Auxiliary installation method for wind power tower drum

Abstract

The invention discloses a wind power tower drum auxiliary installation method, belongs to the technical field of wind power tower drum installation, and aims to solve the technical problems that traditional manual centering is low in efficiency and the precision is difficult to guarantee, an annular drum is adopted to be fixed to the outer surface of a tower drum below, four rectangular grooves are evenly distributed in the circumference of the inner wall of the annular drum, and all sliding grooves are connected with an installation plate with an arc-shaped centering block in a sliding mode; after an upper tower drum is hoisted in place, a motor is started to drive a rotating shaft, four sets of transmission synchronization are achieved through meshing of a gear and a gear ring, then a threaded rod is driven to rotate through meshing of a first bevel gear and a second bevel gear, a threaded plate pushes a moving plate and a mounting plate and drives four arc-shaped centering blocks to synchronously move inwards along sliding grooves, and automatic concentric centering of the double tower drums is achieved. And when the motor rotates reversely, the arc-shaped centering block synchronously moves outwards to relieve constraint. According to the method, the docking efficiency and the centering precision of the tower drum are greatly improved, and the method is suitable for onshore and offshore wind turbine generator tower drum installation.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind power tower installation, and in particular relates to an auxiliary installation method for a wind power tower. Background Art

[0002] Wind turbine towers are the supporting structures of wind turbine generators, and their installation accuracy directly affects the safe operation of the units. Traditional installation methods mainly rely on manual operation, which has the following technical defects: 1. Low alignment efficiency The docking of tower segments requires repeated adjustments. Workers fine-tune the alignment using jacks and then manually measure concentricity, with each adjustment taking as long as 30-60 minutes. This is due to the fact that manual measurement relies on discrete point data from instruments like total stations, which lack real-time feedback on overall roundness. Adjustments require the coordination of multiple personnel, resulting in redundant operations due to delays in command transmission. Although attempts were made to incorporate a hydraulic synchronous jacking device, the lack of closed-loop control still necessitated manual judgment of alignment status.

[0003] 2. Loss of control over centering accuracy Measured alignment deviations often reach 8-15mm (exceeding the industry safety threshold of ±5mm). This is because the tower's deadweight causes elastic deformation of the flange (typically 3-5mm), and manual measurement fails to compensate for this deformation error. Furthermore, environmental vibrations (e.g., wind speeds >6m / s) destabilize the measurement base, causing fluctuations in level gauge data of up to ±2mm. Existing laser alignment equipment is limited to single-point measurement and cannot simultaneously capture deformation data around the entire circumference.

[0004] 3. Lack of adaptability to dynamic working conditions Due to wind vibration, the tower swayed by 10-50mm (at a frequency of 0.5-2Hz) during the hoisting phase, forcing manual operations to be suspended and extending the installation window. Traditional rigid clamping devices are prone to overconstraint under wind vibration, resulting in excessive localized stress in the tower (measured to be >200MPa). In sudden wind events, manual emergency response delays of >5 seconds increase the risk of collision. Furthermore, existing automatic centering equipment lacks vibration spectrum analysis capabilities, making it impossible to establish a coordinated mechanism between clamping action and sway phase.

[0005] 4. Quality Verification Lag Flange gap uniformity can only be checked after docking is complete. Exceeding the standard deviation (>2mm) requires disassembly and reassembly, resulting in a rework rate of approximately 12%. This is because the coupling effect of contact pressure and deformation is not quantitatively monitored, making it impossible to predict the final quality during installation. Gap detection relies on contact tools such as feeler gauges, making it difficult to obtain continuous data around the entire circumference. Summary of the Invention

[0006] In order to solve the technical problems in traditional wind turbine tower assisted installation, manual centering operations rely on discrete point measurement and collaboration of multiple people, resulting in low adjustment efficiency and inability to guarantee concentricity accuracy, the present invention provides a wind turbine tower assisted installation method.

[0007] To achieve these objectives of the present invention, the present invention provides an auxiliary installation method for a wind turbine tower, comprising the following steps: Step 1, fixing an annular tube on the outer surface of a lower wind turbine tower, wherein the inner wall of the annular tube has four rectangular grooves evenly distributed along the circumference, wherein a mounting plate is slidably connected to each rectangular groove, and an arc-shaped centering block adapted to the outer surface of the wind turbine tower is fixedly connected to the inner side of the mounting plate; Step 2, hoisting the upper wind turbine tower to the upper side of the lower wind turbine tower so that the two are in initial contact, starting a motor fixed to the bottom of the annular tube, and the motor drives a rotating shaft to rotate through a coupling, wherein a gear is fixedly connected to the outer surface of the rotating shaft, and the gear is meshed with a gear ring rotatably mounted on the inner wall of the annular tube, The rotation of the gear ring drives all gears to rotate synchronously; Step 3, the outer surface of the rotating shaft is fixedly connected to the first bevel gear, the first bevel gear is meshed with the corresponding second bevel gear, the second bevel gear is fixedly connected to the threaded rod, the thread of the threaded rod is slidably connected to the threaded plate, the threaded plate is fixedly connected to the movable plate, the bottom surface of the movable plate is fixedly connected to the mounting plate, and the mounting plate drives the arc-shaped centering block to slide along the rectangular groove; Step 4, when the motor rotates forward, the four threaded rods rotate synchronously, driving the corresponding arc-shaped centering block to move inward, squeezing the upper wind turbine tower to be concentrically aligned with the lower wind turbine tower, completing the docking installation; when the motor reverses, the arc-shaped centering block moves outward synchronously to release the constraint on the upper wind turbine tower.

[0008] In view of the fact that the lack of pressure control may cause overpressure damage or insufficient clamping during the centering process, it is necessary to quantify the contact pressure to achieve precise shutdown. Preferably, the auxiliary installation method of the wind turbine tower of the present invention: a pressure sensor is fixedly installed on the inner surface of the arc-shaped centering block, and the pressure sensor is connected to the control system signal of the motor; when the motor rotates forward to drive the arc-shaped centering block to move inward, the pressure sensor detects the contact pressure between the arc-shaped centering block and the upper wind turbine tower in real time, and transmits the pressure data to the control system of the motor; when the pressure value detected by the pressure sensor reaches the preset threshold, the control system of the motor automatically stops the motor operation to complete the precise centering of the upper wind turbine tower; if the pressure value does not reach the preset threshold, the control system continues to drive the motor operation until the pressure value reaches the preset pressure threshold and then performs the shutdown action.

[0009] Since the single-point feedback of the laser rangefinder cannot correct the overall eccentricity of the tower in real time, a closed-loop position calibration mechanism needs to be established. Preferably, the auxiliary installation method of the wind turbine tower of the present invention further includes the following real-time position calibration step: four laser rangefinders are evenly fixed and fixed on the outer circumference of the annular tube, and the laser emission direction of each laser rangefinder is perpendicular to the central axis of the annular tube; when the motor drives the arc centering block to move inward in the forward direction, the four laser rangefinders continuously emit laser beams to the outer wall of the upper wind turbine tower, and collect the reflected signals in real time to generate distance measurement data; each laser rangefinder synchronously transmits the distance measurement data to the control system; the control system performs the following closed-loop adjustment operations: a. calculate the maximum difference of the four distance measurement data in real time; b. when the maximum difference is ≤5mm, determine that the upper wind turbine tower has reached the concentric alignment state; c. when the maximum difference is >5mm, identify the azimuth corresponding to the laser rangefinder with the largest distance measurement value; d. reduce the speed of the drive motor of the arc centering block corresponding to this azimuth, while maintaining the speed of the motors in other azimuths; e. continuously monitor the changes in the distance measurement data until the maximum difference is ≤5mm and then restore the synchronous speed of all motors.

[0010] For position control (ΔD) and force control (P th ) Independent operation leads to response conflicts, and hierarchical regulation needs to be achieved through coordinated dual-modal data. Preferably, the wind turbine tower auxiliary installation method of the present invention also includes the following coordinated control and calibration steps: S1, dual-modal data acquisition: a pressure sensor group is fixedly installed on the inner surface of the arc-shaped centering block, and four laser rangefinders are evenly distributed circumferentially on the outer side of the annular tube; the pressure sensor group collects the contact pressure data of each arc-shaped centering block and the upper wind turbine tower in real time, and the laser rangefinder measures the radial distance data from the outer wall of the upper wind turbine tower to the center of the annular tube in real time; S2, dynamic coordinated control: when the motor rotates forward to drive the arc-shaped centering block to move inward, the control system synchronously executes: a. Calculate the maximum difference ΔD of the four radial distances based on the laser ranging data; b. Compare the pressure sensor data with the preset pressure threshold P in real time. th ; S3, hierarchical control execution: If ΔD>5mm, execute position closed-loop adjustment: identify the position of the laser rangefinder with the largest distance value; reduce the speed of the drive motor in this position to 30%-50% of the reference speed; maintain the reference speed of the motor in other positions; if the pressure sensor data reaches 0.8P th If ΔD≤5mm, the force control protection is executed: the motor speed is reduced to 10% of the reference speed; the low speed operation is maintained until the pressure reaches P th ; S4, final state judgment: when ΔD≤2mm and pressure data≥P th When the pressure reaches 1.2P, cut off the power supply of the motor to complete the installation; th If ΔD>5mm, an emergency stop and alarm will be triggered.

[0011] The tower's deadweight deformation (3-5mm) interferes with the measurement benchmark, requiring dynamic compensation for laser ranging and pressure sensing errors. Preferably, the wind turbine tower auxiliary installation method of the present invention also includes the following coordinated deformation compensation steps: S5, real-time deformation monitoring: a first set of strain sensors are evenly distributed around the circumference of the lower wind turbine tower's top flange, and a second set of strain sensors are distributed at corresponding locations on the upper wind turbine tower's bottom flange. When dynamic coordinated control is executed, real-time strain data from the first and second sets of strain sensors are simultaneously collected. S6, dynamic correction of the measurement benchmark: a deformation compensation factor is calculated based on the real-time strain data; the deformation compensation factor is used to perform a positive correction on the original distance value measured by the laser rangefinder; and the deformation compensation factor is used to perform a negative correction on the original pressure value measured by the pressure sensor. S7, coordinated control optimization: during the hierarchical control process, the corrected distance value is used to calculate the maximum radial distance difference; the corrected pressure value is compared with a preset pressure threshold; and the drive motor output torque is monitored in real time. When the torque value exceeds a preset safety threshold, the corresponding motor is controlled to perform a reverse rotation operation to release mechanical jamming.

[0012] In order to prevent the 10-50mm swing caused by wind vibration and lead to alignment failure, it is necessary to predict the trajectory based on the vibration spectrum and optimize the clamping timing. Preferably, the wind turbine tower auxiliary installation method of the present invention also includes: S8, real-time vibration monitoring: installing a first set of three-axis acceleration sensors on the top flange of the lower wind turbine tower, and installing a second set of three-axis acceleration sensors on the bottom flange of the upper wind turbine tower; after the upper wind turbine tower is hoisted into place, collecting vibration spectrum data of the two sets of acceleration sensors in real time; S9. Swing trajectory prediction: The control system executes the following based on the vibration spectrum data: identifying the 0.5-2Hz low-frequency swing main frequency component; calculating the real-time swing amplitude A and phase angle θ of the upper wind turbine tower; and generating a swing trajectory prediction curve for the next 3 seconds; S10. Dynamic centering collaborative control: During the S3 hierarchical regulation execution phase: a. When A≤10mm, maintain the original centering control strategy; b. When A>10mm, start the active vibration suppression centering mode: dynamically adjust the movement trajectory of the four arc-shaped centering blocks according to the swing trajectory prediction curve; perform an accelerated clamping action at the trough position of the swing trajectory; and perform a decelerated holding action at the peak position of the swing trajectory; c. The laser rangefinder sampling frequency is increased to 100Hz, and the pressure sensor data is synchronously calibrated with the vibration phase; S11. Safety boundary protection: If A>30mm is detected for 5 consecutive seconds, then: all motors are immediately stopped; the arc-shaped centering blocks are controlled to retreat to a safe distance; and a wind speed limit alarm is triggered.

[0013] In order to deal with stress concentration caused by rigid clamping under sudden wind conditions, the hydraulic buffer layer needs to dynamically adjust the damping coefficient to release energy. Preferably, the auxiliary installation method of the wind turbine tower of the present invention also includes: S12, environmental collaborative perception: a meteorological monitoring unit is installed on the top of the annular tube to collect on-site wind speed and wind direction data in real time; the control system integrates meteorological data and vibration spectrum data to construct a wind-vibration coupling prediction model; S13, adaptive buffer control: a hydraulic buffer layer is set inside the arc-shaped centering block, and the hydraulic buffer layer is mechanically coupled to the pressure sensor; when S10 dynamic centering collaborative control is executed: when continuous periodic swing is detected, the hydraulic buffer layer is activated; the damping coefficient of the buffer layer is dynamically adjusted according to the swing amplitude; the pressure sensor collects the actual contact pressure at the output end of the buffer layer; S14, prediction-buffer collaboration: in the active vibration suppression centering mode: a. trough acceleration clamping stage: increase the damping of the corresponding azimuth buffer layer 50ms in advance according to the prediction result of the wind-vibration coupling model; improve the instantaneous stability of the clamping action; b. peak deceleration and holding stage: reduce the damping coefficient of all buffer layers; release the accumulated deformation energy; S15, safety collaborative upgrade: when the buffer layer pressure change rate exceeds the critical threshold: trigger the reverse pressure release mechanism; synchronously reduce the output torque of the motor in the corresponding azimuth.

[0014] Continuous swinging causes pressure accumulation and residual micro-eccentricity, requiring a combination of buffer layer pressure feedback and sinusoidal excitation to achieve millimeter-level compensation. Preferably, the wind turbine tower auxiliary installation method of the present invention also includes: S16, intelligent control of the buffer layer: real-time monitoring of the pressure change rate of the buffer medium in the hydraulic buffer layer; when executing S14 prediction-buffer coordination: trough acceleration clamping stage: synchronously collect the buffer medium pressure change rate δP and the vibration spectrum main frequency f; when δP / f> the set proportional coefficient, automatically reduce the output torque of the motor in that position by 10%-20%; peak deceleration and holding stage: control the buffer layer pressure relief valve to open 5%-10% of the stroke, lasting 0.3-0.5 seconds to release accumulated energy; S17, multi-source failure protection: establish buffer layer-centering mechanism coordination safety rules: a. If a sudden increase in δP exceeding the safety threshold is detected in three consecutive swing cycles, then: trigger the buffer layer emergency pressure relief mode; synchronously control the corresponding arc centering block to retract 2-3mm; b. When the main vibration frequency f drops below 0.5Hz and δP continues to decrease, the standard control process is restored; S18, dynamic evaluation of installation quality: after completing the centering lock: use the laser rangefinder group to continuously collect the circumferential gap data of the mating flange; the control system calculates the gap uniformity index η: η = (minimum gap value / maximum gap value) × 100%; if η≥95%, the installation is judged to be qualified; if η<95%, the fine-tuning program is started: the buffer layer pulsation mode is activated, and 0.5Hz sinusoidal excitation is performed. At the same time, the laser rangefinder data is fed back to the drive motor in real time to perform 0.1mm level precision position compensation.

[0015] The present invention has at least the following beneficial effects: 1. The present invention realizes synchronous radial movement of four arc-shaped centering blocks through the synchronous transmission of gears and gear rings and the threaded rod propulsion mechanism, eliminates the manual fine-tuning link, and shortens the single centering time to less than one-fifth of the original method; mechanical forced centering avoids subjective measurement errors and ensures that the concentricity deviation is stably controlled within the industry standard range. The pressure sensor of the present invention feeds back the contact pressure to the control system in real time, and automatically shuts down when the preset threshold is reached to prevent plastic deformation of the tower surface caused by overpressure; when the clamping force is insufficient, it continues to drive until it reaches the standard, solving the problem of clamping failure caused by manual misjudgment in traditional methods and improving the reliability of centering. The four groups of laser rangefinders of the present invention monitor the entire circumference to generate real-time eccentricity data, and realize dynamic correction by reducing the speed to adjust the maximum deviation azimuth motor speed; closed-loop control ensures that the radial deviation continues to converge to within 5mm, breaking through the technical limitation that single-point measurement cannot capture the overall deformation. The present invention's hierarchical execution strategy for position control (local deceleration when ΔD > 5mm) and force control (global deceleration when pressure reaches the 80% threshold) resolves the conflicting dual-modal control objectives. The final-state composite criterion (ΔD ≤ 2mm and P ≥ Pth) ensures dual installation quality standards, and an emergency shutdown mechanism prevents equipment damage. The present invention's strain sensor group captures differential deformation of the upper and lower flanges and dynamically corrects the laser ranging value (forward) and pressure sensing value (reverse) using a compensation factor to eliminate systematic errors caused by deadweight deformation. Torque mutation monitoring and motor reversal release mechanism jams enhance system robustness. The present invention's acceleration sensor identifies low-frequency swing components of 0.5-2Hz and, based on the phase angle θ, accelerates clamping at wave troughs and decelerates and maintains at wave peaks, significantly reducing the alignment failure rate under wind-induced vibration conditions. The swing overlimit protection mechanism (A > 30mm for 5 seconds) proactively avoids collision risks. The hydraulic buffer layer in this invention adjusts its damping coefficient 50ms in advance based on a wind-induced vibration prediction model. It transmits clamping force with high rigidity during wave troughs and releases pressure and energy during wave peaks. A reverse release mechanism triggered by the rate of pressure change effectively suppresses stress accumulation caused by continuous oscillation. The invention dynamically adjusts motor torque using the δP / f ratio criterion, combined with precise energy release from a pressure relief valve, to resolve the conflict between pressure overshoot and residual energy. After online evaluation of the gap uniformity index η, micron-level compensation is achieved through 0.5Hz sinusoidal excitation and laser feedback, reducing the need for rework to near zero.

[0016] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the structure of the centering mechanism of the present invention; Figure 3 is a cross-sectional view of the centering mechanism of the present invention; Figure 4 Schematic diagram of the connection between the first bevel gear and the second bevel gear of the present invention; Figure 5 Schematic diagram of the connection between the gear ring and the gear of the present invention.

[0018] In the figure: 1. Wind turbine tower body; 101. Upper wind turbine tower; 102. Lower wind turbine tower; 2. Annular cylinder; 3. First support plate; 4. Rotating shaft; 5. Second support plate; 6. Threaded rod; 7. First bevel gear; 8. Second bevel gear; 9. Gear ring; 10. Gear; 11. Motor; 12. Threaded plate; 13. Moving plate; 14. Mounting plate; 15. Arc centering block; 16. Rectangular groove; 17. Pressure sensor; 18. Laser rangefinder; 191. First group of strain sensors; 192. Second group of strain sensors; 201. First group of three-axis acceleration sensors; 202. Second group of three-axis acceleration sensors; 21. Meteorological monitoring unit; 22. Hydraulic buffer layer. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.

[0020] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0021] As shown in Figures 1 to 5, an example of a wind turbine tower auxiliary installation method of the present invention is provided. There are two wind turbine tower bodies 1, namely an upper wind turbine tower 101 and a lower wind turbine tower 102, which need to be docked and installed, including the following steps: Step 1: An annular tube 2 is fixedly installed on the outer surface of the lower wind turbine tower 102. Four rectangular grooves 16 are evenly distributed on the inner wall of the annular tube 2 along the circumference. A mounting plate 14 is slidably connected in each rectangular groove 16. An arc-shaped centering block 15 that matches the outer surface of the wind turbine tower is fixedly connected to the inner side of the mounting plate 14.

[0022] Step 2: Hoist the upper wind turbine tower 101 to the top of the lower wind turbine tower 102 so that the two are in initial contact. Start the motor 11 fixed to the bottom of the annular tube 2. The motor 11 drives the rotating shaft 4 to rotate through the coupling. The outer surface of the rotating shaft 4 is fixedly connected to the gear 10. The gear 10 is engaged with the gear ring 9 rotatably installed on the inner wall of the annular tube 2. The rotation of the gear ring 9 drives all gears 10 to rotate synchronously.

[0023] Step 3: The outer surface of the rotating shaft 4 is fixedly connected to the first bevel gear 7, which is engaged with the corresponding second bevel gear 8. The second bevel gear 8 is fixedly connected to the threaded rod 6. The thread of the threaded rod 6 is slidably connected to the threaded plate 12. The threaded plate 12 is fixedly connected to the movable plate 13. The bottom surface of the movable plate 13 is fixedly connected to the mounting plate 14. The mounting plate 14 drives the arc-shaped centering block 15 to slide along the rectangular groove 16.

[0024] In step 4, when the motor 11 rotates forward, the four threaded rods 6 rotate synchronously, driving the corresponding arc-shaped centering blocks 15 to move inward, squeezing the upper wind turbine tower 101 until it is concentrically aligned with the lower wind turbine tower 102, completing the docking installation; when the motor 11 rotates reversely, the arc-shaped centering blocks 15 move outward synchronously, releasing the constraint on the upper wind turbine tower 101.

[0025] Specifically, regarding the installation of the annular tube and centering mechanism, an annular tube 2 is fixed to the outer surface of the lower wind turbine tower body 1 by welding or other means. The inner diameter of the annular tube 2 is set according to the size of the tower body, and can be 3.5-4.5 mm (e.g., 4.0 mm), with a wall thickness of 25-35 mm (e.g., 30 mm). Four rectangular slots 16 are machined into the inner wall, with a width of 120-150 mm (e.g., 130 mm) and a depth of 40-50 mm (e.g., 45 mm), evenly spaced along the circumference at 90°. A mounting plate 14 is installed within each slot. The mounting plate 14 can be made of steel plate with a thickness of 20-25 mm (e.g., 22 mm). Bolted to the inside of the mounting plate 14 is a curved centering block 15. The curvature radius of the curved centering block 15 matches the outer diameter of the tower (e.g., a 4 m diameter tower corresponds to a radius of 2000 mm). The material can be steel. In an assembly example, the annular tube 2 is welded 500-600 mm below the top flange of the lower tower tube. The mounting plate 14 is slidably connected to the rectangular slot 16 via a T-slot slider. The inner surface of the arc-shaped centering block 15 is covered with a 3 mm rubber layer to reduce contact damage.

[0026] For the transmission mechanism drive, motor 11 can be a 7.5kW variable frequency motor, connected to rotating shaft 4 via a coupling. Rotating shaft 4 has a diameter of 80-100mm (e.g., 90mm), and a gear 10 (module 8-10, e.g., module 8) is fixed to the shaft end. A gear ring 9 is embedded in the bottom of annular cylinder 2. The module of the ring gear is the same as that of gear 10, and the meshing clearance is 0.1-0.15mm. The gear ratio of the first bevel gear 7 to the second bevel gear 8 is set to 1:1 (with a pressure angle of 20°). The threaded rod 6 uses a Tr60×10 trapezoidal thread with a lead of 10mm. During one operating process, when motor 11 rotates forward, the power transmission path is as follows: rotating shaft 4 - gear 10 - ring gear 9 - synchronously driving four sets of gears 10 - first bevel gear 7 - second bevel gear 8 - threaded rod 6 rotates - threaded rod 6 rotates, pushing threaded plate 12 horizontally (at a speed of approximately 2-3 mm / s) - moving plate 13 drives mounting plate 14 radially along rectangular slot 16 via bolts - arc-shaped centering block 15 at the end of mounting plate 14 moves centripetally, squeezing the upper tower to the target position. When motor 11 rotates reversely, it drives all four arc-shaped centering blocks 15 to rotate outward simultaneously.

[0027] Alignment control is performed. Threaded plate 12 can be made of cast steel, with movable plate 13 bolted to its upper surface. Movable plate 13 is connected to mounting plate 14 using 8.8-grade high-strength bolts. Motor 11 rotates forward, driving arc-shaped centering block 15 radially inward, with a single stroke of 150-200mm (preferably 180mm). Alignment is considered complete when the concentricity deviation of the upper tower is ≤2mm.

[0028] Motor speed reference value: set to 15 rpm via the frequency converter (corresponding to an arc block movement speed of 2.25 mm / s). Alignment completion threshold: The maximum deviation in all four directions detected by the laser rangefinder 18 is ≤ 2 mm.

[0029] This embodiment integrates a mechanical transmission mechanism through the annular tube 2 to achieve synchronous radial movement of the four arc-shaped centering blocks 15, significantly shortening the tower adjustment time; the trapezoidal thread transmission ensures uniform propulsion and avoids position repetition caused by manual fine-tuning; the overall structure adopts a combination of conventional industrial components, with low maintenance costs and adaptability to mainstream tower specifications.

[0030] Furthermore, in another embodiment, the auxiliary installation method of a wind turbine tower of the present invention includes: a pressure sensor 17 is fixedly installed on the inner surface of the arc-shaped centering block 15, and the pressure sensor 17 is connected to the control system signal of the motor 11; when the motor 11 rotates forward to drive the arc-shaped centering block 15 to move inward, the pressure sensor 17 detects the contact pressure between the arc-shaped centering block 15 and the upper wind turbine tower 101 in real time, and transmits the pressure data to the control system of the motor 11; when the pressure value detected by the pressure sensor 17 reaches a preset threshold, the control system of the motor 11 automatically stops the operation of the motor 11 to complete the precise centering of the upper wind turbine tower 101; if the pressure value does not reach the preset threshold, the control system continues to drive the motor 11 to operate until the pressure value reaches the preset pressure threshold and then performs a shutdown action.

[0031] Specifically, for the pressure sensing system assembly, a mounting groove is machined on the inner surface of the arc-shaped centering block 15, with a depth of 5-8mm (e.g., 6mm). Pressure sensor 17 can be a piezoresistive thin-film sensor (range 0-20MPa), with a thickness of 3-5mm (e.g., 4mm), secured with epoxy adhesive. The sensor contact surface can be covered with a 0.5mm thick stainless steel protective layer. The signal cable is routed along the pre-buried cable duct within the mounting plate 14 to the junction box at the bottom of the annular cylinder 2.

[0032] For pressure detection and control process, the control system can use industrial PLC (input sampling frequency ≥ 100Hz). Pressure preset threshold P th According to the tower material setting: Q355B steel is preferably 10MPa, and Q420C steel is preferably 12MPa. When the motor 11 rotates forward to drive the arc centering block 15 to move: the pressure sensor 17 collects the contact pressure in real time, with a sampling interval of 10ms; the PLC compares the real-time pressure P with P th :If P≥P th : Immediately cut off the power supply of motor 11; if P < Pth: maintain the speed of motor 11 at 15rpm; keep the clamping state for 30 seconds after stopping to ensure stable positioning. Parameter setting method: P th = yield strength of tower material × 30% (Q355B yield strength is 355MPa, so P th =106.5MPa×30%≈10MPa). Signal delay compensation: Response time of pressure transmission to PLC ≤20ms.

[0033] For safe operation verification, strain gauges were attached to the surface of the test tower (3.5m in diameter, 40mm in wall thickness) and tested in three groups: undervoltage test: set P th=10MPa. The actual pressure reached 8MPa, which was manually stopped. The concentricity deviation was detected to be 4.2mm. Compliance test: Automatic shutdown at 10MPa, concentricity deviation 1.8mm. Overpressure test: Pressurization to 15MPa was released after the shutdown protection was applied. The local plastic deformation depth of the tower was 0.3mm. In one example, the upper tower was hoisted into position with an initial contact pressure of 0.5MPa. Motor 11 was started, and the arc centering block 15 was advanced at a speed of 2.25mm / s. The pressure sensor 17 measured the following changes over time: 0s: 0.5MPa → 30s: 4.2MPa → 60s: 7.8MPa → 85s: 10.1MPa. At the 85th second, the PLC detected P ≥ 10MPa and disconnected the power to motor 11. The locking mechanism remained in the clamped state, and the laser was used to verify the concentricity deviation to be ≤ 2mm.

[0034] This implementation method achieves precise clamping control through real-time pressure feedback, avoiding insufficient clamping force or overload damage caused by traditional manual experience-based operations; the preset threshold is linked to material strength to ensure safe adaptation of towers of different specifications; the system response speed meets dynamic installation requirements and eliminates positioning drift caused by downtime delays.

[0035] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes the following real-time position calibration step: four laser rangefinders 18 are evenly fixedly installed on the outer circumference of the annular tube 2, and the laser emission direction of each laser rangefinder 18 is perpendicular to the central axis of the annular tube 2; when the motor 11 drives the arc centering block 15 to move inward in the forward direction, the four laser rangefinders 18 continuously emit laser beams to the outer wall of the upper wind turbine tower 101, and collect the reflected signals in real time to generate distance measurement data; each laser rangefinder 18 synchronously transmits the distance measurement data to the control system; the control system performs the following closed-loop adjustment operations: a. calculate the maximum difference of the four distance measurement data in real time; b. when the maximum difference is ≤5mm, determine that the upper wind turbine tower 101 reaches the concentric centering state; c. when the maximum difference is >5mm, identify the corresponding direction of the laser rangefinder 18 with the largest distance measurement value; d. reduce the speed of the driving motor 11 of the arc centering block 15 corresponding to the direction, while maintaining the speed of the motors 11 for the other directions e. Continuously monitor the distance measurement data changes until the maximum difference is ≤5mm and then restore the synchronous speed of all motors 11.

[0036] Specifically, regarding the installation of the laser ranging system, four mounting brackets are welded to the outside of the annular tube 2, with a height of 50-60 mm (e.g., 55 mm). Each bracket is secured to a laser rangefinder 18, which can be a phase-shifted laser ranging module (range 0.5-50 m, accuracy ±1 mm). The laser emission direction must be strictly perpendicular to the axis of the annular tube 2. After installation, the laser must be calibrated using a theodolite, with an angular deviation of ≤0.1°. The signal line is routed through a metal bellows and connected to the control system. During assembly, the mounting brackets are spaced evenly at 90° angles around the circumference, 100 mm from the top surface of the annular tube 2. The center of the laser rangefinder 18 lens is aligned with the centerline of the arc-shaped centering block 15.

[0037] For closed-loop control execution. The control system collects four-way distance measurement data in real time with a sampling frequency of 10Hz. The concentricity determination threshold is set to 5mm (example value). Workflow: Calculate the maximum value D of the four-way data max With the minimum value D min If D max -D min ≤5mm: Maintain the current speed of motor 11; if D max -D min >5mm: Positioning D max Corresponding position number (such as 1# position); reduce the speed of motor 11 in 1# position to 40% of the reference speed (reference speed 15rpm reduced to 6rpm); maintain 15rpm for other positions. Continue monitoring until D max -D min When the deviation is less than 5mm, the synchronous speed of all motors 11 is restored. Parameter setting method: Speed reduction ratio selection: Through the hydraulic system response test, it is determined that the speed reduction range of 30%-50% can effectively correct the deviation.

[0038] For performance verification testing, an initial eccentricity was set on the 3.5m diameter test tower. Test conditions: Condition 1: Initial eccentricity 20mm (simulating hoisting deviation); Condition 2: Artificial lateral force was applied to simulate wind vibration. Test process: Laser rangefinder 18 monitored the four-axis distance values [2015mm, 1980mm, 2002mm, 1995mm] in real time. The control system calculated the maximum difference (35mm > 5mm). The direction with the maximum deviation (2015mm) was identified. The azimuth motor 11 was slowed down to 6rpm in that direction, while the others were maintained at 15rpm. Results: Correction time: 40 seconds; Final four-axis deviation: 4.8mm ≤ 5mm; Data refresh cycle: 100ms (meeting the control requirement of a tower movement speed of ≤ 3mm / s). In one example, the upper tower was initially positioned. Laser ranging data revealed the following: Position 1: 2002 mm; Position 2: 1980 mm; Position 3: 2020 mm (maximum value); Position 4: 1995 mm. The maximum difference, 40 mm, was >5 mm. The control system identified Position 3 as the correction target. Motor 11 in Position 3 slowed down to 6 rpm (the others maintained 15 rpm). 40 seconds later, data showed the following: Position 1: 2001 mm; Position 2: 1998 mm; Position 3: 2003 mm; Position 4: 1999 mm. The maximum difference was 5 mm (reaching the threshold). All motors 11 resumed their synchronous speed of 15 rpm.

[0039] This implementation method uses full-circle laser monitoring to capture the tower eccentricity in real time, and performs directional speed reduction adjustment based on the maximum deviation azimuth, effectively suppressing the mechanism overload caused by single-point forced alignment; the 5mm threshold setting takes into account both adjustment efficiency and safety margin; and the closed-loop control logic ensures that the concentricity stably converges to the engineering allowable range.

[0040] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes the following coordinated control and calibration steps: S1, dual-modal data acquisition: a pressure sensor group is fixedly installed on the inner surface of the arc-shaped centering block 15, and four laser rangefinders 18 are evenly distributed circumferentially on the outer side of the annular tube 2; the pressure sensor group collects the contact pressure data between each arc-shaped centering block 15 and the upper wind turbine tower 101 in real time, and the laser rangefinder 18 measures the radial distance data from the outer wall of the upper wind turbine tower 101 to the center of the annular tube 2 in real time; S2, dynamic coordinated control: when the motor 11 rotates forward to drive the arc-shaped centering block 15 to move inward, the control system synchronously executes: a. calculates the maximum difference ΔD of the four radial distances based on the laser ranging data; b. compares the pressure sensor data with the preset pressure threshold P in real time. thS3, hierarchical control execution: If ΔD>5mm, then execute position closed-loop adjustment: identify the position corresponding to the laser rangefinder 18 with the largest distance value; reduce the speed of the drive motor 11 at that position to 30%-50% of the reference speed; maintain the reference speed of the motor 11 at other positions; if the pressure sensor data reaches 0.8P th If ΔD≤5mm, the force control protection is executed: the speed of the motor 11 is reduced to 10% of the reference speed; the low speed operation is maintained until the pressure reaches P th ; S4, final state judgment: when ΔD≤2mm and pressure data≥P th When the pressure reaches 1.2P, cut off the power supply of motor 11 to complete the installation; th If ΔD>5mm, an emergency stop and alarm will be triggered.

[0041] Specifically, for the dual-modal sensing system configuration, a laser rangefinder bracket is welded to the outer circumference of annular cylinder 2 at a 90° angle. The bracket height is 60-70mm (e.g., 65mm). Laser rangefinder 18 can use a Time of Flight (TOF) ranging module (range 0.2-30m, accuracy ±0.5mm), and the transmitting lens should be equipped with a dust filter. Pressure sensor 17 is embedded in the inner surface of arc-shaped centering block 15. A piezoelectric ceramic sensor (range 0-25MPa) can be used, and the sensor surface can be covered with a 1mm thick protective layer. All sensor signals are connected to the PLC control system via shielded cables.

[0042] For the hierarchical control execution process, set the position threshold ΔD max =5mm (example value), pressure threshold P th =10MPa (Q355B tower). Control system execution cycle 100ms: Position priority mode (ΔD>5mm): Identify the direction with the largest deviation (such as direction 2#); reduce the speed of motor 11 in this direction to 40% of the reference speed (reference speed 15rpm reduced to 6rpm); maintain 15rpm in other directions. Force control protection mode (P≥0.8P th and ΔD≤5mm): All motors 11 reduce their speed to 10% of the reference speed (1.5rpm); continue running until P≥P th Emergency shutdown conditions: pressure ≥ 1.2P th (12MPa) and ΔD>5mm, an alarm is triggered; a buzzer alarm is sounded and the power supply of all motors 11 is cut off at the same time.

[0043] Parameter setting method: 0.8P thThreshold setting: Material mechanics testing determines the pressure value that can prevent low-speed clamping instability. Speed reduction ratio verification: Hydraulic system flow testing determines that a 30%-50% speed reduction range can balance correction efficiency and stability.

[0044] For safety interlock verification, three sets of tests were conducted on a 4.0m diameter test tower: Position priority test: Initial ΔD = 28mm, pressure = 3MPa; System identification of maximum deviation direction, speed reduction to 6rpm; Correction time 45 seconds, final ΔD = 4.2mm; Force control protection test: Pressure reached 8MPa (0.8P) at ΔD = 3.8mm. th All motors 11 were decelerated to 1.5 rpm. After 22 seconds of continuous operation, the system shut down when the pressure reached 10.1 MPa. Emergency shutdown test: ΔD = 15 mm was artificially created, and the pressure rose to 12.5 MPa. The system triggered an audible and visual alarm and shut down.

[0045] In one example operating process, the initial state is as follows: laser ranging data: Positions 1-4 = [2020, 1985, 2010, 1990] mm, ΔD = 35mm > 5mm; pressure = 4.2MPa. Position priority mode is activated: Position 2 (1985mm) is identified as the position with the greatest deviation; motor 11 in position 2 is reduced to 6rpm; all other positions maintain 15rpm. After 35 seconds, the state is: ΔD = 4.8mm ≤ 5mm, pressure = 7.8MPa. Force control protection mode is switched on: all motors 11 are reduced to 1.5rpm. After 18 seconds, the pressure reaches 10.3MPa, and the system automatically shuts down. The final state is ΔD = 2.1mm ≤ 2mm.

[0046] This implementation method solves the contradiction between position accuracy and clamping force in the traditional centering process through a hierarchical switching strategy of position control and force control; the 1.2Pth pressure interlock mechanism effectively prevents equipment damage under extreme working conditions; and dual-modal data fusion processing ensures reliable operation of the system under complex working conditions.

[0047] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes the following deformation collaborative compensation steps: S5, real-time deformation monitoring: a first group of strain sensors 191 are evenly arranged around the circumference of the top flange of the lower wind turbine tower 102, and a second group of strain sensors 192 are arranged at corresponding positions on the bottom flange of the upper wind turbine tower 101; when dynamic collaborative control is performed, real-time strain data of the first group of strain sensors 191 and the second group of strain sensors 192 are synchronously collected; S6, dynamic correction of measurement reference: a deformation compensation factor is calculated based on the real-time strain data; the deformation compensation factor is used to perform a positive correction on the original distance value measured by the laser rangefinder 18; and at the same time, the deformation compensation factor is used to perform a negative correction on the original pressure value measured by the pressure sensor 17; S7, collaborative control optimization: during the hierarchical control execution process: the corrected distance value is used to calculate the maximum radial distance difference; the corrected pressure value is used to compare with a preset pressure threshold; the output torque of the drive motor 11 is monitored in real time, and when it is detected that the torque value exceeds the preset safety threshold, the corresponding motor 11 is controlled to perform a reverse rotation operation to release the mechanical jam.

[0048] Specifically: Strain sensing system layout. Eight mounting locations are evenly spaced between the bolt holes on the top flange of the lower wind turbine tower 102. Drill and tap the holes for M6 threads. Foil resistance strain gauges (range ±2000 με) can be used as strain sensors. They are secured with cyanoacrylate adhesive and coated with polyurethane protective adhesive (1-2 mm thick). An identical sensor set is installed at the corresponding locations on the bottom flange of the upper tower. The sensor leads are routed through stainless steel hoses and connected to a signal acquisition device (sampling frequency ≥ 50 Hz).

[0049] Deformation compensation calculation and correction. Real-time collection of upper and lower flange strain values ε down i、ε up j (i, j = 1 to 8, corresponding to the eight upper and lower installation positions respectively). Deformation compensation factor K r Calculation formula: (The coefficient of 0.5 is the preferred value, determined by testing the material elastic modulus); Correction execution: Laser ranging original value L k Corrected to: L k corr = L k ×K r ;Pressure sensor original value P m Corrected to: P m corr = P m / K r The preset safety torque threshold is 200% of the motor's rated torque (286 N·m for a 7.5kW motor).

[0050] Parameter Setting Method: Coefficient 0.5 Verification: Q355B steel has an elastic modulus of 206 GPa, a strain difference of 1000 με corresponds to a deformation of 2.06 mm, and the measured correction coefficient is 0.48-0.52. Torque threshold setting: Based on 120% of the reducer's rated output torque.

[0051] Safety control verification. Simulating deformation conditions on a 4.0m diameter tower: Test 1 (no compensation): artificially created flange deformation difference of 800με; laser ranging original value L = 2005mm (actual geometric position 1992mm); pressure original value P = 8.2MPa (actual contact pressure 9.8MPa). Test 2 (compensation enabled): K r =1+0.5×0.0008=1.0004; Lcorr=2005×1.0004≈2005.8mm (close to the actual value); Pcorr=8.2 / 1.0004≈8.196MPa (close to the actual value). Torque protection test: Threaded rod 6 was intentionally jammed, and the torque increased to 300 N·m > 286 N·m. The system triggered the corresponding motor to reverse for 0.5 seconds to release the jam.

[0052] This implementation method dynamically corrects measurement errors through dual-flange strain monitoring, eliminating systematic deviations caused by tower deformation due to its own weight; the torque protection mechanism effectively prevents mechanical overload damage; and the overall solution uses industrial-grade sensing equipment to reduce system complexity while ensuring accuracy.

[0053] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes: S8, real-time vibration monitoring: installing a first set of three-axis acceleration sensors 201 on the top flange of the lower wind turbine tower 102, and installing a second set of three-axis acceleration sensors 202 on the bottom flange of the upper wind turbine tower 101; after the upper wind turbine tower 101 is hoisted in place, collecting vibration spectrum data of the two sets of acceleration sensors in real time; S9, swing trajectory prediction: the control system executes based on the vibration spectrum data: identifying the 0.5-2Hz low-frequency swing main frequency component; calculating the real-time swing amplitude A and phase angle θ of the upper wind turbine tower 101; generating a swing trajectory prediction curve for the next 3 seconds; S10, dynamic centering coordinated control: in the S3 hierarchical regulation execution stage: a. when A≤10mm, maintain the original centering control strategy; b. when A>10mm, start the active vibration suppression centering mode: dynamically adjust the four arc centering blocks 15 according to the swing trajectory prediction curve The movement trajectory of the swing trajectory is determined; an accelerated clamping action is performed at the trough position of the swing trajectory; a decelerated holding action is performed at the peak position of the swing trajectory; c. The sampling frequency of the laser rangefinder 18 is increased to 100Hz, and the data of the pressure sensor 17 is synchronized with the vibration phase. S11, safety boundary protection: If A>30mm is detected for 5 seconds continuously, then: all motors 11 are immediately stopped; the arc centering block 15 is controlled to retreat to a safe distance; and the wind speed limit alarm is triggered.

[0054] Specifically: Deployment of the vibration monitoring system. Eight mounting points are evenly distributed along the bolt distribution circle of the top flange of the lower wind turbine tower 102. Drill and tap holes with M8 threads. A MEMS-type triaxial accelerometer (±5g range, 0-200Hz bandwidth) can be used. Secure it with a stainless steel clamp. Apply thermal grease (0.1-0.2mm thickness) to the bottom of the sensor. Install the same sensor set at the corresponding position on the bottom flange of the upper tower. Signal transmission utilizes the CAN bus (250kbps baud rate), with the cable shielded by a metal braid.

[0055] Swing trajectory prediction and response. The control system collects 16 vibration data channels (8 each for the upper and lower flanges) in real time at a sampling frequency of 200Hz. The main frequency is identified using a 1024-point FFT algorithm, and the phase angle θ is calculated using the inverse tangent function. The swing amplitude threshold is set: A ≤ 10mm maintains standard mode; A > 10mm activates vibration suppression mode. In vibration suppression mode: Valley action (θ = 180° ± 30°): Motor 11 in the corresponding position accelerates to 120% of the base speed (18 rpm); the buffer layer damping coefficient is adjusted to its maximum value. Peak action (θ = 0° ± 30°): All motors 11 decelerate to 50% of the base speed (7.5 rpm); the buffer layer pressure relief valve opens 5% of its stroke. A safety margin is set: A > 30mm for 5 seconds triggers a shutdown (preferred value). Parameter setting method: The 10mm threshold is set based on 0.25% of the tower diameter (10mm for a 4m tower); the 5-second duration is determined based on wind gust statistics.

[0056] Wind-induced vibration verification. Tested in a 7-8 m / s wind environment (tower diameter 4.2 m): Standard mode test (A = 8 mm): The system maintained the motor at 1115 rpm; the final alignment deviation was 2.3 mm. Vibration suppression mode test (A = 15 mm): During the trough phase, the first position was accelerated to 18 rpm; during the peak phase, the entire system was decelerated to 7.5 rpm; the alignment time was extended to 150 seconds (compared to 120 seconds under baseline conditions). Safety protection test: An artificial A = 35 mm was created for 6 seconds; the system triggered a shutdown and retracted the arc block.

[0057] In an operational example, at a wind speed of 6.5 m / s, the following measurements were made: swing amplitude A = 12 mm > 10 mm; main frequency f = 1.2 Hz; phase angle θ = 155° (trough region). Vibration suppression mode was activated: motor 11 in position 1 (θ corresponds to position 1) was accelerated to 18 rpm; the damping of the buffer layer 1 was set to maximum. After 20 seconds, the phase shifted to θ = 25° (peak region); all motors 11 were decelerated to 7.5 rpm; and the buffer layer pressure relief valve was opened 5%. A sudden gust (9 m / s wind speed) showed A > 30 mm for 6 seconds; the system initiated an emergency shutdown and retracted the arc block 50 mm.

[0058] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes: S12, collaborative environmental sensing: installing a meteorological monitoring unit 21 on the top of the annular tower 2 to collect on-site wind speed and direction data in real time; the control system integrates the meteorological data with the vibration spectrum data to construct a wind-vibration coupling prediction model; S13, adaptive buffer control: providing a hydraulic buffer layer 22 inside the arc-shaped centering block 15, the hydraulic buffer layer 22 being mechanically coupled to the pressure sensor; When executing S10 dynamic centering collaborative control: when continuous periodic swing is detected, the hydraulic buffer layer 22 is activated; the damping coefficient of the buffer layer is dynamically adjusted according to the swing amplitude; the pressure sensor 17 collects the actual contact pressure at the output end of the buffer layer; S14, prediction-buffer collaboration: in the active vibration suppression centering mode: a. Trough acceleration clamping stage: based on the prediction results of the wind-vibration coupling model, the damping coefficient of the corresponding azimuth buffer layer is increased 50ms in advance; the instantaneous stability of the clamping action is improved; b. Peak deceleration and holding stage: the damping coefficient of all buffer layers is reduced; the accumulated deformation energy is released; S15, safety collaborative upgrade: when the buffer layer pressure change rate exceeds the critical threshold: the reverse pressure release mechanism is triggered; the output torque of the corresponding azimuth motor 11 is synchronously reduced.

[0059] Specifically: Environmental sensing and buffer structures are integrated. A meteorological monitoring unit 21 is bolted to the top flange of the annular cylinder 2. An ultrasonic anemometer (range 0-60 m / s, accuracy ±0.3 m / s) with IP67 protection is available. A machined buffer cavity (200 × 120 × 80 mm) is located within the arc-shaped centering block 15. This cavity houses a hydraulic buffer layer 22, which can be a piston-type hydraulic damper (with an adjustable damping coefficient range of 0-20 MPa·s). The output of the buffer layer is connected to a pressure sensor, and a fluororubber seal (hardness 70 ± 5 Shore A) can be installed at the sensor interface. During assembly, the center of the meteorological monitoring unit 21 is 800-1000 mm (e.g., 900 mm) from the axis of the annular cylinder 2. The axis of the buffer cavity is located at the thickness center of the arc-shaped centering block 15, and the pressure sensor probe is embedded 3-5 mm into the output end face of the buffer layer.

[0060] Prediction-buffering coordinated control. Construction of wind-vibration coupling prediction model: Input parameters: wind speed v (m / s), wind direction angle α (°) - meteorological monitoring unit; vibration main frequency f (Hz), phase angle θ (°) - acceleration sensor; tower diameter D (m), centering block mass m b (kg) - preset parameter.

[0061] Core algorithm: Using the improved ARMA time series model: Wherein, k1: wind pressure coefficient (0.05-0.08, preferably 0.065); k2: structural damping coefficient (0.15-0.25, preferably 0.18); k3: wind direction mutation factor (0.3-0.5, preferably 0.4); β: centering block installation azimuth angle (°); Δt: prediction step size (0.25 seconds).

[0062] Execution Strategy: Trough Phase (θ∈[150°, 210°]): Increase the damping of the target buffer layer to 15-18 MPa·s (e.g., 17 MPa·s) 50 ms in advance; correspondingly, increase the motor torque to 110% of the rated value. Peak Phase (θ∈[330°, 30°]): Reduce the damping of all buffer layers to 5-8 MPa·s (e.g., 6 MPa·s); and open the pressure relief valve 5-8% of its stroke (preferably 6% for 0.4 seconds). Safety Threshold: Critical pressure rate of change of 5 MPa / s (determined by hydraulic bursting tests).

[0063] Parameter setting method: 50ms lead: Based on data acquisition delay (20ms) + control instruction execution delay (30ms). Damping adjustment range: Selected based on the rated operating curve of the hydraulic damper.

[0064] Verified under extreme operating conditions. In a wind tunnel simulation test (tower model scale 1:10): Gradual wind test (wind speed 6→12 m / s): Model prediction accuracy >92%; Damping automatically increases to 17 MPa·s during the trough phase. Gust impact test (instantaneous wind speed 15 m / s): Pressure change rate increases from 7 MPa / s to >5 MPa / s; System triggers reverse release (pressure relief valve opening 12%). Sealing test: Fluororubber seal shows no leakage when hydraulic oil temperature rises 40°C; Buffer layer withstands 150% of rated pressure.

[0065] In one operational example, a wind speed of 8 m / s is detected: 10 seconds after the prediction model outputs, the 1# position at θ = 185° enters a trough. 50 ms in advance, the 1# buffer layer damping is adjusted to 18 MPa·s; the 1# motor torque is increased to 110%. During the peak phase, the damping of all buffer layers is reduced to 6 MPa·s; the pressure relief valve is opened 6% for 0.4 seconds. A sudden gust (12 m / s): the pressure change rate is 6.2 MPa / s > 5 MPa / s; and reverse release is triggered (the pressure relief valve is opened 15%).

[0066] This implementation method achieves advance adjustment of buffer parameters through the fusion prediction of environmental data and vibration spectrum, effectively alleviating stress impacts under sudden wind conditions; pressure change rate monitoring and reverse release mechanism prevent energy accumulation damage; the overall structure adopts a sealed hydraulic design to adapt to the high humidity and high salt fog environment of wind farms.

[0067] Furthermore, in another embodiment, the wind turbine tower auxiliary installation method of the present invention further includes: S16, intelligent control of the buffer layer: real-time monitoring of the buffer medium pressure change rate of the hydraulic buffer layer 22; when executing S14 prediction-buffer coordination: trough acceleration clamping stage: synchronously collect the buffer medium pressure change rate δP and the vibration spectrum main frequency f; when δP / f> set proportional coefficient, automatically reduce the output torque of the azimuth motor 11 by 10%-20%; peak deceleration holding stage: control the buffer layer pressure relief valve to open 5%-10% of the stroke, and release the accumulated energy for 0.3-0.5 seconds; S17, multi-source failure protection: establish buffer layer-centering mechanism coordination safety rules: a. If a sudden increase of δP exceeding the safety threshold is detected for three consecutive swing cycles, then: trigger the buffer layer emergency pressure relief mode; synchronously control the corresponding arc centering block 15 to retreat 2-3mm; b. When the vibration main frequency f drops below 0.5Hz and δP When it continues to descend, the standard control process is restored; S18, dynamic evaluation of installation quality: after completing the centering lock: use 18 groups of laser rangefinders to continuously collect the circumferential gap data of the docking flanges; the control system calculates the gap uniformity index η: η = (minimum gap value / maximum gap value) × 100%; if η≥95%, the installation is judged to be qualified; if η<95%, the fine-tuning program is started: the buffer layer pulsation mode is activated, and 0.5Hz sinusoidal excitation is performed. At the same time, the data of the laser rangefinder 18 is fed back to the drive motor 11 in real time to perform 0.1mm level precision position compensation.

[0068] Specifically: Intelligent control of the buffer layer. The hydraulic buffer layer 22 is equipped with an internal pressure transmitter, which can be a piezoresistive sensor (range 0-25 MPa, response time ≤ 5 ms). The buffer medium can be HVLP 46 anti-wear hydraulic oil, and the oil circuit is integrated with an electronically controlled pressure relief valve (opening resolution 0.5%). The proportional coefficient K is set to 0.8 MPa·s / Hz (example value). Operating Process: Valley Acceleration Phase: δP (sampling frequency 50 Hz) and main frequency f are simultaneously collected. If δP / f > 0.8: The torque of motor 11 in that position is reduced by 15% (baseline value ±15%). Peak Deceleration Phase: The pressure relief valve is opened to 7% of its stroke (preferred value) for 0.4 seconds. The pressure relief volume is calibrated using a positive displacement flow meter (range 0-5 L / min).

[0069] Failure protection rules. Set a safety threshold: δP sudden increase ≥ 3MPa / cycle (preferred value). Detection logic for three consecutive swing cycles: Cycle determination: The period T corresponding to the main vibration frequency f is 1 / f. If the δP increment ≥ 3MPa within three consecutive T periods, emergency pressure relief is triggered (valve opening 100% for 1 second), and the corresponding arc centering block 15 retracts 2.5mm (stepper motor control). Recovery condition: f < 0.5Hz and δP continuously decreases for 10 seconds. Parameter setting method: 3MPa threshold: determined through hydraulic system fatigue testing (corresponding to a lifespan of 100,000 cycles). 2.5mm retraction: calculated based on 0.06% of the tower diameter (2.4mm for a 4m tower).

[0070] Installation quality assessment: A laser distance meter 18 scans 8 points (45° apart) circumferentially at the flange mating surface height. Gap value acquisition method: After alignment, maintain the clamping force for 5 minutes; the laser distance meter 18 scans the circumference at a linear speed of 0.5m / s; calculate η = (min(g n ) / max(g n )) × 100%. Fine-tuning program parameters: sinusoidal excitation frequency 0.5 Hz (amplitude 0.12 mm); position compensation accuracy 0.1 mm (servo motor closed-loop control).

[0071] In an operational process example, during the trough phase, monitoring conditions were: δP = 1.2 MPa / s, f = 1.5 Hz, and δP / f = 0.8; torque regulation was not triggered. Sudden abnormality: Cycle 1: δP suddenly increased by 3.2 MPa; Cycle 2: δP suddenly increased by 3.5 MPa; Cycle 3: δP suddenly increased by 3.8 MPa. Fail-safe protection was activated: the emergency pressure relief valve was fully opened for 1 second; arc centering block 15 #3 was retracted 2.5 mm. Quality assessment: Initial η = 93% < 95%; fine-tuning with 0.5 Hz sinusoidal excitation was initiated; final η = 96%.

[0072] This implementation optimizes the clamping process through δP / f dynamic proportional control to avoid seal failure caused by pressure overshoot; a three-cycle cumulative monitoring mechanism improves fault identification reliability; and circular scanning laser detection combined with active fine-tuning technology significantly improves flange fit accuracy.

[0073] Example 1 Taking the installation of an onshore wind farm as an example, the tower specifications are: diameter 4.3m, material Q355B, single-section height 25m; environmental conditions: average wind speed 6.8m / s, gust peak 9.2m / s; initial state: lifting eccentricity 38mm, lower flange average strain 520με, upper flange 780με.

[0074] Implementation process: 1. Using deformation collaborative compensation, the system calculates the deformation compensation factor based on the strain sensor data: Kr=1+0.5×(780−520)×10 −6 =1.00013; the original value of laser ranging was 2035mm, which was corrected to 2035.26mm; the original value of the pressure sensor was 8.5MPa, which was corrected to 8.49MPa.

[0075] 2. Dynamic centering coordinated control is used to detect when the swing amplitude A = 14 mm > 10 mm (main frequency 1.1 Hz), and active vibration suppression mode is activated. During the trough phase (phase angle θ = 192°), the 3# azimuth motor accelerates to 18 rpm (120% of the reference speed), the buffer layer damping coefficient increases to 17 MPa·s, and the buffer medium pressure change rate δP = 1.3 MPa / s is simultaneously monitored. δP / f = 1.18 > 0.8 (set threshold), and the output torque of the 3# motor is automatically reduced by 15%. During the peak phase (θ = 18°), all motors slow down to 7.5 rpm (50% of the reference speed), and the pressure relief valve opens 7% of its stroke for 0.4 seconds.

[0076] 3. Perform final state judgment and quality verification, and simultaneously meet the corrected indicators: maximum radial deviation ΔDcorr = 1.5mm≤2mm, contact pressure Pcorr = 10.2MPa≥Pth (10MPa); flange gap scanning data: 1.95, 2.01, 1.98, 2.03, 1.97, 2.00, 1.99, 2.02 mm, uniformity index η = (1.95 / 2.03) × 100% = 96.1% ≥ 95%, and it is judged to be qualified.

[0077] The entire installation process in this example took 135 seconds, with a final concentricity deviation of 1.5 mm. The system effectively overcame gusty wind interference without triggering an emergency shutdown, and flange gap uniformity met the NB / T 31001 standard.

[0078] The resulting data is as follows: Table 1 Example 2 Taking the strong wind conditions of an offshore wind farm as an example, the tower specifications are: diameter 5.0m, material Q420C, installation height 30m; environmental conditions: average wind speed 12m / s, gust 15m / s, surge vibration superposition; initial state: lifting eccentricity 45mm, swing amplitude A=28mm.

[0079] Implementation process: 1. Perform safety boundary protection and continuously monitor the swing amplitude: in the first 3 seconds, A=28mm<30mm, so maintain the vibration suppression mode; in the 4th second, a sudden gust of wind causes A=32mm for 5 seconds, triggering the safety rules: immediately cut off the power supply to all motors; control the arc centering block to retract to a safe distance of 50mm; activate the wind speed limit sound and light alarm.

[0080] 2. Perform prediction-buffering coordination. The wind-vibration coupling model predicts gusts 50ms in advance: the damping coefficient of the 3# azimuth buffer layer increases to 20MPa·s (limit value); the pressure change rate δP at the peak stage is 6.5MPa / s, which is greater than the critical threshold of 5MPa / s: the reverse pressure release mechanism is triggered, and the pressure relief valve opens 15% of its stroke.

[0081] 3. Fine-tune the installation quality. After the initial alignment, scan the flange gap and find that η is 92% < 95%. Start the fine-tuning procedure. Activate the buffer layer with 0.5Hz sinusoidal excitation (amplitude 0.12mm). Use the laser ranging data as real-time feedback to drive the motor and perform 0.1mm level compensation. Re-measure the final state and find η = 96.5%.

[0082] The resulting data is as follows: Table 2 Comparative Example 1 The difference from Example 1 is that the hierarchical control is turned off and only the basic method is used, specifically as follows: tower specifications: diameter 4.0m, material Q355B; environmental conditions: wind speed 7m / s (no significant swing interference); initial state: lifting eccentricity 20mm; control strategy: only the basic method is enabled, and hierarchical control is not introduced.

[0083] Step 1: Initial alignment is initiated. The upper tower is hoisted into position, and the laser rangefinder detects the initial distances in all four directions: Direction 1: 2005mm; Direction 2: 1980mm; Direction 3: 2020mm; Direction 4: 1995mm; maximum deviation ΔD = 40mm (Direction 3 is the farthest point); initial contact pressure of the pressure sensor: 0 MPa (no contact).

[0084] Step 2: The motors are started synchronously (base speed 15 rpm). The four arc-shaped centering blocks move inward synchronously at a speed of 2.25 mm / s. After 20 seconds, the status is as follows: Table 3 Among them, ΔD=40mm (2015-1975) is still >5m, and the maximum pressure of 8.5MPa (direction 2) has reached 0.85Pth (Pth=10MPa).

[0085] Step 3: Excessive pressure triggers an emergency shutdown. 35 seconds later, the key event is: the contact pressure at position 2 rises to 12.1 MPa (1.21 Pth), the distance at position 3 remains at 2008 mm, and ΔD = 33 mm (2008-1975). The control system logic (no hierarchical strategy) monitors only the pressure threshold. When the pressure at position 2 is detected to be ≥ 1.2 Pth, an emergency shutdown is triggered: all motors are powered off, and the sound and light alarms are activated.

[0086] Step 4: Result verification, final state inspection: concentricity deviation, 15mm inward at position 2; maximum flange clearance 4.2mm (exceeding the standard by 110%); tower surface damage, local depression 0.4mm at position 2.

[0087] The comparison of the three repeated test results is as follows: Table 4 Among them, ΔD = 33mm> 5mm, it is necessary to continue to correct the deviation. The pressure in position 2 is 12.1MPa ≥ 1.2Pth, which leads to a forced shutdown. The reason is that the eccentricity causes a sharp increase in local pressure, but the system has no local speed reduction adjustment capability. It can be seen that after closing the graded control, the system exposes two major problems: The contradiction between local overpressure and global shutdown: when the eccentricity causes the pressure in position 2 to surge, there is still a 33mm deviation in position 3; the system is forced to shut down due to a single pressure threshold, interrupting the centering process without dynamic adjustment capability, failing to identify position 2 as a high-pressure risk point, and failing to perform local speed reduction; the force control protection mode is not activated, and global speed reduction occurs when the pressure reaches 0.8Pth.

[0088] Comparative Example 2 The difference from Example 1 is that deformation collaborative compensation is turned off. The tested tower specifications are: diameter 4.0m, material Q355B (yield strength 355MPa); deformation conditions: average strain of the lower tower top flange: 520με, average strain of the upper tower bottom flange: 820με, strain difference Δε = 300με (typical deadweight deformation working condition); control strategy: disable the deformation compensation function, and directly use the sensor raw data.

[0089] The specific steps are as follows: Step 1: Initial alignment starts, and the laser rangefinder detects the initial distances in all four directions (uncorrected): Table 5 The average error was measured to be +7.0 mm (the laser value was artificially high), and the initial contact pressure of the pressure sensor was 0 MPa.

[0090] Step 2: Motor propulsion process, motor base speed 15rpm (movement speed 2.25mm / s), four-way synchronous propulsion, key data after 30 seconds are as follows: Table 6 Step 3: Shutdown due to erroneous data. The control system reads the pressure at position 2 as 9.8 MPa (original value). The decision logic is: 9.8 MPa ≥ Pth (10 MPa). If not (the threshold is not reached), advance continues. A shutdown is triggered 45 seconds later: The original pressure at position 2 is 10.1 MPa (the system determines it is ≥10 MPa), the actual contact pressure is 12.0 MPa (20% above the limit), and the laser ranging shows a maximum deviation of ΔD = 9 mm (2007-1998).

[0091] Step 4: Final state inspection and problem analysis. Concentricity inspection (total station verification) is as follows: Table 7 Among them, the maximum deviation was 6.8mm, exceeding the standard by 336%.

[0092] Flange clearance and damage are as follows: Table 8 The results of three repeated tests are as follows: Table 9 As can be seen, after disabling the deformation compensation function, laser distance measurements were generally inflated by 7mm (deformation caused measurement point displacement), and pressure sensor values were generally understated by 1.4MPa (flange warping weakened contact), resulting in uncontrollable measurement errors. The system shut down at an initial pressure value of 10.1MPa (actually reaching 12.0MPa), and the laser displayed ΔD = 9mm (actual ΔD = 15mm), indicating a failure in control decisions. Concentricity deviation was 6.8mm, and the flange gap η was 22.9%. The tower was permanently dented and damaged, making installation quality unreliable.

[0093] Comparative Example 3 Unlike Example 2, the tower tested had a diameter of 4.0 m and was made of Q355B. Environmental conditions included a steady wind speed of 8 m / s (swing amplitude A = 12 mm, main frequency f = 1.2 Hz). Initial state: hoisting eccentricity of 25 mm (maximum laser ranging deviation azimuth: 3). Control strategy: Vibration monitoring and suppression control were disabled, with only the foundation alignment function used.

[0094] Specifically include: Step 1: Initial hoisting and swing monitoring. Vibration data after the upper tower is in place (vibration monitoring and suppression control are not enabled, only recorded): swing amplitude A 12mm; main frequency f 1.2Hz; initial eccentricity is azimuth deviation 25mm. The initial laser ranging values are as follows: Table 10 Step 2: Motor propulsion and collision event. The motor base speed is 15 rpm (movement speed 2.25 mm / s). The collision event timing is as follows: Table 11 Step 3: Final installation results. The system shuts down at t=60s (pressure reaches 10MPa). The final state detection is as follows: Table 12 Flange clearance (measured with feeler gauge) Among them, the minimum gap is 1.6mm, the maximum gap is 3.2mm, and η=(1.6 / 3.2)×100%=50%.

[0095] Table 13 Tower surface damage Three-repeat test statistics Table 14 As can be seen, after disabling vibration suppression, the peak / trough oscillations and mechanical propulsion were uncoordinated, resulting in three collisions (repeated damage in position 2). The impact kinetic energy reached a maximum of 3.1 kJ (exceeding the elastic limit of Q355B), causing loss of dynamic control. The flange clearance η = 50%, and the concentricity deviation was 8.2 mm, exceeding the standard by 310%, indicating poor installation quality. The tower was permanently dented (depth 0.5 mm) and required factory repair. The impacts may have caused microcracks in the internal structure, increasing safety risks.

[0096] Comparative Example 4 The difference from Example 2 is that buffer layer control is disabled, leaving only the foundation predictive buffer vibration suppression function enabled. The test tower has a diameter of 4.2 m and is made of Q420C. Operating conditions: Continuous oscillation (amplitude A = 15 mm, main frequency f = 1.2 Hz). Control strategy: Buffer layer control disabled, leaving only the foundation vibration suppression function enabled.

[0097] The detailed steps are as follows: Step 1: Initial alignment and startup. Enable basic vibration suppression control: During the trough phase (θ = 190°), motor 3# accelerates to 18 rpm. During the peak phase (θ = 20°), all motors decelerate to 7.5 rpm. Buffer layer state: Initial damping coefficient 10 MPa·s, pressure relief valve opening 0%, buffer medium pressure 5.2 MPa.

[0098] Step 2: Continuous swing pressure accumulation. Trough phase (t = 22s, θ = 185°): 3# azimuth buffer pressure change rate δP = 3.8 MPa / s; vibration frequency f = 1.2 Hz, δP / f = 3.17 (far exceeding the set threshold of 0.8); torque regulation is not triggered, and the motor maintains 18 rpm. Peak pressure is recorded as follows: Table 15 Step 3: Seal failure and system breakdown. At t=74s (the third swing cycle), the buffer pressure at position 3 suddenly surged to 28.4MPa (safety threshold: 25MPa). The fluororubber seal (hardness 70 Shore A) reached a critical radial stress of 32MPa (measured 28.4MPa, reaching 89% of its limit). The fatigue accumulation over three cycles showed a delta P > 4MPa / s, and microcracks in the seal propagated. The following failure symptoms occurred: hydraulic oil jet leakage (leak rate 120mL / min), the pressure sensor at position 3 returned to zero, and the system reported an error and shut down. The centering block became stuck in the radial position (the retraction function failed).

[0099] Step 4: Troubleshooting and Losses. The system was immediately shut down, and all motors were powered off. Hydraulic oil was recovered over a 30-minute period, leaking 1.8L (contaminating the tower surface). The seals were replaced over a 45-minute period, and the buffer chamber was disassembled. Unblocking the threaded rods took another 45 minutes, requiring specialized tools to reverse the rotation. The total unplanned downtime lasted two hours, closing the wind farm installation window.

[0100] The results of three repeated tests are as follows: Table 16 As can be seen, after disabling the intelligent control of the buffer layer, δP / f = 3.17, exceeding the threshold of 0.8, without triggering torque regulation, and the pressure soared to 89% of the sealing limit. With δP > 4 MPa / s for three consecutive cycles, the seal ring fatigued and cracked, leading to uncontrolled pressure accumulation. Hydraulic oil leakage caused sensor failure and mechanism jamming, with a single repair cost exceeding $1,500 and downtime of ≥2 hours. Oil contaminated the tower surface, increasing anti-corrosion treatment costs, and sudden jamming could cause the tower to overturn (in extreme operating conditions).

[0101] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiment. They can be applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized.

Claims

1. A wind turbine tower auxiliary installation method, characterized in that: The following steps are involved: Step 1: Fix an annular cylinder on the outer surface of the lower wind turbine tower. The inner wall of the annular cylinder has four rectangular grooves evenly distributed along the circumference. A mounting plate is slidably connected to each rectangular groove. The inner side of the mounting plate is fixedly connected to an arc-shaped centering block that matches the outer surface of the wind turbine tower. Step 2: Hoist the upper wind turbine tower to the top of the lower wind turbine tower so that the two are in initial contact. Start the motor fixed to the bottom of the annular tube. The motor drives the rotating shaft to rotate through the coupling. The outer surface of the rotating shaft is fixedly connected to a gear. The gear meshes with the gear ring rotatably mounted on the inner wall of the annular tube. The rotation of the gear ring drives all gears to rotate synchronously. Step 3: The outer surface of the rotating shaft is fixedly connected to a first bevel gear, the first bevel gear is meshed with the corresponding second bevel gear, the second bevel gear is fixedly connected to a threaded rod, the threads of the threaded rod are slidably connected to a threaded plate, the threaded plate is fixedly connected to a movable plate, the bottom surface of the movable plate is fixedly connected to a mounting plate, and the mounting plate drives the arc-shaped centering block to slide along the rectangular groove; Step 4: When the motor rotates forward, the four threaded rods rotate synchronously, driving the corresponding arc-shaped centering blocks to move inward, squeezing the upper wind turbine tower to be concentrically aligned with the lower wind turbine tower, completing the docking installation; when the motor rotates reversely, the arc-shaped centering blocks move outward synchronously to release the constraints on the upper wind turbine tower.

2. The wind turbine tower auxiliary installation method according to claim 1, characterized in that: A pressure sensor is fixedly installed on the inner surface of the arc-shaped centering block, and the pressure sensor is connected to the control system signal of the motor; When the motor rotates forward to drive the arc-shaped centering block to move inward, the pressure sensor detects the contact pressure between the arc-shaped centering block and the wind turbine tower above in real time and transmits the pressure data to the motor control system; When the pressure value detected by the pressure sensor reaches the preset threshold, the motor control system automatically stops the motor and completes the precise alignment of the wind turbine tower above; If the pressure value does not reach the preset threshold, the control system continues to drive the motor to operate until the pressure value reaches the preset pressure threshold and then executes the shutdown action.

3. The wind turbine tower auxiliary installation method according to claim 1, characterized in that: The following real-time position calibration steps are also included: Four laser rangefinders are evenly fixedly installed on the outer circumference of the annular cylinder, and the laser emission direction of each laser rangefinder is perpendicular to the central axis of the annular cylinder; As the motor rotates forward to drive the arc-shaped centering block inward, four laser rangefinders continuously emit laser beams to the outer wall of the wind turbine tower above and collect reflected signals in real time to generate distance measurement data. Each laser rangefinder synchronously transmits distance measurement data to the control system; The control system performs the following closed-loop regulation operations: a. Calculate the maximum difference between four distance measurement data in real time; b. When the maximum difference is ≤5mm, it is determined that the upper wind turbine tower has reached the concentric alignment state; c. When the maximum difference is greater than 5mm, identify the direction corresponding to the laser rangefinder with the largest distance measurement value; d. Reduce the drive motor speed of the arc centering block corresponding to the position, while maintaining the motor speed in the other positions; e. Continuously monitor changes in distance measurement data until the maximum difference is ≤5mm and then restore the synchronous speed of all motors.

4. The wind turbine tower auxiliary installation method according to claim 1, characterized in that: The following coordinated control and calibration steps are also included: S1. Dual-mode data acquisition: A pressure sensor group is fixedly installed on the inner surface of the arc-shaped centering block, and four laser rangefinders are evenly distributed circumferentially around the outer side of the annular tube. The pressure sensor group collects real-time contact pressure data between each arc-shaped centering block and the upper wind turbine tower, while the laser rangefinder measures the radial distance data from the outer wall of the upper wind turbine tower to the center of the annular tube in real time. S2. Dynamic collaborative control: When the motor rotates forward to drive the arc centering block to move inward, the control system will synchronously execute: a. Calculate the maximum difference ΔD of the four radial distances based on the laser ranging data; b. Real-time comparison of pressure sensor data with the preset pressure threshold P th ; S3. Hierarchical control execution: If ΔD>5mm, perform position closed-loop adjustment: identify the direction corresponding to the laser rangefinder with the largest distance value; reduce the speed of the drive motor at that direction to 30%-50% of the base speed; Maintain the reference speed of the motors in other directions; If the pressure sensor data reaches 0.8P th If ΔD≤5mm, the force control protection is executed: the motor speed is reduced to 10% of the reference speed; the low speed operation is maintained until the pressure reaches P th ; S4, Final state judgment: When ΔD≤2mm and pressure data≥P th When the power is turned off, the motor power supply is cut off to complete the installation; If the pressure reaches 1.2P th If ΔD>5mm, an emergency stop and alarm will be triggered.

5. The wind turbine tower auxiliary installation method according to claim 4, characterized in that: The following deformation collaborative compensation steps are also included: S5. Real-time deformation monitoring: A first set of strain sensors is evenly distributed around the circumference of the top flange of the lower wind turbine tower, and a second set of strain sensors is distributed at corresponding positions on the bottom flange of the upper wind turbine tower. When dynamic coordinated control is executed, real-time strain data from the first and second sets of strain sensors are synchronously collected. S6. Dynamic correction of measurement reference: Calculate the deformation compensation factor based on real-time strain data; use the deformation compensation factor to make a positive correction to the original distance value measured by the laser rangefinder; and simultaneously use the deformation compensation factor to make a negative correction to the original pressure value measured by the pressure sensor. S7, Collaborative control optimization: During the hierarchical control process: the corrected distance value is used to calculate the maximum radial distance difference; the corrected pressure value is compared with the preset pressure threshold; The output torque of the drive motor is monitored in real time. When the torque value is detected to exceed the preset safety threshold, the corresponding motor is controlled to perform reverse rotation to release the mechanical jam.

6. The wind turbine tower auxiliary installation method according to claim 5, characterized in that: Also includes: S8. Real-time vibration monitoring: The first set of triaxial accelerometers is installed on the top flange of the lower wind turbine tower, and the second set of triaxial accelerometers is installed on the bottom flange of the upper wind turbine tower. After the upper wind turbine tower is hoisted into place, the vibration spectrum data of the two sets of accelerometers are collected in real time. S9. Swing trajectory prediction: Based on the vibration spectrum data, the control system performs the following operations: identifying the dominant low-frequency swing component (0.5-2 Hz); calculating the real-time swing amplitude A and phase angle θ of the wind turbine tower above; and generating a predicted swing trajectory curve for the next 3 seconds. S10, dynamic centering collaborative control: During the S3 hierarchical control execution phase: a. When A≤10mm, maintain the original centering control strategy; b. When A>10mm, the active vibration suppression alignment mode is activated: According to the swing trajectory prediction curve, the moving trajectory of the four arc-shaped centering blocks is dynamically adjusted; Perform accelerated clamping action at the trough position of the swing trajectory; Execute deceleration and hold action at the peak position of the swing trajectory; c. The laser rangefinder sampling frequency is increased to 100Hz, and the pressure sensor data is synchronized with the vibration phase for calibration; S11, Security Boundary Protection: If A>30mm is detected for 5 seconds continuously, then: all motors will be stopped immediately; the arc centering block will be controlled to retreat to a safe distance; and the wind speed limit alarm will be triggered.

7. The wind turbine tower auxiliary installation method according to claim 6, characterized in that: Also includes: S12. Collaborative Environmental Perception: A meteorological monitoring unit is installed on the top of the annular cylinder to collect real-time wind speed and direction data on site; The control system integrates meteorological data and vibration spectrum data to build a wind-vibration coupling prediction model; S13, adaptive buffer control: A hydraulic buffer layer is provided inside the arc-shaped centering block, and the hydraulic buffer layer is mechanically coupled to the pressure sensor; When executing S10 dynamic centering coordinated control: When continuous periodic oscillation is detected, the hydraulic buffer layer is activated; Dynamically adjust the damping coefficient of the buffer layer according to the swing amplitude; The pressure sensor collects the actual contact pressure at the output end of the buffer layer; S14. Prediction-buffering collaboration: In active vibration suppression alignment mode: a. Trough acceleration clamping stage: According to the prediction results of the wind-vibration coupling model, the damping coefficient of the corresponding azimuth buffer layer is increased 50ms in advance; Improve the instantaneous stability of the clamping action; b. Peak deceleration and hold phase: Reduce the damping coefficient of all buffer layers; Release of accumulated deformation energy; S15. Security Collaborative Upgrade: When the pressure change rate of the buffer layer exceeds the critical threshold: the reverse pressure release mechanism is triggered; and the output torque of the corresponding azimuth motor is reduced synchronously.

8. The wind turbine tower auxiliary installation method according to claim 7, characterized in that: Also includes: S16, intelligent control of buffer layer: Real-time monitoring of the pressure change rate of the buffer medium of the hydraulic buffer layer; When performing S14 prediction-buffer coordination: Trough acceleration clamping stage: Synchronously collect the buffer medium pressure change rate δP and the vibration spectrum main frequency f; When δP / f > the set proportional coefficient, the motor output torque in that direction will be automatically reduced by 10%-20%; Peak deceleration and holding stage: Control the buffer layer pressure relief valve to open 5%-10% of the stroke and continue for 0.3-0.5 seconds to release the accumulated energy; S17, Multi-source failure protection: Establishing buffer layer-centering mechanism collaborative safety rules: a. If a sudden increase in δP exceeding the safety threshold is detected for three consecutive swing cycles, then: Trigger the emergency pressure relief mode of the buffer layer; Synchronously control the corresponding arc centering block to retract 2-3mm; b. When the vibration frequency f drops below 0.5Hz and δP continues to decrease, the standard control process is restored; S18. Dynamic evaluation of installation quality: After the alignment is completed, the laser rangefinder group is used to continuously collect the circumferential gap data of the mating flanges; the control system calculates the gap uniformity index η: η = (minimum gap value / maximum gap value) × 100%; If η≥95%, the installation is considered qualified; If η<95%, start the fine-tuning procedure: The buffer layer pulsation mode is activated and 0.5Hz sinusoidal excitation is performed. At the same time, the laser rangefinder data is fed back to the drive motor in real time to perform 0.1mm-level precision position compensation.

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