CN112160864B - Classic inhibition formula wind turbine blade structure and inhibition system that flutters - Google Patents
Classic inhibition formula wind turbine blade structure and inhibition system that flutters Download PDFInfo
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- 230000005764 inhibitory process Effects 0.000 title description 4
- 230000001629 suppression Effects 0.000 claims abstract description 49
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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
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/065—Rotors characterised by their construction elements
- F03D1/0675—Rotors characterised by their construction elements of the blades
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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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0236—Adjusting aerodynamic properties of the blades by changing the active surface of the wind engaging parts, e.g. reefing or furling
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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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
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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
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/96—Preventing, counteracting or reducing vibration or noise
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/30—Control parameters, e.g. input parameters
- F05B2270/32—Wind speeds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/40—Type of control system
- F05B2270/404—Type of control system active, predictive, or anticipative
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/602—Control system actuates through electrical actuators
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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
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Abstract
The invention discloses a classic flutter suppression type wind turbine blade structure and a flutter suppression system, wherein the wind turbine blade structure comprises a blade parent body, a blade notch is formed in the tail edge side of the blade parent body, and a flutter suppression device is arranged in the blade notch; flutter suppression device includes first locating base, swing support and rigidity trailing edge flap, and first locating base location is in the blade notch, and swing support is connected through first rotatory axostylus axostyle in first locating base outer end, and rigidity trailing edge flap is connected on swing support, is connected with the first rotatory axostylus axostyle pivoted step motor of drive on the first locating base. A wind turbine blade flutter suppression system comprises a wind turbine frame and a wind turbine head connected to the wind turbine frame, wherein the wind turbine head is connected with a plurality of wind turbine blade structures in an adaptive mode; the wind turbine head is provided with a system controller, and the system controller controls the swing amplitude of the rigid trailing edge flap through a flap control method.
Description
Technical Field
The invention relates to the technical field of aeroelastic flutter suppression of wind driven generators, in particular to a classic flutter suppression type wind turbine blade structure and a flutter suppression system.
Background
In recent years, new energy technology of wind power generation has been greatly developed, and especially, the design safety problem of wind turbine blades in the aspect of wind energy capture machinery has also been developed. The blade of the wind turbine can generate classical flutter fracture failure under the action of linear or quasi-steady state aerodynamic force. The light rigid trailing edge flap structure and the scheme of driving the stepping motor and controlling the motor to drive the trailing edge flap to swing based on the intelligent control algorithm are designed, and the aeroelastic instability can be just adjusted and controlled based on the combined effect of unstable flap displacement amplitude control and classical flutter wind speed.
Disclosure of Invention
The invention aims to provide a classic flutter suppression type wind turbine blade structure which can effectively suppress flutter of a wind turbine blade, is novel and simple in structure and is stable and reliable to use.
In order to achieve the purpose, the invention adopts the technical scheme that:
a classic flutter suppression type wind turbine blade structure comprises a blade parent body, wherein a blade notch is formed in the tail edge side of the blade parent body, and a flutter suppression device is arranged in the blade notch; flutter suppression device includes first locating base, swing support and rigidity trailing edge flap, and first locating base location is in the blade notch, and swing support is connected through first rotatory axostylus axostyle in first locating base outer end, and rigidity trailing edge flap is connected on swing support, is connected with the first rotatory axostylus axostyle pivoted step motor of drive on the first locating base.
Preferably, the blade parent body is of a solid plate-shaped structure, and the cross section of the blade parent body is a circumferential antisymmetric surface; the tail edge part of the blade parent body is flat plate-shaped, and the head edge part of the blade parent body is arc-shaped block-shaped; the blade notch is rectangular notch form.
Preferably, the span length of the rigid trailing edge flap occupies 90 to 95 percent of the length of the parent blade body; the chord length of each section of the rigid tail edge flap is 1/7-1/6 of the chord length of the cross section of the blade parent body, and the chord length (transverse length) of each section of the rigid tail edge flap is measured by the distance from the center of the first rotating shaft rod to the tip end of the flap; the rigid tail edge flap is positioned in the middle of the blade notch, and the tail edge end face of the rigid tail edge flap is flush with the tail edge end face of the blade parent body.
Preferably, the rigid tail edge flap is in a V-shaped plate shape, and the rigid tail edge flap is a light space aluminum plate; the swing support is in a rectangular plate shape, two sides of the outer head of the swing support are in a groove shape, the rigid tail edge flap is clamped on the outer head of the swing support, and the middle of the rigid tail edge flap is fixedly connected with the outer head of the swing support through a plurality of bolts.
Preferably, the number of the first positioning bases is two, the two first positioning bases are connected to the end face of the blade parent body on the inner side of the blade notch, and the first positioning bases are in an L-shaped plate shape;
the stepping motor is fixed on the transverse plate of one of the first positioning bases through the motor positioning seat, and a motor rotating shaft of the stepping motor is connected with the first rotating shaft rod through the rotating connecting assembly.
Preferably, the first rotating shaft rod is a long round rod, and a flat head key block is arranged on the first rotating shaft rod;
a first shaft lever positioning hole and a first positioning key groove are formed in the side end face of the swing support, the first rotating shaft lever penetrates through the first shaft lever positioning hole and then is connected with the first positioning base in a positioning mode through a bearing, the flat head key block is clamped in the first positioning key groove, and the stepping motor can drive the rigid tail edge flap to rotate through the first rotating shaft lever, the flat head key block and the swing support.
Preferably, the first positioning base, the swing bracket and the first rotating shaft rod are all made of light-weight space aluminum materials; the swing support is located between the two first positioning bases.
Another object of the present invention is to provide a flutter suppression system for a wind turbine blade, which achieves better flutter suppression of the wind turbine blade through a flap control method.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wind turbine blade flutter suppression system comprises a wind turbine frame and a wind turbine head connected to the wind turbine frame, wherein a plurality of classical flutter suppression type wind turbine blade structures are connected to the wind turbine head in an adaptive mode; the wind turbine head is provided with a system controller, and the system controller controls the swing amplitude of the rigid trailing edge flap through a flap control method.
Preferably, the flap control method specifically comprises the following steps:
step one, a wind speed sensor used in cooperation with a system controller sends a wind speed signal to an analog input module in the system controller, and after the controller judges that the speed of the wind speed sensor is greater than or equal to a critical classical flutter wind speed and lasts for a period of time, a aeroelastic system prefabrication processing program is called and brought into Payload load effect, and meanwhile, a theoretical flap swing angle capable of achieving flutter suppression effect is calculated by combining with an LMI (local mean-distance analysis) algorithm;
step two, assigning the theoretical value of the flap swing angle to an LMI/RCI algorithm for flap swing angle control, continuously calling the LMI/RCI algorithm by a control center to perform numerical calculation, outputting the calculation result to a digital quantity output module, and further sending out a corresponding pulse signal and a corresponding direction signal by the digital quantity output module to be input to a stepping motor driver;
step three, driving a stepping motor to rotate, wherein the size of the angle rotated by the stepping motor is completely in direct proportion to the number of pulse signals theoretically, so that the flap is further driven to swing;
feeding back the count value of the effective pulse signal counter of the stepping motor to a TIA control center, continuously calling an LMI/RCI algorithm by the TIA for tracking optimization, continuously feeding back, and optimizing a tracking curve on the premise of ensuring a tracking theoretical swing angle;
and step five, simultaneously utilizing inversion control based on the Nussbaum function to achieve a stronger flutter suppression effect and ensure that the actual swing angle does not exceed the physical limit range of the mounting base.
Preferably, the LMI/RCI algorithm is matched with an aerodynamic lift F algorithm and a moment M algorithm; the expression of the aerodynamic lift force F algorithm and the expression of the moment M algorithm are respectively as follows:
where ρ isaIs the air density; b is c/2, and c is the chord length of the blade; c1α，Cmα，C1β，CmβAre respectively corresponding chord-direction flap matching coefficients and satisfy the following conditions: c1α＝6.28，Cmα＝(0.5+c/6)C1α，C1β＝3.358，Cmβ-0.635; u is the wind speed; beta is a flap swing angle; z is the displacement in the flapping direction, and θ is the elastic torsion small displacement.
The invention has the beneficial effects that:
the invention proposes a complete set of possible embodiments for suppressing classical flutter based on lightweight rigid trailing-edge flaps, from the structure to the control. The innovation of the rigid trailing edge flap structure comprises the following steps: the flap material, the structural parameters, the connection mode of the flap and the parent body, and the matching of the flap structure and aerodynamic force. The vane precursor is a CAS laminate composite with certain specific composite performance requirements.
And secondly, providing an original aerodynamic lift and moment model of the rigid trailing edge flap under the condition of the classic flutter. The method can be used in the classic flutter state of cantilever static blades (the wind wheel is static), and after parameter replacement, the method can also be used in the classic flutter state of dynamic blades when the wind wheel rotates.
And thirdly, a transmission scheme for driving the tail edge flap by utilizing the stepping motor is provided, and compared with the conventional mechanical transmission and hydraulic transmission, the transmission scheme has the unique advantages that: compared with mechanical gear transmission, the blade has the advantages of light weight, no damage to the blade parent structure (no excessive auxiliary structures), convenient installation and simple driving; compared with hydraulic transmission, the hydraulic transmission device has the advantages of no complex hydraulic pipeline, higher safety and reliability and the like. Meanwhile, the stepping motor can be directly modeled into Payload load in the rotary motion and directly embedded into a aeroelastic system of a wind turbine blade without additional modeling, which is a rotary motion modeling mode not possessed by other transmission structures. The Payload is expressed as ω 2ms(L/2)sin(2πf0t)/(t +1), where t is the simulation time; f. of05/(2 pi) is the pulse frequency at which the stepper motor drive angle β varies, which affects the input to the control system with a sinusoidal signal effect.
And fourthly, an intelligent control scheme for driving the tail edge flap by utilizing the stepping motor is provided. The LMI/RCI algorithm and the scheme that the driving stepping motor limits the swing angle can be perfectly matched, real-time tracking is achieved, flap swing angle fluctuation is optimized, and amplitude limiting is achieved, and the method belongs to innovation of practical application of a control algorithm. Tracking and amplitude limiting adopt an inversion control algorithm based on a Nussbaum function.
Drawings
In order to clearly illustrate the embodiments or technical solutions of the present invention in the prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a longitudinal sectional view of a classic flutter suppression wind turbine blade structure.
FIG. 2 is a transverse sectional view of a classic flutter suppression wind turbine blade structure.
FIG. 3 is an isometric illustration of a classic flutter suppression wind turbine blade configuration.
Fig. 4 is a schematic longitudinal cross-sectional view of a swing bracket.
Fig. 5 is a schematic cross-sectional view of the swing bracket.
FIG. 6 is a block diagram of a flap control method routine.
Detailed Description
The invention provides a classic flutter suppression type wind turbine blade structure and a flutter suppression system, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention is described in detail below with reference to the accompanying drawings:
example 1
With reference to fig. 1 to 6, a classic flutter suppression type wind turbine blade structure includes a blade parent body 1, a blade notch 11 is opened at a trailing edge side of the blade parent body 1, and a flutter suppression device is arranged in the blade notch 11; the flutter suppression device comprises a first positioning base 2, a swing bracket 3 and a rigid trailing edge flap 4. First locating base 2 is fixed a position in blade notch 11, and swing support 3 is connected through first rotatory axostylus axostyle 5 to the outer end of first locating base 2, and rigidity tail edge flap 4 is connected on swing support 3, is connected with drive first rotatory axostylus axostyle 5 pivoted step motor 6 on the first locating base 2.
The blade parent body 1 is of a solid plate-shaped structure, and the cross section of the blade parent body 1 is a circumferential antisymmetric surface; the tail edge part of the blade parent body 1 is flat plate-shaped, and the head edge part of the blade parent body 1 is arc-shaped block-shaped; the blade notch 11 is rectangular. The vane precursor is a CAS laminate composite with certain specific composite performance requirements.
The 4-span length of the rigid tail edge flap occupies 90-95% of the length of the 1-span length of the blade parent body; the extension length of the rigid tail edge flap occupies 90 to 95 percent of the extension length of the blade parent body; the chord-wise length of each section of the rigid tail edge flap is 1/7-1/6 of the chord length of the cross section of the blade parent body; the rigid tail edge flap 4 is positioned in the middle of the blade notch 11, and the tail edge end face of the rigid tail edge flap 4 is flush with the tail edge end face of the blade parent body 1.
The rigid tail edge flap 4 is in a V-shaped plate shape, and the rigid tail edge flap 4 is a light space aluminum plate; the swing support 3 is in a rectangular plate shape, two sides of the outer head of the swing support 3 are in a groove shape, the rigid tail edge flap 4 is clamped on the outer head of the swing support 3, and the middle of the rigid tail edge flap 4 is fixedly connected with the groove-shaped outer head of the swing support 3 through a plurality of bolts.
First locating base 2 has two, and two first locating base 2 are connected on the inboard blade parent terminal surface of blade notch 11, and first locating base 2 is L shape board form.
The stepping motor 6 is fixed on the transverse plate of one of the first positioning bases 2 through the motor positioning seat, and a motor rotating shaft of the stepping motor 6 is connected with the first rotating shaft rod 5 through the rotating connecting assembly.
The first rotating shaft 5 is a long round rod, and a flat key block 51 is arranged on the first rotating shaft 5. A first shaft lever positioning hole 31 and a first positioning key groove 32 are formed in the side end face of the swing support 3, the first rotating shaft lever 5 penetrates through the first shaft lever positioning hole 31 and then is connected with the first positioning base 2 in a positioning mode through a bearing, the flat head key block 51 is clamped in the first positioning key groove 32, and the stepping motor 6 can drive the rigid tail edge flap 4 to rotate through the first rotating shaft lever 5, the flat head key block 51 and the swing support 3.
The first positioning base 2, the swing bracket 3 and the first rotating shaft lever 5 are all made of light-weight space aluminum materials; the swing bracket 3 is located between the two first positioning bases 2.
Example 2
With reference to fig. 1 to 6, a wind turbine blade flutter suppression system includes a wind turbine frame and a wind turbine head connected to the wind turbine frame. The wind turbine head is connected with a plurality of classical flutter suppression type wind turbine blade structures in an adaptive mode.
The wind turbine head is provided with a system controller, when the system controller detects that the wind speed is greater than or equal to the critical wind speed and continuously occurs, the stepping motor is started, the first rotating shaft rod is used for driving the swinging support to swing, the rigid tail edge flap is deflected after the swinging support swings, the distribution of aerodynamic force along the rigid tail edge flap is changed, and therefore the distribution of the aerodynamic force on the blade matrix is further changed; the system controller controls the swing amplitude of the rigid trailing edge flap through a flap control method.
The flap control method specifically comprises the following steps:
step one, a wind speed sensor used in cooperation with a system controller sends a wind speed signal to an analog input module in the system controller, after the controller judges that the speed of the wind speed sensor is greater than or equal to a critical classical flutter wind speed and lasts for a period of time, a aeroelastic system prefabrication processing program is called and brought into Payload load effect, and meanwhile, a theoretical flap swing angle capable of achieving a flutter suppression effect is calculated by combining an LMI (linear matrix inequality) algorithm;
step two, assigning the theoretical value of the flap swing angle to an LMI/RCI algorithm (the meaning of RCI is that the LMI-based algorithm limits and controls the input quantity amplitude), continuously calling the LMI/RCI algorithm by the control center to carry out numerical calculation, outputting the calculation result to a digital quantity output module, and further sending out a corresponding pulse signal and a direction signal by the digital quantity output module to be input to a stepping motor driver;
step three, driving a stepping motor to rotate, wherein the size of the angle rotated by the stepping motor is completely in direct proportion to the number of pulse signals theoretically, so that the flap is further driven to swing;
feeding back the count value of the effective pulse signal counter of the stepping motor to a TIA control center, continuously calling an LMI/RCI algorithm by the TIA for tracking optimization, continuously feeding back, and optimizing a tracking curve on the premise of ensuring a tracking theoretical swing angle;
and step five, simultaneously utilizing inversion control (which is a core part of an RCI algorithm) based on a Nussbaum function to achieve a stronger flutter suppression effect and ensure that the actual swing angle does not exceed the physical limit range of the mounting base.
The LMI/RCI algorithm is matched with an aerodynamic lift F algorithm and a moment M algorithm;
the expression of the aerodynamic lift force F algorithm and the expression of the moment M algorithm are respectively as follows:
where ρ isaIs the air density; b is c/2, and c is the chord length of the blade; c1α，Cmα，C1β，CmβAre respectively corresponding chord-direction flap matching coefficients and satisfy the following conditions: c1α＝6.28，Cmα＝(0.5+c/6)C1α，C1β＝3.358，Cmβ-0.635; u is the wind speed; beta is a flap swing angle; z is the displacement in the flapping direction, and θ is the elastic torsion small displacement.
Example 3
In the classic flutter suppression type wind turbine blade structure, the rigid trailing edge flap occupies 90-95% of the length of the solid blade. The chord-wise (transverse) length of each section of the rigid trailing edge flap is approximately measured by the distance from the center of the first rotating shaft to the tip end of the flap, and the length of each section is 1/7-1/6 of the chord length of the blade. One end of each blade is fixed on a hub of the wind power head, the other end of each blade is a free end, and the flapping displacement refers to the displacement of the free end of each blade, and the direction of the flapping displacement is perpendicular to the rotation plane of the impeller.
The torsional displacement is a torsional angle generated by the free end relative to the root of the blade with the axial direction of the blade as the center. As mentioned above, the torsional displacement amplitude of the blade is relatively small through the parameter definition of the blade layering mode, the length and the material, and a control scheme is not needed. The classical flutter destruction mode is that the amplitude of flap z displacement is directly influenced, so that the blade is broken and failed, and the flap displacement is also a controlled object which is aimed at restraining the vibration amplitude.
When the blade waves the displacement when too big, start step motor, step motor fixes the one side at the installing support, and first rotatory axostylus axostyle passes through the flat key and drives the swing support swing, further drives the change that the flap realized flap pivot angle beta to change the aerodynamic force L on the flap and the size of moment M, thereby further influence the aeroelastic behavior of blade parent, reduce the parent wave flutter amplitude and the vibration frequency of displacement, realize the suppression that flutter.
The swing bracket is fixedly connected with the rigid trailing edge flap through the two wedge-shaped slopes respectively through the five bolts, so that the connection is stable and reliable, and the swing stability is ensured. The first positioning key groove penetrates through the whole swing support, and two flat-head keys can be simultaneously fixed on the first rotating shaft rod, so that the swing support is prevented from being damaged due to uneven local stress.
Example 4
With reference to fig. 1 to 6, when the wind turbine blade flutter suppression system is in use, the core of the control system takes siemens botas TIA as an example, and the control process is described as follows:
the core of the control system is a Siemens Botu TIA control center which has strong operation and control functions, and a CPU of the control system adopts S7-1500 PLC. The wind speed sensor sends a wind speed signal to the analog input module, the controller calls a aeroelastic system prefabrication processing program after judging that the speed is larger than or equal to the critical classical flutter wind speed and lasts for a period of time, and brings in Payload load effect, and meanwhile, the theoretical flap angle capable of achieving the flutter suppression effect is calculated by combining with an LMI algorithm.
And the theoretical value of the swing angle is assigned to an LMI/RCI algorithm, the control center continuously calls the LMI/RCI algorithm to carry out numerical calculation, the calculation result is output to a digital quantity output module, and the digital quantity output module further sends out a corresponding pulse signal and a corresponding direction signal to be input to a stepping motor driver.
The stepping motor is further driven to rotate, and the size of the angle rotated by the stepping motor is theoretically completely in direct proportion to the number of pulse signals, so that the flap is further driven to swing. Meanwhile, the count value of an effective pulse signal counter of the stepping motor is fed back to a TIA control center, the TIA continues to call an LMI/RCI algorithm for tracking optimization and continuously feeds back, a tracking curve is optimized on the premise of ensuring tracking of a theoretical swing angle, meanwhile, a stronger flutter suppression effect is achieved by utilizing inversion control based on a Nussbaum function, and the fact that the actual swing angle cannot exceed the physical limit range of the mounting base is ensured.
Example 5
The trailing edge flaps on the market are all flexible structures, and the invention provides a complete set of implementable embodiments for suppressing classical flutter based on lightweight rigid trailing edge flaps from structure to control. The innovation of the rigid trailing edge flap structure comprises the following steps: the flap material, the structural parameters, the connection mode of the flap and the parent body, and the matching of the flap structure and aerodynamic force. The vane precursor is a CAS laminate composite with certain specific composite performance requirements.
The invention provides an original aerodynamic lift and moment model of a rigid trailing edge flap under the condition of classic flutter. The method can be used in the classic flutter state of cantilever static blades (the wind wheel is static), and after parameter replacement, the method can also be used in the classic flutter state of dynamic blades when the wind wheel rotates.
The invention provides a transmission scheme for driving the tail edge flap by utilizing the stepping motor, and compared with the conventional mechanical transmission and hydraulic transmission, the transmission scheme has the unique advantages that: compared with mechanical gear transmission, the blade has the advantages of light weight, no damage to the blade parent structure (no excessive auxiliary structures), convenient installation and simple driving; has, compared with hydraulic transmission, no complicated hydraulic pipeline and is much saferFull reliability and the like. Meanwhile, the stepping motor can be directly modeled into Payload load in the rotary motion and directly embedded into a aeroelastic system of a wind turbine blade without additional modeling, which is a rotary motion modeling mode not possessed by other transmission structures. The Payload is expressed as ω 2ms(L/2)sin(2πf0t)/(t +1), where t is the simulation time; f. of05/(2 pi) is the pulse frequency at which the stepper motor drive angle β varies, which affects the input to the control system with a sinusoidal signal effect.
In summary, the classic flutter suppression type wind turbine blade structure and the flutter suppression system disclosed by the invention comprise a connecting structure and a driving method of a lightweight rigid trailing edge flap, aerodynamic force calculation of the trailing edge flap, and an LMI/RCI control method based on aeroelastic stability control and flap swing angle control. The flap is made of specific materials, structural proportion parameters and installation methods and is driven by a stepping motor.
Aerodynamic lift and moment on the flap are suitable for reflecting aerodynamic force on the flap structure under the classical flutter state of a parent body, and the coefficient of an aerodynamic related item adopts original aerodynamic parameters. The method comprises the steps of analyzing the overall aeroelastic stability of a blade system with Payload load by using an LMI algorithm, obtaining a theoretical value of a flap angle beta meeting flutter suppression, driving a stepping motor to move by using an LMI/RCI algorithm, realizing real-time tracking of the theoretical angle beta, and realizing tracking and amplitude limiting optimization by using inversion control of a specific function.
Under actual conditions, when the angle beta of the flap changes continuously, the aerodynamic behavior on the flap is changed, so that the aeroelastic behavior of a blade matrix is influenced, classical flutter is overcome, the fluctuation frequency of flap displacement z can be reduced, and the vibration amplitude of the flap can be greatly reduced. Thereby realize the purpose of deloading, further guarantee to come interim stability of waving the displacement at classic flutter, avoid the fracture inefficacy phenomenon's of blade emergence.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. A wind turbine blade flutter suppression system comprises a wind turbine frame and a wind turbine head connected to the wind turbine frame, and is characterized in that a plurality of classical flutter suppression type wind turbine blade structures are connected to the wind turbine head in an adaptive mode; the classic flutter suppression type wind turbine blade structure comprises a blade parent body, wherein a blade notch is formed in the tail edge side of the blade parent body, and a flutter suppression device is arranged in the blade notch; the flutter suppression device comprises a first positioning base, a swinging support and a rigid trailing edge flap, wherein the first positioning base is positioned in a blade notch, the outer end of the first positioning base is connected with the swinging support through a first rotating shaft rod, the rigid trailing edge flap is connected to the swinging support, and a stepping motor for driving the first rotating shaft rod to rotate is connected to the first positioning base; the wind turbine head is provided with a system controller, and the system controller controls the swing amplitude of the rigid trailing edge flap through a flap control method;
the flap control method specifically comprises the following steps:
step one, a wind speed sensor used in cooperation with a system controller sends a wind speed signal to an analog input module in the system controller, and after the controller judges that the speed of the wind speed sensor is greater than or equal to a critical classical flutter wind speed and lasts for a period of time, a aeroelastic system prefabrication processing program is called and brought into Payload load effect, and meanwhile, a theoretical flap swing angle capable of achieving flutter suppression effect is calculated by combining with an LMI (local mean-distance analysis) algorithm;
step two, assigning the theoretical value of the flap swing angle to an LMI/RCI algorithm for flap swing angle control, continuously calling the LMI/RCI algorithm by a control center to perform numerical calculation, outputting the calculation result to a digital quantity output module, and further sending out a corresponding pulse signal and a corresponding direction signal by the digital quantity output module to be input to a stepping motor driver;
step three, driving a stepping motor to rotate, wherein the size of the angle rotated by the stepping motor is completely in direct proportion to the number of pulse signals theoretically, so that the flap is further driven to swing;
feeding back the count value of the effective pulse signal counter of the stepping motor to a TIA control center, continuously calling an LMI/RCI algorithm by the TIA for tracking optimization, continuously feeding back, and optimizing a tracking curve on the premise of ensuring a tracking theoretical swing angle;
and step five, simultaneously utilizing inversion control based on the Nussbaum function to achieve a stronger flutter suppression effect and ensure that the actual swing angle does not exceed the physical limit range of the mounting base.
2. The system of claim 1, wherein the blade matrix is a solid plate structure, and the cross section of the blade matrix is a circumferential antisymmetric surface; the tail edge part of the blade parent body is flat plate-shaped, and the head edge part of the blade parent body is arc-shaped block-shaped; the blade notch is rectangular notch form.
3. The system of claim 1, wherein the span length of the rigid trailing edge flap occupies 90% to 95% of the span length of the blade parent body; the chord length of each section of the rigid tail edge flap is 1/7-1/6 of the chord length of the cross section of the blade parent body, and the chord length (transverse length) of each section of the rigid tail edge flap is measured by the distance from the center of the first rotating shaft rod to the tip end of the flap; the rigid tail edge flap is positioned in the middle of the blade notch, and the tail edge end face of the rigid tail edge flap is flush with the tail edge end face of the blade parent body.
4. The system of claim 1, wherein the rigid trailing edge flap is a V-shaped plate, and the rigid trailing edge flap is a lightweight aluminum space plate; the swing support is in a rectangular plate shape, two sides of the outer head of the swing support are in a groove shape, the rigid tail edge flap is clamped on the outer head of the swing support, and the middle of the rigid tail edge flap is fixedly connected with the outer head of the swing support through a plurality of bolts.
5. The wind turbine blade flutter suppression system of claim 1, wherein there are two first positioning bases, the two first positioning bases are connected to the blade parent end face on the inner side of the blade notch, and the first positioning bases are in an L-shaped plate shape;
the stepping motor is fixed on the transverse plate of one of the first positioning bases through the motor positioning seat, and a motor rotating shaft of the stepping motor is connected with the first rotating shaft rod through the rotating connecting assembly.
6. The wind turbine blade flutter suppression system of claim 5, wherein the first rotating shaft is a long round rod, and a flat key block is arranged on the first rotating shaft;
a first shaft lever positioning hole and a first positioning key groove are formed in the side end face of the swing support, the first rotating shaft lever penetrates through the first shaft lever positioning hole and then is connected with the first positioning base in a positioning mode through a bearing, the flat head key block is clamped in the first positioning key groove, and the stepping motor can drive the rigid tail edge flap to rotate through the first rotating shaft lever, the flat head key block and the swing support.
7. The wind turbine blade flutter suppression system of claim 6, wherein the first positioning base, the swing bracket and the first rotating shaft are all of lightweight space aluminum material; the swing support is located between the two first positioning bases.
8. The wind turbine blade flutter suppression system of claim 1, wherein the LMI/RCI algorithm is used in combination with an aerodynamic lift F algorithm and a moment M algorithm; the expression of the aerodynamic lift force F algorithm and the expression of the moment M algorithm are respectively as follows:
where ρ isaIs the air density; b is c/2, and c is the chord length of the blade; c1α，Cmα，C1β，CmβAre respectively corresponding chord-direction flap matching coefficients and satisfy the following conditions: c1α＝6.28，Cmα＝(0.5+c/6)C1α，C1β＝3.358，Cmβ-0.635; u is the wind speed; beta is a flap swing angle; z is the displacement in the flapping direction, and θ is the elastic torsion small displacement.
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| CN115163406B (en) * | 2022-07-26 | 2023-06-09 | 中国长江三峡集团有限公司 | Trailing edge flap control method and device and trailing edge flap driving mechanism |
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