CN116484594A - Dynamic response analysis method for single-blade installation process of fan under consideration of wind load effect - Google Patents

Dynamic response analysis method for single-blade installation process of fan under consideration of wind load effect Download PDF

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CN116484594A
CN116484594A CN202310372075.1A CN202310372075A CN116484594A CN 116484594 A CN116484594 A CN 116484594A CN 202310372075 A CN202310372075 A CN 202310372075A CN 116484594 A CN116484594 A CN 116484594A
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blade
coordinate system
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crane
point
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乔东生
尹力
唐国强
闫俊
吕林
欧进萍
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Dalian University of Technology
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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
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Abstract

The invention discloses a dynamic response analysis method for a single-blade installation process of a fan under consideration of wind load action, which comprises the following steps: according to the installed fan blades and the construction sea areas, a blade airfoil database and a turbulent wind field database are established; describing the positions of a lifting point and the positions of a tappet vertex when each mechanism of the shipborne crane moves by adopting a homogeneous transformation matrix; describing the position of a lifting point when a crane ship moves by adopting an Euler transformation matrix, and describing the position of the mass center of the blade in space through the position of the lifting point, the length of a sling and generalized coordinates; acquiring wind load of each time point in the blade installation process; obtaining sling tension in the blade mounting process; establishing a dynamic model of the single-blade installation system by adopting a Lagrangian method; the method can accurately analyze the coupling motion response among the crane ship, the shipborne crane, the sling and the blades in the installation process, and effectively improve the modeling efficiency of the system by selecting generalized coordinates and performing modeling analysis on the system based on an energy method.

Description

Dynamic response analysis method for single-blade installation process of fan under consideration of wind load effect
Technical Field
The invention relates to the technical field of offshore wind turbine single-blade installation, in particular to a dynamic response analysis method of a crane ship-blade coupling system considering blade wind load in the process of offshore wind turbine single-blade installation.
Background
The installation method of the offshore wind turbine can be divided into a general assembly type and a separation type. For the 'final assembly' installation method, the fan is required to be assembled in a port or a dock, then transported to an offshore wind farm by adopting a professional transport ship, and finally lifted by adopting a large floating crane ship. Since this method requires a large floating crane for offshore operations, it is difficult to adapt to a large offshore wind turbine. For the "split" installation method, the foundation, the tower, the nacelle, the blade and other parts need to be installed separately, and in particular for the installation of the blade, the "three-blade", "double-blade" and "single-blade" installation methods are generally adopted. Compared with the three-blade and double-blade installation methods, the single-blade installation method has lower requirements on the deck and the crane of the crane ship, so that the method is more suitable for installing large-scale offshore fans. However, this installation method increases the number of lifting times of the crane, which may result in a long working time. Therefore, an analysis method aiming at the installation process of the single blade of the offshore wind turbine needs to be constructed, so that the movement of the blade in the installation process is accurately estimated, and the installation speed is further improved.
As shown in fig. 1, the installation system in the single-blade installation process comprises a crane ship, a shipborne crane (turntable, tappet rod and crane arm), a sling, a lifting hook, a clamping structure, a blade and other parts, and the parts have strong coupling effect in the installation process. Analysis of the coupling system requires accurate modeling of the mounting system, and current modeling of fan blade mounting systems generally employs newton-euler methods. In the modeling process of the Newton-Euler method, a system is required to be split into a plurality of parts, and constraint counter force is applied to each part, so that an integral motion equation of the system is obtained. The modeling difficulty and the calculation efficiency of the method are greatly influenced by the number of components in the system, and as the number of the components in the system increases, the modeling difficulty is greatly increased, and the number of equations is also increased, so that the calculation efficiency is reduced.
With the large-scale development of fans, the size of the blades is larger and larger, and meanwhile, the offshore wind speed is usually larger in the process of installing the blades, so that the wind load acting on the blades cannot be ignored. In addition, the increase in tower height results in an increase in blade lift height, and significant dynamic response of the single blade mounting system due to wind loading must be appreciated. The large movements of the blades caused by wind loads may cause collisions of structures around the blades, resulting in failure of the installation and even threatening safety of the staff. Therefore, it is necessary to consider the wind load acting on the blade and thus accurately evaluate the motion response of the blade during installation.
Disclosure of Invention
The invention aims to provide a dynamic response analysis method for a single-blade installation process of a fan, which takes wind load action into consideration, and is suitable for analyzing the single-blade installation process of a self-elevating crane ship and a floating crane ship at present.
In order to achieve the above purpose, the method for analyzing the dynamic response of the single-blade installation process of the fan, which is provided by the application and considers the wind load effect, comprises the following steps:
according to the installed fan blades and the construction sea area, a blade airfoil database and a turbulent wind field database are established, and meanwhile, the movement of a single blade installation system is described through a proper coordinate system and generalized coordinates;
describing the positions of lifting points and the positions of tappet vertexes when each mechanism (a turntable and a crane arm) of the shipborne crane moves by adopting a homogeneous transformation matrix;
describing the position of a lifting point when a crane ship moves by adopting an Euler transformation matrix, and describing the position of the mass center of the blade in space through the position of the lifting point, the length of a sling and generalized coordinates;
obtaining the position of each leaf element in space according to the barycenter position of the blade and the blade airfoil database, and simultaneously obtaining aerodynamic load (lift force, resistance and pitching moment) of each leaf element of the blade according to the three-dimensional wind speed vector of the space point of the hoisting area at each moment, and integrating the aerodynamic load along the span direction of the blade to obtain wind load at each time point in the blade installation process;
analyzing the blade to obtain sling tension in the blade mounting process;
and establishing a dynamic model of the single-blade mounting system by adopting a Lagrangian method: and obtaining potential energy of the blade through the spatial position of the blade, deriving the space position to obtain the speed of the blade at each time point, obtaining kinetic energy of the blade, obtaining a Lagrange operator of a single-blade installation system according to the potential energy and the kinetic energy of the blade, obtaining each generalized coordinate of the next moment through the Lagrange equation while wind load is non-powerful.
Further, the coordinate system is established in the following manner:
global coordinate system { N }: origin o n Is positioned at the gravity center position x of the crane ship n Pointing to the bow, y n Directing to port, z n Vertically upward, around x n ，y n And z n The rotation of (a) is rolling eta x Pitching eta y And bow-shaking eta z The coordinate system does not move with the hull;
hull coordinate system { V }: the initial direction is the same as { N }, and the coordinate system moves along with the ship body;
carousel coordinate system { R }: origin o r The rotating disc is positioned at the intersection point of the rotating shaft of the rotating disc and the crane ship, and the rotating disc winds around z r The rotation angle is alpha r ；
Boom coordinate system { A }: origin o a The arm winding y is positioned at the intersection point of the arm rotating shaft and the turntable a Rotating to form an initial included angle beta h0 The amplitude of the wave is beta in the installation process a ；
Hoisting point coordinate system { H }: origin o h The suspension cable is positioned at the suspension point, and the coordinate system is used for describing the angle and the suspension length change of the suspension cable in the installation process;
blade coordinate system { B }: origin o b Located at the centre of mass of the blade, x b From leading edge to trailing edge in chord direction of blade, y b Pointing from the blade root to the blade tip in the spanwise direction of the blade;
phyllin pneumatic coordinate system { B i }: origin o bi Is positioned at the geometrical center of the ith phyllin and y bi And y is b The directions are consistent;
wind coordinate system { W }: origin o w Is positioned at the left lower corner of the wind field, y w For the direction of wind inflow z w Vertically upwards, along x w ，y w And z w The wind speeds of (2) are u respectively w ，v w And w w 。
Meanwhile, phi and theta are selected as generalized coordinates, and phi is o h o b And z h Negative included angle, θ is the blade centroid and z h Plane of axes and x h o h z h Included angle of plane.
Further, when the homogeneous transformation matrix is adopted to describe the motion of each mechanism of the shipborne crane, the positions of the lifting points and the positions of the top points of the lifters are specifically as follows:
when the crane turntable and the crane arm move, the positions of the lifting points are as follows:
wherein:and p H ＝[0 0 0 1] T The descriptions of the hanging points in a ship body coordinate system { V } and a hanging point coordinate system { H } are respectively shown; />And->The system is respectively a homogeneous transformation matrix of a turntable coordinate system { R } relative to a ship body coordinate system { V }, a homogeneous transformation matrix of a crane arm coordinate system { A } relative to the turntable coordinate system { R }, and a homogeneous transformation matrix of a lifting point coordinate system { H } relative to a crane arm coordinate system { A };
when the crane rotates, the tappet vertex positions are as follows:
wherein:the description of tappet vertex a in hull coordinate system V and turret coordinate system R, respectively.
Further, the Euler transformation matrix is used for describing the position of a lifting point when the crane ship moves:
wherein:and->Is the description of the suspension points in the overall coordinate system { N } and the hull coordinate system { V }; />The Euler transformation matrix is a ship body coordinate system { V } relative to an overall coordinate system { N }; d, d V Is an offset of crane vessel motion.
Further, the position of the blade centroid in space is described by the suspension point position, the suspension wire length and the generalized coordinates:
wherein:and->X, y and z coordinates of the blade centroid in the global coordinate system { N }, respectively; />And->X, y and z coordinates of the suspension point in the global coordinate system { N }, respectively; l is the suspension length of the sling, l=l 0 -l 1 -l 2 ，l 0 For the original length of the sling, l 1 The length l of the sling between the tappet top A and the suspension point 2 The length of the sling is changed due to the driving of the winch at the point A.
Further, the method for obtaining the pneumatic load of each leaf element of the leaf comprises the following steps:
wherein: l (L) i ，D i And M i The lift force, the resistance and the pitching moment of the phyllotoxin are respectively; ρ a Is air density; c (C) li (α i,1 )，C di (α i,1 ) And C mi (α i,1 ) The lift coefficient, the drag coefficient and the pitching moment coefficient of the phyllotoxin are; c i The chord length of the phyllostachys is the chord length of the phyllostachys; a is that i Is the area of phyllostachys praecox; v (V) i Relative inflow velocity of wind; c (C) li (α i,1 )，C di (α i,1 )，C mi (α i,1 ) And c i Is a blade intrinsic parameter.
The aerodynamic loading of each leaf element in the leaf coordinate system { B } is described as:
wherein: f (f) i B Aerodynamic force of each phyllin;is the aerodynamic moment of each phyllin.
Further, the total aerodynamic forces and moments acting on the blade are described in the blade coordinate system { B }:
wherein:is the total aerodynamic force and moment in the blade coordinate system { B }; />A description of the aerodynamic center position of each leaf element in a leaf coordinate system { B }; />A description of each leaf element centroid position in a leaf coordinate system { B };
loading the pneumatic loadConversion to the global coordinate system { N }, and is described at the blade centroid location as:
wherein:is the total aerodynamic force and moment in the global coordinate system { N }; />An Euler transformation matrix of the blade coordinate system { B } relative to the overall coordinate system { N }; zeros (3×3) is a zero matrix with dimensions 3×3.
Further, the sling tension in the blade installation process is:
wherein: m is m t ＝m hook +m yoke +m blade For the total mass m hook 、m yoke And m blade The weight of the lifting hook, the weight of the clamping structure and the weight of the blade are respectively;acceleration of the blade centroid in the z direction in the global coordinate system { N }; g is gravity acceleration; f (F) s Is sling tension; />Is the force of the pneumatic load in the z direction.
Further, the dynamic model of the single-blade mounting system is established by adopting the Lagrangian method as follows:
wherein: l is Lagrangian operator, which is the difference between kinetic energy and potential energy of the system; phi and theta are generalized coordinates of the system;and->Derivative of generalized coordinates of the system; q (Q) 1 And Q 2 Is not powerful for the system;
substituting each variable into formula (10):
wherein:and->Second derivative of generalized coordinates; />And->Acceleration of the lifting point in x, y and z directions in the overall coordinate system { N }; />Is the rate of change of sling length; and solving by adopting a fourth-order Dragon lattice-Kutta to obtain generalized coordinates phi and theta at the next moment.
The method for analyzing the dynamic response of the single fan blade installation process by considering the wind load effect has the following advantages:
1. the marine fan single-blade installation system based on the Lagrangian method is used for modeling, so that the coupling motion response among the crane, the shipborne crane, the sling and the blades in the installation process can be accurately analyzed, and meanwhile, the modeling analysis is carried out on the system by selecting generalized coordinates and based on an energy method, so that the modeling efficiency of the system is effectively improved.
2. The wind load borne by the blade is calculated by adopting the phyllin theory, and the influence of the wind load on the motion response of the blade and the tension of the sling in the installation process can be accurately analyzed.
3. The method considers the motion of the crane ship, namely, reserves an input interface of the motion response of the crane ship, so that the method is suitable for analyzing the single-blade installation process of the self-elevating crane ship which is widely applied at present and is also suitable for the single-blade installation process of the floating crane ship.
Drawings
FIG. 1 is a schematic diagram of a single blade mounting system;
FIG. 2 is a coordinate system and physical quantity display diagram involved in a single blade mounting process;
FIG. 3 is a flow chart of a blade motion response analysis at various moments during installation.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the application, i.e., the embodiments described are merely some, but not all, of the embodiments of the application.
According to the invention, the lifting point position is obtained by considering the rotation of the turntable and the amplitude variation of the lifting arm of the shipborne crane, and the influence of the crane ship movement on the lifting point position is further considered; the space position of the blade is accurately obtained by considering the position of the lifting point, the position of the top point of the tappet and the length of the sling; the pneumatic load of the blade at each time point is obtained through the space position of the blade, the space three-dimensional wind speed vector and the pneumatic characteristic of the blade; establishing a system dynamics model by using a Lagrangian method to obtain accurate dynamic response of the blade in the installation process; and (5) establishing a blade motion equation to obtain sling tension in the installation process. The analysis method is suitable for analyzing the single-blade installation process of the self-elevating crane ship and the floating crane ship at present, and specifically comprises the following steps:
step one, according to the installed fan blades and a construction sea area, establishing a blade airfoil database and a turbulent wind field database, and describing the movement of a single blade installation system through a coordinate system and generalized coordinates;
specifically, the blade airfoil database comprises the corresponding relation among the serial numbers of each blade element, the position relative to the blade root, the torsion angle, the chord length, the inflow angle and the aerodynamic coefficient (lift coefficient, drag coefficient and pitching moment coefficient); the turbulent wind field comprises three-dimensional wind speed vectors of space points of the hoisting area at each moment. According to the crane ship used for construction, as shown in fig. 2, the following coordinate system is established:
(1) Global coordinate system { N }: origin o n Is positioned at the gravity center position x of the crane ship n Pointing to the bow, y n Directing to port, z n Vertically upward, around x n ，y n And z n The rotation of (a) is rolling eta x Pitching eta y And bow-shaking eta z The coordinate system does not move with the hull;
(2) Hull coordinate system { V }: the initial direction is the same as { N }, and the coordinate system moves along with the ship body;
(3) Carousel coordinate system { R }: origin o r The rotating disc is positioned at the intersection point of the rotating shaft of the rotating disc and the crane ship, and the rotating disc winds around z r The rotation angle is alpha r ；
(4) Boom coordinate system { A }: origin o a The arm winding y is positioned at the intersection point of the arm rotating shaft and the turntable a Rotating to form an initial included angle beta h0 The amplitude of the wave is beta in the installation process a ；
(5) Hoisting point coordinate system { H }: origin o h The suspension cable is positioned at the suspension point, and the coordinate system is used for describing the angle and the suspension length change of the suspension cable in the installation process;
(6) Blade coordinate system { B }: origin o b Located at the centre of mass of the blade, x b From leading edge to trailing edge in chord direction of blade, y b Pointing from the blade root to the blade tip in the spanwise direction of the blade;
(7) Phyllin pneumatic coordinate system { B i }: origin o bi Is positioned at the geometrical center of the ith phyllin and y bi And y is b The directions are consistent;
(8) Wind coordinate system { W }: origin o w Is positioned at the left lower corner of the wind field, y w For the direction of wind inflow z w Vertically upwards, along x w ，y w And z w The wind speeds of (2) are u respectively w ，v w And w w 。
Meanwhile, as shown in FIG. 2, phi and theta are selected as generalized coordinates, phi is o h o b And z h Negative included angle, θ is the blade centroid and z h Plane of axes and x h o h z h Included angle of plane.
Describing the positions of a lifting point and the positions of the top points of the lifters when each mechanism of the shipborne crane moves by adopting a homogeneous transformation matrix;
specifically, according to the movement of the shipborne crane turntable and the crane boom, the positions of the lifting points in { V } are:
wherein:and p H ＝[0 0 0 1] T Descriptions of the suspension points in { V } and { H } respectively;and->The matrix is a homogeneous transformation matrix of { R } relative to { V }, a homogeneous transformation matrix of { A } relative to { R }, and a homogeneous transformation matrix of { H } relative to { A }.
Position of tappet apex in { V } when crane rotor and boom are in motion:
wherein:and->Descriptions of tappet vertex a in { V } and { R } respectively; />Is a homogeneous transformation matrix of { R } relative to { V }.
Describing suspension points using homogeneous transformationsThe position of the lifter vertex in V, and therefore, the fourth element in the position matrix of the lifting point and lifter vertex is 1, is not practical. In the following detailed descriptionAnd->The x, y and z positions of the suspension point and tappet vertex in V are indicated.
The method can obtain the positions of the lifting points and the positions of the top points of the tappet when the shipborne crane turntable and the crane boom move in the single-blade fan installation process, thereby providing input for further considering the movement of the installation ship and the calculation of the length of the suspension cable suspension section.
Describing the position of a lifting point when the crane ship moves by adopting an Euler transformation matrix, and describing the position of the mass center of the blade in space through the position of the lifting point, the length of a sling and generalized coordinates;
specifically, when the crane ship moves, the position of the hoisting point in { N }:
wherein:and->Descriptions of the suspension points in { N } and { V };an Euler transformation matrix for { V } relative to { N }; d, d V Is an offset of crane vessel motion.
The position of the lifting point during the movement of the installation vessel can be obtained through the method, and the description of the position of the lifting point simultaneously considers the movement of the installation vessel, the movement of the turntable of the shipborne crane and the movement of the crane arm.
The position of the blade centroid in { N } is:
wherein:and->X, y and z coordinates of the blade centroid in { N }, respectively; />And->X, y and z coordinates of the suspension point in { N }, respectively; l is the suspension length of the sling, l=l 0 -l 1 -l 2 ，l 0 For the original length of the sling, l 1 The length l of the sling between the tappet top A and the suspension point 2 The length of the sling is changed due to the driving of the winch at the point A. In the blade mounting process 1 And l 2 The calculation can be made by the following formula:
l 1 ＝||q V′ -q R′ ||
wherein: the expression of the vector q is · for the vector q V′ -q R′ Obtaining a model; r is (r) w The radius of the winch at the point A; omega w Is the angular speed of the winch; and t is winch operation time.
The centroid position of the blade can be obtained through the formula, so that preparation is provided for subsequent construction of a Lagrange equation.
Step four, obtaining the position of each leaf element in space according to the barycenter position of the blade and the blade airfoil database, and simultaneously obtaining the aerodynamic load of each leaf element of the blade according to the three-dimensional wind speed vector of the space point of the hoisting area at each moment by adopting the leaf element theory, and integrating the aerodynamic load along the span direction of the blade to obtain the wind load of each time point in the blade installation process;
specifically, as shown in FIG. 2, α i,1 Angle of attack, alpha, for phyllostacin i,2 Is the sum of the rotation angle and the torsion angle of the leaf element around the y axis, alpha i,3 Is the phyllin inflow angle. The lift force, the resistance and the pitching moment acting on the aerodynamic center of the phyllotoxin are as follows:
wherein: l (L) i ，D i And M i The lift force, the resistance and the pitching moment of the phyllotoxin are respectively; ρ a Is air density; c (C) li (α i,1 )，C di (α i,1 ) And C mi (α i,1 ) The lift coefficient, the drag coefficient and the pitching moment coefficient of the phyllotoxin are; c i The chord length of the phyllostachys is the chord length of the phyllostachys; a is that i Is the area of phyllostachys praecox; v (V) i Is the relative inflow velocity of the wind. C (C) li (α i,1 )，C di (α i,1 )，C mi (α i,1 ) And c i Is a blade intrinsic parameter.
Calculation of blade aerodynamic load by adopting the phyllin theory is described in { B }, and the conversion relation is as follows:
wherein:and->Description of spatial point three-dimensional wind speed vector in { W } and { B }, respectively, +.> Is the angle of { W } relative to { B }.
Three-dimensional wind speed vector of pneumatic center of each phyllinAnd (3) according to the calculation, the three-dimensional wind speed vector of the space point described in the { B } and the space position of each leaf element are determined by adopting three-dimensional space interpolation. Inflow angle alpha of each leaf element i,3 The method comprises the following steps:
wherein: u (u) b And w b Is the component of wind speed in the x and y directions.
According to the corresponding relation between each leaf element inflow angle and the lift coefficient, the drag coefficient and the pitching moment coefficient, the lift coefficient, the drag coefficient and the pitching moment coefficient of each pneumatic center are obtained by adopting two-dimensional interpolation.
The aerodynamic loading of each phyllin is described in { B }:
wherein: f (f) i B Aerodynamic force of each phyllin;is the aerodynamic moment of each phyllin.
To sum up, the total aerodynamic forces and moments acting on the blade are described in { B }:
wherein:is the total aerodynamic force and moment in { B }; />A description in { B } of the aerodynamic center position of each leaf element; />A description of each leaf element centroid position in { B }; 'x' represents cross.
By pneumatic loadingConversion to the global coordinate system { N }, and is described at the blade centroid location as:
wherein:is the total aerodynamic force and moment in { N }; />An Euler transformation matrix of { B } relative to { N }; zeros (3×3) is a zero matrix with dimensions 3×3.
Wind load of the blade in each coordinate system in the blade installation process can be obtained through the above-mentioned formula process, and the wind load is not powerful in the single-blade installation system analysis process.
Step five, analyzing the blade to obtain sling tension in the blade mounting process;
specifically, according to the wind load at the current moment and each generalized coordinate value, the sling tension in the installation process is obtained:
wherein: m is m t ＝m hook +m yoke +m blade For the total mass m hook 、m yoke And m blade The weight of the lifting hook, the weight of the clamping structure and the weight of the blade are respectively;acceleration of the blade centroid in the z-direction in { N }, respectively; g is gravity acceleration; f (F) s Is sling tension; />Is the force of the pneumatic load in the z direction.
According to the current generalized coordinates phi, the sling tension at the current time step can be obtained.
Step six, establishing a dynamics model of the single-blade installation system by adopting a Lagrangian method: obtaining potential energy of the blade through the spatial position of the blade, deriving the space to obtain the speed of the blade at each time point, obtaining the kinetic energy of the blade, obtaining a Lagrangian operator of a single-blade mounting system according to the potential energy and the kinetic energy of the blade, obtaining each generalized coordinate of the next moment through the Lagrangian equation while the wind load is non-powerful;
specifically, as the blade adopts a hoisting mode of a four-point crane in the installation process, the stability in the hoisting process can be improved, thereby reducing the rotation of a hoisted object, and neglecting the moment caused by the pneumatic load of the blade. For an offshore wind turbine single-blade installation system of a crane ship-blade coupling system, generalized coordinates phi and theta are selected, and a system dynamics model based on a Lagrangian equation can be expressed as follows:
wherein: l is Lagrangian operator, which is the difference between kinetic energy and potential energy of the system; phi and theta are generalized coordinates of the system;and->Derivative of generalized coordinates of the system; q (Q) 1 And Q 2 Is not powerful for the system.
Substituting the resulting variables into the above equation may be:
wherein:and->Second derivative of generalized coordinates of the system; />And->Acceleration of the suspension point in the x, y and z directions in { N }, respectively; />Is the rate of change of the sling length.
Solving the nonlinear equation by adopting a fourth-order Dragon lattice-Kutta to obtain t i+1 Generalized coordinates phi and theta of the moment. The dynamic response of the blade during the installation process can be obtained by cyclic calculation at each time step.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims (9)

1. A dynamic response analysis method for a single-blade installation process of a fan considering wind load action is characterized by comprising the following steps:
according to the installed fan blades and the construction sea area, a blade airfoil database and a turbulent wind field database are established, and meanwhile, the movement of a single blade installation system is described through a proper coordinate system and generalized coordinates;
describing the positions of a lifting point and the positions of a tappet vertex when each mechanism of the shipborne crane moves by adopting a homogeneous transformation matrix;
describing the position of a lifting point when a crane ship moves by adopting an Euler transformation matrix, and describing the position of the mass center of the blade in space through the position of the lifting point, the length of a sling and generalized coordinates;
obtaining the position of each leaf element in space according to the barycenter position of the blade and the blade airfoil database, and simultaneously obtaining the aerodynamic load of each leaf element of the blade according to the three-dimensional wind speed vector of the space point of the hoisting area at each moment, and integrating the aerodynamic load along the span direction of the blade to obtain the wind load at each time point in the blade installation process;
analyzing the blade to obtain sling tension in the blade mounting process;
and establishing a dynamic model of the single-blade mounting system by adopting a Lagrangian method: and obtaining potential energy of the blade through the spatial position of the blade, deriving the space position to obtain the speed of the blade at each time point, obtaining kinetic energy of the blade, obtaining a Lagrange operator of a single-blade installation system according to the potential energy and the kinetic energy of the blade, obtaining each generalized coordinate of the next moment through the Lagrange equation while wind load is non-powerful.
2. The method for analyzing the dynamic response of the single-blade installation process of the fan taking the wind load action into consideration as set forth in claim 1, wherein the coordinate system is established in the following manner:
global coordinate system { N }: origin o n Is positioned at the gravity center position x of the crane ship n Pointing to the bow, y n Directing to port, z n Vertically upward, around x n ，y n And z n The rotation of (a) is rolling eta x Pitching eta y And bow-shaking eta z The coordinate system does not move with the hull;
hull coordinate system { V }: the initial direction is the same as { N }, and the coordinate system moves along with the ship body;
carousel coordinate system { R }: origin o r The rotating disc is positioned at the intersection point of the rotating shaft of the rotating disc and the crane ship, and the rotating disc winds around z r The rotation angle is alpha r ；
Boom coordinate system { A }: origin o a The arm winding y is positioned at the intersection point of the arm rotating shaft and the turntable a Rotating to form an initial included angle beta h0 The amplitude of the wave is beta in the installation process a ；
Hoisting point coordinate system { H }: origin o h The suspension cable is positioned at the suspension point, and the coordinate system is used for describing the angle and the suspension length change of the suspension cable in the installation process;
blade coordinate system { B }: origin o b Located at the centre of mass of the blade, x b From leading edge to trailing edge in chord direction of blade, y b Pointing from the blade root to the blade tip in the spanwise direction of the blade;
phyllin pneumatic coordinate system { B i }: origin o bi Is positioned at the geometrical center of the ith phyllin and y bi And y is b The directions are consistent;
wind coordinate system { W }: origin o w Is positioned at the left lower corner of the wind field, y w For the direction of wind inflow z w Vertically upwards, along x w ，y w And z w The wind speeds of (2) are u respectively w ，v w And w w ；
Meanwhile, phi and theta are selected as generalized coordinates,phi is o h o b And z h Negative included angle, θ is the blade centroid and z h Plane of axes and x h o h z h Included angle of plane.
3. The method for analyzing the dynamic response of the single-blade installation process of the fan taking the wind load effect into consideration as set forth in claim 1, wherein when each mechanism of the shipborne crane is moved, a homogeneous transformation matrix is adopted to describe the positions of a lifting point and the positions of a tappet top, specifically:
when the crane turntable and the crane arm move, the positions of the lifting points are as follows:
wherein:and p H ＝[0 0 0 1] T The descriptions of the hanging points in a ship body coordinate system { V } and a hanging point coordinate system { H } are respectively shown; />And->The system is respectively a homogeneous transformation matrix of a turntable coordinate system { R } relative to a ship body coordinate system { V }, a homogeneous transformation matrix of a crane arm coordinate system { A } relative to the turntable coordinate system { R }, and a homogeneous transformation matrix of a lifting point coordinate system { H } relative to a crane arm coordinate system { A };
when the crane rotates, the tappet vertex positions are as follows:
wherein:and->The description of tappet vertex a in hull coordinate system V and turret coordinate system R, respectively.
4. The method for analyzing the dynamic response of the single-blade installation process of the fan taking the wind load action into consideration as set forth in claim 1, wherein the position of a lifting point when a crane ship moves is described by using an Euler transformation matrix:
wherein:and->Is the description of the suspension points in the overall coordinate system { N } and the hull coordinate system { V }; />The Euler transformation matrix is a ship body coordinate system { V } relative to an overall coordinate system { N }; d, d V Is an offset of crane vessel motion.
5. The method for analyzing dynamic response of a single fan blade installation process taking wind load action into consideration according to claim 1, wherein the position of the center of mass of the blade in space is described by a suspension point position, a suspension cable length and generalized coordinates:
wherein:and->X, y and z coordinates of the blade centroid in the global coordinate system { N }, respectively; />And->X, y and z coordinates of the suspension point in the global coordinate system { N }, respectively; l is the suspension length of the sling, l=l 0 -l 1 -l 2 ，l 0 For the original length of the sling, l 1 The length l of the sling between the tappet top A and the suspension point 2 The length of the sling is changed due to the driving of the winch at the point A.
6. The method for analyzing the dynamic response of a single fan blade installation process taking the wind load effect into consideration according to claim 1, wherein the method for acquiring the pneumatic load of each blade element of the fan blade is as follows:
wherein: l (L) i ，D i And M i The lift force, the resistance and the pitching moment of the phyllotoxin are respectively; ρ a Is air density; c (C) li (α i,1 )，C di (α i,1 ) And C mi (α i,1 ) The lift coefficient, the drag coefficient and the pitching moment coefficient of the phyllotoxin are; c i The chord length of the phyllostachys is the chord length of the phyllostachys; a is that i Is the area of phyllostachys praecox; v (V) i Relative inflow velocity of wind; c (C) li (α i,1 )，C di (α i,1 )，C mi (α i,1 ) And c i Is a blade intrinsic parameter;
the aerodynamic loading of each leaf element in the leaf coordinate system { B } is described as:
wherein: f (f) i B Aerodynamic force of each phyllin;is the aerodynamic moment of each phyllin.
7. The method for analyzing dynamic response of a single-blade installation process of a wind turbine in consideration of wind load action according to claim 6, wherein the total aerodynamic force and moment acting on the blade are described in a blade coordinate system { B }:
wherein:is the total aerodynamic force and moment in the blade coordinate system { B };a description of the aerodynamic center position of each leaf element in a leaf coordinate system { B }; />A description of each leaf element centroid position in a leaf coordinate system { B };
loading the pneumatic loadConversion to the global coordinate system { N }, and is described at the blade centroid location as:
wherein:is the total aerodynamic force and moment in the global coordinate system { N };an Euler transformation matrix of the blade coordinate system { B } relative to the overall coordinate system { N }; zeros (3×3) is a zero matrix with dimensions 3×3.
8. The method for analyzing dynamic response of a single fan blade installation process taking wind load action into consideration according to claim 1, wherein the sling tension in the blade installation process is as follows:
wherein: m is m t ＝m hook +m yoke +m blade For the total mass m hook 、m yoke And m blade The weight of the lifting hook, the weight of the clamping structure and the weight of the blade are respectively;acceleration of the blade centroid in the z direction in the global coordinate system { N }; g is gravity acceleration; f (F) s Is sling tension; />Is the force of the pneumatic load in the z direction.
9. The method for analyzing the dynamic response of a single-blade installation process of a fan taking the wind load effect into consideration as set forth in claim 1, wherein the dynamic model of the single-blade installation system is established by adopting a Lagrange method as follows:
wherein: l is Lagrangian operator, which is the difference between kinetic energy and potential energy of the system; phi and theta are generalized coordinates of the system;and->Derivative of generalized coordinates of the system; q (Q) 1 And Q 2 Is not powerful for the system;
substituting each variable into formula (10):
wherein:and->Second derivative of generalized coordinates; />And->Acceleration of the lifting point in x, y and z directions in the overall coordinate system { N }; i is the rate of change of sling length; and solving by adopting a fourth-order Dragon lattice-Kutta to obtain generalized coordinates phi and theta at the next moment.
CN202310372075.1A 2023-04-10 2023-04-10 Dynamic response analysis method for single-blade installation process of fan under consideration of wind load effect Pending CN116484594A (en)

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