Cooperative control device and control method for fan tower broadband vibration adjustment and application of cooperative control device and control method

Abstract

The invention discloses a cooperative control device and method for fan tower broadband vibration adjustment and application of the cooperative control device and method for fan tower broadband vibration adjustment, the cooperative control device is used for restraining fan tower broadband vibration, and the cooperative control device is composed of a damper and a solution quality adjusting system. The damper is filled with magnetorheological fluid and is provided with a magnetic conductive block integrated with a solution bin. The solution quality adjusting system is communicated with the solution bin through a hose and can accurately adjust and control the quality of liquid in the bin. By changing the mass of the solution bin, the inherent frequency of the system is adjusted in real time, and active frequency band matching with external excitation is achieved; the damping characteristic of the magnetorheological fluid is changed in real time by adjusting the current of the magnet exciting coil, and optimal dissipation of vibration energy is achieved. The two adjusting mechanisms are driven by a unified control algorithm to realize closed-loop linkage and synchronous optimization, so that the cooperative adjusting unit always keeps a high suppression ratio under a broadband change load, and the operation safety and the fatigue life of the fan tower drum in a complex wind field are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine tower vibration control technology, and specifically to a collaborative control device for wideband vibration regulation of wind turbine towers. Background Technology

[0002] As a major force in clean energy, wind power technology is showing a significant trend towards larger scale, lighter weight, and greater flexibility. To improve power generation efficiency and economic benefits, the single-unit capacity of modern wind turbines is constantly increasing, along with the rotor diameter and tower height, leading to increasingly pronounced high flexibility in the tower structure. This, in turn, presents the challenge of wide-frequency vibration control for wind turbine towers under complex and variable wind and wave loads. The tower vibration frequency changes dynamically with operating conditions, requiring dampers to have real-time tracking and adaptive adjustment capabilities.

[0003] Currently, vibration control for wind turbine towers mainly employs passive, active, and semi-active control strategies. However, these strategies all have inherent limitations in addressing the aforementioned broadband and time-varying challenges, lacking systematic and coordinated control capabilities. Passive tuned mass dampers (TMDs) have their stiffness and damping parameters fixed after installation, resulting in an extremely narrow optimal operating frequency band. Real-time, continuous parameter adjustment is impossible, and their control effectiveness drops sharply once the load frequency deviates from the design point, essentially making it a static and passive response strategy. Active mass-driven systems (AMDs) require a large external energy supply and a complex servo control system, resulting in high power consumption, high cost, and complex maintenance. Their control methods fail to achieve synergistic optimization of energy efficiency and performance. Semi-active magnetorheological fluid (MR) dampers primarily focus on adjusting a single damping parameter; their interaction with the main structure is essentially "energy consumption" rather than "tuning." They lack a coordinated adjustment mechanism for the system's equivalent stiffness or mass, failing to fundamentally solve the frequency "detuning" problem caused by fixed mass blocks, and their control effectiveness is limited under broadband excitation.

[0004] A search revealed a Chinese patent with publication number CN210177734U. This vibration damping device adjusts the natural frequency of the damper by regulating the viscosity of the magnetorheological fluid using an excitation coil. However, this is essentially still a damping adjustment method. The device also emphasizes "changing the viscosity of the magnetorheological fluid to continuously form internal resonance between the damping device and the tall structure," but it does not involve active changes in the equivalent mass. Under the wide-frequency excitation of a wind turbine tower, relying solely on the viscosity adjustment of the magnetorheological fluid may not achieve true frequency tracking because the mass of the TMD is fixed, and the system's equivalent stiffness or mass cannot be dynamically adjusted, leading to a decrease in control effectiveness when the frequency deviates.

[0005] A search revealed a Chinese patent with publication number CN116145843A. This damper utilizes the collision characteristics of magnetorheological elastomers (MREs) to optimize energy consumption. Its core innovation lies in adjusting the collision stiffness and damping of the magnetorheological elastomer through current to maximize real-time energy consumption. However, it is essentially a semi-passive tuning system. Its operating frequency range is limited by the fixed parameters of the mass block and spring, and it cannot dynamically adjust the equivalent mass or stiffness to adapt to the wide-frequency excitation (such as the frequency changes of wind load and wave load) encountered by the wind turbine tower during operation. At the same time, the magnetorheological elastomer may experience fatigue or irreversible deformation under long-term large deformation, resulting in high maintenance costs. Furthermore, its damping adjustment capability is not as flexible as that of magnetorheological fluid.

[0006] Therefore, it is necessary to design a regulating device that can efficiently and cost-effectively suppress broadband vibration of wind turbine towers in order to solve the above-mentioned technical problems. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a collaborative control device for wide-frequency vibration regulation of wind turbine towers. The technical solution adopted is as follows: A collaborative control device for wide-frequency vibration regulation of wind turbine towers, wherein the collaborative control device is installed inside and outside the wind turbine tower, and the collaborative control device includes an intelligent collaborative control unit, a collaborative adjustment unit, an acceleration sensor, and an excitation power supply; The intelligent collaborative control unit is installed at the bottom of the wind turbine tower; the acceleration sensor is installed on the outer surface of the wind turbine tower; the collaborative adjustment unit includes a damper and a solution mass adjustment system, which are installed together in the upper middle part of the wind turbine tower; the damper is connected to the excitation power supply, wherein the damper includes a shell, the inner wall of the shell is provided with an excitation coil, the inner cavity of the shell is filled with magnetorheological fluid, a horizontally placed connecting rod is provided inside the shell, one end of the connecting rod is fitted with a spring, one end of the spring is fixedly connected to the inner side wall of the shell, and the other end of the spring is connected to a magnetic block and is fitted together on the outer periphery of the connecting rod; there is a groove on the surface of the magnetic block, and two auxiliary coils are provided at the left and right ends of the groove to surround the magnetic block; a solution chamber is provided in the middle of the groove to surround the magnetic block; a velocity sensor and a displacement sensor are provided on the upper part of the solution chamber; an injection and discharge hose is installed on the lower side of the solution chamber, and the injection and discharge hose passes through the protective sleeve on the shell and is connected to the solution mass adjustment system; The solution quality adjustment system includes a base, a weighing sensor and a gas storage tank are installed on the upper part of the base, a barometer is installed on the upper part of the gas storage tank, and a liquid storage tank is installed on the upper part of the weighing sensor; one side of the liquid storage tank is connected to the gas storage tank through a gas supply valve, and the other side of the liquid storage tank is equipped with a solenoid valve and connected to the injection and discharge hoses. Both the excitation coil and the auxiliary coil are connected to the excitation power supply; When implementing wideband adaptive control, if the mass of the solution inside the solution chamber is to be increased, the gas supply valve is in the gas supply circuit and is in the open state, and the solenoid valve is also in the open state. After the delivery is completed, the solenoid valve is closed. If the mass of the solution inside the solution chamber is to be decreased, the solenoid valve is in the open state, and at the same time, the gas supply valve is controlled to switch to the exhaust circuit and is in the open state. During this period, the weighing sensor is turned on in real time to monitor the change in the mass of the solution inside the solution chamber.

[0008] Preferably, the mass regulating actuator includes an air supply valve, a solenoid valve, and a weighing sensor; the damping regulating actuator includes an excitation power supply, an excitation coil, and an auxiliary coil; both the mass regulating actuator and the damping regulating actuator are connected to the intelligent collaborative control unit (ICCU) via wires. The Intelligent Cooperative Control Unit (ICCU) consists of a main controller (MCU) and a cooperative control algorithm library. The cooperative control algorithm library has a built-in frequency-damping cooperative search algorithm, and the frequency-damping cooperative optimization objective function is expressed by formula (1): In the formula: the value of the function J is the cost of the overall system performance under a specific control action, α is the weighting coefficient of the displacement term, dtop is the vibration displacement of the top of the wind turbine tower, β is the weighting coefficient of the energy consumption efficiency term, Fτ(H) is the magnetic field damping force, νd is the motion velocity of the internal mass block of the damper, i.e. the magnetic conductive block, and the solution tank relative to the outer shell, Δt is the sampling time interval of the control system, γ is the weighting coefficient of the mass adjustment cost term, and Δmv is the change in the mass of the solution in the solution tank.

[0009] Preferably, the inner wall of the magnetic block is in contact with the outer surface of the connecting rod and can move relative to it. The magnetic block is fixedly connected to the solution tank. The spring, the magnetic block, and the solution tank together determine the natural frequency of the damper. By calculating the natural frequency, Δmv is adjusted so that the natural frequency fn matches the active frequency band of the external environmental excitation, thereby causing the damper to resonate and dissipate energy with the external environmental excitation first. The natural frequency fn of the damper is determined by formula (2): In the formula: k is the equivalent stiffness of the damper, mf is the fixed mass, which is the sum of the masses of all components involved in the vibration except for the variable mass of the solution in the solution chamber, and Δmv is the change in the mass of the solution in the solution chamber.

[0010] Preferably, the magnetorheological fluid is prepared by using silicone oil as the carrier fluid, carboxylated iron powder as the magnetic particles, and adding surfactants; the viscosity of the magnetorheological fluid under zero field is 0.1~0.5 Pa·s, the shear yield stress under saturated magnetic field strength is 50~100 kPa, and the response time is less than 10 ms. By calculating the total damping force F generated by the magnetorheological fluid under different magnetic fields under different currents I, the current I that achieves optimal dissipation of vibration energy under different external environmental excitations can be obtained. The total damping force generated by the magnetorheological fluid can be expressed by formula (3): In the formula: F is the total damping force, Fη is the viscous damping force provided by the viscosity of the magnetorheological fluid, Fτ(H) is the magnetic field damping force provided by the magnetization of the magnetorheological fluid caused by the magnetic field, C is the viscous damping coefficient, v is the relative velocity of the mass block, τy(H) is the yield stress of the magnetorheological fluid as a function of the magnetic field strength H, and A is the effective shear area of ​​the piston.

[0011] Preferably, the magnetically conductive block is made of electrical pure iron, with a relative permeability μr ≥ 5000, saturation magnetic induction intensity Bs ≥ 2.15 T, and coercivity Hc ≤ 30 A / m.

[0012] Preferably, the solution used is a manganese nitrate solution with a concentration range of 40% to 60% and a density of 1.4 to 1.7 g / cm3.

[0013] Preferably, the solenoid valve is a two-position two-way solenoid valve, and the valve body has one inlet and one outlet; The protective sleeve is tightly bonded to the side wall of the outer casing with sealant, and the inner wall of the protective sleeve is tightly bonded to the injection and discharge hoses with sealant.

[0014] This invention also provides a method for coordinated intelligent control of "frequency modulation" and "damping" using the aforementioned coordinated control device, characterized by comprising the following steps: Step 1: Establish a collaborative control model. The intelligent collaborative control unit (ICCU) has a built-in frequency-damping collaborative optimization objective function. This function includes a term reflecting the tower vibration control effect α·dtop2, a term reflecting the damping adjustment energy consumption efficiency β·(Fτ(H)·νd)·Δt, and a term reflecting the mass adjustment system cost γ·Δmv2. These terms are unified into a single objective function J (formula (1)) through weighting coefficients. The algorithm aims to minimize the total cost J and seeks the optimal collaborative objective. Step 2: Data detection and import. The accelerometer is used to monitor the tower vibration response, i.e., the vibration displacement at the top of the tower and the external excitation frequency. The velocity sensor and displacement sensor are used to monitor the motion state of the mass block inside the damper, i.e., the relative velocity of the mass block. Step 3: Collaborative decision-making calculation. The collaborative control model first calculates the change in the mass of the solution in the solution tank, Δmv1, when the system frequency is precisely tuned to the external environmental excitation frequency. It also calculates the vibration displacement dtop1 at the top of the wind turbine tower and the required current I1. The total cost J is then calculated, where Δmv1, dtop1, and I1 are the change in the mass of the solution in the solution tank, the vibration displacement at the top of the wind turbine tower, and the current required to generate the total damping force for energy dissipation when the system frequency is precisely tuned to the external environmental excitation frequency. Step 3.1: The algorithm aims to minimize J and performs optimization search in the solution space of variables Δmv, I, and dtop. It increases or decreases the change in solution mass Δmv1 in the solution tank when the system frequency is precisely tuned to the external environmental excitation frequency. Each change in Δmv1 directly affects the matching degree between the natural frequency fn and the external environmental excitation frequency, and thus directly affects dtop. Calculate dtop after this change in Δmv, where Δmv1 is the change in solution mass in the solution tank when the system frequency is precisely tuned to the external environmental excitation frequency. Step 3.2: Change the current I under this Δmv to obtain different Fτ(H); Step 3.3: Calculate the damping regulation energy consumption efficiency term based on the calculated νd and the preset Δt, and then obtain the correction of dtop by Fτ(H) under the changed current I. Finally, calculate J under Δmv and Fτ(H). Step 3.4: By repeating steps 3.1, 3.2, and 3.3, J can be calculated for each Δmv, Fτ(H), and dtop. Finally, the smallest J is selected as the optimal total cost Jopt. Step 4: Cooperative execution control. The ICCU unit sends the parameters I and Δmv under the optimal total cost Jopt to the damping adjustment actuator and the mass adjustment actuator through the main controller MCU for actual parameter adjustment. The damping adjustment actuator includes an excitation power supply, an excitation coil, and an auxiliary coil; the mass adjustment actuator includes an air tank, an air delivery valve, a solenoid valve, and a weighing sensor.

[0015] The present invention also provides the application of the above-mentioned collaborative control device or collaborative intelligent control method in the broadband vibration regulation of wind turbine towers.

[0016] Compared with the prior art, the advantages of the present invention are as follows: (1) Breaking through the traditional model of separating "frequency modulation" and "damping adjustment", this invention achieves deep collaborative intelligent control between the two: Through a unified intelligent collaborative control unit (ICCU) and optimization algorithm, this invention integrates mass block inertia adjustment and magnetorheological fluid damping adjustment to jointly adjust the vibration control effect (dtop) and the energy consumption cost (I) of damping adjustment. The system can optimize and adjust the mass and damping parameters in parallel and synchronously according to the real-time operating conditions, leaping from "isolated control" to "collaborative control", solving the problem of mutual constraint of parameters in the prior art, and achieving optimal overall performance.

[0017] (2) Real-time, continuous, and precise adjustment of key vibration control parameters is achieved: Through the solution mass adjustment system, this invention achieves continuous and stepless change of equivalent mass, enabling the system's natural frequency to dynamically track the changing excitation frequency. Combined with the millisecond-level fast response of magnetorheological fluid damping, this invention can perform real-time and precise closed-loop suppression of broadband time-varying vibration of wind turbine towers, overcoming the shortcomings of fixed frequency band of passive TMD and the single function of traditional semi-active dampers.

[0018] (3) Achieving a balance of high efficiency, high economy, and high reliability over a wide frequency range: The collaborative intelligent control strategy of this invention does not simply pursue the absolute minimization of vibration. Instead, it allows for a significant reduction in mass adjustment costs and operating energy consumption by intelligently adjusting the solution mass (Δmv) and optimizing the excitation coil current (I) when the vibration displacement (dtop) experiences an acceptable slight increase, thereby minimizing the total cost J. This enables the damper to significantly reduce operating energy consumption while ensuring excellent vibration suppression performance, avoiding equipment losses caused by frequent and large-scale adjustments. Ultimately, it achieves continuous, efficient, economical, and reliable comprehensive vibration reduction performance over a wide frequency range, perfectly meeting the long-term operation requirements of modern large-scale wind turbines. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the damper in the collaborative control device of the present invention; Figure 2 for Figure 1 AA section cross-section view; Figure 3 This is a schematic diagram of the solution quality adjustment system in the collaborative control device of the present invention; Figure 4This is an overall schematic diagram of the collaborative control device of the present invention installed on the wind turbine tower; In the diagram: 1 is the outer casing, 2 is the excitation coil, 3 is the connecting rod, 4 is the spring, 5 is the magnetic block, 6 is the solution tank, 7 is the auxiliary coil, 8 is the magnetorheological fluid, 9 is the injection and discharge hose, 10 is the base, 11 is the load cell, 12 is the solenoid valve, 13 is the liquid storage tank, 14 is the solution, 15 is the gas storage tank, 16 is the barometer, 17 is the gas delivery valve, 18 is the protective sleeve, 19 is the velocity sensor, 20 is the displacement sensor, 21 is the damper, 22 is the solution mass adjustment system, 23 is the wind turbine tower, 24 is the acceleration sensor, 25 is the intelligent collaborative control unit, and 26 is the excitation power supply. Detailed Implementation

[0021] The present invention will be further described below with reference to specific embodiments. The following embodiments provide specific structures and dimensional standards, which will help those skilled in the art to further understand the specific structure of the present invention. Without departing from the basic structure of the present invention, appropriate adjustments can be made to the dimensions of the present invention, all of which fall within the protection scope of the present invention.

[0022] Example 1 like Figure 4 This is an overall schematic diagram showing the relative positions of the collaborative control device of the present invention installed on the wind turbine tower 23. The collaborative control device of the present invention is installed inside and outside the wind turbine tower 23. The collaborative control device includes an intelligent collaborative control unit 25, a collaborative adjustment unit, an acceleration sensor 24, and an excitation power supply 26. An acceleration sensor 24 is installed on the outer surface of the wind turbine tower 23. An intelligent collaborative control unit 25 is installed at the bottom inside the wind turbine tower 23. A damper 21 and a solution quality adjustment system 22 are also installed inside the wind turbine tower 23 to form a collaborative adjustment unit. The damper 21 is externally connected to the excitation power supply 26. It is worth noting that the damper 21, the solution mass adjustment system 22, and the acceleration sensor 24 are all installed at approximately 2 / 3 of the height of the upper part of the wind turbine tower 23. This location is the area with the largest amplitude of the first-order main vibration mode of the tower, and the sensing signal is strong. By installing the sensor at the location where the vibration response is most significant, the intelligent collaborative control unit (ICCU) can accurately identify multiple frequency components excited by the tower, whether it is the dominant first-order frequency or some higher-order frequencies. Based on this, the system, through the synergistic effect of frequency adaptive adjustment (changing the solution mass Δmv) and intelligent adjustable damping (adjusting the magnetorheological fluid current I), enables the damper to actively track and suppress multimodal vibrations in a wide frequency band, thereby achieving comprehensive and efficient control of the wide frequency vibration of the wind turbine tower.

[0023] like Figure 1This is a schematic diagram of a damper for a cooperative control device for wide-frequency vibration regulation of a wind turbine tower, according to a preferred embodiment of the present invention. It includes a housing 1, an excitation coil 2 inside the housing 1, and a magnetorheological fluid 8 filling the inner cavity of the housing 1. A horizontally placed connecting rod 3 is also provided on the inner wall of the housing 1. One end of the connecting rod 3 is provided with a spring 4, one end of which is fixedly connected to the inner side wall of the housing 1. The other end of the spring 4 is connected to a magnetically conductive block 5, both of which are fitted around the outer periphery of the connecting rod 3. The surface of the magnetically conductive block 5 has a groove, and two auxiliary coils 7 are provided at the left and right ends of the groove, surrounding the magnetically conductive block 5. A solution chamber 6 is provided in the middle of the magnetically conductive block 5. An injection and discharge hose 9 is installed on the lower side of the solution tank 6. A speed sensor 19 and a displacement sensor 20 are installed on the upper part of the solution tank 6. The injection and discharge hose 9 extends out from the protective sleeve 18 on the outer shell 1 and is connected to the solution mass adjustment system 22. The hose passes through the protective sleeve 18 on the outer shell and is connected to the solution mass adjustment system. This part mainly realizes intelligent adjustable damping. By changing the current in the excitation coil 2 set on the inner wall of the outer shell 1 and the current in the auxiliary coil 7 set on the magnetic guide block, the damping of the magnetorheological fluid changes, thereby realizing real-time adjustment. The outer shell 1 is fixed to the connecting rod 3 by welding at both ends. One side of the outer shell 1 is fixed to the spring 4 by welding, and the other side of the spring 4 is fixed to the magnetic block 5 by welding. The fixed spring 4 can reset the vibrating magnetic block 5 to avoid excessive impact and displacement on the outer shell. The protective sleeve 18 is tightly bonded to the side wall of the outer shell 1 with sealant, and the inner wall of the protective sleeve 18 is tightly bonded to the injection and discharge hose 9 with sealant. This ensures the airtightness of the damper cavity and prevents leakage of magnetorheological fluid. The magnetorheological fluid 8 is formulated with silicone oil as the carrier fluid, carboxylated iron powder as the magnetic particles, and surfactant added. The viscosity of the magnetorheological fluid under zero field is 0.1~0.5 Pa·s, the shear yield stress under saturated magnetic field strength is 50~100 kPa, and the response time is less than 10 ms. By calculating the total damping force F generated by the magnetorheological fluid (8) under different magnetic fields with different currents I, the current I that achieves optimal dissipation of vibration energy under different external environmental excitations can be obtained. The total damping force generated by the magnetorheological fluid can be expressed by formula (3): In the formula: F is the total damping force, Fη is the viscous damping force provided by the viscosity of the magnetorheological fluid, Fτ(H) is the magnetic field damping force provided by the magnetization of the magnetorheological fluid caused by the magnetic field, C is the viscous damping coefficient, v is the relative velocity of the mass block, τy(H) is the yield stress of the magnetorheological fluid as a function of the magnetic field strength H, and A is the effective shear area of ​​the piston.

[0024] When the excitation coil 2 and the auxiliary coil 7 are energized, a magnetic field is generated. The carboxyl iron powder magnetic particles in the magnetorheological fluid 8 are instantly magnetized and polarized along the direction of the magnetic field lines, attracting each other to form a chain or columnar structure, making the magnetorheological fluid 8 a viscoplastic body with a certain shear yield strength. As the magnetic field is strengthened, its shear yield strength will also increase accordingly, thereby providing a strong damping force for the mass block. In this embodiment, the effective shear area A of the magnetically conductive block 5, which acts as the piston head, within the damper is 0.1 m². The viscous damping coefficient of the magnetorheological fluid is approximately 21200 N·s / m. Assuming that the tower vibration causes a relative velocity v = 0.1 m / s between the magnetically conductive block and the outer shell, the viscous damping force Fη is 2120 N. Under zero field conditions, τy(H) is 0 kPa, and the total damping force F is 2120 N. Under moderate magnetic fields, τy(H) is 40 kPa, and the magnetic field damping force Fτ(H) is 4000 N, resulting in a total damping force F of 6120 N. Under saturated magnetic fields, τy(H) is 75 kPa, and the magnetic field damping force Fτ(H) is 7500 N, resulting in a total damping force F of 9620 N. In summary, this damper can adjust the output damping force from 2120 N to 2120 N by changing the coil current. The damping is smoothly adjusted to 9620N, achieving the goal of intelligent adjustable damping, large output, and controllable force.

[0025] The magnetic conductor 5 is made of electrical pure iron with a relative permeability μr≥ 5000, saturation magnetic induction intensity Bs≥2.15 T, and coercivity Hc≤ 30 A / m. It has excellent soft magnetic characteristics such as high saturation magnetic induction intensity, high permeability and low coercivity. It can effectively transfer the magnetic energy generated by the excitation coil to the working area of ​​the magnetorheological fluid, significantly improve the output efficiency and adjustment accuracy of the damping force, and is the core guarantee for achieving high-performance output of the damper.

[0026] Example 2 Figure 2 This is a cross-sectional view of the damper AA of the present invention, including a shell 1, an excitation coil 2 inside the shell 1, a cavity filled with magnetorheological fluid 8, a horizontally placed connecting rod 3 on the inner wall of the shell 1, the outer surface of the connecting rod 3 being in contact with the inner wall of the magnetic block 5, a solution chamber 6 in the middle of the magnetic block 5, and an injection and discharge hose 9 installed on the lower side of the solution chamber 6. When the wind turbine tower is subjected to external excitation, the mass block inside the damper, which consists of magnetic block 5, solution tank 6, and coil 7, will reciprocate along the connecting rod 3 to dissipate energy, while the spring 4 can reset the mass block. In this embodiment, the spring constant is 20 N / mm, and the mass block deviates from the equilibrium position by a maximum distance of 250 mm. Therefore, the restoring force provided by the spring is 5000 N.

[0027] Example 3 Figure 3This is a schematic diagram of the solution quality adjustment system of the present invention, including a base 10, a gas storage tank 15 on the upper part of the base 10, a pressure gauge 16 and a gas supply valve 17 on the upper part of the gas storage tank 15, the gas supply valve 17 is connected to a liquid storage tank 13, the liquid storage tank 13 is filled with solution 14, a weighing sensor 11 is installed at the bottom of the liquid storage tank 13, and a solenoid valve 12 is installed on the side of the liquid storage tank 13. The solenoid valve 12 is connected to an injection and discharge hose 9. This part mainly realizes frequency self-adaptation; by calculating the natural frequency to adjust Δmv so that the natural frequency fn matches the active frequency band of the external environmental excitation, the damper 21 resonates and dissipates energy with the external environmental excitation first. The natural frequency fn of the damper 21 is determined by formula (2): In the formula: k is the equivalent stiffness of damper 21, mf is the fixed mass, which is the sum of the masses of all components involved in the vibration except for the variable mass of the solution in solution tank 6, and Δmv is the change in the mass of the solution in solution tank 6.

[0028] In this embodiment, the mass mf of the fixed part is 1000kg, the equivalent stiffness k of the device is 12000N / m, the maximum volume of the solution tank 6 is 1m3, so the maximum Δmv can be 1550kg. According to formula (2), the highest frequency fn max is 0.55Hz and the lowest frequency fn min is 0.34Hz.

[0029] The system's wideband adaptive control is achieved through bidirectional mass adjustment. When mass needs to be increased, the gas storage tank 15 is pressurized to force the solution in the liquid storage tank 13 into the solution chamber 6; when mass needs to be reduced, the gas storage tank 15 is depressurized to allow the solution to flow back from the solution chamber 6. The weighing sensor 11 monitors the mass change in real time, thereby precisely controlling the mass Δmv of the solution chamber 6. Accordingly, the system's natural frequency fn can be continuously adjusted within the range of 0.34Hz to 0.55Hz, achieving real-time matching with the wideband vibration of the wind turbine tower. Solution 14 is a manganese nitrate solution with a concentration range of 40% to 60% and a density of 1.4 to 1.7 g / cm3. Solutions at this concentration have moderate viscosity and significant paramagnetism, which is beneficial for pumping and magnetic circuit optimization. The injection and discharge hose 9 is made of Teflon tubing, which has an "excellent" resistance to manganese nitrate solution corrosion, a long-term operating temperature range of -100 degrees Celsius to 260 degrees Celsius, a friction coefficient of less than 0.1, and an inner diameter of typically 4~8 mm, ensuring minimal solution flow resistance and optimal durability.

[0030] Solenoid valve 12 is a two-position two-way solenoid valve. The valve body has one inlet and one outlet. By receiving the electrical signal from the intelligent collaborative control unit 25, it can accurately switch between three states: filling and pressurizing, draining and depressurizing, and pressure holding and sealing.

[0031] Example 4 This embodiment provides an example of the working method of the intelligent collaborative control unit. The intelligent collaborative control unit ICCU25 consists of a main controller MCU and a collaborative control algorithm library. The collaborative control algorithm library has a built-in frequency-damping collaborative search algorithm, and the frequency-damping collaborative optimization objective function is expressed by formula (1): In the formula: the value of the function J is the cost of the overall system performance under a specific control action, α is the weighting coefficient of the displacement term, dtop is the vibration displacement of the top of the wind turbine tower, β is the weighting coefficient of the energy consumption efficiency term, Fτ(H) is the magnetic field damping force, νd is the movement speed of the internal mass block of the damper, i.e., the magnetic conductive block 5 and the solution tank 6, relative to the outer shell, Δt is the sampling time interval of the control system, γ is the weighting coefficient of the mass adjustment cost term, and Δmv is the change in the mass of the solution in the solution tank.

[0032] In this embodiment, the first-order natural frequency of the wind turbine tower 23 is 0.35Hz, the internal current of the excitation coil 2 and the auxiliary coil 7 is 1.2A, the rated wind speed of the wind turbine is 12m / s, and the external wind speed increases to 15m / s. This embodiment demonstrates how the Intelligent Cooperative Control Unit (ICCU) 21 achieves coordinated intelligent control of "frequency modulation" and "damping adjustment". The specific operation steps are as follows: Step 1: Establish a collaborative control algorithm. The frequency-damping collaborative optimization objective function includes three cost terms: vibration control term α·dtop2 (reflecting the vibration reduction effect), energy dissipation term β·(Fτ(H)·νd)·Δt (reflecting the energy consumption efficiency of damping adjustment), and adjustment cost term γ·Δmv2 (reflecting the cost of the mass adjustment system). These three terms are selected to unify and quantify the core performance indicators of the damper (vibration suppression), energy consumption economy, and actuator action cost. Then, based on the relative importance of the three objectives of vibration control, energy consumption efficiency, and mass adjustment cost in the actual work objectives, the weight coefficients are set (in this example, α=0.6, β=0.3, γ=0.1) to unify these three terms into a single objective function J (formula (1)). The algorithm aims to minimize the total cost J and seek the optimal collaborative objective. Step 2: Data detection and import. Accelerometer 24 measures the current vibration displacement dtop0 of the top of the wind turbine tower, which is 150mm. Through spectrum analysis of the sensor signal, it is calculated that the external excitation frequency has increased to 0.40Hz. Velocity sensor 19 measures the current relative velocity of the mass block, which is νd, which is 0.12m / s. The data is transmitted from the sensors to the intelligent collaborative control unit 25. Step 3: Collaborative decision-making calculation. The collaborative control algorithm first calculates the change in the mass of the solution in the solution tank, Δmv1 = 899.77 kg, when the system frequency is precisely tuned to the external excitation frequency (0.40 Hz). It also calculates the vibration displacement dtop1 = 30 mm at the top of the wind turbine tower and the required current I1 = 1.8 A. The total cost is calculated as J = 540 + 400 + 80959 = 81899. Step 3.1: The algorithm aims to minimize J and performs optimization search in the solution space of variables Δmv, I, and dtop. It increases or decreases Δmv1 as a baseline and calculates dtop after each change of Δmv1 (changing the solution tank mass affects the matching degree between the natural frequency fn and the excitation frequency, and thus directly affects dtop). Step 3.2: Change the current I under this Δmv to obtain different Fτ(H); Step 3.3: Calculate the damping regulation energy consumption efficiency term based on the calculated νd and the preset Δt, and then obtain the correction of dtop by Fτ(H) under the changed current I. Finally, calculate J under Δmv and Fτ(H). Step 3.4: By repeating steps 3.1, 3.2, and 3.3, J can be calculated for each Δmv, Fτ(H), and dtop. Finally, the smallest J is selected as the optimal total cost Jopt. In this example, the final calculation shows that the total cost is minimized when the frequency is tuned to 0.41Hz. At this time, I = 1.6A, Δmvopt = 808.23kg, dtop = 33mm, and the optimal total cost Jopt = 653 + 350 + 65324 = 66327. Step 4: Cooperative execution control. The ICCU unit sends the parameters I and Δmv under the optimal total cost Jopt to the damping adjustment actuator (i.e., excitation power supply 26, excitation coil 2, auxiliary coil 7), the mass adjustment actuator (i.e., air tank 15, air delivery valve 17, solenoid valve 12, and weighing sensor 11) through the main controller MCU for actual adjustment.

[0033] The above specific embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A collaborative control device for wide-frequency vibration regulation of wind turbine towers, characterized in that, The collaborative control device is installed inside and outside the wind turbine tower (23). The collaborative control device includes an intelligent collaborative control unit (25), a collaborative adjustment unit, an acceleration sensor (24), and an excitation power supply (26). The intelligent collaborative control unit (25) is installed at the bottom inside the wind turbine tower (23); the acceleration sensor (24) is installed on the outer surface of the wind turbine tower (23); the collaborative adjustment unit includes a damper (21) and a solution mass adjustment system (22), which are installed together in the upper middle part inside the wind turbine tower; the damper (21) is connected to the excitation power supply (26), wherein, The damper (21) includes a housing (1), an excitation coil (2) is provided on the inner wall of the housing (1), the inner cavity of the housing (1) is filled with magnetorheological fluid (8), a horizontally placed connecting rod (3) is provided inside the housing (1), a spring (4) is sleeved on one end of the connecting rod (3), one end of the spring (4) is fixedly connected to the inner side wall of the housing (1), and the other end of the spring (4) is connected to the magnetic block (5) and together they are sleeved on the outer periphery of the connecting rod (3); there is a groove on the surface of the magnetic block (5), two auxiliary coils (7) are provided at the left and right ends of the groove, and a solution chamber (6) is provided in the middle of the groove, surrounding the magnetic block (5). A speed sensor (19) and a displacement sensor (20) are provided on the upper part of the solution chamber (6), and an injection and discharge hose (9) is installed on the lower side of the solution chamber (6). The injection and discharge hose (9) passes through the protective sleeve (18) on the housing (1) and is connected to the solution quality adjustment system (22); The solution mass adjustment system (22) includes a base (10), a weighing sensor (11) and a gas storage tank (15) are installed on the upper part of the base (10), a barometer (16) is provided on the upper part of the gas storage tank (15), and a liquid storage tank (13) is provided on the upper part of the weighing sensor (11); one side of the liquid storage tank (13) is connected to the gas storage tank (15) through a gas supply valve (17), and the other side of the liquid storage tank (13) is equipped with a solenoid valve (12) and connected to an injection and discharge hose (9); The excitation coil (2) and the auxiliary coil (7) are both connected to the excitation power supply (26); When implementing wideband adaptive control, if the mass of the solution inside the solution tank (6) is to be increased, the gas supply valve (17) is in the gas supply circuit and is in the open state, and the solenoid valve (12) is also in the open state. After the delivery is completed, the solenoid valve (12) is closed. If the mass of the solution inside the solution tank (6) is to be decreased, the solenoid valve (12) is in the open state, and at the same time, the gas supply valve (17) is controlled to switch to the exhaust circuit and is in the open state. During this period, the weighing sensor (11) is turned on in real time to monitor the change in mass of the solution inside the solution tank (6) in real time.

2. The collaborative control device as described in claim 1, characterized in that: The mass regulating actuator includes an air supply valve (17), a solenoid valve (12), and a weighing sensor (11); the damping regulating actuator includes an excitation power supply (26), an excitation coil (2), and an auxiliary coil (7); both the mass regulating actuator and the damping regulating actuator are connected to the intelligent collaborative control unit ICCU (25) via wires; The intelligent cooperative control unit (ICCU) (25) consists of a main controller (MCU) and a cooperative control algorithm library. The cooperative control algorithm library has a built-in frequency-damping cooperative search algorithm, and the frequency-damping cooperative optimization objective function is expressed by formula (1): In the formula: the value of the function J This represents the cost to the overall system performance under specific control actions. α These are the weighting coefficients for the displacement term. d top This refers to the vibration displacement at the top of the wind turbine tower. β The weighting coefficient for the energy efficiency term. F τ(H) It is the magnetic field damping force. ν d The velocity Δ is the velocity of the internal mass block (5) of the damper and the solution tank (6) relative to the outer shell. t The sampling time interval of the control system. γ Δ is the weighting coefficient for the quality adjustment cost term. m v This represents the change in the mass of the solution within the solution chamber.

3. The collaborative control device as described in claim 2, characterized in that: The inner wall of the magnetic block (5) is in contact with the outer surface of the connecting rod (3) and can move relative to each other. The magnetic block (5) is fixedly connected to the solution tank (6). The spring (4), together with the magnetic block (5) and the solution tank (6), determines the natural frequency of the damper (21). The natural frequency is calculated to adjust Δ. m v Make the natural frequency f n Active frequency band matching with external environmental excitation causes the damper (21) to resonate and dissipate energy with the external environmental excitation first, and the natural frequency of the damper (21) is then... f n Determined by formula (2): In the formula: k The equivalent stiffness of the damper (21) is m f For a fixed mass, which is the sum of the masses of all components involved in the vibration except for the variable mass of the solution in the solution chamber (6), Δ m v The change in the mass of the solution in the solution tank (6) is the amount of change.

4. The collaborative control device as described in claim 3, characterized in that: The magnetorheological fluid (8) is formulated with silicone oil as the carrier fluid, carboxylated iron powder as the magnetic particles, and a surfactant added. The viscosity of the magnetorheological fluid (8) under zero field is 0.1~0.5 Pa·s, the shear yield stress under saturated magnetic field strength is 50~100 kPa, and the response time is less than 10 ms. The performance of the magnetorheological fluid (8) under different currents was calculated. I Total damping force under different magnetic fields generated F Therefore, the optimal current for dissipating vibrational energy under different external environmental excitations is derived. I The total damping force generated by the magnetorheological fluid (8) can be expressed by formula (3): In the formula: F For the total damping force, F η The viscous damping force is provided by the inherent viscosity of the magnetorheological fluid. F τ(H) The magnetic field damping force is provided by the magnetization of the magnetorheological fluid caused by the magnetic field. C The viscous damping coefficient is... v Let the relative velocity of the mass block be... τ y(H) For magnetorheological fluids, the magnetic field strength varies with the magnetic field strength. H Varying yield stress, A This represents the effective shear area of ​​the piston.

5. The collaborative control device as described in claim 1, characterized in that: The magnetic block (5) is made of electrical pure iron, and its relative permeability is μ r ≥ 5000, saturation magnetic induction intensity B s ≥ 2.15 T, coercivity H c ≤ 30 A / m.

6. The cooperative control device as described in claim 1, characterized in that: Solution (14) used was manganese nitrate solution with a concentration range of 40% to 60% and a density of 1.4 to 1.7 g / cm³. 3 .

7. The cooperative control device as described in claim 1, characterized in that: The solenoid valve (12) is a two-position two-way solenoid valve, and the valve body has one inlet and one outlet; The protective sleeve (18) is tightly bonded to the side wall of the outer casing (1) with sealant, and the inner wall of the protective sleeve (18) is tightly bonded to the injection and discharge hose (9) with sealant.

8. A method for coordinated intelligent control of "frequency modulation" and "damping" using the coordinated control device according to any one of claims 1-7, characterized in that, Includes the following steps, Step 1: Establish a collaborative control model. The intelligent collaborative control unit (ICCU) (25) has a built-in frequency-damping collaborative optimization objective function, which includes a term reflecting the tower vibration control effect. α · d top 2 Damping regulation energy efficiency item β ·( F τ(H) · ν d )·Δ t and the cost of the quality control system γ ·Δ m v 2 And by using weighting coefficients, they are unified into a single objective function. J In (Equation (1)), the algorithm minimizes the total cost. J To achieve the goal, seek the optimal collaborative objective; Step 2: Data detection and import. The tower vibration response, i.e., the vibration displacement of the top of the tower and the external excitation frequency, is monitored by the acceleration sensor (24). The motion state of the mass block inside the damper, i.e., the relative velocity of the mass block, is monitored by the velocity sensor (19) and the displacement sensor (20). Step 3: Collaborative decision-making calculation. The collaborative control model first calculates the change in solution mass Δ in the solution tank when the system frequency is precisely tuned to the external environmental excitation frequency. m v1 And calculate the vibration displacement of the top of the wind turbine tower at this time. d top1 With the required current I 1. Calculate the total cost. J , where Δ m v1 , d top1 , I 1 represents the change in the mass of the solution in the solution tank when the system frequency is precisely tuned to the excitation frequency of the external environment, the vibration displacement of the top of the wind turbine tower, and the current required to generate the total damping force used to dissipate energy. Step 3.1: The algorithm minimizes J For the objective, in variable Δ m v , I , d top Optimization search is performed within the solution space, with Δ m v1 Increase or decrease based on the baseline, in Δ m v1 Each change will directly affect the natural frequency. f n The degree of matching with the frequency of external environmental excitation directly affects d top Calculate the change Δ m v After d top ; Step 3.2: In this Δ m v Change the current I Get different F τ(H) ; Step 3.3: Based on the calculation ν d With the preset Δ t Calculate the damping regulation energy efficiency term, and then based on the changed current. I Obtain the current under this condition F τ(H) right d top The corrections were made, and the final Δ was calculated. m v , F τ(H) Below J ; Step 3.4: By repeating steps 3.1, 3.2, and 3.3, the various Δ values ​​can be calculated. m v , F τ(H) , d top Below J Finally, select the smallest one. J For the optimal total cost J opt ; Step 4: Cooperative execution control. The ICCU unit transmits the optimal total cost through the main controller MCU. J opt The following parameters I Δ m v The actual parameters are adjusted by sending the damping adjustment actuator and the mass adjustment actuator. The damping adjustment actuator includes an excitation power supply (26), an excitation coil (2), and an auxiliary coil (7). The mass adjustment actuator includes an air tank (15), an air supply valve (17), a solenoid valve (12), and a weighing sensor (11).

9. The application of the collaborative control device according to any one of claims 1-7 or the collaborative intelligent control method according to claim 8 in broadband vibration regulation of wind turbine towers.

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