CN115859523A - Actuator force control loading floating type fan hybrid experiment system and method - Google Patents
Actuator force control loading floating type fan hybrid experiment system and method Download PDFInfo
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Abstract
The invention discloses a force-controlled loading floating type fan hybrid experimental system and a method for an actuator, wherein the system comprises a physical model and a force-controlled loading device; the force control loading device is used for loading pneumatic load on the physical model; the force control loading device comprises an industrial personal computer, a wind wheel numerical model is arranged in the industrial personal computer, and the wind wheel numerical model is used for calculating the pneumatic load of the original-scale wind wheel under the selected working condition, and the pneumatic load is sent to the force control loading device through the industrial personal computer after being scaled. The invention can realize the accurate simulation and application of the pneumatic load and solve the problems of a series of conventional analysis means. The invention combines the advantages of high efficiency and convenience of numerical simulation and visual fidelity of model test, has simple structure and convenient operation, and can realize integrated analysis of dynamic response of the floating type fan under the wind wave flow load.
Description
Technical Field
The invention belongs to the field of ocean engineering, and relates to an actuator force control loading floating type fan mixing experiment system and method.
Background
The wind energy storage in deep sea areas of China is huge and has development advantages, and is one of the development trends of offshore wind power. The floating wind turbine generator is the most effective wind power equipment for developing deep and far sea wind energy at present.
At present, an integrated analysis means commonly used by the floating type fan is mainly a reduced scale model test and a numerical simulation. The experiment method of the scale model is more accurate and comprehensive in simulation, but the problem of scale conflict of Reynolds number and Froude number can be encountered during development, and in addition, a series of challenges of matching aerodynamic performance of blades before and after the scale, ensuring similar mass distribution of the physical model, simulating a fan control strategy and the like are also encountered. The numerical simulation method has the advantages of convenience and high efficiency, but due to the limitation of basic theory, complicated load characteristics are often omitted or inaccurate in simulation, and all influence factors in full coupling are difficult to consider.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides the actuator force control loading floating type fan mixing experiment system and the method thereof, the system and the method solve the problems of scale conflict and fidelity in a scale model experiment, and the floating type fan integrated analysis can be rapidly and reliably carried out.
The invention is realized by adopting the following technical scheme:
an actuator force control loading floating type fan hybrid experiment system comprises a physical model and a force control loading device; the force control loading device is used for loading pneumatic load on the physical model; the aerodynamic load comprises aerodynamic force and aerodynamic moment;
the physical model is a reduced scale model of the floating type fan and is arranged in the wave flow water pool; the physical model comprises a tower, a floating body and an anchoring system; the tower barrel and the floating body need to comprehensively consider the material density, rigidity and mass distribution conditions during processing and manufacturing, so that the similarity and accuracy of the physical model and the entity are ensured; the top end of the tower is provided with a mass block, and the mass block represents the mass of the wind wheel, the engine room and the hub and is used for considering the rigidity and the damping of the three parts; the anchoring system needs to meet the similarity of the length of an anchoring line, the rigidity of the anchoring line, the floating weight and the diameter of the anchoring line; the length of the anchoring line is determined by a reduced scale ratio, the rigidity of the anchoring line is adjusted by adding a spring at the tail end of the anchoring line, and the diameter and the floating weight of the anchoring line are adjusted by sleeving a silica gel or a latex tube outside the anchoring line;
the force control loading device is used for loading pneumatic load to the top end of the physical model tower; the force control loading device comprises an actuator, a spring plate, a base, a reaction frame, a servo controller, an industrial personal computer, a tension and pressure sensor, a fixed pulley and a traction rope; the reaction frame is fixed on the base and connected with the tail part of the actuator; the telescopic head of the actuator is connected with the spring plate, and displacement control is converted into force control through a push-pull spring; the spring plate comprises two steel plates and four springs arranged between the two steel plates, and the four springs are symmetrically arranged relative to the two steel plates and used for ensuring the uniform stress of the springs; one end of the traction rope is connected with the spring through the lower fixed pulley, and the other end of the traction rope is connected with the top end of the tower barrel of the physical model through the upper fixed pulley; the industrial personal computer is used for sending a control instruction to the servo controller and controlling the actuator to load a pneumatic load to the top end of the tower barrel of the physical model; the pulling pressure sensor is used for measuring the force loaded to the top end of the tower. The actuators are selected based on the frequency and amplitude of the scaled back loading force. The industrial personal computer can adjust parameters, transmit signals and display the time-course curve of force loading in real time.
In the technical scheme, a wind wheel numerical model is further arranged in the industrial personal computer, and the wind wheel numerical model is used for calculating the pneumatic load of the original-scale wind wheel under the selected working condition, and is sent to the force control loading device through the industrial personal computer after being scaled; the method for calculating the aerodynamic load by the wind wheel numerical model comprises the following steps: firstly, generating a wind field by means of TurbSim, mapping the wind speed of each point of the wind field to each phylline, solving the aerodynamic force and the aerodynamic moment on each phylline according to a modified phylline momentum theory, summing the spanwise directions of single blades and superposing all the blades to obtain the aerodynamic force and the aerodynamic moment borne by a wind wheel at the current time step, and further obtaining the motion response of the blades; then considering the control strategy of the fan and the motion response fed back by the physical model, updating the position and the posture of the blade, and solving the pneumatic load of the next time step; then, continuously and circularly solving to obtain the pneumatic load of the wind wheel with the original scale;
according to the modified momentum theory of the phyllotaxis, the aerodynamic force and the aerodynamic moment on the phyllotaxis are obtained, the spanwise summation of a single blade and the superposition of all the blades are carried out, and the aerodynamic force and the aerodynamic moment on the wind wheel at the current time step are obtained, wherein the specific method comprises the following steps: decomposing the blade into a plurality of blades along the length direction by utilizing a blade element momentum theory, solving the aerodynamic load of the blade and the whole wind wheel through the lift force and the resistance of each blade element of the blade, introducing a Prandtle blade tip loss model, a hub loss model and a Glauert model for correction, and finally obtaining the aerodynamic force and the aerodynamic moment of the wind wheel at the current time step;
the control strategies of the fan are variable speed control and variable pitch control, and before the rotating speed of the wind wheel reaches rated power, the variable speed control is adopted to keep the optimal tip speed ratio to operate and complete transition; and after the rated power is reached, carrying out variable pitch control by adopting a PI algorithm, and adjusting the pitch angle to keep the rated power of the fan running.
Generating a wind field by means of TurbSim, and mapping the wind speed of each point of the wind field to each phyllodulin, wherein the specific method comprises the following steps: calling a Turbsim program to generate a three-dimensional dynamic wind field, and generating a steady-state wind field or a turbulent wind field according to requirements; and giving inflow wind speed and wind spectrum parameters to obtain a wind speed time sequence in three directions meeting the statistical characteristics in a wind wheel plane, and obtaining the wind speed parameters at all the leaf element positions in each time step through linear interpolation.
The invention also provides a floating fan mixing experiment method for the force-controlled loading of the actuator, which comprises the following steps:
1) A wind wheel numerical model in the industrial personal computer calculates and obtains initial aerodynamic force and aerodynamic moment according to wind field parameters under a selected working condition;
2) A wave generation system in the wave flow pool generates waves under a selected working condition according to wave spectrum parameters and acts on the physical model; meanwhile, the industrial personal computer sends a control instruction to the servo controller, and the control actuator loads aerodynamic force to the top end of the tower barrel of the physical model;
3) The tower barrel generates motion response under the action of wind and wave flow, the acceleration sensor measures the motion response information of the tower barrel, and the motion response information is transmitted to a wind wheel numerical model in the industrial personal computer after being filtered and amplified;
4) The wind wheel numerical model is combined with the tower barrel motion response, the blade motion response and the control strategy of the fan to update the position of the blade, so that the calculated aerodynamic load is corrected and used as the aerodynamic force and the aerodynamic moment of the next time step; the force control loading device loads the pneumatic load to the top end of the physical model tower cylinder in real time;
5) And (4) circularly performing the steps 2) -4), and realizing the integrated analysis of the floating fan.
During the test, the pneumatic load obtained by calculation of the wind wheel numerical model is loaded to the top end of the physical model tower cylinder in real time through the force control loading device, meanwhile, the motion and displacement data of the physical model under the wave and wind wheel loads are obtained through measurement, and the motion and displacement data are fed back to the wind wheel numerical model in real time, so that the real-time interactive closed loop of the physical-numerical model information in the test is realized, and further, the hybrid test is carried out circularly.
The invention has the beneficial effects that:
(1) The invention effectively solves the problem of the conflict between the Froude number and the Reynolds number ratio ruler.
(2) A wind wheel numerical model is established, the problem of blade performance scaling does not need to be considered, and control strategies can be flexibly added and changed.
(3) The wind field simulation is more convenient, and the obtained wind load is more accurate.
(4) The advantages of high efficiency, convenience and model test intuition and fidelity of numerical simulation are combined, and meanwhile, the integrated analysis of the dynamic response of the floating type fan under the wind wave flow load can be realized, and the structure is simple, the operation is convenient and fast.
Drawings
FIG. 1 is a schematic view of the process of the present invention.
FIG. 2 is a schematic view of the structure of the present invention.
In the figure: 1 is the wave current pond, 2 is the physical model, 3 is acceleration sensor, 4 is for drawing pressure sensor, 5 is the fixed pulley, 6 is the haulage rope, 7 is the base, 8 is the spring board, 9 is the actuator, 10 is the reaction frame, 11 is data transmission line, 12 is the industrial computer.
Detailed Description
The specific implementation method of the system comprises an early-stage test preparation part and a formal test part. The formal test is carried out in a wave water pool, the water pool with the proper working water depth is selected, if the working water depth is smaller than the required water depth, the anchoring system adopts the equivalent cut-off water depth to provide the static restoring force and the damping force with the effect consistent with the full water depth.
The early-stage test preparation mainly comprises the steps of manufacturing a physical model 2, assembling equipment, determining environmental load parameters and the like, and the specific method comprises the following steps:
1. and (4) manufacturing a physical model.
The physical model 2 is a reduced scale model of the floating type wind turbine and comprises a tower cylinder, a floating body and an anchoring system. In the physical model 2 test, froude similarity criterion is adopted, the geometric similarity ratio is taken as lambda L, and other parameter ratios are shown in Table 1. The physical model 2 was made according to table 1, ensuring consistency of the geometrical dimensions and quality properties before and after scaling. The tower barrel and the floating body are processed and manufactured by comprehensively considering the material density, rigidity and mass distribution conditions, so that the similarity and accuracy of the physical model and the entity are ensured. A mass is arranged at the top end of the tower and represents the mass of the wind wheel, the nacelle and the hub, and is used for considering the rigidity and the damping of the three parts. The anchoring system is required to meet the similarity of the length of the anchoring line, the rigidity of the anchoring line, the buoyancy weight of the anchoring line and the diameter. The length of the anchoring line is directly determined by the reduced scale ratio, the axial rigidity can be adjusted by adding a spring at the tail end of the anchoring line, and the diameter and the floating volume weight of the anchoring line can be adjusted by sleeving silica gel or a latex tube outside the anchoring line.
TABLE 1 scaling relationship Table for Mixed experiments
2. And (6) assembling the equipment.
The acceleration sensor 3 is installed at the top end of the tower of the physical model 2 and used for obtaining motion information of the physical model 2 under the action of wave and wind loads, and the information is used for real-time interaction of the physical-numerical model.
The force-controlled loading device is assembled according to fig. 2. Fixing a reaction frame 10 on a base 7 through a bolt, placing an actuator 9 on the base 7 and tightly attaching to the reaction frame 10, connecting a telescopic head of the actuator 9 with a spring plate 8, and converting displacement control into force control through a push-pull spring; the spring plate 8 comprises two steel plates and four springs arranged between the two steel plates, and the four springs are symmetrically arranged relative to the two steel plates and used for ensuring the uniform stress of the springs; the spring plate 8 is connected to the top end of the tower by means of a pulling rope 6 and a fixed pulley 5, and the pulling pressure sensor 4 is connected to the middle of the pulling rope 6 near the top end of the tower. In order to ensure the stability of the loading direction, the traction ropes of the connecting section of the tower and the traction ropes of the connecting section of the actuator 9 are parallel to each other by the upper fixed pulley. The acceleration sensor 3, the tension and pressure sensor 4 and the actuator 9 are connected with an industrial personal computer 12 through data transmission lines 11. The industrial personal computer is used for sending a control instruction to the servo controller and controlling the actuator 9 to load the pneumatic load to the top end of the tower barrel of the physical model 2.
3. The environmental load in the test was determined.
And determining wind field working condition parameters in the wind wheel numerical model, and determining wave spectrum parameters after scaling in a wave pool for wave simulation.
The formal test part is a hybrid test stepping method, and comprises the following specific steps:
1) A wind wheel numerical model in the industrial personal computer 12 calculates and obtains initial aerodynamic force and aerodynamic moment according to wind field parameters under a selected working condition;
2) The wave generation system in the wave current pool 1 generates waves under a selected working condition according to wave spectrum parameters and acts on the physical model; meanwhile, the industrial personal computer 12 sends a control instruction to the servo controller, and the control actuator 9 loads aerodynamic force to the top end of the tower of the physical model;
3) The tower barrel generates motion response under the action of wind and wave flow, the acceleration sensor 3 measures the motion response information of the tower barrel, and the motion response information is transmitted to a wind wheel numerical model in the industrial personal computer 12 after being filtered and amplified;
4) The wind wheel numerical model is combined with the tower barrel motion response, the blade motion response and the control strategy of the fan to update the position of the blade, so that the calculated aerodynamic load is corrected and used as the aerodynamic force and the aerodynamic moment of the next time step; the force control loading device loads the pneumatic load to the top end of the physical model tower cylinder in real time;
5) And (4) circularly performing the steps 2) -4), and realizing the integrated analysis of the floating fan.
Claims (3)
1. An actuator force control loading floating type fan hybrid experiment system is characterized by comprising a physical model and a force control loading device; the force control loading device is used for loading pneumatic load on the physical model; the aerodynamic load comprises aerodynamic force and aerodynamic moment;
the physical model is a reduced scale model of the floating type fan and is arranged in the wave flow water pool; the physical model comprises a tower, a floating body and an anchoring system; the tower barrel and the floating body need to comprehensively consider the material density, rigidity and mass distribution conditions during processing and manufacturing, so that the similarity and accuracy of the physical model and the entity are ensured; the top end of the tower is provided with a mass block, and the mass block represents the mass of the wind wheel, the engine room and the hub and is used for considering the rigidity and the damping of the three parts; the anchoring system needs to meet the similarity of the length of the anchoring line, the rigidity of the anchoring line, the floating weight and the diameter of the anchoring line; the length of the anchoring line is determined by a reduced scale ratio, the rigidity of the anchoring line is adjusted by adding a spring at the tail end of the anchoring line, and the diameter and the floating weight of the anchoring line are adjusted by sleeving a silica gel or a latex tube outside the anchoring line;
the force control loading device is used for loading pneumatic load to the top end of the physical model tower; the force control loading device comprises an actuator, a spring plate, a base, a reaction frame, a servo controller, an industrial personal computer, a tension and pressure sensor, a fixed pulley and a traction rope; the reaction frame is fixed on the base and connected with the tail part of the actuator; the telescopic head of the actuator is connected with the spring plate, and displacement control is converted into force control through a push-pull spring; the spring plate comprises two steel plates and four springs arranged between the two steel plates, and the four springs are symmetrically arranged relative to the two steel plates and used for ensuring the uniform stress of the springs; one end of the traction rope is connected with the spring through the lower fixed pulley, and the other end of the traction rope is connected with the top end of the tower barrel of the physical model through the upper fixed pulley; the industrial personal computer is used for sending a control instruction to the servo controller and controlling the actuator to load a pneumatic load to the top end of the tower barrel of the physical model; the pulling pressure sensor is used for measuring the force loaded to the top end of the tower barrel.
2. The actuator force-control loading floating type fan hybrid experimental system as claimed in claim 1, wherein a wind wheel numerical model is arranged in the industrial personal computer, and is used for calculating the pneumatic load of the original-scale wind wheel under the selected working condition, and the wind wheel numerical model is sent to the force-control loading device through the industrial personal computer after being scaled; the method for calculating the aerodynamic load by the wind wheel numerical model comprises the following steps: firstly, generating a wind field by means of TurbSim, mapping the wind speed of each point of the wind field to each phylline, solving the aerodynamic force and the aerodynamic moment on each phylline according to a modified phylline momentum theory, summing the spanwise directions of single blades and superposing all the blades to obtain the aerodynamic force and the aerodynamic moment borne by a wind wheel at the current time step, and further obtaining the motion response of the blades; then considering the control strategy of the fan and the motion response fed back by the physical model, updating the position and the posture of the blade, and solving the pneumatic load of the next time step; then, continuously and circularly solving to obtain the pneumatic load of the wind wheel with the original scale;
according to the modified momentum theory of the phyllotaxis, the aerodynamic force and the aerodynamic moment on the phyllotaxis are obtained, the spanwise summation of a single blade and the superposition of all the blades are carried out, and the aerodynamic force and the aerodynamic moment on the wind wheel at the current time step are obtained, wherein the specific method comprises the following steps: decomposing the blade into a plurality of blades along the length direction by utilizing a blade element momentum theory, solving the aerodynamic load of the blade and the whole wind wheel through the lift force and the resistance of each blade element of the blade, introducing a Prandtle blade tip loss model, a hub loss model and a Glauert model for correction, and finally obtaining the aerodynamic force and the aerodynamic moment of the wind wheel at the current time step;
the control strategies of the fan are variable speed control and variable pitch control, and before the rotating speed of the wind wheel reaches rated power, the variable speed control is adopted to keep the optimal tip speed ratio to operate and complete transition; and after the rated power is reached, carrying out variable pitch control by adopting a PI algorithm, and adjusting the pitch angle to keep the rated power of the fan running.
3. An actuator force-controlled loading floating fan hybrid experimental method, which is realized based on the experimental system as claimed in claim 1 or 2, and comprises the following steps:
1) A wind wheel numerical model in the industrial personal computer calculates and obtains initial aerodynamic force and aerodynamic moment according to wind field parameters under a selected working condition;
2) A wave generation system in the wave flow pool generates waves under a selected working condition according to wave spectrum parameters and acts on the physical model; meanwhile, the industrial personal computer sends a control instruction to the servo controller, and the control actuator loads aerodynamic force to the top end of the tower barrel of the physical model;
3) The tower barrel generates motion response under the action of wind and wave flow, the acceleration sensor measures the motion response information of the tower barrel, and the motion response information is transmitted to a wind wheel numerical model in the industrial personal computer after being filtered and amplified;
4) The wind wheel numerical model is combined with the tower barrel motion response, the blade motion response and the control strategy of the fan to update the position of the blade, so that the calculated aerodynamic load is corrected and used as the aerodynamic force and the aerodynamic moment of the next time step; the force control loading device loads the pneumatic load to the top end of the physical model tower cylinder in real time;
5) And (4) circularly performing the steps 2) -4), and realizing the integrated analysis of the floating fan.
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| CN117291030A (en) * | 2023-09-22 | 2023-12-26 | 大连理工大学 | Marine floating fan mixed model test device and method |
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