CN104075795B - Method and system for monitoring the state of vibration of an impeller of a wind power plant - Google Patents
Method and system for monitoring the state of vibration of an impeller of a wind power plant Download PDFInfo
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Abstract
提供一种用于监测风力发电机组的叶轮振动状态的方法和系统。所述方法包括：根据预定的检测周期检测在风力发电机组叶片上的预定测点处至少一个方向上的振动加速度并同步地获取风力发电机组的至少一个机组运行参数的数据，并且记录获取的机组运行参数数据和检测的振动加速度数据；选取超过预定数量的记录的机组运行参数数据和振动加速度数据的数据集合；根据机组运行参数从所述数据集合去除在风力发电机组处于异常工况时检测到的振动加速度数据，对在叶片上的测点处检测的振动加速度数据执行运行模态分析，提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个，并且根据提取的固有频率、阻尼比和振型确定风力发电机组的叶轮是否发生故障。
A method and system for monitoring the vibration state of an impeller of a wind turbine are provided. The method includes: detecting the vibration acceleration in at least one direction at a predetermined measuring point on the wind turbine blade according to a predetermined detection period and synchronously acquiring data on at least one unit operating parameter of the wind turbine, and recording the acquired unit Operating parameter data and detected vibration acceleration data; selecting a data set that exceeds a predetermined number of recorded unit operating parameter data and vibration acceleration data; removing from the data set based on the unit operating parameters detected when the wind turbine generator is in abnormal operating conditions Vibration acceleration data, perform operating modal analysis on the vibration acceleration data detected at measuring points on the blade, extract at least one of the natural frequency, damping ratio and mode shape of the blade in the operating state, and based on the extracted natural frequency , damping ratio and mode shape determine whether the impeller of the wind turbine generator fails.
Description
技术领域technical field
本发明涉及一种风力发电机组的叶轮状态监测技术，尤其涉及一种用于监测风力发电机组的叶轮振动状态的方法和系统。The invention relates to a state monitoring technology of an impeller of a wind generating set, in particular to a method and a system for monitoring the vibration state of an impeller of a wind generating set.
背景技术Background technique
风力发电机组的叶轮主要包括叶片和轮毂；叶片是风力发电机吸取风能的部件，轮毂是安装叶片以及风机变桨机构的部件。The impeller of the wind turbine mainly includes blades and hubs; the blades are the components for the wind generator to absorb wind energy, and the hubs are the components for installing the blades and the fan pitch mechanism.
从整机动力学和载荷分析，叶轮(包括叶片)部分承受整机90％以上的载荷，且受力复杂、环境工况恶劣，尤其叶片是受力最复杂的部件。叶片不停的旋转，载荷具有交变性和随机性，各种激振力都是通过叶片传递出去。所以叶轮是风力发电机组最容易出重大故障的部分，例如叶片断裂、轮毂出现裂纹、变桨机构失效等问题。风力发电机组的叶轮部分在风机运行过程中不停地旋转，并且叶片随风速的大小进行变桨，这对于信号传输和采集都是不利的，所以目前行业内对叶轮部分没有可靠的方法进行实时监测。From the dynamics and load analysis of the whole machine, the impeller (including blades) bears more than 90% of the load of the whole machine, and the force is complex and the environmental conditions are harsh, especially the blade is the most complicated component. The blades rotate continuously, the load is alternating and random, and various exciting forces are transmitted through the blades. Therefore, the impeller is the most prone to major failures of the wind turbine, such as broken blades, cracks in the hub, and failure of the pitch mechanism. The impeller part of the wind turbine rotates continuously during the operation of the fan, and the blades change pitch according to the wind speed, which is not good for signal transmission and acquisition, so there is currently no reliable method for the impeller part in the industry. real-time monitoring.
目前，一方面，由于叶轮是风机的旋转部件，尽管可以从其他行业中借鉴，但在旋转部件的信号采集和传输存在可靠性和稳定性问题，对于直驱机组来说，轮毂部分存在于强磁场环境中，此问题更为突出；另一方面，针对叶轮振动状态的研究还不是很透彻，选择合适的传感器和数据采集设备是一个难点。At present, on the one hand, since the impeller is the rotating part of the fan, although it can be used for reference from other industries, there are reliability and stability problems in the signal acquisition and transmission of the rotating part. For the direct drive unit, the hub part exists in the strong In a magnetic field environment, this problem is more prominent; on the other hand, the research on the vibration state of the impeller is not very thorough, and it is difficult to select suitable sensors and data acquisition equipment.
由于叶轮部分是最容易出现重大故障的部件之一，而且一旦出现故障后果严重，因此如果能够对此部分进行状态监测，对故障进行提前预警，或者故障较轻时采取补救措施，那么对于降低风机运行维护成本意义重大。Since the impeller part is one of the parts most prone to major failures, and once a failure occurs, the consequences will be serious. Therefore, if the condition of this part can be monitored, early warning of failures can be carried out, or remedial measures can be taken when the failure is relatively minor, then it is very important to reduce the fan speed. Operation and maintenance costs are significant.
目前针对叶轮系统的状态监测技术主要集中在叶片的状态监测，利用光线传感器采集叶片的应变计变形量，然后根据力学对应关系得到叶片的应力、弯矩、扭矩等力学信息。这些方法优点是目标明确直接当某一力学指标超过设计值时，叶片就可能会出现故障，但缺点更加突出：一方面，光纤传感器和对应的数据采集设备价格昂贵；另一方面，应变计变形信号容易被干扰，同时对激励力而言又不是很灵敏，对于叶片非线性材料，如果想得到力学信息，还需进行实验标定。At present, the state monitoring technology for the impeller system mainly focuses on the state monitoring of the blades. The optical sensor is used to collect the strain gauge deformation of the blades, and then the mechanical information such as the stress, bending moment, and torque of the blades is obtained according to the mechanical correspondence. The advantage of these methods is that the target is clear and direct. When a certain mechanical index exceeds the design value, the blade may fail, but the disadvantages are more prominent: on the one hand, the optical fiber sensor and the corresponding data acquisition equipment are expensive; on the other hand, the deformation of the strain gauge The signal is easily disturbed, and at the same time, it is not very sensitive to the excitation force. For the nonlinear material of the blade, if the mechanical information is to be obtained, an experimental calibration is required.
发明内容Contents of the invention
本发明的目的在于提供一种用于监测风力发电机组的叶轮振动状态的方法和系统，在风力发电机组运行状态下通过在检测叶片的振动数据并且结合工况数据对检测的叶片振动数据进行分析，识别可能发生故障的数据，以帮助在运行状态下对叶轮做出故障诊断。The object of the present invention is to provide a method and system for monitoring the vibration state of the impeller of the wind power generating set, and analyze the detected blade vibration data by detecting the vibration data of the blade and combining the working condition data under the running state of the wind power generating set , to identify possible failure data to aid in fault diagnosis of the impeller under operating conditions.
根据本发明的一方面，提供一种用于监测风力发电机组的叶轮振动状态的方法，包括：根据预定的检测周期检测在风力发电机组叶片上的预定测点处至少一个方向上的振动加速度并同步地获取风力发电机组的至少一个机组运行参数的数据，并且记录获取的机组运行参数数据和检测的振动加速度数据；选取超过预定数量的记录的机组运行参数数据和振动加速度数据的数据集合；对选取的数据集合执行以下处理：根据机组运行参数从所述数据集合去除在风力发电机组处于异常工况时检测到的振动加速度数据，对在叶片上的测点处检测的振动加速度数据执行运行模态分析，提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个，并且根据提取的固有频率、阻尼比和振型确定风力发电机组的叶轮是否发生故障。According to one aspect of the present invention, there is provided a method for monitoring the vibration state of the impeller of a wind power generating set, including: detecting the vibration acceleration in at least one direction at a predetermined measuring point on the blade of the wind generating set according to a predetermined detection cycle and Synchronously acquire data of at least one unit operating parameter of the wind power generation unit, and record the acquired unit operating parameter data and detected vibration acceleration data; select a data set exceeding a predetermined number of recorded unit operating parameter data and vibration acceleration data; The selected data set performs the following processing: remove the vibration acceleration data detected when the wind power generating set is in an abnormal working condition from the data set according to the operating parameters of the unit, and execute the operation model on the vibration acceleration data detected at the measuring point on the blade. State analysis, extracting at least one of the natural frequency, damping ratio and mode shape of the blade in the running state, and determining whether the impeller of the wind power generating set fails according to the extracted natural frequency, damping ratio and mode shape.
根据本发明的另一方面，提供一种用于监测风力发电机组的叶轮振动状态的系统，包括：至少一个振动传感器，设置在风力发电机组叶片上的预定测点处的至少一个方向上，用于检测所述预定测点处的振动加速度；叶轮振动数据采集装置，用于根据预定的检测周期控制所述至少一个振动传感器检测所述预定测点处至少一个方向上的振动加速度，并且将检测到的振动加速度发送给状态数据收集装置；状态数据收集装置，用于与所述预定的检测周期同步地获取风力发电机组的至少一个机组运行参数的数据，记录获取的机组运行参数数据和从叶轮振动数据采集装置接收的振动加速度数据，并且选取超过预定数量的记录的机组运行参数数据和振动加速度数据的数据集合；振动数据筛选装置，用于根据机组运行参数从状态数据收集装置选取的数据集合去除在风力发电机组处于异常工况时检测到的振动加速度数据；振动数据分析装置，用于对在叶片上的测点处检测的振动加速度数据执行运行模态分析，提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个，并且根据提取的固有频率、阻尼比和振型确定风力发电机组的叶轮是否发生故障。According to another aspect of the present invention, there is provided a system for monitoring the vibration state of an impeller of a wind power generating set, comprising: at least one vibration sensor arranged in at least one direction at a predetermined measuring point on the blade of a wind power generating set, for to detect the vibration acceleration at the predetermined measuring point; the impeller vibration data acquisition device is used to control the at least one vibration sensor to detect the vibration acceleration in at least one direction at the predetermined measuring point according to a predetermined detection period, and detect The received vibration acceleration is sent to the state data collection device; the state data collection device is used to obtain the data of at least one unit operating parameter of the wind power generating set synchronously with the predetermined detection period, and record the acquired unit operating parameter data and the data obtained from the impeller Vibration acceleration data received by the vibration data collection device, and select a data set of unit operating parameter data and vibration acceleration data that exceeds a predetermined number of records; vibration data screening device is used to select the data set from the state data collection device according to the unit operating parameters Remove the vibration acceleration data detected when the wind power generating set is in an abnormal working condition; the vibration data analysis device is used to perform the operation mode analysis on the vibration acceleration data detected at the measuring point on the blade, and extract the blade in the operating state at least one of the natural frequency, damping ratio and mode shape, and determine whether the impeller of the wind power generating set fails according to the extracted natural frequency, damping ratio and mode shape.
有益效果Beneficial effect
本发明的用于监测风力发电机组的叶轮振动状态的方法和系统通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据进行运行模态分析，识别可能发生故障的数据，以帮助在运行状态下对叶轮做出故障诊断。所述方法较使用光纤传感器采集叶片的应变计变形量的方法价格低廉，分析方法相对简单并且准确性高。The method and system for monitoring the vibration state of the impeller of the wind power generating set according to the present invention combine the vibration data of the impeller with periodic detection and synchronously collected unit operation data, and analyze the operating mode of the vibration data of the impeller of the wind generating set in the running state , to identify possible failure data to aid in fault diagnosis of the impeller under operating conditions. The method is cheaper than the method of using an optical fiber sensor to collect the strain gauge deformation of the blade, and the analysis method is relatively simple and has high accuracy.
此外，本发明的用于监测风力发电机组的叶轮振动状态的方法和系统通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据执行时域和/或频域的分析，从而不仅可识别故障的发生，而且可确定发生故障的时刻。In addition, the method and system for monitoring the vibration state of the impeller of the wind power generating set of the present invention combine the vibration data of the impeller with periodic detection and synchronously collected unit operation data, and perform time-domain and/or frequency domain analysis, so that not only the occurrence of the fault can be identified, but also the moment when the fault occurs can be determined.
附图说明Description of drawings
图1是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的系统的整体架构示意图；FIG. 1 is a schematic diagram showing the overall architecture of a system for monitoring the vibration state of an impeller of a wind power generating set according to an exemplary embodiment of the present invention;
图2是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的方法的流程图；FIG. 2 is a flow chart illustrating a method for monitoring the vibration state of a blade of a wind power generating set according to an exemplary embodiment of the present invention;
图3是示出根据本发明的另一示例性实施例的用于监测风力发电机组的叶轮振动状态的方法的流程图；Fig. 3 is a flow chart showing a method for monitoring the vibration state of a blade of a wind power generating set according to another exemplary embodiment of the present invention;
图4是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的系统的逻辑框图。FIG. 4 is a logic block diagram illustrating a system for monitoring a vibration state of an impeller of a wind power generating set according to an exemplary embodiment of the present invention.
具体实施方式detailed description
下面结合附图详细描述本发明实施例的用于监测风力发电机组的叶轮振动状态的方法和系统。The method and system for monitoring the vibration state of the impeller of the wind power generating set according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
图1是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的系统的整体架构示意图。Fig. 1 is a schematic diagram showing the overall architecture of a system for monitoring the vibration state of a blade of a wind power generating set according to an exemplary embodiment of the present invention.
参照图1，在根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的系统中，在叶轮的叶片上的测点处设置至少一个振动传感器110，并且在所述测点的至少一个方向(例如叶片的挥舞方向和摆振方向等)上设置所述振动传感器110。此外，可以在叶轮的轮毂中的测点处的至少一个方向上也设置振动传感器(未示出)。可根据机组的具体参数以及风场的信息综合考虑确定传感器的灵敏度、最大量程、频响范围、适用环境等参数，选择最适合的振动传感器。Referring to Fig. 1, in the system for monitoring the vibration state of the impeller of a wind power generating set according to an exemplary embodiment of the present invention, at least one vibration sensor 110 is set at a measuring point on the blade of the impeller, and at the measuring point The vibration sensor 110 is arranged in at least one direction of the blade (for example, the blade's swinging direction and shimmy direction, etc.). Furthermore, vibration sensors (not shown) may also be provided in at least one direction at measuring points in the hub of the impeller. According to the specific parameters of the unit and the information of the wind field, the sensitivity, maximum range, frequency response range, applicable environment and other parameters of the sensor can be determined comprehensively, and the most suitable vibration sensor can be selected.
通过这些振动传感器以预定的检测周期检测在风力发电机组叶片上的预定测点处至少一个方向上的振动加速度。在此基础上，配置风力发电机组的主控系统以相同的检测周期同步地采集风力发电机组的至少一个机组运行参数的数据。Vibration acceleration in at least one direction at predetermined measuring points on the blades of the wind power generating set is detected by these vibration sensors with a predetermined detection cycle. On this basis, the main control system of the wind power generating set is configured to synchronously collect data of at least one unit operating parameter of the wind power generating set in the same detection period.
在运行过程中，从所述测点检测的振动加速度数据汇集到叶轮轮毂内的叶轮振动数据采集装置120，叶轮振动数据采集装置120通过有线或无线连接将汇集的振动加速度数据发送给位于机舱内的状态数据收集装置130。此外，所述状态数据收集装置130从风力发电机组的主控系统获取同步采集的风力发电机组的至少一个机组运行参数的数据。During operation, the vibration acceleration data detected from the measuring points are collected to the impeller vibration data acquisition device 120 in the impeller hub, and the impeller vibration data acquisition device 120 sends the collected vibration acceleration data to the engine room located in the engine room through wired or wireless connection. The state data collection device 130. In addition, the state data collection device 130 acquires synchronously collected data of at least one unit operating parameter of the wind power generation set from the main control system of the wind power generation set.
根据本发明的示例性实施例，状态数据收集装置130将所述振动加速度数据和机组运行参数的数据通过无线连接发送给用户终端，由用户终端对所述振动加速度数据和机组运行参数的数据执行叶轮振动状态的分析。在所述用户终端设备可配备振动数据筛选装置140和振动数据分析装置150(如图4所示)结合机组运行参数对所述振动加速度数据进行筛选并且对经过筛选的振动加速度数据执行叶轮振动状态的分析。但是，本发明不限于此配置，还可以在所述状态数据收集装置130中设置软件模块对接收的所述振动加速度数据和机组运行参数的数据执行叶轮振动状态的分析。According to an exemplary embodiment of the present invention, the state data collection device 130 sends the vibration acceleration data and the data of the operating parameters of the unit to the user terminal through a wireless connection, and the user terminal executes on the data of the vibration acceleration data and the operating parameters of the unit. Analysis of impeller vibration state. The user terminal equipment can be equipped with a vibration data screening device 140 and a vibration data analysis device 150 (as shown in FIG. 4 ) to screen the vibration acceleration data in combination with the operating parameters of the unit and perform impeller vibration state analysis on the screened vibration acceleration data. analysis. However, the present invention is not limited to this configuration, and a software module may also be set in the state data collection device 130 to analyze the vibration state of the impeller on the received vibration acceleration data and unit operating parameter data.
图2是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的方法的流程图。Fig. 2 is a flow chart illustrating a method for monitoring a vibration state of a blade of a wind power generating set according to an exemplary embodiment of the present invention.
参数图2，在步骤S210，根据预定的检测周期检测在风力发电机组叶片上的预定测点处至少一个方向上的振动加速度并同步地获取风力发电机组的至少一个机组运行参数的数据，并且记录采集的机组运行参数数据和检测的振动加速度数据。根据本发明的优选实施例，在步骤S210，还根据所述预定的检测周期检测在风力发电机组轮毂上的预定测点处至少一个方向上的振动加速度，以收集在运行状态下叶片和轮毂上的振动数据。具体地，所述机组运行参数可包括：风速、风力发电机组的转速、风力发电机组的功率、风力发电机组的偏航状态和风力发电机组的变桨状态。可通过风力发电机组的主控系统采集所述风力发电机组的至少一个机组运行参数的数据。Parameter Fig. 2, in step S210, detect the vibration acceleration in at least one direction at the predetermined measuring point on the blade of the wind power generating set according to the predetermined detection cycle and simultaneously acquire the data of at least one unit operating parameter of the wind generating set, and record Collected unit operating parameter data and detected vibration acceleration data. According to a preferred embodiment of the present invention, in step S210, the vibration acceleration in at least one direction at a predetermined measuring point on the hub of the wind power generating set is also detected according to the predetermined detection cycle, so as to collect vibration acceleration on the blade and the hub under the running state. vibration data. Specifically, the operating parameters of the generating set may include: wind speed, rotational speed of the wind generating set, power of the wind generating set, yaw state of the wind generating set, and pitch state of the wind generating set. The data of at least one unit operating parameter of the wind power generating set can be collected through the main control system of the wind power generating set.
在步骤S220，选取超过预定数量的记录的机组运行参数数据和振动加速度数据的数据集合，以确保有足够数量的数据进行步骤S230的筛选以及步骤S240的分析。In step S220, a data set exceeding a predetermined number of recorded unit operating parameter data and vibration acceleration data is selected to ensure that there is a sufficient amount of data for screening in step S230 and analysis in step S240.
在步骤S230，根据机组运行参数从所述数据集合去除在风力发电机组处于异常工况时检测到的振动加速度数据。具体地，所述异常工况是以下至少一个：风力发电机组发生偏航、风力发电机组发生变桨、风场湍流强度大于预定湍流阈值、第一预定时间内风速的最大值和最小值之差大于预定风差阈值、第二预定时间内风力发电机组的功率变化率大于预定功率变化阈值以及第三预定时间内风力发电机组的转速变化率大于预定转速变化阈值。由于风力发电机组在非正常运行状态下呈现的振动特性差异较大，在异常工况下检测的振动数据无法客观反映叶轮的运行状态，因此有必要剔除被可识别为异常工况下的振动数据。In step S230, the vibration acceleration data detected when the wind power generating set is in an abnormal working condition is removed from the data set according to the operating parameters of the generating set. Specifically, the abnormal working condition is at least one of the following: the yaw of the wind turbine, the pitch of the wind turbine, the turbulence intensity of the wind field is greater than the predetermined turbulence threshold, the difference between the maximum value and the minimum value of the wind speed within the first predetermined time greater than the predetermined wind difference threshold, the power change rate of the wind generating set within the second predetermined time is greater than the predetermined power change threshold, and the speed change rate of the wind generating set within the third predetermined time is greater than the predetermined speed change threshold. Due to the large difference in the vibration characteristics of wind turbines under abnormal operating conditions, the vibration data detected under abnormal operating conditions cannot objectively reflect the operating status of the impeller, so it is necessary to eliminate the vibration data that can be identified as abnormal operating conditions .
例如，如果在采集的机组运行参数中，偏航状态为1或非零，则指示所述风力发电机组发生偏航，确定此时风力发电机组处于异常工况，因此可去除所述风力发电机组处于偏航状态时检测到的振动加速度数据；例如，如果在采集的机组运行参数中，变桨状态为1或非零，则指示所述风力发电机组发生变桨，确定此时风力发电机组处于异常工况，因此可去除所述风力发电机组处于变桨状态时检测到的振动加速度数据；再例如，风力发电机组处于IEC III类风区，如果在10分钟内风速湍流度大于预定湍流阈值(例如0.32)，则可确定风力发电机组处于异常工况，因此可去除所述风速湍流度大于预定湍流阈值期间检测到的振动加速度数据；再例如，如果在例如2分钟的第一预定时间内采集的风速的最大值和最小值之差大于预定风差阈值(如10米/秒)，则可确定风力发电机组处于异常工况，因此可去除风速的最大值和最小值之差大于预定风差阈值的第一预定时间内检测到的振动加速度数据；再例如，如果在第二预定时间(如10分钟)内风力发电机组的功率变化率大于预定功率变化阈值(如400千瓦/秒)，则可确定风力发电机组处于异常工况，因此可去除风力发电机组的功率变化率大于预定功率变化阈值期间检测到的振动加速度数据；再例如，如果在第三预定时间(如10分钟)内风力发电机组的转速变化率大于预定转速变化阈值(如10转/分钟)，可确定风力发电机组处于异常工况，因此可去除风力发电机组的转速变化率大于预定转速变化阈值期间检测到的振动加速度数据。For example, if the yaw state is 1 or non-zero in the collected operating parameters of the unit, it indicates that the wind power generation unit has yaw, and it is determined that the wind power generation unit is in an abnormal working condition at this time, so the wind power generation unit can be removed Vibration acceleration data detected when it is in the yaw state; for example, if the pitch state is 1 or non-zero in the collected operating parameters of the unit, it indicates that the wind turbine is pitching, and it is determined that the wind turbine is at this time Abnormal operating conditions, so the vibration acceleration data detected when the wind turbine is in the pitch state can be removed; for another example, the wind turbine is in the IEC III wind zone, if the wind speed turbulence within 10 minutes is greater than the predetermined turbulence threshold ( Such as 0.32), then it can be determined that the wind power generating set is in an abnormal working condition, so the vibration acceleration data detected during the wind speed turbulence degree greater than the predetermined turbulence threshold can be removed; If the difference between the maximum value and the minimum value of the wind speed is greater than a predetermined wind difference threshold (such as 10 m/s), it can be determined that the wind turbine is in an abnormal working condition, so it can be removed that the difference between the maximum value and the minimum value of the wind speed is greater than the predetermined wind difference The vibration acceleration data detected within the first predetermined time of the threshold; for another example, if the power change rate of the wind power generating set is greater than the predetermined power change threshold (such as 400 kW/s) within the second predetermined time (such as 10 minutes), then It can be determined that the wind power generating set is in an abnormal working condition, so the vibration acceleration data detected during the period when the power change rate of the wind generating set is greater than a predetermined power change threshold can be removed; If the speed change rate of the unit is greater than a predetermined speed change threshold (such as 10 revolutions per minute), it can be determined that the wind turbine is in an abnormal working condition, so the vibration acceleration data detected during the period when the wind turbine speed change rate is greater than the predetermined speed change threshold can be removed .
根据本发明的优选实施例，步骤S220还包括，对所述数据集合中的振动加速度数据进行低通滤波，从所述数据集合去除超过预定频率阈值的振动加速度数据。通常，叶片和轮毂的振动频率一般低于50Hz，通过对所述振动加速度数据进行低通滤波，滤掉频率较高不合理的振动频率，并且滤掉由于环境偶然因素造成的异常振动因素。According to a preferred embodiment of the present invention, step S220 further includes performing low-pass filtering on the vibration acceleration data in the data set, and removing vibration acceleration data exceeding a predetermined frequency threshold from the data set. Usually, the vibration frequency of the blade and the hub is generally lower than 50 Hz. By performing low-pass filtering on the vibration acceleration data, the vibration frequency with high frequency and unreasonable frequency is filtered out, and the abnormal vibration factors caused by accidental environmental factors are filtered out.
根据本发明的可选实施例，在执行步骤S220的处理后，还可将经过去除处理的振动加速度数据发送给风力发电机组的主控系统，以便于主控系统进一步确定叶片(和轮毂)的振动加速度是否超出正常振动值范围。According to an optional embodiment of the present invention, after the processing of step S220 is performed, the vibration acceleration data that has been removed can also be sent to the main control system of the wind power generating set, so that the main control system can further determine the blade (and hub) Whether the vibration acceleration exceeds the normal vibration value range.
如果在进行步骤S230的去除处理后，所述数据集合中的振动加速度数据的数量低于一定的数量，则需要回到步骤S210，继续进行振动加速度数据的检测和机组运行参数数据的获取；如果在进行步骤S230的去除处理后，在所述数据集合中具有足够数量的振动加速度数据，则执行步骤S240。If after performing the removal processing in step S230, the quantity of vibration acceleration data in the data set is lower than a certain quantity, then it is necessary to return to step S210 to continue the detection of vibration acceleration data and the acquisition of unit operating parameter data; if After performing the removal process in step S230, if there is a sufficient amount of vibration acceleration data in the data set, then step S240 is executed.
在步骤S240，对在叶片上的测点处检测的振动加速度数据执行运行模态分析，提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个，并且根据提取的固有频率、阻尼比和振型确定风力发电机组的叶轮是否发生故障。In step S240, an operational modal analysis is performed on the vibration acceleration data detected at the measurement points on the blade to extract at least one of the natural frequency, damping ratio, and mode shape of the blade in the operating state, and according to the extracted natural frequency, The damping ratio and the mode shape determine if the rotor of the wind turbine fails.
运行模态分析(OMA)是系统辨别方法在工程振动领域中的应用，在结构运行过程中，通过采集结构响应信号进行结构模态参数识别。在本发明中，将在运行状态下在叶片上的测点处检测的振动加速度数据作为结构响应信号来执行运行模态分析，从而提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个。其中，振型反映叶片在运行过程中的振动状态，固有频率反映叶片在安装状态下的共振频率，阻尼比反映叶片耗散振动能量的情况。Operational modal analysis (OMA) is the application of system identification methods in the field of engineering vibration. During the operation of structures, structural modal parameters are identified by collecting structural response signals. In the present invention, the vibration acceleration data detected at the measuring points on the blade in the running state is used as the structural response signal to perform the running modal analysis, thereby extracting the natural frequency, damping ratio and mode shape of the blade in the running state at least one of the . Among them, the mode shape reflects the vibration state of the blade during operation, the natural frequency reflects the resonant frequency of the blade in the installed state, and the damping ratio reflects the vibration energy dissipation of the blade.
根据本发明的可选实施例，可使用时域法、频域法和时频法中的至少一个参数识别方法对在叶片上的测点处检测的振动加速度数据执行运行模态分析。According to an optional embodiment of the present invention, at least one parameter identification method among time domain method, frequency domain method and time-frequency method may be used to perform operational modal analysis on vibration acceleration data detected at measuring points on the blade.
此后，通过将提取的固有频率、阻尼比和振型与风力发电机组相应的设计参数值进行比较来确定风力发电机组的叶轮是否发生了故障。例如，如果提取的阻尼比高出风力发电机组的阻尼比设计值预定的诊断值，则可初步确定叶轮发生了故障。Thereafter, it is determined whether the impeller of the wind turbine has failed by comparing the extracted natural frequency, damping ratio, and mode shape with the corresponding design parameter values of the wind turbine. For example, if the extracted damping ratio is higher than the predetermined diagnostic value of the damping ratio design value of the wind power generating set, it can be preliminarily determined that the impeller is faulty.
通过参照图2描述的本发明的示例性实施例可以看出，本发明的用于监测风力发电机组的叶轮振动状态的方法通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据进行运行模态分析，识别可能发生故障的数据，以帮助在运行状态下对叶轮做出故障诊断。所述方法较使用光纤传感器采集叶片的应变计变形量的方法价格低廉，分析方法相对简单并且准确性高。As can be seen from the exemplary embodiment of the present invention described with reference to Fig. 2, the method for monitoring the vibration state of the impeller of the wind power generating set according to the present invention combines the vibration data of the impeller with the synchronously collected unit operation data through the periodic detection of the vibration data of the wind power generating set. The vibration data of the impeller of the generator set in the running state is subjected to the operation modal analysis to identify the data that may be faulty, so as to help in the fault diagnosis of the impeller in the running state. The method is cheaper than the method of using an optical fiber sensor to collect the strain gauge deformation of the blade, and the analysis method is relatively simple and has high accuracy.
图3是示出根据本发明的另一示例性实施例的用于监测风力发电机组的叶轮振动状态的方法的流程图。Fig. 3 is a flow chart illustrating a method for monitoring the vibration state of a blade of a wind power generating set according to another exemplary embodiment of the present invention.
叶轮系统是风力发电机组的出力系统。如果叶轮系统出现问题，轻者导致机组停机，影响发电量和可利用率，重者导致叶片、轮毂断裂甚至倒塔。例如，当机组的叶片发生改变时(如裂纹、屈曲等)，或者当叶片载荷过大导致叶片变形过大时，叶片的振动频率会发生变化。尽管有时这种振动频率的变化不是很明显，但是当机组叶片损坏时，叶片的刚度或者质量将发生变化，会导致叶片的振动频率发生改变；当叶片敷冰时，叶片的质量发生改变，这同样导致叶片的振动频率发生改变。叶片过载时，使外界激励力增大，这将导致振动幅值的增加，这也将在振动时域波形和频谱中反应出来。为此，在图3示出的实施例中，本发明还提出通过结合振动数据和机组运行参数数据来分析叶片和轮毂故障前后叶片和轮毂的振动变化，以锁定叶轮故障发生的情况。The impeller system is the output system of the wind turbine. If there is a problem with the impeller system, the light one will cause the unit to shut down, affecting the power generation and availability, and the severe one will cause the blade, hub to break or even the tower to fall. For example, when the blades of the unit are changed (such as cracks, buckling, etc.), or when the blades are too loaded to cause excessive deformation of the blades, the vibration frequency of the blades will change. Although sometimes the change of the vibration frequency is not obvious, when the blade of the unit is damaged, the stiffness or quality of the blade will change, which will cause the vibration frequency of the blade to change; when the blade is covered with ice, the quality of the blade will change. It also causes the vibration frequency of the blade to change. When the blade is overloaded, the external excitation force increases, which will lead to an increase in the vibration amplitude, which will also be reflected in the vibration time domain waveform and frequency spectrum. For this reason, in the embodiment shown in FIG. 3 , the present invention also proposes to analyze the vibration changes of the blades and the hub before and after the failure of the blades and the hub by combining the vibration data and the operating parameter data of the unit to lock the occurrence of the impeller failure.
图3中步骤S210～S240的处理与图2中的相应步骤的处理相似，并且增加了步骤S250的处理。可在执行步骤S230后执行步骤S250，步骤S240和S250的执行顺序不重要。The processing of steps S210 to S240 in FIG. 3 is similar to the processing of the corresponding steps in FIG. 2 , and the processing of step S250 is added. Step S250 may be executed after step S230 is executed, and the execution order of steps S240 and S250 is not important.
在步骤S250，对经过S230去除处理的振动加速度数据执行时域分析，以确定是否存在时域冲击信号。In step S250, time-domain analysis is performed on the vibration acceleration data removed in S230 to determine whether there is a time-domain shock signal.
具体地，在步骤S250，计算测点的振动加速度的至少一个评估值，并且通过将所述评估值与预定的预警阈值进行比较确定是否存在时域冲击信号，其中，所述评估值包括振动加速度的有效值、平均值、振动周期内的波峰值以及振动周期内波峰值和波谷值之和。Specifically, in step S250, at least one evaluation value of the vibration acceleration of the measuring point is calculated, and it is determined whether there is a time-domain shock signal by comparing the evaluation value with a predetermined early warning threshold, wherein the evaluation value includes the vibration acceleration The effective value, average value, peak value within the vibration cycle, and the sum of the peak value and valley value within the vibration cycle.
例如，可分别通过以下公式计算振动加速度的有效值x、平均值、振动周期内的波峰值xp以及振动周期内波峰值和波谷值之和xpp当中的至少一个：For example, the effective value x and average value of the vibration acceleration can be calculated by the following formulas , at least one of the peak value x p within the vibration period and the sum of the peak value and the valley value x pp within the vibration period:
其中，n是所述数据集合中振动加速度数据的个数，1≤i≤n，xi是第i个振动加速度数据，是振动周期内的波峰值，是振动周期内的波谷值。Wherein, n is the number of vibration acceleration data in the data set, 1≤i≤n, x i is the ith vibration acceleration data, is the peak value of the wave in the vibration period, is the valley value within the vibration period.
在计算至少一个上述评估值后，将所述评估值与相应的预警阈值进行比较，如果计算的评估值大于所述预警阈值，则可确定存在时域冲击信号。因此，通过分析振动加速度数据在时域上的分布，可从检测到的叶轮振动加速度数据中捕捉到时域冲击信号，以识别异常的振动形态。After at least one evaluation value is calculated, the evaluation value is compared with a corresponding warning threshold, and if the calculated evaluation value is greater than the warning threshold, it can be determined that there is a time-domain shock signal. Therefore, by analyzing the distribution of vibration acceleration data in the time domain, the time domain impact signal can be captured from the detected impeller vibration acceleration data to identify abnormal vibration patterns.
此外，在步骤S250，还可对经过去除处理的振动加速度数据执行快速傅立叶变换，获得振动频谱数据，并且根据获得的振动频谱数据确定是否存在故障振动频率。所述故障振动频率可以与叶片的固有频率或倍频相应。In addition, in step S250, Fast Fourier Transform may be performed on the removed vibration acceleration data to obtain vibration spectrum data, and determine whether there is a faulty vibration frequency according to the obtained vibration spectrum data. The fault vibration frequency may correspond to a natural frequency or a multiple of the blade's natural frequency.
例如，如果在通过快速傅立叶变换获得的振动频谱数据中，存在接近叶片的固有频率的频率数据，则一般认定叶片的振动频率与风机转速极易发生共振，因此可确定存在故障振动频率，并且可确定发生故障的时间点；再例如，如果在通过快速傅立叶变换获得的振动频谱数据中，出现叶片的倍频与风力发电机组的转速坎贝尔图有交点时，一般认为这时机组是容易发生共振的，则也可确定存在故障振动频率，并且可确定发生故障的时间点。For example, if there is frequency data close to the natural frequency of the blade in the vibration spectrum data obtained by fast Fourier transform, it is generally believed that the vibration frequency of the blade and the fan speed are very likely to resonate, so it can be determined that there is a fault vibration frequency, and can be Determine the time point of failure; for another example, if in the vibration spectrum data obtained by fast Fourier transform, there is an intersection point between the multiplier of the blade and the Campbell diagram of the speed of the wind turbine, it is generally believed that the unit is prone to resonance at this time , then it can also be determined that there is a fault vibration frequency, and the time point when the fault occurs can also be determined.
通过参照图3描述的本发明的示例性实施例可以看出，本发明的用于监测风力发电机组的叶轮振动状态的方法通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据执行时域和/或频域的分析，从而不仅可识别故障的发生，而且可确定发生故障的时刻。It can be seen from the exemplary embodiment of the present invention described with reference to FIG. 3 that the method for monitoring the vibration state of the impeller of the wind power generating set according to the present invention combines the vibration data of the impeller with the synchronously collected operating data of the set for wind power generation. Time domain and/or frequency domain analysis is performed on the vibration data of the impeller of the generator set in the running state, so that not only the occurrence of the fault can be identified, but also the moment when the fault occurs can be determined.
图4是示出根据本发明的示例性实施例的用于监测风力发电机组的叶轮振动状态的系统的逻辑框图。FIG. 4 is a logic block diagram illustrating a system for monitoring a vibration state of an impeller of a wind power generating set according to an exemplary embodiment of the present invention.
参照图4，所述用于监测风力发电机组的叶轮振动状态的系统包括至少一个振动传感器110、叶轮振动数据采集装置120、状态数据收集装置130、振动数据筛选装置140和振动数据分析装置150。Referring to FIG. 4 , the system for monitoring the vibration state of an impeller of a wind power generating set includes at least one vibration sensor 110 , an impeller vibration data collection device 120 , a state data collection device 130 , a vibration data screening device 140 and a vibration data analysis device 150 .
至少一个振动传感器110设置在风力发电机组叶片上的预定测点处的至少一个方向上，用于检测所述预定测点处的振动加速度。根据本发明的优选实施例，部分所述至少一个振动传感器110还设置在风力发电机组的轮毂上的预定测点处的至少一个方向上。At least one vibration sensor 110 is arranged in at least one direction at a predetermined measuring point on the blade of the wind power generating set, and is used for detecting vibration acceleration at the predetermined measuring point. According to a preferred embodiment of the present invention, part of the at least one vibration sensor 110 is also arranged in at least one direction at a predetermined measuring point on the hub of the wind power generating set.
叶轮振动数据采集装置120用于根据预定的检测周期控制所述至少一个振动传感器110检测所述预定测点处至少一个方向上的振动加速度，并且将检测到的振动加速度发送给状态数据收集装置130。The impeller vibration data acquisition device 120 is used to control the at least one vibration sensor 110 to detect the vibration acceleration in at least one direction at the predetermined measurement point according to a predetermined detection period, and send the detected vibration acceleration to the state data collection device 130 .
状态数据收集装置130用于与所述预定的检测周期同步地获取风力发电机组的至少一个机组运行参数的数据，记录获取的机组运行参数数据和从叶轮振动数据采集装置120接收的振动加速度数据，并且选取超过预定数量的记录的机组运行参数数据和振动加速度数据的数据集合。状态数据收集装置130可从风力发电机组的主控系统20同步地获取所述风力发电机组的至少一个机组运行参数的数据。所述机组运行参数可包括，但不限于，风速、风力发电机组的转速、风力发电机组的功率、风力发电机组的偏航状态和风力发电机组的变桨状态。The state data collection device 130 is used to acquire the data of at least one unit operating parameter of the wind power generating set synchronously with the predetermined detection period, record the acquired unit operating parameter data and the vibration acceleration data received from the impeller vibration data acquisition device 120, And select a data set of more than a predetermined number of recorded unit operating parameter data and vibration acceleration data. The state data collection device 130 can synchronously acquire data of at least one unit operating parameter of the wind power generation set from the main control system 20 of the wind power generation set. The operating parameters of the generating set may include, but are not limited to, wind speed, rotational speed of the wind generating set, power of the wind generating set, yaw state of the wind generating set, and pitch state of the wind generating set.
振动数据筛选装置140用于根据机组运行参数从状态数据收集装置选取的数据集合去除在风力发电机组处于异常工况时检测到的振动加速度数据。所述异常工况可以是，但不限于以下至少一个：风力发电机组发生偏航、风力发电机组发生变桨、风场湍流强度大于预定湍流阈值、第一预定时间内风速的最大值和最小值之差大于预定风差阈值、第二预定时间内风力发电机组的功率变化率大于预定功率变化阈值以及第三预定时间内风力发电机组的转速变化率大于预定转速变化阈值。The vibration data screening device 140 is used to remove the vibration acceleration data detected when the wind power generating set is in an abnormal working condition from the data set selected by the state data collecting device according to the operating parameters of the generating set. The abnormal condition may be, but not limited to, at least one of the following: yaw of the wind turbine, pitch change of the wind turbine, wind field turbulence intensity greater than a predetermined turbulence threshold, maximum and minimum wind speed within the first predetermined time The difference is greater than the predetermined wind difference threshold, the power change rate of the wind generating set within the second predetermined time is greater than the predetermined power change threshold, and the speed change rate of the wind generating set within the third predetermined time is greater than the predetermined speed change threshold.
根据本发明的优选实施例，振动数据筛选装置140还用于对所述数据集合中的振动加速度数据进行低通滤波，从所述数据集合去除超过预定频率阈值的振动加速度数据。According to a preferred embodiment of the present invention, the vibration data filtering device 140 is further configured to perform low-pass filtering on the vibration acceleration data in the data set, and remove vibration acceleration data exceeding a predetermined frequency threshold from the data set.
根据本发明的优选实施例，振动数据筛选装置140还将经过去除处理的振动加速度数据发送给风力发电机组的主控系统20。According to a preferred embodiment of the present invention, the vibration data screening device 140 also sends the removed vibration acceleration data to the main control system 20 of the wind power generating set.
振动数据分析装置150用于对在叶片上的测点处检测的振动加速度数据执行运行模态分析，提取在运行状态下叶片的固有频率、阻尼比和振型中的至少一个，并且根据提取的固有频率、阻尼比和振型确定风力发电机组的叶轮是否发生故障。根据本发明的优选实施例，振动数据分析装置150使用时域法、频域法和时频法中的至少一个参数识别方法对在叶片上的测点处检测的振动加速度数据执行运行模态分析。The vibration data analysis device 150 is used to perform operational modal analysis on the vibration acceleration data detected at measuring points on the blade, extract at least one of the natural frequency, damping ratio, and mode shape of the blade in the operating state, and according to the extracted Natural frequencies, damping ratios and mode shapes determine if a wind turbine's rotor is failing. According to a preferred embodiment of the present invention, the vibration data analysis device 150 uses at least one parameter identification method in the time domain method, the frequency domain method and the time-frequency method to perform an operational modal analysis on the vibration acceleration data detected at the measuring points on the blade .
根据本发明的优选实施例，振动数据分析装置150还用于对经过去除处理的振动加速度数据执行时域分析，以确定是否存在时域冲击信号。具体地，振动数据分析装置150计算测点的振动加速度的至少一个评估值，并且通过将所述评估值与预定的预警阈值进行比较确定是否存在时域冲击信号，其中，所述评估值包括振动加速度的有效值、平均值、振动周期内的波峰值以及振动周期内波峰值和波谷值之和。According to a preferred embodiment of the present invention, the vibration data analysis device 150 is further configured to perform time-domain analysis on the vibration acceleration data after removal processing, so as to determine whether there is a time-domain shock signal. Specifically, the vibration data analysis device 150 calculates at least one evaluation value of the vibration acceleration of the measuring point, and determines whether there is a time-domain shock signal by comparing the evaluation value with a predetermined early warning threshold, wherein the evaluation value includes vibration The effective value, average value, peak value of the vibration cycle and the sum of the peak value and valley value of the vibration cycle.
根据本发明的优选实施例，振动数据分析装置150还用于对经过去除处理的振动加速度数据执行快速傅立叶变换，获得振动频谱数据，并且根据获得的振动频谱数据确定是否存在故障振动频率。所述故障振动频率可与叶片的固有频率或倍频相应。According to a preferred embodiment of the present invention, the vibration data analysis device 150 is also used to perform fast Fourier transform on the removed vibration acceleration data to obtain vibration spectrum data, and determine whether there is a fault vibration frequency according to the obtained vibration spectrum data. The fault vibration frequency may correspond to a natural frequency or a multiple of the blade's natural frequency.
在这里，状态数据收集装置130、振动数据筛选装置140和振动数据分析装置150可以在不同的计算机设备中实现，彼此可通过有线或无线连接执行通信和数据交换，三者或三者中的一个或两个也可以在同一台计算机设备中实现。Here, the state data collection device 130, the vibration data screening device 140 and the vibration data analysis device 150 can be implemented in different computer devices, and can perform communication and data exchange with each other through a wired or wireless connection, one of the three or three Or both can also be implemented in the same computer device.
本发明的用于监测风力发电机组的叶轮振动状态的方法和系统通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据进行运行模态分析，识别可能发生故障的数据，以帮助在运行状态下对叶轮做出故障诊断。所述方法较使用光纤传感器采集叶片的应变计变形量的方法价格低廉，分析方法相对简单并且准确性高。The method and system for monitoring the vibration state of the impeller of the wind power generating set according to the present invention combine the vibration data of the impeller with periodic detection and synchronously collected unit operation data, and analyze the operating mode of the vibration data of the impeller of the wind generating set in the running state , to identify possible failure data to aid in fault diagnosis of the impeller under operating conditions. The method is cheaper than the method of using an optical fiber sensor to collect the strain gauge deformation of the blade, and the analysis method is relatively simple and has high accuracy.
此外，本发明的用于监测风力发电机组的叶轮振动状态的方法和系统通过周期性检测叶轮的振动数据结合同步采集的机组运行数据，对风力发电机组在运行状态下叶轮的振动数据执行时域和/或频域的分析，从而不仅可识别故障的发生，而且可确定发生故障的时刻。In addition, the method and system for monitoring the vibration state of the impeller of the wind power generating set of the present invention combine the vibration data of the impeller with periodic detection and synchronously collected unit operation data, and perform time-domain and/or frequency domain analysis, so that not only the occurrence of the fault can be identified, but also the moment when the fault occurs can be determined.
需要指出，根据实施的需要，可将本申请中描述的各个步骤拆分为更多步骤，也可将两个或多个步骤或者步骤的部分操作组合成新的步骤，以实现本发明的目的。It should be pointed out that, according to the needs of the implementation, each step described in this application can be split into more steps, and two or more steps or part of the operations of the steps can also be combined into new steps to achieve the purpose of the present invention .
尽管已参照优选实施例表示和描述了本发明，但本领域技术人员应该理解，在不脱离由权利要求限定的本发明的精神和范围的情况下，可以对这些实施例进行各种修改和变换。Although the present invention has been shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various modifications and changes may be made to these embodiments without departing from the spirit and scope of the invention as defined in the claims .
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