CN109883645A - The equivalent simulation method and apparatus of floating blower model test floating motion - Google Patents
The equivalent simulation method and apparatus of floating blower model test floating motion Download PDFInfo
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Abstract
The invention discloses a kind of equivalent simulation equipment of floating blower model test floating motion, it is related to ocean engineering suspension windmill field, the equivalent of the apparatus includes signal measurement acquisition system, data processing system, control system, six-component sensor, six degree of freedom platform and floating blower model.The present invention discloses a kind of equivalent simulation methods of floating blower model test floating motion.The present invention realizes the stormy waves conjunctive model test of the floating blower in wind-tunnel, air force is applied by wind-tunnel, the hydrodynamic program of numerical calculation applied by being built in simulation system is acquired according to the shape in wave border, mooring environment and floating body by iterative calculation, and it is constantly applied to six degree of freedom platform and realizes movement simulation, so that test is more convenient, it can more focus on aerodynamic research.
Description
Technical field
The present invention relates to ocean engineering suspension windmill fields more particularly to a kind of floating blower model test to float
The equivalent simulation method and apparatus of movement.
Background technique
Wind energy resources are largely developed and used at present, and especially territorial wind-power electricity generation increases year by year, but oceanic winds
Power power generation is no to form large-scale developing and utilizing as the wind energy resources of land, however wind energy on the sea quality is high, wind speed is big,
Will not land occupation etc. so that the generating effect of Oversea wind is better than land wind-force generating effect there is very big advantage.
But present Oversea wind power generation do not obtain it is extensive extensive utilize, the reason is that the development of offshore wind generating with
Exploitation is faced with very big difficulty, and maritime environment is severe, and load is changeable, and the structure of wind energy conversion system is wanted in the sea area of different water depth
Ask different, so being highly desirable to study offshore wind generating.
It is directed to the sea area of sea depth, the comprehensive performance of suspension windmill is preferable, but when carrying out model test,
In air due to floating blower top wind wheel structure, and floating body is in water, and the density of the two is different, cause scale model it
Similarity numbers cannot be similar simultaneously afterwards, and when carrying out in current ocean engineering pond the united model test of stormy waves, wind
It is of low quality, and test difficulty also can be bigger.
Therefore, those skilled in the art is dedicated to developing a kind of equivalent simulation of floating blower model test floating motion
Method and apparatus is transferred in wind-tunnel and is carried out with this test by traditional floating blower in pond.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to carry out floating blower model
When experiment, in air, and floating body is in water for floating blower top wind wheel structure, and the density of the two is different, and contracting is caused to compare mould
Similarity numbers cannot be similar simultaneously after type, and the united model test of stormy waves is carried out in current ocean engineering pond
When, wind field it is of low quality, and test difficulty also can be bigger.
To achieve the above object, the present invention provides a kind of equivalent simulations of floating blower model test floating motion to set
It is standby, including signal measurement acquisition system, data processing system, control system, six-component sensor, six degree of freedom platform and floating
Blower model, the floating blower model include wind wheel and tower, and the wind wheel rotation axis horizontal is mounted on the top of the tower
Portion, the tower bottom are vertically mounted on the center of the six degree of freedom platform, and the six-component sensor is mounted on described six
Between freedom degree platform and the tower, when for measuring the floating blower model sport, to the active force of floating body generation；Institute
Stating signal measurement acquisition system includes data acquisition module, acquires the data of the six-component sensor, and is transferred data to
The data processing system；The data processing system, including the first memory module, the second memory module, data prediction mould
Block, data processing module, display module, automatic control module and manual control module, the data preprocessing module and described
First memory module is connected with the data acquisition module in the signal acquisition measuring system, the data prediction mould
Block is connected with the data processing module, the data processing module and the display module, the automatic control module and
Second memory module is connected.
Further, first memory module is used to store the source data of the signal measurement acquisition system, plays standby
The effect of part, to prevent losing source data in subsequent data handling procedure；The data preprocessing module, to the source number of acquisition
It works according to initial data prediction is carried out, including the operation such as filtering, down-sampled, rejecting bad point；The data processing module pair
Data carry out main data processing, including carry out the operation such as time-domain analysis, spectrum analysis, probability statistics to data；It is described aobvious
Show module, data carry out data according to demand or image is shown to treated；Second memory module is used to store place
Data after reason；The automatic control module can be transported for converting the six degree of freedom platform for the data of the power of measurement
The dynamic posture information realized.
Further, the data processing module can import the calibration coefficient file of the six-component sensor, will
The data of acquisition are converted to the value of the physical quantity of actual measurement.
Further, the automatic control module is provided with the six degrees of freedom equation of motion of floating body, real currently known floating body
The solution of position and posture under suffered external force.
Further, the manual control module can be manually entered the data of particular pose and special exercise track, into
The forced movement of row blower is tested.
Further, the control system includes communication module, to by the automatic control module and the manual control
The data of molding block are transferred to the six degree of freedom platform.
Further, the communication module uses serial port protocol, converts the six degree of freedom for the posture of six degree of freedom
The 32 bit byte information that platform can identify, are transmitted frame by frame.
The present invention also provides a kind of equivalent simulation methods of floating blower model test floating motion, including walk as follows
It is rapid:
Step 1 guarantees that all modules of the equivalent simulation equipment normally can be opened and be worked first, setting
Good all parameters, then selection is to automatically control or manually control, and automatic control goes to step 2, manually controls and goes to step 4；
Step 2, the six-component sensor constantly measure external force, at the data preprocessing module and the data
After managing resume module, the automatic control module is passed to, goes to step 3；
Step 3, the automatic control module receive treated data, and real-time delivery gives the control system after processing,
Go to step 5；
Step 4, the data that particular pose and special exercise track are manually entered by the manual control module, after processing
The control system is passed to, goes to step 5；
Step 5, conversion of the control system Jing Guo specific protocol give motion information transmission to the six degree of freedom platform,
Realize the simulation moved to blower buoyant foundation.
Further, the step 3 be specially while the six-component sensor constantly measure external force, it is described automatically
Control module is based on the six degrees of freedom equation of motion, and in conjunction with the parameter set, the six of continuous iterative solution floating body are freely
Degree displacement, velocity and acceleration, are transferred to the communication module in real time.
Further, six degrees of freedom equation of motion described in the step 3 specifically:
Wherein, Ms is the mass matrix of floating body；A∞For the additional mass matrix of floating body；
Rs is damping matrix；Ks is floating body stiffness matrix；
Fwave is active force of the wave to floating body；Fmoor is anchor chain power；
Faero is active force of the blower superstructure to floating body, is herein the result of six degree of freedom sensor measurement
And the value corrected.
The invention has the advantages that using the equivalent simulation method and apparatus of floating blower model test floating motion,
Realize the stormy waves conjunctive model test of the floating blower in wind-tunnel, air force is applied by wind-tunnel, and hydrodynamic application is by built-in
It is acquired according to the shape of wave environment, mooring environment and floating body by iterative calculation in the program of numerical calculation of simulation system, and
And be constantly applied to six degree of freedom platform and realize movement simulation, so that test is more convenient, it can more focus on air force
Research.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the floating blower model test equivalent simulation device systems structural representation of a preferred embodiment of the present invention
Figure；
Fig. 2 is the floating blower model test equivalent simulation equipment schematic diagram of a preferred embodiment of the present invention；
Fig. 3 is the automatic control module schematic diagram of a preferred embodiment of the present invention；
Wherein, 1- wind wheel, 2- tower, 3- six-component sensor, 4- six degree of freedom platform.
Specific embodiment
Multiple preferred embodiments of the invention are introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
As shown in Figure 1 and Figure 2, the equivalent simulation equipment of floating blower model test floating motion includes signal measurement acquisition
System, data processing system, control system, six-component sensor 3, six degree of freedom platform 4 and floating blower model, floating blower
Model includes wind wheel 1 and tower 2.
The six-component sensor 3, is installed between six degree of freedom platform 4 and tower 2, for measure blower movement when pair
The active force of floating body.
The signal measurement acquisition system, including data acquisition module, acquire the data of six-component sensor, and by data
It is transferred to data processing system.
At the data processing system, including the first memory module, the second memory module, data preprocessing module, data
Module, display module, automatic control module and manual control module are managed, the data preprocessing module and signal acquisition measurement are
Data acquisition module in system is connected, and data preprocessing module is connected with data processing module, data processing module and aobvious
Show that module is connected with the second memory module, data preprocessing module can also transmit data and automatic control module.
First memory module deposits the source data for storing up signal acquiring system acquisition, plays the role of backup, to prevent
Source data is lost in subsequent data handling procedure；The data preprocessing module carries out initially the source data of acquisition
Data prediction work, including the operation such as filtering, down-sampled, rejecting bad point；The data processing module carries out data main
Data processing, including time-domain analysis, spectrum analysis, the operation such as probability statistics are carried out to data；The display module, to processing
The result of data carries out data according to demand or image is shown；Second memory module is used to store that treated data.
The automatic control module can move the posture information of realization for converting six degree of freedom platform for the force data of measurement.
Preferably, the data processing module can import the calibration coefficient file of sensor, and the data of acquisition are turned
It is changed to the value of actual measurement physical quantity.
As shown in figure 3, automatic control module is transported based on six degree of freedom while six-component sensor constantly measures external force
Dynamic equation, in conjunction with the parameter set, the continuous six-degree of freedom displacement for iteratively solving floating body, velocity and acceleration, in real time
It is transferred to communication module, the conversion by specific protocol gives motion information transmission to six degree of freedom platform.
The manual control module can be manually entered the data of particular pose and special exercise track, carry out blower
Forced movement test.
The control system includes communication module, will automatically control and the data of manual control module are transferred to six degree of freedom
Platform.
Further, communication module is serial port protocol, and converting six degree of freedom platform for the posture of six degree of freedom can know
Other 32 bit byte information, is transmitted frame by frame.
When the invention works, guarantee that all equipment normally can be opened and be worked first, set all ginsengs
Number, then selection is to automatically control or manually control, and automatic control will simulate floating body in ocean according to the power of measurement
Movement, manually controls, and needs to input mobile parameter to realize the control of platform movement.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of equivalent simulation equipment of floating blower model test floating motion, which is characterized in that acquired including signal measurement
System, data processing system, control system, six-component sensor, six degree of freedom platform and floating blower model, the floating wind
Machine model includes wind wheel and tower, and the wind wheel rotation axis horizontal is mounted on the top of the tower, and the tower bottom is vertical
It is mounted on the center of the six degree of freedom platform, the six-component sensor is mounted on the six degree of freedom platform and the tower
Between, when for measuring the floating blower model sport, to the active force of floating body generation；The signal measurement acquisition system packet
Data acquisition module is included, the data of the six-component sensor are acquired, and transfers data to the data processing system；It is described
Data processing system, including the first memory module, the second memory module, data preprocessing module, data processing module, display mould
Block, automatic control module and manual control module, the data preprocessing module and first memory module and the signal
The data acquisition module in collecting and measuring system is connected, the data preprocessing module and the data processing module phase
Connection, the data processing module are connected with the display module, the automatic control module and second memory module.
2. the equivalent simulation equipment of floating blower model test floating motion as described in claim 1, which is characterized in that described
First memory module is used to store the source data of the signal measurement acquisition system, plays the role of backup, to prevent subsequent
Source data is lost in data handling procedure；The data preprocessing module carries out initial data to the source data of acquisition and locates in advance
Science and engineering is made, including the operation such as filtering, down-sampled, rejecting bad point；The data processing module carries out at main data data
Reason, including the operation such as time-domain analysis, spectrum analysis, probability statistics is carried out to data；The display module, to treated data
It carries out data according to demand or image is shown；Second memory module is used to store that treated data；The automatic control
Molding block can move the posture information of realization for converting the six degree of freedom platform for the data of the power of measurement.
3. the equivalent simulation equipment of floating blower model test floating motion as claimed in claim 2, which is characterized in that described
Data processing module can import the calibration coefficient file of the six-component sensor, and the data of acquisition are converted to practical survey
The value of the physical quantity of amount.
4. the equivalent simulation equipment of floating blower model test floating motion as claimed in claim 2, which is characterized in that described
Automatic control module is provided with the six degrees of freedom equation of motion of floating body, the pose shape under external force suffered by real currently known floating body
The solution of state.
5. the equivalent simulation equipment of floating blower model test floating motion as claimed in claim 2, which is characterized in that described
Manual control module can be manually entered the data of particular pose and special exercise track, carry out the forced movement test of blower.
6. the equivalent simulation equipment of floating blower model test floating motion as described in claim 1, which is characterized in that described
Control system includes communication module, described to be transferred to the data of the automatic control module and the manual control module
Six degree of freedom platform.
7. the equivalent simulation equipment of floating blower model test floating motion as claimed in claim 6, which is characterized in that described
Communication module uses serial port protocol, converts 32 bit bytes that the six degree of freedom platform can identify for the posture of six degree of freedom
Information is transmitted frame by frame.
8. a kind of equivalent simulation method of floating blower model test floating motion, which is characterized in that the method uses right
It is required that equivalent simulation equipment described in any one of 1 to 7 claim is realized, include the following steps:
Step 1 guarantees that all modules of the equivalent simulation equipment normally can be opened and be worked first, sets institute
There is parameter, then selection is to automatically control or manually control, and automatic control goes to step 2, manually controls and goes to step 4；
Step 2, the six-component sensor constantly measure external force, by the data preprocessing module and the data processing mould
After block processing, the automatic control module is passed to, goes to step 3；
Step 3, the automatic control module receive treated data, and real-time delivery gives the control system after processing, turn step
Rapid 5；
Step 4, the data that particular pose and special exercise track are manually entered by the manual control module, are transmitted after processing
To the control system, 5 are gone to step；
Step 5, conversion of the control system Jing Guo specific protocol give motion information transmission to the six degree of freedom platform, realize
Simulation to the movement of blower buoyant foundation.
9. the equivalent simulation method of floating blower model test floating motion as claimed in claim 8, which is characterized in that described
Step 3 is specially while the six-component sensor constantly measures external force, and the automatic control module is based on described six certainly
By the degree equation of motion, in conjunction with the parameter set, the continuous six-degree of freedom displacement for iteratively solving floating body, velocity and acceleration,
It is transferred to the communication module in real time.
10. the equivalent simulation method of floating blower model test floating motion as claimed in claim 8, which is characterized in that institute
State six degrees of freedom equation of motion described in step 3 specifically:
Wherein, Ms is the mass matrix of floating body；A∞For the additional mass matrix of floating body；
Rs is damping matrix；Ks is floating body stiffness matrix；
Fwave is active force of the wave to floating body；Fmoor is anchor chain power；
Faero is blower superstructure to the active force of floating body, for the result of six degree of freedom sensor measurement and is added herein
To correct obtained value.
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