JP6374234B2 - Condition monitoring system and wind power generation system including the same - Google Patents

Description

  The present invention relates to a state monitoring system and a wind power generation system including the state monitoring system, and more particularly to a state monitoring system for monitoring the state of equipment constituting a wind power generation apparatus and a wind power generation system including the state monitoring system.

  For example, Patent Document 1 discloses a condition monitoring system (CMS: Condition Monitoring System) that monitors the state of a mechanical element of a wind turbine generator. This state monitoring system takes in signals from vibration sensors provided on machine elements and records changes over time in state quantities (hereinafter referred to as diagnostic parameters) representing vibration states during rated operation over a long period of time. Then, it is determined whether or not the mechanical element is abnormal based on the rate of increase of the diagnostic parameter and the characteristics of the change (see Patent Document 1).

JP 2013-185507 A

  Even if there is no abnormality in the machine element, the diagnostic parameter may fluctuate relatively large. If the abnormality determination threshold value of the machine element is increased in consideration of such variation of the diagnostic parameter, detection of the abnormality that has actually occurred is delayed. If the abnormality detection is delayed, other normal machine elements may be damaged, or the time for obtaining the repair parts may be delayed, thereby extending the operation stop time of the wind turbine generator.

  As a result of various studies, the inventor of the present application has found that when the nacelle is rotating, the vibration of the mechanical element increases and the diagnostic parameter fluctuates greatly. Therefore, if abnormality diagnosis is performed based on the diagnostic parameter when the nacelle is not rotating, the abnormality determination threshold can be lowered to an appropriate level, and abnormality detection delay can be suppressed in this respect.

  However, in wind conditions where the wind direction is rarely constant, the diagnostic parameters when the nacelle is not rotating cannot be collected sufficiently, and as a result, the abnormality detection may be delayed. .

  SUMMARY OF THE INVENTION Therefore, a main object of the present invention is to provide a state monitoring system capable of quickly and surely detecting an abnormality in equipment constituting a wind turbine generator and a wind turbine generator system including the condition monitoring system.

  According to this invention, a state monitoring system is a state monitoring system which monitors the state of the apparatus which comprises a wind power generator. The wind power generator includes a nacelle that is rotatably supported on an upper portion of a support. The state monitoring system includes a first detector that detects a state of the device, a monitor device that generates a diagnostic parameter based on a detection result of the first detector, and a control that diagnoses an abnormality of the device based on the diagnostic parameter A device and a second detector for detecting the rotational speed of the nacelle. Then, the control device corrects the diagnostic parameter based on the detection result of the second detector, and compares the corrected diagnostic parameter with a predetermined threshold value to diagnose whether the device is abnormal.

  The rotation speed of the nacelle indicates the rotation speed of the nacelle and includes both the number of rotations per unit time and the rotation angle per unit time.

  Preferably, the control device corrects the diagnostic parameter by using a correction function having the rotation speed of the nacelle as a variable. The correction function is a function that corrects the diagnostic parameter so that the ratio of the diagnostic parameter after correction to the diagnostic parameter before correction decreases as the rotational speed of the nacelle increases.

  More preferably, the correction function takes the rotation speed of the dimensionless nacelle obtained by dividing the rotation speed of the nacelle by its maximum speed as a variable, and divides the diagnostic parameter by the diagnostic parameter when the nacelle is not rotating. Is a function of the dimensionless diagnostic parameter obtained by

  Preferably, the control device calculates an average value of the rotation speed of the nacelle in a predetermined period before diagnosis, and corrects the diagnostic parameter using a correction function based on the average value.

  Preferably, the monitor device transmits diagnostic parameters in the first period before diagnosis to the control device. The control device temporarily stores the data received from the monitor device, corrects the diagnostic parameter of the first period based on the detection result of the second detector at the end of the first period, and performs the diagnosis after the correction. Generate a threshold based on the parameter. More specifically, the control device determines the correction function of the diagnostic parameter at the end of the first period, and stores the first function stored based on the correction function and the detection result of the second detector. All the diagnostic parameters of the period are corrected, and a threshold value is generated based on the corrected diagnostic parameters. The monitor device further transmits diagnostic parameters in the second period after the elapse of the first period to the control device. The control device further corrects the diagnostic parameter of the second period based on the detection result of the second detector in the second period and the correction function obtained at the end of the first period, and after the correction It is diagnosed whether or not the device is abnormal by comparing the diagnostic parameter with the threshold value.

  Preferably, the control device corrects the diagnostic parameter based on the rotation speed of the nacelle obtained from information from SCADA (Supervisory Control And Data Acquisition) that separately monitors the wind turbine generator.

Preferably, the second detector includes an orientation sensor.
Preferably, the second detector includes a gyro sensor.

  Preferably, the second detector includes a GPS (Global Positioning System).

  Preferably, the second detector includes a detector that detects at least one of a driving current and a driving voltage of a driving device that drives the nacelle.

  Moreover, according to this invention, a wind power generation system is equipped with a wind power generator and one of the state monitoring systems mentioned above.

  In the present invention, since the diagnostic parameter is corrected based on the rotation speed of the nacelle detected by the second detector, an increase in fluctuation of the diagnostic parameter due to the rotation of the nacelle can be suppressed. Thus, it is not necessary to unnecessarily increase the threshold value setting for diagnosing whether or not the device is abnormal, and there is no delay in device abnormality detection caused by unnecessarily increasing the threshold value. In addition, diagnostic parameters can be collected and detected regardless of whether the nacelle is rotating / stopped. Therefore, it is possible to detect device abnormalities earlier than when detecting abnormalities based on diagnostic parameters only when the nacelle is stopped. . Therefore, according to this invention, abnormality of the apparatus which comprises a wind power generator can be detected quickly and reliably.

It is a block diagram which shows the whole structure of the state monitoring system by embodiment of this invention. It is a figure which shows the principal part of the wind power generator shown in FIG. It is a figure for demonstrating the relationship between the sensor shown in FIG. 2, and a diagnostic parameter. It is the figure which showed the relationship between the non-dimensional diagnosis parameter and the rotation angular velocity of the non-dimensional nacelle. It is a flowchart which shows the operation | movement of the basic data collection period of the state monitoring system shown in FIG. It is a flowchart which shows operation | movement of the learning period of the state monitoring system shown in FIG. It is a flowchart which shows operation | movement of the operation period of the state monitoring system shown in FIG. It is a figure which shows the time-dependent change of the value of the diagnostic parameter displayed on the monitor of the monitoring terminal shown in FIG. It is a figure which shows the frequency spectrum on a certain driving | running condition displayed on the monitor of the monitoring terminal shown in FIG. It is a figure which shows the vibration envelope spectrum of the measurement data displayed on the monitor of the monitoring terminal shown in FIG. It is a figure for demonstrating the effect of this Embodiment.

  Hereinafter, the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same or equivalent part in a figure, and the description is not repeated.

<Overall configuration of status monitoring system>
FIG. 1 is a diagram schematically showing the overall configuration of the state monitoring system of the present embodiment. Referring to FIG. 1, the state monitoring system includes a monitor device 80, a data server (monitoring side control device) 330, and a monitoring terminal 340.

  The monitor device 80 includes sensors 70A to 70I (FIG. 2) described later, and calculates an effective value, a peak value, a crest factor, an effective value after envelope processing, a peak value after envelope processing, and the like from the detection values of the sensors, The data is transmitted to the data server 330 via the Internet 320.

  Here, the communication between the monitor device 80 and the data server 330 has been described as being performed by wire, but the present invention is not limited to this, and communication may be performed wirelessly.

  The data server 330 and the monitoring terminal 340 are connected by, for example, an in-house LAN (Local Area Network). The monitoring terminal 340 browses the measurement data received by the data server 330, performs detailed analysis of the measurement data, changes the setting of the monitor device, and displays the status of each device of the wind power generator Is provided to do.

<Configuration of wind power generator>
FIG. 2 is a diagram schematically illustrating the configuration of the wind turbine generator 10. With reference to FIG. 2, the wind turbine generator 10 includes a main shaft 20, a blade 30, a speed increaser 40, a generator 50, a main bearing 60, a nacelle 90, and a tower 100. The wind power generator 10 includes sensors 70 </ b> A to 70 </ b> I and a monitor device 80. The speed increaser 40, the generator 50, the main bearing 60, the sensors 70 </ b> A to 70 </ b> I, and the monitor device 80 are stored in the nacelle 90, and the nacelle 90 is supported by the tower 100.

  The main shaft 20 is inserted into the nacelle 90 and connected to the input shaft of the speed increaser 40, and is rotatably supported by the main bearing 60. The main shaft 20 transmits the rotational torque generated by the blade 30 receiving the wind force to the input shaft of the speed increaser 40. The blade 30 is provided at the tip of the main shaft 20 and converts wind force into rotational torque and transmits it to the main shaft 20.

  The main bearing 60 is fixed in the nacelle 90 and rotatably supports the main shaft 20. The main bearing 60 is composed of a rolling bearing, and is composed of, for example, a self-aligning roller bearing, a tapered roller bearing, a cylindrical roller bearing, or a ball bearing. These bearings may be single row or double row.

  The sensors 70 </ b> A to 70 </ b> I are fixed to each device inside the nacelle 90. Specifically, the sensor 70 </ b> A is fixed on the upper surface of the main bearing 60 and monitors the state of the main bearing 60. The sensors 70 </ b> B to 70 </ b> D are fixed on the upper surface of the speed increaser 40 and monitor the state of the speed increaser 40. The sensors 70E and 70F are fixed on the upper surface of the generator 50, and monitor the state of the generator 50. The sensor 70G is fixed to the main bearing 60 and monitors misalignment and abnormal vibration of the nacelle 90. The sensor 70H is fixed to the main bearing 60 and monitors unbalance and abnormal vibration of the nacelle. The sensor 70I is fixed to the floor surface of the nacelle 90, and detects the rotational angular velocity of the nacelle 90 (may be the number of rotations per unit time). The sensor 70I includes, for example, a gyro sensor that detects an angular velocity from a Coriolis force applied to the element by vibrating the element.

  The speed increaser 40 is provided between the main shaft 20 and the generator 50, and increases the rotational speed of the main shaft 20 to output to the generator 50. As an example, the speed increaser 40 is configured by a gear speed increasing mechanism including a planetary gear, an intermediate shaft, a high speed shaft, and the like. Although not specifically illustrated, a plurality of bearings that rotatably support a plurality of shafts are also provided in the speed increaser 40. The generator 50 is connected to the output shaft of the speed increaser 40, and generates power by the rotational torque received from the speed increaser 40. The generator 50 is constituted by, for example, an induction generator. A bearing that rotatably supports the rotor is also provided in the generator 50.

  The nacelle rotation mechanism includes a nacelle direction changing drive device 124 attached to the nacelle 90 side, and a ring gear 126 rotated by a pinion gear fitted to the rotation shaft of the drive device 124. The ring gear 126 is attached to the tower 100 in a fixed state.

  The nacelle rotation mechanism changes (adjusts) the direction of the nacelle 90 by rotating the nacelle 90. Here, a bearing 122 for supporting the nacelle is provided at the boundary between the nacelle 90 and the tower 100. The nacelle 90 is supported by the bearing 122 and rotates about the rotation axis of the bearing 122. Such rotation of the nacelle 90 around the central axis of the tower 100 is referred to as yaw movement or yawing.

  The monitor device 80 is provided inside the nacelle 90, and receives data such as vibrations, sounds, AE (Acoustic Emission), rotation angular velocity of the nacelle 90, etc. detected by the sensors 70A to 70I. Although not shown, the sensors 70A to 70I and the monitor device 80 are connected by a wired cable.

  The monitoring terminal 340 executes at least browsing of the measurement data stored in the data server 330, detailed analysis of the measurement data, setting change of the monitor device 80, and display of the status of each device of the wind power generator 10. A program is stored in advance. On the screen of the monitoring terminal 340, data about each device of the wind turbine generator 10 that is useful for the expert of the wind turbine generator 10 to display is displayed.

  In addition, each component which comprises the monitoring terminal 340 is a general thing. Therefore, it can be said that the essential part of the present invention is the above-described software (program) stored in a storage medium.

<Relationship between diagnostic parameters and failure mode>
FIG. 3 is a diagram for explaining the relationship between various data used in the present embodiment. In FIG. 3, the relationship between the site | part (component) of the wind power generator 10, a failure mode, a sensor, and the diagnostic parameter calculated from the measurement data of a sensor is shown.

  Specifically, as shown in FIGS. 2 and 3, for the main bearing 60, an effective value is obtained as a diagnostic parameter by the monitor device 80 from data measured by the high-frequency vibration sensor 70 </ b> A provided on the main bearing 60. When the calculated effective value exceeds the corresponding threshold value, it is displayed on the monitoring terminal 340 that the main bearing 60 is damaged.

  Further, for the main bearing 60, a primary rotational frequency component, 2 as a diagnostic parameter by the monitor device 80 from the measured data by the low frequency vibration sensor 70H provided to measure the radial vibration of the main bearing 60. When the next rotation frequency component and the third rotation frequency component are calculated and the calculated values exceed the corresponding threshold values, it is displayed on the monitoring terminal 340 that the main bearing 60 is unbalanced. .

  Further, for the main bearing 60, the primary rotation frequency component and the secondary rotation as diagnostic parameters by the monitor device 80 from the measured data by the low frequency vibration sensor 70G provided to measure the axial vibration of the main shaft. When frequency components and tertiary frequency components are calculated and the calculated values exceed the corresponding threshold values, it is displayed on the monitoring terminal 340 that the main bearing 60 is misaligned.

  For the speed increaser 40, when the effective value is calculated as a diagnostic parameter by the monitor device 80 from the measured data by the high frequency vibration sensors 70B to 70D, and the calculated effective value exceeds the corresponding threshold value. Is displayed on the monitoring terminal 340 that the gearbox 40 is damaged in the bearing.

  For the speed increaser 40, the first meshing frequency component, the second meshing frequency component, and the third meshing frequency component of the gear are used as diagnostic parameters by the monitor device 80 from the measured data by the high frequency vibration sensors 70B to 70D. When the calculated values exceed the corresponding threshold values, it is displayed on the monitoring terminal 340 that the gear box 40 is damaged.

  For the generator 50, when the effective value is calculated as a diagnostic parameter by the monitor device 80 from the measured data by the high-frequency vibration sensors 70E and 70F, and the calculated effective value exceeds the corresponding threshold value, The monitoring terminal 340 displays that the generator 50 is damaged in the bearing.

  For the nacelle 90, a low frequency vibration sensor 70H provided so as to measure the radial vibration of the main shaft is used to calculate a low frequency vibration component as a diagnostic parameter by the monitor device 80 from the measured data, and the calculated value is When the corresponding threshold value is exceeded, it is displayed on the monitoring terminal 340 that the nacelle 90 is abnormally vibrating.

  Further, for the nacelle 90, the low frequency vibration sensor 70G provided so as to measure the axial vibration of the main shaft is used to calculate a low frequency vibration component as a diagnostic parameter from the measured data by the monitor device 80. When the value exceeds the corresponding threshold value, it is displayed on the monitoring terminal 340 that the nacelle 90 is abnormally vibrating.

  Here, in the state monitoring system according to this embodiment, the rotational angular velocity ω (rad / s) of nacelle 90 is detected by rotational angle sensor 70I. Then, when the measurement data of the sensors 70A to 70H change as the nacelle 90 rotates, in this state monitoring system, the diagnostic parameter is corrected based on the rotational angular velocity ω of the nacelle 90. Specifically, as the rotational angular velocity ω of the nacelle 90 is higher, the measurement data of the sensors 70 </ b> A to 70 </ b> H and the diagnostic parameters based on the data greatly vary. Therefore, in order to suppress the fluctuation of the diagnostic parameter due to the rotation of the nacelle 90, the diagnostic parameter is set such that the higher the rotational angular velocity ω of the nacelle 90, the smaller the ratio of the diagnostic parameter after correction to the diagnostic parameter before correction. It is corrected. The diagnostic parameter correction method will be described in detail later.

  In addition, the said measurement item is taken out in part for easy understanding, and is not limited to this. Calculates effective value, peak value, average value, crest factor, effective value after envelope processing, and peak value after envelope processing from measurement data of vibration sensor, AE sensor, temperature sensor, and sound sensor using statistical methods Then, the state of the device of the wind power generation apparatus 10 may be grasped as compared with the corresponding threshold value, and the state of the device may be displayed on the monitoring terminal 340.

<Operation of the status monitoring system>
The operation of the state monitoring system according to the present embodiment will be described below. The state monitoring system performs processing in the basic data collection period for setting the diagnostic operation condition of the wind turbine generator 10 (see FIG. 5), and whether the operation measurement data satisfying the diagnostic operation condition is abnormal after the basic data collection period has elapsed. Processing in the learning period for generating a threshold value for determining whether or not (see FIG. 6), and after the learning period has elapsed, the wind turbine generator 10 is actually operated, and the threshold value generated in the learning period is It is comprised from the process (refer FIG. 7) in the operation period which uses and monitors the state of the wind power generator 10. FIG.

  Here, in each of the above processes, diagnostic parameters calculated from measurement data of various sensors as described later are used. In the state monitoring system according to the present embodiment, as described above, the rotational angular velocity ω of the nacelle 90 is used. Based on the above, the diagnostic parameter is corrected. The diagnostic parameter correction process will be described first.

(Diagnostic parameter correction processing)
The diagnostic parameter correction process is executed in the data server 330 (FIG. 1). The data server 330 receives the detected value of the rotational angular velocity ω (rad / s) of the nacelle 90 from the sensor 70I, and calculates the average value ωa of the absolute values of the rotational angular velocity ω based on the following equation (1).

  Here, t is time, T1 and T2 are measurement start time and measurement end time, respectively, and time (T2-T1) is set to a predetermined time. In addition, time (T2-T1) can be suitably set according to a diagnostic object (a main bearing, a gearbox, etc.). Furthermore, the data server 330 calculates the rotational angular velocity Ω of the dimensionless nacelle 90 by dividing the value ωa by the maximum value ωaMax of the rotational angular velocity ω.

  Note that the maximum value ωaMax may be a set value in the specifications of the wind turbine generator 10 or may be a maximum value of an actual measurement value of a rotational angular velocity ω collected during a basic data collection period described later.

  Here, the dimensionless diagnostic parameter (Vm / Vm0) obtained by dividing the diagnostic parameter Vm calculated from the measurement data of various sensors by the average value Vm0 of the diagnostic parameter when the nacelle 90 is not rotated is expressed as above. When the rotational angular velocity Ω of the dimensionless nacelle 90 is arranged, the dimensionless diagnostic parameter (Vm / Vm0) and the rotational angular velocity Ω of the dimensionless nacelle 90 are shown in FIG. The relationship is seen.

  FIG. 4 is a diagram showing the relationship between the dimensionless diagnostic parameter (Vm / Vm0) and the dimensionless rotation angular velocity Ω of the nacelle 90. Note that the data shown in FIG. 4 is data collected during normal operation in which no abnormality has occurred in each device. Referring to FIG. 4, Vm0 is the value of the diagnostic parameter when the nacelle 90 is not rotated. Therefore, when the rotational angular velocity Ω is 0, the dimensionless diagnostic parameter (Vm / Vm0) is 1. Become. As the rotational angular velocity Ω increases, the dimensionless diagnostic parameter (Vm / Vm0) increases.

  FIG. 4 shows the increasing tendency of the diagnostic parameter Vm up to the maximum rotational angular velocity (Ω = 1) of the nacelle 90 with reference to the diagnostic parameter value Vm0 when the nacelle 90 is not rotating. By correcting the diagnostic parameter so as to remove the diagnostic parameter variation increment accompanying the rotation of the nacelle 90, it is possible to accurately estimate the diagnostic parameter variation due to the abnormality of the device.

  Therefore, in the state monitoring system according to this embodiment, the relationship between the dimensionless diagnostic parameter (Vm / Vm0) and the dimensionless rotation angular velocity Ω of the nacelle 90 is shown based on the data shown in FIG. An approximate function L (correction function) is calculated. Then, the diagnostic parameter is corrected by dividing the diagnostic parameter Vm by the value of the approximate function L (correction function) corresponding to the actually measured rotational angular velocity Ω.

  Thereby, since the influence of the rotation of the nacelle 90 on the diagnosis parameter is suppressed, the threshold value for performing the abnormality diagnosis can be set without considering the fluctuation of the vibration parameter due to the rotation of the nacelle 90. . That is, it is not necessary to set the threshold value to an unnecessarily large value in consideration of the fluctuation of the vibration parameter due to the rotation of the nacelle 90. Accordingly, the threshold for abnormality diagnosis can be lowered to an appropriate level, and early abnormality detection can be realized in abnormality diagnosis.

  It should be noted that various functions can be adopted for the approximate function (correction function) L indicating the relationship between the dimensionless diagnostic parameter (Vm / Vm0) and the dimensionless rotation angular velocity Ω of the nacelle 90. In this embodiment, the following function is used as an example.

  Here, Vm1 is the value of the diagnostic parameter Vm when the rotational angular velocity Ω of the dimensionless nacelle 90 is 1 (that is, ωa = ωaMax), and α is a constant. The constant α is determined based on an actual measurement value of the diagnostic parameter Vm, and is determined based on, for example, a regression equation of data shown in FIG.

  Then, the diagnostic parameter Vm is corrected as follows using the correction function represented by the equation (3).

  Vrec is a corrected diagnostic parameter corrected based on the rotational angular velocity ω of the nacelle 90. In this embodiment, in the process described below, at the end of the learning period and in the operation period, the correction process for the diagnostic parameter Vm is executed, and each process is executed based on the corrected diagnostic parameter Vrec. The Hereinafter, each process in the basic data collection period, the learning period, and the operation period will be described.

(Processing during the basic data collection period)
The basic data collection period is a period in which basic data necessary for determining the diagnostic operation conditions of the wind turbine generator 10 is collected. Processing in this basic data collection period will be described.

  FIG. 5 is a flowchart for explaining the processing in the basic data collection period. Referring to FIG. 5, when the operation of the wind turbine generator 10 is started and a person in charge transmits a basic data collection command from the monitoring terminal 340 to the data server 330 (step S <b> 1), the monitoring device is passed through the data server 330. A basic data collection command is transmitted to 80 (step S2). When receiving the basic data collection command, the monitor device 80 receives various data such as vibrations of each device of the wind power generator 10 (hereinafter referred to as measurement data), the rotational speed of the blade 30, the rotational angular speed ω of the nacelle 90, and Various types of generated current data (hereinafter referred to as operation condition data) are collected at the same time (step S3), a diagnostic parameter Vm is calculated from measurement data such as various types of data such as vibration (step S4), and the diagnostic parameter Vm, Measurement data and operating condition data are transmitted to the data server 330 (step S5).

  The data server 330 stores the diagnostic parameter Vm, the measurement data, and the operating condition data in the storage unit (step S6). Processing of this measurement data and operation condition data measurement (step S3), calculation of diagnostic parameters (step S4), transmission to the data server 330 (step S5), and storage in the storage unit in the data server 330 (step S6) Is continued until step S7 when the monitoring device 80 receives a basic data collection end command from the monitoring terminal 340 (step S7; NO).

  The operating condition data is not limited to the rotational speed and the generated current, but also includes physical quantities that characterize the operating state of the wind power generator 10 such as wind speed and generator shaft torque.

  The measurement data is not limited to vibration, and includes physical quantities indicating the state of the device such as AE, temperature, and sound.

  When the person in charge instructs the end of basic data collection from the monitoring terminal 340 (step S91; YES), a basic data collection end command is transmitted from the monitoring terminal 340 to the data server 330 (step S9). Then, as described above, the monitor device 80 finishes collecting the basic data, and the process ends (step S7; YES). At the same time, the data server 330 transmits all the diagnostic parameters, measurement data, and operating condition data collected during the basic data collection period to the monitoring terminal 340 (step S10). Note that if the person in charge does not instruct the end of the basic data collection from the monitoring terminal 340 (step S91; NO), the process ends as it is.

  The monitoring terminal 340 displays diagnostic parameters, measurement data, and operating condition data (step S11), and the person in charge looks at the diagnostic parameters and operating condition data to specify diagnostic operating conditions (step S12). Here, the diagnostic operation condition is an operation condition diagnosed by the state monitoring system. For example, when the rotational speed of the main shaft is 12 rpm to 17 rpm and the generated current is specified as 300 A to 1000 A, various data (operating condition data) of the rotational speed and generated current are measured, If the rotational speed of the main shaft of the power generator 10 is in the range of 12 rpm to 17 rpm and the generated current is in the range of 300 A to 1000 A, in order to satisfy the operating conditions and the diagnostic operating conditions, the diagnostic parameters are obtained from the measured data measured simultaneously. Is calculated and compared with a threshold value corresponding to the diagnosis parameter to make a diagnosis. If the operating conditions do not satisfy the diagnostic operating conditions, the state of each device of the wind turbine generator 10 is not diagnosed. A plurality of diagnostic operation conditions can be specified.

  In the monitoring terminal 340, the designated diagnostic operation condition is transmitted to the data server 330 (step S13), and the data server 330 stores the diagnostic operation condition in the storage unit (step S14). This completes the processing of the monitoring terminal 340 and the data server 330 during the basic data collection period.

(Processing during the learning period)
The learning period is a period for generating a threshold value for determining the state of each device of the wind power generator 10 after the basic data collection period necessary for determining the diagnostic operation condition of the wind power generator 10 described above has elapsed. It is. Processing in this learning period will be described.

  FIG. 6 is a flowchart for explaining processing in the learning period of the wind turbine generator 10. Referring to FIG. 6, when the person in charge instructs learning start at monitoring terminal 340, a learning start command is transmitted from monitoring terminal 340 to data server 330 (step S15). When the data server 330 receives the learning start command, the data server 330 reads out the diagnostic operation condition stored in the storage unit and transmits it to the monitor device 80 (step S16). When the monitoring device 80 receives the diagnostic operation condition (step S17), the monitor device 80 simultaneously measures the measurement data and the operation condition data (step S18). Then, the monitor device 80 calculates a diagnostic parameter Vm from measurement data that is various data such as vibration (step S19).

  When the current operation condition satisfies the diagnosis operation condition, the monitor device 80 transmits the diagnosis parameter Vm, the measurement data, and the operation condition data to the data server 330 (step S20). The data server 330 receives the diagnostic parameter Vm, the measurement data, and the operating condition data and stores them in the storage unit (step S22). The measurement data and operation condition data measurement (step S18), diagnostic parameter calculation (step S19), transmission to the data server 330 (step S20), and storage in the storage unit in the data server 330 (step S22) are as follows. The monitoring device 80 continues until step S21 when the learning terminal command is received from the monitoring terminal 340 (step S21; NO).

  When the person in charge instructs the end of learning from the monitoring terminal 340 (step S241; YES), a learning end command is transmitted from the monitoring terminal 340 to the data server 330 (step S24). The data server 330 transmits a learning end command to the monitor device 80 (step S23), and the monitor device 80 ends the collection of measurement data and operating condition data, and the process ends (step S21; YES). At the same time, the data server 330 determines a correction function represented by the above equation (3). Specifically, the data server 330 determines ωaMax, Vm0, and Vm1 under the target operating condition, and finally calculates a constant α of the correction function. Then, the data server 330 performs a correction process on the various diagnostic parameters Vm stored in the storage unit according to the above equation (4), generates a corrected diagnostic parameter Vrec, and stores it in the storage unit (step). S231). The data server 330 automatically generates a threshold value of the diagnostic parameter for each diagnostic operation condition by statistical calculation of the diagnostic parameter Vrec stored in the storage unit (step S25). The threshold value is stored in the storage unit of the data server 330 and transmitted to the monitoring terminal 340 (step S26). The monitoring terminal 340 receives the threshold value and displays it on a display unit such as a monitor (step S27), and the person in charge can check the threshold value. This completes the processing of the data server 330 and the monitor device 80 during the learning period. Note that if the person in charge does not instruct the end of learning from the monitoring terminal 340 (step S241; NO), the process ends as it is.

  Note that the basic data collection period and the learning period for generating the threshold can be arbitrarily changed.

  Using the measurement data when each device of the wind power generator 10 is in a normal state, a threshold value is generated for each device of each wind power generator 10 and for each diagnostic operation condition.

  Here, in order to facilitate understanding, as a specific example, a case where a two-stage threshold value is generated for one device of one wind power generator 10 under a certain diagnostic operation condition will be specifically described below. explain.

There are a plurality of values of the diagnostic parameter Vrec stored in the storage unit in step S22, and the average value of the plurality of diagnostic parameters is μ ₀ and the standard deviation is σ ₀ . For example, it is assumed that the first threshold value CT is μ ₀ + 3σ _0, and the second threshold value WN is three times the first threshold value. The first threshold value CT and the second threshold value WN are expressed by the following equations (5) and (6), respectively.
CT = μ ₀ + 3σ ₀ (5)
WN = 3 (μ ₀ + 3σ ₀ ) (6)
Using the threshold values CT and WN, the data server 330 determines whether or not the state of each device of the wind turbine generator 10 is abnormal using a diagnostic parameter Vrec of an operation period described later, and the result is the monitoring terminal. 340 is displayed. For example, when the threshold value CT is exceeded, the monitor terminal 340 displays, for example, “CAUTION” indicating that the corresponding device is in an abnormal state. When the threshold value WN is exceeded, a display such as “warning” is displayed on the monitoring terminal 340 indicating that the state of the corresponding device is more abnormal.

  In this way, by dividing the threshold value into two stages, an expert's judgment is not required for measurement data smaller than the threshold CT, while an expert requires measurement data larger than the threshold WN. When it is easy to classify that it is necessary to carefully judge the state of each device of the wind turbine generator 10 and the measurement data is applied between the threshold value CT and the threshold value WN, for example, wind power generation It is possible to determine whether or not to make an expert diagnose while observing the state of each device of the device 10.

  By adopting such a configuration, it is possible to reduce costs without having a specialist stationed at all times.

  Although the threshold level has been described in two steps, the threshold level is not limited to this, and a plurality of levels may be set.

(Processing during the operation period)
The operation period is a period during which actual operation of the wind turbine generator 10 is performed after the learning period has elapsed, and the state of the wind turbine generator 10 is monitored using a threshold value generated during the learning period. Processing during this operation period will be described.

  FIG. 7 is a flowchart for explaining processing in the operation period. Referring to FIG. 7, a command (diagnosis start command) for starting diagnosis of the state of each device of wind power generator 10 by the person in charge is transmitted from monitoring terminal 340 to data server 330 (step S30). . The data server 330 receives this diagnosis start command and transmits the diagnosis operation condition to the monitor device 80 (step S31).

  The monitor device 80 receives the diagnostic operation condition (step S32), and measures data such as vibration data in each device of the wind power generator 10, the rotational speed of the main shaft 20, the rotational angular speed ω of the nacelle 90, the generator current, and the like. Operating condition data is measured simultaneously (step S33).

  The monitor device 80 determines whether or not the current operating condition satisfies the diagnostic operating condition (step S34). If the condition is satisfied (step S34; YES), the monitor device 80 calculates a diagnostic parameter from the measured data (step S35), and sends the diagnostic parameter, measured data, and operating condition data to the data server 330. Transmit (step S36). On the other hand, if the condition is not satisfied (step S34; NO), the process returns to step S33 in which the measurement data and the operation condition data are measured again.

  Therefore, the monitor device 80 transmits the diagnostic parameter Vm, measurement data, and operating condition data to the data server 330 only when the current operating condition satisfies the diagnostic operating condition.

  The data server 330 receives the diagnostic parameter Vm, the measurement data, and the operating condition data, and corrects the diagnostic parameter Vm according to the above equation (4) (step S37).

  Next, the data server 330 determines the state of each device of the wind turbine generator 10 based on the diagnostic parameter Vrec after the correction process and the threshold value generated during the learning period. For example, if the corrected diagnostic parameter Vrec exceeds the second threshold value WN, the data server 330 sets the diagnostic result to WN, and the corrected diagnostic parameter Vrec exceeds the first threshold value CT. If so, the diagnosis result is CT (step S38). The data server 330 stores the diagnosis result, the diagnostic parameter Vrec after the correction process, the measurement data, and the operating condition data in the storage unit, and transmits these data to the monitoring terminal 340 (step S39). ).

  The monitoring terminal 340 receives the diagnosis result, the diagnosis parameter value, the measurement data, and the operating condition data (Step S40), and displays the diagnosis result. If the diagnosis result is WN, “warning” is displayed, if it is CT, “caution” is displayed, otherwise “good” is displayed (step S41).

  In addition, when the diagnosis result is WN or CT, it is possible to reliably notify the person in charge of an abnormal state by transmitting an E-mail.

  When the operation method of the wind power generator 10 is changed, it is necessary to change the diagnostic operation condition and the threshold value. Even in such a case, if the procedure from step S1 in FIG. 5 is taken, the diagnostic operation condition can be changed and a threshold value can be newly set. Note that the threshold can be changed by the person in charge from the monitoring terminal 340.

  In step S40 of FIG. 7, since the monitoring terminal 340 receives the diagnostic parameter value and the measurement data together with the diagnosis result, the monitoring terminal 340 can perform the latest and optimal measurement that can be evaluated and analyzed by an expert. Data and the like can be easily provided, and an environment in which the measurement data and related data can be simultaneously displayed on a monitor (not shown) can be provided.

  Therefore, the expert can easily determine whether or not a detailed diagnosis is necessary based on the image from the monitor.

(Measurement results displayed on the monitor of the monitoring terminal)
FIG. 8 is a diagram showing a change over time in the value of the diagnostic parameter displayed on the monitor of the monitoring terminal 340. Referring to FIG. 8, the vertical axis indicates the effective value, and the horizontal axis indicates the month and day for the past 60 days. A waveform W1 shows a change over time of an example of a diagnostic parameter, and solid lines L1 and L2 indicate that the state of the device is the first state (the above-described “caution” state) and the second state (the above-described “ The threshold value is “warning” state) and is displayed together with the waveform W1.

  For example, by displaying the value of the diagnostic parameter over time on the display unit (not shown) of the monitoring terminal 340, the expert increases the effective value from around September 20th. 30 days ago, it can be understood that the effective value of the corresponding device exceeds the “caution” state, and it can be determined that further detailed diagnosis is required for this device.

  Even if these thresholds are not exceeded, the forecasts are foreseeing that the value of the latest diagnostic parameter is on the rise, or is on the rise, but there is room for the threshold. Is possible.

  FIG. 9 is a diagram showing a frequency spectrum under a certain operating condition displayed on the monitor of the monitoring terminal 340.

  A waveform W2 in FIG. 9 shows the latest measurement data, while a waveform W3 shows a normal data frequency spectrum at an arbitrary date and time (past). The operating conditions when the waveforms W2, W3 are measured are the same. In order to accurately grasp the status of the device indicated by the waveform W2, the monitoring terminal 340 displays the waveform W3 simultaneously as a comparison together with the waveform W2. By comparing the waveform W2 and the waveform W3, an expert can easily grasp whether the monitored device is close to a normal state or an abnormal state, and evaluate the measurement data in a short time. Is possible.

  FIG. 10 is a diagram illustrating a vibration envelope spectrum of the measurement data displayed on the monitor of the monitoring terminal 340. Referring to FIG. 10, frequency regions A1 to A5 (shaded portions) indicate regions in which a defect frequency from 1st to 5th (outer ring defect frequency) includes an allowable range of 5%, and simultaneously with waveform W4. It is displayed.

  The reason for providing such an allowable range is that the measured frequency spectrum and the measured frequency spectrum are calculated in advance when the rotational speed is different from the measurement time or when the rotational speed changes at the beginning and end of the vibration measurement. This is because it is possible to detect abnormality of the state of each device of the wind turbine generator 10 even when the defect frequencies are different.

  Thus, by including an allowable range in the defect frequency calculated in advance, abnormality detection (defect detection) of each device of the wind turbine generator 10 is facilitated. In particular, since the rotational speed changes in the case of a windmill, it is preferable to set the allowable range according to the change in the rotational speed.

The above-described defect frequencies include, for example, a frequency generated when the outer ring is defective (outer ring defect frequency Fo), a frequency generated when the inner ring is defective (inner ring defect frequency Fi), and a rolling element is defective. There is a frequency (rolling element defect frequency Fb) that is generated during the operation, and these can be calculated in advance by the following equations (7) to (9).
Fo = (Fr / 2) × (1− (d / D) × cos α) × z (7)
Fi = (Fr / 2) × (1+ (d / D) × cos α) × z (8)
Fb = (Fr / 2) × (D / d) (1− (d / D) ² × cos ² α) (9)
Here, “Fr” is the rotation frequency (Hz), “d” is the diameter (mm) of the rolling element, “D” is the pitch circle diameter (mm), “α” is the contact angle, and “z” is the number of rolling elements. Indicates. The n-th order (n is a natural number) defect frequency can be obtained by calculating n × Fo, n × Fi, and n × Fb, respectively.

FIG. 11 is a diagram illustrating the effect of the present embodiment. Referring to FIG. 11, this figure shows the change over time of diagnostic parameter Vm (not corrected in accordance with rotational angular velocity ω of nacelle 90) and conventional threshold value VTHA, and diagnostic parameter Vrec (nacelle 90). The change with time of the rotation angular velocity ω) and the threshold value VTH set in the present embodiment are shown. As the diagnostic parameter, the effective value (m / s ² ) of the vibration acceleration of the main bearing 60 calculated from the measurement data of the sensor 70A is exemplified.

  Conventionally, since the diagnostic parameter Vm is recorded without considering the variation of the measurement data accompanying the rotation of the nacelle 90, the variation of the diagnostic parameter is large even at the normal time. Since the threshold value VTHA for determining whether or not the diagnostic parameter is abnormal needs to be set to a value higher than the peak value of the diagnostic parameter at the normal time, it is conventionally set to a relatively high value. It was. For this reason, the timing of the abnormality detection of the machine element tends to be delayed, and other machine elements that were normal while the abnormality detection was delayed may be damaged, or the wind turbine may be delayed due to the delay in obtaining the repair parts. The time when I could not drive was extended.

  In contrast, in the present embodiment, the diagnostic parameter Vm is corrected based on the rotational angular velocity ω of the nacelle 90, and each process in the learning period and the operation period is executed using the corrected diagnostic parameter Vrec. Therefore, an increase in the variation of the diagnostic parameter due to the rotation of the nacelle 90 is suppressed. Thereby, it is not necessary to unnecessarily increase the threshold value for diagnosing whether or not the device is abnormal, and the threshold value VTH can be set to a relatively low value. However, there will be no delay in the detection of equipment abnormalities. In addition, diagnostic parameters can be collected and detected regardless of whether the nacelle 90 is rotating / stopped. Therefore, it is possible to detect an abnormality in the device at an early stage as compared with the case where an abnormality is detected based on the diagnostic parameter only when the nacelle 90 is stopped. obtain. Therefore, according to this embodiment, it is possible to quickly and reliably detect an abnormality in the equipment constituting the wind turbine generator 10.

  In the present embodiment, the rotational angular velocity of the nacelle 90 is detected by the sensor 70I including the gyro sensor, and the diagnostic parameter is corrected based on the detection result. However, the present invention is not limited to this. The rotational angular velocity of the nacelle 90 may be detected by means.

  For example, an azimuth sensor that measures geomagnetism may be used to measure the time variation of the azimuth, and the azimuth angle may be differentiated with time to determine the rotational angular velocity of the nacelle 90.

  Also, a GPS (Global Positioning System) sensor that measures the position using an artificial satellite may be used. Even if two GPS sensors are separated from each other by a predetermined distance and provided in the nacelle 90, the azimuth of the nacelle 90 is obtained from the relative positions of the two GPS sensors, and the azimuth of the nacelle 90 is obtained by differentiating the azimuth with time. Good.

  Also, a trajectory when the nacelle 90 makes one rotation is recorded using one GPS sensor, the azimuth angle of the nacelle 90 is calculated from the recorded trajectory and the current position information, and the rotational angular velocity is calculated from the time differentiation. You may ask for it.

  Alternatively, the scenery around the nacelle 90 may be recorded by a video recording device, and the rotational angular velocity may be obtained from the change.

  Alternatively, at least one of the drive current and the drive voltage of the drive device 124 for rotating the nacelle 90 may be measured, and the rotation speed of the nacelle 90 may be calculated from the measured value.

  Alternatively, the rotation of the gear for rotating the nacelle 90 may be measured with a non-contact displacement meter, and the rotational angular velocity of the nacelle 90 may be calculated from the measured value.

  Moreover, you may obtain | require the rotation angular velocity of the nacelle 90 from the information from SCADA (Supervisory Control And Data Acquisition) which monitors a wind power generator separately.

  In the above embodiment, the threshold value for diagnosing whether or not each device of the wind turbine generator 10 is abnormal is generated in the learning period, but the above learning period is not provided. Alternatively, a threshold value may be set separately based on diagnostic parameters obtained by experiments or the like. That is, the threshold value does not necessarily have to be automatically generated during the learning period. The above equation (4) is derived from the diagnostic parameter Vm obtained by experiment or the like, and is corrected to the diagnostic parameter Vrec corrected using the equation (4). The threshold value VTH may be determined based on this.

  In the first embodiment, each of the sensors 70A to 70H corresponds to one example of the “first detector” in the present invention, and the rotation angle sensor 70I includes the “second detection” in the present invention. This corresponds to an embodiment of the “container”. The data server 330 corresponds to an example of the “control device” in the present invention.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  DESCRIPTION OF SYMBOLS 10 Wind power generator, 20 Main axis | shaft, 30 Blade, 40 Booster, 50 Generator, 60 Main bearing, 70A-70I Sensor, 80 Monitor apparatus, 90 Nacelle, 100 Tower, 122 Bearing, 124 Drive apparatus, 126 Ring gear, 320 Internet, 330 data server, 340 monitoring terminal.

Claims (11)

A state monitoring system for monitoring a state of equipment constituting a wind power generator, wherein the wind power generator includes a nacelle rotatably supported on a support column, and the equipment is stored in the nacelle,
A first detector for detecting a state of the device;
A monitoring device for generating a diagnostic parameter based on a detection result of the first detector;
A control device for diagnosing abnormality of the device based on the diagnostic parameter;
A second detector for detecting the rotational speed of the nacelle,
The control device corrects the diagnostic parameter based on the detection result of the second detector, and compares the corrected diagnostic parameter with a predetermined threshold value to diagnose whether the device is abnormal. , Condition monitoring system. The control device corrects the diagnostic parameter using a correction function having the rotation speed of the nacelle as a variable,
The state according to claim 1, wherein the correction function is a function that corrects the diagnostic parameter such that the higher the rotational speed of the nacelle, the smaller the ratio of the diagnostic parameter after correction to the diagnostic parameter before correction. Monitoring system.   The correction function uses a dimensionless rotation speed of the nacelle obtained by dividing the rotation speed of the nacelle by its maximum speed, and divides the diagnostic parameter by a diagnostic parameter when the nacelle is not rotating. The condition monitoring system of claim 2, wherein the condition monitoring system is a function of a dimensionless diagnostic parameter obtained by   The said control apparatus calculates the average value of the rotational speed of the said nacelle in the predetermined period before the said diagnosis, and correct | amends the said diagnostic parameter using the said correction function based on the average value. 3. The state monitoring system according to 3. The monitor device transmits the diagnosis parameter and the detection result of the second detector in the first period before the diagnosis to the control device,
The control device temporarily stores data received from the monitor device, and corrects the diagnostic parameter of the first period based on a detection result of the second detector at the end of the first period. Generating the threshold based on the corrected diagnostic parameter,
The monitor device further transmits the diagnostic parameter in a second period after the first period has elapsed to the control device,
The control device further corrects the diagnostic parameter of the second period based on a detection result of the second detector in the second period, and sets the corrected diagnostic parameter as the threshold value. The state monitoring system according to any one of claims 1 to 4, wherein whether or not the device is abnormal is diagnosed by comparison.   The said control apparatus correct | amends the said diagnostic parameter based on the rotational speed of the said nacelle obtained from the information from SCADA (Supervisory Control And Data Acquisition) which monitors the said wind power generator separately. The state monitoring system according to any one of claims.   The state monitoring system according to claim 1, wherein the second detector includes an orientation sensor.   The state monitoring system according to any one of claims 1 to 6, wherein the second detector includes a gyro sensor.   The state monitoring system according to any one of claims 1 to 6, wherein the second detector includes a GPS (Global Positioning System).   The state monitoring system according to any one of claims 1 to 6, wherein the second detector includes a detector that detects at least one of a drive current and a drive voltage of a drive device that drives the nacelle. . A wind power generator,
A wind power generation system provided with the state monitoring system of any one of Claims 1-10.

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