CN109270967B - Semi-active control method for wind-induced vibration of fan tower - Google Patents
Semi-active control method for wind-induced vibration of fan tower Download PDFInfo
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Abstract
The invention relates to the technical field of wind power generation equipment, and discloses a semi-active control method for wind-induced vibration of a fan tower, which comprises the following steps: calculating to obtain the optimal active control force required by wind-induced vibration control of the tower drum of the fan through an active control algorithm; the semi-active control algorithm enables the damping force value output by the active variable damping device to be equal to or infinitely close to the optimal active control force, the value of control voltage required by providing proper damping force is calculated according to the relation between the damping force and the servo voltage of the electro-hydraulic servo valve, the required damping force is controlled and output through the value of the control voltage, the change of the voltage causes the change of the damping force through the change of the damping coefficient, and the required damping force is output to control the wind-induced vibration of the fan tower cylinder.
Description
Technical Field
The invention relates to the technical field of wind power generation equipment, in particular to a semi-active control method for wind-induced vibration of a tower drum of a fan.
Background
The vibration control of the tower drum of the wind turbine is one of key technologies of a wind generating set, the global wind power loading capacity is increased year by year along with the transformation development of an energy structure, and the wind turbine accidents are increased year by year along with the transformation development of the energy structure. Insufficient structural stability of the tower is one of the important reasons.
A fan tower section of thick bamboo belongs to the gentle structure of height, and novel fan unit power crescent, the blade extends gradually, and a tower section of thick bamboo increases gradually. This puts higher demands on the structural stability of the wind turbine tower. The traditional method for enhancing the structural stability of the high-flexibility structure by enhancing the structural parameters of the high-flexibility structure is neither reasonable nor economical.
In the aspect of vibration control of a towering structure, scholars at home and abroad make many researches on relevant aspects and obtain a good control effect. Chenxin analyzes and researches the suspended TMD damping dynamic test of the self-standing towering structure; the tretron applies a structural vibration control technology and adopts a suspended TMD to control wind-induced vibration of an offshore fan tower cylinder; li shui brightness adopts multiple TMD to control the vibration of fan tower section of thick bamboo, enlarges TMD effective control frequency band scope, reduces the sensitivity of TMD system to fan tower section of thick bamboo structure tuned frequency. The TMD passive vibration control method adopted by the wind turbine tower drum by P.J.Murtagh and the like gives specific parameters of the control device through deep research, and analyzes the difference of damping ratio and control effect. In the aspect of single passive control, the ancestors have optimized and improved from multiple aspects, and achieve better control effect.
However, the passive TMD control method can only control the response of a certain mode, and the control effect is very sensitive to the frequency of the controlled mode, and secondly, the TMD system has limited control capability to the structure within a limited mass range, so the passive control effect is not ideal. While active control may be optimally controlled based on the dynamic response of the structure, active control requires an additional power source. May be limited in extreme climatic conditions. Under the condition that the passive control vibration attenuation effect is not ideal and the condition for realizing active control is not mature, the semi-active control mode for wind-induced vibration of the tower drum of the wind turbine is provided. And solving the optimal control force by adopting an active optimal control algorithm LQR. And controlling the active variable damping device through a semi-active control algorithm to realize the control of the vibration of the tower drum structure.
Disclosure of Invention
The invention provides a semi-active control method for wind-induced vibration of a fan tower barrel, which can solve the problems in the prior art.
The invention provides a semi-active control method for wind-induced vibration of a fan tower, which comprises the following steps of:
s1, calculating to obtain the optimal active control force required by wind-induced vibration control of the tower drum of the wind turbine through an active control algorithm of vibration control;
calculating the vibration response characteristic of the fan tower drum by adopting a linear quadratic form (LQR) algorithm to obtain the optimal active control force;
s2, adjusting the damping coefficient of the active variable damping device of the wind-induced vibration of the wind-induced tower drum through a semi-active control algorithm of the wind-induced vibration of the wind-induced tower drum, so that the active variable damping device of the wind-induced vibration of the wind-induced tower drum generates a control force equivalent to the optimal active control force of the wind-induced vibration of the wind-induced tower drum;
the change of the damping force of the active damping change device is realized by the change of the damping coefficient, the change of the damping coefficient is realized by the opening size of the electro-hydraulic servo valve, and the opening size of the electro-hydraulic servo valve is controlled by the servo voltage;
the semi-active control algorithm enables the value of the damping force output by the active variable damping device to be equal to or infinitely close to the optimal active control force, the value of the control voltage required by providing proper damping force is calculated according to the relation between the damping force and the servo voltage of the electro-hydraulic servo valve, the required damping force is controlled and output through the value of the control voltage, the change of the voltage is the change of the damping force caused by the change of the damping coefficient, and the required damping force is output to carry out wind-induced vibration control on the tower drum of the fan.
The semi-active control algorithm in step S2 includes the following steps:
s21, the mathematical model of the optimal control of the wind turbine tower is as follows:
in formula (1): { x } - { x1，x2，…，xnIs the displacement vector; [ M ] A]The mass of the wind turbine tower structure; [ C ]]Damping for a fan tower drum structure; [ K ]]A stiffness matrix of a fan tower structure; { f } is a load vector acting on the fan tower; { F } is the optimal active control force vector;
s22, rewriting the formula (1) into a state equation with the generalized displacement and the generalized velocity as unknowns:
in formula (2): { Q } is a space state variable;
[q]is a r-dimensional main coordinate vector; [ A ]]Is a systemThe matrix is a matrix of a plurality of matrices,
[A]middle [ M ]*]＝[φ]T[M][φ]；[K*]＝[φ]T[K][φ]；[C*]＝[φ]T[C][φ]；[A]Middle diameter]Is an n multiplied by r order vibration mode matrix; [ B ]]In order to control the matrix of the control,
[B]middle [ M ]*]＝[φ]T[M][φ]，[φ]Is an n multiplied by r order vibration mode matrix; [ D ]]Is a transmission matrix;
[0]is a zero matrix; [ I ] of]Is an identity matrix; { f*}＝[M*]-1[φ]T{f}；[D]Middle diameter]Is an n multiplied by r order vibration mode matrix; { y } is a state variable;
s23, the benefit of the control system is measured by the following objective function:
in formula (3): t is tfIs the duration of the dynamic load; e is the modulus of elasticity of the structural material; { Q } is a space state variable; [ S ]]Weighting matrix of generalized reaction state vector of tower structure; [ R ]]Is a weighting matrix of the control forces; { F } is the control force vector; t is an operation symbol of the transposition matrix;
s24, solving the optimal active control force vector { F } is to solve the minimum value of the equation (3) under the equation (2).
Solving for the optimal control force { F } in said step S24 by:
for the structural vibration control problem, the tower drum structure generalized reaction state vector weighting matrix [ S ] and the weighting matrix [ R ] of the control force take the following forms:
in the formula (4), β is 6 × 10-8；[K]A stiffness matrix of a fan tower structure; [ M ] A]The quality matrix is a fan tower drum structure; i is an identity matrix;
finally, the optimal active control force vector is obtained as follows:
U(t)＝-GQ(t) (5)
in the formula: g ═ R]-1[B]TP; p satisfies the Riccati matrix equation; q (t) is the state of the system at time t,
the P matrix in equation (5) is solved by equation (6):
ATP+PA-PBR-1BTP+Q＝0 (6)
in the formula (6), A is a system matrix, B is a control matrix, R is a weighting matrix of the control force, and Q is a space state variable, and the optimal active control force can be obtained by the formula (5).
The above-mentioned
In formula (7): u (t) is the damping force provided by the active variable damping device; c. Cid(t) is the damping coefficient of the active variable damping device;
the speed of the active variable damping device relative to the tower structure; u. ofiThe optimal active control force is obtained;
the damping force obtained by the semi-active control algorithm is in the form:
in formula (8):
as a function of sign relative to the speed of the control device; f. ofidmax、fidminThe maximum and minimum damping forces when the damping coefficient is maximum and minimum, respectively.
The control relation between the damping force of the active variable damping device and the servo voltage of the electro-hydraulic servo valve is as follows:
in formula (9): u. ofdIs the force acting on the piston rod; c. Cd(u, t) is the damping coefficient of the active variable damper,
the relative speed of the active variable damper; u is the voltage applied to the electro-hydraulic servo valve on the active variable damper, and V represents the volume of the hydraulic cylinder;
the value of the damping force of the active variable damping device is equal to the optimal active control force, the voltage u of the electro-hydraulic servo valve is obtained through the formula (9), and the appropriate damping force is output to control the wind-induced vibration of the tower drum of the fan by controlling the voltage u of the electro-hydraulic servo valve.
The step S1 of calculating the optimal active control force by the active control algorithm is to transmit the displacement, speed and acceleration of the top of the tower drum under the wind load of the wind turbine tower drum to the computer control system in real time through the sensor, and the computer control system calculates the optimal active control force required by the vibration control according to the active control algorithm.
The active damping-changing device is a TMD active rheostat, comprising: the hydraulic cylinder, the piston, the electro-hydraulic servo valve and the computer control system are connected with each other through a computer control system.
The structure of fan tower section of thick bamboo includes: the device comprises a steel column, a supporting plate, wheels and a lead ring of a fan tower; the steel column is fixed in the middle of the supporting plate, the fan tower cylinder lead ring is sleeved on the outer side of the steel column, a plurality of wheels are arranged at the bottom of the fan tower cylinder lead ring, a plurality of springs and a plurality of TMD active varistors are arranged between the steel column and the fan tower cylinder lead ring and distributed at intervals, one of two piston rods of each TMD active rheostat is fixedly connected with the steel column, and the other piston rod of each TMD active rheostat is fixedly connected with the fan tower cylinder lead ring.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the optimal active control force of wind-induced vibration of the fan tower cylinder is obtained through calculation of an active control algorithm, then the optimal control force is converted into the damping force of the active rheostat through a semi-active control algorithm, the value of the voltage of the electro-hydraulic servo valve is reversely deduced according to the control relation between the damping force of the active rheostat and the voltage of the electro-hydraulic servo valve, and the appropriate damping force is output for vibration control by controlling the voltage of the electro-hydraulic servo valve.
Drawings
Fig. 1 is a control flow chart of the semi-active control method of the present invention.
Fig. 2 is a schematic structural diagram of the active variable damping device of the present invention.
FIG. 3 is a schematic diagram of a damping coefficient variation range of the active variable damper under the semi-active control state according to the present invention.
FIG. 4a is a schematic view of the mounting structure of the TMD damper of the present invention.
FIG. 4b is a schematic cross-sectional view of the TMD damper according to the present invention.
FIG. 5 is a schematic view of TMD stress analysis of a wind turbine tower structure according to the present invention.
FIG. 6 shows a 3 rd order mode shape of the TMD system mechanism of the tower of the wind turbine of the present invention.
FIG. 7 is a comparison of the displacement response under rated wind conditions according to the present invention.
FIG. 8 is a comparison of the velocity response for the cut-out wind condition of the present invention.
FIG. 9 is a comparison of acceleration response under extreme wind conditions in accordance with the present invention.
FIG. 10 is a comparison of the shift response of the present invention for different control modes under three wind conditions.
FIG. 11 is a comparison of the velocity response of different control regimes for three wind conditions according to the present invention.
FIG. 12 is a comparison of acceleration response for different control modes under three wind conditions in accordance with the present invention.
Fig. 13 is a flow chart of a control method of the present invention.
Description of reference numerals:
1-hydraulic cylinder, 2-piston, 3-oil, 4-electro-hydraulic servo valve, 5-steel column, 6-supporting plate, 7-wheel, 8-lead ring of wind turbine tower, 9-spring and 10-TMD active rheostat.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to fig. 1-13, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 and 13, the optimal control force required by the tower vibration control is obtained according to the active optimal control algorithm LQR, and then the active control force is tracked and realized in real time by using the semi-active control algorithm: and the semi-active control algorithm enables the damping force provided by the TMD active variable damper to be equal to the optimal active control force in value, and then corresponding vibration control is carried out according to the real-time vibration response characteristic of the tower drum structure. The change of the damping force of the TMD active variable damper is realized by the change of the damping coefficient, the change of the damping coefficient is realized by the opening size of the electro-hydraulic servo valve, and the opening size of the electro-hydraulic servo valve is controlled by the servo voltage, so that the damping force of the TMD active variable damper is controlled by the voltage U of the electro-hydraulic servo valve. The semi-active control algorithm obtains an optimal active control force according to the active optimal control algorithm, then the semi-active control algorithm enables the damping force provided by the TMD active rheostat to be equal to the optimal active control force, then the magnitude relation of U is obtained according to the relation between the TMD damping force and the voltage U of the electro-hydraulic servo valve, the control damping force required by the known vibration control is obtained in the control process, the value is equal to the optimal active control force, the value of the voltage U is reversely deduced, and therefore the proper damping force is output to conduct vibration control. There is one process cycle in the control process: the sensor transmits the real-time vibration response characteristic of the tower drum structure to an active control algorithm, the active control algorithm calculates the optimal control force required by vibration control, then a semi-active control algorithm enables the damping force output by the TMD active variable damper to be equal to or infinitely close to the optimal active control force in numerical value, the value of voltage U required for providing proper damping force is calculated according to the relation between the TMD damping force and the voltage U of the electro-hydraulic servo valve, the required damping force is output by controlling the value of the voltage U, and the change of the voltage U is substantially that the change of the damping force is caused by the change of the damping coefficient, and the required damping force is output to carry out vibration control.
FIG. 2 shows an active variable damping device, Q1And Q2Respectively the flow rates of the fluid in the left cavity and the right cavity of the hydraulic cylinder 1; p1And P2The pressure in the left cavity and the pressure in the right cavity of the hydraulic cylinder 1 are respectively; v1And V2The volumes of the left cavity and the right cavity of the slave hydraulic cylinder 1 are respectively; u. ofdIs the force acting on the piston rod 2. In the conventional viscous fluid damper, an electro-hydraulic servo valve 4 is added, and the damping force is indirectly controlled by controlling the flow rate of fluid flowing from the right side of the cylinder body of the hydraulic cylinder 1 to the left side of the cylinder body through the opening size of the electro-hydraulic servo valve 4. According to the real-time dynamic response of the tower drum structure under the action of pulsating wind load, the optimal damping force required by vibration resistance is calculated through fuzzy logic reasoning and a semi-active control algorithm, and then the electro-hydraulic servo valve is controlled to act, so that the damping force is changed in real time to achieve the optimal vibration resistance effect.
The semi-active control is to calculate and obtain the optimal active control force on the basis of an active control algorithm through real-time power feedback of the wind turbine tower structure, and adjust the damping coefficient of the active variable damping device through the semi-active control algorithm to generate the control force equivalent to the optimal active control force, so that the effect of active control of the structure is realized.
The premise that the semi-active control can realize the active optimal control effect to the maximum extent is that most of the optimal active control force should be in the form of interlayer damping force. In order to ensure that the optimal active control force can control the tower drum structure in the form of interlayer damping force, the maximum damping force of the active variable damping device or the passive variable damping device is made equal to the corresponding maximum optimal active control force, and then a reasonable semi-active control algorithm is established to enable the active variable damping device to track and realize the optimal active control force as far as possible in real time.
FIG. 3 shows a variation range of damping coefficient of the active variable damper in a semi-active control state, cdmin、cdmaxThe minimum and maximum damping coefficients corresponding to the fully opened and closed states of the electro-hydraulic servo valve 4, when the opening of the electro-hydraulic servo valve 4 is fully closed, the damping coefficient of the active variable damping device reaches the maximum value cdmaxThe damper provides the maximum damping force to offset the dynamic response of the tower drum structure, and the dynamic response of the tower drum structure is larger at the moment; when the opening of the electro-hydraulic servo valve 4 is completely opened, the damping coefficient of the active variable damping device reaches the minimum value cdminThe TMD damper 10 provides the minimum damping force to offset the dynamic response of the tower drum structure, and the dynamic response of the tower drum structure is smaller at the moment; when the dynamic response of the tower barrel structure is between a large value and a small value, the opening degree of the electro-hydraulic servo valve depends on the damping force required by vibration resistance, the larger the damping force is, the smaller the opening is, and at the moment, the damping coefficient of the active variable damping device is changed in the sector area of the figure 3.
Fig. 4a is an installation diagram of a TMD damper, the TMD damper 10 is installed on a support plate 6, wheels 7 are arranged at the bottom of a tower tube structure, when the tower tube structure is in a static state, there is no relative motion between the damper 10 and a lead ring 8 and a steel column 5 of the tower tube structure, when the tower tube structure is subjected to a wind load to generate a dynamic response, relative motion is generated between the lead ring 8, the steel column 5 and the damper 10 of the tower tube structure, the damper 10 changes a damping coefficient through fuzzy logic reasoning and a semi-active control algorithm, and outputs an appropriate damping force to reduce the relative motion between the damper and the tower tube structure, so as to reduce the dynamic response of the tower tube structure.
As shown in fig. 4b, the acting direction of the wind load borne by the tower tube structure is random, so the vibration direction of the tower tube structure is also random, in order to show that the tower tube structure and the damper are likely to generate relative motion in all directions, the damper 10 and the spring 9 in eight directions are established around the geometric center of the tower tube structure during design, the relative motion generated in which direction is the largest, the power response in which direction is the largest, and the damper can provide damping force in the direction to perform vibration control.
TMD system establishment of wind turbine tower structure
And obtaining the optimal control force according to the active optimal control algorithm LQR, and controlling the active variable damping device to realize active optimal control to the maximum extent by using the semi-active control algorithm. When the first vibration mode of the fan tower is controlled, the TMD system is mounted at the top end of the fan tower, and the control effect is the best. Therefore, a TMD device is installed on the top layer of the tower of the wind turbine, and a simple stress analysis diagram of the TMD device is shown in fig. 5.
The installation of the TMD control system changes the dynamic characteristics of the original wind turbine tower structure, and the modal analysis result of the wind turbine tower TMD system structure shows that the vibration control is performed on the first array of the wind turbine tower TMD system structure as shown in FIG. 6. Table 1 lists the first 4 order mode shapes of the TMD system structure of the wind turbine tower.
TABLE 1 front 4-order frequency table of TMD system structure of wind turbine tower
Mass of TMD system is mdDamping is cdSpring rate kd. The vibration equation of the TMD system structure of the tower drum of the fan under the action of fluctuating wind load is as follows:
in formula (9): { FTMDThe force of TMD on the structure is expressed as:
in the formula (10) cdFor damping, xdIs the spring rate, xjThe displacement of TMD and the j-th layer mass of the structure relative to the ground.
The equation of motion for TMD is:
in formula (11): x is the number ofdIs the spring rate, xjThe displacement of TMD and the j-th layer mass of the structure relative to the ground.
Considering only the first mode shape, we have the following equation (12):
in formula (12): v ═ xd-xjDisplacement of the TMD relative to the jth layer of the tower structure; mu-md/M1Is the ratio of TMD mass to structural generalized mass; xid＝cd/(2mdωd) Damping ratio for TMD:
is the natural frequency of TMD.
After the TMD is installed, the displacement mean square value of the wind turbine tower tube structure at the top end mass point m is as follows:
in formula (13): hq(ω) -first mode shape transfer function when one TMD is installed, the expression is as follows:
and (5) performing semi-active control finite element simulation on the wind turbine tower.
The difference of wind conditions causes the difference of the power response of the tower drum structure of the fan, and further causes the difference of the optimal active control force and the damping coefficient of the active variable damping device. Therefore, the effect of different wind conditions on the tower structure of the wind turbine can be replaced by directly changing the damping coefficient of the active variable damping device. Therefore, the power reaction of the wind turbine tower structure is simulated through the finite element. We observe the dynamic response of the wind turbine tower structure under rated wind conditions, cut-out wind conditions and extreme wind conditions, respectively. And the specific response parameter values are listed in table 2 for example, by setting the displacement responsive vibration control effect pairs for varying rated wind conditions, such as fig. 7.
TABLE 2 response Table under rated wind conditions
The velocity response vibration control effect pair for the cut-out wind condition is shown in fig. 8. The specific response parameter values are listed in table 3.
TABLE 3 response Table under cut-out wind conditions
The acceleration vibration control effect pair under extreme wind conditions is shown in fig. 9. The specific response parameter values are listed in table 4.
TABLE 4 response Table under extreme wind conditions
In order to more intuitively display the superiority of the semi-active control, the effects of the uncontrolled, passive and semi-active control under three wind conditions are respectively combined together, as shown in fig. 10, fig. 11 and fig. 12.
It can be easily seen from fig. 10, 11 and 12 that, in the process of wind condition change, compared with the uncontrolled and passive control, the displacement, speed and acceleration response of the top end of the wind turbine tower structure in the semi-active control mode is obviously reduced, and the damping coefficient of the TMD active variable damping system is changed from small to large along with the process that the wind condition is changed from rated to cut-out and limited. Particularly under the wind condition that the operating environment of the fan is variable, the semi-active control can provide damping force with variable damping coefficient, so that the advantage of the semi-active control is more obvious. The semi-active control can stably control wind-induced vibration of the wind turbine tower structure, and the response of the wind turbine tower is linearly multiplied along with the change of wind conditions in a passive control state and an uncontrolled state.
According to the analog simulation comparison result, the control effect of the semi-active control is obviously better than that of the passive control. In a semi-active control mode, in the process that the wind condition is changed from a rated value to a limit, the maximum displacement of the top end of the fan tower cylinder structure is changed from 0.33m to 0.58m, and is increased by 0.7 time, and the maximum displacement of the top end of the fan tower cylinder in an adverse passive control state and an uncontrolled state is respectively 4.3 times and 3.8 times of the original displacement. This fully demonstrates that the vibration control effect of the semi-active control mode is more stable and efficient in the environment with variable wind conditions, especially in the severe environment. In addition, the variation conditions of the maximum displacement of the top end of the tower structure of the fan during the process of changing the wind condition from rated to cut-out are respectively as follows: the displacement is 1.3 times of the original displacement under the semi-active control, 1.6 times of the original displacement under the passive control, and 1.4 times of the original displacement under the uncontrolled condition. The vibration control effect of the semi-active control and the passive control in the general wind condition change process is almost the same, and the vibration control effect can play a certain control role. However, in an extremely severe environment with variable wind conditions, the vibration control effect of the semi-active control is stable and efficient, but the vibration control effect of the passive control mode is greatly reduced. Meanwhile, the vibration control can be carried out aiming at a plurality of excitation frequencies by adopting a semi-active control mode, and the damping output of a TMD system can be automatically adjusted according to the change of wind conditions to adapt to the change of severe environment.
Excitation of a plurality of different frequencies can be encountered in the actual operation process of the wind turbine tower, so that the traditional TMD passive control loses the vibration control effect, and even the power response of the wind turbine tower structure can be increased. The traditional TMD vibration reduction system is limited by the frequency modulation range, and the damping coefficient under semi-active control can be automatically adjusted and changed according to the dynamic response of the tower structure, so that the damping system is not limited by the frequency modulation range. This theoretically explains the superiority of semi-active control over passive control of TMD systems. The parameters of the TMD can be adjusted at any time according to the change of environmental excitation by adopting a semi-active control mode, so that the active variable damping system always keeps an efficient and optimal control state.
According to the invention, the optimal active control force of wind-induced vibration of the fan tower cylinder is obtained through calculation of an active control algorithm, then the optimal control force is converted into the damping force of the active rheostat through a semi-active control algorithm, the value of the voltage of the electro-hydraulic servo valve is reversely deduced according to the control relation between the damping force of the active rheostat and the voltage of the electro-hydraulic servo valve, and the appropriate damping force is output for vibration control by controlling the voltage of the electro-hydraulic servo valve.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (4)
1. A semi-active control method for wind-induced vibration of a tower cylinder of a wind turbine is characterized by comprising the following steps:
s1, calculating to obtain the optimal active control force required by wind-induced vibration control of the tower drum of the wind turbine through an active control algorithm of vibration control;
s2, adjusting the damping coefficient of the active variable damping device of the wind-induced vibration of the wind-induced tower drum through a semi-active control algorithm of the wind-induced vibration of the wind-induced tower drum, so that the active variable damping device of the wind-induced vibration of the wind-induced tower drum generates a control force equivalent to the optimal active control force of the wind-induced vibration of the wind-induced tower drum;
the change of the damping force of the active damping change device is realized by the change of the damping coefficient, the change of the damping coefficient is realized by the opening size of the electro-hydraulic servo valve, and the opening size of the electro-hydraulic servo valve is controlled by the servo voltage;
the semi-active control algorithm enables the value of the damping force output by the active variable damping device to be equal to or infinitely close to the optimal active control force, the value of control voltage required by providing proper damping force is calculated according to the relation between the damping force and the servo voltage of the electro-hydraulic servo valve, the required damping force is controlled and output through the value of the control voltage, the change of the voltage is the change of the damping force caused by the change of the damping coefficient, and the required damping force is output to carry out wind-induced vibration control on the tower drum of the fan;
the semi-active control algorithm in step S2 includes the following steps:
s21, the mathematical model of the optimal control of the wind turbine tower is as follows:
in formula (1): { x } - { x1，x2，…，xnIs the displacement vector; [ M ] A]The mass of the wind turbine tower structure; [ C ]]Damping for a fan tower drum structure; [ K ]]A stiffness matrix of a fan tower structure; { f } is a load vector acting on the fan tower; { F } is the optimal active control force vector;
s22, rewriting the formula (1) into a state equation with the generalized displacement and the generalized velocity as unknowns:
in formula (2): { Q } is a space state variable;
[q]is a r-dimensional main coordinate vector; [ A ]]To be aThe system matrix is a matrix of the system,
[A]in [ M ]]＝[φ]T[M][φ]；[K*]＝[φ]T[K][φ]；[C*]＝[φ]T[C][φ]；[A]Middle diameter]Is an n multiplied by r order vibration mode matrix; [ B ]]In order to control the matrix of the control,
[B]middle [ M ]*]＝[φ]T[M][φ]，[φ]Is an n multiplied by r order vibration mode matrix; [ D ]]Is a transmission matrix;
[0]is a zero matrix; [ I ] of]Is an identity matrix; { f*}＝[M*]-1[φ]T{f}；[D]Middle diameter]Is an n multiplied by r order vibration mode matrix; { y } is a state variable;
s23, the benefit of the control system is measured by the following objective function:
in formula (3): t is tfIs the duration of the dynamic load; e is the modulus of elasticity of the structural material; { Q } is a space state variable; [ S ]]Weighting matrix of generalized reaction state vector of tower structure; [ R ]]Is a weighting matrix of the control forces; { F } is the control force vector; t is an operation symbol of the transposition matrix;
s24, solving the optimal active control force vector { F } is to solve the minimum value of the formula (3) under the formula (2);
solving for the optimal control force { F } in said step S24 by:
for the structural vibration control problem, the tower drum structure generalized reaction state vector weighting matrix [ S ] and the control force weighting enemy matrix [ R ] take the following forms:
in the formula (4), β is 6 × 10-8；[K]A stiffness matrix of a fan tower structure; [ M ] A]The quality matrix is a fan tower drum structure; i is an identity matrix;
finally, the optimal active control force vector is obtained as follows:
U(t)＝-GQ(t) (5)
in the formula: g ═ R]-1[B]TP; p satisfies the Riccati matrix equation; q (t) is the state of the system at the time t, and the P matrix in the formula (5) is solved by the formula (6):
ATP+PA-PBR-1BTP+O＝0 (6)
in the formula (6), A is a system matrix, B is a control matrix, R is a weighting matrix of the control force, Q is a space state variable, and the optimal active control force can be obtained by the formula (5);
the above-mentioned
In formula (7): u (t) is the damping force provided by the active variable damping device; c. Cid(t) is the damping coefficient of the active variable damping device;
the speed of the active variable damping device relative to the tower structure; u. ofiThe optimal active control force is obtained;
the damping force obtained by the semi-active control algorithm is in the form:
in formula (8):
as a function of sign relative to the speed of the control device; f. ofid max、fid minThe maximum and minimum damping forces when the damping coefficient is maximum and minimum respectively;
the step S1 of calculating the optimal active control force by the active control algorithm is to transmit the displacement, the speed and the acceleration of the top of the tower drum under the action of wind load to the computer control system in real time through a sensor, and the computer control system calculates the optimal active control force required by vibration control according to the active control algorithm;
there is one process cycle in the control process: the sensor transmits the real-time vibration response characteristic of the tower drum structure to an active control algorithm, the active control algorithm calculates the optimal control force required by vibration control, then a semi-active control algorithm enables the damping force output by the active variable damper to be equal to or infinitely close to the optimal active control force in numerical value, a value of voltage required for providing proper damping force is calculated according to the relation between the damping force and the voltage of an electro-hydraulic servo valve, the required damping force is output by controlling the value of the voltage, the change of the voltage is substantially that the damping force is changed through the change of a damping coefficient, and the required damping force is output to perform vibration control.
2. The semi-active control method of wind-induced vibration of a wind turbine tower as claimed in claim 1, wherein the control relationship between the damping force of the active variable damping device and the servo voltage of the electro-hydraulic servo valve is as follows:
cd(u，t)＝-8.67u+16.5 0.75V＜u＜2V (9)
in formula (9): u. ofdIs the force acting on the piston rod; c. Cd(u, t) is the damping coefficient of the active variable damper,
is mainly composed ofThe relative velocity of the dynamic variable damper; u is the voltage applied to the electro-hydraulic servo valve (4) on the active variable damper (10), and V represents the volume of the hydraulic cylinder;
the value of the damping force of the active variable damping device is equal to the optimal active control force, the voltage u of the electro-hydraulic servo valve (4) is obtained through the formula (9), and the proper damping force is output to control the wind-induced vibration of the tower drum of the fan by controlling the voltage u of the electro-hydraulic servo valve (4).
3. The semi-active control method of wind-induced vibration of a wind turbine tower of claim 1, wherein the active variable damping device is a TMD active varistor comprising: the hydraulic cylinder (1), the piston (2) and the electro-hydraulic servo valve (4), the hydraulic cylinder (1) is filled with oil (3), the piston (2) is arranged in the hydraulic cylinder (1), piston rods are arranged on two sides of the piston (2), the two piston rods respectively extend out of the hydraulic cylinder (1), an oil inlet is arranged on one side of two sides of the piston (2) on the hydraulic cylinder (1), an oil outlet is arranged on one side of the hydraulic cylinder (1), an oil pipeline is arranged between the oil inlet and the oil outlet, the oil pipeline is located outside the hydraulic cylinder (1), the electro-hydraulic servo valve (4) is arranged on the oil pipeline, and the electro-hydraulic servo valve (4) is connected with a computer control.
4. The method of claim 3, wherein the wind-induced vibration of the wind turbine tower is configured to include: the device comprises a steel column (5), a supporting plate (6), wheels (7) and a lead ring (8) of the fan tower; steel column (5) are fixed in the centre of backup pad (6), fan tower section of thick bamboo lead ring (8) cover is in the outside of steel column (5), the bottom of fan tower section of thick bamboo lead ring (8) is equipped with a plurality of wheels (7), be equipped with a plurality of springs (9) and a plurality of TMD initiative rheostat (10) between steel column (5) and fan tower section of thick bamboo lead ring (8), a plurality of springs (9) and a plurality of TMD initiative rheostat (10) interval distribution, one and steel column (5) fixed connection of two piston rods of TMD initiative rheostat (10), another and fan tower section of thick bamboo lead ring (8) fixed connection.
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