CN117538050A - Yaw sensor testing device - Google Patents
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- CN117538050A CN117538050A CN202410010011.1A CN202410010011A CN117538050A CN 117538050 A CN117538050 A CN 117538050A CN 202410010011 A CN202410010011 A CN 202410010011A CN 117538050 A CN117538050 A CN 117538050A
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Abstract
The invention relates to the technical field of yaw sensor testing, in particular to a yaw sensor testing device, which comprises: the yaw sensor comprises a mounting platform, a driving assembly and a fixing tool, wherein the driving assembly and the fixing tool are mounted on the mounting platform, an active fluted disc is mounted at the output end of the driving assembly, and the fixing tool is suitable for fixedly mounting a yaw sensor body so that a sensor gear on the yaw sensor body is meshed and matched with the active fluted disc; the data processing assembly is electrically connected with the driving assembly and is suitable for being electrically connected with the yaw sensor body, and the data processing assembly is used for receiving an angle signal of the driving assembly and a state signal of the yaw sensor micro switch; the transmission ratio of the cam device in the yaw sensor body relative to the transmission shaft is equivalently calculated by utilizing the angle value of the driving assembly, so that the accuracy of transmission ratio data calculated in the testing process can be improved.
Description
Technical Field
The invention relates to the technical field of yaw sensor testing, in particular to a yaw sensor testing device.
Background
In the field of wind power generation, wind power generators need to achieve accurate wind alignment through a yaw system disposed in a nacelle to capture wind energy to the maximum extent. During a windward operation, if the nacelle rotates too much in one direction, the cable may be twisted. To avoid this, in practice, yaw sensors are provided in the yaw system. The yaw sensor is also called a rotation limit switch, a cable twisting switch and a yaw switch, yaw angle data are obtained through a pinion which is externally arranged and meshed with a yaw gearwheel, and when a certain angle is reached, an electric loop is switched to enable the fan to rotate reversely or stop, so that the cable is prevented from being twisted off and even further damage is caused.
In the yaw sensor, the operation of switching the electrical circuit is achieved by means of cam means and corresponding switching means on the sensor stops. Each single cam in the cam device is subjected to pre-debugging, and when the single cam rotates by a respective debugging angle, a corresponding micro switch on the switch device is triggered, so that the switching of an electric loop is realized.
In the prior art, in order to test the transmission ratio of a cam device of a yaw sensor encoder relative to a transmission shaft, a method of counting the times of triggering a micro switch by a cam when a motor drives a driving fluted disc and drives a sensor gear to rotate for a designated number of turns is generally adopted. The yaw sensor to be detected and the driving assembly are fixed on a table top, and a sensor gear and a driving fluted disc 1:1, transmission. The gear ratio of the cam device relative to the transmission shaft is estimated as 1:10 for example, if the cam triggers the micro switch ten times, the transmission ratio is considered to be the expected 1:10. because the method is to check whether the transmission ratio is correct or not by assuming the transmission ratio of the cam device of the sensor to be detected relative to the transmission shaft and using the times of cam triggering the micro switch, the conditions that the micro switch is triggered but the cam rotates for less than a whole circle or the cam rotates for nearly one circle but the micro switch is not triggered can occur, and the accurate transmission ratio can not be further obtained.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect of low accuracy of the transmission ratio obtained by testing the yaw sensor in the prior art, so as to provide the yaw sensor testing device.
In order to solve the above technical problems, the present invention provides a yaw sensor testing apparatus, including:
the yaw sensor comprises a mounting platform, wherein a driving assembly and a fixing tool are mounted on the mounting platform, an active fluted disc is mounted at the output end of the driving assembly, a yaw sensor body is fixedly mounted on the fixing tool, so that a sensor gear on the yaw sensor body is meshed and matched with the active fluted disc, a cam device is mounted in the yaw sensor body, the cam device comprises at least two layers of single cams, and the single cams are arranged in one-to-one correspondence with a micro switch;
the data processing assembly is electrically connected with the driving assembly and is suitable for being electrically connected with the yaw sensor body, and the data processing assembly is used for receiving an angle signal of the driving assembly and a state signal of a micro switch in the yaw sensor body 4;
when the yaw sensor is tested, the angle of the driving assembly is set to be zero, the driving assembly is started, and the driving fluted disc drives the sensor gear to continuously rotate towards one direction; the data processing component calculates the transmission ratio of the cam device in the yaw sensor body relative to the transmission shaft based on the state signal of the micro switch and the angle signal of the driving component.
Optionally, the data processing assembly calculates a gear ratio i of the cam device in the yaw sensor body with respect to the drive shaft according to the following formula:
a is a real-time angle of the driving assembly, which is read and recorded by the data processing assembly when the state of the micro switch corresponding to the single cam to be tested is switched; b is the real-time angle of the driving component when the data processing component reads and records the same state switching of the micro switch corresponding to the single cam to be tested next time; x is the number of teeth of the active fluted disc; y is the number of teeth of the sensor gear; c is a constant, C is 2pi when a and b are in radians, and C is 360 when a and b are in angles and units are degrees.
Optionally, the number of teeth of the driving fluted disc is the same as the number of teeth of the sensor gear.
Optionally, when the yaw sensor is tested, the method further comprises: the data processing component calculates the actual angle c of the single cam to be tested in the yaw sensor body according to the following formula:
d is the real-time angle of the driving component, which is read and recorded by the data processing component when the state of the micro switch is switched back to the initial state before the micro switch corresponding to the single cam to be tested is switched to the same state next time.
Optionally, when the yaw sensor is tested, the method further comprises: the data processing component calculates the debugging angle e of the single cam to be tested in the yaw sensor body according to the following formula:。
optionally, when the yaw sensor is tested, after the micro switch corresponding to the single cam to be tested is switched to the same state next time, the micro switch continues to run to a stop position, and then the driving assembly starts to rotate reversely;
the data processing component calculates the switch return angle f of the micro switch corresponding to the single cam in the yaw sensor body according to the following formula:
wherein I is the real-time angle of the driving assembly when the first micro switch is restored to the initial state after the inversion.
Optionally, the fixed tool and/or the driving assembly is/are fixedly mounted on the mounting platform through a distance adjusting assembly.
Optionally, the distance adjusting component is an adjusting guide rail, and the cross section of the adjusting guide rail is I-shaped.
Optionally, the driving assembly and the fixing tool are all provided with a plurality of groups on the mounting platform, and the driving assembly and the fixing tool are arranged in one-to-one correspondence.
Optionally, the driving fluted disc is detachably mounted at the output end of the driving component.
The technical scheme of the invention has the following advantages:
1. according to the yaw sensor testing device provided by the invention, the data processing component is arranged to enable the data processing component to receive the state signal of the micro switch in the yaw sensor body and the angle signal of the driving component in the working process of the testing device in real time, the transmission ratio of the cam device in the yaw sensor body relative to the transmission shaft is equivalently calculated by utilizing the angle value of the driving component, and when the cam device rotates for less than one circle in the testing process, the angle value signal of the driving component received by the data processing component is not influenced, so that the accuracy of the transmission ratio data calculated in the testing process can be greatly improved.
2. According to the yaw sensor testing device provided by the invention, the number of teeth of the driving fluted disc is the same as the number of teeth of the sensor gear, so that the number of calculation steps in detection is reduced, the calculation process in the testing process is simplified, the calculation error is reduced, and the accuracy of the calculation result is improved.
3. The yaw sensor testing device provided by the invention can also be used for testing the actual angle of each single cam in the yaw sensor body, and determining whether each single cam is installed correctly or not according to the comparison between the actual angle of the single cam and the cam angle required during installation.
4. The yaw sensor testing device provided by the invention can also directly measure the return angle of the single cam switch during testing, and can obtain the measurement results of a plurality of different parameters through one-time measurement, thereby simplifying the yaw sensor testing process.
5. According to the yaw sensor testing device provided by the invention, a plurality of groups of driving assemblies and fixing tools are arranged on the mounting platform, and the driving assemblies and the fixing tools are arranged in one-to-one correspondence. The yaw sensor testing device has the advantages that multiple yaw sensors to be tested are tested simultaneously on one testing device, and the testing time for testing a large number of yaw sensors can be greatly shortened.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a yaw sensor test apparatus provided in an embodiment of the present invention.
Fig. 2 is a schematic view illustrating a structure in which a yaw sensor body is mounted on a fixing tool according to an embodiment of the present invention.
Reference numerals illustrate: 1. a mounting platform; 2. a driving fluted disc; 3. fixing the tool; 4. a yaw sensor body; 5. a sensor gear; 6. a distance adjustment assembly.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the fan, the angle of switching the electric loop to enable the fan to reversely rotate is called a limit angle, positive and negative parts are arranged according to the rotating direction, and the corresponding yaw sensor is respectively realized by two single cams and corresponding micro switch devices; because there is the potential risk that spacing angle became invalid, during practical application, still be equipped with the angle of predetermineeing that directly makes the fan shut down on spacing angle's basis in addition, be the safety chain angle, equally have positive negative, be provided with four single cams and four micro-gap switches that correspond in the sensor. The corresponding test device and test method are described in this embodiment on behalf of such yaw sensor.
Fig. 1 and fig. 2 show a yaw sensor testing device provided in this embodiment, which includes a mounting platform 1, and a driving assembly, a fixing tool 3 and a data processing assembly mounted on the mounting platform 1.
In this embodiment, the driving assembly is a stepping motor, and the stepping motor includes an encoder for feeding back rotation angle information and a controller for controlling rotation of an output end of the stepping motor. The driving fluted disc 2 is installed to the output of drive assembly, is suitable for fixed mounting yaw sensor body 4 on the fixed frock 3 to make sensor gear 5 on the yaw sensor body 4 and the meshing of driving fluted disc cooperate. The yaw sensor body 4 comprises a shell structure, and an encoder, a cam device, a switching device and a limiter which are installed in the shell structure and serve as angle sensors, wherein the cam device is in transmission fit with the encoder through a transmission structure. The cam device comprises four layers of single cams, the switch device comprises four micro switches, and the single cams and the micro switches are arranged in a one-to-one correspondence manner.
The fixed frock 3 is through distance adjustment subassembly 6 fixed mounting on mounting platform 1. In some other embodiments both the fixture 3 and the drive assembly are fixedly mounted on the mounting platform 1 by means of a distance adjustment assembly 6. The distance adjusting component 6 is an adjusting guide rail, and the cross section of the adjusting guide rail is I-shaped. In other embodiments, the distance adjustment assembly 6 may also be a motor driven screw. In the yaw sensor testing device provided in this embodiment, the fixed fixture 3 includes a connecting portion nested in the groove of the distance adjusting guide rail and used for being installed in cooperation with the distance adjusting guide rail, a screw hole is formed in the side portion of the connecting portion, and when the fixed fixture 3 slides to a predetermined working position, the connecting portion and the distance adjusting guide rail are fixed through a threaded fastener. The fixing tool 3 further comprises a supporting portion arranged on the connecting portion and used for supporting and fixing the yaw sensor body 4, concave through grooves of vertical fixing plates are formed in two sides of the supporting portion, a plurality of screw holes are formed in one side fixing plate, and bolts corresponding to the screw holes penetrate out of the screw holes and are matched with the other side fixing plate to fasten and install the yaw sensor body 4 on the fixing tool 3. When the yaw sensor is in operation, the active fluted disc 2 and the yaw sensor body 4 to be detected with target sizes are replaced firstly, and bolts of the fixed connection part and the distance adjusting guide rail are screwed down after the distance is adjusted. The stepping motor is started to drive the driving fluted disc 2 to rotate, and the driving fluted disc 2 drives the sensor gear 5 to rotate, so that the transmission shaft inside the yaw sensor is driven to rotate, and the cam device is driven to rotate inside the yaw sensor.
The mounting platform 1 is provided with two-layer about the step, all is provided with multiunit drive assembly and fixed frock 3 on every layer of mounting platform 1, and every group drive assembly sets up with every fixed frock 3 one-to-one of group. In order to facilitate the replacement of the driving fluted disc 2 with different specifications and different tooth numbers, the driving fluted disc 2 is detachably arranged at the output end of the driving component.
The data processing component is electrically connected with the driving component, and when the test is carried out, the yaw sensor body 4 is installed on the fixed tool 3, the data processing component is electrically connected with the yaw sensor body 4, and the data processing component is used for receiving a rotation angle signal of the driving component and the state of the yaw sensor micro switch and obtaining the transmission ratio of the cam device relative to the transmission shaft, the debugging angle of the single cam, the actual angle of the single cam and the return angle data corresponding to the single cam through data processing. The data processing assembly comprises an encoder SSI (synchronous serial interface) acquisition module, an encoder increment pulse acquisition module, an encoder CANOPEN (industrial communication protocol) acquisition module, an analog current acquisition module, a voltage signal acquisition module and a switching value on-off acquisition module.
When the yaw sensor is tested, the yaw sensor to be detected is fixed on the fixed tool 3, and the data processing assembly is respectively connected with the stepping motor and the micro switch in the yaw sensor body 4 to be detected through signals. The stepping motor angle and the encoder angle are simultaneously set to zero through software. Starting the stepping motor, and driving the fluted disc 2 to drive the sensor gear 5 to continuously rotate towards one direction; the data processing component calculates the transmission ratio of the cam device in the yaw sensor body 4 relative to the transmission shaft based on the state signal of the yaw sensor micro switch and the angle signal of the driving component. Specifically, when the state of one micro switch is switched, the micro switch corresponding to one cam device is opened and closed by opening and closed by closing, at the moment, the protruding part of the cam device just rotates to the triggering position, and the data processing component reads and records the real-time angle of the driving component at the moment; when the same state switching occurs to the micro switch next time, namely the micro switch corresponding to the cam device is normally opened and turned off again, and the micro switch is normally closed and turned on again, and the real-time angle of the driving assembly is recorded. The data processing assembly calculates a gear ratio of the cam device relative to the drive shaft. In the test, any one of four single cams in the cam gear is selected as the cam to be tested.
The data processing assembly calculates the transmission ratio i of the cam device in the yaw sensor body 4 relative to the drive shaft according to the following formula:
in the above description, a is the real-time angle of the driving component at the moment, which is read and recorded by the data processing component, when the state of the micro switch corresponding to the single cam to be tested is switched; b is the real-time angle of the driving component at the moment, which is read and recorded by the data processing component, when the micro switch corresponding to the single cam to be tested is switched in the same state next time; x is the number of teeth of the active fluted disc 2; y is the number of teeth of the sensor gear 5; c is a constant, C is 2pi when a and b are in radians, and C is 360 when a and b are in angles and units are degrees.
In order to simplify the calculation process at the time of the test, the number of teeth of the driving gear plate 2 in the present embodiment is the same as the number of teeth of the sensor gear 5.
When the yaw sensor is tested, before the data processing component records b, when the state of the micro switch is switched back to the initial state, namely, in the corresponding group of micro switches, the normally open state is switched on by closing, the normally closed state is switched off by opening and closing, at the moment, when the protruding part of the corresponding cam device just rotates out of the triggering position, the real-time angle of the driving component is calculated, and after the transmission ratio data is calculated, the actual angle of the single cam to be tested is calculated by combining the obtained transmission ratio.
The data processing component calculates the actual angle c of the single cam to be tested in the yaw sensor body 4 according to the following formula:
in the above formula, d is the real-time angle of the driving component at the moment, which is read and recorded by the data processing component when the state of the micro switch is switched back to the initial state before the micro switch corresponding to the single cam to be tested is switched to the same state next time. And determining whether the single cam type is installed correctly or not by comparing the actual angle with the corresponding single cam angle required during installation, and the other single cams are the same.
During yaw sensor test, it alsoThe method comprises the step of testing the debugging angle of the single cam to be tested. The data processing component calculates the debugging angle e of the cam device in the yaw sensor body 4 according to the following formula:。
when the yaw sensor is tested, after the micro switch corresponding to the single cam to be tested is switched to the same state next time, the micro switch continues to operate to the stop position, and then the driving assembly starts to rotate reversely. Due to the micro-switching characteristic, the single cam to be tested does not immediately disengage the contact, but rather is disengaged after rotating reversely by a certain angle. Recording the real-time angle of the stepping motor when the normally open is turned on or off, and calculating to obtain the return angle of the corresponding switch.
The data processing component calculates a switch return angle f corresponding to the single cam to be tested in the yaw sensor body 4 according to the following formula:
wherein I is the real-time angle of the driving assembly when the first micro switch is restored to the initial state after the inversion.
The yaw sensor testing device provided in the embodiment can accurately acquire the real-time angle of the front and rear stepping motor of the cam rotating for one circle through the data processing assembly, and the quantitative detection of the cam device relative to the transmission ratio of the transmission shaft is realized. The cam angle of each single cam can be obtained according to the obtained transmission ratio and the real-time angle of the motor when the state of the micro switch is changed, and whether the cam type is installed correctly or not can be checked. The state and the time stamp information of the micro switch fed back by the data processing component can be combined, and the specific jump time point can be detected when the micro switch is detected whether to shake. If the micro switch shakes, the data processing device can collect abnormal switching of the micro switch state, namely asynchronous switching of the normally open and normally closed switches in the same group occurs. And the real-time angle of the stepping motor during the state change of the micro switch can be obtained, so that whether the debugging angle of the corresponding single cam is correct or not can be detected.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. A yaw sensor test apparatus, comprising:
the yaw sensor comprises a mounting platform (1), wherein a driving assembly and a fixing tool (3) are mounted on the mounting platform, an active fluted disc (2) is mounted at the output end of the driving assembly, a yaw sensor body (4) is fixedly mounted on the fixing tool (3), so that a sensor gear (5) on the yaw sensor body (4) is meshed and matched with the active fluted disc, a cam device is mounted in the yaw sensor body (4), and the cam device comprises at least two layers of single cams, and the single cams and the micro switches are arranged in one-to-one correspondence;
the data processing assembly is electrically connected with the driving assembly and is suitable for being electrically connected with the yaw sensor body (4), and the data processing assembly is used for receiving an angle signal of the driving assembly and a state signal of a micro switch in the yaw sensor body (4);
when the yaw sensor is tested, the angle of the driving assembly is set to be zero, the driving assembly is started, and the driving fluted disc (2) drives the sensor gear (5) to continuously rotate towards one direction; the data processing component calculates the transmission ratio of the cam device in the yaw sensor body (4) relative to the transmission shaft based on the state signal of the micro switch and the angle signal of the driving component.
2. Yaw sensor testing device according to claim 1, characterized in that the data processing assembly calculates the transmission ratio i of the cam arrangement in the yaw sensor body (4) with respect to the drive shaft according to the following formula:
a is a real-time angle of the driving assembly, which is read and recorded by the data processing assembly when the state of the micro switch corresponding to the single cam to be tested is switched; b is the real-time angle of the driving component when the data processing component reads and records the same state switching of the micro switch corresponding to the single cam to be tested next time; x is the number of teeth of the driving fluted disc (2); y is the number of teeth of the sensor gear (5); c is a constant, C is 2pi when a and b are in radians, and C is 360 when a and b are in angles and units are degrees.
3. Yaw sensor testing device according to claim 2, characterized in that the number of teeth of the driving toothed disc (2) is the same as the number of teeth of the sensor gear (5).
4. A yaw sensor test apparatus according to claim 2 or 3, further comprising, when the yaw sensor is tested: the data processing component calculates the actual angle c of the single cam to be tested in the yaw sensor body (4) according to the following formula:
d is the real-time angle of the driving component, which is read and recorded by the data processing component when the state of the micro switch is switched back to the initial state before the micro switch corresponding to the single cam to be tested is switched to the same state next time.
5. A yaw sensor test apparatus according to claim 2 or 3, further comprising, when the yaw sensor is tested: the number isCalculating the debugging angle e of the single cam to be tested in the yaw sensor body (4) according to the following formula by the processing component:。
6. the yaw sensor test apparatus of claim 5, wherein when the yaw sensor is tested, the micro switch corresponding to the single cam to be tested continues to operate to a stop position after the same state switching occurs next time, and then the driving assembly starts to rotate reversely;
the data processing component calculates a switch return angle f corresponding to a single cam to be tested in the yaw sensor body (4) according to the following formula:
wherein I is the real-time angle of the driving assembly when the first micro switch is restored to the initial state after the inversion.
7. A yaw sensor test apparatus according to any one of claims 1 to 3, characterized in that the stationary fixture (3) and/or the drive assembly is fixedly mounted on the mounting platform (1) by means of a distance adjustment assembly (6).
8. Yaw sensor testing device according to claim 7, characterized in that the distance adjustment assembly (6) is an adjustment rail, the cross section of which is i-shaped.
9. A yaw sensor test apparatus according to any one of claims 1 to 3, wherein the drive assembly and the fixture (3) are each provided with a plurality of groups on the mounting platform (1), the drive assembly being arranged in one-to-one correspondence with the fixture (3).
10. A yaw sensor test assembly according to any one of claims 1 to 3, wherein the active toothed disc (2) is detachably mounted at the output end of the drive assembly.
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