Horizontal rotation vibration suppression method of wind turbine blade hoisting system

Abstract

The invention relates to a horizontal rotation vibration suppression method for a wind turbine blade hoisting system. The method comprises the following steps: acquiring basic parameters of a blade hoisting system; the inherent frequency of horizontal rotation of the main structure is obtained; at least two tuned mass dampers are arranged on the blade hoisting system to form the blade hoisting system with multiple tuned mass dampers; calculating a dynamic matrix equation of the blade hoisting system provided with the multi-tuned mass damper; calculating a response equation of horizontal rotation of the main structure; and calculating parameters of each tuned mass damper according to the response equation, and optimizing the parameters to obtain the vibration suppression blade hoisting system with the tuned mass damper with the optimal parameters. According to the method, the parameters of the mass damper are optimized by considering the installation position and the parameters of the mass damper and the response equation of horizontal rotation of the main structure, the optimal rigidity coefficient and the optimal damping coefficient are obtained, and therefore the optimized multi-tuned mass damper system is obtained, and the vibration suppression effect is better.

Description

Technical Field

[0001] This invention relates to the field of wind power generation, and more specifically, to a method for suppressing horizontal rotational vibration in a wind turbine blade hoisting system. Background Technology

[0002] During the installation of wind turbine blades, horizontal rotational vibrations are easily generated due to factors such as wind load and gravity. These vibrations not only affect the safety and accuracy of the installation but can also lead to fatigue damage to the blades and even more serious structural failure. Therefore, suppressing the horizontal rotational vibration of wind turbine blades during installation is a crucial step in ensuring the safe operation of wind power generation systems.

[0003] In existing technology, a tuned mass damper (TMD) installed inside the blade is proposed, comprising a base, end plate, sliding pair, mass block, spring, and magnet. When the wind turbine blade vibrates, the TMD undergoes passive resonance. The mass block drives the sliding block to move back and forth on the guide rod. The top plate of the base cuts the magnetic field lines of the magnet, generating eddy currents, which convert the vibration energy of the blade into heat energy and dissipate it, thereby reducing the amplitude of the blade vibration. This method suppresses the vibration of the wind turbine blade, and since the TMD is installed inside the blade, removing the TMD is difficult and costly due to its internal installation. Furthermore, the vibration suppression of the horizontal rotation during wind turbine blade hoisting involves suppressing the vibration in the horizontal rotation direction of the entire system. The Multiply Tuned Mass Dampers System (MTMDs) is installed on a clamp. However, this technology only considers the horizontal lateral vibration of the hoisting system during wind turbine blade hoisting. During single-blade hoisting, the hoisting system vibrates with multiple degrees of freedom. Existing damper designs do not effectively suppress other vibrations of the entire hoisting system, which limits their effectiveness in practical applications. Therefore, vibrations in other directions of the hoisting system, such as horizontal rotation, also need to be considered. Summary of the Invention

[0004] Therefore, it is necessary to provide a method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system that has a better vibration suppression effect, in order to address the above-mentioned technical problems.

[0005] One method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system includes a blade, a clamp, two wind-catching ropes, and a hoisting rope. The clamp holds the blade together to form the main structure, the hoisting rope is connected to the clamp, and the blade is also connected to the wind-catching rope. The method is characterized by the following steps: S1: Obtain the basic parameters of the blade hoisting system; S2: The natural frequency of the horizontal rotation of the main structure is obtained based on the basic parameters of the blade hoisting system; S3: At least two tuned mass dampers are installed on the blade lifting system to form a blade lifting system with multiple tuned mass dampers; S4: Calculate the dynamic matrix equation of the blade hoisting system equipped with multi-tuned mass dampers based on the blade hoisting system equipped with multi-tuned mass dampers; S5: Calculate the response equation of the main structure for horizontal rotation of the blade hoisting system equipped with multi-tuned mass dampers based on the dynamic matrix equation and the natural frequency of the main structure's horizontal rotation. S6: Calculate the parameters of each tuned mass damper in the blade hoisting system with multiple tuned mass dampers according to the response equation, and optimize the parameters of each tuned mass damper to obtain the vibration-damping blade hoisting system with tuned mass dampers of optimal parameters.

[0006] Furthermore, in step S1, the basic parameters of the blade hoisting system include: the moment of inertia of the main structure about the horizontal plane of the blade's center of mass is... The main structure mass is The stiffness of the two guy ropes is , The axial distance between the two wind ropes and the center of mass of the blade is , .

[0007] Further, in step S2, the natural frequency of the main structure's horizontal rotation is obtained based on the basic parameters of the blade hoisting system as follows: the blade hoisting model is simplified into a two-dimensional horizontal plane rotation model; according to the Lagrange equation of motion, the natural frequency of the main structure's horizontal rotation is calculated as follows:

[0008]

[0009] In the formula: , The rotation angle and rotational acceleration of the main structure.

[0010] Furthermore, in step S3, the dampers are installed in a manner that allows them to be evenly distributed on the left and right side frames of the main structure's fixture.

[0011] Furthermore, in step S3, the parameters of the damper are: The damper frequency is calculated as follows:

[0012] In the formula: It is the average frequency of MTMD; Frequency range; Damper mass Damping coefficient and stiffness coefficient Calculated using the following formula:

[0013] In the formula: This is the ratio of the sum of the masses of all dampers to the mass of the main structure. Based on engineering experience in the construction field, the value range is 0.5% to 5%; The average damping ratio of the multi-tuned mass damper system is, i.e. .

[0014] Furthermore, based on the natural frequency of the main structure's horizontal rotation, the dynamic matrix equations for the blade hoisting system equipped with multi-tuned mass dampers are calculated as follows: The dynamic equations are constructed based on the blade hoisting system equipped with multi-tuned mass dampers; the dynamic equations are then converted into dynamic matrix equations.

[0015] Furthermore, the dynamic equations are expressed as:

[0016] In the formula: , , and, , These are the rotation angle, rotational speed, and rotational acceleration of the main structure, and the translational displacement, translational speed, and translational acceleration of each damper; Main structural rotational stiffness , , The mass, damping coefficient, and stiffness coefficient of each damper are given. This refers to the aerodynamic load acting on the main structure.

[0017] Furthermore, the transformation of the dynamic equations into dynamic matrix equations is specifically as follows: Will , exist After Taylor expansion and elimination of the least high-order terms, the dynamic matrix equation is obtained:

[0018] In the formula: For the response vector; , , These are the mass, damping, and stiffness matrices, respectively; T is the excitation distribution vector. It is the activation vector;

[0019]

[0020]

[0021]

[0022] .

[0023] Furthermore, based on the dynamic matrix equations and the natural frequency of the main structure's horizontal rotation, the response equation for the blade hoisting system equipped with multi-tuned mass dampers during horizontal rotation is calculated as follows: Will , Substituting into the dynamic matrix equation, we get:

[0024] In the formula: , The response of the main structure to horizontal rotation; Calculate the horizontal rotation response of the main structure according to Cramer's law. equation:

[0025] In the formula: Defined as rotational impedance, ; To convert the time-domain response expression into the frequency-domain response expression, the horizontal rotation response... For about function Furthermore, in step S4, in order to suppress the horizontal rotational vibration of the main structure and obtain the minimum vibration displacement of the main structure... The optimal parameters of each TMD in the MTMD system are calculated according to the following formula; .

[0026] This invention optimizes the damper parameters by considering the installation position and parameters of the damper and the response equation of the main structure's horizontal rotation, thereby obtaining the optimal stiffness coefficient and the optimal damping coefficient, resulting in an optimized multi-tuned mass damper system with better vibration suppression effect. Attached Figure Description

[0027] Figure 1 This is a flowchart of a method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system in one embodiment; Figure 2 This is a schematic diagram of a blade hoisting model in one embodiment; Figure 3 A simplified model plan view is provided for one embodiment; Figure 4 This is a schematic diagram of the installation location of the MTMD system in one embodiment; Figure 5 This is a schematic diagram illustrating the integration of a simplified model with the MTMD system in one embodiment; In the diagram: 1: Blade; 2: Clamp; 3: Guy rope; 4: Suspension rope; 5: Tuned mass damper; C: Center of mass Detailed Implementation To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0028] Example 1: This embodiment provides a method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system. The blade hoisting system includes a blade 1, a clamp 2, two wind-catching ropes 3, and a hoisting rope 4. The clamp 2 clamps and fixes the blade 1 together to form the main structure. The hoisting rope 4 is connected to the clamp 2. The blade 1 is also connected to the wind-catching ropes 3. The method for suppressing horizontal rotational vibration of the blade hoisting system includes the following steps: S1: Obtain the basic parameters of the blade hoisting system; S2: The natural frequency of the horizontal rotation of the main structure is obtained based on the basic parameters of the blade hoisting system; S3: At least two tuned mass dampers 5 are installed on the blade hoisting system to form a blade hoisting system with multiple tuned mass dampers; S4: Calculate the dynamic matrix equation of the blade hoisting system equipped with multi-tuned mass dampers based on the blade hoisting system equipped with multi-tuned mass dampers; S5: Calculate the response equation of the main structure for horizontal rotation of the blade hoisting system equipped with multi-tuned mass dampers based on the dynamic matrix equation and the natural frequency of the main structure's horizontal rotation. S6: Calculate the parameters of each tuned mass damper in the blade hoisting system with multiple tuned mass dampers according to the response equation, and optimize the parameters of each tuned mass damper to obtain the vibration-damping blade hoisting system with tuned mass dampers of optimal parameters.

[0029] This embodiment optimizes the damper parameters by considering the installation position and parameters of the damper and the response equation of the main structure's horizontal rotation, thereby obtaining the optimal stiffness coefficient and the optimal damping coefficient, resulting in an optimized multi-tuned mass damper system with better vibration suppression effect.

[0030] Example 2: This embodiment further discloses information based on Embodiment 1: Furthermore, in step S1, the basic parameters of the blade hoisting system include: the moment of inertia of the main structure about the horizontal plane of the blade's center of mass is... The main structure mass is The stiffness of the two guy ropes is , The axial distance between the two wind ropes and the center of mass of the blade is , .

[0031] Further, in step S2, the natural frequency of the main structure's horizontal rotation is obtained based on the basic parameters of the blade hoisting system as follows: the wind turbine blade hoisting model is simplified into a two-dimensional horizontal plane rotation model; according to the Lagrange equation of motion, the natural frequency of the main structure's horizontal rotation is calculated as follows:

[0032]

[0033] In the formula: , The rotation angle and rotational acceleration of the main structure.

[0034] Furthermore, in step S3, the dampers are installed in a manner that allows them to be evenly distributed on the left and right side frames of the main structure's fixture.

[0035] Furthermore, in step S3, the parameters of the damper are: The damper frequency is calculated as follows:

[0036] In the formula: It is the average frequency of MTMD; Frequency range; Damper mass Damping coefficient and stiffness coefficient Calculated using the following formula:

[0037] In the formula: This is the ratio of the sum of the masses of all dampers to the mass of the main structure. Based on engineering experience in the construction field, the value range is 0.5% to 5%; The average damping ratio of the multi-tuned mass damper system is, i.e. .

[0038] Furthermore, based on the natural frequency of the main structure's horizontal rotation, the dynamic matrix equations for the blade hoisting system equipped with multi-tuned mass dampers are calculated as follows: The dynamic equations are constructed based on the blade hoisting system equipped with multi-tuned mass dampers; the dynamic equations are then converted into dynamic matrix equations.

[0039] Furthermore, the dynamic equations are expressed as:

[0040] In the formula: , , and, , These are the rotation angle, rotational speed, and rotational acceleration of the main structure, and the translational displacement, translational speed, and translational acceleration of each damper; Main structural rotational stiffness , , The mass, damping coefficient, and stiffness coefficient of each damper are given. This refers to the aerodynamic load acting on the main structure.

[0041] Furthermore, the transformation of the dynamic equations into dynamic matrix equations is specifically as follows: Will , exist After Taylor expansion and elimination of the least high-order terms, the dynamic matrix equation is obtained:

[0042] In the formula: For the response vector; , , These are the mass, damping, and stiffness matrices, respectively; T is the excitation distribution vector. It is the activation vector;

[0043]

[0044]

[0045]

[0046] .

[0047] Furthermore, based on the dynamic matrix equations and the natural frequency of the main structure's horizontal rotation, the response equation for the blade hoisting system equipped with multi-tuned mass dampers during horizontal rotation is calculated as follows: Will , Substituting into the dynamic matrix equation, we get:

[0048] In the formula: , The response of the main structure to horizontal rotation; Calculate the horizontal rotation response of the main structure according to Cramer's law. equation:

[0049] In the formula: Defined as rotational impedance, ; To convert the time-domain response expression into the frequency-domain response expression, the horizontal rotation response... For about function This embodiment optimizes the damper parameters by considering the installation position and parameters of the damper and the response equation of the main structure's horizontal rotation, thereby obtaining the optimal stiffness coefficient and the optimal damping coefficient, resulting in an optimized multi-tuned mass damper system with better vibration suppression effect.

[0050] Example 3: This embodiment provides a method for suppressing horizontal rotational vibration in a wind turbine blade hoisting system. Step 1: Build a model of the wind turbine blade hoisting and obtain basic parameters. like Figure 2 The model for hoisting wind turbine blades is shown. Step 2: Calculation of the natural frequency of horizontal rotation of the main structure The three-degree-of-freedom motion of the blade hoisting model is decoupled, considering only its horizontal rotation, such as... Figure 3 The model is simplified to a two-dimensional horizontal rotational model. In the figure: 1 represents the blade, and 2 and 3 represent the guy ropes. Based on Lagrange's equations of motion, the simplified model's equations of motion and the formula for calculating the natural frequency of the main structure's horizontal rotation are as follows: (1)

[0051] (2) In the formula: , The rotation angle and rotational acceleration of the main structure.

[0052] Step 3: Determine the installation location of each TMD in the MTMD system To suppress the horizontal rotation of the main structure, a multiply tuned mass damper system (MTMD) is used. The MTMD system consists of multiple tuned mass dampers. Considering the slender structure of the blades and the function of the clamps, placing the MTMDs directly on the blades would require repeated loading and unloading before and after hoisting. Therefore, the MTMDs are placed on the clamps. To ensure that each TMD has the maximum rotational force arm on the clamps, the TMDs in the MTMD system are evenly distributed on the left and right sides of the clamp frames of the main structure. Figure 4 As shown, the horizontal axial distance from the left and right side frames to the centroid of the blade is denoted as . Therefore, the horizontal axial distance of each TMD from the centroid of the blade is... .

[0053] Figure 4 In the MTMD system installation location diagram: 1 represents the blade, 2 represents the clamp, and 5 represents each TMD in the MTMD system. Step 4: Calculate the dynamic matrix equations combining the simplified model and the MTMD system. according to Figure 5 In the picture ;

[0054]

[0055] Stiffness matrix;

[0056] Stiffness matrix; The simplified model combined with the MTMD system has the following dynamic equations: (3) In the formula: , , and, , These are the rotation angle, rotation speed, and rotation acceleration of the main structure, and the translational displacement, translational velocity, and translational acceleration of each TMD. Main structural rotational stiffness , , The mass, damping coefficient, and stiffness coefficient of each TMD are given. This refers to the aerodynamic load acting on the main structure.

[0057] Equation (8) , exist By performing a Taylor expansion and eliminating the least high-order terms, we obtain the simplified dynamic matrix equations combining the model with the MTMD system: (4) In the formula: For the response vector; , , These are the mass, damping, and stiffness matrices, respectively; T is the excitation distribution vector. It is the activation vector.

[0058]

[0059]

[0060]

[0061]

[0062]

[0063] Step 5: Calculate the response equation for the horizontal rotation of the main structure. Will , Substituting into the dynamic matrix equation, we get:

[0064] In the formula: , The response of the main structure to horizontal rotation.

[0065] Calculate the horizontal rotation response of the main structure according to Cramer's law. equation: (5) In the formula: Defined as rotational impedance, .

[0066] Step 6: Parameter design for each TMD in the MTMD system The MTMD system employs a multi-TMD structural parameter design method with uniformly distributed frequencies. The natural frequencies of each TMD are uniformly distributed around the average frequency, enhancing the MTMD's adaptability to changes in the main structure's frequency, thereby improving the system's robustness and reliability. Therefore, the frequencies of each TMD can be calculated as follows: (6) In the formula: It is the average frequency of MTMD; This refers to the frequency range.

[0067] The quality of each TMD in MTMD Damping coefficient and stiffness coefficient It can be calculated using the following formula: (7) In the formula: This is the ratio of the sum of the masses of each TMD to the mass of the main structure. Based on engineering experience in the construction field, the value range is 0.5% to 5%; The average damping ratio of MTMD is, i.e. j is a positive integer variable, which can take the values ​​1, 2, ..., k, n, representing the 1st damper, the 2nd damper, the kth damper, and the nth damper, respectively.

[0068] Step 7: Calculate the optimal parameters of each TMD in the MTMD system based on the optimization equation. In order to suppress the horizontal rotational vibration of the main structure and obtain the minimum vibration displacement of the main structure. Based on the optimization equation (8), the optimal parameters of each TMD in the MTMD system are calculated.

[0069] (8) Substituting equations (2), (5), (6), and (7) into optimization equation (8), the optimal stiffness coefficients of each TMD in the MTMD are calculated. and optimal damping coefficient .

Claims

1. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system, the blade hoisting system comprising a blade (1), a clamp (2), two wind-drawing ropes (3), and a hoisting rope (4), wherein the clamp (2) clamps and fixes the blade (1) together to form the main structure, the hoisting rope (4) is connected to the clamp (2), and the blade (1) is also connected to the wind-drawing ropes (3), characterized in that, The method for suppressing horizontal rotational vibration of the blade hoisting system includes the following steps: S1: Obtain the basic parameters of the blade hoisting system; S2: The natural frequency of the horizontal rotation of the main structure is obtained based on the basic parameters of the blade hoisting system; S3: At least two tuned mass dampers (5) are installed on the blade hoisting system to form a blade hoisting system with multiple tuned mass dampers; S4: Calculate the dynamic matrix equation of the blade hoisting system equipped with multi-tuned mass dampers based on the blade hoisting system equipped with multi-tuned mass dampers; S5: Calculate the response equation of the main structure for horizontal rotation of the blade hoisting system equipped with multi-tuned mass dampers based on the dynamic matrix equation and the natural frequency of the main structure's horizontal rotation. S6: Calculate the parameters of each tuned mass damper in the blade hoisting system with multiple tuned mass dampers according to the response equation, and optimize the parameters of each tuned mass damper to obtain the vibration-damping blade hoisting system with tuned mass dampers of optimal parameters.

2. The method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 1, characterized in that, In step S1, the basic parameters of the blade hoisting system include: the moment of inertia of the main structure about the horizontal plane of the blade's center of mass is... The main structure mass is The stiffness of the two guy ropes is , The axial distance between the two wind ropes and the center of mass C of the blade is , .

3. The method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 2, characterized in that, In step S2, the natural frequency of the main structure's horizontal rotation is obtained based on the basic parameters of the blade hoisting system. Specifically, the blade hoisting model is simplified into a two-dimensional horizontal plane rotation model. According to the Lagrange equation of motion, the natural frequency of the main structure's horizontal rotation is calculated as follows: In the formula: , The rotation angle and rotational acceleration of the main structure.

4. The method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 2, characterized in that, In step S3, the dampers are installed in a manner that is evenly distributed on the left and right side frames of the main structure's fixture.

5. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 3, characterized in that, In step S3, the parameters of the damper are: The damper frequency is calculated as follows: In the formula: It is the average frequency of MTMD; Frequency range; Damper mass Damping coefficient and stiffness coefficient Calculated using the following formula: In the formula: This is the ratio of the sum of the masses of all dampers to the mass of the main structure. Based on engineering experience in the construction field, the value range is 0.5% to 5%; The average damping ratio of the multi-tuned mass damper system is, i.e. .

6. The method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 4, characterized in that, The dynamic matrix equations for a blade hoisting system equipped with multi-tuned mass dampers are calculated as follows: The dynamic equations are constructed based on the blade hoisting system equipped with multi-tuned mass dampers; the dynamic equations are then converted into dynamic matrix equations.

7. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 6, characterized in that, The dynamic equation is expressed as: In the formula: , , and, , These are the rotation angle, rotational speed, and rotational acceleration of the main structure, and the translational displacement, translational speed, and translational acceleration of each damper; Main structural rotational stiffness , , The mass, damping coefficient, and stiffness coefficient of each damper are given. This refers to the aerodynamic load acting on the main structure.

8. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 6, characterized in that, The specific steps to transform the dynamic equations into dynamic matrix equations are as follows: Will , exist After Taylor expansion and elimination of the least high-order terms, the dynamic matrix equation is obtained: In the formula: For the response vector; , , These are the mass, damping, and stiffness matrices, respectively; T is the excitation distribution vector. It is the activation vector; 。 9. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 7, characterized in that, Based on the dynamic matrix equations and the natural frequencies of the main structure's horizontal rotation, the response equation for the blade hoisting system equipped with multi-tuned mass dampers during horizontal rotation is calculated as follows: Will , Substituting into the dynamic matrix equation, we get: In the formula: , The response of the main structure to horizontal rotation; Calculate the horizontal rotation response of the main structure according to Cramer's law. equation: In the formula: Defined as rotational impedance, ; To convert the time-domain response expression into the frequency-domain response expression, the horizontal rotation response... For about The function.

10. A method for suppressing horizontal rotational vibration of a wind turbine blade hoisting system according to claim 9, characterized in that, In step S4, in order to suppress the horizontal rotational vibration of the main structure and obtain the minimum vibration displacement of the main structure... The optimal parameters for each TMD are calculated using the following formula; 。

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