CN110513253B - Marine floating fan wave environment simulation platform device and working method thereof - Google Patents
Marine floating fan wave environment simulation platform device and working method thereof Download PDFInfo
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- CN110513253B CN110513253B CN201910926707.8A CN201910926707A CN110513253B CN 110513253 B CN110513253 B CN 110513253B CN 201910926707 A CN201910926707 A CN 201910926707A CN 110513253 B CN110513253 B CN 110513253B
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- 238000007667 floating Methods 0.000 title claims abstract description 29
- 238000004088 simulation Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 203
- 238000012545 processing Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 230000002706 hydrostatic effect Effects 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
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- 238000010248 power generation Methods 0.000 description 3
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- 241000282414 Homo sapiens Species 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
- F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
- F03D13/25—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors specially adapted for offshore installation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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Abstract
The invention relates to a wave environment simulation platform device of a marine floating fan and a working method thereof, wherein the device comprises the following components: the space six-degree-of-freedom parallel mechanism mainly comprises a fixed platform, a moving platform, six branched chains arranged between the two platforms and a driving device of the six branched chains, and is used for enabling the moving platform to perform six-degree-of-freedom motion output relative to the fixed platform; the fan model is arranged on a motion platform of the space six-degree-of-freedom parallel mechanism and is used for simulating an offshore floating fan; the data acquisition module is arranged between the motion platform of the spatial six-degree-of-freedom parallel mechanism and the bottom of the fan model, is used for acquiring pose and stress data of the motion platform and is transmitted to the motion control system; and the motion control system is used for controlling the motion of the spatial six-degree-of-freedom parallel mechanism according to the motion track or stress data of the input pose. The device and the working method thereof are beneficial to conveniently and effectively simulating the working condition of the offshore floating fan in the marine environment.
Description
Technical Field
The invention relates to the technical field of offshore wind turbines, in particular to a marine floating fan wave environment simulation platform device and a working method thereof.
Background
With the exhaustion of fossil energy sources worldwide, renewable energy technologies have been unprecedented. Among them, wind power generation technology has been widely used for recent decades, and in particular, offshore wind power technology has become a hot spot for research, development and utilization of human beings nowadays. The ocean wind energy resource has the advantages of durability, stability, high quality and the like, so that the ocean wind energy resource has larger power generation potential and better power generation effect. This resource advantage is gradually enhanced from offshore to open sea, whereas for open sea areas the water depth is typically more than 50 meters, and fixed foundation pile fan platforms are no longer suitable, floating platforms become a more suitable option. At present, the deep sea floating wind power technology is not utilized on a large scale, and the development of the deep sea floating wind power technology are faced with great difficulty because the marine environment in which the deep sea floating wind power technology is positioned has great complexity and uncertainty, such as the combined action of loads such as stormy waves and the like.
The pool test is an important means for developing, designing and verifying a floating fan, and a plurality of professional experimental pools with wave generating functions are built in the world. However, the offshore wind turbine structure is entirely in two different mediums, namely sea wind and sea water, and the wind turbine model must meet two similar criteria at the same time to ensure experimental reliability, which is difficult to realize in reality. Meanwhile, the existing water pool is large in occupied area, high in cost, complex in wave generation and wave elimination program, long in experimental period and low in quality of the used wind field. These have led to a great limit in research and development of floating fans. It can be seen that the development of equivalent experimental devices that can simulate a pool or marine environment is one of the important solutions.
Disclosure of Invention
The invention aims to provide a wave environment simulation platform device of an offshore floating fan and a working method thereof, which are beneficial to conveniently and effectively simulating the working condition of the offshore floating fan in the marine environment.
In order to achieve the above purpose, the technical scheme of the invention is as follows: an offshore floating fan wave environment simulation platform device, comprising:
the space six-degree-of-freedom parallel mechanism mainly comprises a fixed platform, a moving platform, six branched chains arranged between the two platforms and a driving device of the six branched chains, and is used for outputting six-degree-of-freedom motions of three-rotation and three-movement of the moving platform relative to the fixed platform;
the fan model is arranged on a motion platform of the space six-degree-of-freedom parallel mechanism and is used for simulating an offshore floating fan;
the data acquisition module is arranged between the motion platform of the spatial six-degree-of-freedom parallel mechanism and the bottom of the fan model, is used for acquiring pose and stress data of the motion platform and is transmitted to the motion control system; and
and the motion control system is used for controlling the motion of the spatial six-degree-of-freedom parallel mechanism according to the motion track or the stress data of the input pose.
Further, the data acquisition module comprises a hexacomponent force sensor, an inclination angle sensor and a displacement sensor, and is used for measuring acting force of the fan model motion on the motion platform and inclination angle and displacement of the motion platform during motion.
Further, the motion control system comprises a data processing module and a communication module, wherein a motion calculation module is arranged in the data processing module and is used for calculating the actual motion quantity of each branched chain of the space six-degree-of-freedom parallel structure according to the motion track or stress data of the input pose and converting the actual motion quantity into a digital signal, and the communication module is used for transmitting the generated digital signal to the space six-degree-of-freedom parallel mechanism so as to perform motion control on the digital signal.
Further, the motion calculation module performs positive and inverse solutions of the pose and stress kinematic equations, and the kinematic equations used for calculation are as follows:
wherein [ M f ]Representing the mass matrix of the motion platform [ R ] f ]Represents a motion platform damping matrix [ K ] f ]Representing a motion platform stiffness matrix, F hst Representing the hydrostatic restoring force of the motion platform, F moor Representing mooring force of moving platform, F hydro Representing the hydrodynamic force received by the motion platform, F aero Representing the aerodynamic forces experienced by the fan model.
Further, the space six-degree-of-freedom parallel mechanism comprises a fixed platform, a moving platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a sixth branched chain and a six branched chain driving device, wherein the first branched chain, the second branched chain, the third branched chain, the fourth branched chain, the fifth branched chain and the sixth branched chain are sequentially and uniformly distributed on the periphery of the two platforms and are respectively connected with the two platforms, the first branched chain, the third branched chain and the fifth branched chain are RSS type moving branched chains, and the second branched chain, the fourth branched chain and the sixth branched chain are PSS type moving branched chains.
Further, the RSS type movement branched chain comprises a first driving arm and a first driven rod, the lower end of the first driving arm is connected with the fixed platform through a first rotating pair, the upper end of the first driving arm is connected with the lower end of the first driven rod through a first ball pair, the upper end of the first driven rod is connected with the moving platform through a second ball pair, and the driving device of the RSS type movement branched chain drives the first driving arm to rotate relative to the fixed platform according to a control instruction of the movement control system.
Further, the PSS type motion branched chain comprises a first driving sliding block and a second driven rod, a sliding rail is arranged on the fixed platform, the first driving sliding block is connected with the sliding rail on the fixed platform through a first moving pair, the first driving sliding block is also connected with the lower end of the second driven rod through a third ball pair, the upper end of the second driven rod is connected with the moving platform through a fourth ball pair, and a driving device of the PSS type motion branched chain drives the first driving sliding block to slide on the corresponding sliding rail of the fixed platform according to a control instruction of a motion control system.
Further, a seventh branched chain is further arranged between the two platforms, the seventh branched chain is connected with the middle parts of the two platforms, and the seventh branched chain is an SPS type movement branched chain.
Further, the SPS type movement branched chain comprises a first movement rod and a second movement rod, the lower end of the first movement rod is connected with the middle part of the fixed platform through a fifth ball pair, the upper end of the first movement rod is connected with the lower end of the second movement rod through a second movement pair, and the upper end of the second movement rod is connected with the middle part of the movement platform through a sixth ball pair.
The invention also provides a working method of the marine floating fan wave environment simulation platform device, which comprises the following steps:
step 1, starting the device, entering step 2 when the stress condition of the motion platform is required to be solved, and entering step 4 when the pose state of the motion platform is required to be solved;
step 2, inputting a motion trail of the pose of the motion platform, transmitting the motion trail to a data processing module by a motion control system, processing the motion trail into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 3, the motion control system transmits digital signals to the space six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the input pose motion track, and then the step 6 is carried out;
step 4, inputting stress data of the motion platform, transmitting the stress data to a data processing module by a motion control system, processing the stress data into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 5, the motion control system transmits digital signals to the spatial six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the pose corresponding to the input stress data;
and 6, the data acquisition module acquires pose and stress data of the motion platform and transmits the pose and stress data to the motion control system for verification, so that closed-loop control is completed.
Compared with the prior art, the invention has the following beneficial effects: the simulation platform device can be matched with a horizontal shaft and vertical shaft fan scaling model of most models which are put into practical application or not put into practical application at present to carry out simulation experiments, conveniently and effectively simulate working conditions of the offshore floating fan under the marine environment, can realize fixed-posture simulation of the offshore floating fan, can realize continuous moving-posture simulation of the offshore floating fan through a moving platform, can be used as a simulation experiment platform of a land fan, realizes various operations, has a simple structure, is easy to realize, and has wide application prospects in the field of simulation model fan systems.
Drawings
Fig. 1 is a schematic structural view of a first embodiment of the present invention.
Fig. 2 is a schematic diagram of a spatial six-degree-of-freedom parallel mechanism in a first embodiment of the present invention.
Fig. 3 is a schematic diagram of the structure of an RSS type moving arm according to the first embodiment of the present invention.
FIG. 4 is a schematic diagram showing the structure of a PSS type kinematic chain according to the first embodiment of the present invention.
FIG. 5 is a schematic diagram of SPS type motion branches in a first embodiment of the present invention.
Fig. 6 is a schematic structural view of a second embodiment of the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The invention provides a marine floating fan wave environment simulation platform device, which is shown in fig. 1 and comprises a space six-degree-of-freedom parallel mechanism A3, a fan model A41, a data acquisition module A1 and a motion control system A2.
The space six-degree-of-freedom parallel mechanism A3 mainly comprises a fixed platform, a moving platform, six branched chains arranged between the two platforms and a driving device of the six branched chains, and is used for outputting six-degree-of-freedom motions of three-rotation and three-movement of the moving platform relative to the fixed platform.
The fan model A41 is arranged on the center of a motion platform of the space six-degree-of-freedom parallel mechanism A3 and is used for simulating a floating type offshore fan.
The data acquisition module A1 is arranged between the motion platform of the spatial six-degree-of-freedom parallel mechanism A3 and the bottom of the fan model A41, and is used for acquiring pose and stress data of the motion platform and transmitting the pose and stress data to the motion control system. The data acquisition module comprises a hexacomponent force sensor, an inclination angle sensor and a displacement sensor and is used for measuring acting force of the fan model motion to the motion platform and inclination angle and displacement of the motion platform during motion.
The motion control system A2 is used for performing motion control on the spatial six-degree-of-freedom parallel mechanism according to the motion track or stress data of the input pose. The motion control system is an open type motion control system, and the openness of the motion control system is that the stress condition can be solved by inputting a motion track of a specific pose according to actual sea condition conditions, and the pose state can be solved according to the actual stress condition.
The motion control system comprises a data processing module and a communication module, wherein a motion calculation module is arranged in the data processing module and is used for calculating the actual motion quantity of each branched chain of the space six-degree-of-freedom parallel structure according to the motion track or stress data of the input pose and converting the actual motion quantity into a digital signal, and the communication module is used for transmitting the generated digital signal to the space six-degree-of-freedom parallel mechanism so as to perform motion control on the digital signal.
The motion calculation module can carry out positive and inverse solutions on the pose and stress of the motion equation, and the motion equation used for calculation is as follows:
wherein [ M f ]Representing the mass matrix of the motion platform [ R ] f ]Represents a motion platform damping matrix [ K ] f ]Representing a motion platform stiffness matrix, F hst Representing the hydrostatic restoring force of the motion platform, F moor Representing mooring force of moving platform, F hydro Representing the hydrodynamic force received by the motion platform, F aero Representing the aerodynamic forces experienced by the fan model.
As shown in fig. 2, the spatial six-degree-of-freedom parallel mechanism includes a fixed platform 9, a moving platform 8, a first branched chain 1, a second branched chain 2, a third branched chain 3, a fourth branched chain 4, a fifth branched chain 5, a sixth branched chain 6 and a driving device for the six branched chains, wherein the first branched chain 1, the second branched chain 2, the third branched chain 3, the fourth branched chain 4, the fifth branched chain 5 and the sixth branched chain 6 are sequentially distributed on the circumferences of the two platforms and are respectively connected with the two platforms, the first branched chain 1, the third branched chain 3 and the fifth branched chain 5 are RSS type moving branched chains, and the second branched chain 2, the fourth branched chain 4 and the sixth branched chain 6 are PSS type moving branched chains.
As shown in fig. 3, the first, third and fifth branches, that is, the RSS type moving branched chain includes a first driving arm 101 and a first driven rod 102, where the lower end of the first driving arm 101 is connected with the fixed platform 9 through a first rotating pair R1, the first rotating pair is a driving moving pair of the branched chain, the upper end of the first driving arm 101 is connected with the lower end of the first driven rod 102 through a first ball pair S1, and the upper end of the first driven rod 102 is connected with the moving platform 8 through a second ball pair S2, thereby forming the RSS type moving branched chain. The driving device of the RSS type motion branched chain drives the first driving arm 101 to rotate relative to the fixed platform according to a control instruction of the motion control system. When the first driving arm 101 rotates, the first driven rod 102 is driven to move relative to the fixed platform 9. The driving device of the RSS type motion branched chain is fixed on a fixed platform and can be realized by adopting a servo motor.
As shown in fig. 4, the second, fourth and sixth branches, that is, the PSS moving branch includes a first driving slider 201 and a second driven rod 202, a sliding rail is disposed on the fixed platform 9, the first driving slider 201 is connected with the sliding rail on the fixed platform 9 through a first moving pair P1, the first moving pair is a driving moving pair of the branch, the first driving slider 201 is further connected with the lower end of the second driven rod 202 through a third ball pair S3, and the upper end of the second driven rod 202 is connected with the moving platform 8 through a fourth ball pair S4, thereby forming the PSS moving branch. The driving device of the PSS type motion branched chain drives the first driving sliding block 201 to slide on the corresponding sliding rail of the fixed platform according to a control instruction of the motion control system. When the first driving sliding block 201 slides on the sliding rail, the second driven rod 202 is driven to move relative to the fixed platform 9. The driving device of the PSS type motion branched chain is fixed on a fixed platform and can be realized by adopting an electric cylinder mechanism.
In this embodiment, as shown in fig. 5, a seventh branched chain 7 is further disposed between the two platforms, where the seventh branched chain 7 is connected to the middle parts of the two platforms, and the seventh branched chain is an SPS type movement branched chain. The SPS type movement branched chain comprises a first movement rod 301 and a second movement rod 302, wherein the lower end of the first movement rod 301 is connected with the middle part of the fixed platform 9 through a fifth ball pair S5, the upper end of the first movement rod 301 is connected with the lower end of the second movement rod 302 through a second movement pair P2, and the upper end of the second movement rod 302 is connected with the middle part of the movement platform 8 through a sixth ball pair S6.
According to the motion mechanism of the parallel mechanism, under the combined action of the first rotating pairs of the first branched chain 1, the third branched chain 3 and the fifth branched chain 5 and the first moving pairs of the second branched chain 2, the fourth branched chain 4 and the sixth branched chain 6, one pose of the motion platform 8 is uniquely determined, so that 3 rotation and 3 movement motions of the motion platform 8 relative to the fixed platform 9 are realized.
In the invention, the fan model can be any type of horizontal axis or vertical axis fan scaling model currently applied. As shown in fig. 1, in the present embodiment, the fan model is a horizontal axis fan model a41, which is composed of blades, a hub, a nacelle, and a tower; the bottom of the tower barrel is vertically arranged in the center of the motion platform and is connected with the data acquisition module; the engine room comprises a main shaft, a direct current motor, an engine room structural member, a torque sensor and a vibration sensor, wherein the direct current motor is fixedly arranged in the engine room, an output shaft of the direct current motor is connected with the torque sensor and the vibration sensor, and an output shaft of the direct current motor is connected with the main shaft through a gear set; the hub is fixedly connected with one end of the main shaft; the tower is a conical rigid member with a large bottom and a small top, and the cabin is arranged at the top of the tower. In other embodiments of the present invention, as shown in fig. 6, the fan model is a vertical axis fan model a42, which is composed of blades, a connection bracket, a hub, a motor, a tower, and the like; the connecting bracket-tower is vertically arranged in the center of the motion platform and is connected with the data acquisition module; the motor is arranged in the tower, the motor is fixedly arranged on the motion platform, the motor is connected with the hub through a main shaft, the torque sensor and the vibration sensor of the motor are connected, and the main shaft penetrates through the tower to be fixedly connected with the hub; the tower is a cylindrical rigid member.
The invention also provides a working method of the offshore floating fan wave environment simulation platform device, which comprises the following steps:
step 1, starting the device, entering step 2 when the stress condition of the motion platform is required to be solved, and entering step 4 when the pose state of the motion platform is required to be solved;
step 2, inputting a motion trail of the pose of the motion platform, transmitting the motion trail to a data processing module by a motion control system, processing the motion trail into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 3, the motion control system transmits digital signals to the space six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the input pose motion track, and then the step 6 is carried out;
step 4, inputting stress data of the motion platform, transmitting the stress data to a data processing module by a motion control system, processing the stress data into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 5, the motion control system transmits digital signals to the spatial six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the pose corresponding to the input stress data;
and 6, the data acquisition module acquires pose and stress data of the motion platform and transmits the pose and stress data to the motion control system for verification, so that closed-loop control is completed.
The above is a preferred embodiment of the present invention, and all changes made according to the technical solution of the present invention belong to the protection scope of the present invention when the generated functional effects do not exceed the scope of the technical solution of the present invention.
Claims (5)
1. An offshore floating fan wave environment simulation platform device, comprising:
the space six-degree-of-freedom parallel mechanism mainly comprises a fixed platform, a moving platform, six branched chains arranged between the two platforms and a driving device of the six branched chains, and is used for outputting six-degree-of-freedom motions of three-rotation and three-movement of the moving platform relative to the fixed platform;
the fan model is arranged on a motion platform of the space six-degree-of-freedom parallel mechanism and is used for simulating an offshore floating fan;
the data acquisition module is arranged between the motion platform of the spatial six-degree-of-freedom parallel mechanism and the bottom of the fan model, is used for acquiring pose and stress data of the motion platform and is transmitted to the motion control system; and
the motion control system is used for performing motion control on the spatial six-degree-of-freedom parallel mechanism according to the motion track or stress data of the input pose;
the space six-degree-of-freedom parallel mechanism comprises a fixed platform, a moving platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a sixth branched chain and a driving device of six branched chains, wherein the first branched chain, the second branched chain, the third branched chain, the fourth branched chain, the fifth branched chain and the sixth branched chain are sequentially and uniformly distributed on the periphery of the two platforms and are respectively connected with the two platforms, the first branched chain, the third branched chain and the fifth branched chain are RSS type moving branched chains, and the second branched chain, the fourth branched chain and the sixth branched chain are PSS type moving branched chains;
the RSS type motion branched chain comprises a first driving arm and a first driven rod, the lower end of the first driving arm is connected with the fixed platform through a first rotating pair, the upper end of the first driving arm is connected with the lower end of the first driven rod through a first ball pair, the upper end of the first driven rod is connected with the motion platform through a second ball pair, and the driving device of the RSS type motion branched chain drives the first driving arm to rotate relative to the fixed platform according to a control instruction of a motion control system;
the PSS type motion branched chain comprises a first driving sliding block and a second driven rod, a sliding rail is arranged on the fixed platform, the first driving sliding block is connected with the sliding rail on the fixed platform through a first moving pair, the first driving sliding block is also connected with the lower end of the second driven rod through a third ball pair, the upper end of the second driven rod is connected with the motion platform through a fourth ball pair, and the driving device of the PSS type motion branched chain drives the first driving sliding block to slide on the corresponding sliding rail of the fixed platform according to a control instruction of the motion control system;
a seventh branched chain is further arranged between the two platforms, the seventh branched chain is connected with the middle parts of the two platforms, and the seventh branched chain is an SPS type movement branched chain; the SPS type movement branched chain comprises a first movement rod and a second movement rod, wherein the lower end of the first movement rod is connected with the middle part of the fixed platform through a fifth ball pair, the upper end of the first movement rod is connected with the lower end of the second movement rod through a second movement pair, and the upper end of the second movement rod is connected with the middle part of the movement platform through a sixth ball pair.
2. The marine floating wind turbine wave environment simulation platform device according to claim 1, wherein the data acquisition module comprises a hexacomponent sensor, an inclination sensor and a displacement sensor, and is used for measuring acting force of the wind turbine model on a moving platform and inclination and displacement of the moving platform during movement.
3. The marine floating fan wave environment simulation platform device according to claim 1, wherein the motion control system comprises a data processing module and a communication module, the data processing module is internally provided with a motion calculation module for calculating the actual motion amount of each branched chain of the spatial six-degree-of-freedom parallel structure according to the motion track or stress data of the input pose and converting the actual motion amount into a digital signal, and the communication module is used for transmitting the generated digital signal to the spatial six-degree-of-freedom parallel mechanism so as to perform motion control on the digital signal.
4. The marine floating fan wave environment simulation platform device according to claim 3, wherein the motion calculation module performs positive and inverse solutions of the pose and stress kinematic equations, and the kinematic equations used for calculation are as follows:
wherein [ M f ]Representing the mass matrix of the motion platform [ R ] f ]Represents a motion platform damping matrix [ K ] f ]Representing a motion platform stiffness matrix, F hst Representing the hydrostatic restoring force of the motion platform, F moor Representing mooring force of moving platform, F hydro Representing the hydrodynamic force received by the motion platform, F aero Representing the aerodynamic forces experienced by the fan model.
5. A method of operating an offshore floating wind turbine wave environment simulation platform assembly according to any of claims 1-4, comprising the steps of:
step 1, starting the device, entering step 2 when the stress condition of the motion platform is required to be solved, and entering step 4 when the pose state of the motion platform is required to be solved;
step 2, inputting a motion trail of the pose of the motion platform, transmitting the motion trail to a data processing module by a motion control system, processing the motion trail into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 3, the motion control system transmits digital signals to the space six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the input pose motion track, and then the step 6 is carried out;
step 4, inputting stress data of the motion platform, transmitting the stress data to a data processing module by a motion control system, processing the stress data into actual motion amounts of all branched chains by the data processing module through a kinematics equation, and converting the actual motion amounts into digital signals;
step 5, the motion control system transmits digital signals to the spatial six-degree-of-freedom parallel mechanism through the communication module, and controls the driving device of each branched chain to work, so that the motion platform moves according to the pose corresponding to the input stress data;
and 6, the data acquisition module acquires pose and stress data of the motion platform and transmits the pose and stress data to the motion control system for verification, so that closed-loop control is completed.
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| CN110513253B true CN110513253B (en) | 2024-01-12 |
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| CN113933016B (en) * | 2021-08-26 | 2023-01-06 | 华北电力大学 | Wind tunnel test device and method for simulating floating type wind turbine generator movement response |
| CN114414193A (en) * | 2022-01-11 | 2022-04-29 | 上海交通大学 | Driving support device for vertical axis fan reduced scale model test |
| CN115743456A (en) * | 2022-12-23 | 2023-03-07 | 兰州交通大学 | Six-degree-of-freedom platform device for simulating offshore floating platform |
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