A method for analyzing dynamic response of installation process of single blade of wind turbine considering wind load

Abstract

The application discloses a kind of wind turbine single blade installation process dynamic response analysis methods considering wind load action, comprising: according to the wind turbine blade installed and construction sea area, establish blade airfoil database and turbulent wind field database;When the position of lifting point and the position of tappet vertex are described, homogeneous transformation matrix is used to describe the motion of each mechanism of ship-mounted crane;When the position of lifting point is described, the position of tappet vertex is described, and the position of blade centroid in space is described by lifting point position, sling length and generalized coordinate;Wind load at each time point in the process of blade installation is obtained;The sling tension in the process of blade installation is obtained;The dynamics model of single blade installation system is established by using Lagrange method;The method can accurately analyze the coupling motion response between crane ship, ship-mounted crane, sling and blade in the installation process, and simultaneously by selecting generalized coordinate and modeling and analyzing the system based on energy method, the system modeling efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of offshore wind turbine single-blade installation technology, and more specifically to a dynamic response analysis method for a crane vessel-blade coupling system that considers blade wind load during the installation of an offshore wind turbine single blade. Background Technology

[0002] Offshore wind turbine installation methods can be divided into two types: "comprehensive assembly" and "separate assembly." For the "comprehensive assembly" method, the turbine needs to be assembled in a port or dry dock, then transported to the offshore wind farm by specialized transport vessels, and finally lifted by a large floating crane vessel. Because this method requires a large floating crane vessel for offshore operations, it is difficult to adapt to large-scale offshore wind turbines. For the "separate assembly" method, the foundation, tower, nacelle, and blades need to be installed separately. Especially for blade installation, "three-blade," "two-blade," and "single-blade" installation methods are generally used. Compared to the "three-blade" and "two-blade" installation methods, the "single-blade" installation method has lower requirements for the crane vessel's deck and crane, making it more suitable for the installation of large-scale offshore wind turbines. However, this method increases the number of lifting operations by the crane, potentially leading to a longer working time. Therefore, it is necessary to develop an analytical method for the single-blade installation process of offshore wind turbines to accurately assess the blade movement during installation and thus improve installation speed.

[0003] like Figure 1 As shown, the installation system during single-blade installation includes a crane vessel, a shipborne crane (turntable, struts, boom), slings, hooks, clamping structures, and the blade itself. These components exhibit strong coupling during installation. Analyzing this coupled system requires accurate modeling. Currently, the Newton-Euler method is commonly used for modeling wind turbine blade installation systems. The Newton-Euler method involves breaking down the system into multiple components and applying constraint reaction forces to each component to obtain the overall system's equations of motion. The modeling difficulty and computational efficiency of this method are significantly affected by the number of components in the system. As the number of components increases, the modeling difficulty increases dramatically, the number of equations also increases, leading to a decrease in computational efficiency.

[0004] With the increasing size of wind turbines, blade dimensions are growing larger. Simultaneously, offshore wind speeds are typically high during blade installation, making the wind loads acting on the blades significant. Furthermore, the increased tower height leads to increased blade lifting height, necessitating attention to the substantial dynamic response of the single-blade installation system caused by wind loads. Large blade movements due to wind loads can cause collisions with surrounding structures, resulting in installation failure and even threatening worker safety. Therefore, it is essential to consider the wind loads acting on the blades to accurately assess their motion response during installation. Summary of the Invention

[0005] The purpose of this invention is to propose a dynamic response analysis method for the installation process of a single wind turbine blade that takes into account the effects of wind load. This analysis method is applicable to the analysis of the single blade installation process of currently used self-elevating crane vessels and floating crane vessels.

[0006] To achieve the above objectives, this application proposes a dynamic response analysis method for the installation process of a single wind turbine blade considering wind loads, comprising:

[0007] Based on the installed wind turbine blades and the construction sea area, establish a blade airfoil database and a turbulent wind field database, and describe the motion of the single-blade installation system through a suitable coordinate system and generalized coordinates.

[0008] The positions of the lifting points and the top of the struts during the movement of each mechanism (turntable, boom) of the shipborne crane are described using homogeneous transformation matrices.

[0009] The position of the lifting point during the movement of the crane vessel is described by the Euler transformation matrix, and the position of the blade's center of mass in space is described by the position of the lifting point, the length of the sling, and the generalized coordinates.

[0010] Based on the blade centroid position and the blade airfoil database, the position of each blade element in space is obtained. At the same time, based on the three-dimensional wind speed vector of the spatial point of the hoisting area at each moment, the aerodynamic load (lift, drag and pitching moment) of each blade element is obtained using the blade element theory. The aerodynamic load is integrated along the blade span direction to obtain the wind load at each time point during the blade installation process.

[0011] The tension of the slings during the blade installation process was obtained through analysis of the blade.

[0012] A dynamic model of a single-blade installation system is established using the Lagrange method: the blade potential energy is obtained from the blade's spatial position, and the velocity of the blade at each time point is obtained by differentiating the spatial position, thus obtaining the blade kinetic energy. Based on the blade's potential energy and kinetic energy, the Lagrange operator of the single-blade installation system is obtained. Meanwhile, the wind load is non-positive, and the generalized coordinates of each time point are obtained through the Lagrange equation.

[0013] Furthermore, the coordinate system is established as follows:

[0014] Global coordinate system {N}: origin o n Located at the center of gravity of the crane ship, x n Pointing to the bow, y n Pointing to port, z n Vertically upward, around x n y n and z n The rotations are respectively the roll η x , pitching η yand bow rocking η z This coordinate system does not move with the ship's hull;

[0015] Ship coordinate system {V}: Initial direction is the same as {N}, this coordinate system moves with the ship;

[0016] Rotary coordinate system {R}: origin o r Located at the intersection of the turntable's rotation axis and the crane vessel, the turntable rotates around z... r Rotation angle α r ;

[0017] Crane boom coordinate system {A}: origin o a Located at the intersection of the boom pivot and the turntable, the boom rotates around y a Rotation, with an initial included angle of β h0 The amplitude variation angle during installation is β. a ;

[0018] The coordinate system of the suspension point {H}: origin o h Located at the lifting point, this coordinate system is used to describe the changes in the angle and suspension length of the slings during installation;

[0019] Blade coordinate system {B}: origin o b Located at the centroid of the blade, x b In the chord direction of the blade, from the leading edge to the trailing edge, y b The leaf spreads from the leaf root to the leaf tip;

[0020] Leaf element aerodynamic coordinate system {B i}: origin o bi Located at the geometric center of the i-th leaf element, and y bi With y b Consistent in direction;

[0021] Wind coordinate system {W}: origin o w Located in the lower left corner of the wind field, y w For the direction of wind inflow, z w Vertically upward, along x w y w and z w The wind speeds are u w v w and w w .

[0022] At the same time, φ and θ are chosen as generalized coordinates, with φ being o h o b With z h The negative angle, θ, is the angle between the blade's centroid and z. h The plane formed by the axes and x h o h z h Angle between two planes.

[0023] Furthermore, a homogeneous transformation matrix is ​​used to describe the positions of the lifting points and the top of the struts during the movement of each mechanism of the shipborne crane, specifically:

[0024] When the crane turntable and boom move, the lifting point positions are:

[0025]

[0026] In the formula: and p H =[0 0 0 1] T These are descriptions of the lifting point in the ship's hull coordinate system {V} and the lifting point coordinate system {H}, respectively. and These are the homogeneous transformation matrices of the turntable coordinate system {R} relative to the ship coordinate system {V}, the homogeneous transformation matrix of the boom coordinate system {A} relative to the turntable coordinate system {R}, and the homogeneous transformation matrix of the lifting point coordinate system {H} relative to the boom coordinate system {A}, respectively.

[0027] When the crane turns the turntable, the position of the top of the strut is:

[0028]

[0029] In the formula: These are the descriptions of the tappet vertex A in the ship's coordinate system {V} and the turntable coordinate system {R}, respectively.

[0030] Furthermore, the position of the lifting point during the movement of the crane vessel is described using an Euler transformation matrix:

[0031]

[0032] In the formula: and This describes the lifting point in the global coordinate system {N} and the ship's hull coordinate system {V}. d is the Euler transformation matrix of the hull coordinate system {V} relative to the global coordinate system {N}; V This refers to the offset of the crane ship's movement.

[0033] Furthermore, the position of the blade's center of mass in space is described by the location of the lifting point, the length of the sling, and the generalized coordinates:

[0034]

[0035] In the formula: and These are the x, y, and z coordinates of the blade's centroid in the global coordinate system {N}, respectively. and Let x, y, and z be the coordinates of the lifting point in the global coordinate system {N}, respectively; l is the length of the suspended section of the sling, l = l0 - l1 - l2, where l0 is the original length of the sling, l1 is the length of the sling between the top of the strut A and the lifting point, and l2 is the change in the length of the sling caused by the winch drive at point A.

[0036] Furthermore, the aerodynamic load method for obtaining each leaf element of the blade is as follows:

[0037]

[0038] In the formula: L i D i and M i These are lift, drag, and pitching moment, respectively; ρ a C is the density of air. li (α i,1 ), C di (α i,1 ) and C mi (α i,1 ) represents the lift coefficient, drag coefficient, and pitching moment coefficient of the blade elements; c i For leaf chord length; A i V represents leaf area; i C represents the relative inflow velocity of the wind. li (α i,1 ), C di (α i,1 ), C mi (α i,1 ) and c i These are the inherent parameters of the blade.

[0039] The aerodynamic loads of each blade element in the blade coordinate system {B} are described as follows:

[0040]

[0041] In the formula: f i B For the aerodynamic forces of each leaf element; The aerodynamic torque of each leaf element.

[0042] Furthermore, the total aerodynamic forces and moments acting on the blades are described in the blade coordinate system {B} as follows:

[0043]

[0044] In the formula: Let {B} represent the total aerodynamic forces and moments in the blade coordinate system; This describes the aerodynamic center position of each blade element in the blade coordinate system {B}. This describes the position of the centroid of each leaf mass in the leaf coordinate system {B}.

[0045] The aerodynamic load Transform to the global coordinate system {N} and describe it at the blade's center of mass as follows:

[0046]

[0047] In the formula: The total aerodynamic forces and moments in the global coordinate system {N}; Let {B} be the Euler transformation matrix of the blade coordinate system {B} relative to the global coordinate system {N}; zeros(3×3) is a zero matrix with dimension 3×3.

[0048] Furthermore, the tension of the slings during blade installation is as follows:

[0049]

[0050] Where: m t =m hook +m yoke +m blade For the total mass, m hook m yoke and m blade These are the mass of the hook, the mass of the clamping structure, and the mass of the blade; Let F be the acceleration of the blade's center of mass in the z-direction within the global coordinate system {N}; g is the acceleration due to gravity; and F is the acceleration due to gravity. s For the tension of the sling; This represents the force of the aerodynamic load in the z-direction.

[0051] Furthermore, the dynamic model of the single-blade installation system is established using the Lagrange method as follows:

[0052]

[0053] In the formula: L is the Lagrange operator, which is the difference between the kinetic energy and potential energy of the system; φ and θ are the generalized coordinates of the system; and Q1 and Q2 are the derivatives of the system's generalized coordinates; Q1 and Q2 are the non-powerful coordinates of the system.

[0054] Substituting the variables into equation (10) yields:

[0055]

[0056] In the formula: and The second derivative of the generalized coordinates; and These represent the accelerations of the suspension point in the x, y, and z directions in the global coordinate system {N}, respectively. Let φ be the rate of change of the sling length; the fourth-order Runge-Kutta method is used to solve for the generalized coordinates φ and θ at the next moment.

[0057] The dynamic response analysis method for the installation process of a single wind turbine blade considering wind load, as proposed in this invention, has the following advantages:

[0058] 1. A Lagrangian-based modeling method is used to model the single-blade installation system of an offshore wind turbine in a crane vessel-blade coupling system. This method can accurately analyze the coupled motion response between the crane vessel, shipborne crane, slings, and blades during the installation process. Furthermore, by selecting generalized coordinates and using an energy-based method to model and analyze the system, the system modeling efficiency is effectively improved.

[0059] 2. By using the blade element theory to calculate the wind load on the blade, the influence of wind load on the blade motion response and sling tension during installation can be accurately analyzed.

[0060] 3. The proposed method takes into account the motion of the crane vessel, that is, it reserves the input interface for the motion response of the crane vessel. Therefore, it is applicable to the analysis of the single-blade installation process of the currently widely used self-elevating crane vessel, and it is also applicable to the single-blade installation process of the floating crane vessel. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of a single-blade mounting system.

[0062] Figure 2 A diagram illustrating the coordinate system and physical quantities involved in the installation of a single blade;

[0063] Figure 3 This is a flowchart for analyzing the blade motion response at various moments during the installation process. Specific implementation methods

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit the application; that is, the described embodiments are only a part of the embodiments of this application, and not all of them.

[0065] This invention obtains the lifting point position by considering the turntable rotation and boom luffing of the shipborne crane, and further considers the influence of the crane vessel's movement on the lifting point position; by considering the lifting point position, the tappet apex position, and the sling length, it accurately obtains the blade's spatial position; through the blade's spatial position, the three-dimensional wind speed vector, and the blade's aerodynamic characteristics, it obtains the blade's aerodynamic load at each time point; it establishes a system dynamic model using the Lagrange method to obtain the accurate dynamic response of the blade during installation; and it establishes the blade's motion equations to obtain the sling tension during installation. This analytical method is applicable to analyzing the single-blade installation process currently using self-elevating crane vessels and floating crane vessels, specifically including:

[0066] Step 1: Based on the installed wind turbine blades and the construction sea area, establish a blade airfoil database and a turbulent wind field database, and describe the motion of the single blade installation system through coordinate system and generalized coordinate.

[0067] Specifically, the blade airfoil database includes the corresponding relationships of each blade element number, its position relative to the blade root, twist angle, chord length, inflow angle, and aerodynamic coefficients (lift coefficient, drag coefficient, pitching moment coefficient); the turbulent wind field includes the three-dimensional wind speed vector of spatial points in the hoisting area at each moment. Depending on the crane vessel used in the construction, such as... Figure 2 As shown, establish the following coordinate system:

[0068] (1) Global coordinate system {N}: origin o n Located at the center of gravity of the crane ship, x n Pointing to the bow, y n Pointing to port, z n Vertically upward, around x n y n and z n The rotations are respectively the roll η x , pitching η y and bow rocking η z This coordinate system does not move with the ship's hull;

[0069] (2) Ship coordinate system {V}: The initial direction is the same as {N}, and this coordinate system moves with the ship;

[0070] (3) Rotary coordinate system {R}: origin o r Located at the intersection of the turntable's rotation axis and the crane vessel, the turntable rotates around z... r Rotation angle α r ;

[0071] (4) Crane boom coordinate system {A}: origin o a Located at the intersection of the boom pivot and the turntable, the boom rotates around y a Rotation, with an initial included angle of β h0 The amplitude variation angle during installation is β. a ;

[0072] (5) Coordinate system of the lifting point {H}: origin o h Located at the lifting point, this coordinate system is used to describe the changes in the angle and suspension length of the slings during installation;

[0073] (6) Blade coordinate system {B}: origin o b Located at the centroid of the blade, x b In the chord direction of the blade, from the leading edge to the trailing edge, y b The leaf spreads from the leaf root to the leaf tip;

[0074] (7) Leaf element aerodynamic coordinate system {B i}: origin o bi Located at the geometric center of the i-th leaf element, and y bi With y b Consistent in direction;

[0075] (8) Wind coordinate system {W}: origin o w Located in the lower left corner of the wind field, y w For the direction of wind inflow, z w Vertically upward, along x w y w and z w The wind speeds are u w v w and w w .

[0076] At the same time, such as Figure 2 As shown, φ and θ are chosen as generalized coordinates, with φ being the coordinate of θ. h o b With z h The negative angle, θ, is the angle between the blade's centroid and z. h The plane formed by the axes and x h o h z h Angle between two planes.

[0077] Step 2: Use a homogeneous transformation matrix to describe the position of the lifting point and the position of the top of the strut when each mechanism of the shipborne crane moves;

[0078] Specifically, based on the movement of the shipborne crane's turntable and boom, the position of the lifting point within {V} is:

[0079]

[0080] In the formula: and p H =[0 0 0 1] T These are descriptions of the suspension points in {V} and {H}, respectively; and Let {R} be the homogeneous transformation matrix relative to {V}, {A} be the homogeneous transformation matrix relative to {R}, and {H} be the homogeneous transformation matrix relative to {A}.

[0081] The position of the top of the strut within {V} when the crane turntable and boom move:

[0082]

[0083] In the formula: and These are the descriptions of the tappet vertex A in {V} and {R}, respectively; Let {R} be the homogeneous transformation matrix relative to {V}.

[0084] A homogeneous transformation is used to describe the positions of the lifting point and the strut apex in {V}. Therefore, the fourth element in the position matrix of the lifting point and the strut apex is 1, which has no practical meaning. In subsequent detailed implementations, this will be used... and This indicates the x, y, and z positions of the suspension point and the top of the strut in {V}.

[0085] The above process can obtain the position of the lifting point and the position of the top of the strut when the ship-mounted crane turntable and boom move during the installation of a single wind turbine blade, thus providing input for further calculations considering the movement of the installation ship and the length of the suspended section of the sling.

[0086] Step 3: Use the Euler transformation matrix to describe the position of the lifting point when the crane ship is moving, and use the position of the lifting point, the length of the sling, and the generalized coordinates to describe the position of the blade's center of mass in space.

[0087] Specifically, the position of the lifting point in {N} during the movement of the crane ship:

[0088]

[0089] In the formula: and The description of the lifting points in {N} and {V}; Let d be the Euler transformation matrix of {V} relative to {N}; V This refers to the offset of the crane ship's movement.

[0090] The above formula can be used to obtain the position of the lifting point when the installation vessel is in motion. The description of the lifting point position takes into account the motion of the installation vessel, the motion of the shipborne crane turntable, and the motion of the crane boom.

[0091] The position of the blade's centroid in {N} is:

[0092]

[0093] In the formula: and These are the x, y, and z coordinates of the blade's centroid in {N}, respectively; and Let x, y, and z be the coordinates of the lifting point in {N}, respectively; l be the length of the suspended section of the sling, l = l0 - l1 - l2, where l0 is the original length of the sling, l1 is the sling length between the apex A of the strut and the lifting point, and l2 is the change in sling length caused by the winch drive at point A. During blade installation, l1 and l2 can be calculated using the following formula:

[0094] l1=||q V′ -q R′ ||

[0095]

[0096] In the formula: ||·|| represents the expression for vector q V′ -q R′ Modulus; r w Let ω be the radius of the winch at point A; w ω is the winch angular velocity; t is the winch running time.

[0097] The above equation can be used to obtain the position of the blade's center of mass, thus preparing for the subsequent construction of the Lagrange equation.

[0098] Step 4: Based on the blade centroid position and the blade airfoil database, obtain the position of each blade element in space. At the same time, based on the three-dimensional wind speed vector of the spatial point in the hoisting area at each moment, use the blade element theory to obtain the aerodynamic load of each blade element. Integrate the aerodynamic load along the blade span direction to obtain the wind load at each time point during the blade installation process.

[0099] Specifically, such as Figure 2 As shown, α i,1 For the angle of attack of leaf element, α i,2 Let α be the sum of the rotation and twist angles of the leaf element about the y-axis. i,3 Let be the blade element inlet angle. The lift, drag, and pitching moment acting on the aerodynamic center of the blade element are:

[0100]

[0101]

[0102]

[0103] In the formula: L i D i and M i These are lift, drag, and pitching moment, respectively; ρ a C is the density of air. li (α i,1 ), C di(α i,1 ) and C mi (α i,1 ) represents the lift coefficient, drag coefficient, and pitching moment coefficient of the blade elements; c i For leaf chord length; A i V represents leaf area; i C represents the relative inflow velocity of the wind. li (α i,1 ), C di (α i,1 ), C mi (α i,1 ) and c i These are the inherent parameters of the blade.

[0104] The calculation of blade aerodynamic loads using blade element theory needs to be described in {B}, and the conversion relationship is as follows:

[0105]

[0106] In the formula: and These are the descriptions of the three-dimensional wind speed vectors of spatial points in {W} and {B}, respectively. Let {W} be the angle of rotation relative to {B}.

[0107] Three-dimensional wind speed vector of each leaf element aerodynamic center Based on the above calculations, the three-dimensional wind speed vector of the spatial point described in {B} and the spatial positions of each blade element are obtained, and three-dimensional spatial interpolation is used to determine them. The inflow angle α of each blade element... i,3 for:

[0108]

[0109] In the formula: u b and w b These are the components of wind speed along the x and y directions.

[0110] Based on the correspondence between the inflow angle of each blade element and the lift coefficient, drag coefficient, and pitching moment coefficient, two-dimensional interpolation is used to obtain the lift coefficient, drag coefficient, and pitching moment coefficient of each aerodynamic center.

[0111] The aerodynamic loads of each blade element are described in {B} as follows:

[0112]

[0113] In the formula: f i B For the aerodynamic forces of each leaf element; The aerodynamic torque of each leaf element.

[0114] In summary, the total aerodynamic forces and moments acting on the blades are described in {B} as follows:

[0115]

[0116] In the formula: Let {B} be the total aerodynamic force and torque; This describes the location of the aerodynamic center of each leaf element in {B}; This describes the location of each leaf mass center in {B}; '×' indicates the cross product.

[0117] aerodynamic load Transform to the global coordinate system {N} and describe it at the blade's center of mass as follows:

[0118]

[0119] In the formula: Let {N} be the total aerodynamic force and torque; Let {B} be the Euler transformation matrix relative to {N}; zeros(3×3) is a zero matrix with dimension 3×3.

[0120] The above process can be used to obtain the wind load of the blade in each coordinate system during the blade installation process, which is the non-force in the analysis process of a single blade installation system.

[0121] Step 5: Analyze the blades to obtain the tension of the slings during blade installation;

[0122] Specifically, based on the current wind load and various generalized coordinate values, the tension of the slings during installation is obtained:

[0123]

[0124] Where: m t =m hook +m yoke +m blade For the total mass, m hook m yoke and m blade These are the mass of the hook, the mass of the clamping structure, and the mass of the blade; Let F be the acceleration of the blade's center of mass in the z-direction within {N}; g is the acceleration due to gravity; F is the acceleration due to gravity. s For the tension of the sling; This represents the force of the aerodynamic load in the z-direction.

[0125] Based on the current generalized coordinate φ, the cable tension at the current time step can be obtained.

[0126] Step 6: Establish the dynamic model of the single-blade installation system using the Lagrange method: obtain the blade potential energy through the blade's spatial position, differentiate the spatial position to obtain the blade velocity at each time point, and thus obtain the blade kinetic energy. Based on the blade's potential energy and kinetic energy, obtain the Lagrange operator for the single-blade installation system. Meanwhile, the wind load is non-positive, and obtain the generalized coordinates at the next moment through the Lagrange equation.

[0127] Specifically, since the blades are installed using a four-point lifting method, stability during installation is improved, thus reducing the rotation of the load. Therefore, the torque caused by the aerodynamic load of the blades is ignored. For the offshore wind turbine single-blade installation system of the crane vessel-blade coupling system, choosing generalized coordinates φ and θ, the system dynamics model based on the Lagrange equation can be expressed as:

[0128]

[0129] In the formula: L is the Lagrange operator, which is the difference between the kinetic energy and potential energy of the system; φ and θ are the generalized coordinates of the system; and Q1 and Q2 are the derivatives of the system's generalized coordinates; Q1 and Q2 are the non-powerful coordinates of the system.

[0130] Substituting the obtained variables into the equation above, we get:

[0131]

[0132] In the formula: and The second derivative of the system's generalized coordinates; and These are the accelerations of the suspension point in the x, y, and z directions within {N}, respectively. This represents the rate of change of the sling length.

[0133] Solving the above nonlinear equations using the fourth-order Runge-Kutta method yields t. i+1 The generalized coordinates φ and θ at each time step are used. By iteratively calculating at each time step, the dynamic response of the blade during installation can be obtained.

[0134] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for dynamic response analysis of the installation process of a single wind turbine blade considering wind load, characterized in that, include: Based on the installed wind turbine blades and the construction sea area, establish a blade airfoil database and a turbulent wind field database, and describe the motion of the single-blade installation system through a suitable coordinate system and generalized coordinates. The positions of the lifting points and the top of the struts are described by homogeneous transformation matrices when the various mechanisms of the shipborne crane move. The position of the lifting point during the movement of the crane vessel is described by the Euler transformation matrix, and the position of the blade's center of mass in space is described by the position of the lifting point, the length of the sling, and the generalized coordinates. Based on the blade centroid position and the blade airfoil database, the position of each blade element in space is obtained. At the same time, based on the three-dimensional wind speed vector of the spatial point of the hoisting area at each moment, the aerodynamic load of each blade element is obtained using the blade element theory. The aerodynamic load is integrated along the blade span direction to obtain the wind load at each time point during the blade installation process. The tension of the slings during the blade installation process was obtained through analysis of the blade. A dynamic model of a single-blade installation system is established using the Lagrange method: the blade potential energy is obtained from the blade's spatial position, and the velocity of the blade at each time point is obtained by differentiating the spatial position, thus obtaining the blade kinetic energy. Based on the blade's potential energy and kinetic energy, the Lagrange operator of the single-blade installation system is obtained. Meanwhile, the wind load is non-positive, and the generalized coordinates of the next moment are obtained through the Lagrange equation. The homogeneous transformation matrix is ​​used to describe the positions of the lifting points and the top of the struts during the motion of each mechanism of the shipborne crane, specifically: When the crane turntable and boom move, the lifting point positions are: (1) In the formula: and The lifting points are respectively in the ship's coordinate system and lifting point coordinate system The description in the text; , and They are respectively the turntable coordinate system Relative to the ship's coordinate system Homogeneous transformation matrix, crane boom coordinate system Relative to the turntable coordinate system Homogeneous transformation matrix, lifting point coordinate system Relative to the crane boom coordinate system The homogeneous transformation matrix; When the crane turns the turntable, the position of the top of the strut is: (2) In the formula: and These are the top points of the pushrods. In the ship's coordinate system and turntable coordinate system The description in the text; The aerodynamic load method for obtaining the individual leaf elements of the blade is as follows: (5) In the formula: , and These are lift, drag, and pitching moment, respectively. air density; , and For the lift coefficient, drag coefficient, and pitching moment coefficient of the blade element; For leaf string length; Leaf area; The relative inflow velocity of the wind; , , and These are inherent parameters of the blade; Aerodynamic loads of each blade element in the blade coordinate system The description in the text is: (6) In the formula: The aerodynamic force for each leaf element; The aerodynamic torque of each leaf element.

2. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The coordinate system is established as follows: Global coordinate system :origin Located at the center of gravity of the crane ship, Pointing to the bow, Pointing to port, Vertically upward, around , and The rotations are respectively the roll. , rocking and bow rocking This coordinate system does not move with the ship's hull; Hull coordinate system Initial direction and Similarly, this coordinate system moves with the ship's hull; Rotary coordinate system :origin Located at the intersection of the turntable's rotation axis and the crane vessel, the turntable rotates... Rotation angle is ; Crane boom coordinate system :origin Located at the intersection of the boom pivot and the turntable, the boom rotates... Rotate, with an initial included angle of 100°. The amplitude change angle during installation is ; Lifting point coordinate system :origin Located at the lifting point, this coordinate system is used to describe the changes in the angle and suspension length of the slings during installation; Blade coordinate system :origin Located at the centroid of the blade, The blade's chordal direction points from the leading edge to the trailing edge. The leaf spreads from the leaf root to the leaf tip; Leaf element aerodynamic coordinate system :origin Located in the The geometric center position of each leaf element, and and Consistent in direction; Wind coordinate system :origin Located in the lower left corner of the wind field, For the direction of wind inflow, Vertically upward, along , and The wind speeds are respectively , and ; At the same time, choose and For generalized coordinates, for and Negative angle, For the center of mass of the leaf and The plane formed by the axes and Angle between two planes.

3. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The position of the lifting point during the movement of the crane vessel is described using the Euler transformation matrix: (3) In the formula: and The lifting point is in the global coordinate system and hull coordinate system The description in the text; For the ship's coordinate system Relative to the global coordinate system The Euler transformation matrix; This refers to the offset of the crane ship's movement.

4. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The position of the blade's center of mass in space is described by the location of the suspension point, the length of the suspension cable, and the generalized coordinate system. (4) In the formula: , and The centroids of the blades are respectively located in the global coordinate system. In , and coordinate; , and The lifting points are respectively in the global coordinate system In , and coordinate; The length of the suspended section of the sling. , This is the original length of the sling. For the top of the strut The length of the sling between the lifting point and the lifting point for Changes in sling length caused by the winch drive.

5. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The total aerodynamic forces and moments acting on the blades in the blade coordinate system The description in the text is: (7) In the formula: For the blade coordinate system Overall aerodynamic forces and moments; The aerodynamic center positions of each blade element in the blade coordinate system The description in the text; The position of the center of mass of each leaf in the leaf coordinate system The description in the text; The aerodynamic load Transform to global coordinate system And described at the centroid of the blade as follows: (8) In the formula: global coordinate system Overall aerodynamic forces and moments; For the blade coordinate system Relative to the global coordinate system The Euler transformation matrix; For dimension is The zero matrix.

6. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The tension of the slings during blade installation is: (9) In the formula: For total mass, , and These are the mass of the hook, the mass of the clamping structure, and the mass of the blade; The centroids of the blades are respectively located in the global coordinate system. middle Acceleration in the direction of; It is the acceleration due to gravity; For the tension of the sling; For aerodynamic loads in Force in a certain direction.

7. The method for dynamic response analysis of a single wind turbine blade installation process considering wind load as described in claim 1, characterized in that, The dynamic model of the single-blade installation system is established using the Lagrange method as follows: (10) In the formula: Let be the Lagrange operator, and be the difference between the system's kinetic and potential energy. and For the system's generalized coordinates; and The derivative of the system's generalized coordinates; and For the non-powerful forces of the system; Substituting the variables into equation (10) yields: (11) In the formula: and The second derivative of the generalized coordinates; , and The lifting points are respectively in the global coordinate system middle , and Acceleration in the direction of; Let be the rate of change of the sling length; a fourth-order Runge-Kutta method is used to solve for the generalized coordinates at the next time step. and .

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