摘要
为提高海上风机单叶片在风荷载作用下的吊装效率与精度,构造单叶片的吊装运动系统。设计无迹卡尔曼滤波与PID控制相结合的主动闭环控制系统,模拟单叶片按照3种预期路线进行110 m的吊装控制。分析结果表明,引入无迹卡尔曼滤波不仅可以明显减少吊装过程中由风荷载所致的干扰振荡,有效提高吊装效率,还可以降低缆风绳控制力的变化率,降低硬件设备的速度响应要求。建议在吊装过程中降低缆风绳的控制力。
In order to improve the efficiency and accuracy of hoisting a single blade of offshore wind turbines under wind load,a single-blade hoisting motion system is constructed.An active closed-loop control system combining the unscented Kalman filter and PID control is designed to simulate a single blade to be controlled for 110 m hoisting according to three expected routes.The analysis results show that,the introduction of the unscented Kalman filter can not only significantly reduce the disturbance and vibration caused by wind load during hoisting and can improve the efficiency of hoisting,but also reduce the change rate of the control force of the tugger line and the speed response requirement of hardware devices.It is recommended to reduce the control force of the tugger line during hoisting.
作者
郭佳民
谢雨阳
赵宇
侯先瑞
宋力
GUO Jiamin;XIE Yuyang;ZHAO Yu;HOU Xianrui;SONG Li(College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, China;College of Energy and Power Engineering, Inner Mongolia University of Technology, Hohhot 010051, China)
出处
《上海海事大学学报》
北大核心
2022年第2期112-119,共8页
Journal of Shanghai Maritime University
基金
国家自然科学基金(51108259,52001198)。
关键词
海上风机
叶片吊装
运动方程
无迹卡尔曼滤波
PID控制
offshore wind turbine
blade hoisting
equation of motion
unscented Kalman filter
PID control
