system has faults or not and specific fault diagnosis results when the yaw system has the faults are determined through the yaw fault diagnosis model; however, the method is to judge the yaw system fault under the condition of yaw motor hard start control, and is not applicable to the system fault judgment adopting a yaw frequency converter scheme, particularly a scheme that the yaw motor is driven by one motor with multiple motors. And meanwhile, the fault of which motor in the yaw system can not be accurately positioned.

Disclosure of Invention

The embodiment of the invention aims to provide a fault detection device and a fault detection method for a yaw system of a wind turbine generator, which can be used for acquiring three-phase current, motor temperature and brake feedback signals of a yaw motor, acquiring information such as yaw cable twisting, hydraulic pressure, wind speed and wind direction, yaw vibration transmission and the like, diagnosing faults of the yaw system through information processing and accurately positioning faults of the motor.

In order to solve the above technical problem, a first aspect of an embodiment of the present invention provides a wind turbine generator yaw system fault detection apparatus, including: the system comprises a signal acquisition module and a signal processing and fault diagnosis module;

the signal acquisition module acquires cabin yaw state information and environmental state information of the wind turbine generator;

the signal processing and fault diagnosis module comprises: the yaw frequency converter and the master control PLC unit can carry out data interaction;

the main control PLC unit is in data connection with the signal acquisition module and receives the environmental state information and the cabin yawing state information so as to detect non-motor faults;

and the yaw frequency converter is used for detecting the motor faults.

Further, the signal acquisition module comprises: the yaw cable twisting encoder, the hydraulic pressure sensor, the wind speed and direction sensor, the yaw vibration sensor and the motor current acquisition sensor are respectively connected with the signal processing and fault diagnosis module;

the yaw cable twisting encoder is used for acquiring the yaw angle of the wind turbine generator cabin;

the hydraulic pressure sensor is used for acquiring pressure change of the wind turbine generator yaw hydraulic system in the yaw process;

the wind speed and direction sensor is used for acquiring the real-time wind speed and wind direction of the environment of the wind turbine generator;

the yaw vibration sensor is used for acquiring the vibration condition of the yaw reduction box of the wind turbine generator;

the motor current acquisition sensor is used for acquiring the current of each motor branch of the wind turbine generator.

Further, the yaw frequency converter carries out fault diagnosis of the yaw motor, and mainly comprises: motor brake failure, motor over-temperature failure, motor stalling and current imbalance failure.

Further, the environmental status information includes: the wind speed and the wind direction of the environment where the wind turbine generator is located, and the yaw state information of the engine room comprises: the angle of the engine room, the hydraulic pressure, a vibration signal of the reduction gearbox, and a state word and a fault word of the yaw driver;

the non-motor fault detection that master control PLC unit goes on mainly includes: yaw cable twisting faults, hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

Further, the yaw frequency converter and the master control PLC unit perform data interaction through CAN communication.

Correspondingly, a second aspect of the embodiments of the present invention further provides a wind turbine yaw system fault detection method, which performs fault detection on a wind turbine yaw system based on a wind turbine yaw system fault detection apparatus, and includes the following steps:

judging whether yaw related yaw faults exist in real time based on the main control PLC unit;

classifying the yaw fault and judging the fault type of the yaw fault;

when the yaw fault is a motor fault, determining a specific fault type by checking a fault word corresponding to data communication, wherein the specific fault type of the motor fault comprises: motor brake faults, motor over-temperature faults, motor locked rotor faults and motor current imbalance faults;

when the yaw fault is a non-motor fault, judging the specific fault type of the yaw equipment according to the yaw state information of the engine room and the environment state information, wherein the specific fault type of the yaw equipment comprises the following steps: yaw cable twisting faults, yaw hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

Further, the detection conditions of the motor brake fault are as follows: when the yaw brake is not opened, the internal contact of the brake is disconnected and is output to a low level of a corresponding channel of the driver 24 VDI; when the yaw brake is opened, the internal contacts of the brake are closed and output to a driver 24VDI corresponding channel high level; when the action of the yaw brake is inconsistent with the fed back 24VDI level, judging that the motor brake is in fault;

the diagnosis conditions of the motor over-temperature fault are as follows: when the yaw driver analog quantity detection channel detects that the temperature value corresponding to the PTC resistor embedded in the motor is higher than 130 ℃, judging that the motor has an over-temperature fault;

the diagnosis conditions of the motor locked rotor are as follows: when the total current output by the motor exceeds the current value set by the driver, judging the motor locked-rotor fault;

the diagnosis conditions of the motor current imbalance fault are as follows: and comparing the effective values of the acquired motor phase sequence currents by the yaw driver, and judging that a certain phase current of the motor is unbalanced if the deviation of the average value of the phase sequence current of a certain motor and the phase sequence currents of all the motors exceeds a set value.

Further, the diagnosis conditions of the yaw cable twisting fault are as follows: when the master control PLC detects that a cable twisting signal output by the yaw cable twisting encoder is a high level, judging that the yaw cable twisting is in fault; and/or

The diagnosis conditions of the yaw hydraulic pressure abnormal fault are as follows: when the unit stops the navigation, the master control PLC acquires that the hydraulic pressure exceeds a set value of the stop pressure deviation; or when the unit is in yaw, the master control PLC acquires that the hydraulic pressure exceeds the operating pressure deviation set value, and all the hydraulic pressure abnormal faults in yaw are judged;

the diagnosis conditions of the abnormal fault of the reduction gearbox are as follows: when the master control PLC acquires that the vibration signal of the yaw reduction box exceeds a set value, judging that the reduction box has an abnormal fault;

the diagnosis condition of the yaw drive fault is as follows: when the inside of the yaw driver has a fault, the corresponding fault position is set, and when the master control PLC detects the fault position corresponding to the fault word of the yaw driver through CAN communication, the fault of the yaw driver is judged.

The technical scheme of the embodiment of the invention has the following beneficial technical effects:

the detection device can be used for acquiring three-phase current, motor temperature and brake feedback signals of the yaw motor, acquiring information such as yaw torsion cable, hydraulic pressure, wind speed and wind direction, yaw vibration transmission and the like, diagnosing the yaw system fault through information processing, and accurately positioning the motor fault.

Drawings

FIG. 1 is a schematic composition diagram of a wind turbine generator yaw system fault detection device provided by an embodiment of the invention;

FIG. 2 is a schematic diagram of single motor fault detection provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a yaw system fault detection process provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a fault code provided in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Referring to fig. 1, fig. 2 and fig. 3, a first aspect of an embodiment of the present invention provides a wind turbine yaw system fault detection apparatus, including: the system comprises a signal acquisition module and a signal processing and fault diagnosis module; the signal acquisition module acquires cabin yaw state information and environmental state information of the wind turbine generator; the signal processing and fault diagnosis module comprises: the yaw frequency converter and the master control PLC unit can carry out data interaction; the main control PLC unit is in data connection with the signal acquisition module and receives environmental state information and cabin yawing state information so as to detect non-motor faults; and detecting the motor faults by the yaw frequency converter.

Further, the signal acquisition module comprises: the yaw cable twisting encoder, the hydraulic pressure sensor, the wind speed and direction sensor, the yaw vibration sensor and/or the motor current acquisition sensor are respectively connected with the signal processing and fault diagnosis module; the yaw cable twisting encoder is used for acquiring the yaw angle of the cabin of the wind turbine generator; the hydraulic pressure sensor is used for acquiring pressure change of the wind turbine generator yaw hydraulic system in the yaw process; the wind speed and direction sensor is used for acquiring the real-time wind speed and wind direction of the environment of the wind turbine generator; the yaw vibration sensor is used for acquiring the vibration condition of the yaw reduction box of the wind turbine generator; the motor current acquisition sensor is used for acquiring the current of each motor branch of the wind turbine generator.

Further, the yaw frequency converter carries out fault diagnosis of the yaw motor, and mainly comprises the following steps: motor brake failure, motor over-temperature failure, motor stalling and current imbalance failure.

Further, the environmental status information includes: wind speed and wind direction of the environment where the wind turbine generator is located, and the yaw state information of the engine room comprises: the angle of the engine room, the hydraulic pressure, the vibration signal of the reduction gearbox, and the state word and the fault word of the yaw driver; non-motor type fault detection that master control PLC unit goes on mainly includes: yaw cable twisting faults, hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

Further, the yaw frequency converter and the master control PLC unit perform data interaction through CAN communication.

Specifically, the yaw system is used as an important component of the fan, and has functions of realizing wind control of the unit and cable twisting and untwisting of cables, and also has a function of diagnosing and detecting self faults so as to quickly check the yaw faults and ensure the generating efficiency of the unit. The following description is provided with a 2.XMW unit using 4 yaw motors.

The system composition of the yaw system fault detection device is shown in figure 1, a master control PLC realizes information interaction with a yaw frequency converter through a CAN communication line, and sends a start/stop command, a yaw drive fault reset command and a motor rotating speed command to the yaw frequency converter through control words; the yaw frequency converter uploads the temperature, the actual speed, the actual torque, the active power, a state word and a fault word of the frequency converter to the master control PLC, wherein the state word comprises yaw starting and stopping, motor steering, a braking state and a rotating speed state; the fault words comprise self faults of the yaw frequency converter, PTC abnormity of the yaw motor, faults of a brake loop of the motor, over-temperature, overload, current imbalance and the like of the motor. When the PLC detects the position 1 of a fault word, namely a fault of a yaw motor is reported, the fault word corresponding to CAN communication is checked to confirm which fault is specific, if the fault word bit5 is 1, the PTC of the yaw motor is abnormal, and the fault word corresponds to a 0301 fault code in the figure 4; if the fault word bit10 is 1, the fault is a motor brake circuit fault, which corresponds to the 0302 fault code in fig. 4; if the fault word bit13 is 1, it is that the motor of the yaw motor is over-temperature, which corresponds to the 0303 fault code in fig. 4; if the fault word bit14 is 1, it is that the yaw motor is locked, which corresponds to the 0304 fault code in FIG. 4; if the fault word bit15 is 1, it is a yaw motor current imbalance fault, corresponding to the 0305 fault code in FIG. 4.

The judgment condition of the motor brake fault bit10 is as follows: A24V signal is selected to connect the brake contacts of the 4 motors in series, the final output signal is connected and output to a driver 24VDI7 channel, and a driver 24VDO4 is provided with a power supply relay for controlling the yaw brake of the 4 yaw motors, as shown in FIG. 2. When the main control does not issue a yaw starting command, the driver DO4 is turned on 0, at the moment, the power supply relay of the yaw brake is disconnected, the brake is not electrified, the internal contact of the brake is disconnected, and the DI7 is 0; conversely, driver DO4 goes out of 1, when the yaw brake power supply relay is closed, the brake is energized, the brake internal contacts are closed, and DI7 is 1. When the yaw brake action control DO4 is inconsistent with the fed-back DI7 action, judging that the motor brake is in failure, namely bit10 is 1;

the judgment conditions of the motor over-temperature fault bit13 are as follows: when the yaw driver analog quantity detection channel detects that the temperature value corresponding to the PTC resistor embedded in each motor is higher than 130 ℃, the motor over-temperature fault is determined, namely bit13 is 1, as shown in FIG. 2.

The judgment conditions of the motor locked rotor bit14 are as follows: and when the total current output by the motor exceeds the current value set by the driver, judging that the motor is locked.

The diagnosis conditions of the motor current imbalance bit15 are as follows: the yaw driver compares the collected effective values of the UVW three-phase currents of the motors, and if the deviation of the average value of the U-phase current of a certain motor and the 12-phase current of 4 motors exceeds a set value of 1.5A, the U-phase current of the motor is judged to be unbalanced; the yaw motor 3-phase current acquisition is shown in fig. 2.

The system composition of the yaw system fault detection device is shown in figure 1, a master control PLC collects wind speed and wind direction information collected by a wind speed and wind direction sensor through RS485 communication, and transmits pressure signals of a hydraulic system collected by a pressure sensor and acceleration signals of a yaw reduction box collected by a vibration sensor to the PLC for resolving through an analog quantity collection module X20AI 4622; acquiring a twisted cable signal of a twisted cable encoder through a digital quantity DI input module X20DI 9371; and acquiring a torsional cable encoder through a digital pulse acquisition module X20DC137A to measure the speed ABZ pulse signal of the yaw gear ring, and resolving the yaw speed. Through the collection of the signals, the cable twisting fault, the hydraulic pressure abnormal fault, the reduction gearbox abnormal fault and the yaw driver fault related to yaw are judged.

Wherein the yaw cable twisting fault judgment conditions are as follows: when the main control PLC digital quantity DI input module X20DI9371 detects that a cable twisting signal output by the yaw cable twisting encoder is a high level, judging that the yaw cable twisting has a fault, and corresponding to a 0306 fault code in FIG. 4;

the judgment condition of the yaw hydraulic pressure abnormal fault is as follows: when the unit stops the yaw, the master control PLC analog quantity acquisition module X20AI4622 acquires that the hydraulic pressure exceeds the range of the stop pressure (160 +/-15) bar; or when the main control PLC acquires that the hydraulic pressure exceeds the operating pressure (30 +/-10) bar range during the yaw of the unit, judging that the yaw hydraulic pressure has abnormal faults, corresponding to the 0307 fault code in the figure 4;

the judgment condition of the abnormal fault of the reduction gearbox is as follows: when the master control PLC acquires that the acceleration signal of the yaw reduction gearbox exceeds a set value, judging that the reduction gearbox has an abnormal fault, which corresponds to a 0308 fault code in the figure 4;

the judging condition of the yaw drive fault is as follows: and when the master control PLC detects that the fault position corresponding to the fault word of the yaw driver is set through CAN communication, judging that the yaw driver has a fault and corresponding to the 0309 fault code in the figure 4.

Correspondingly, a second aspect of the embodiments of the present invention further provides a wind turbine yaw system fault detection method, which performs fault detection on a wind turbine yaw system based on a wind turbine yaw system fault detection apparatus, and includes the following steps:

judging whether yaw related yaw faults exist in real time based on the main control PLC unit;

classifying the yaw fault, and judging the fault type of the yaw fault;

when the yaw fault is a motor fault, determining a specific fault type by checking fault words corresponding to data communication, wherein the specific fault type of the motor fault comprises the following steps: motor brake faults, motor over-temperature faults, motor locked rotor faults and motor current imbalance faults;

when the yaw fault is a non-motor fault, judging the specific fault type of the yaw equipment according to the yaw state information of the engine room and the environment state information, wherein the specific fault type of the yaw equipment comprises the following steps: yaw cable twisting faults, yaw hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

Further, the detection conditions of the motor brake fault are as follows: when the yaw brake is not opened, the internal contact of the brake is disconnected and is output to a low level of a corresponding channel of the driver 24 VDI; when the yaw brake is opened, the internal contacts of the brake are closed and output to a driver 24VDI corresponding channel high level; when the action of the yaw brake is inconsistent with the fed back 24VDI level, judging that the motor brake is in fault;

the diagnosis conditions of the motor over-temperature fault are as follows: when the yaw driver analog quantity detection channel detects that the temperature value corresponding to the PTC resistor embedded in the motor is higher than 130 ℃, judging the motor over-temperature fault;

the diagnosis conditions of the motor locked rotor are as follows: when the total current output by the motor exceeds the current value set by the driver, judging the motor locked-rotor fault;

the diagnosis conditions of the motor current imbalance fault are as follows: and comparing the effective values of the acquired motor phase sequence currents by the yaw driver, and judging that a certain phase current of the motor is unbalanced if the deviation of the average value of the phase sequence current of a certain motor and the phase sequence currents of all the motors exceeds a set value.

Further, the diagnosis conditions of the yaw cable twisting fault are as follows: when the master control PLC detects that a cable twisting signal output by the yaw cable twisting encoder is a high level, judging that the yaw cable twisting is in fault;

the diagnosis conditions of the yaw hydraulic pressure abnormal fault are as follows: when the unit stops the navigation, the master control PLC acquires that the hydraulic pressure exceeds a set value of the stop pressure deviation; or when the unit is in yaw, the master control PLC acquires that the hydraulic pressure exceeds the operating pressure deviation set value, and all the hydraulic pressure abnormal faults in yaw are judged;

the diagnosis conditions of the abnormal fault of the reduction gearbox are as follows: when the master control PLC acquires that the vibration signal of the yaw reduction box exceeds a set value, judging that the reduction box has an abnormal fault;

the diagnostic conditions for yaw drive failure are: when the inside of the yaw driver has a fault, the corresponding fault position is set, and when the master control PLC detects the fault position corresponding to the fault word of the yaw driver through CAN communication, the fault of the yaw driver is judged.

The embodiment of the invention aims to protect a wind turbine generator yaw system fault detection device and method, and has the following effects:

the detection device can be used for acquiring three-phase current, motor temperature and brake feedback signals of the yaw motor, acquiring information such as yaw torsion cable, hydraulic pressure, wind speed and wind direction, yaw vibration transmission and the like, diagnosing the yaw system fault through information processing, and accurately positioning the motor fault.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (8)

1. The utility model provides a wind turbine generator system driftage system fault detection device which characterized in that includes: the system comprises a signal acquisition module and a signal processing and fault diagnosis module;

the signal acquisition module acquires cabin yaw state information and environmental state information of the wind turbine generator;

the signal processing and fault diagnosis module comprises: the yaw frequency converter and the master control PLC unit can carry out data interaction;

the main control PLC unit is in data connection with the signal acquisition module and receives the environmental state information and the cabin yawing state information so as to detect non-motor faults;

and the yaw frequency converter is used for detecting the motor faults.

2. The wind turbine yaw system fault detection device of claim 1,

the signal acquisition module includes: the yaw cable twisting encoder, the hydraulic pressure sensor, the wind speed and direction sensor, the yaw vibration sensor and the motor current acquisition sensor are respectively connected with the signal processing and fault diagnosis module;

the yaw cable twisting encoder is used for acquiring the yaw angle of the wind turbine generator cabin;

the hydraulic pressure sensor is used for acquiring pressure change of the wind turbine generator yaw hydraulic system in the yaw process;

the wind speed and direction sensor is used for acquiring the real-time wind speed and wind direction of the environment of the wind turbine generator;

the yaw vibration sensor is used for acquiring the vibration condition of the yaw reduction box of the wind turbine generator;

the motor current acquisition sensor is used for acquiring the current of each motor branch of the wind turbine generator.

3. The wind turbine yaw system fault detection device of claim 1,

the yaw frequency converter is used for carrying out fault diagnosis on the yaw motor and mainly comprises the following steps: motor brake failure, motor over-temperature failure, motor stalling and current imbalance failure.

4. The wind turbine yaw system fault detection device of claim 1,

the environmental status information includes: the wind speed and the wind direction of the environment where the wind turbine generator is located, and the yaw state information of the engine room comprises: the angle of the engine room, the hydraulic pressure, a vibration signal of the reduction gearbox, and a state word and a fault word of the yaw driver;

the non-motor fault detection that master control PLC unit goes on mainly includes: yaw cable twisting faults, hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

5. The wind turbine yaw system fault detection device of any one of claims 1-4,

and the yaw frequency converter and the master control PLC unit carry out data interaction through CAN communication.

6. A wind turbine generator yaw system fault detection method is characterized in that fault detection of a wind turbine generator yaw system is carried out based on a wind turbine generator yaw system fault detection device, and the method comprises the following steps:

judging whether yaw related yaw faults exist in real time based on the main control PLC unit;

classifying the yaw fault and judging the fault type of the yaw fault;

when the yaw fault is a motor fault, determining a specific fault type by checking fault words corresponding to data communication, wherein the specific fault type of the motor fault comprises: motor brake faults, motor over-temperature faults, motor locked rotor faults and motor current imbalance faults;

when the yaw fault is a non-motor fault, judging the specific fault type of the yaw equipment according to the yaw state information of the engine room and the environment state information, wherein the specific fault type of the yaw equipment comprises the following steps: yaw cable twisting faults, yaw hydraulic pressure abnormal faults, reduction box abnormal faults and yaw drive faults.

7. The wind turbine yaw system fault detection method of claim 6,

the detection conditions of the motor brake fault are as follows: when the yaw brake is not opened, the internal contact of the brake is disconnected and is output to a low level of a corresponding channel of the driver 24 VDI; when the yaw brake is opened, the internal contacts of the brake are closed and output to a driver 24VDI corresponding channel high level; when the action of the yaw brake is inconsistent with the fed back 24VDI level, judging that the motor brake is in fault;

the diagnosis conditions of the motor over-temperature fault are as follows: when the yaw driver analog quantity detection channel detects that the temperature value corresponding to the PTC resistor embedded in the motor is higher than 130 ℃, judging that the motor has an over-temperature fault;

the diagnosis conditions of the motor locked rotor are as follows: when the total current output by the motor exceeds the current value set by the driver, judging the motor locked-rotor fault;

the diagnosis conditions of the motor current imbalance fault are as follows: and comparing the effective values of the acquired motor phase sequence currents by the yaw driver, and judging that a certain phase current of the motor is unbalanced if the deviation of the average value of the phase sequence current of a certain motor and the phase sequence currents of all the motors exceeds a set value.

8. The wind turbine yaw system fault detection method of claim 6,

the diagnosis conditions of the yaw cable twisting fault are as follows: when the master control PLC detects that a cable twisting signal output by the yaw cable twisting encoder is a high level, judging that the yaw cable twisting is in fault;

the diagnosis conditions of the yaw hydraulic pressure abnormal fault are as follows: when the unit stops the navigation, the master control PLC acquires that the hydraulic pressure exceeds a set value of the stop pressure deviation; or when the unit is in yaw, the master control PLC acquires that the hydraulic pressure exceeds the operating pressure deviation set value, and all the hydraulic pressure abnormal faults in yaw are judged;

the diagnosis conditions of the abnormal fault of the reduction gearbox are as follows: when the master control PLC acquires that the vibration signal of the yaw reduction box exceeds a set value, judging that the reduction box has an abnormal fault;

the diagnosis condition of the yaw drive fault is as follows: when the inside of the yaw driver has a fault, the corresponding fault position is set, and when the master control PLC detects the fault position corresponding to the fault word of the yaw driver through CAN communication, the fault of the yaw driver is judged.

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