【摘要】 针对海上风机安装过程,建立了海上风机安装的动力学模型.在模型中考虑了吊索的松弛与张紧、风机与安装平台的接触与分离.并且引入安装系统的行程约束,并采用约束违约稳定法进行求解.在上述模型基础上,为了减小风机在安装过程中的峰值加速度,将吊索张力、油液压力、加速度和位移作为反馈信号,以获得恒定的合作用力-柱塞位移曲线作为控制目标,引入优化控制方法。最后,为了验证控制模型的有效性,搭建了模拟海上风机安装试验装置,以海上起重船测试结果作为激励,将仿真结果和试验结果进行了对比。结果显示仿真结果和试验结果有很好的一致性。更多还原

【Abstract】 The dynamic model of installation process for offshore wind turbine is established. The tensioning and relaxing of hoisting rope and the contact and separation between the wind turbine and installation platform are considered in the dynamic model. What’s more,the constraint violation stabilization method is used to solve the constraint equation. Aimed to reduce the peak acceleration of offshore wind turbine and obtain the constant force-displacement of plunger curve,the optimal control strategy is introduced using the tensioning force,pressure,acceleration and displacement as feedback signal. Finally,in order to verify the validity of the dynamic model,an experimental facility is set up and the experimental results are compared to the simulation results under measured operating conditions. There is a good agreement between the simulation results and the experimental results.更多还原