2 Plan In Situ Balancing
A slowly turning rotating mass, such as a wind turbine rotor, is balanced in situ by measuring the magnitude of a phenomenon, such as acceleration, created by rotor unbalance at a location on a mass support shaft which is close to the mass. The measurement of the phenomenon is made along a line selected to be insensitive to the bias of gravity on the mass. The measurement is made while the mass turns at its usual operating rate. The structure which supports the shaft is fixed as rigidly as possible in space while measurements of the phenomenon are made. What is claimed:1.
FIELD OF THE INVENTIONThis invention pertains to balancing, at operating speeds, of rotatable masses which turn at very low revolutions per minute. More specifically, it pertains to in situ balancing of the rotor assemblies of wind turbines.BACKGROUND OF THE INVENTIONWind turbines are used at various places in the world to generate electrical power from wind energy. In the United States, important areas where substantial numbers of wind turbines of various kinds have been installed and are now operating are in the Altamont area of California east of San Francisco Bay, in the vicinity of Tehachapi, Calif., and also in the vicinity of North Palm Springs, Calif., in the Coachella Valley proximate the southern foot of Banning Pass.
In each of the three geographic areas noted above, the wind turbines are operated and maintained by various operators on a contract basis with the owners of the turbines. Both owners and operators of wind turbines desire that the turbines operate reliably with minimum maintenance and repairs of breakdowns.A common style of wind turbine of Danish design and manufacture has a turbine rotor which is composed of three long slender blades mounted symmetrically about a hub.
The hub is carried on the end of a rotor shaft mounted in a nacelle which is carried atop a supporting tower or pylon for rotation about a vertical yaw axis of the turbine. Within the nacelle, the rotor shaft is coupled through a gearbox to a generator which generates electrical power in response to rotation of the rotor, at a characteristic constant speed, by action of wind on the rotor. The coupling of the nacelle to its supporting tower includes a yaw drive mechanism which includes a large diameter main gear fixed to the tower concentric to the yaw axis and with which is engaged a yaw pinon gear.
The pinion gear is driven by a yaw drive motor within the nacelle. Operation of the yaw drive motor is controlled by a wind direction sensor which operates the motor to turn the nacelle about its yaw axis to cause the rotor shaft to point into the prevailing wind direction. In such wind turbines, it has been found that the yaw drive mechanisms fail by breakage of the yaw pinion shafts, or by spalling or other failure of the teeth on the yaw pinion gears, beginning at about 3800 ± hours after the turbine has been placed in service. It has been determined that such yaw drive failures are caused, in the large majority of instances, by imbalance of the rotor assembly.A typical rotor assembly for a wind turbine of the kind described above weighs about 4000 pounds. The hub weighs approximately 1000 pounds and each of the three blades mounted to the hub weighs about 1000 pounds. The total weight of the turbine nacelle including the rotor assembly is on the order of 12,000 pounds; there are some kinds of turbines now in use in which the nacelle, with its rotor, weighs 17,000 pounds or more.The diameter of a rotor of the Danish design turbine is 52.5 feet.
As manufactured, the individual blades for such a wind turbine are statically balanced. Such balancing is accomplished by supporting the opposite ends of the blade on respective scales, and noting the measured weight of the blade as so positioned. If the measured blade weights are not within certain limits, balancing weights of appropriate size are placed in a tube extending within the blade and are fixed at desired locations along the length of the blade to cause the measured end weights of the blade to fall within the desired limits.
The blades for a given rotor are individually statically balanced as a set in this manner.It is common that a set of blades, even though statically balanced to be essentially perfectly matched, manifest unbalance when mounted to the rotor and the rotor is turning at its service speed which, in the case of the Danish designed turbines mentioned above, is about 47 revolutions per minute or about 0.781 Hz., i.e., approximately 3/4 revolution per second. A wind turbine rotor assembly having three identically matched statically balanced blades can manifest unbalance when turning because of blade-to-blade variations in the distribution of the weight within the blades so that the effective rotating center of gravity of the entire rotor assembly is not on the axis of rotation of the rotor.
Such imbalance has been discovered to be the principle cause of failure in the yaw drives of such turbines. Rotor imbalance also contributes meaningfully to the failure, and frequency of failure, of other components of a wind turbine.In view of the size and weight of the rotor assemblies of wind turbines, it is apparent that the ability to balance a wind turbine rotor in place is very much preferred over balancing such a rotor at a location removed from the wind turbine site.
Dismantling and transport of a wind turbine rotor is costly and time consuming; the blades, though large, are delicate, and the risk of damage to them increases the more they are handled.Sophisticated equipment has been developed and is in wide use throughout the world for balancing rotating masses such as automobile wheel and tire sets, electric motor and electric generator armatures, to name but a few of the many kinds of rotating things which need to be balanced for efficient and reliable operation over extended periods. Those things, however, rotate at relatively high velocities in use as compared to wind turbine rotors which, as noted above, turn very slowly, namely, at less than one turn per second, in use. The existing methodology and apparatus developed for balancing rotating masses is geared to the balancing of masses which rotate at substantially higher revolutions per minute than do wind turbines. A straight forward application of that technology to the balancing of wind turbines has heretofore not been effective. Heretofore, the problem of balancing a wind turbine rotor turning at its service speed has been unsolvable.SUMMARY OF THE INVENTIONThis invention provides a process, and equipment useful to implement the process, for effectively balancing wind turbines in place, i.e., in situ. The invention constitutes a substantial extension of the existing technology for balancing rotating masses into the very low frequency range characteristic of wind turbines.
The present invention has been found useful to balance wind turbine rotors in situ very reliably to conditions in which residual imbalance in the rotor is negligible. Using the present invention, a team of skilled technicians can balance two to three wind turbines per day. Wind turbines balanced by use of the present invention are reliable in service.Generally speaking, one aspect of this invention provides a process for balancing a rotatable mass. The process includes the step, performed while the mass is rotating about its axis of rotation, of measuring a physical phenomenon attributable to unbalance of the mass. The measurement is made along a line selected to be insensitive to the bias of gravity upon the mass. More specifically, the preferred phenomenon which is measured is acceleration, and the measurement of acceleration is made along a horizontal line perpendicular, or substantially so, to the axis of rotation of the mass.Another aspect of the invention provides a process for in situ balancing of a wind turbine rotor as a component of a wind powered generator in which the rotor is carried on a substantially horizontal shaft in a generator nacelle.
The nacelle is rotatable atop a supporting tower about a substantially vertical yaw axis. The process includes the step of locking the nacelle to the tower independently of the presence of any mechanism for driving the nacelle about the yaw axis relative to the tower. The process includes the additional step, performed while the nacelle is locked to the tower, of measuring the value of a phenomenon the magnitude of which is indicative of unbalance of the rotor.In terms of apparatus, the invention provides a yaw lock which is useful in a wind turbine generator system in which a bladed rotor is rotatable about a substantially horizontal axis and is carried by a nacelle assembly which is rotatable about a substantially vertical yaw axis relative to a supporting tower atop which the nacelle assembly is carried. The yaw lock is releasibly attachable to the nacelle assembly and to the tower for essentially rigidly securing the nacelle from rotation about the yaw axis.
Use of the yaw lock across the connection of the nacelle to its supporting tower facilitates accurate measurement of unbalance in the rotor.DESCRIPTION OF THE ACCOMPANYING DRAWINGSThe above mentioned and other features of this invention are more fully set forth in the following description of the presently preferred embodiment of this invention, which description is presented with reference to the accompanying drawings, wherein:FIG. 1 is an elevation view of a wind turbine in the process of being balanced;FIG. 2 is a simplified plan view of the principle components of the nacelle of the wind turbine shown in FIG. 3 is a semi-schematic illustration of the instrumentation used in the practice of this invention to balance the rotor of the turbine shown in FIG. 4 is an elevation view, partially in cross-section, showing the structure and manner of connection of a yaw lock to rigidly secure the nacelle relative to the tower in the wind turbine shown in FIG. 1 during the balancing process;FIG.
5 is a fragmentary elevation view of the cooperation of the lower end of the yaw lock with the structure of the turbine tower;FIG. 6 is a representative printout, with reference to frequency, of the vibrations and vibration phase angles in a representative wind turbine of the kind shown in FIG. 1 before balancing;FIG. 7 is a representative printout similar to that of FIG. 6 showing the unbalance magnitude and phase angle for the same turbine to which FIG. 6 is pertinent when a first amount of trial weight is applied to the rotor for diagnostic purposes;FIG. 8 is a depiction, similar to those of FIGS.
6 and 7, showing the unbalance magnitude and phase angle when a second greater diagnostic weight is applied to the rotor;FIG. 9 is a depiction, similar to those of FIGS. 6, 7 and 8, showing the residual unbalance amount and phase angle of the same,turbine after curative weights have been applied to the rotor to balance the rotor; andFIG.
10 is a table showing the pre-balancing and post-balancing unbalance conditions in a series of wind turbines balanced through the use of the present invention, together with evaluations of the percentage improvement in rotor balance in each instance.DESCRIPTION OF THE ILLUSTRATED EMBODIMENTSA wind turbine 10 is shown in FIG. 1 in the course of being balanced. 2 shows the essential elements of the nacelle 12 of turbine 10 as instrumented for in situ balancing by practice of this invention.
Nacelle 12 is mounted atop a tower or pylon 11 for rotation about a vertical yaw axis 13. The nacelle is rotatably supported on the top of the tower by an annular ball bearing assembly having outer and inner members 14 and 15, respectively, between which a plurality of ball bearings 16 are disposed in cooperating race grooves. The outer ring of the ball bearing assembly rests on a horizontally disposed bearing support ring 17 which forms the extreme upper end of tower 11 and which extends inwardly from the cylindrical upper extent of the tower around the circumference of the tower.
A plurality of gussets 18 are welded to the underside of ring 17 and to the inner surface of the tower at a plurality of equally spaced locations about the circumference of the tower. There are 30 such vertically disposed gussets around the circumference of the tower of a Micon 65 wind turbine; there are about the same number of gussets on a Nordtank 65 turbine tower. The opposing faces of each adjacent pair of gussets are substantially parallel to each other, even though the individual gussets are disposed in vertical planes oriented radially of the central axis of the tower. The outer ring of the bearing assembly is secured to support ring 17 by bolts 19. The lower surface of a nacelle foundation plate 20 rests upon an upper face of the bearing assembly inner ring. The nacelle foundation plate and the bearing inner ring are secured to each other by a plurality of bolts 21 passed through the ring and the foundation plate at regular intervals along a circle concentric to the nacelle axis.If desired, the nacelle bearing assembly could be arranged so that its inner annular member is affixed to the tower and its outer annular member is affixed to the nacelle.
Also, the bearing assembly could be constructed as a roller bearing rather than as a ball bearing. Further, the bearing support plate could be positioned to straddle the upper end of the tower or to extend outwardly from the upper end of the tower, and the arrangement and placement of the gussets could be revised accordingly.Turbine 10 includes a rotor assembly 23 comprised of an aerodynamically faired hub 24 to which are mounted individual ones of a plurality of blades 25. The blades are spaced at equal intervals about a rotor axis 44 and are aerodynamically configured in the manner of a propeller blade. In turbine 10, there are three such blades in the rotor assembly. Each blade is bolted, as at 26, at its base or root end to a corresponding blade mount 27 defined by the rotor hub. The hub is carried on the projecting end of a rotor shaft 29 which extends into nacelle 12 where it is supported by front and rear roller bearings 30 and 31, respectively. The rotor shaft is connected to the input of a speed step-up gearbox 32 through a rubber coupling 33.
The gearbox output shaft is coupled to the shaft of a main generator 34 via a secondary coupling 35 with which is associated a disc 36 of a hydraulic brake assembly having a caliper mechanism 37 mounted to the rear face of gearbox 32. A hydraulic pump 38 within the nacelle is connected to the caliper mechanism for operating the brake assembly as appropriate; in some turbines the brake calipers are spring loaded.
A secondary generator 39 has its armature shaft coupled to the rear end of the armature shaft of the main generator by V-belts 40, the tension of which is adjusted by a tension adjustment mechanism 41.The wind turbine 10 shown in the drawings and described thus far as an exemplary wind turbine is a Nordtank NTK 65/13 KW wind turbine. As manufactured in Denmark, according to what has come to be a relatively standard design, the turbine nacelle includes a 65 KW, three phase, 480 volt main generator 34 and a 13 KW, three phase, 480 volt secondary generator 39. As operated in the United States, such turbines usually include only the main generator, the secondary generator either being removed or disconnected from the main generator.A wind direction sensor vane 43 is located above the exterior of nacelle 12 adjacent a rear portion of the nacelle.
The vane is pivotally supported within the nacelle. If the vane, which responds to wind direction, is not aligned with axis 44 of rotation of rotor 23, the deviation of the sensor vane from axis 44 is sensed and a yaw drive control signal is generated. Within the nacelle, a yaw drive motor 45 (FIG. 2) is driven to produce rotation of a yaw drive shaft 46 (FIG. 4) which extends through nacelle foundation 20 to a lower end where the shaft carries a yaw pinion gear 47.
The yaw pinion gear is engaged with an external main yaw gear 48 defined on that portion of bearing outer ring 14 which faces away from the yaw axis. Yaw drive shaft 46 is coupled to the yaw drive motor through a worm and a worm gear, not shown. The yaw drive motor operates in response to the control signal derived from the position of sensor vane 43 to drive the nacelle about the yaw axis so that the rotor axis points directly into the wind as it exists at that time. Because of the connection of the yaw drive shaft to the yaw drive motor through the worm and worm gear set, the yaw drive mechanism is not driveable in reverse.
Thus, when the yaw drive motor is not operating, the cooperation of the yaw pinion with the yaw main gear is like that of a brake which holds the nacelle in its position about the yaw axis to which it was last driven by the yaw drive motor.Even if rotor hub 24 is perfectly balanced and the set of blades 25 of the rotor assembly are statically balanced to within grams of each other before the blades are bolted to the rotor hub, the entire rotor assembly can still be out of balance by reason of the dynamic (rotating) center of mass of the rotor not being perfectly aligned with rotor axis 44. Such a condition can, and usually does exist because of blade-to-blade difference in the distribution of mass along the length of the several blades. Thus, as the rotor turns in use of turbine 10 at its characteristic speed of 0.781 Hertz, the imbalance of the rotor can apply cyclic loads to the nacelle.
Those loads, when applied to the nacelle in horizontal directions, cause the nacelle to oscillate laterally about the yaw axis. Such loads and oscillations occur twice during each rotation of the rotor, first in one direction and then the other. Such oscillations, even if of low amplitude, are manifested as cyclic loads on the yaw drive mechanism, notably upon yaw shaft 46 and upon yaw pinion gear 47.
Those loads, repeating at the rate of 47 cycles per minute, lead to failure of the yaw drive shaft or of the yaw pinion gear teeth, or both. When such failure occurs, the wind turbine becomes inoperative. In that event, it is necessary to shut down the turbine, as by operation of brake mechanism 36-38, and to repair the yaw drive mechanism by replacement of either or both of the yaw drive shaft and the yaw pinion gear; sometimes, the yaw main gear (i.e., the nacelle bearing assembly) must be replaced. Those are expensive and time consuming repairs. While the wind turbine is so shut down, it is not generating salable electrical power.Therefore, to render the wind turbine reliable, and to prevent failure of the yaw drive system which begins to occur after 3800 to 4000 hours of service (about 8 to 12 months) it is desirable that the turbine rotor assembly 23 be balanced to cause its dynamic center of mass to lie on rotor axis 44. Because of the extremely slow rotational rate of a wind turbine rotor which may be almost but not perfectly balanced, the magnitude of the centrifugal force produced by rotor imbalance is low. These factors, in combination, previously made it impossible to balance wind turbine rotors in place using readily available equipment and widely accepted principles of vibration analysis and rotating mass balancing developed in the context of masses which rotate at much higher speeds than do wind turbine rotors.Balancing of rotor assembly 23 is achieved simply, efficiently and reliably by the procedure described below, preferably using the equipment described below.
A first step in the balancing process is to measure the value of a selected physical phenomenon attributable and to produced by imbalance of the rotor when the rotor is turning at its characteristic speed which, in this instance, is 0.781 Hz. The selected phenomenon preferably is acceleration.
Measurement of acceleration experienced by the nacelle, as the unbalanced rotor turns, is measured by mounting a suitable accelerometer 50 to the side, not to the top, of front bearing 30 of rotor shaft 29.It is important that accelerometer 50 be mounted on the side of the shaft bearing which is closest to the rotor assembly. It has long been accepted practice in the field of vibration analysis and rotor balancing to mount an imbalance sensing accelerometer or other suitable instrument transducer on the top of the bearing closest to the mass being balanced. In the context of low speed balancing situations, an extreme example of which is presented by turbine rotor 23, use of a sensor on the top of the bearing was found not to produce reliable or repeatable measurements of rotor imbalance. While the precise reasons for that circumstance are not fully known, it is believed that where the imbalance sensor is mounted on the top of the bearing, the bias of gravity on the slowly turning mass significantly masks the effects of rotor imbalance. Therefore, it has been found to be very important that the sensor used to measure the magnitude of rotor imbalance be mounted so that its sensitive axis is horizontal, namely, on a vertical side surface of the front bearing for rotor shaft 29.
Such placement of the imbalance sensor enables the sensor to measure rotor imbalance along a line where the sensor is insensitive to the bias of gravity upon the rotating mass. The output signal from accelerometer 50 is applied via a signal cable 51 to one channel of a dual channel charge amplifier 52 located within nacelle 12 during the balancing procedure. The measurement obtained from the accelerometer is usefully indicative of the magnitude of rotor imbalance.A reference signal for indicating the effective position of rotor imbalance is obtained by use of a shaft position sensor which includes a narrow, very high strength magnet 53 applied to rotor shaft 29 in alignment with rotor axis 44, preferably between bearings 30 and 31. A sensor coil assembly 54 is suitably mounted closely adjacent the position of the magnet on the shaft 29. Each time the magnet passes beneath its cooperating sensor, the sensor generates a spike signal which is applied via a signal cable 55 to the other channel of the dual channel charge amplifier.
Two Plane Balancing Procedure
The position of the magnet on shaft 29 is arbitrary. Once the magnet has been positioned on the shaft, a notation is made about the location of the magnet relative to the rotor blades which are arbitrarily assigned numbers (1, 2 and 3) or given color codes (red, blue and yellow, for example) for purposes of reference and identification in the balancing process. The amplified rotor imbalance magnitude and shaft reference position signals are applied through conductors 56 to respective input terminals of a dual channel FFT (fast Fourier transform) signal analyzer 58. The preferably digital output of the analyzer is suitably applied to a printer 60 for recording on paper 61 the information displayed on the view screen of the analyzer. Such information display printouts are represented by the illustrations of FIGS.
2 Plan In Situ Balancing Worksheet
6, 7, 8 and 9.To obtain accurate measurements of rotor imbalance magnitude, it has been found not to be sufficient to rely upon the yaw drive mechanism of turbine 10 to hold nacelle 12 in place against rotation about yaw axis 13 while measurements of imbalance magnitude are made. Even with the placement of accelerometer 50 in a horizontal position on the side of front rotor bearing 30, reliable measurements of rotor imbalance could not be obtained while relying upon the yaw drive to hold the nacelle from rotating about the yaw axis; there is too much inherent play or backlash in the yaw drive mechanism. Therefore, to obtain accurate measurements of rotor imbalance magnitude via accelerometer 50, it is desireable to mechanically lock the nacelle to the tower as securely and as rigidly as possible against rotation about the yaw axis by a mechanism other than the yaw drive. Such a mechanism is the yaw lock assembly shown in FIGS. 4 and 5.The yaw lock assembly useful in turbine 10 is a substantially V-shaped rigid bracket 65 having a short leg 66 and a long leg 67 disposed at about a 45° angle to each other.
The respective legs of the yaw lock bracket are preferably constructed of 2'×4'×1/2' rectangular steel tube. The legs are connected together across their 4' dimensions. A gusset 68 is welded between the short and long legs of the bracket on each of the opposite sides of the bracket adjacent to the location where the bracket legs are connected to each other.
Adjacent its end opposite from the long leg, a bolting plate 69 is welded to the 4' surface of the short leg which faces toward the long leg. The bolting plate extends from each of the opposite sides of the bracket short leg to define a pair of bolting lugs through each of which a bolting hole 70 is drilled.
The spacing between the two bolting holes corresponds to the spacing between adjacent ones of bolts 21 which are provided to affix the outer ring of the nacelle bearing to the underside of the nacelle foundation.An axially bored steel rod 72, preferably 11/2 to 2 inches in diameter, is welded across the end of the long leg of the bracket at its end remote from the location at which the long and short legs of the bracket are connected. The opposite ends of the bore 73 of rod 72 are internally threaded to receive the shanks of respective ones of a pair of heavy duty 3/4' diameter bolts 74 having heads 75.