【作者】 冯伟；

【导师】 杨庆俊；

【作者基本信息】 哈尔滨工业大学 ， 机械工程（专业学位）， 2016， 硕士

【摘要】 海洋是无尽的宝库,其波浪中蕴含着丰富的清洁可再生能源。海洋波浪发电技术就是通过各种各样的俘能装置,将蕴含在波浪中的无法为人类直接利用的能量转化成以电能为主的其他形式的能量。海蟒式波浪俘能装置是其中一种重要的波浪能转换装置。研究设计类海蟒式波浪俘能装置半物理实验系统,对研发该类型的波浪发电装置具有重要意义。本文利用水动力学软件AQWA对浮筒进行了频域和时域的建模,获得了构建俘能装置动力学方程的浮筒水动力学参数。通过AQWA程序进行了俘能系统(PTO)为线性阻尼以及库伦力矩的对比仿真分析,得出有必要在仿真模型中加入真实的液压系统。通过FORTRAN语言将俘能系统模型加入到AQWA仿真模型中,构建了带真实液压系统的俘能装置仿真模型,为后面实验系统的检验提供了依据。并进行了PTO为线性阻尼,库伦力矩以及真实俘能系统的对比仿真,并对其运动特性以及俘能特性进行了分析。针对海莽式波浪俘能装置的运动特点以及工作特点进行了半物理实验系统总体设计。针对不同的浮筒特点确定了缩比尺系数,拓宽了实验系统的适用范围。建立了ISIGHT-AQWA-MATLAB联合仿真优化模型,确定了俘能系统最优设计参数,并进行了俘能液压系统的选型。同时完成了半物理实验系统俘能装置动力学解算部分模型的搭建,并验证了模型的正确性,同时验证了半物理实验系统的可行性。设计了实验台机械结构,并对关键结构进行校核检验。通过大量的俘能装置仿真分析,设计了驱动液压系统。建立了驱动液压系统数学模型,并进行了系统稳定性分析,闭环刚度特性分析以及系统稳态精度分析。针对负载可测的特性设计了前馈-PID复合控制器,其性能指标达到系统要求。并搭建了半物理实验系统仿真模型,与俘能装置仿真模型进行了对比仿真,结果表明所设计的半物理实验系统可以达到模拟俘能装置实际运动特性的效果。最后对半物理实验台进行了性能实验,验证了实验台液压驱动系统对给定信号的跟踪性能,实验表明实验台驱动液压系统满足相应的性能指标。进而通过本半物理实验台进行了10 m浮筒俘能装置的原型实验研究以及20 m浮筒俘能装置模型实验研究。通过和所搭建的仿真模型进行对比分析,证明本实验台具有较好的性能,可以完成俘能装置运动以及俘能的模拟,同时也通过实验验证了所搭建的仿真模型的正确。更多还原

【Abstract】 The sea is an inexhaustible treasure-house, which contains a wealth of clean, renewable energy. Ocean wave energy generation technology uses various wave energy converters(WEC) to transform unavailable energy contained in the wave into electric energy. Pelamis-Like wave energy converter is one of the most important wave energy converters. It’s of great significance to research and design the semi-physical experiment system of Pelamis-Like wave energy converters for developing this type of WEC.Wave dynamics simulation model of wave energy converter is established with the hydrodynamic software AQWA. A compared simulation is made for linear damping and coulomb damping power-take-off(PTO) system. The result shows that it is necessary to put the real hydraulic energy harvesting system in the simulation model. A simulation platform based on AQWA is established with the real hydraulic PTO system being put in the simulation model with FORTRAN. Simulations are carried out with linear damping, coulomb damping and real hydraulic PTO. The characteristics of motion and energy capture of the WEC are analyzed based on the simulation data.According to the characteristics of motion and energy capture of the WEC, the overall design of the semi-physical experiment system is carried on. Scaling factors are determined according to the characteristics of different buoys. A ISIGHT-AQWA-MATLAB co-simulation optimization model is established, which is used to determine the optimal design parameters of the WEC. Meanwhile, according to the buoy hydrodynamic equations, a dynamic model of the WEC is established in SIMULINK. The comparation of SIMULINK simulation and AQWA simulation verifies the feasibility of the semi-physical experiment system. The mechanical structure is designed and the structural strength is checked.According to the motion characteristics of WEC, the hydraulic driving system is designed. The mathematical model of the hydraulic driving system is established, whose system stability, closed loop stiffness characteristic and accuracy of steady-state are analyzed. The feedforward-PID compound controller is designed based on the characteristic of the ability of load measurement. The time domain simulation model of the experimental system is established, which verifies the feasibility of the semi-physical experiment system.Finally, the of the semi-physical experiment system is constructed. The experimental study on the performance of the hydraulic driving system is carried out, which verifies the tracking capability for a given signal. The experimental studys of WEC whose buoys length are 10 m and 20 m are completed with the semi-physical test-bed. According to the comparation of experimental results and simulation results, it is obvious to know that the semi-physical test-bed has a good performance. What’s more the correctness of the simulation platform is indicated by the test.更多还原