Machines 12 00227 v2

machines
Article
Effect of Turbulent Wind Conditions on the Dynamic
Characteristics of a Herringbone Planetary Gear System of
a Wind Turbine
Wei-qiang Zhao, Wenhui Zhao *, Jie Liu and Na Yang
School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China;

weiq.zhao@foxmail.com (W.-q.Z.); liuj@sut.edu.cn (J.L.); skyyangna@126.com (N.Y.)
* Correspondence: zhaowenhui@sut.edu.cn
Abstract: Due to complex environmental factors, the gear transmission systems of wind turbines
are continuously affected by large torque load excitation with periodic and random properties. This
paper shares the load-sharing and dynamic characteristics of a herringbone planetary gear system
applied in a wind turbine. The gear dynamic model is established using a typical lumped parameter
method, in which the nonlinear transmission errors of the gear pairs and left and right-side coupling
stiffness of the herringbone gears are included. With the help of the blade element momentum theory,
the precise calculation of the hub load of the wind turbine, which is the external excitation of the
gear system, is implemented, in which the wind shear, tower shadow, turbulent effect, and tip loss
correction are taken into consideration. The nonlinear dynamic characteristics of the system are
obtained using the Runge-Kutta method and then discussed. The results show that the turbulent
effect plays a major role in the impact on the load-sharing characteristics, and a reasonable set of
the support stiffness of rotational components can improve the load-sharing characteristics of the
system. The purpose of this research is to provide some useful references in numerical modelling and
methods for designers and researchers of wind turbine transmission systems.
Keywords: herringbone gear; wind turbine; dynamics; turbulence; load-sharing
Citation: Zhao, W.-q.; Zhao, W.; Liu,

J.; Yang, N. Effect of Turbulent Wind
Conditions on the Dynamic
1. Introduction
Characteristics of a Herringbone
Planetary Gear System of a Wind Currently, herringbone planetary gear systems have been developed and widely ap-
Turbine. Machines 2024, 12, 227. plied in wind turbine, aero-engine, helicopter propeller, and ship propeller transmission
https://doi.org/10.3390/ systems because of their excellent carrying capacity. In wind power engineering applica-
machines12040227 tions, the stability of the gear transmission system is always the focus of research because
of the complex and changeable external environmental load. Therefore, the load analysis
Academic Editor: Davide Astolfi
and dynamic characteristics of planetary transmission systems have been widely studied
Received: 19 February 2024 in the past thirty years. The research of early scholars focused on the linear modelling of
Revised: 21 March 2024 the gear transmission system and the effect of the fixed value excitation on the dynamic
Accepted: 26 March 2024 characteristics [1–3]. At the same time, experimental and measurement techniques of plane-
Published: 28 March 2024 tary gear dynamics had been developed to some extent [4,5]. Some interesting mechanisms
and features of dynamics can be revealed and found using the nonlinear dynamic the-
ory with the discovery of experiments and the development of dynamics. Thus, many
Copyright: © 2024 by the authors.
experts have begun to pay attention to the nonlinearity of the system and the influence of
Licensee MDPI, Basel, Switzerland.
internal/external excitation nonlinearity.
This article is an open access article Gou et al. [6] focused on the nonlinear effect of a planetary gear system of a wind
distributed under the terms and turbine caused by gravity. Through the nonlinear dynamic model, including the gravity,
conditions of the Creative Commons time-varying meshing stiffness, clearance of the bearing, and nonlinear contact of the tooth
Attribution (CC BY) license (https:// surface, a source of planetary bearing failures and its solution strategy were discovered.
creativecommons.org/licenses/by/ Zhao et al. [7] studied the nonlinear vibration features of a gear system with different
4.0/). pitting faults. Xiang et al. [8] and Zhang et al. [9] revealed the crack and wear failure
Machines 2024, 12, 227. https://doi.org/10.3390/machines12040227 https://www.mdpi.com/journal/machines

Machines 2024, 12, 227 2 of 23
mechanisms of a multi-stage gear transmission system of a wind turbine, respectively.

Zhao et al. [10] analyzed the effect of transmission error on the planetary gear system of
a wind turbine using a multi-gap gear finite element model. Because of the heavy load
capacity of the herringbone gear, this structure was developed and applied to wind turbines.
Currently, there are many outstanding scholars who have made outstanding contributions
to the dynamic research of herringbone planetary gear. Mo et al. [11–13] conducted a
series of investigations on a herringbone planetary gear system to reveal the influence of
different structural parameters on the system’s dynamic characteristics. Wang et al. [14]
and Hou et al. [15] investigated the effect of a flexible pin and friction excitation on a
herringbone planetary gear system using the finite element method. Wang et al. [16]
presented a herringbone planetary gearbox failure model in a wind turbine to reveal the
pitting failure mechanism. The results of the research indicated that precise predictions
could be obtained using the description of precise excitation considered in the dynamic
model. Xu et al. [17] investigated the nonlinear behavior of herringbone planetary gear
transmission systems with double-sided meshing impact and found that reducing the
backlash ensured stable system operation. Wang [18] established the relationship between
transmission system characteristics and gear modification. The optimum modification
parameters of the axial and tooth shape were determined, which could achieve the purpose
of vibration and noise reduction. Wu et al. [19] investigated the dynamic characteristics of a
herringbone gear system with uncertain parameters. Although there are plenty of excellent
studies on the nonlinear dynamic characteristics of herringbone planetary gear systems,
dynamics research on herringbone planetary gear systems were applied to wind turbines.
In addition, the external load of a wind turbine gearbox in service is more complex than
that of the general gearbox. In actual wind power engineering, the load acting on the hub,
which is the external excitation of the gear transmission system, has strong periodicity
and randomness because of the wind field atmospheric environment and wind turbine
structure itself, especially turbulent wind.
Thus, actual wind load and time-varied load excitation have gradually gained the
attention of researchers. Chen et al. [20] presented a multi-source external environmental
load modelling method and investigated resonance identification and dynamic responses
under electromechanical coupling conditions. Wang et al. [21] studied the dynamic charac-
teristics of both conventional and compact wind turbine gearboxes, including load-sharing
and fatigue damage assessment. Tan et al. [22,23] performed a series of developments on
an external environmental load acting on a gear transmission system of a wind turbine,
revealing the effect of complex load conditions on the system, such as the voltage dip and
platform motion and time-varying wind load. Abo et al. [24] presented a turbulent wind
speed model under different influence factors, including wind shear, tower shadow, and
turbine inertia. Wang et al. [25] articulated the modelling of wind and wave coupling for a
floating wind turbine drivetrain. Porté-Agel et al. [26] summarized recent experimental,
computational, and theoretical research efforts for wind farm prediction. Doagou et al. [27]
established an erosion model of a wind turbine blade, fully considering random liquid
impact. Da Silva et al. [28] studied the nonlinear dynamics of a floating offshore wind
turbine, considering turbulent wind and irregular waves and focusing on the natural
frequency of the system during surges. Bangga et al. [29,30] established an aerodynamic
model of a wind turbine load to obtain the exact load of the system using the CFD and
BEM methods under different wind conditions. The randomness of wind speed can be
precisely described using the above studies. However, the calculation of hub load is mostly
simplified using an approximate expression according to the Bates theory, and wind farm
environments, blades, the wind shear effect, and the tower shadow effect were also ignored.
As a consequence, the periodicity of the hub load was inexact.
Therefore, on the basis of the literature review above, the description of the precise
hub load of a wind turbine is the first purpose of this paper. A calculation model of the hub
load is established using the blade element momentum theory (BEM), which includes the
wind shear effect, tower shadow effect, and turbulent effect. The coordinate transformation
Machines 2024, 12, x FOR PEER REVIEW 3 of 25
Machines 2024, 12, 227 3 of 23
the wind shear effect, tower shadow effect, and turbulent effect. The coordinate transfor-
mation method is used to describe the wind speed uniformly at different locations. At the
method
same is used
time, to describe
the second the is
purpose wind speed uniformly
to emphasize at different
the importance locations.
of the turbulentAtwind
the same
con-
time, the second purpose is to emphasize the importance of the turbulent
dition in herringbone planetary gear modelling and dynamic characteristics. Further- wind condition
in herringbone
more, planetary
it is also one gear modelling
of the purposes of this and
paperdynamic characteristics.
to find out the cause of Furthermore,
the fluctuationit of
is
also one of the purposes of this paper to find out the cause of the fluctuation of the
the system’s dynamic characteristics in the external excitation and analyze the solution. It system’s
dynamic characteristics in the external excitation and analyze the solution. It is hoped
is hoped that this research can provide some useful reference for the design and manufac-
that this research can provide some useful reference for the design and manufacture of the
ture of the herringbone planetary gear systems of wind turbines.
herringbone planetary gear systems of wind turbines.
2.
2. Modeling
Modeling and and Theories
Theories
2.1. Research Framework
2.1. Research Framework andand Assumption
Assumption
In
In this
this study,
study, aa herringbone
herringbone planetary
planetary geargear transmission
transmission system
system of of aa megawatt
megawatt wind
wind
turbine was employed as the object of this study. The key elements of this study
turbine was employed as the object of this study. The key elements of this study are shown are shown
in Figure
Figure 1,1,which
whichmainly
mainlyincludes
includesdifferent
differentwind
wind conditions, an impeller,
conditions, an impeller, andand
a gear sys-
a gear
tem. In the process of modeling, the key elements can be simplified into three
system. In the process of modeling, the key elements can be simplified into three subsystem subsystem
models, called the wind velocity model, the load calculation model model of the hub, and the
dynamic model of the herringbone planetary gear system. Firstly, the turbulent wind can
be calculated, involving the wind shear effect, tower tower shadow
shadow effect,
effect, and
and turbulent
turbulent effect.
effect.
Then, the hub load can be calculated
calculated as
as the
the turbulent
turbulent wind
wind load
load based
based ononthetheBEM.
BEM.Finally,
Finally,
the dynamic characteristics
characteristics can be acquired using the dynamic model of a herringbone
planetary gear transmission system considering
considering the the exact
exact input
input load.
load.
130 Wind shear effect Research object

100
Height
70
40
9.5 10 10.5 11 11.5 12
Wind velocity
Turbulent wind velocity

Wind velocity / m/s
meshing model
Tower
y
x
O z
c
Vibration equations
Tower shadow Turbulent effect Dynamic characteristic
effect 2
Relative contribution rate ri / %
100
Real-time rate of change ct / %
-4 St aedy inf l ow Tur bul ent
(a) 10
4. 3 1
Displacement zsL /m
80
4. 05 0
60
Input load K
3. 8
3. 55
40
20
-1
-2
-3
r / 
10 7
calculation
7 N/m 3. 3
N/m
Kp / 10 10. 5 11. 5 12. 5 13. 5 0
10.5 12
-4
13.5
Time t/s Time t / s
Load s haring Displacment Influence analysis
Figure 1. Overall research framework diagram.
The assumptions
The assumptions for for aa dynamics model of
dynamics model of aa herringbone
herringbone planetary gear system
planetary gear system areare
as follows:
as follows:
The input
The input torque
torque is
is directly
directly loaded
loaded onto
onto the
the planetary
planetary carrier.
carrier. The
The herringbone
herringbone geargear
system is considered to be a combination of two helical gear systems. The planetary
system is considered to be a combination of two helical gear systems. The planetary gears gears
are evenly
are evenly arranged,
arranged, and
and each
each member
member isis rigid. The cross-angle
rigid. The cross-angle of
of the
the herringbone
herringbone gears
gears
due to manufacturing errors is not considered. The support bearing is reduced to
due to manufacturing errors is not considered. The support bearing is reduced to aa spring
spring
damping system.
damping In this
system. In this study,
study, 4.5
4.5 m/s was the
m/s was the cut-in
cut-in wind
wind velocity,
velocity, and
and the
the cut-out
cut-out wind
wind
velocity was set to 25 m/s. The rated wind speed of the impeller of a wind
velocity was set to 25 m/s. The rated wind speed of the impeller of a wind turbine was turbine was
12
12 m/s.
m/s.
2.2. A Dynamic Model of the Gear System
2.2.1. Motion Equations
A dynamic model of the planetary gear dynamics model in the OXY plane is shown
in Figure 2. There were three kinds of coordinate systems. The motions of all parts of the
hybrid wheel system were described in a uniform fixed coordinate system, OXYZ, which is
the first kind of coordinate system. The centre of the planetary carrier was the origin of the
A dynamic model of the planetary gear dynamics model in the OXY plane is shown
in Figure 2. There were three kinds of coordinate systems. The motions of all parts of the
hybrid wheel system were described in a uniform fixed coordinate system, OXYZ, which
is the first kind of coordinate system. The centre of the planetary carrier was the origin of
Machines 2024, 12, 227 4 of1.
23The Z-
the coordinate system. The X-axis points to the initial position of planetary gear
axis goes out along the axis. The follow-up coordinate system of the carrier was the sec-
ond, which was Oxyz. Its initial position coincides with OXYZ. The third coordinate sys-
coordinate system. The X-axis points to the initial position of planetary gear 1. The Z-axis
tem was opixpiypizpi of the planetary gear ( i = 1, 2, N ). N is the number of the planetary
goes out along the axis. The follow-up coordinate system of the carrier was the second,
gear. The
which horizontal
was Oxyz. Its and vertical
initial coordinates
position coincides with are the radial
OXYZ. The direction and tangential
third coordinate system direc-
tion
wasofopithe planetary
xpi ypi gear. The
zpi of the planetary z-axis
gear (i = sets
1, 2, ·out along
· · N). thenumber
N is the axis. The position
of the angles
planetary gear. of the
planetary gearsand
The horizontal change with
vertical the increase
coordinates in time.
are the radial direction θ stands
x, y , z , and for direction
tangential the translational
of
the planetary gear. The z-axis sets out along the axis. The position angles
and rotational displacement of each component. r, s, c, and pi are used as their subscript, of the planetary
gears change with the increase in time. x, y, z, θ stands for the translational and rotational
and they respectively denote the ring, sun gear, carrier, and planetary gears. L and R are
displacement of each component. r, s, c, and pi are used as their subscript, and they
used as the positional labels of the herringbone gears. Thus, the column vector X can be
respectively denote the ring, sun gear, carrier, and planetary gears. L and R are used as the
expressed
positionalusing
labelsthe following
of the herringboneequation:
gears. Thus, the column vector X can be expressed
using the following equation:
 x L , y L , z L ,θ L , x R , y R , z R ,θ R 
 L s L sL Ls Rs R s R sR  s s
 xsL, ys , Lzs , θsL , xs L, ys , Rzs , θsR R 

 x pi , y pi , z pi ,θ pi , x pi , y pi ,  z pi ,θ piR 
X = xLpi , yLLpi , z LpiL , θ piLL , x RpiL, yRpiR, zRpi ,Rθ piR R R 

 
 
(1)
 Lxr ,L yrL, zLr ,θRr , Rxr ,R yrR, zr ,θr 
 
X= (1)
xr , yr , zr , θr , xr , yr , zr , θr 
xc , yc , zc ,θc  



 

 

x ,y ,z ,θc c c c
Figure 2. The dynamic model of the gear transmission system.

Figure 2. The dynamic model of the gear transmission system.
In order to intuitively display the meshing relationship, the meshing dynamic model
In order
between to intuitively
the sun display
and planetary the
gear is meshing
shown relationship,
in Figure the meshing
3a. Hypothetically, dynamic
the direction of model
the sun gear
between output
the sun andtorque is clockwise.
planetary gear isφshown
spi can be
in written
Figure using
3a. the following
Hypothetically, equation:
the direction
of the sun gear output torque is clockwise. ϕ spi can be written using the following equa-
φspi = φ pi + αspi , (2)
tion:
where φ pi denotes the position angle of the ith planetary gear. αspi represents the transverse
pressure angle. According to the geometric ϕ spi relationship,
= ϕ pi + α spi ,the projection of their meshing (2)
displacements along the meshing action line can be deduced as follows:
L = V L X L − e L (t)
δspi spi spi spi
, (3)
R = VR XR − e R (t)
δspi spi spi spi
verse pressure angle. According to the geometric relationship, the projection of their
meshing displacements along the meshing action line can be deduced as follows:
δ spi
L
= VspiL X spi
L L
− espi (t )
, (3)
(t )
Machines 2024, 12, 227
δ spi
R
= VspiR X spi
R R
− espi 5 of 23
where espi
L
L
( t ) andR espiR ( t ) denote the meshing errors of the external meshing gear. L
L
X spi
where eRspi (t) and espi (t) denote the meshing errors of the external meshing gear. Xspi and
and X spi are the column vectors for the meshing element:
R are the column vectors for the meshing element:
Xspi
L
XLspi
Xspi
(
= x L , y L , z L , θ L , x L , y L , z LL, θ piL
= xssL , ysLs , zsLs, θsL ,s x Lpi ,piy Lpi , piz Lpi , θpipi
)
. (4)
R
XRspi (
Xspi = xs , ys , zs , θs , x pi , y pi , z pi , θ pi
)
= xsRR , yRsR , zRsR , θRsR , Rx piR ,Ry piR R, z piR R, θpiR. (4)
Figure
Figure 3.
3. Meshing
Meshing dynamic
dynamic model,
model, (a)
(a) sun
sun gear
gear and
and planetary
planetary gears,
gears, (b)
(b) ring
ring gear
gear and
and planetary
planetary
gears, (c) carrier and planetary gears.
gears, (c) carrier and planetary gears.
L L and
The meshing vectors VVspi V spiRcan
R
andVspi can
bebe written
written as:as:
spi
TT
= (cos cosββbb )
L = sin ϕ L , −βsin , −cos − cos
Vspi spi cos β b , cos
Vspi
ϕ spi sin φspi
β b cos β φb spi
b , cos βb , −βsin
rs cos b ,βsin βb ,sin
coscos
b , − rαs spi β bα, spi cosβbα,spi α spiβcos
cos
− cos βb ,sin
b , sin β b ,βrbpi, rpicos
TT (5)
(5)
R = sin ϕ
Vspi spi cos β b , cos
R
Vspi
ϕ = (cos
spi sin φspi , −βsin
β b cos β φb spi
b , cos , rscos
cosβbβ, −b sin
, sinβb α, rspi
s cos βb ,sin
cos β b ,α− cos βαbspi
spicos cosα spi
, − cos β bcos
, sinβbβ,sin βbr, −pirpi
b, − coscosββbb )
where rsrsandand rpi stand

r pi stand forradii
for the the of
radii of thecircle,
the pitch pitchwhich
circle,represents
which represents theplanetary
the sun and sun and
gear. α denotes
spi gear. α
planetary the
spi
transverse pressure angle.
denotes the transverse pressureβ b is theangle. β b is the base helix angle,
base helix angle, and its expression
is provided in the following equation:
and its expression is provided in the following equation:
( ))
q
(

β b =βarccos 1 1−− sin 2
b = arccos sin ββ co s ααspi
cos2
spi , (6)
, (6)
where β is the helix angle.
where If the β parameters
is the helix of the left and right sides are the same, superscripts will be not used.
angle.
Based on Newton’s second
If the parameters of the left law,and
theright
motion differential
sides equations
are the same, of thewill
superscripts sun begear
notcan be
used.
expressed as the following equations:
Based on Newton’s second law, the motion differential equations of the sun gear can be
expressed
.. q astheq following
q
equations:
q .q

q .q
ms x s = − Kspi δspi + Cspi δspi sin ϕspi cos β b − Ks xs − Cs x s
.. q q .q .q

q q q
ms ys = − Kspi δspi + Cspi δspi cos ϕspi cos β b − Ks ys − Cs ys
, (7)
.. q q .q .q LR zq − z p − C LR z. q − z. p

q q q
ms zs = Kspi δspi + Cspi δspi sin β b − Ks zs − Cs zs − Ksa s s sa s s
.. q q .q LR vq − v p − C LR v. q − v. p + T

q q
Is θ s = Kspi δspi + Cspi δspi rs cos β b − Ksb s s sb s s out
where q = L, R and p = R, L. Kspi denote the meshing stiffness of the sun gear and
planetary gear. Cspi represents their meshing damping. Ks is the radial support stiffness
of the sun gear. Cs stands for the radial support damping of the sun gear. Ksa denotes its
Machines 2024, 12, 227 6 of 23
axial support stiffness. Csa represents its axial support damping. Ksb denotes its torsional
stiffness. Csb represents its torsional damping. Ksa LR denotes the coupling axial support
stiffness between the left-end helix gear and the right helix gear. Csa LR represents their
LR
coupling axial support damping. Ksb denotes the coupling torsional stiffness between the
LR denotes their coupling torsional damping. vq is the
left-end gear and the right gear. Csb s
equivalence displacement in the tangent direction of the corresponding base circle of the
sun gear:
q q
vs = rbs · θs , (q = L, R). (8)
Relatively, the motion differential equations of the planetary gears can be expressed as
the following:
.. q q .q .q

q q q
m p x pi = Kspi δspi + Cspi δspi sin α pi cos β b − K p x pi − C p x pi
.. q q .q
. .

q q q q
m p y pi = Kspi δspi + Cspi δspi sin α pi cos β b − K p y pi − rc vc − C p y pi − rc vc
, (9)
.. q q .q .q LR zq − z p − C LR z. q − z. p

q q q
m p z pi = − Kspi δspi + Cspi δspi sin α pi cos β b − K pa z pi − C pa z pi − K pa pi pi pa pi pi
.. q q .q LR vq − v p − C LR v. q − v. p + T

q q
I pi θ pi = − Kspi δspi + Cspi δspi r pi cos β b − K pb pi pi pb pi pi out
where rc is the radius of the pitch circle of the carrier. m p is the mass of the planetary gear.
The dynamic equation of the extreme meshing can be rewritten as:
q .. q
.q
q q q q q q q
Mspi Xspi + Cspi + Csc Xspi + Kspi + Ksk Xspi = Fsn + Fse , (10)
q q
where Csc represents the support and torsional damping matrix, Ksc denotes the support
q
and torsional stiffness matrix. In addition, the mass matrix Mspi , meshing damping matrix
q q
Cspi , meshing stiffness matrix Kspi , vector of forces caused by the dynamic transmission
q q
errors Fse , and the vector of external forces Fsn can be expressed as the following equations:
q
Mspi = diag ms , ms , ms , Is , m pi , m pi , m pi , I pi
T
q q q
Cspi = Cspi Vspi Vspi
T
q q q
Kspi = Kspi Vspi Vspi . (11)
T . T
q q q q q
Fse = Cspi Vspi espi (t) + Kspi Vspi espi (t)
q T
Fsn = 0, 0, 0, Tout , 0, 0, 0, Tp
Figure 3b shows the dynamic model of the ring and planetary gear. Similarly, their
motion equations can be established based on Newton’s second law, and it can be written
as [12]:
q .. q
.q
q q q q q q q
Mrpi Xrpi + Crpi + Crc Xrpi + Krpi + Krk Xrpi = Frn + Fre . (12)
Figure 3c shows the dynamic model of the carrier and planetary gear. In this section, L
and R are not used because of the same parameters. The motion equations of the carrier
and planetary gears can be deduced as follows:
Machines 2024, 12, 227 7 of 23
.. . . .
mc x c = −Kc xc − x pi − rc θc sin α pi − Cc x c − x pi − rc θ c sin α pi
.. . . .
mc yc = −Kc yc − y pi + rc θc cos α pi − Cc yc − y pi + rc θ c cos α pi
.. . .
mc zc = −Kca zc − z pi − Cca zc − z pi , (13)
.. h . . . i
Ic θ c = rc sin α pi Kc xc − x pi − rc θc sin α pi + Cc x c − x pi − rc θ c sin α pi
h . . . i
−rc cos α pi Kc yc − y pi + rc θc cos α pi + Cc yc − y pi + rc θ c cos α pi
where Kc denotes the radial support stiffness of the carrier, Cc represents the radial support
damping of the carrier, Kca denotes its axial support stiffness, and Cca represents its axial
support stiffness. mc is its mass.
.. . . .
m p x pi = Kc xc − x pi − rc θc sin α pi + Cc x c − x pi − rc θ c sin α pi
.. . . .
m p y pi = Kc yc − y pi + rc θc cos α pi + Cc yc − y pi + rc θ c cos α pi
. (14)
.. . .
m p z pi = Kca zc − z pi + Cca zc − z pi
..
I pi θ pi = 0
According to Equations (13) and (14), the motion equations can be obtained as follows:
q .. q q .q q q q
Mcpi Xcpi + Ccc Xrpi + Kck Xcpi = Fcn , (15)
q q
where Ccc represents the support damping matrix, Kcc denotes the support stiffness matrix.
q q
In addition, the mass matrix Mcpi and vector of the external forces Fcn can be provided in
the following equations:
q
Mcpi = diag mc , mc , mc , Ic , m pi , m pi , m pi , I pi
. (16)
q
Fcn = [0, 0, 0, Tin , 0, 0, 0, 0]
The motion equations of all the subsystems were coupled into an overall motion
equation, and it could be written as:
.. .
MX + CX + KX = F. (17)
2.2.2. Meshing Stiffness

Based on the assumption of dynamic modelling that two helix gears are coupled into a
herringbone gear, the meshing stiffness of the herringbone gear can be similarly calculated
by coupling the meshing stiffness of the two helix gears, and its expression can be provided
by the following equations:
Km = 2bGT , (18)
where b is the unilateral helical tooth width, GT represents the meshing stiffness per helical
tooth width, and its calculation expression is:
0.75ε α + 0.25
GT = , (19)
h
where ε α is the transverse contact ratio and h stands for the flexibility of the unit tooth
width, which is related to the tooth number and modification coefficient.
Machines 2024, 12, 227 8 of 23
s
2 r2 m m
rb1 b2 1 2
C = 2ζ Km 2 m + r2 m
, (20)
rb1 1 b2 2
ζ is the meshing damping ratio, and its value is in the range of 0.03 to 0.17. rb1 and rb2 are
the radii of the base circles of the driving and driven gears. m1 and m2 are their masses.
2.2.3. Time-Varying Meshing Transmission Errors

The internal and external meshing errors, respectively, are shown as follows:
q L
espi (t) = ∑ espi cos lωm t + φspi − lZs φi + f (q)

l
r (t)
L , (21)
erpi = ∑ erpi cos lωm t + φrpi + lϑrs + lZr φi + f (q)
l
where esp denotes the meshing transmission error between the sun gear and planetary
gear, φspi represents their initial phase, erp denotes the meshing transmission error between
the ring gear and planetary gear, φrpi represents their initial phase, ωm is their meshing
frequency, Zs represents the tooth number of the sun gear, Zr represents the tooth number
of the ring gear, and ϑrs is the meshing phase difference between the sun gear and ring gear.
f (q) is the piecewise function, which is used to distinguish the meshing transmission error
of the left and right helical gear. Its expression is provided in the following equation:

0 q=L
f (q) = . (22)
lγstg q=R
2.3. Wind Velocity Model

2.3.1. Turbulent Effect
The three-dimensional turbulent wind was simulated based on the Kaimal spectral
model [31]:
f · S( f ) j η a κ ηγ
= ( j = u, v, w, uw) (23)
u2f ( ηc + ηb κ ηα ) η β
where S( f ) j denotes the power spectral ensity (PSD), u f represents the friction velocity, ηa ,
ηb , ηc , ηα , η β and ηγ are six parameters of the wind spectral model, and κ stands for the
reduced frequency. Its expression is as follows:
f ·z
κ= , (24)
u
where u denotes the mean wind velocity, z represents the height in space, and f is the
frequency. In addition, the calculational expression of u f was simulated based on Weber’s
research [32,33]:
0.25
u f = uw2 + uv2 (25)
According to Tieleman’s theory, the so-called blunt model and so-called pointed model
are defined by four parameters, which are ηc , ηα , η β ; ηγ . ηc = 1, ηα = 1; η β = 5/3; and
ηγ = 1 for the blunt model, which can be used to describe topographic factor interference,
whereas ηα = 5/3, η β = 1 is the pointed model, which is employed for describing flat
topography. The Kaimal model is a mixed model because the horizontal wind is established
using the blunt model, and the vertical wind is described using the pointed model. Thus,
the calculation expression of the PSD from each component can be written as follows:
Machines 2024, 12, 227 9 of 23
f · S( f )u 105κ
2
=
uf (1 + 33κ )5/3
f · S( f )v 17κ
2
=
uf (1 + 9.5κ )5/3
. (26)
f · S( f )w 2.1κ
2
= ,
uf (1 + 5.3κ 5/3 )
f Re(S( f )uw ) 14κ
=−
u2f (1 + 9.6κ )7/3
Except for the one-node wind simulation, a co-coherence function was used to describe
the correlation of the turbulence from two nodes, for which the distance is d j . Its expression
is defined as follows [34]:
f dj

γ f , d j = exp −Cij ; i = u, v, w, j = y, z, (27)
U (z)

where γ f , d j denotes the co-coherence and Cij stands for the co-coherence exponential
decay coefficient. Their values were set to:
Cuy = 7, Cuz = 10; Cvy = 7, Cvz = 10, Cwy = 6.5; Cwz = 3. (28)
Thus, the co-coherence power spectrum density matrix could be calculated via the
following equation:
· · · S1n (ω )
 
S11 (ω ) S12 (ω )
S21 (ω ) S22 (ω ) · · · S2n (ω ) 
S0 ( ω ) = 

. (29)
 ··· ··· ··· ··· 
Sn1 (ω ) Sn2 (ω ) · · · Snn (ω )
Then, the matrix was solved using the Cholesky decomposition method. Finally, the
turbulent wind, u, v, w, could be obtained based on the Shinozika theory [35].
2.3.2. Wind Shear Effect

The wind shear effect is defined as the variation in the wind velocity and direction in
a position in space. In the study of wind velocity, generally, the change in the wind velocity
in the vertical direction is only considered. Based on the IEC standard [36], an exponential
model was used to describe the wind shear effect:
αw
h
Vshear (h) = VH . (30)
H
where H denotes the hub height, VH represents the wind velocity at the hub’s position,
Vshear (h) stands for the wind velocity of the height h, and αw is the wind shear coeffi-
cient, normally.
Equation (30) can be also rewritten in the polar coordinate form:
αw
H + r cos θ
Vshear (r, θ ) = VH = VH [1 + ws (r, θ )], (31)
H
where θ is the position angle of a node in the rotational plane of the impeller, r is the
distance between the centre of the impeller hub and this node, and ws is the wind shear
coefficient. Its expression can be expanded using the third-order Taylor series [37]:
w
 H + r cos  
Vshear (r , ) = VH   = VH 1 + ws (r ,  )  , (31)
 H 
Machines 2024, 12, 227
where  is the position angle of a node in the rotational plane of the impeller, r is the
10 of 23
distance between the centre of the impeller hub and this node, and ws is the wind shear
coefficient. Its expression can be expanded using the third-order Taylor series [37]:
 ( − 1)  r   ( − 1)( w − 2)  r 
2 3
r
ws (r , )   w cos  + w w   cos 2  + w w cos3  (32)
r H αw (αw − 12) r  H  2
2 αw (αw − 16)(αw − 2)Hr 3
ws (r, θ ) ≈ αw cos θ + cos θ + cos3 θ (32)
H 2 H 6 H
Clearly, the effect of the height on locational wind velocity is reflected in the size of
,  ) , as shown
ws (rClearly, the effect of the height
in Figure 4. on locational wind velocity is reflected in the size of
ws (r, θ ), as shown in Figure 4.
Wind shear coefficient 0.1
r = 16.07 m
0.05 r = 26.4 m
r = 38.5 m
0
0.05
0.1
0.15
0 60 120 180 240 300 360
Position angle / degree
Wind shear coefficient.
Figure 4. Wind
The mean
The mean wind
wind velocity
velocity in
in the
the rotational
rotational plane
plane of
of the
the impeller
impeller can
can be
be calculated
calculated using
using
the following equation:
the following equation:
Z R
1 1 2π 2
Z
R
V shaer= =πR2 2 0
V shaer
R0  0 VVshaer((rr,,θ))· rdrdθ.
0
shear rdrd . (33)
(33)
2.3.3. Tower Shadow Effect

2.3.3.Due
Towerto the hidden
Shadow effect of the tower on the flow, the inflow velocity in the region of
Effect
the tower’s upstream and
Due to the hidden effect downstream reduced.
of the tower on the The
flow,phenomenon is defined
the inflow velocity as the
in the tower
region of
shadow effect. In this wind turbine study, the tower shadow effect only
the tower’s upstream and downstream reduced. The phenomenon is defined as the tower occurred in the
lower haft
shadow of the
effect. Indisk
thissurface of the impeller.
wind turbine Thus,
study, the theshadow
tower tower shadow effectoccurred
effect only was expressed
in the
as the following equation:
lower haft of the disk surface of the impeller. Thus, the tower shadow effect was expressed
as the following equation: 

 0 0 < θ < π/2

Vts (r, θ ) = V shear [1 + ηts (r, θ )] π/2 ≤ θ < 1.5π , (34)


0 1.5π ≤ θ < 2π

where ηts (r, θ ) denotes the tower shadow coefficient and its expression can be provided
using [38,39]:


 0 0 < θ < π/2


2 2 2
2 r sin θ − l


ηts (r, θ ) = rt (h) π/2 ≤ θ < 1.5π , (35)
2 sin2 θ + l 2 2



 r


0 1.5π ≤ θ < 2π

where rt donates the tower’s radius, l represents the shaft length between the impeller and
hub. In general, the tower of large megawatt-scale wind turbines is designed to be wide at
the bottom and narrow at the top. Thus, the tower’s radius changes with increasing height,
and its expression is provided in the following equation:
rtt − rtb
rt (h) = rtb + h, (36)
H
where rt (h) denotes the tower’s radius at h, rtb represents the radius of the tower bottom,
and rtt is the radius of the tower top. The tower shadow coefficient curves are shown in
Figure 5.
rt (h) = rtb + tt tb
h, (36)
H
where rt ( h) denotes the tower’s radius at h , rtb represents the radius of the tower
Machines 2024, 12, 227 bottom, and rtt is the radius of the tower top. The tower shadow coefficient curves11are
of 23
shown in Figure 5.
0.05
0
0.05
r = 10 m
ts
0.1
r = 20 m
0.15 r = 30 m
0.2
0.25
90 180 360
/ degree
Towershadow
Figure5.5.Tower
Figure shadowcoefficient.
coefficient.
2.3.4. Wind Velocity

2.3.4. Wind Velocity
Based on the above theory and the sizes of the tower and blades, the sweep plane of
Based on the above theory and the sizes of the tower and blades, the sweep plane of
the impeller was divided into 32 × 32 (1024) nodes to describe the turbulent wind velocity,
the impeller was divided into 32 × 32 (1024) nodes to describe the turbulent wind velocity,
as shown in Figure 6a,b. The horizontal coordinate represents the width of space and the
as shown in Figure 6a,b. The horizontal coordinate represents the width of space and
Machines 2024, 12, x FOR PEER REVIEW the25
vertical coordinate represents the height of space. The size parameters of the wind 12 of
turbine
vertical coordinate represents the height of space. The size parameters of the wind turbine
are shown in Table 1. At 3 s, 6 s, and 9 s, the turbulent wind conditions are shown in
are shown in Table 1. At 3 s, 6 s, and 9 s, the turbulent wind conditions are shown in Figure
Figure 7.
7.
(a)140 (b) 11
u
10
Wind velocity of node 1 / m/s
120
9
8
100 0 20 40 60 80 100
1.5
Height /m
v
80 0
1.
60 5 0 20 40 60 80 100
1.2 w
40
node 1 0
20 1
-60 -36 -12 12 36 60 0 20 40 60 80 100
Width/ /m
Width m Time t/s
Figure 6.
Figure Windvelocity
6. Wind velocitydescription
description diagram,
diagram, (a)
(a) divided
divided wind
wind farm
farm nodes,
nodes, and
and (b)
(b) the
thewind
windvelocity
velocity
of node 1.
of node 1.
Table 1. Size parameters of the 1.5 MW wind turbine.

Table 1. Size parameters of the 1.5 MW wind turbine.
Name Name Symbol Symbol Value Value

Hub
Hub height height H H 83 m 83 m
Impeller radius R
Impeller radius R 38.75 m38.75 m
Hub radius - 1.5 m
Hub radiusOverhang - l 1.5 m 3.3 m
Overhang
Rotational velocity of the impeller l ωp 3.3 m 11 rmp
Airfoil series
Rotational velocity of the NACA63-4 -
p 11 rmp
impeller
2.4. Aerodynamic Load Calculation
Airfoil series NACA63-4 -
The power of a wind turbine originates from the wind acting on the impeller. Mean-
while, it is also the main load on each component of the wind turbine. Thus, the accurate
acquisition of aerodynamic forces on the blades is key to analyzing the loads. Currently,
the methods for calculating the aerodynamic loads on the wind turbines are the traditional
Wind velocity / m/s
BEM, the Schmitz theory, and the generalized dynamic wake theory. Since the physical
Height / m
meaning of the BEM is clear and easy to understand, its modified model can be widely
used in the wind turbine field. Therefore, the calculation of the aerodynamic load is solved
using the BEM.
Hub radius - 1.5 m
Overhang l 3.3 m
Rotational velocity of the ωp 11 rmp
Machines 2024, 12, 227 impeller 12 of 23
Airfoil series NACA63-4 -
used in the wind turbine field. Therefore, the calculation of the aerodynamic load is solved
using the BEM.
Before starting with the calculation of the aerodynamic load, the four coordinate sys-
Figure Turbulent wind
Figure 7. Turbulent conditionsatatt =t =3,3,6,6,and
windconditions and9 s.
9 s.
tems were defined to display the blade element’s position as shown in Figure 8, and the
construction of the with
Before starting coordinate systems of
the calculation could begin with the
the aerodynamic observation
load, point P of the
the four coordinate
2.4. Aerodynamic Load Calculation
rotational wind blade 1. The coordinate system
systems were defined to display the blade element’s1 position T w a h
1 1 1 isas shown in Figureground
connected to the 8, and and
the The power of a wind turbine originates from the wind acting on the impeller. Mean-
P of the
is aconstruction
fixed system. of the
Thecoordinate systems
original point is setcould begin
at the basewith
of the
theobservation
tower. T2 wpoint 2, T
2 a2 hthe 3 w3 a3 h3 ,
while, it is also the main load on each component of the wind
rotational wind blade 1. The coordinate system T1 w1 a1 h1 is connected to the ground andturbine. Thus, accurate
and Pw a4ofh4aerodynamic
acquisition represent theforcestoweron top position, ishub position, and bladeloads. element position,
is a fixed 4system. The original point isthe
set blades
at the base key
of to
theanalyzing
tower. T2the w2 a2 h2 , T3 w Currently,
3 a3 h3 ,
respectively.
the
and methods Two
Pw4 a4 h4 for inclination
calculating
represent theangles
the tower exist inloads
aerodynamic
top position, the hon− the
a plane
hub position, wind  ti and
and (turbines
blade  cothe
are
element ),position,
but they are
traditional
BEM,
all settheto Schmitz
respectively. zero
Two theory,
forinclination and
this calculated the generalized
angles load
exist task. hdynamic
in theThe a planewake
− position (θangle,
ti and  ),p ,but
theory.
θco Since
between
theytheare
physical
the allthree
meaning
set to zeroofforthe BEM
this is clearload
calculated andtask.
easyThe to position
understand,
angle,itsβ pmodified
, between model the three can be widely
blades is
blades is 120 degrees. b stands for the angular velocity of the impeller.
120 degrees.
used in the windωb stands
turbineforfield.
the angular
Therefore,velocity of the impeller.
the calculation of the aerodynamic load is solved
using the BEM.
h4
P
r a4
h3
h2
T3 co h4
Hub T2
Initial position 0°
ti a2 Blade 1
w3
w2 P w4
l
r 
120
H  p=
Tower p
h1
a1
T1
w1
Figure8.8.Definition
Figure Definitionofofthe
theposition
position coordinate
coordinate of the
of the blade
blade element
element for load
for the the load calculation
calculation of theof the
wind turbine.
wind turbine.
According to the BEM, the lift and drag forces on each blade element are provided
in:
1
W ( r , ) c(r )Cl dr
2
dL =
2
, (37):
1
dD = W ( r , ) c(r )Cd dr
2
2
Machines 2024, 12, 227 13 of 23
According to the BEM, the lift and drag forces on each blade element are provided in:
1
dL = ρW (r, θ )2 c(r )Cl dr
2
1 (37)
dD = ρW (r, θ )2 c(r )Cd dr
2
where dL denotes the lift force unit, dD represents the drag force unit, ρ is the airflow
density, c(r ) stands for the chord length on the interface where the blade element is located,
and W (r, θ ) is the actual inflow wind velocity of the blade element; it can be obtained via
Machines 2024, 12, x FOR PEER REVIEW
the coordinate transformation of velocity under the turbulent wind condition. Cl is the 14 oflift25
coefficient and Cl is the drag coefficient.
The torque of the blade element can be written as:
To calculate the torques acting on the entire blade, it is only necessary to integrate
To calculate
the torque elementsthespanwise across=on
torques Facting
torque dLthe
the φ −asdD
cosentire
blade, sin φ.itinisFigures
blade,
shown only necessary
9–11. Thetoinflow (38)
integrateve-
the torque elements spanwise across the blade, as shown in Figures
locity of the hub is steady in the results from Figures 9 and 10. The torque of the different 9–11. The inflow ve-
locity To calculate the torques inacting on the entire blade,9itand
is onlyThe necessary toofintegrate the
bladesofcan thebe
hub is steady
seen in Figure the
9a, results
and thefrom Figures
torque variation is10. mainlytorque
affected the different
by the wind
torque
blades elements
can beThe spanwise
seen across
in Figure 9a,the
andblade, as shown
the torque in Figures
variation 9–11. The
is mainly inflow velocity
affected of
shear effect. torque presents periodic fluctuations. Combined with Figureby5, the
the wind
value
the hub is steady in the results from Figures 9 and 10. The torque of the different blades can
shear w (effect.
ofseen ) The
is attorque
,Figure
rin its and presentswhen
minimum periodic fluctuations.
the blades rotate Combined
to 180 degrees.with Figure
by theThe
5, the
blade value
alternat-
of w ( r , ) is at its minimum when the blades rotate to 180 degrees. The blade alternat-
be 9a, the torque variation is mainly affected wind shear effect.
ing torque
The fluctuation is due
presents to the position
periodic angleCombined
fluctuations. differencewithbetween
Figure the5,blades of 120
the value of wdegrees.
(r, θ ) is
ating
itsfluctuation
minimum when is duetheto the position
blades rotateangle
to 180difference
degrees. between
The bladethe blades offluctuation
alternating 120 degrees. is
(a) due to the position angle difference between (b) the blades of 120 degrees.
/N/N10 410 4
l /N/N10 10 4
33
(a) 92.8
(b)
4
33 Blade 1 92.8
Blade 12
Blade 92.6
32
Blade 23
Blade 92.6
blade
32
l hub
Blade 3 92.4
blade
hub
31 92.4
of the
of the
31 92.2
of the
of the
92.2
30
92
Torque
Torque
30
92
Torque
Torque
29 91.8
290 2 4 6 8 10 91.8 0 2 4 6 8 10
0 2 4 Time t/s6 8 10 0 2 4 Time t/s6 8 10
Time t/s Time t/s
Figure 9. Aerodynamic load with the wind shear effect of the different blades and hub at t = 10s ,
Figure
Figure 9.9. Aerodynamic
(a) blades, and (b) hub. load
Aerodynamic load with
with the
the wind
wind shear effect of the different blades and hub at tt==10
hub at 10ss,,
(a)
(a)blades,
blades,and
and(b)
(b)hub.
hub.
(a) (b)
hubhub /N/N10 410 4
/N/N10 410 4
34
(a) 94
(b)
34 Blade 1 94
32 Blade 12
Blade 92
32 Blade 23
Blade
blade
30 92
Blade 3
blade
30 90
28
of the
of the
90
28
of the
of the
26 88
Torque
Torque
26 88
24
Torque
Torque
24 86
0 2 4 6 8 10 86 0 2 4 6 8 10
0 2 4 Time t/s6 8 10 0 2 4 Time t/s6 8 10
Time t/s Time t/s
Figure
Figure10.10.Aerodynamic
Aerodynamicload loadwith
withthe wind
the shear
wind and
shear tower
and effect
tower of the
effect different
of the blades
different andand
blades hubhub
at
t Figure
= 10t =
at 10.
s,10s Aerodynamic
(a) blades, and (b)
, (a) blades, load
and (b)with
hub. hub. the wind shear and tower effect of the different blades and hub
at t = 10s , (a) blades, and (b) hub.
In addition, another key factor is the tower effect. After considering the combined
(a) (b)the blades and hub is illustrated in Figure 10.
wind shear and tower effect, the torque of
/N/N10 410 4
hubhub /N/N10 410 4
(a) Blade 1 (b)

100
40 The torque is weakened by this combined100effect when the blades rotate to the centre area
Blade 12
Blade
40
of the tower shadow,
Blade 2 as can be seen in the95marked position in Figure 10. This is because
Blade 3
35
blade
the actual windBlade 3

velocity plunges under the95 combined effect when the blades’ position is
35
blade
90
30
thethe
of the
90
30
of the
of of
25 85
Torque
Torque
25 85
orque
rque
20 80
0 2 4 6 8 10 800 2 4 6 8 10
34 94
/N 1
Torque of the blade /N 1
Blade 1
32 Blade 2
92
Blade 3
30
Torque of the hub

90
28
Machines 2024, 12, 227 14 of 23
26 88
24
180 degrees, 86
0 2 4 6 8as shown10 in Figure 8. The torque0 drop
2 not 4only has6 a huge8 impact10 on the
transmission
Time t/s system but also has an obvious impact on the Time power
t/s grid. Through carefully
comparing Figures 9a and 10a, it can be found that the torque under the sole wind shear
effect
Figureis10.
smaller than the
Aerodynamic torque
load under
with the windthe combined
shear and towereffect
effecton both
of the sides blades
different of the and
tower
hub
at t = 10s
shadow centre area. This
, (a) blades, canhub.
and (b) make up for the power loss in the centre area of the tower
shadow to a certain extent.
(a) (b)
Torque of the blade /N 10 4
/N 10 4
Blade 1 100
40
Blade 2
Blade 3
95
35
Torque of the hub

90
30
25 85
20 80
0 2 4 6 8 10 0 2 4 6 8 10
Time t/s Time t/s
Figure 11. Aerodynamic load with the wind shear, tower effect, and turbulence of the different blades
Figure 11. Aerodynamic load with the wind shear, tower effect, and turbulence of the different
and
blades at t =
huband 10 at
hub s, (a)
t =blades, and
10s , (a) (b) hub.
blades, and (b) hub.
When the turbulence, wind shear, and tower effect are all considered, the torque
In addition, another key factor is the tower effect. After considering the combined
presents a nonlinear fluctuation, as shown in Figure 11. The torque in the centre area of the
wind shear and tower effect, the torque of the blades and hub is illustrated in Figure 10.
tower shadow may be enhanced or not diminished because of the turbulent wind effect.
The torque is weakened by this combined effect when the blades rotate to the centre area
Combined with the axial flow wind velocity map in Figure 7, the wind shear is still the
main factor among the three. This is because the influence of the wind shear effect lasts,
whereas the tower shadow effect works in a small area at its centre.
3. Results and Analysis

The parameters of the herringbone planetary gear of the wind turbine are shown in
Table 2. Based on the modelling and theories, the hub loads could be precisely calculated
under different wind conditions, as shown in Figures 9–11. They can be seen as the external
excitation acting on the carrier of this herringbone planetary gear system. Equation (17)
can be solved using the Runge-Kutta method to obtain the displacements and velocities
from each component in different directions. After that, the dynamics and load-sharing
characteristics of this system could then be fully and clearly understood.
Table 2. Wind turbine gearbox parameters [13].
Parameters Unit Sun Gear Planetary Gear Ring Gear Carrier

Tooth 22 41 104
Modulus mm 16 16 16
Mass kg 149.6 517.8 671.3 275.1
Helix angle deg 15 15 15
Meshing stiffness N/m 2.53 × 1010 3.6 × 1010
Moment of inertial kg·m2 3.7 43.1 527.6
Couling stiffness N/m 108 108 109
Input power kW 1500
3.1. Load-Sharing Characteristics

In order to quantify the load-balancing performance of the planetary transmission
system, the load-balancing coefficient is defined here as [13]:
Machines 2024, 12, 227 15 of 23

q
3 × Fspi
q max
slspi = (q = L, R)
3 q
∑ Fspi
i
, (39)
q
3 × Frpi
q max
slrpi = (q = L, R)
3 q
∑ Frpi
i
q q q
where slspi and slrpi represent the time-varying load-sharing coefficient. Fspi stands for the
q
meshing forces between the sun gear and planetary gear and stands for the meshing Frpi
Inbetween
forces order to the
evaluate the effect
ring gear of the support
and planetary gear. stiffness on the load-sharing coefficient,
the global load-sharing
In order coefficient,
to evaluate the effect SL, is present.
of the supportIts expression
stiffness can
on the be written using
load-sharing [13]:
coefficient,
the global load-sharing coefficient, SL, is present. Its expression can be written using [13]:
SLqsp = max slspi
q
( )
SLspq = max slspiq .

q q (40)
SLrp = max slrpi .
( ) (40)
q q
SLrp = max slrpi
3.1.1. Effect of the Support Stiffness
3.1.1. Effect of the Support Stiffness
In the section, the wind shear effect and the tower shadow effect are considered in
In the section,
the calculation thehub
of the wind shear
load. effect and
Because the the tower shadow
turbulent effect are
wind velocity hasconsidered
significantinran-
the
calculation of the hub load. Because the turbulent wind velocity has significant randomness,
domness, it was not considered. In addition, using periodic external excitation could more
it was not considered. In addition, using periodic external excitation could more clearly
clearly describe the influence of the support stiffness on the load-sharing characteristics.
describe the influence of the support stiffness on the load-sharing characteristics. The
The support stiffnesses of the main rotational components was set as the controlled pa-
support stiffnesses of the main rotational components was set as the controlled parameters,
rameters, and the damping was 0.2% of the stiffness based on the study of bearings in a
and the damping was 0.2% of the stiffness based on the study of bearings in a wind
wind turbine [40]. The load-sharing coefficient can be calculated using Equation (40).
turbine [40]. The load-sharing coefficient can be calculated using Equation (40). Value
Value orthogonal tests of the sun gear support stiffness and planetary gear support stiff-
orthogonal tests of the sun gear support stiffness and planetary gear support stiffness are
ness are shown in Figures 12 and 13. The value orthogonal tests of the ring gear support
shown in Figures 12 and 13. The value orthogonal tests of the ring gear support stiffness
stiffness and planetary gear support stiffness are shown in Figures 14 and 15.
and planetary gear support stiffness are shown in Figures 14 and 15.
(a) (b)
K K
s /  s / 
10 7 7 N/m 10 7 7 N/m
N/  10 N/  10
m Kp / m Kp /
Figure12.
Figure Globalload-sharing
12.Global load-sharingcoefficient
coefficientbetween
betweenthe
thering
ringgear
gearand
andplanetary
planetarygear
gearwith
withthe
thechange
change
in KKs and
in K p ,K(a), left
and side,side,
(a) left andand
(b) right side.side.
(b) right
s p
In summary, the value of SLrp L can be seen in Figure 12a. It can be found that the
coefficient decreases as the value of Ks increases and increases as the value of K p increases.
(a) minimum value of SLrp
The L can be observed at (b)
the position corresponding to the coordinate
6 8

10 , 10 . Moreover, as the value of the support stiffness increases, the variation degree
L
of the load-sharing coefficient is different. When the Ks is set to 106 , the increase in SLrp
is obvious with an increase in the value of K p , whereas this increasing trend is slight at
Ks = 108 . Similarly, when the K p is set to the minimum, the fluctuation decrease in the
load-sharing coefficient is obvious with an increase in Ks , whereas it exhibits a decline
in theK form of a parabolic function at K p = 108 . The R
K variation trend of SLrp is shown in
s /  7 N/m
s /  7 N/ m
10 7  10 10 7
N/ / N/ /  10
m Kp m Kp
Figure 13. Global load-sharing coefficient between the sun gear and planetary gear with the change
in K s and K p , (a) left side, and (b) right side.
Machines 2024, 12, 227 K K 16 of 23
s /  s / 
10 7 7 N/m 10 7 7 N/m
N/  10 N/  10
m Kp / m Kp /
Figure 12b. Combined with Figure 12a, it can be seen that in the right-side model, the
variation
Figure trend load-sharing
12. Global of the load-sharing coefficient
coefficient is the
between the same,
ring but planetary
gear and the magnitude of the
gear with the number
change
and the magnitude of the change are different. SL R is smaller than SL L . This is because
in K s and K p , (a) left side, and (b) right side. rp rp
the torsional coupling stiffness and damping of the left and right ends play a role.
(a) (b)
K K
s /  s / 
10 7 N/m7
10 7 7 N/ m
 10  10
Machines 2024, 12, x FOR PEER REVIEW N/
m Kp / N/
m Kp / 17 of 25
Figure13.
coefficientbetween
betweenthe
thesun
sungear
gearand
andplanetary
planetarygear
gearwith
withthe
thechange
change
inin K sandK pK
Ks and , (a), (a)
leftleft
side, andand
side,
p
(b) (b)
right side.
right side.
(a) (b)
(a) (b)
K K
r /  r / 
10 7 7 N/m
K 10 7 7 N/m K N/  10
r /  N  10 r / 
10 7 m
/
10 7 / m Kp / 7 N/m
Kp 7 N/m
N/  10 N/  10
m Kp /
m Kp /
Figure 14. Global load-sharing coefficient between the ring gear and planetary gear with the change
Figure
in
Figure Global
14.Global
K r 14.
and load-sharing
K p , (a) coefficient
left side, and
load-sharing between
(b) rightbetween
coefficient thering
side. the ringgear
gearand
andplanetary
planetarygear
gearwith
withthe
thechange
change
in K r and K p , (a) left side, and (b) right side.
in K r and K p , (a) left side, and (b) right side.
(a) (b) 1.06

(a) (b) 1.06
SL SL
1.04
1.04
1.02
10
1.02
K10 10
K r / 5.05
/ 
r
7 N/m
1 7 5.05
7 N/ m 10
K 10 7 K 0
r /
 1 7N / m  10 r / 5.05
N
 1 7 /m
0.1 0.1 /  10
5.05
0 Kp / 7 N/m 0 Kp 7 N/m
N/  10 N/ 0.1 0.1  10
m Kp / m Kp /
Figure15.
coefficientbetween
betweenthe
thesun
sungear
gearand
andplanetary
planetarygear
gearwith
withthe
thechange
change
in
in K and
Krr 15.
Figure K ,
andGlobal(a) left
pK , (a) side, and (b)
left side, and right side.
(b) rightbetween
side. the sun gear and planetary gear with the change
p load-sharing coefficient
in K r and K p , (a) leftLside, and R(b) right side.
The values of SLsp and SLsp can be seen in Figure 13a,b. It can be found that an obvious
In summary,
difference appears, theasvalue
can be SLLrpin can
ofseen be seen
Figure in Figure
13, with 12a. It can
the variation in Kbe found that
s , whereas withthe an
L
In
increasesummary,
in K p ,
coefficient decreasesthe the value
decline inof
SL SL
is can
slight. be seen in Figure 12a. It can be
as the value ofrp K s increases and increases as the value of K p in- found that the
The values of SL L and SL R with the change in K and K can be seen in Figure 14a,b.
coefficient decreases as rp the rp ofL K increases and
value r increases
p as the value of K p in-
creases. Theload-sharing
The global minimum value of SLrpSLcan
coefficient Ls and
be SL
observed at the position
R will decrease if corresponding
Kr increases. They willto
L rp rp
creases. The minimum
increase if K increases. 6 value
(of
8 On the other
the coordinatep 10 ,10 . Moreover,
SL
) rp can be observed
as the value
at the
of the support
position corresponding
hand, the effect of Kr and Kr on the global load-
stiffness increases, the
to
( )
sharing coefficient6is present. L R
The values of SLsp and SLsp with the change of Kr and K p
8
the coordinate
variation degree 10the
of ,10load-sharing
. Moreover, as the value
coefficient of the support stiffness
K s is increases, the
can be seen in Figure 15a,b. It can be seen thatisopposite
different. Whentothe
trends Figure 14set
aretoshown
106, theas
variation
the valuesdegree
of KL r of
and
increase in SL is obvious the
K pload-sharing
change. coefficient is different. When
with an increase in the value of K , whereas the K is set to 10 6, the
s this increasing
rp p
L
increase in SL is obvious with an increase in the value of K , whereas this increasing
trend is slight atrp K s = 10 . Similarly, when the K p is set to the pminimum, the fluctuation
8
trend is slight
decrease K s = 10 . Similarly,
8
in theatload-sharing when
coefficient the K pwith
is obvious is set
antoincrease
the minimum,
in K , the fluctuation
whereas it ex- s
decrease
hibits in the load-sharing
a decline coefficient
in the form of is obvious
a parabolic functionwith
at an
K p increase K s , whereas
in variation
= 108 . The it ex-
trend of
8
Machines 2024, 12, 227 17 of 23
According to the above description and analysis, combined with Figures 12–15, the
support stiffness of the sun gear, Ks , has a great influence on both the load-sharing coef-
ficient between the ring and planetary gear and the load-sharing coefficient between the
sun and planetary gear. The support stiffness of the ring gear, Kr , only has an obvious
effect on the load-sharing coefficient between the ring and planetary gear. Similarly, the
support stiffness of the planetary gear, K p , is the same. Therefore, improving the support
stiffness of the ring gear is the best scheme for the parameter adjustment. This scheme
can not only reduce the load-sharing coefficient between the ring gear and planetary gear
but also ensure that it does not have a significant impact on the load-sharing coefficient
between the sun gear and planetary gear. Meanwhile, the support stiffness of the planetary
gear should be designed to be a low value while ensuring that the design is reasonable.
This can make the global load-sharing coefficient closer to 1 than before.
3.1.2. Contribution Rate Analysis

In order to analyze the effect of the different factors on the time-varying load-sharing
characteristics, such as the turbulent, tower shadow effect, and wind shear effect, the
relative contribution ratio ri and the real-time rate of change ct were proposed, and their
expressions can be written as [41]:
[si (t) − st (t)]

ri ( t ) = × 100%(i = Turbulent, tower shadow, wind shear )
∑[si (t) − st (t)]
. (41)
[st (t) − st (VH )]
ct (t) = × 100%
st (VH )
where si (t) stands for the time-varying load-sharing coefficient without considering the i
influence factor, st (t) denotes the time-varying load-sharing coefficient with all influence
factors, and st (VH ) represents the time-varying load-sharing coefficient under the steady
inflow condition (VH = 11 m/s).
The relative contribution rate of each influence factor is shown in Figures 16 and 17.
The relative contribution rate of the turbulent was maintained at the highest level. Strikingly,
the mean values of rturbulent in Figures 16a,b and 17a,b are 80.368%, 80.372%, 80.371%, and
80.370%, respectively. Regarding the tower shadow effect, they are 10.314%, 10.312%,
10.312%,
Machines 2024, 12, x FOR PEER REVIEW
and 10.313%. The contribution rate of the wind shear effect were calculated to be
19 of 25
9.318%, 9.316%, 9.317%, and 9.317%. These can describe the whole variation of the relative
contribution rate. However, the time-varying properties cannot be reflected.
Figure 16. Analysis of the proportion of each influencing factor on the time-vary load-sharing
Figure 16. Analysis of the proportion of each influencing qfactor on the time-vary load-sharing coef-
coefficient between the ring gear and planetary gear 1q(slrp1 ), (a) left side, and (b) right side.
ficient between the ring gear and planetary gear 1 ( slrp1 ), (a) left side, and (b) right side.
In Figure 16a, the relative contribution rate ranges of the wind shear, tower shadow,
and turbulent
Turbulent
areTower
[0.91%, 23.61%], [1.31%, 28.44%], and
shadow Wind shear
[47.94%,
Turbulent 93.88%].
Tower shadow ItWind
is not difficult
shear
to(a)find 11.32
100 the law (b) 100 shear and tower shadow. The13.06
of the contribution rates of0.6the wind excitation
0.4
load80enters the shadow effect center at t = 11.32 s80and t = 13.06 s. When the load excitation
enters the region of the tower shadow, their values increase gradually, whereas the 0.2 load
60
excitation exits the region of the tower shadow, and 60 their values decrease. In particular, 0 the
0
40 40 −0.2
20 20 −0.4
−0.6
0 −0.6 0
10.5 12 13.06 13.5 10.5 11.32 12 13.5
Time t / s Time t / s
Machines 2024, 12, 227 18 of 23
contribution rate of the tower shadow quickly climbed to 28.44%. This is because the tower
shadow
Figure 16.causes theofload
Analysis excitation of
the proportion toeach
quickly fall. When
influencing factorthe
onblades are notload-sharing
the time-vary in the region of
coef-
the tower shadow, thegear
contribution rategear
of the q
wind shear and tower is low (mean ≤ 7%).
ficient between the ring and planetary 1 ( sl rp1 ), (a) left side, and (b) right side.
This means that the effect of the wind shear and tower shadow can be ignored at this stage.
Figure 17. Analysis of the proportion of each influencing factor on the time-vary load-sharing
Figure 17. Analysis of the proportion of each influencingqfactor on the time-vary load-sharing coef-
coefficient between the ring gear and planetary gear 1 q(slsp1 ), (a) left side, and (b) right side.
ficient between the ring gear and planetary gear 1 ( sl sp1 ), (a) left side, and (b) right side.
q
In addition, combined with Figures 16 and 17, the real-time rate of change in slsp1 is
In Figure q
smaller than sl16a, the relative contribution rate ranges of the wind shear, tower shadow,
rp1 . It shows that the load-sharing characteristic between the ring gear and
and turbulent are [0.91%,
planetary gear is more sensitive 23.61%], to[1.31%, 28.44%],
turbulent wind and [47.94%,
conditions 93.88%].
than It isthe
between notsun
difficult
gear
to
and planetary gear. This also reminds designers to focus on the design of the gearexcita-
find the law of the contribution rates of the wind shear and tower shadow. The rings.
tion cyclic
The load enters the shadow
aerodynamic loadeffect
causedcenter at twind
by the = 11.32 s and
shear andt =tower
13.06 s. When the
shadow load
effect exci-
always
tation
exists, enters
and whenthe region of the tower
the excitation entersshadow,
the towertheir valuesregion,
shadow increase
thegradually,
wind shear whereas
and towerthe
load
shadow excitation exitsaffect
effect will the region of the tower
the load-sharing shadow, andoftheir
characteristics values decrease.
the system. In partic-
The vibration and
ular,
fatiguetheproblems
contribution rate
of the of the
wind towergearboxes
turbine shadow quickly
become climbed to 28.44%. This
more complicated. Atisthe
because
same
the tower shadow causes the load excitation to quickly fall. When the
time, due to the periodic change in the load, the output power of the grid-connected windblades are not in the
region of the tower shadow, the contribution rate of the wind shear
turbines also has certain fluctuations, and the output power quality will be affected to a and tower is low
(mean ≤ 7% ). This means that the effect of the wind shear and tower shadow can be
certain extent.
ignored at this stage.
3.2. Dynamic Characteristics q
In addition, combined with Figures 16 and 17, the real-time rate of change in slsp1
To analyze theq dynamic characteristics in the herringbone planetary gear system, the
is smallerwind
different slrp1 . It shows
than conditions, that the
including theload-sharing
steady inflowcharacteristic
(VH = 11 m/s) between the ringwind,
and turbulent gear
were considered
and planetary in the
gear motion
is more equations.
sensitive After solving,
to turbulent windthe meshingthan
conditions forces, displacements,
between the sun
and centroid
gear trajectories
and planetary couldalso
gear. This be obtained. Their description
reminds designers to focus on and
theanalysis arethe
design of shown
gear
as follows.
rings. In addition,
The cyclic the turbulent
aerodynamic windby
load caused in the
thiswind
section stands
shear and for a wind
tower condition
shadow effect
including
always the wind
exists, shear, the
and when tower shadow,enters
excitation and turbulent
the towereffect.
shadow region, the wind shear
and tower shadow effect will affect the load-sharing characteristics of the system. The vi-
3.2.1. Meshing Force
bration and fatigue problems of the wind turbine gearboxes become more complicated.
At theInsame
Figures 18 and
time, due 19, the periodic
to the internal and external
change in themeshing
load, theforces arepower
output displayed,
of therespec-
grid-
tively. It can
connected be seen
wind that the
turbines meshing
also forces
has certain acting on the
fluctuations, internal
and meshing
the output linequality
power are slightly
will
affected by the turbulent
be affected to a certain extent. wind condition, and the right side is larger than the left side.
This is because the space translational displacement of the right side from the ring gear is
larger than the left side, as can be seen in Figures 20 and 21. Only after the blade enters the
centre of the tower shadow effect, the meshing force curve will have an obvious impact. In
addition, the meshing forces curves under turbulent wind conditions are lower than the
meshing forces under steady inflow. This is mainly due to the decline in the wind velocity
caused by the wind shear.
In Figure 19, except for the above analysis, the meshing forces acting on the external
meshing line are larger than those acting on the internal meshing line. They are strongly
affected by the turbulent wind conditions. This is because the torsional displacement
fluctuation is large from the sun gear. Notably, the meshing frequency of the sun gear is
higher than the other. If the force on the tooth surface is also high, tooth surface damage
is unavoidable. Therefore, the gear pair between the sun gear and planetary gear should
be handled specifically in manufacturing and design to decrease the meshing stiffness. In
tively. It can
affected be seen
by the that the
turbulent meshing
wind forcesand
condition, acting
theonright
the internal meshing
side is larger line
than areleft
the slightly
side.
affected
This by the the
is because turbulent wind condition,
space translational and the right
displacement of theside is side
right larger than
from thethe left
ring side.
gear is
This is because the space translational displacement of the right side from
larger than the left side, as can be seen in Figures 20 and 21. Only after the blade enters the ring gear is
larger
the thanofthe
centre theleft side,shadow
tower as can be seenthe
effect, in meshing
Figures 20 andcurve
force 21. Only
willafter
havethe
an blade
obvious enters
im-
Machines 2024, 12, 227 the centre
pact. of the tower
In addition, shadowforces
the meshing effect,curves
the meshing
under force curvewind
turbulent will conditions
have an obvious 19im-
are lowerof 23
pact. the
than In addition, the meshing
meshing forces forces inflow.
under steady curves This
under turbulent
is mainly duewind conditions
to the decline inare
the lower
wind
than the caused
velocity meshing byforces under
the wind steady inflow. This is mainly due to the decline in the wind
shear.
velocity caused by the wind shear.
the design of the herringbone gearbox, the external meshing gear pair should be specially
treated to 4deal with the problem of meshing impact enhancement 4
under dynamic loads.
(a) 10 Steady inflow Turbulent (b) 10 Steady inflow Turbulent
5 7
/N
/ rN / N
(a) 4 Steady inflow Turbulent 4 Steady inflow Turbulent
10 (b) 10
5 7
F rL /FN
6.5
L
4.5
R
F rR F
force
4.5 6.5
force
4 6
force
force
4 6
5.5
Meshing
Meshing
3.5
Meshing 5.5
Meshing
3.5 5
3
3 5
4.5
2.5
10.5 11.5 12.5 13.5 10.5
4.5 11.5 12.5 13.5
2.5
10.5 11.5 Time t / s12.5 13.5 10.5 11.5 Time t / 12.5
s 13.5
Figure 18. Analysis of the meshing forces between the ring gear and planetary gear 1, (a) left side,
Figure 18. Analysis of the meshing forces between the ring gear and planetary gear 1, (a) left side,
and (b) 18.
Figure right side. of the meshing forces between the ring gear and planetary gear 1, (a) left side,
Analysis
and (b) right side.
and (b) right side.
(a) 105 Staedy
Steady inflow
inflow Turbulent
Turbulent (b) 105 Steady inflow Turbulent
1.5 1.4
/ sN/ N
/ sN / N
(a) 105 Staedy
Steady inflow
inflow Turbulent
Turbulent (b) 105 Steady inflow Turbulent
1.5 1.4
L
R
1.4 1.3
F sL F
F sR F
force
force
1.4 1.3
force
1.3
force
1.2
Meshing
Meshing
1.3 1.2
Meshing
Meshing
1.2 1.1
1.2 1.1
1.1 1
10.5 11.5 12.5 13.5 10.5 11.5 12.5 13.5
1.1 1
Machines 2024, 12, x FOR PEER REVIEW 10.5 11.5 Time t /12.5
s 13.5 t /12.5
s 21 13.5
of 25 10.5 11.5 Time
Figure19.
Figure Analysisofofthe
19.Analysis themeshing
meshingforces
forcesbetween
betweenthe
thesun
sungear
gearand
andplanetary
planetarygeargear1,1,(a)
(a)left
leftside,
side,
and
and(b)
Figure right
(b)19. side.
Analysis
right side. of the meshing forces between the sun gear and planetary gear 1, (a) left side,
and
(a)(b) right10side.
5 Steady inflow Turbulent (b) 10 5 Steady inflow Turbulent
7 8 10 5
10 5
/ rad
(a) Steady inflow Turbulent (b) Steady inflow Turbulent

/m
7 8
z rRz/r rad
z rLz/rm
7.5
L
7.5
Displacement
Displacement
7
Displacement
Displacement
5.7 7
5.7 6.5
6.5
6
6
4.4 5.5
10.5
4.4 11.5 12.5 13.5 10.5
5.5 11.5 12.5 13.5
10.5 11.5 12.5 11.5 13.5 12.5 13.5 10.5
Figure 20. Analysis of the axial displacement from the ring gear, (a) left side, (b) and right side.
Figure 20.
Figure Analysis of
20. Analysis of the
the axial
axial displacement
displacement from
from the
the ring
ring gear,
gear, (a)
(a) left
left side,
side, (b)
(b) and
and right
right side.
side.
(a) 3 Staedy inflow Turbulent (b) 3 Steady inflow Turbulent

10 10
(a) 2.4 10 3 (b) 2.4 10 3
/ rad
/ rad
Staedy inflow Turbulent Steady inflow Turbulent

2.4 2.4
Displacement R/ rRrad
Displacement L/ rLrad
2.3
2.3 2.3
2.3
r
2.2
Displacement
Displacement
2.2 2.2
2.2 2.1
2.1
2.1
2.1 2
2
2 1.9
10.5
2 11.5 12.5 13.5 10.5
1.9 11.5 12.5 13.5
10.5 11.5 12.5 13.5 10.5 11.5 12.5 13.5
Figure 21.
Figure Analysis of
21. Analysis of the
the torsional
torsional displacement
displacement from
from the
the ring
ring gear,
gear, (a) left side, and (b) right side.
Figure 21. Analysis of the torsional displacement from the ring gear, (a) left side, and (b) right
side.
3.2.2. Displacement
side.
AsFigure
In can be19, seen in Figures
except for the20 and 21,
above the torsional
analysis, displacements
the meshing forces actingof the
onring gear are
the external
moreIn Figure
obviously 19, except
influenced for the
by above
the analysis,
turbulent windthe meshing
condition forces
than theacting
axial
meshing line are larger than those acting on the internal meshing line. They are strongly on the external
displacements.
meshing
affected byline
theare
This is because thelarger
axial than
turbulent windthose
excitation isacting on
ignored
conditions. theisinternal
after
This meshing
considering
because line.displacement
They are
the herringbone
the torsional gearstrongly
special
fluc-
affected by the turbulent wind conditions. This is because the torsional
tuation is large from the sun gear. Notably, the meshing frequency of the sun gear displacement fluc-
is
tuation is large from the sun gear. Notably, the meshing frequency of
higher than the other. If the force on the tooth surface is also high, tooth surface damage the sun gear is
higher than the other. If the force on the tooth surface is also high, tooth
is unavoidable. Therefore, the gear pair between the sun gear and planetary gear should surface damage
is unavoidable.
be Therefore,
handled specifically the gear pair between
in manufacturing the to
and design sun gear and
decrease theplanetary
meshing gear should
stiffness. In
be handled
the design ofspecifically in manufacturing
the herringbone gearbox, theand design
external to decrease
meshing gear the
pairmeshing
should be stiffness.
speciallyIn
Machines 2024, 12, 227 20 of 23
structure and the bearing support design of this wind turbine. Therefore, the fluctuations
in the axial displacements are generated by the axial–torsion coupling term in the motion
equations. This greatly weakens the influence of the turbulent wind condition on the axial
vibration in the transmission system. Meanwhile, this means that the axial displacements
of the ring gear are slightly affected by the torsional excitation under turbulent wind
conditions. In the design of the ring gear, the fluctuation in the torsional excitation can
be ignored.
The axial and torsional displacements of the sun gear are shown in Figures 22 and 23.
Similarly, the torsional displacement variation trends of the sun gear are the same as the
ring, but these are larger than the ring gear. This is because the rotational velocity is larger,
the torque is smaller, and the vibration is larger.
Machines 2024, 12, x FOR PEER REVIEW In summary, the vibration amplitude of the sun gear in the torsional direction 22 of 25
should
be concerned. However, both the ring gear and sun gear are sensitive to turbulent wind
conditions but the vibration amplitudes of the ring gear are small, whereas, from the sun
gear, it is too large. In this way, the sun gear is subjected to both high-frequency loads and
gear, it
gear, it is
is too
too large.
large. In
In this way, the sun gear is subjected to both high-frequency loads and
low-frequency loads. this way, the sun gear is subjected to both high-frequency loads and
low-frequency loads.
low-frequency loads. 4
(a) 10 4 Steady inflow Turbulent (b)
8
10 Steady inflow Turbulent
4.3
/ rad
4
z sL /z Lm/ m
(a) 10 4 Steady inflow Turbulent (b)

8
10 Steady inflow Turbulent
4.3
z sR /z Rrad
s
4.05
s
6
Displacement
4.05
Displacement
6
Displacement
3.8
Displacement
3.8 4
3.55 4
3.55
3.3 2
10.5 11.5 12.5 13.5 10.5 11.5 12.5 13.5
3.3 2
10.5 11.5 Time t / s12.5 13.5 10.5 11.5 Time t / s12.5 13.5
Figure 22. Analysis of the axial displacement from the sun gear, (a) left side, (b) and right side.
Figure 22.
Figure Analysis of
22. Analysis of the
the axial
axial displacement
displacement from
from the
the sun
sun gear,
gear, (a)
(a) left
left side,
side, (b)
(b) and
and right
right side.
side.
(a) 0.032 Steady inflow Turbulent (b) Steady inflow Turbulent
0.032
/ rad
/ rad
(a) 0.032 Steady inflow Turbulent (b) Steady inflow Turbulent

0.032
Displacements / sLrad
Displacements / sRrad
0.03 0.03
L
0.03 0.03
Displacement
Displacement
0.028 0.028
0.028 0.028
0.026 0.026
10.5 11.5 12.5 13.5 10.5 11.5 12.5 13.5
0.026 0.026
10.5 11.5 Time t / s12.5 13.5 10.5 11.5 Time t / s12.5 13.5
Figure 23.
Figure Analysis of
23. Analysis of the
the torsional
torsional displacement
displacement from
from the
the sun
sun gear,
gear, (a)
(a) left
left side,
side, and
and (b)
(b) right
right side.
side.
Figure 23. Analysis of the torsional displacement from the sun gear, (a) left side, and (b) right side.
4. Discussion
4. Discussion
In Section 3, the contribution rate from the different influence factors on the load-
4. Discussion
In Section 3, the contribution rate from the different influence factors on the load-
sharing coefficient
In Section 3, the is discussed
contribution using statistical
ratestatistical methods.
from the methods.
different It It can be found
influence that
factorsthat the most
on the
sharing coefficient is discussed using can be found the load-
most
sensitive
sharing factor that causes changes in the load-sharing characteristics is the turbulent effect
sensitivecoefficient
factor thatiscausesdiscussed using
changes in statistical methods.
the load-sharing It can be found
characteristics is thethat the most
turbulent ef-
through the
sensitive time-varying
factor causesrelative contribution rate andcharacteristics
rate of change. is The contribution
fect through thethat
time-varying changes
relativein contribution
the load-sharingrate and rate of change. theThe
turbulent
contribu- ef-
rates of the tower
fect shadow and wind contribution
shear effect also surge when the blades enter the
tion through the tower
rates of the time-varying
shadowrelative
and wind shear effectrate
alsoand rate
surge of change.
when The contribu-
the blades enter the
centre region of the tower shadow. This causes serious fluctuations in the time-varying
tion
centrerates of the tower
region coefficient. shadow
of the towerThis and
shadow. wind shear
This causes effect also surge when
serious fluctuations the blades
in effects enter
the time-varying the
load-sharing is because the superposition of the two makes the
centre region
load-sharing of the
coefficient.tower shadow.
This is because This causes serious fluctuations in the time-varying
external excitation load fluctuate greatly. the superposition of the two effects makes the
load-sharing
external coefficient.
excitation load This is because
fluctuate greatly. the superposition of the two effects makes the
The wind shear effect is mainly affected by the ground roughness. Based on the
external
Theexcitation
wind load fluctuate greatly.
measured data,shear effect
the mean is mainly
wind shearaffected by the
coefficient ofground
the sea,roughness.
plain, hill, Based on the meas-
mountainous area,
ured The wind
data, the shear
mean effect
wind isshear
mainly affected of
coefficient bythe
the sea,
ground roughness.
plain, hill, Based on the
mountainous area,meas-
and seaside are approximately 0.1, 0.14, 0.17, 0.22, and 0.32, respectively. But these areand
just
ured
seasidedata,
arethe mean wind 0.1,
approximately shear coefficient
0.14, ofand
0.17, 0.22, the 0.32,
sea, plain, hill, mountainous
respectively. area,
justand
the estimates related to ground roughness. For example, the terrainBut these are
is mostly hilly the
and
seaside
estimates arerelated
approximately
to ground 0.1, 0.14, 0.17,For
roughness. 0.22, and 0.32,
example, respectively.
the terrain is But these
mostly hillyare
andjust the
plain
plain in the central and eastern parts of China, but the measured wind shear coefficient is
estimates related
in the central and to ground
eastern roughness.
parts of China,Forbutexample, the terrain
the measured is mostly
wind shear hilly and
coefficient plain
is above
in
0.3.the central
Based onandthe eastern parts of China,
above different terrain,butthe
theinfluence
measuredofwind shear shear
the wind coefficient
effectison
above
the
0.3.
globalBased on the above
load-sharing different
coefficient terrain,
is shown in the
Tableinfluence
3 through of the
the method
wind shearof thiseffect
paper.on The
the
global load-sharing
wind shear coefficient
effect is only is shown in Table 3 through the method of this paper. The
considered.
wind shear effect is only considered.
Table 3. Effect of the wind shear coefficient.
Machines 2024, 12, 227 21 of 23
above 0.3. Based on the above different terrain, the influence of the wind shear effect on the
global load-sharing coefficient is shown in Table 3 through the method of this paper. The
wind shear effect is only considered.
Table 3. Effect of the wind shear coefficient.
Wind Shear Coefficient 0 0.1 0.14 0.17 0.22 0.32

L
SLrp 1.2127 1.2133 1.2116 1.2138 1.2141 1.2143
L
SLsp 1.0360 1.0361 1.0362 1.0363 1.0364 1.0365
L /SL L
Amplitude SLrp 0.212/0.036 0.212/0.036 0.213/0.0361 0.214/0.0362 0.214/0.0363 0.2142/0.0364
sp
Flat terrain can improve the load-sharing characteristics, but the improvement is slight.
However, the turbulence intensity is different in different terrains, and turbulence is the
main cause of uneven load based on above the study.
In addition, the tower shadow coefficient is mainly affected by the tower size. The
load-sharing characteristics of the transmission system can be improved by reducing the
impact caused by the tower shadow effect. Meanwhile, the theoretical numerical results
are provided in Table 4.
Table 4. Effect of the tower shadow.
Tower Size rtt /2 0.6 0.7 0.8 1

L
SLrp 1.2181 1..2186 1.2234 1.2350
L
SLsp 1.0378 1.0378 1.0392 1.0402
L /SL L
Amplitude SLrp 0.2176/0.0378 0.2185/0.0378 0.2233/0.0391 0.2338/0.0401
sp
Through the table, it can be seen that the tapered tower design can effectively improve
the load-sharing characteristics of the transmission system. Three influence factors were
considered in this paper, but realistic wind conditions are complex and there are many
more factors than were considered in this paper, such as the wake effect, stall effect, voltage
drop, extreme wind regime, and so on. If their contribution rates are analyzed, the research
mode in this paper can provide a reference. The precise modelling of environmental loads
and transmission systems is still the direction of our future research.
5. Conclusions
In this study, the load-sharing and dynamic characteristics of a herringbone planetary
gear transmission system in a wind turbine were researched using the simulation method.
The main conclusions are as follows:
(1) The load-sharing coefficients of the left and right sides are similarly sensitive to the
support stiffness, and the difference between the two is small. The support stiffness of
the planetary gear can alter the effect of the support stiffness of the ring gear and sun
gear on the load-sharing coefficient and vice versa. The interaction between the three
stiffnesses should be considered when adjusting the support stiffness to control the
load-sharing characteristics;
(2) The turbulent effect is the most critical cause of the time-varying load-sharing charac-
teristic variation, followed by the wind shear effect and tower shadow effect. Although
when the blades enter the centre region of the tower shadow, the influence of the
wind shear effect and tower shadow effect increased; they still do not exceed the
turbulent effect;
(3) The meshing forces acting on the external meshing line are obviously greater than those
acting on the internal meshing line under turbulent wind conditions. In the design of
the herringbone gearbox, the external meshing gear pair should be specially treated to
deal with the problem of meshing impact enhancement under dynamic loads.
Machines 2024, 12, 227 22 of 23
As a whole, the present work investigated the dynamic characteristics of a herring-

bone planetary gear system applied to a wind turbine under turbulent wind conditions.
The study demonstrates that accurately calculating the torque load of the wind turbine
gearbox is necessary because the dynamic behavior of the inner and outer meshing pairs
is different after the action of a time-varying load. Additionally, the left and right sides
of the herringbone gear are not the same. This provides an effective theoretical reference
for the design of the herringbone planetary gear of wind turbines. Through the analysis
and discussion, the correct geographical position of the wind turbine and the reasonable
design of the tower are both good schemes that can effectively ensure the load-sharing
performance of the transmission system and reduce the vibration. Further studies on the
optimal design of the herringbone planetary gearbox of a wind turbine will be conducted
to achieve the purpose of reducing vibration and extending service life.
Author Contributions: Conceptualization, W.-q.Z.; formal analysis, W.-q.Z., W.Z. and J.L.; funding
acquisition, W.Z.; investigation, W.-q.Z.; methodology, W.-q.Z.; project administration, W.-q.Z.;
resources, J.L. and W.Z.; supervision, J.L.; validation, W.-q.Z. and N.Y.; visualization, N.Y.; writing—
original draft, W.-q.Z.; writing—review and editing, W.Z., J.L. and N.Y. All authors have read and
agreed to the published version of the manuscript.
Funding: This work is supported by the Strategic Pilot Science and Technology Project of Chinese
Academy of Sciences (Grant no. XDC04030503).
Data Availability Statement: The datasets generated by the study can be obtained from the corre-
sponding authors upon reasonable request. The specific parameters of the study can be found in the
tables in the paper.
Conflicts of Interest: The authors declare that there are no potential conflicts of interest in this paper.
References
1. Kahraman, A. Load sharing characteristics of planetary transmissions. Mech. Mach. Theory 1994, 29, 1151–1165. [CrossRef]
2. Kahraman, A.; Vijayakar, S. Effect of internal gear flexibility on the quasi-static behavior of a planetary gear set. J. Mech. Des. 2001,
123, 408–415. [CrossRef]
3. Yang, J.; Dai, L. Survey of dynamics of planetary gear trains. Int. J. Mater. Struct. Integr. 2008, 1, 302–322. [CrossRef]
4. Crowther, A.R.; Singh, R.; Zhang, N.; Chapman, C. Impulsive response of an automatic transmission system with multiple
clearances: Formulation, simulation and experiment. J. Sound. Vib. 2007, 306, 444–466. [CrossRef]
5. Ligata, H.; Kahraman, A.; Singh, A. An experimental study of the influence of manufacturing errors on the planetary gear stresses
and planet load sharing. J. Mech. Des. 2008, 130, 041701. [CrossRef]
6. Guo, Y.; Keller, J.; Parker, R.G. Nonlinear dynamics and stability of wind turbine planetary gear sets under gravity effects. Eur. J.
Mech. A Solid 2014, 47, 45–57. [CrossRef]
7. Zhao, W.Q.; Liu, J.; Zhao, W.H.; Zheng, Y. An investigation on vibration features of a gear-bearing system involved pitting faults
considering effect of eccentricity and friction. Eng. Fail. Anal. 2022, 131, 105837. [CrossRef]
8. Xiang, L.; An, C.; Hu, A. Nonlinear dynamic characteristics of wind turbine gear system caused by tooth crack fault. Int. J. Bifurc.
Chaos 2021, 31, 2150148. [CrossRef]
9. Zhang, X.; Zhong, J.; Li, W.; Bocian, M. Nonlinear dynamic analysis of high-speed gear pair with wear fault and tooth contact
temperature for a wind turbine gearbox. Mech. Mach. Theory 2022, 173, 104840. [CrossRef]
10. Zhao, Y.; Ahmat, M.; Bari, K. Nonlinear dynamics modeling and analysis of transmission error of wind turbine planetary gear
system. Proc. Inst. Mech. Eng. Part K J. Multi-Body Dyn. 2014, 228, 438–448. [CrossRef]
11. Mo, S.; Zhang, T.; Jin, G.-G.; Cao, X.-L.; Gao, H.-J. Analytical investigation on load sharing characteristics of herringbone planetary
gear train with flexible support and floating sun gear. Mech. Mach. Theory 2020, 144, 103670.
12. Mo, S.; Zhang, T.; Jin, G.G.; Feng, Z.Y.; Gong, J.B.; Zhu, S.P. Influence mechanism of multi-coupling error on the load sharing
characteristics of herring-bone gear planetary transmission system. Proc. Inst. Mech. Eng. Part K J. Multi Body Dyn. 2019, 233, 792–816.
13. Mo, S.; Zhang, T.; Jin, G.G.; Feng, Z.Y.; Gong, J.B.; Zhu, S.P. Dynamic characteristics and load sharing of herringbone wind power
gearbox. Math. Probl. Eng. 2018, 2018, 7251645. [CrossRef]
14. Wang, C.L.; Wei, J.; Wu, Z.H.; Lu, L.; Gao, H. Load sharing performance of herringbone planetary gear system with flexible pin.
Int. J. Precis. Eng. Manuf. 2019, 20, 2155–2169. [CrossRef]
15. Hou, S.; Wei, J.; Zhang, A.; Lim, T.C.; Zhang, C. Study of dynamic model of helical/herringbone planetary gear system with
friction excita-tion. J. Comput. Nonlinear Dyn. 2018, 13, 121007. [CrossRef]
16. Wang, S.; Zhu, R. Research on dynamics and failure mechanism of herringbone planetary gearbox in wind turbine under gear
surface pitting. Eng. Fail. Anal. 2023, 146, 107130. [CrossRef]
Machines 2024, 12, 227 23 of 23
17. Xu, X.; Ge, H.; Wu, H. Research on nonlinear characteristics of herringbone planetary gear transmission system con-sidering
double-sided meshing impact. Nonlinear Dyn. 2024, 112, 3195–3215. [CrossRef]
18. Wang, C. Three-dimensional modification for vibration reduction and uniform load distribution focused on unique transmission
characteristics of herringbone gear pairs. Mech. Syst. Signal Process. 2024, 210, 111153. [CrossRef]
19. Wu, L.; Feng, W.; Yang, L.; Yang, H.; Yang, S.; Liu, B. Dynamic modeling and vibration analysis of herringbone gear system with
uncertain parameters. Arch. Appl. Mech. 2024, 94, 221–237. [CrossRef]
20. Chen, R.; Qin, D.; Yi, Y.; Liu, C.; Shi, J. Dynamic characteristics of electromechanical coupling of wind turbine drive system under
multi-source excitation. Wind Energy 2022, 25, 391–418. [CrossRef]
21. Wang, S.; Nejad, A.; Bachynski, E.E.; Moan, T. A comparative study on the dynamic behaviour of 10 MW conventional and
com-pact gearboxes for offshore wind turbines. Wind Energy 2021, 24, 770–789. [CrossRef]
22. Tan, J.; Zhu, C.; Song, C.; Xu, X.; Wang, Z. Investigation of dynamic characteristics of planetary gear stage in wind turbine
considering voltage dip. J. Mech. Sci. Technol. 2019, 33, 4139–4154. [CrossRef]
23. Tan, J.; Zhu, C.; Song, C.; Li, Y.; Xu, X. Dynamic modeling and analysis of wind turbine drivetrain considering platform motion.
Mech. Mach. Theory 2019, 140, 781–808. [CrossRef]
24. Abo-Khalil, A.G.; Alyami, S.; Sayed, K.; Alhejji, A. Dynamic modeling of wind turbines based on estimated wind speed under
turbulent conditions. Energies 2019, 12, 1907. [CrossRef]
25. Wang, S.; Moan, T.; Jiang, Z. Influence of variability and uncertainty of wind and waves on fatigue damage of a floating wind
turbine drivetrain. Renew. Energy 2022, 181, 870–897. [CrossRef]
26. Porté-Agel, F.; Bastankhah, M.; Shamsoddin, S. Wind-turbine and wind-farm flows: A review. Bound. Layer Meteorol. 2020, 174,
1–59. [CrossRef] [PubMed]
27. Doagou-Rad, S.; Mishnaevsky, L., Jr.; Bech, J.I. Leading edge erosion of wind turbine blades: Multiaxial critical plane fatigue
model of coating degradation under random liquid impacts. Wind Energy 2020, 23, 1752–1766. [CrossRef]
28. Da Silva, L.S.P.; de Oliveira, M.; Cazzolato, B.; Sergiienko, N.; Amaral, G.; Ding, B. Statistical linearisation of a nonlinear floating
offshore wind turbine under random waves and winds. Ocean Eng. 2022, 261, 112033. [CrossRef]
29. Bangga, G.; Lutz, T. Aerodynamic modeling of wind turbine loads exposed to turbulent inflow and validation with experi-mental
data. Energy 2021, 223, 120076. [CrossRef]
30. Bangga, G.; Dessoky, A.; Wu, Z.; Rogowski, K.; Hansen, M.O.L. Accuracy and consistency of CFD and engineering models for
simulating vertical axis wind turbine loads. Energy 2020, 206, 118087. [CrossRef]
31. Kaimal, J.C.; Wyngaard, J.C.J.; Izumi, Y.; Coté, O.R. Spectral characteristics of surface-layer turbulence. Q. J. R. Meteorol. Soc. 1972,
98, 563–589.
32. Weber, R.O. Remarks on the definition and estimation of friction velocity. Bound. Layer Meteorol. 1999, 93, 197–209. [CrossRef]
33. Cheynet, E.; Jakobsen, J.B.; Obhrai, C. Spectral characteristics of surface-layer turbulence in the North Sea. Energy Procedia 2017,
137, 414–427. [CrossRef]
34. Wang, J.; Cheynet, E.; Snæbjörnsson, J.Þ.; Jakobsen, J.B. Coupled aerodynamic and hydrodynamic response of a long span bridge
suspended from floating towers. J. Wind. Eng. Ind. Aerodyn. 2018, 177, 19–31. [CrossRef]
35. Shinozuka, M.; Deodatis, G. Simulation of stochastic processes by spectral representation. Appl. Mech. Rev. 1991, 44, 191–204. [CrossRef]
36. IEC 61400-1-Ed. 3.0; Wind Turbines-Part 1: Design Requirements. International Electrotechnical Commission: Geneva, Switzerland, 2005.
37. Wen, B.; Wei, S.; Wei, K. Influence of wind shear and tower shadow on the power output of wind tubine. J. Mech. Eng. 2018, 54,
124–132. [CrossRef]
38. Sørensen, P.; Hansen, A.D.; Rosas, P.A.C. Wind models for simulation of power fluctuations from wind farms. J. Wind Eng. Ind.
Aerodyn. 2002, 90, 1381–1402. [CrossRef]
39. Gasch, R.; Jochen, T. Wind Power Plants: Fundamentals, Design, Construction and Operation; Springer. Science & Business Media:
Berlin/Heidelberg, Germany, 2011.
40. Vanhollebeke, F.; Peeters, P.; Helsen, J.; Lorenze, E.D.; Manzato, S.; Peeters, J.; Vandepitte, D.; Desmet, W. Large scale validation of
a flexible multibody wind turbine gearbox model. J. Comput. Nonlinear Dynam. 2015, 10, 041006. [CrossRef]
41. Zhang, A.; Wei, J.; Shi, L.; Qin, D.; Lim, T.C. Modeling and dynamic response of parallel shaft gear transmission in non-inertial
system. Nonlinear Dynam. 2019, 98, 997–1017. [CrossRef]
Disclaimer/Publisher’s Note: The statements, opinions and data contained in all publications are solely those of the individual
author(s) and contributor(s) and not of MDPI and/or the editor(s). MDPI and/or the editor(s) disclaim responsibility for any injury to
people or property resulting from any ideas, methods, instructions or products referred to in the content.

Machines 12 00227 v2

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Machines 12 00227 v2

Uploaded by

Copyright:

Available Formats

machines

School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China;

Keywords: herringbone gear; wind turbine; dynamics; turbulence; load-sharing

Citation: Zhao, W.-q.; Zhao, W.; Liu,

Machines 2024, 12, 227. https://doi.org/10.3390/machines12040227 https://www.mdpi.com/journal/machines

mechanisms of a multi-stage gear transmission system of a wind turbine, respectively.

Machines 2024, 12, 227 3 of 23

130 Wind shear effect Research object

Turbulent wind velocity

Load s haring Displacment Influence analysis

Figure 1. Overall research framework diagram.

Figure 2. The dynamic model of the gear transmission system.

where rsrsandand rpi stand

2.2.2. Meshing Stiffness

2.2.3. Time-Varying Meshing Transmission Errors

2.3. Wind Velocity Model

2.3.2. Wind Shear Effect

2.3.3. Tower Shadow Effect

2.3.4. Wind Velocity

Table 1. Size parameters of the 1.5 MW wind turbine.

Name Name Symbol Symbol Value Value

Machines 2024, 12, x FOR PEER REVIEW 13 of 25

hubhub /N/N10 410 4

(a) Blade 1 (b)

the actual windBlade 3

Torque of the hub

Torque of the hub

3. Results and Analysis

Table 2. Wind turbine gearbox parameters [13].

Parameters Unit Sun Gear Planetary Gear Ring Gear Carrier

3.1. Load-Sharing Characteristics

(a) (b) 1.06

3.1.2. Contribution Rate Analysis

[si (t) − st (t)]

Relative contribution rate ri / %

(a) Steady inflow Turbulent (b) Steady inflow Turbulent

(a) 3 Staedy inflow Turbulent (b) 3 Steady inflow Turbulent

Staedy inflow Turbulent Steady inflow Turbulent

(a) 10 4 Steady inflow Turbulent (b)

(a) 0.032 Steady inflow Turbulent (b) Steady inflow Turbulent

Table 3. Effect of the wind shear coefficient.

Wind Shear Coefficient 0 0.1 0.14 0.17 0.22 0.32

Table 4. Effect of the tower shadow.

Tower Size rtt /2 0.6 0.7 0.8 1

As a whole, the present work investigated the dynamic characteristics of a herring-

You might also like