Investigation of high‐speed shaft bearing loads in wind turbine gearboxes through dynamometer testing

Many wind turbine gearboxes require repair or replacement well before reaching the end of their design life. The most common failure is bearing axial cracks, commonly called white etching cracks (WECs), which typically occur in the inner raceways of the high‐speed parallel‐stage rolling element bearings. Although the root causes of WECs are debated, one theory is that they are related to routine dynamic operating conditions and occasional transient events prevalent in wind turbines that can result in high bearing stress and sliding of the rolling elements. This paper examined wind turbine gearbox high‐speed shaft bearing loads and stresses through modeling and full‐scale dynamometer testing. Bearing outer race loads were directly measured and predicted using a variety of modeling tools in normal operations, misaligned conditions, and transient events particularly prone to bearing sliding. Test data and models of bearing loads were well correlated. Neither operational misalignment due to rotor moments nor static generator misalignment affected the bearing loads when compared with pure‐torque conditions. Thus, it is not likely that generator misalignment is a causal factor of WECs. In contrast, during transient events, the bearings experienced alternating periods of high stress, torque reversals, and loads under the minimum requisite at high rotating speeds while showing indications of sliding, all of which could be related to the formation of WECs.     

Sources of time‐varying contact stress and misalignments in wind turbine planetary sets

Recent data shows that 90% of large wind turbines include a gearbox, and industry forecasts expect this figure to remain relatively stable. With global annual volumes (2009) of around 18,600 units, the quality, cost and performance of gearboxes is of paramount importance to the wind sector. The industry has been focusing some attention on gearbox reliability, as demonstrated by a growth in the number of specific seminars and collaborative programs on this topic. One aspect that needs to be brought to an industry‐wide forum is the understanding of the complexity of bearing design in the gearbox and the careful attention that needs to be paid to ensure a reliable gearbox design. This paper seeks to address this issue by clear demonstration of design issues using a model of the gearbox from the National Renewable Energy Lab's Gearbox Reliability Collaborative. Detailed models are presented with focus on determining the quality of the function of the planetary gear stages. Key design drivers are discussed such as the quality of alignment at the gears and bearings and the loads and stresses seen on these components. Under a design load case with a significant rotor off‐axis moment the stresses in the planet gears and bearings are investigated. It is shown how the misalignment of the planet pins varies with the rotation of the planetary set and how subsequently time‐varying contact stresses and load distributions occur in the planet gears and bearings. These factors strongly influence the fatigue life of the gearbox components as well as the level of vibration. Design tools are then used to demonstrate how small variations in the clearances of the planet carrier bearings can have a big effect on the quality of the design. Numerical studies show where optimal clearance settings lie and how the misalignment of the planetary set can be improved. Furthermore, a demonstration is made of how redesign of the bearing arrangement and subsequent optimization of the planet tooth geometry further improves the misalignment and results in significantly reduced time‐varying contact stresses, better load distribution and reduced vibration. It is illustrated that small clearances, such as in the carrier bearings, can have a large effect on the performance of the design and a study shows how to identify and reduce time‐varying misalignment and contact stresses resulting in lower vibration, lower fatigue and a more reliable product. Copyright © 2011 John Wiley & Sons, Ltd.     

Wind turbine main bearing rating lives as determined by IEC 61400-1 and ISO 281: A critical review and exploratory case study

This paper studies the rating lives of wind turbine main bearings, as determined by the IEC 61400-1 and ISO 281 standards. A critical review of relevant bearing life theory and turbine design requirements is provided, including discussion on possible shortcomings such as the existence (or not) of the bearing fatigue load limit and the validity of assuming linear damage accumulation. A detailed exploratory case study is then undertaken to determine rating lives for two models of main bearing in a 1.5 MW wind turbine. Rating life assessment is carried out under different conditions, including various combinations of main bearing temperature, wind field characteristics, lubricant viscosity, and contamination levels. Rating lives are found to be sufficiently above the desired 20-year design life for both bearing models under expected operating conditions. For the larger bearing, operational loads are shown to be below or close to the bearing fatigue load limit a vast majority of the time. Key sensitivities for rating life values are temperature and contamination. Overall, the results of this study suggest that an ISO 281 rating life assessment does not account for reported rates of main bearing failures in 1 to 3 MW wind turbines. It is recommended that a similar analysis be undertaken for ISO/TS 16281 rating lives, along with further efforts to identify principal root causes of main bearing failures in future work, possibly leading to a new application standard specific to this component. It is also recommended that the impacts of partial wake impingement on main bearing rating lives are investigated.     

Ultimate design load analysis of planetary gearbox bearings under extreme events

This paper investigates the impact of extreme events on the planet bearings of a 5 MW gearbox. The system is simulated using an aeroelastic tool, where the turbine structure is modeled, and MATLAB/Simulink, where the drivetrain (gearbox and generator) are modeled using a lumped‐parameter approach. Three extreme events are assessed: low‐voltage ride through, emergency stop and normal stop. The analysis is focused on finding which event has the most negative impact on the bearing extreme radial loads. The two latter events are carried out following the guidelines of the International Electrotechnical Commission standard 61400‐1. The former is carried out by applying a voltage fault while simulating the wind turbine under normal turbulent wind conditions. The voltage faults are defined by following the guidelines from four different grid codes in order to assess the impact on the bearings. The results show that the grid code specifications have a dominant role in the maximum loads achieved by the bearings during a low‐voltage ride through. Moreover, the emergency brake shows the highest impact by increasing the bearing loads up to three times the rated value. Copyright © 2016 John Wiley & Sons, Ltd.     

Identification of loading conditions resulting in roller slippage in gearbox bearings of large wind turbines

The dynamic loads on the rollers inside the bearings of large wind turbine gearboxes operating under transient conditions are presented with a focus on identifying conditions leading to slippage of rollers. The methodology was developed using a multi‐body model of the drivetrain coupled with aeroelastic simulations of the wind turbine system. A 5 MW reference wind turbine is considered for which a three‐stage planetary gearbox is designed on the basis of upscaling of an actual 750 kW gearbox unit. Multi‐body dynamic simulations are run using the ADAMS software using a detailed model of the gearbox planetary bearings to investigate transient loads inside the planet bearing. It was found that assembly and pre‐loading conditions have significant influence on the bearing's operation. Also, the load distribution in the gearbox bearings strongly depends on wind turbine operation. Wind turbine start‐up and shut‐down under normal conditions are shown to induce roller slippage, as characterized by loss of contacts and impacts between rollers and raceways. The roller impacts occur under reduced initial pre‐load on opposite sides of the load zone followed by stress variation, which can be one of the potential reasons leading to wear and premature bearing failures. Copyright © 2017 John Wiley & Sons, Ltd.     

Effects of wind shear on wind turbine rotor loads and planetary bearing reliability

Recent studies suggest that wind shear and the resulting pitch moments increase bearing loads and thereby contribute to premature wind turbine gearbox failure. In this paper, we use momentum‐based modeling approaches to predict the pitch moments from wind shear. The non‐dimensionalized results, which have been validated against accepted aeroelastic results, can be used to determine thrust force, pitch moment and power of a general rotor as a function of the wind shear exponent. Even in extreme wind shear (m = 1), the actual thrust force and power for a typical turbine (R* < 0.5) were within 8% and 20% of the nominal values (those without wind shear), respectively. The mean pitch moment increased monotonically with turbine thrust, rotor radius and wind shear exponent. For extreme wind shear (m = 1) on a typical turbine (R* = 0.5), the mean pitch moment is ~25% the product of thrust force and rotor radius. Analysis of wind shear for a typical 750 kW turbine revealed that wind shear does not significantly affect bearing loads because it counteracts the effects of rotor weight. Furthermore, even though general pitch moments did significantly increase bearing loads, they were found to be unlikely to cause bearing fatigue. Analyses of more common low wind‐speed cases suggest that bearing under‐loading and wear are more likely to contribute to premature bearing failure than overloading and classical surface contact fatigue. Copyright © 2015 John Wiley & Sons, Ltd.     

Effects of floating sun gear in a wind turbine's planetary gearbox with geometrical imperfections

This paper addresses the effect of gear geometrical errors in wind turbine planetary gearboxes with a floating sun gear. Numerical simulations and experiments are employed throughout the study. A National Renewable Energy Laboratory 750 kW gearbox is modelled in a multibody environment and verified using the experimental data obtained from a dynamometer test. The gear geometrical errors, which are both assembly dependent and assembly independent, are described, and planet‐pin misalignment and eccentricity are selected as the two most influential and key errors for case studies. Various load cases involving errors in the floating and non‐floating sun gear designs are simulated, and the planet‐bearing reactions, gear vibrations, gear mesh loads and bearing fatigue lives are compared. All tests and simulations are performed at the rated wind speed. For errorless gears, the non‐floating sun gear design performs better in terms of gear load variation, whereas the upwind planet bearing has more damage. In the floating sun gear scenario, the planet misalignment is neutralized by changing the sun motion pattern and the planet gear's elastic deformation. The effects of gear profile modifications are also evaluated, revealing that profile modifications such as crowning improve the effects of misalignment. Copyright © 2014 John Wiley & Sons, Ltd.     

Effect of preventive maintenance intervals on reliability and maintenance costs of wind turbine gearboxes

As many of the installed wind turbines (WTs) get older or approach their design life, there will be a drive to keep extending the lives of the main components especially the gearbox. The challenge of operations and maintenance will potentially be even more as there will be a need to keep the cost to a minimum. Similarly, as years of experience of operating WTs accumulate, knowledge about the behaviour and failure of subsystems is gained as well. Also with good documentation and repository of historical operational, performance and failure data, future decisions of operations and maintenance can be taken on the basis of insights from past experience. This paper presents an approach for implementing preventive maintenance (PM) by using historical failure data to determine the optimal PM interval required to maintain desired reliability of a typical module or subassembly. This paper builds upon previous research in the area of WT gearbox reliability analysis and prediction, taking it further by examining the relationships between the frequency of a PM task and the reliability, availability and maintenance costs. The approach presented demonstrates how historical in‐service failure data can be used in PM task selection based on the minimum maintenance cost and maximum availability. Available historical field failure data of the high speed module of a Vestas 2MW WT gearbox is used to validate the approach and show its practicality. The results of this study are then presented—indicating that choosing the right PM interval based on the minimum unit maintenance cost and maximum availability also improves WT gearbox reliability. Copyright © 2014 John Wiley & Sons, Ltd.     

基于AVMD和WDK的风电齿轮箱轴承复合故障诊断方法研究

针对强背景噪声下轴承微弱复合故障特征提取困难的问题,提出一种基于自适应变分模态分解（AVMD）和优化的Wasserstein距离指标（WDK）的风电齿轮箱轴承复合故障诊断方法。首先,引入自适应学习粒子群优化算法（ALPSO）,以平均包络熵作为ALPSO的适应度函数来搜索变分模态分解的最佳影响参数,从而构造AVMD;其次,结合Wasserstein距离（WD）和峭度优点,提出WDK指标筛选有效模态分量,并对筛选的有效模态分量进行重构;然后,通过对重构信号进行包络谱分析实现轴承复合故障的诊断;最后,将所提AVMD-WDK方法应用于某风场2 MW风电齿轮箱轴承振动信号的故障诊断。结果表明,该方法能有效提取轴承的微弱故障特征,实现轴承复合故障的精确诊断。     

Improving wind turbine drivetrain designs to minimize the impacts of non‐torque loads

Non‐torque loads induced by the wind turbine rotor overhang weight and aerodynamic forces can greatly affect drivetrain loads and responses. If not addressed properly, these loads can result in a decrease in gearbox component life. This work uses analytical modeling, computational modeling and experimental approaches to evaluate two distinct drivetrain designs that minimize the effects of non‐torque loads on gearbox reliability: a modified three‐point suspension drivetrain studied by the National Renewable Energy Laboratory (NREL) Gearbox Reliability Collaborative (GRC) and the Pure Torque® drivetrain developed by Alstom. In the original GRC drivetrain, the unequal planetary load distribution and sharing were present and they can lead to gear tooth pitting and reduce the lives of the planet bearings. The NREL GRC team modified the original design of its drivetrain by changing the rolling element bearings in the planetary gear stage. In this modified design, gearbox bearings in the planetary gear stage are anticipated to transmit non‐torque loads directly to the gearbox housing rather than the gears. Alstom's Pure Torque drivetrain has a hub support configuration that transmits non‐torque loads directly into the tower rather than through the gearbox as in other design approaches. An analytical model of Alstom's Pure Torque drivetrain provides insight into the relationships among turbine component weights, aerodynamic forces and the resulting drivetrain loads. In Alstom's Pure Torque drivetrain, main shaft bending loads are orders of magnitude lower than the rated torque and hardly affected by wind speed, gusts or turbine operations. Copyright © 2014 John Wiley & Sons, Ltd.     

Using transfer path analysis to assess the influence of bearings on structural vibrations of a wind turbine gearbox

Noise and vibration issues can be dealt with using several approaches. Using the source–transfer path–receiver approach, a vibration issue could be solved by attenuating the source, modifying the transfer path or by influencing the receiver. Applying this approach on a wind turbine gearbox would respectively correspond with lowering the gear excitation levels, modifying the gearbox housing or by trying to isolate the gearbox from the rest of the wind turbine. This paper uses a combination of multi‐body modelling and typical transfer path analysis (TPA) to investigate the impact of bearings on the total transfer path and the resulting vibration levels. Structural vibrations are calculated using a flexible multi‐body model of a three‐stage wind turbine gearbox. Because the high‐speed mesh is often the main source of vibrations, focus is put on the four bearings of this gear stage. The TPA method using structural vibration simulation results shows which bearing position is responsible for transmitting the highest excitation levels from the gears to the gearbox housing structure. Influences of bearing stiffness values and bearing damping values on the resulting vibration levels are investigated by means of a parameter sensitivity study and are confirmed with the results from the TPA. Because both the TPA and the parameter sensitivity analysis revealed a big influence on radial stiffness for a certain bearing, this was investigated in more detail and showed the big importance of correct axial bearing position. The main conclusions of this paper are that the total vibration behaviour of a wind turbine gearbox can be altered significantly by changing both bearing properties such as stiffness, damping and position, and bearing support stiffness. Copyright © 2014 John Wiley & Sons, Ltd.     

Experimental investigation of bearing slip in a wind turbine gearbox during a transient grid loss event

This work investigates the behaviour of the high‐speed stage of a wind turbine gearbox during a transient grid loss event. Dynamometer testing on a full‐scale wind turbine nacelle is used. A combination of external and internal gearbox measurements are analysed. Particular focus is on the characterization of the high‐speed shaft tapered roller bearing slip behaviour. This slipping behaviour is linked to dynamic events by many researchers and described as a potential bearing failure initiator; however, only limited full‐scale dynamic testing is documented. Strain gauge bridges in grooves along the circumference of the outer ring are used to characterize the bearing behaviour in detail. It is shown that during the transient event the high‐speed shaft experiences a combined torsional and bending deformation. These unfavourable loading conditions induce roller slip in the bearings during the torque reversals, indicating the potential of the applied load case to go beyond the preload of the tapered roller bearing. Copyright © 2016 John Wiley & Sons, Ltd.     

Mechanical stresses in fixed-speed wind turbines due to networkdisturbances

Electrical faults and other network disturbances generate transients of the generator electromagnetic torque which result in significant stresses for the wind turbine (WT) mechanical system and may also have a detrimental effect on the fatigue life of important drive train components, such as the gearbox. In this paper, the effect of faults and other disturbances, common in rural medium voltage (MV) distribution systems, is analyzed for a typical fixed speed WT, equipped with an induction generator. The resulting torque transients are evaluated and their propagation in the drive train is examined. Important conclusions are drawn with respect to the type of electrical faults to be considered in the design and certification of WTs according to the current IEC 61400-1 Standard. Although the emphasis is placed on the developed torque transients, the methodology presented is also suitable for analyzing electrical stresses in the generator, due to overcurrents or overvoltages     

Planetary gear load sharing of wind turbine drivetrains subjected to non‐torque loads

An analytical formulation was developed to estimate the load‐sharing and planetary loads of a three‐point suspension wind turbine drivetrain considering the effects of non‐torque loads, gravity and bearing clearance. A three‐dimensional dynamic drivetrain model that includes mesh stiffness variation, tooth modifications and gearbox housing flexibility was also established to investigate gear tooth load distribution and non‐linear tooth and bearing contact of the planetary gears. These models were validated with experimental data from the National Renewable Energy Laboratory's Gearbox Reliability Collaborative. Non‐torque loads and gravity induce fundamental excitations in the rotating carrier frame, which can increase gearbox loads and disturb load sharing. Clearance in the carrier bearings reduces the bearing stiffness significantly. This increases the amount of pitching moment transmitted from the rotor to the gear meshes and disturbs the planetary load share, thereby resulting in edge loading. Edge loading increases the likelihood of tooth pitting and planet‐bearing fatigue, leading to reduced gearbox life. Additionally, at low‐input torque, the planet‐bearing loads are often less than the minimum recommended load and thus susceptible to skidding. Copyright © 2014 John Wiley & Sons, Ltd.     

Bearing monitoring in the wind turbine drivetrain: A comparative study of the FFT and wavelet transforms

Wind turbines are often plagued by premature component failures, with drivetrain bearings being particularly subjected to these failures. To identify failing components, vibration condition monitoring has emerged and grown substantially. The fast Fourier transform (FFT) is the major signal processing method of vibrations. Recently, the wavelet transforms have been used more frequently in bearing vibration research, with one alternative being the discrete wavelet transform (DWT). Here, the low‐frequency component of the signal is repeatedly decomposed into approximative and detailed coefficients using a predefined mother wavelet. An extension to this is the wavelet packet transform (WPT), which decomposes the entire frequency domain and stores the wavelet coefficients in packets. How wavelet transforms and FFT compare regarding fault detection in wind turbine drivetrain bearings has been largely overlooked in literature when applied on field data, with non‐ideal placement of sensors and uncertain parameters influencing the measurements. This study consists of a comprehensive comparison of the FFT, a three‐level DWT, and the WPT when applied on enveloped vibration measurements from two 2.5‐MW wind turbine gearbox bearing failures. The frequency content is compared by calculating a robust condition indicator by summation of the harmonics and shaft speed sidebands of the bearing fault frequencies. Results show a higher performance of the WPT when used as a field vibration measurement analysis tool compared with the FFT as it detects one bearing failure earlier and more clearly, leading to a more stable alarm setting and avoidable, costly false alarms.     

Monitoring wind turbine gearboxes

Concerns amongst wind turbine (WT) operators about gearbox reliability arise from complex repair procedures, high replacement costs and long downtimes leading to revenue losses. Therefore, reliable monitoring for the detection, diagnosis and prediction of such faults are of great concerns to the wind industry. Monitoring of WT gearboxes has gained importance as WTs become larger and move to more inaccessible locations. This paper summarizes typical WT gearbox failure modes and reviews supervisory control and data acquisition (SCADA) and condition monitoring system (CMS) approaches for monitoring them. It then presents two up‐to‐date monitoring case studies, from different manufacturers and types of WT, using SCADA and CMS signals. The first case study, applied to SCADA data, starts from basic laws of physics applied to the gearbox to derive robust relationships between temperature, efficiency, rotational speed and power output. The case study then applies an analysis, based on these simple principles, to working WTs using SCADA oil temperature rises to predict gearbox failure. The second case study focuses on CMS data and derives diagnostic information from gearbox vibration amplitudes and oil debris particle counts against energy production from working WTs. The results from the two case studies show how detection, diagnosis and prediction of incipient gearbox failures can be carried out using SCADA and CMS signals for monitoring although each technique has its particular strengths. It is proposed that in the future, the wind industry should consider integrating WT SCADA and CMS data to detect, diagnose and predict gearbox failures.Copyright © 2012 John Wiley & Sons, Ltd.     

Evaluation of PMSG‐based drivetrain technologies for 10‐MW floating offshore wind turbines: Pros and cons in a life cycle perspective

This paper presents an in depth evaluation and comparison of three different drivetrain choices based on permanent‐magnet synchronous generator (PMSG) technology for 10‐MW offshore wind turbines. The life cycle approach is suggested to evaluate the performance of the different under consideration drivetrain topologies. Furthermore, the design of the drivetrain is studied through optimized designs for the generator and gearbox. The proposed drivetrain analytical optimization approach supported by numerical simulations shows that application of gearbox in 10‐MW offshore wind turbines can help to reduce weight, raw material cost, and size and simultaneously improve the efficiency. The possibility of resonance with the first torsional natural frequency of drivetrain for the different designed drivetrain systems, the influence of gear ratio, and the feasibility of the application for a spar floating platform are also discussed. This study gives evidence on how gearbox can mitigate the torque oscillation consequences on the other components and how the latter can influence the reliability of drivetrain.     

Condition monitoring of spar‐type floating wind turbine drivetrain using statistical fault diagnosis

Operation and maintenance costs are significant for large‐scale wind turbines and particularly so for offshore. A well‐organized operation and maintenance strategy is vital to ensure the reliability, availability, and cost‐effectiveness of a system. The ability to detect, isolate, estimate, and perform prognoses on component degradation could become essential to reduce unplanned maintenance and downtime. Failures in gearbox components are in focus since they account for a large share of wind turbine downtime. This study considers detection and estimation of wear in the downwind main‐shaft bearing of a 5‐MW spar‐type floating turbine. Using a high‐fidelity gearbox model, we show how the downwind main bearing and nacelle axial accelerations can be used to evaluate the condition of the bearing. The paper shows how relative acceleration can be evaluated using statistical change‐detection methods to perform a reliable estimation of wear of the bearing. It is shown in the paper that the amplitude distribution of the residual accelerations follows a t‐distribution and a change‐detection test is designed for the specific changes we observe when the main bearing becomes worn. The generalized likelihood ratio test is extended to fit the particular distribution encountered in this problem, and closed‐form expressions are derived for shape and scale parameter estimation, which are indicators for wear and extent of wear in the bearing. The results in this paper show how the proposed approach can detect and estimate wear in the bearing according to desired probabilities of detection and false alarm.     

Mitigation of transient torque reversals in indirect drive wind turbine drivetrains

Bearing failure in wind turbine gearboxes is one of the significant sources of downtime. While it is well-known that bearing failures cause the largest downtime, the failure cause(s) is often elusive. The bearings are designed to satisfy their rolling contact fatigue (RCF) life. However, they often undergo sudden and rapid failure within a few years of operation. It is well-known that these premature failures are attributed to surface damages such as white surface flaking (WSF), white etching cracks (WECs) and axial cracks. In that regard, transient torque reversals (TTRs) in the drivetrain have emerged as one of the primary triggers of surface damage, as explained in this paper. The risk associated with TTRs motivates the need to mitigate TTRs arising in the drivetrain due to various transient events. This paper investigates three TTR mitigation methods. First, two existing devices, namely, the torsional tuned mass damper and the asymmetric torque limiter, are studied to demonstrate their TTR mitigation capabilities. Then, a novel idea of open-loop high-speed shaft mechanical brake control is proposed. The results presented here show that while the torsional tuned mass damper and the asymmetric torque limiter can improve the torsional vibration characteristics of the drivetrain, they cannot mitigate TTRs in terms of eliminating the bearing slip risk associated with TTRs. However, the novel approach proposed here can mitigate TTRs both in terms of improving the torque characteristic in the high-speed shaft and reducing the risk of bearing slip by actuating the high-speed shaft brake at the onset of the transient event. Furthermore, the control method is capable of mitigating TTRs with the mechanical limitations of a pneumatic actuator in terms of bandwidth and initial dead time applied to it. This novel approach allows the wind turbines to protect the gearbox bearings from TTRs using the existing hardware on the turbine.