CN109270967A - A kind of semi-active control method of blower fan tower barrel wind-induced vibration - Google Patents
A kind of semi-active control method of blower fan tower barrel wind-induced vibration Download PDFInfo
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- CN109270967A CN109270967A CN201811225295.7A CN201811225295A CN109270967A CN 109270967 A CN109270967 A CN 109270967A CN 201811225295 A CN201811225295 A CN 201811225295A CN 109270967 A CN109270967 A CN 109270967A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Abstract
The present invention relates to technical field of wind power generating equipment, disclose a kind of semi-active control method of blower fan tower barrel wind-induced vibration, comprising the following steps: optimal active controlling force needed for blower fan tower barrel wind vibration control is calculated by Algorithm of Active Control；The damping force numerical value that semi-active control algorithm enables active variable damping device export is equal to or is infinitely close to optimal active controlling force, the value that voltage is controlled required for appropriate damping force is provided is extrapolated according to the relationship between damping force and electrohydraulic servo valve servo voltage, damping force needed for value by controlling voltage controls output, the variation of voltage is to cause the change of damping force by the variation of damped coefficient, damping force needed for output carries out blower fan tower barrel wind vibration control, the semi-active control method of this blower fan tower barrel wind-induced vibration, it can be realized the control effect of active control, it is economical and practical.
Description
Technical field
The present invention relates to technical field of wind power generating equipment, in particular to the half of a kind of blower fan tower barrel wind-induced vibration is actively controlled
Method processed.
Background technique
Blower fan tower barrel vibration control is one of key technology of wind power generating set, with the Transformation Development of energy resource structure,
Global wind-powered electricity generation installation amount increases year by year, and consequent is the cumulative year after year of blower accident.Tower structural stability deficiency is it
In a major reason.
Blower fan tower barrel belongs to tall and slender structure body, and novel fan single-machine capacity is gradually increased, and blade gradually extends, and tower is gradually
Increase.To blower fan tower barrel structural stability, more stringent requirements are proposed for this.Such high flexibility structural body uses traditional enhancing certainly
Body structure parameter was both unreasonable or uneconomical come the way for improving its structural stability.
In terms of the vibration control of tall and slender structure, domestic and foreign scholars have made the research of many related fields, and achieve
Preferable control effect.Chen Xin analyzes and researches to the test of self-supporting tall and slender structure suspended TMD vibration damping driving force；Cui Qiongying
With structural vibration control technology, controlled using wind-induced vibration of the suspended TMD to offshore wind turbine tower；Li Zhenhui is using more
Weight TMD controls the vibration of blower fan tower barrel, increases TMD and effectively controls frequency band range, reduces TMD system to blower fan tower barrel
The sensibility of structurally tuned frequency.P.J.Murtagh etc. furthers investigate the TMD passive vibration control that blower fan tower barrel is taken
The design parameter of control device is given, the difference of damping ratio, the difference of control effect are analyzed.In single passive controlling party
Face, older generation scholar are optimized and improve from many aspects, and obtain preferable control effect.
However, since passively TMD control mode can only control the reaction of some vibration shape, and control effect is to controlled vibration
The frequency of type is very sensitive, and secondly TMD system is limited to structure control ability in limited mass range, so passive control
Effect processed is less desirable.Although active control can make optimum control according to the dynamic response of structure, actively control
System needs additional power source.It will receive limitation under extreme weather conditions.It is less desirable in passively control effectiveness in vibration suppression, and
It realizes in the condition of active control and jejune situation, present applicant proposes the semi- active control sides of blower fan tower barrel wind-induced vibration
Formula.Optimal Control Force is found out using active optimal control algorithm LQR.Active variable damping dress is controlled by semi-active control algorithm
Set the control realized to tower structural vibration.
Summary of the invention
The present invention provides a kind of semi-active control method of blower fan tower barrel wind-induced vibration, can solve in the prior art
State problem.
The present invention provides a kind of semi-active control methods of blower fan tower barrel wind-induced vibration, comprising the following steps:
S1, optimal master needed for blower fan tower barrel wind vibration control is calculated by the Algorithm of Active Control of vibration control
Dynamic control force；
It is calculated using vibratory response characteristic of Linear-Quadratic Problem (LQR) algorithm to blower fan tower barrel, obtains optimal active
Control force；
S2, the active variable resistance that blower fan tower barrel wind-induced vibration is adjusted by the semi-active control algorithm of blower fan tower barrel wind-induced vibration
The damped coefficient of Buddhist nun's device generates the active variable damping device of blower fan tower barrel wind-induced vibration with blower fan tower barrel wind-induced vibration most
The equivalent control force of excellent active controlling force；
The variation of active variable damping device damping force is the change realization by damped coefficient, and the change of damped coefficient
It is realized by the openings of sizes of electrohydraulic servo valve, and the openings of sizes of electrohydraulic servo valve is controlled by servo voltage；
The damping force numerical value that semi-active control algorithm enables active variable damping device export is equal to or is infinitely close to optimal master
Dynamic control force is extrapolated according to the relationship between damping force and electrohydraulic servo valve servo voltage required for providing appropriate damping force
The value for controlling voltage, damping force needed for the value by controlling voltage controls output, the variation of voltage is by damped coefficient
Variation causes the change of damping force, exports required damping force and carries out blower fan tower barrel wind vibration control.
Semi-active control algorithm in the step S2 the following steps are included:
S21, the mathematical model of blower fan tower barrel optimum control are as follows:
In formula (1): { x }={ x1, x2..., xnIt is motion vector；[M] is the quality of blower fan tower barrel structure；[C] is blower
The damping of tower structure；[K] is the stiffness matrix of blower fan tower barrel structure；{ f } is the load vectors acted on blower fan tower barrel；
{ F } is optimal active control force vector；
S22, formula (1) is rewritten into using generalized displacement and generalized velocity as the state equation of unknown number:
In formula (2): { Q } is space state variable；[q] is r
Tie up principal coordinate vector；[A] is sytem matrix,[M in [A]*]=
[φ]T[M][φ]；[K*]=[φ]T[K][φ]；[C*]=[φ]T[C][φ]；[φ] is n × r first order mode matrix in [A]；
[B] is control matrix,[M in [B]*]=[φ]T[M] [φ], [φ] are n × r first order mode square
Battle array；[D] is transmission matrix；It [0] is null matrix；[I] is unit matrix；{f*}=[M*]-1[φ]T{f}；[D]
In [φ] be n × r first order mode matrix；{ y } is state variable；
S23, control system benefit measured by following objective functions:
In formula (3): tfFor the duration of dynamic load(loading)；E is the elasticity modulus of structural material；{ Q } is spatiality change
Amount；[S] is tower structure broad sense reactiveness vector weighting matrix；[R] is the weighting matrix of control force；{ F } be control force to
Amount；T is the oeprator of transposed matrix；
S24, the optimal active control force vector { F } of solution are just to solve for minimum of the formula (3) under formula (2).
Solution Optimal Control Force { F } in the step S24 passes through:
For structural vibration control problem, tower structure broad sense reactiveness vector weighting matrix [S] and control force plus
Weight matrix [R] takes following form:
β=6 × 10 in formula (4)-8；[K] is the stiffness matrix of blower fan tower barrel structure；[M] is the quality of blower fan tower barrel structure
Matrix；I is unit matrix；
Finally acquire optimal active control force vector are as follows:
U (t)=- GQ (t) (5)
In formula: G=[R]-1[B]TP；P meets Riccati matrix equation；Q (t) is the state of system t moment,
P matrix is solved by formula (6) in formula (5):
ATP+PA-PBR-1BTP+Q=0 (6)
In formula (6), A is sytem matrix, and B is control matrix, and R is the weighting matrix of control force, and Q is space state variable,
Optimal active controlling force can be obtained by formula (5).
It is described
In formula (7): U (t) is the damping force that active variable damping device provides；cidIt (t) is the damping of active variable damping device
Coefficient；Speed for active variable damping device relative to tower structure；uiFor optimal active controlling force；
The obtained damping force of semi-active control algorithm is following form:
In formula (8):For the sign function relative to control device speed；fidmax、fidminRespectively damping system
Minimax damping force when number is minimum and maximum.
Control planning between the damping force and electrohydraulic servo valve servo voltage of the active variable damping device are as follows:
In formula (9): udIt is for the power of effect on the piston rod；cd(u, t) is the damped coefficient of active variable damping device,For
The relative velocity of active variable damping device；U is the voltage being applied on active variable damping device on electrohydraulic servo valve, and V indicates hydraulic cylinder
Volume；
The numerical value of the damping force of active variable damping device is equal to optimal active controlling force, obtains electrohydraulic servo valve by formula (9)
Voltage u size, by controlling the voltage u of electrohydraulic servo valve, so that exporting appropriate damping force carries out blower fan tower barrel charming appearance and behaviour
Vibration control.
Algorithm of Active Control in the step S1 calculate optimal active controlling force be by sensor by blower fan tower barrel by
The displacement of tower top, velocity and acceleration real-time delivery are to computer control system, computer control under to wind load action
System vibration control is calculated according to Algorithm of Active Control needed for optimal active controlling force.
The active variable damping device is TMD active rheostat, comprising: hydraulic cylinder, piston and electrohydraulic servo valve, hydraulic cylinder
Interior to be filled with oil liquid, piston is arranged in hydraulic cylinder, and the two sides of piston are equipped with piston rod, and two piston rods stretch out hydraulic respectively
Cylinder, the two sides side of hydraulic cylinder upper piston are equipped with oil inlet, and side is equipped with oil outlet, is equipped with oil liquid between oil inlet and outlet
Pipeline, oil liquid pipeline are located at outside hydraulic cylinder, and electrohydraulic servo valve is arranged on oil liquid pipeline, and electrohydraulic servo valve and computer control are
System connection.
The structure of the blower fan tower barrel includes: steel column, support plate, wheel and blower fan tower barrel lead ring；Steel column is fixed on support
The centre of plate, blower fan tower barrel lead ring cover in the outside of steel column, and the bottom of blower fan tower barrel lead ring is equipped with multiple wheels, steel column and blower
Multiple springs and multiple TMD active rheostats, multiple springs and multiple TMD active rheostat intervals point are equipped between tower lead ring
Cloth, TMD are actively fixedly connected for rheostatic one, two piston rods with steel column, another is fixedly connected with blower fan tower barrel lead ring.
Compared with prior art, the beneficial effects of the present invention are:
The present invention first passes through the optimal active controlling force that blower fan tower barrel wind-induced vibration is calculated in Algorithm of Active Control, then
Optimal Control Force is converted into actively rheostatic damping force by semi-active control algorithm, according to active rheostat damping force with
Control planning between the voltage of electro-hydraulic electrohydraulic servo valve, the value of the anti-voltage for releasing electro-hydraulic electrohydraulic servo valve pass through control electricity
The voltage of liquid electrohydraulic servo valve carries out vibration control to export appropriate damping force, since semi- active control does not need offer volume
Outer power source can realize the control effect of active control to the greatest extent, economical and practical.
Detailed description of the invention
Fig. 1 is the control flow chart of semi-active control method of the present invention.
Fig. 2 is the structural schematic diagram of active variable damping device of the present invention.
Fig. 3 is the schematic diagram in the damped coefficient change section of active variable damping device under semi- active control state of the present invention.
Fig. 4 a is the mounting structure schematic diagram of TMD damper of the present invention.
Fig. 4 b is the section mounting structure schematic diagram of TMD damper of the present invention.
Fig. 5 is the TMD force analysis schematic diagram of blower fan tower barrel structure of the present invention.
Fig. 6 is the 3rd rank Mode Shape of blower fan tower barrel TMD system authority of the present invention.
Fig. 7 is the specified wind regime bottom offset response comparison of the present invention.
Fig. 8 is that the present invention cuts out speed responsive comparison under wind regime.
Fig. 9 is that acceleration responsive compares under limit wind regime of the present invention.
Figure 10 is the displacement response comparison of different control modes under three kinds of wind regime of the invention.
Figure 11 is the speed responsing comparison of different control modes under three kinds of wind regime of the invention.
Figure 12 is the acceleration response comparison of different control modes under three kinds of wind regime of the invention.
Figure 13 is the flow diagram of control method of the present invention.
Description of symbols:
1- hydraulic cylinder, 2- piston, 3- oil liquid, 4- electrohydraulic servo valve, 5- steel column, 6- support plate, 7- wheel, 8- blower fan tower barrel
Lead ring, 9- spring, 10-TMD active rheostat.
Specific embodiment
The specific embodiment of the present invention is described in detail in 1-13 with reference to the accompanying drawing, it is to be understood that this
The protection scope of invention is not limited by the specific implementation.
Such as Fig. 1 and Figure 13, Optimal Control Force needed for finding out tower vibration control according to active optimal control algorithm LQR,
Then real-time tracking and the realization to active controlling force are realized using semi-active control algorithm: semi-active control algorithm enables TMD master
Damping force provided by dynamic variable damping device is numerically equal to optimal active controlling force, is then rung according to the real-time vibration of tower structure
Characteristic is answered to carry out corresponding vibration control.The variation of TMD active variable damping device damping force is realized by the change of damped coefficient
, and the change of damped coefficient is realized by the openings of sizes of electro-hydraulic electrohydraulic servo valve, and the opening of electro-hydraulic electrohydraulic servo valve
Size is controlled by servo voltage, in this way, which the damping force size of TMD active variable damping device is just by electro-hydraulic electrohydraulic servo valve
Voltage U is controlled.Semi-active control algorithm obtains optimal active controlling force according to active optimal control algorithm, and then half actively
Control algolithm enables damping force provided by TMD active rheostat be equal to optimal active controlling force, then according to TMD damping force and electricity
Relationship between the voltage U of liquid electrohydraulic servo valve obtains the size relation of U, is required for known vibration control in control process
Control damping force, numerically equal to optimal active controlling force, the anti-value for releasing voltage U, thus export appropriate damping force into
Row vibration control.There are such a process circulations in control process: sensor is by the real-time vibratory response of tower structure
Characteristic passes to Algorithm of Active Control, Optimal Control Force needed for calculating vibration control as Algorithm of Active Control, and then half is main
The damping force that dynamic control algolithm enables TMD active variable damping device export is numerically equal to or is infinitely close to optimal active controlling force,
It is extrapolated according to TMD damping force and the relationship of electro-hydraulic electro-hydraulic servo threshold voltage U between the two required for appropriate damping force is provided
The value of voltage U exports required damping force from the value by controlling voltage U, and the variation essence of voltage U is by damped coefficient
Variation causes the change of damping force, exports required damping force and carries out vibration control.
Fig. 2 is active variable damping device, Q1With Q2Respectively from the flow of the left and right chamber fluid of hydraulic cylinder 1；P1With P2Respectively
For the left and right intracavitary pressure of hydraulic cylinder 1；V1With V2Respectively from the volume of the left and right chamber of hydraulic cylinder 1；udTo act on piston rod 2
On power.Increase electrohydraulic servo valve 4 in traditional viscid fluid damper, is controlled by the openings of sizes of electrohydraulic servo valve 4
Damping force is indirectly controlled by flowing into the fluid flow on the left of cylinder body on the right side of 1 cylinder body of hydraulic cylinder.According to tower structure in fluctuating wind
Real-time dynamic response under load effect is calculated needed for antivibration by fuzzy logic inference and semi-active control algorithm
Then optimal damper power controls electro-hydraulic servo valve events, realize that changing damping force in real time is optimal antivibration effect.
Semi- active control is calculated based on Algorithm of Active Control by the real-time power feedback of blower fan tower barrel structure
To optimal active controlling force, and by the damped coefficient of semi-active control algorithm adjusting active variable damping device, make its generation
The equivalent control force with optimal active controlling force, to realize the effect of Structure Active Control.
Semi- active control can utmostly realize that the premise of active optimal control results is the big portion of optimal active controlling force
It point should be the form of interlayer damping force.In order to guarantee that optimal active controlling force can be in the form of interlayer damping force to tower structure
It is controlled, the maximum damping force of active variable damping or passive variable damping device is enabled to be equal to corresponding maximum optimal active first
Control force, then establishing reasonable semi-active control algorithm makes active variable damping device real-time tracking as much as possible and realizes optimal
Active controlling force.
Fig. 3 is the damped coefficient change section of active variable damping device under semi- active control state, cdmin、cdmaxIt is watched to be electro-hydraulic
Take valve 4 fully open with minimum and maximum damped coefficient corresponding under closed state, when the opening of electrohydraulic servo valve 4 completely closes
When, active variable damping device damped coefficient at this time reaches maximum cdmax, damper provides maximum damping force and offsets tower
The dynamic response of structure, tower structural dynamic response at this time are larger；When the opening of electrohydraulic servo valve 4 fully opens, at this time
Active variable damping device damped coefficient reaches minimum value cdmin, TMD damper 10 provides minimum damping force to offset tower structure
Dynamic response, tower structural dynamic response at this time is smaller；When tower structural dynamic response is in view of the larger value and smaller value
Between when, electrohydraulic servo valve openings of sizes degree, depending on the size of damping force needed for antivibration, it is smaller that damping force gets over big opening,
The damped coefficient of active variable damping device just changes in the fan-shaped region of Fig. 3 at this time.
Fig. 4 a is the scheme of installation of TMD damper, and TMD damper 10 is mounted in support plate 6, the bottom of tower structure
Equipped with wheel 7, when tower structure remains static, without opposite between damper 10 and tower structure lead ring 8 and steel column 5
Movement, when tower structure is generated dynamic response by wind load action, tower structure lead ring 8, steel column 5 and damper 10 it
Between generate relative motion, damper 10 changes damped coefficient by fuzzy logic inference and semi-active control algorithm, and output is appropriate
Damping force to reduce the relative motion between damper and tower structure, to reduce the dynamic response of tower structure.
As shown in Figure 4 b, the action direction of wind load suffered by tower structure is random, so the vibration side of tower structure
To be also it is random, in order to embody tower structure and damper be likely to that relative motion occurs in all directions, design
When the damper 10 and spring 9 in eight directions are established around tower construction geometry center, opposite fortune is generated on which direction
Dynamic maximum, the dynamic response on which direction is just maximum, and damper will provide damping force in this direction and carry out vibration control.
The TMD system of blower fan tower barrel structure is established
Optimal Control Force is acquired according to active optimal control algorithm LQR, semi-active control algorithm controls active variable damping dress
It sets and realizes active optimum control to the greatest extent.When controlling blower fan tower barrel first vibration mode, TMD system is mounted on blower fan tower barrel top
Hold control effect best.Therefore one TMD device is installed in blower fan tower barrel top layer, force analysis schematic diagram is as shown in Figure 5.
Installation TMD control system changes the dynamic characteristics of former blower fan tower barrel structure, the mould of blower fan tower barrel TMD system structure
State analysis is the results show that as shown in fig. 6, by vibration control is carried out to the first formation of blower fan tower barrel TMD system structure.Table 1 arranges
The preceding 4 first order mode mode of blower fan tower barrel TMD system structure is gone out.
The preceding 4 order frequency table of 1 blower fan tower barrel TMD system structure of table
TMD mass of system is md, damping be cd, spring rate kd.Blower fan tower barrel TMD system structure is in impulsive wind load
Vibration equation under effect are as follows:
In formula (9): { FTMDIt is active force of the TMD to structure, expression are as follows:
C in formula (10)dFor damping, xdFor spring rate, xjIt is TMD and structure jth layer quality relative to ground displacement.
The equation of motion of TMD are as follows:
In formula (11): xdFor spring rate, xjIt is TMD and structure jth layer quality relative to ground displacement.
When only considering first vibration mode, obtained by equation (12):
In formula (12): v=xd-xjDisplacement for TMD relative to tower structure jth layer；μ=md/M1For TMD mass and knot
Structure generalized mass ratio；ξd=cd/(2mdωd) be TMD damping ratio:For the natural frequency of vibration of TMD.
After TMD is installed, displacement mean-square value of the blower fan tower barrel structure in top particle m are as follows:
In formula (13): HqFirst vibration mode transmission function when (ω)-installs a TMD, expression formula are as follows:
Blower fan tower barrel semi- active control finite element simulation.
The difference of wind regime leads to the difference of blower fan tower barrel stature dynamic-load response, and then leads to optimal active controlling force and active
The difference of the damped coefficient of variable damping device.So we can by be directly changed the damped coefficient of active variable damping device come
Effect instead of different wind regime to blower fan tower barrel structure.Thus by finite element come the dynamic response of simulates blower fan tower structure.
We respectively in specified wind regime, cut out and observe the dynamic response of blower fan tower barrel structure under wind regime and limit wind regime.And by setting
Specified wind regime bottom offset reaction vibration control Contrast on effect such as Fig. 7 of variation is set, specific response parameter value is listed by table 2.
Response table under the specified wind regime of table 2
Cut out speed responsing vibration control Contrast on effect such as Fig. 8 under wind regime.Specific response parameter value is listed by table 3.
Table 3 cuts out the response table under wind regime
Acceleration vibration control Contrast on effect such as Fig. 9 under limit wind regime.Specific response parameter value is listed by table 4.
Response table under 4 limit wind regime of table
In order to more intuitively show the superiority of semi- active control, we respectively under three kinds of wind regime without control, it is passive, half
Active control effect merges, as shown in figs. 10,11 and 12.
By figure 10 above, Figure 11 and Figure 12, we are not difficult to find out, during wind regime variation, compared to without control and passive control
It makes, the displacement of blower fan tower barrel structure top end, speed, acceleration response are obviously reduced under semi- active control mode, and with wind
Condition is cut out and the damped coefficient of the process TMD active variable damping system of the limit then changes from small to big by specified change to.Especially exist
Under the changeable wind regime of fan operation environment, semi- active control can provide the damping force of variable damped coefficient, so half active
The advantage of control becomes apparent from.Semi- active control stable can carry out wind vibration control to blower fan tower barrel structure, and passive
It controls and the response without blower fan tower barrel under control state is as the variation of wind regime linearly increases exponentially.
According to analog simulation comparing result, the control effect of semi- active control is significantly better than passive control.Actively half
Under control mode, wind regime from it is specified become the limit during, the maximum displacement of blower fan tower barrel structure top end is become from 0.33m
0.58m increases 0.7 times, and reviews passive control and without the respectively original displacement of blower fan tower barrel top maximum displacement under control state
4.3 times and 3.8 times.This has absolutely proved in the changeable environment of wind regime semi- active control mode in especially rugged environment
Vibration control effect more stability and high efficiency.In addition wind regime from it is specified become cutting out during blower fan tower barrel structure top end most
It is 1.3 times be displaced originally that the situation of change of big displacement, which is respectively as follows: under semi- active control, and passive control is lower to be displaced originally
1.6 times, be 1.4 times be displaced originally in the case of no control.Illustrate in general wind regime change procedure semi- active control and passive
The vibration control effect of control is similar, can play certain control action.But the environment changeable in exceedingly odious wind regime
The vibration control effect stability of middle semi- active control is efficient, but the vibration control effect of passive control mode just significantly drops
It is low.Vibration control can be carried out for multiple driving frequencies using semi- active control mode simultaneously, it can be according to the change of wind regime
Change the damping output of automatic adjustment TMD system to adapt to rugged environment variation.
The excitation of many different frequencies can be encountered in the actual operational process of blower fan tower barrel, this results in traditional TMD quilt
It is dynamic to control the effect for losing vibration control, or even the dynamic response of blower fan tower barrel structure can be increased.Traditional TMD vibration insulating system meeting
It is limited by tuning range, and the damped coefficient under semi- active control can be automatic according to the size of tower stature dynamic-load response
Variation is adjusted, so not limited by tuning range.This theoretically explains the semi- active control of TMD system than passive control
More superiority.The parameter that TMD can be adjusted at any time according to the variation of environmental excitation using semi- active control mode, makes actively to become
Damping system remains an efficiently optimal state of a control.
The present invention first passes through the optimal active controlling force that blower fan tower barrel wind-induced vibration is calculated in Algorithm of Active Control, then
Optimal Control Force is converted into actively rheostatic damping force by semi-active control algorithm, according to active rheostat damping force with
Control planning between the voltage of electro-hydraulic electrohydraulic servo valve, the value of the anti-voltage for releasing electro-hydraulic electrohydraulic servo valve pass through control electricity
The voltage of liquid electrohydraulic servo valve carries out vibration control to export appropriate damping force, since semi- active control does not need offer volume
Outer power source can realize the control effect of active control to the greatest extent, economical and practical.
Disclosed above is only several specific embodiments of the invention, and still, the embodiment of the present invention is not limited to this, is appointed
What what those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (8)
1. a kind of semi-active control method of blower fan tower barrel wind-induced vibration, which comprises the following steps:
S1, optimal active control needed for blower fan tower barrel wind vibration control is calculated by the Algorithm of Active Control of vibration control
Power processed；
S2, it is filled by the active variable damping that the semi-active control algorithm of blower fan tower barrel wind-induced vibration adjusts blower fan tower barrel wind-induced vibration
The damped coefficient set makes the active variable damping device of blower fan tower barrel wind-induced vibration generate the optimal master with blower fan tower barrel wind-induced vibration
The equivalent control force of dynamic control force；
The variation of active variable damping device damping force is to be realized by the change of damped coefficient, and the change of damped coefficient passes through
The openings of sizes of electrohydraulic servo valve is realized, and the openings of sizes of electrohydraulic servo valve is controlled by servo voltage；
The damping force numerical value that semi-active control algorithm enables active variable damping device export is equal to or is infinitely close to optimal active control
Power processed extrapolates control required for providing appropriate damping force according to the relationship between damping force and electrohydraulic servo valve servo voltage
The value of voltage, damping force needed for the value by controlling voltage controls output, the variation of voltage is the variation by damped coefficient
The change for causing damping force exports required damping force and carries out blower fan tower barrel wind vibration control.
2. the semi-active control method of blower fan tower barrel wind-induced vibration as described in claim 1, which is characterized in that the step S2
In semi-active control algorithm the following steps are included:
S21, the mathematical model of blower fan tower barrel optimum control are as follows:
In formula (1): { x }={ x1, x2..., xnIt is motion vector；[M] is the quality of blower fan tower barrel structure；[C] is blower fan tower barrel
The damping of structure；[K] is the stiffness matrix of blower fan tower barrel structure；{ f } is the load vectors acted on blower fan tower barrel；{ F } is
Optimal active control force vector；
S22, formula (1) is rewritten into using generalized displacement and generalized velocity as the state equation of unknown number:
In formula (2): { Q } is space state variable；[q] is r dimension master
Coordinate vector；[A] is sytem matrix,[M in [A]*]=[φ]T
[M][φ]；[K*]=[φ]T[K][φ]；[C*]=[φ]T[C][φ]；[φ] is n × r first order mode matrix in [A]；[B] is
Matrix is controlled,[M in [B]*]=[φ]T[M] [φ], [φ] are n × r first order mode matrix；
[D] is transmission matrix；It [0] is null matrix；[I] is unit matrix；{f*}=[M*]-1[φ]T{f}；In [D]
[φ] is n × r first order mode matrix；{ y } is state variable；
S23, control system benefit measured by following objective functions:
In formula (3): tfFor the duration of dynamic load(loading)；E is the elasticity modulus of structural material；{ Q } is space state variable；[S]
For tower structure broad sense reactiveness vector weighting matrix；[R] is the weighting matrix of control force；{ F } is control force vector；T is
The oeprator of transposed matrix；
S24, the optimal active control force vector { F } of solution are just to solve for minimum of the formula (3) under formula (2).
3. the semi-active control method of blower fan tower barrel wind-induced vibration as claimed in claim 2, which is characterized in that the step
Solution Optimal Control Force { F } in S24 passes through:
For structural vibration control problem, the weighting square of tower structure broad sense reactiveness vector weighting matrix [S] and control force
Battle array [R] takes following form:
β=6 × 10 in formula (4)-8；[K] is the stiffness matrix of blower fan tower barrel structure；[M] is the mass matrix of blower fan tower barrel structure；
I is unit matrix；
Finally acquire optimal active control force vector are as follows:
U (t)=- GQ (t) (5)
In formula: G=[R]-1[B]TP；P meets Riccati matrix equation；Q (t) is the state of system t moment,
P matrix is solved by formula (6) in formula (5):
ATP+PA-PBR-1BTP+Q=0 (6)
In formula (6), A is sytem matrix, and B is control matrix, and R is the weighting matrix of control force, and Q is space state variable, by formula
(5) optimal active controlling force can be obtained.
4. the semi-active control method of blower fan tower barrel wind-induced vibration as claimed in claim 3, which is characterized in that described
In formula (7): U (t) is the damping force that active variable damping device provides；cidIt (t) is the damped coefficient of active variable damping device；Speed for active variable damping device relative to tower structure；uiFor optimal active controlling force；
The obtained damping force of semi-active control algorithm is following form:
In formula (8):For the sign function relative to control device speed；fidmax、fidminRespectively damped coefficient is
Minimax damping force when minimum and maximum.
5. the semi-active control method of blower fan tower barrel wind-induced vibration as described in claim 1, which is characterized in that the active becomes
Control planning between the damping force and electrohydraulic servo valve servo voltage of damping unit are as follows:
In formula (9): udIt is for the power of effect on the piston rod；cd(u, t) is the damped coefficient of active variable damping device,Actively to become
The relative velocity of damper；U is the voltage being applied on active variable damping device (10) on electrohydraulic servo valve (4), and V indicates hydraulic cylinder
Volume；
The numerical value of the damping force of active variable damping device is equal to optimal active controlling force, obtains electrohydraulic servo valve (4) by formula (9)
The size of voltage u, by controlling the voltage u of electrohydraulic servo valve (4), so that exporting appropriate damping force carries out blower fan tower barrel charming appearance and behaviour
Vibration control.
6. the semi-active control method of blower fan tower barrel wind-induced vibration as described in claim 1, which is characterized in that the step S1
In Algorithm of Active Control to calculate optimal active controlling force be by blower fan tower barrel by sensor by tower under wind load action
To computer control system, computer control system is calculated according to active control for the displacement at top, velocity and acceleration real-time delivery
Method calculates optimal active controlling force needed for vibration control.
7. the semi-active control method of blower fan tower barrel wind-induced vibration as described in claim 1, which is characterized in that the active becomes
Damping unit is TMD active rheostat, comprising: filling in hydraulic cylinder (1), piston (2) and electrohydraulic servo valve (4), hydraulic cylinder (1)
Have oil liquid (3), piston (2) setting is in hydraulic cylinder (1), and the two sides of piston (2) are equipped with piston rod, and two piston rods are stretched respectively
Hydraulic cylinder (1) out, the two sides side of hydraulic cylinder (1) upper piston (2) are equipped with oil inlet, and side is equipped with oil outlet, oil inlet with go out
Oil liquid pipeline is equipped between hydraulic fluid port, oil liquid pipeline is located at hydraulic cylinder (1) outside, and electrohydraulic servo valve (4) is arranged on oil liquid pipeline, electricity
Hydraulic servo (4) is connect with computer control system.
8. the semi-active control method of blower fan tower barrel wind-induced vibration as claimed in claim 7, which is characterized in that the blower tower
The structure of cylinder includes: steel column (5), support plate (6), wheel (7) and blower fan tower barrel lead ring (8)；Steel column (5) is fixed on support plate
(6) centre, blower fan tower barrel lead ring (8) cover in the outside of steel column (5), and the bottom of blower fan tower barrel lead ring (8) is equipped with multiple wheels
(7), multiple springs (9) and multiple TMD active rheostats (10), multiple bullets are equipped between steel column (5) and blower fan tower barrel lead ring (8)
Spring (9) and multiple TMD active rheostats (10) are spaced apart, one, two piston rods and steel column of TMD active rheostat (10)
(5) it is fixedly connected, another is fixedly connected with blower fan tower barrel lead ring (8).
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| WO2021000291A1 (en) * | 2019-07-03 | 2021-01-07 | 广州建筑股份有限公司 | Horizontal vibration control method for high-altitude lifting construction |
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